公开(公告)号：CA2595453A1

公开(公告)日：2006-07-27

申请号：CA2595453

申请日：2006-01-18

Applicant: REDZONE ROBOTICS INC

Inventor： VALLAPUZHA SUBRAMANIAN ,  HUDSON EDISON T ,  REVERTE CARLOS ,  THAYER SCOTT M ,  WHITTAKER WILLIAM ,  SLIFKO ADAM ,  CLOSE ERIC C

IPC: F16L55/48 ,  F16L55/26

Abstract: An autonomous inspector mobile platform robot that is used to inspect a pipe or network of pipes. The robot includes a locomotion device that enables the device to autonomously progress through the pipe and accurately track its pose and odometry during movement. At the same time, image data is autonomously captured to detail the interior portions of the pipe. Images are taken at periodic intervals using a wide angle lens, and additional video images may be captured at locations of interest. Either onboard or offboard the device, each captured image is unwarped (if necessary) and combined with images of adjacent pipe sections to create a complete image of the interior features of the inspected pipe. Optional features include additional sensors and measurement devices, various communications systems to communicate with an end node or the surface, and/or image compression software.

公开(公告)号：CA2595453C

公开(公告)日：2016-02-23

申请号：CA2595453

申请日：2006-01-18

Applicant: REDZONE ROBOTICS INC

Inventor： REVERTE CARLOS ,  THAYER SCOTT M ,  WHITTAKER WILLIAM ,  CLOSE ERIC C ,  SLIFKO ADAM ,  HUDSON EDISON T ,  VALLAPUZHA SUBRAMANIAN

IPC: F16L55/48 ,  F16L55/26 ,  G01N21/954 ,  G06T9/00 ,  G06T11/60 ,  H04N5/30 ,  H04N5/76

Abstract: An autonomous inspector mobile platform robot that is used to inspect a pipe or network of pipes. The robot includes a locomotion device that enables the device to autonomously progress through the pipe and accurately track its pose and odometry during movement. At the same time, image data is autonomously captured to detail the interior portions of the pipe. Images are taken at periodic intervals using a wide angle lens, and additional video images may be captured at locations of interest. Either onboard or off board the device, each captured image is unwarped (if necessary) and combined with images of adjacent pipe sections to create a complete image of the interior features of the inspected pipe. Optional features include additional sensors and measurement devices, various communications systems to communicate with an end node or the surface, and/or image compression software.

公开(公告)号：WO2006078873A3

公开(公告)日：2009-04-16

申请号：PCT/US2006001983

申请日：2006-01-18

Applicant: REDZONE ROBOTICS INC

Inventor： REVERTE CARLOS ,  THAYER SCOTT M ,  WHITTAKER WILLIAM ,  CLOSE ERIC C ,  SLIFKO ADAM ,  HUDSON EDISON T ,  VALLAPUZHA SUBRAMANIAN

IPC: G06F19/00

CPC classification number: H04N7/185 ,  E03F7/10 ,  F16L55/32

Abstract: An autonomous inspector mobile platform robot (300) that is used to inspect a pipe (380) or network of pipes (380). The robot (300) includes a locomotion device that enables the device to autonomously progress through the pipe (380) and accurately track its pose and odometry during movement. At the same time, image data is autonomously captured to detail the interior portions of the pipe (380). Images are taken at periodic intervals using a wide angle lens, and additional video images may be captured at locations of interest. Either onboard or offboard the device, each captured image is unwarped (if necessary) and combined with images of adjacent pipe (380) sections to create a complete image of the interior features of the inspected pipe (380). Optional features include additional sensors and measurement devices, various communications systems to communicate with an end node or the surface, and/or image compression software.

Abstract translation: 用于检查管道（380）或管道网络（380）的自主检查员移动平台机器人（300）。 机器人（300）包括一个移动装置，其能够使装置自主地通过管道（380）前进，并在运动期间精确地跟踪其姿态和距离。 同时，自动捕获图像数据以细节管道（380）的内部部分。 使用广角镜头以周期性间隔拍摄图像，并且可以在感兴趣的位置捕获附加的视频图像。 无论是在设备上或板外，每个捕获的图像都是不相干的（如果需要的话），并且与相邻管道（380）部分的图像组合，以创建被检查管道（380）的内部特征的完整图像。 可选功能包括附加的传感器和测量设备，与终端节点或表面通信的各种通信系统和/或图像压缩软件。

公开(公告)号：WO2006078873A9

公开(公告)日：2009-01-08

申请号：PCT/US2006001983

申请日：2006-01-18

Applicant: REDZONE ROBOTICS INC

Inventor： REVERTE CARLOS ,  THAYER SCOTT M ,  WHITTAKER WILLIAM ,  CLOSE ERIC C ,  SLIFKO ADAM ,  HUDSON EDISON T ,  VALLAPUZHA SUBRAMANIAN

