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.
H04N 23/50 - Caméras ou modules de caméras comprenant des capteurs d'images électroniques; Leur commande - Détails de structure
G05D 1/689 - dirigeant des charges utiles vers des cibles fixes ou en mouvement (positionnement d’équipements tractés, poussés ou suspendus G05D 1/672)
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.
In one example, a method includes combining multi-sensor inspection (MIS) data from sensors of inspection platform(s); using respective metadata to select one or more tools for translating the MSI data into a common file format; applying the one or more tools to the first and second MSI data to obtain respective common data formatted files; and providing, via a cloud computing device, access to the common data formatted files. Other implementations may be described and claimed.
In one example, a method includes combining multi-sensor inspection (MIS) data from sensors of inspection platform(s); using respective metadata to select one or more tools for translating the MSI data into a common file format; applying the one or more tools to the first and second MSI data to obtain respective common data formatted files; and providing, via a cloud computing device, access to the common data formatted files. Other implementations may be described and claimed.
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.
G06T 17/20 - Description filaire, p.ex. polygonalisation ou tessellation
G06T 7/33 - Détermination des paramètres de transformation pour l'alignement des images, c. à d. recalage des images utilisant des procédés basés sur les caractéristiques
G06T 7/55 - Récupération de la profondeur ou de la forme à partir de plusieurs images
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.
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.
One aspect provides a method, including: obtaining sensor data from a ground penetrating radar (GPR) unit; analyzing, using a processor, the sensor data to detect a first object and a second object, the second object being associated with the first object based on location; identifying, with the processor, an underground pipe feature based on the analyzing; associating a position of the underground pipe feature with a location in a pipe network; selecting a subset of the pipe network including a pipe segment associated with the position of the underground pipe feature; and providing the subset of the pipe network as displayable data to a display device. Other aspects are described and claimed.
G01S 13/88 - Radar ou systèmes analogues, spécialement adaptés pour des applications spécifiques
G01S 7/41 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe utilisant l'analyse du signal d'écho pour la caractérisation de la cible; Signature de cible; Surface équivalente de cible
G01S 13/90 - Radar ou systèmes analogues, spécialement adaptés pour des applications spécifiques pour la cartographie ou la représentation utilisant des techniques d'antenne synthétique
G01V 11/00 - Prospection ou détection par des méthodes combinant des techniques spécifiées dans les groupes
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
45 - Services juridiques; services de sécurité; services personnels pour individus
Produits et services
Providing infrastructure inspection services, namely, functional verification inspection of underground infrastructure and rental of inspection robots with artificial intelligence for infrastructure inspections for underground infrastructure maintenance
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
providing temporary use of non-downloadable software for use in connection with infrastructure inspections; Rental of inspection robots with artificial intelligence for infrastructure inspections
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Providing temporary use of non-downloadable software for
municipal water and sewer authorities for their use in
managing, prioritizing, inspecting, maintaining, planning,
and repairing of underground municipal water and sewer
infrastructure.
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
(1) Providing temporary use of non-downloadable software for municipal water and sewer authorities for their use in managing, prioritizing, inspecting, maintaining, planning, and repairing of underground municipal water and sewer infrastructure.
13.
Image processing techniques for multi-sensor inspection of pipe interiors
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.
One aspect provides operating a mobile pipe inspection platform to obtain two or more types of sensor data for the interior of a pipe; analyzing, using a processor, the two or more types of sensor data using a trained model, where the trained model is trained using a dataset including training sensor data of pipe interiors; the analyzing including performing: identifying, using a processor, a pipe feature location using a first type of the two or more types of sensor data; and classifying, using a processor, an identified pipe feature using a second type of the two or more types of sensor data; and thereafter producing, using a processor, an output including an indication of the classified pipe feature. Other aspects are described and claimed.
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
providing temporary use of non-downloadable software for municipal water and sewer authorities for their use in managing, prioritizing, inspecting, maintaining, planning, and repairing of underground municipal water and sewer infrastructure
17.
Method and apparatus for robotic, in-pipe water quality testing
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.
