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公开(公告)号：US20240121363A1
公开(公告)日：2024-04-11
申请号：US18377963
申请日：2023-10-09
发明人： Jianan Lin , Brandon McGannon , Charles Hart , Jason Mizgorski
CPC分类号： H04N7/181 , G06T17/00 , H04N5/265 , H04N23/555
摘要： An example implementation includes a device that includes a base infrastructure inspection unit and a plurality of modular sensor units attached to the base infrastructure inspection unit. The base infrastructure inspection unit includes a set of one or more processors and a memory device having code executable by the one or more processors. The executable code synchronizes the plurality of sensor units, captures two or more data streams of infrastructure inspection data, combines the data with metadata indicating synchronization between respective ones of the plurality of sensor units, and provides combined metadata and infrastructure inspection data for inclusion in a photorealistic image based on a three-dimensional (3D) model of the infrastructure.
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公开(公告)号：US20220028054A1
公开(公告)日：2022-01-27
申请号：US17365773
申请日：2021-07-01
发明人： Andrew Harmen , Gabe Detter , Mohamed Morsy , Andrew Lawniczak , Galin Konalchiev , Matthew Crowell , Jack Buffington , Mohsen Pashna , Richard Rigby , Jason Mizgorski , Foster J. Salotti
摘要： One aspect provides a modular inspection robot for inspecting vertical shafts, chambers or tunnels. An embodiment provides related methods and products. One method includes: capturing, using a plurality of video cameras associated with an infrastructure inspection unit, two or more videos of infrastructure; accessing, using one or more processors, image metadata indicating a mesh of connected vertices based on the two or more videos; selecting, using the one or more processors, image data of frames of the two or more videos for inclusion in an output based on the mesh; and outputting, using the one or more processors, a photo-realistic image of the infrastructure comprising the image data selected. Other examples are described and claimed.
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公开(公告)号：US11125910B2
公开(公告)日：2021-09-21
申请号：US16184054
申请日：2018-11-08
发明人： Justin Starr , Galin Konakchiev , Foster J Salotti , Mark Jordan , Nate Alford , Thorin Tobiassen , Todd Kueny , Jason Mizgorski
摘要： One aspect provides a method, including: obtaining sensor data from an unmanned aerial vehicle (UAV); the sensor data comprising data obtained by one or more sensors of the UAV; analyzing, using a processor, the sensor data to detect underground water associated with a pipe; and identifying, with the processor, an underground feature based on the analyzing. Other aspects are described and claimed.
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公开(公告)号：US11029257B2
公开(公告)日：2021-06-08
申请号：US16353034
申请日：2019-03-14
发明人： Todd Kueny , Justin Starr , Foster J Salotti
IPC分类号： G01N21/88 , G01N21/954 , G01S17/89
摘要： An embodiment provides a method, including: obtaining, from a multi-sensor pipe inspection robot that traverses through the interior of a pipe, sensor data, such as structured laser light sensor data and Light Detection and Ranging (LIDAR) sensor data, for the interior of the pipe; identifying a pipe feature using one or more of the sensor data types; selecting an image processing technique based on the pipe feature identified using a stored association between the pipe feature and an image processing technique; and forming an image of the interior of the pipe by implementing the selected image processing technique. Other embodiments are described and claimed.
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公开(公告)号：US20210048423A1
公开(公告)日：2021-02-18
申请号：US17086361
申请日：2020-10-31
发明人： Justin Starr , John Lettman , Todd Kueny , Foster J. Salotti , Galin Konakchiev
摘要： One embodiment provides a pipe inspection robot, including: a chassis configured to traverse through an interior of a water or sewer pipe; a water quality probe comprising a first end that couples to the chassis and a sensing end distal thereto; an electric motor configured to reposition the sensing end of the water quality probe with respect to the chassis; said electric motor acting to move the sensing end of the water quality probe to reposition the sensing end proximate to fluid containing water located proximate to a bottom part of the chassis; the sensing end configured to contact the fluid containing water for contact sensing of water quality data. Other aspects are described and claimed.