CPC classification number: H04N7/185 ,  E03F7/10 ,  F16L55/32

Abstract: An autonomous inspector mobile platform robot that is used to inspect a pipe or network of pipes. The robot includes a locomotion device that enables the device to autonomously progress through the pipe and accurately track its pose and odometry during movement. At the same time, image data is autonomously captured to detail the interior portions of the pipe. Images are taken at periodic intervals using a wide angle lens, and additional video images may be captured at locations of interest. Either onboard or off board the device, each captured image is unwarped (if necessary) and combined with images of adjacent pipe sections to create a complete image of the interior features of the inspected pipe. Optional features include additional sensors and measurement devices, various communications systems to communicate with an end node or the surface, and/or image compression software.

Abstract translation: 用于检查管道或管道网络的自主检查员移动平台机器人。 机器人包括一个运动装置，使装置自动进入管道，并在运动过程中精确跟踪其姿态和距离。 同时，自动捕获图像数据以细节管道的内部部分。 使用广角镜头以周期性间隔拍摄图像，并且可以在感兴趣的位置捕获附加的视频图像。 无论是在设备上或板上，每个捕获的图像都是不必要的（如果需要的话），并且与相邻管道部分的图像相结合，以创建被检查管道的内部特征的完整图像。 可选功能包括附加的传感器和测量设备，与终端节点或表面通信的各种通信系统和/或图像压缩软件。

公开(公告)号：WO2007087615A3

公开(公告)日：2008-07-10

申请号：PCT/US2007061078

申请日：2007-01-25

Applicant: REDZONE ROBOTICS INC

Inventor： THAYER SCOTT M ,  REVERTE CARLOS FELIPE ,  CLOSE ERIC C ,  VELAGAPUDI PRASANNA KUMAR ,  OMMERT WILLIAM

IPC: H04L12/28

CPC classification number: E21B47/00 ,  H04L67/12

Abstract: Systems, methods and. devices for indexing, archiving, analyzing and reporting pipe and other void network data. Specifically, multi-dimensional indexing and correlation of spatial, temporal, feature, environmental, uncertainty and/ or context-based data is synchronized, indexed and analyzed across a wide variety of pipe networks at various times. The present invention preferably includes data represented at several different levels of reference including: referenced to the sensor with which it was collected; referenced to the robot or platform upon which the sensor is attached; and the world. The structure and functionality of the system provides for extensive querying, trouble -shooting and predictive analysis for pipe networks.

Abstract translation: 系统，方法和。 用于索引，归档，分析和报告管道和其他无效网络数据的设备。 具体来说，在各种各样的管道网络中，多维索引和空间，时间，特征，环境，不确定性和/或基于上下文的数据的相关性被同步，索引和分析。 本发明优选地包括以几个不同的参考水平表示的数据，包括：参考它被收集的传感器; 参考传感器所在的机器人或平台; 和世界。 系统的结构和功能为管网提供了广泛的查询，故障排除和预测分析。

公开(公告)号：WO2007087615A8

公开(公告)日：2007-11-29

申请号：PCT/US2007061078

申请日：2007-01-25

Applicant: REDZONE ROBOTICS INC

Inventor： THAYER SCOTT M ,  REVERTE CARLOS FELIPE ,  CLOSE ERIC C ,  VELAGAPUDI PRASANNA KUMAR ,  OMMERT WILLIAM

IPC: H04L12/28

CPC classification number: E21B47/00 ,  H04L67/12

Abstract: Systems, methods and. devices for indexing, archiving, analyzing and reporting pipe and other void network data. Specifically, multi -dimensional indexing and correlation of spatial, temporal, feature, environmental, uncertainty and/ or context -based data is synchronized, indexed and analyzed across a wide variety of pipe networks at various times . The present invention preferably includes data represented at several different levels of reference including: referenced to the sensor with which it was collected; referenced to the robot or platform upon which the sensor is attached; and the world. The structure and functionality of the system provides for extensive querying, trouble -shooting and predictive analysis for pipe networks.

Abstract translation: 系统，方法和。 用于索引，归档，分析和报告管道和其他无效网络数据的设备。 具体来说，多维索引和空间，时间，特征，环境，不确定性和/或基于上下文的数据的相关性在不同时间跨多种管网进行同步，索引和分析。 本发明优选地包括以几个不同的参考水平表示的数据，包括：参考其被收集的传感器; 参考传感器所在的机器人或平台; 和世界。 系统的结构和功能为管网提供了广泛的查询，故障排除和预测分析。