Embodiments may be used to evaluate completed inspection jobs using updated pipe segment data obtained by inspecting a rehabilitated pipe after completion of a project. One embodiment provides a method of generating an infrastructure project summary, including: collecting, using one or more sensors of an inspection robot, pipe segment data relating to the one or more pipe segments; the second pipe segment data comprising one or more of laser condition assessment data and sonar condition assessment data; generating infrastructure summary data for at least a part of the network using the pipe segment data, comparing, using a processor, first and second infrastructure summary data; generating, using the processor, a parameter of the infrastructure project summary based on the comparing; and including the parameter of the infrastructure project summary in a project summary report. Other embodiments are disclosed and claimed.
G06T 11/20 - Traçage à partir d'éléments de base, p.ex. de lignes ou de cercles
B23K 9/127 - Moyens pour suivre des lignes au cours du soudage ou du découpage à l'arc
G01B 11/24 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer des contours ou des courbes
F16L 55/32 - Moyens de propulsion autonomes portés par le hérisson ou le chariot
G01N 21/954 - Inspection de la surface intérieure de corps creux, p.ex. d'alésages
G06Q 10/06 - Ressources, gestion de tâches, des ressources humaines ou de projets; Planification d’entreprise ou d’organisation; Modélisation d’entreprise ou d’organisation
Described is a method of providing an augmented reality (AR) scene of pipe inspection data, including: obtaining, using a processor, pipe inspection data derived from a pipe inspection robot that traverses through the interior of an underground pipe, the pipe inspection data including one or more sets of condition assessment data relating to an interior of the underground pipe; obtaining, using a processor, real-time visual image data of an above-ground surface; combining, using a processor, the pipe inspection data with the real-time visual image data in an AR scene; and displaying, using a display device, the AR scene. Other examples are described and claimed.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G06F 3/01 - Dispositions d'entrée ou dispositions d'entrée et de sortie combinées pour l'interaction entre l'utilisateur et le calculateur
G06F 3/0481 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] fondées sur des propriétés spécifiques de l’objet d’interaction affiché ou sur un environnement basé sur les métaphores, p.ex. interaction avec des éléments du bureau telles les fenêtres ou les icônes, ou avec l’aide d’un curseur changeant de comport
G06Q 10/06 - Ressources, gestion de tâches, des ressources humaines ou de projets; Planification d’entreprise ou d’organisation; Modélisation d’entreprise ou d’organisation
a multi-sensor inspection robot for inspecting manholes in the nature of an industrial robot for use in the field of municipal water and sewer infrastructure inspections
24.
IMAGE PROCESSING TECHNIQUES FOR MULTI-SENSOR INSPECTION OF PIPE INTERIORS
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.
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.
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.
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.
Described is a method of providing an augmented reality (AR) scene of pipe inspection data, including: obtaining, using a processor, pipe inspection data derived from a pipe inspection robot that traverses through the interior of an underground pipe, the pipe inspection data including one or more sets of condition assessment data relating to an interior of the underground pipe; obtaining, using a processor, real-time visual image data of an above-ground surface; combining, using a processor, the pipe inspection data with the real-time visual image data in an AR scene; and displaying, using a display device, the AR scene. Other examples are described and claimed.
Described is a method of providing an augmented reality (AR) scene of pipe inspection data, including: obtaining, using a processor, pipe inspection data derived from a pipe inspection robot that traverses through the interior of an underground pipe, the pipe inspection data including one or more sets of condition assessment data relating to an interior of the underground pipe; obtaining, using a processor, real-time visual image data of an above-ground surface; combining, using a processor, the pipe inspection data with the real-time visual image data in an AR scene; and displaying, using a display device, the AR scene. Other examples are described and claimed.