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公开(公告)号：US20190285606A1
公开(公告)日：2019-09-19
申请号：US16429655
申请日：2019-06-03
发明人： Justin Starr , John Lettman , Todd Kueny , Foster J. Salotti , Galin Konakchiev
摘要： One embodiment provides a pipe inspection robot, including: a chassis configured to traverse through an interior of a water or sewer pipe; an extension piece coupled to the chassis; a water quality probe comprising a first end that couples to the extension piece and a sensing end distal thereto; an electric motor configured to reposition the sensing end of the water quality probe with respect to the extension piece; said electric motor acting to rotate the sensing end of the water quality probe to reposition the sensing end proximate to fluid containing water located proximate to a bottom part of the chassis; the sensing end configured to contact the fluid containing water for contact sensing of water quality data. Other aspects are described and claimed.
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公开(公告)号：US20190285555A1
公开(公告)日：2019-09-19
申请号：US16353034
申请日：2019-03-14
发明人： Todd Kueny , Justin Starr , Foster J. Salotti
IPC分类号： G01N21/954 , G01S17/89 , G01N21/88
摘要： An embodiment provides a method, including: obtaining, from a multi-sensor pipe inspection robot that traverses through the interior of a pipe, sensor data, such as structured laser light sensor data and Light Detection and Ranging (LIDAR) sensor data, for the interior of the pipe; identifying a pipe feature using one or more of the sensor data types; selecting an image processing technique based on the pipe feature identified using a stored association between the pipe feature and an image processing technique; and forming an image of the interior of the pipe by implementing the selected image processing technique. Other embodiments are described and claimed.
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公开(公告)号：US09784599B1
公开(公告)日：2017-10-10
申请号：US13654393
申请日：2012-10-17
IPC分类号： B60F5/00 , G01D11/00 , F16L55/26 , B60F3/00 , F16L101/30
CPC分类号： G01D11/00 , B60F3/0061 , B60F5/00 , F16L55/30 , F16L2101/30 , G05B2219/25101 , G05B2219/33125 , G05B2219/40095
摘要： One aspect provides a modular infrastructure asset inspection robot, including: a plurality of modules for use in fluid conveyance infrastructure assets; each of the plurality of modules including at least one standardized electromechanical connection permitting a connection to be established with another of the plurality of modules; the plurality of modules being interchangeable and allowing reconfiguration of said modular infrastructure asset inspection robot to perform one or more of: two or more deployment methods for a first infrastructure asset type; and one deployment method for the first infrastructure asset type and a second infrastructure asset type. Other aspects are described and claimed.
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公开(公告)号：US20130332088A1
公开(公告)日：2013-12-12
申请号：US13967057
申请日：2013-08-14
发明人： Christopher C. Atwood , Richard P. Juchniewicz , Eric Kratzer , Adam Slifko , Philip Jake Johns
IPC分类号： G01M99/00
CPC分类号： G01N35/00 , B62D55/12 , B62D55/244 , E03F7/12 , G01M99/00 , Y10S901/44
摘要： A device is described that includes a sensor portion and a chassis portion. The sensor portion includes a plurality of sensing devices. The chassis portion is connected to the sensor portion and includes a first track and a second track. The second track is positioned adjacent the first track. The first and second tracks cooperate to substantially cover an entire width of the chassis portion.
摘要翻译： 描述了包括传感器部分和底架部分的装置。 传感器部分包括多个感测装置。 底盘部分连接到传感器部分并且包括第一轨道和第二轨道。 第二轨道位于第一轨道附近。 第一和第二轨道配合以基本上覆盖底盘部分的整个宽度。
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公开(公告)号：US11867641B2
公开(公告)日：2024-01-09
申请号：US17307041
申请日：2021-05-04
发明人： Todd Kueny , Justin Starr , Foster J. Salotti
IPC分类号： G01N21/954 , G01N21/88 , G01S17/89
CPC分类号： G01N21/954 , G01N21/8851 , G01N2021/8887 , G01N2021/9544 , G01N2021/9548 , G01S17/89
摘要： An embodiment provides a method, including: obtaining, from a multi-sensor pipe inspection robot that traverses through the interior of a pipe, two or more sets of condition assessment data for the interior of the pipe collected during a single pass through the interior of the pipe; the two or more sets of condition assessment data comprising a first data type obtained using a first sensor type and a second data type obtained using a second sensor type; combining, using a processor, two or more image processing techniques to adjust imaging of a pipe feature; and forming, using the processor, an image of the interior of the pipe using the two or more image processing techniques. Other embodiments are described and claimed.
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