G06F 3/01 - Dispositions d'entrée ou dispositions d'entrée et de sortie combinées pour l'interaction entre l'utilisateur et le calculateur
G06F 3/0481 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] fondées sur des propriétés spécifiques de l’objet d’interaction affiché ou sur un environnement basé sur les métaphores, p.ex. interaction avec des éléments du bureau telles les fenêtres ou les icônes, ou avec l’aide d’un curseur changeant de comport
Described is a method of providing an augmented reality (AR) scene of pipe inspection data, including: obtaining, using a processor, pipe inspection data derived from a pipe inspection robot that traverses through the interior of an underground pipe, the pipe inspection data including one or more sets of condition assessment data relating to an interior of the underground pipe; obtaining, using a processor, real-time visual image data of an above-ground surface; combining, using a processor, the pipe inspection data with the real-time visual image data in an AR scene; and displaying, using a display device, the AR scene. Other examples are described and claimed.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G06F 3/01 - Dispositions d'entrée ou dispositions d'entrée et de sortie combinées pour l'interaction entre l'utilisateur et le calculateur
G06F 3/0481 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] fondées sur des propriétés spécifiques de l’objet d’interaction affiché ou sur un environnement basé sur les métaphores, p.ex. interaction avec des éléments du bureau telles les fenêtres ou les icônes, ou avec l’aide d’un curseur changeant de comport
G06Q 10/06 - Ressources, gestion de tâches, des ressources humaines ou de projets; Planification d’entreprise ou d’organisation; Modélisation d’entreprise ou d’organisation
31.
Pipe image feature analysis using calibration data
One aspect provides a method, including: displaying, at a display screen, an image of an interior of a pipe, the image being obtained using a pipe inspection robot; accessing, using a processor, calibration data associated with the image; receiving, via an input device, user input marking at least a portion of the image; determining, using a processor, quantitative pipe feature data for at least one feature of the pipe using the marking and the calibration data; and providing, based on the determining, data associated with the at least one feature. Other aspects are described and claimed.
An embodiment provides for storing, in a server, pipe segment data, e.g., pipe scan data derived from a pipe inspection robot that traversed through an interior of the segment of pipe. The pipe scan data may include three-dimensional (3D) and two-dimensional (2D) image data of the interior of the segment of pipe, where the 2D image data includes a flat graph formed from the 3D image data. In one example, infrastructure summary data is stored in the server, including a level of corrosion and a level of sediment buildup determined based on the pipe scan data. An infrastructure project summary report is based on the infrastructure summary data, and after receiving a request from a client device, the pipe segment data and the infrastructure project summary report are transmitted to the client device.
G06T 11/20 - Traçage à partir d'éléments de base, p.ex. de lignes ou de cercles
B23K 9/127 - Moyens pour suivre des lignes au cours du soudage ou du découpage à l'arc
G01B 11/24 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer des contours ou des courbes
F16L 55/32 - Moyens de propulsion autonomes portés par le hérisson ou le chariot
G01N 21/954 - Inspection de la surface intérieure de corps creux, p.ex. d'alésages
G06Q 10/06 - Ressources, gestion de tâches, des ressources humaines ou de projets; Planification d’entreprise ou d’organisation; Modélisation d’entreprise ou d’organisation
One aspect provides a method, including: displaying, at a display screen, an image of an interior of a pipe, the image being obtained using a pipe inspection robot; accessing, using a processor, calibration data associated with the image; receiving, via an input device, user input marking at least a portion of the image; determining, using a processor, quantitative pipe feature data for at least one feature of the pipe using the marking and the calibration data; and providing, based on the determining, data associated with the at least one feature. Other aspects are described and claimed.
G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques
G01N 21/954 - Inspection de la surface intérieure de corps creux, p.ex. d'alésages
F16L 55/26 - Hérissons ou chariots, c.à d. dispositifs pouvant se déplacer dans un tuyau ou dans une conduite et portant ou non un moyen de propulsion autonome
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.
One aspect provides a method, including: operating a mobile pipe inspection platform to obtain sensor data for the interior of a pipe; analyzing, using a processor, the sensor data using a trained model, where the trained model is trained using a dataset including sensor data of pipe interiors and one or more of: metadata identifying pipe feature locations contained within the sensor data of the dataset and metadata classifying pipe features contained within the sensor data of the dataset; performing one or more of: identifying, using a processor, a pipe feature location within the sensor data; and classifying, using a processor, a pipe feature of the sensor data; and thereafter producing, using a processor, an output including one or more of an indication of the identifying and an indication of the classifying. Other aspects are described and claimed.
G06T 7/33 - Détermination des paramètres de transformation pour l'alignement des images, c. à d. recalage des images utilisant des procédés basés sur les caractéristiques
G01N 21/954 - Inspection de la surface intérieure de corps creux, p.ex. d'alésages
F16L 55/26 - Hérissons ou chariots, c.à d. dispositifs pouvant se déplacer dans un tuyau ou dans une conduite et portant ou non un moyen de propulsion autonome
One aspect provides a method, including: operating a mobile pipe inspection platform to obtain sensor data for the interior of a pipe; analyzing, using a processor, the sensor data using a trained model, where the trained model is trained using a dataset including sensor data of pipe interiors and one or more of: metadata identifying pipe feature locations contained within the sensor data of the dataset and metadata classifying pipe features contained within the sensor data of the dataset; performing one or more of: identifying, using a processor, a pipe feature location within the sensor data; and classifying, using a processor, a pipe feature of the sensor data; and thereafter producing, using a processor, an output including one or more of an indication of the identifying and an indication of the classifying. Other aspects are described and claimed.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
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.
G01V 11/00 - Prospection ou détection par des méthodes combinant des techniques spécifiées dans les groupes
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G01S 13/88 - Radar ou systèmes analogues, spécialement adaptés pour des applications spécifiques
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G01S 7/41 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe utilisant l'analyse du signal d'écho pour la caractérisation de la cible; Signature de cible; Surface équivalente de cible
G01S 13/90 - Radar ou systèmes analogues, spécialement adaptés pour des applications spécifiques pour la cartographie ou la représentation utilisant des techniques d'antenne synthétique
38.
Multiple camera imager for inspection of large diameter pipes, chambers or tunnels
One embodiment provides a system, including: an inspection platform configured to move through underground infrastructure; an imaging device coupled to the inspection platform; the imaging device comprising a camera housing that arranges an array of four or more cameras in a predetermined configuration; the camera housing comprising a plurality of apertures, wherein each aperture houses a respective camera therein with a viewing axis offset about 30 degrees to about 120 degrees from a viewing axis of an adjacent camera within the array; and circuitry that operates the imaging device to capture a plurality of images using the four or more cameras; where the circuitry captures the plurality of images for a composite image of an interior region of the underground infrastructure, and where the region is larger than a single viewing field of any of the four or more cameras. Other embodiments are described and claimed.
H04N 23/698 - Commande des caméras ou des modules de caméras pour obtenir un champ de vision élargi, p. ex. pour la capture d'images panoramiques
G01N 21/88 - Recherche de la présence de criques, de défauts ou de souillures
G01N 21/954 - Inspection de la surface intérieure de corps creux, p.ex. d'alésages
G03B 37/00 - Photographie panoramique ou à grand écran; Photographie de surfaces étendues, p.ex. pour la géodésie; Photographie de surfaces internes, p.ex. de tuyaux
H04N 23/45 - Caméras ou modules de caméras comprenant des capteurs d'images électroniques; Leur commande pour générer des signaux d'image à partir de plusieurs capteurs d'image de type différent ou fonctionnant dans des modes différents, p. ex. avec un capteur CMOS pour les images en mouvement en combinaison avec un dispositif à couplage de charge [CCD]
H04N 23/54 - Montage de tubes analyseurs, de capteurs d'images électroniques, de bobines de déviation ou de focalisation
H04N 23/695 - Commande de la direction de la caméra pour modifier le champ de vision, p. ex. par un panoramique, une inclinaison ou en fonction du suivi des objets
H04N 23/90 - Agencement de caméras ou de modules de caméras, p. ex. de plusieurs caméras dans des studios de télévision ou des stades de sport
F16L 55/26 - Hérissons ou chariots, c.à d. dispositifs pouvant se déplacer dans un tuyau ou dans une conduite et portant ou non un moyen de propulsion autonome
An embodiment provides a method of controlling a pipe inspection robot, including: detecting, from a headset, brain activity of a user wearing the headset; binning the brain activity of the user into one of a plurality of different bins; the binning comprising accumulating brain activity values for a period of time to establish a brain activity value for the period of time; determining, using the brain activity value, if a threshold level of brain activity has accumulated over the period of time; after the threshold level has been accumulated, identifying a control action to be sent to the pipe inspection robot based on the brain activity value; and controlling the movement of the pipe inspection robot using a control signal associated with the control action. Other embodiments are described and claimed.
One aspect provides a method including: receiving fluid conveyance infrastructure data at an electronic device; determining variance data for an infrastructure segment by comparing the received fluid conveyance infrastructure data to expected fluid conveyance infrastructure data; and providing at least one distribution based graphical representation based on the variance data. Other aspects are described and claimed.
One embodiment provides methods for identifying a target object of a pipe wall, including using a terahertz (THz) beam source of a pipe inspection robot. Another embodiment provides methods of analyzing water quality within a pipe using a pipe inspection robot. Another embodiment provides a mobile jetter in connection with a pipe inspection robot. A further embodiment provides methods of visualizing pipe inspection data, including virtual reality displays. Other aspects are described and claimed.
F16L 55/26 - Hérissons ou chariots, c.à d. dispositifs pouvant se déplacer dans un tuyau ou dans une conduite et portant ou non un moyen de propulsion autonome
One embodiment provides a pipe inspection robot, including: a powered track system providing movement to the pipe inspection robot; a sensor component comprising a water quality probe; and a processor; said processor configured to: operate the water quality probe to collect water quality data related to a fluid contained within a pipe; and communicate the water quality data collected over a network connection. Other aspects are described and claimed.
One embodiment provides an apparatus, including: a pipe inspection robot that traverses a pipe; a fetter comprising a water pump; and an intake hose that couples the pump of the jetter to a local water source proximate to the pipe inspection robot. Other aspects are described and claimed.
B08B 9/049 - Nettoyage de conduites ou de tubes ou des systèmes de conduites ou de tubes Élimination des bouchons utilisant des dispositifs de nettoyage introduits dans et déplacés le long des tubes les dispositifs de nettoyage comportant des moyens autopropulseurs pour se déplacer dans les tubes
F16L 55/32 - Moyens de propulsion autonomes portés par le hérisson ou le chariot
G01S 15/88 - Systèmes sonar, spécialement adaptés à des applications spécifiques
One aspect provides a method of projecting pipe data into a virtual reality system, including: obtaining, using a pipe inspection robot, pipe data relating to one or more pipe segments in a pipe network; processing, using a processor, the pipe data to format the pipe data for virtual panoramic display; providing, using the processor, the formatted pipe data to a virtual reality system. Other aspects are described and claimed.
One embodiment provides a method for identifying a target object of a pipe wall, including: positioning a pipe inspection robot within a pipe; emitting, using a terahertz (THz) beam source of the pipe inspection robot, a laser beam towards a target object; receiving, using a THz receiver of the pipe inspection robot, THz data related to the target object; analyzing, using a processor, the THz data; and determining, based on the analyzing, an identity of the object. Other aspects are described and claimed.
G01N 21/35 - Couleur; Propriétés spectrales, c. à d. comparaison de l'effet du matériau sur la lumière pour plusieurs longueurs d'ondes ou plusieurs bandes de longueurs d'ondes différentes en recherchant l'effet relatif du matériau pour les longueurs d'ondes caractéristiques d'éléments ou de molécules spécifiques, p.ex. spectrométrie d'absorption atomique en utilisant la lumière infrarouge
G01N 21/954 - Inspection de la surface intérieure de corps creux, p.ex. d'alésages
G01N 21/94 - Recherche de souillures, p.ex. de poussières
B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
F16L 55/32 - Moyens de propulsion autonomes portés par le hérisson ou le chariot
G01N 21/3581 - Couleur; Propriétés spectrales, c. à d. comparaison de l'effet du matériau sur la lumière pour plusieurs longueurs d'ondes ou plusieurs bandes de longueurs d'ondes différentes en recherchant l'effet relatif du matériau pour les longueurs d'ondes caractéristiques d'éléments ou de molécules spécifiques, p.ex. spectrométrie d'absorption atomique en utilisant la lumière infrarouge en utilisant un rayonnement térahertz
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.
B60F 5/00 - Autres véhicules capables de se déplacer dans ou sur des milieux différents
G01D 11/00 - MESURE NON SPÉCIALEMENT ADAPTÉE À UNE VARIABLE PARTICULIÈRE; DISPOSITIONS NON COUVERTES PAR UNE SEULE DES AUTRES SOUS-CLASSES POUR MESURER PLUSIEURS VARIABLES; APPAREILS COMPTEURS À TARIFS; DISPOSITIONS POUR LE TRANSFERT OU LA TRANSDUCTION DE MESURE NON SPÉCIALEMENT ADAPTÉES À UNE VARIABLE PARTICULIÈRE; MESURES OU TESTS NON PRÉVUS AILLEURS - Parties constitutives des dispositions pour la mesure qui ne sont pas spécialement adaptées à une variable particulière
F16L 55/26 - Hérissons ou chariots, c.à d. dispositifs pouvant se déplacer dans un tuyau ou dans une conduite et portant ou non un moyen de propulsion autonome
B60F 3/00 - Véhicules amphibies, c. à d. véhicules capables de se déplacer sur la terre et sur l'eau; Véhicules terrestres capables de se déplacer sous l'eau
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
pipeline inspection services, namely, using a robot with sensors for conducting inspections and collecting and reproducing data about the physical condition of municipal water and sewer pipes
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
software for municipal water and sewer authorities for their use in managing, prioritizing, inspecting, maintaining, planning, and repairing of municipal water and sewer pipes providing temporary use of non-downloadable software for municipal water and sewer authorities for their use in managing, prioritizing, inspecting, maintaining, planning, and repairing of municipal water and sewer pipes
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Pipeline inspection services, namely, using a robot with sensors for conducting inspections and collecting and reproducing data about the physical condition of municipal water and sewer pipes
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
pipeline inspection services, namely, reproducing multi-sensor inspection (MSI) data, collected by a robot with sensors, about the physical condition of municipal water and sewer pipes
One aspect provides a method, including: storing an infrastructure project summary report with one or more other infrastructure project reports pooled in a database of project summary reports; the infrastructure project report being prepared via accessing fluid conveyance infrastructure summary data describing a condition of a fluid conveyance infrastructure segment; and using a processor of an electronic device to match the infrastructure project summary report with one or more other infrastructure project reports pooled in the database of project summary reports. Other aspects are described and claimed.
F16L 55/00 - Dispositifs ou accessoires à utiliser avec, ou en liaison avec, les tuyaux ou les systèmes de tuyaux
F16L 55/32 - Moyens de propulsion autonomes portés par le hérisson ou le chariot
B23K 9/127 - Moyens pour suivre des lignes au cours du soudage ou du découpage à l'arc
G01B 11/24 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer des contours ou des courbes
G01N 21/954 - Inspection de la surface intérieure de corps creux, p.ex. d'alésages
G06Q 10/06 - Ressources, gestion de tâches, des ressources humaines ou de projets; Planification d’entreprise ou d’organisation; Modélisation d’entreprise ou d’organisation
One aspect provides a method of generating an infrastructure analysis report, including: accessing infrastructure data stored in a database relating to one or more fluid conveyance infrastructure assets, wherein the infrastructure data is one or more of sensed data, contextual data and institutional knowledge data; and generating an analysis report based on a failure risk and consequence analysis of the one or more fluid conveyance infrastructure assets. Other aspects are described and claimed.
G06Q 10/06 - Ressources, gestion de tâches, des ressources humaines ou de projets; Planification d’entreprise ou d’organisation; Modélisation d’entreprise ou d’organisation
G06Q 50/06 - Fourniture d'électricité, de gaz ou d'eau
G06F 17/30 - Recherche documentaire; Structures de bases de données à cet effet
One aspect provides a method of generating an infrastructure project summary, including: accessing fluid conveyance infrastructure summary data describing a condition of a fluid conveyance infrastructure segment; generating least one parameter of the infrastructure project summary based on the condition of the fluid conveyance infrastructure segment; and including the at least one generated parameter of the infrastructure project summary in a project summary report. Other aspects are described and claimed.
B23K 9/12 - Alimentation automatique en électrodes ou en pièces ou déplacement automatique des électrodes ou des pièces pour le soudage ou le découpage à l'arc en lignes continues ou par points
B23K 9/127 - Moyens pour suivre des lignes au cours du soudage ou du découpage à l'arc
B23K 9/095 - Surveillance ou commande automatique des paramètres de soudage
54.
Device for pipe inspection and method of using same
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.
G01N 35/00 - Analyse automatique non limitée à des procédés ou à des matériaux spécifiés dans un seul des groupes ; Manipulation de matériaux à cet effet
B62D 55/12 - Disposition, emplacement ou adaptation des barbotins moteurs
B62D 55/24 - Chenilles du type à flexibilité totale, p.ex. à courroies de caoutchouc
E03F 7/12 - Installations permettant au personnel d'inspection de circuler en véhicule le long de la cunette des égouts
G01M 99/00 - Matière non prévue dans les autres groupes de la présente sous-classe
55.
Device for pipe inspection and method of using same
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.
G01N 35/00 - Analyse automatique non limitée à des procédés ou à des matériaux spécifiés dans un seul des groupes ; Manipulation de matériaux à cet effet
B62D 55/12 - Disposition, emplacement ou adaptation des barbotins moteurs
B62D 55/24 - Chenilles du type à flexibilité totale, p.ex. à courroies de caoutchouc
E03F 7/12 - Installations permettant au personnel d'inspection de circuler en véhicule le long de la cunette des égouts
G01M 99/00 - Matière non prévue dans les autres groupes de la présente sous-classe
56.
Methods and devices for automated work in pipes based on impedance control
Methods and tools for automatically performing work within a pipe or pipe network based on sensed impedance information. A robot, which may be tethered or un-tethered, includes a computer controller and a work tool for performing work within the pipe. With or without impedance-based calibration, the robot senses environmental and tool-based impedance characteristics and determines, using said software, ways in which the current work performance can be altered or improved based on the impedance information. The operation of the work tool is then altered in line with the control software. Many different types of work related to the inspection, cleaning and rehabilitation of pipes can be accomplished with the present robots including reinstating laterals after lining, cutting or clearing debris, sealing pipe joints and/or other heretofore manual pipe-based processes.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
G05B 19/18 - Commande numérique (CN), c.à d. machines fonctionnant automatiquement, en particulier machines-outils, p.ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'u
G05B 15/00 - Systèmes commandés par un calculateur
E02F 5/10 - Dragues ou engins de terrassement à usages particuliers pour creuser des tranchées ou fossés avec des dispositions pour exécuter ou assembler des conduites ou pour poser des conduites ou des câbles
Methods and tools for cleaning pipes or pipe networks based on characteristics of pipes and debris in the pipes. A mobile platform includes a cleaning head and a sensor head. The platform implements a cleaning plan and senses characteristics of the pipe and debris. The cleaning plan is incrementally updated based on the sensed characteristics, and can be automatically updated using software. Many different cleaning tasks can be accomplished using the present platforms including agitation of sediment, pulverization of large debris, and movement of debris to facilitate removal.
B08B 9/04 - Nettoyage de conduites ou de tubes ou des systèmes de conduites ou de tubes Élimination des bouchons utilisant des dispositifs de nettoyage introduits dans et déplacés le long des tubes
58.
Device for pipe inspection and method of using same
A device. The device 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.
Systems, methods and devices for the remote control of a robot which incorporates interchangeable tool heads. Although applicable to many different industries, the core structure of the system includes a robot with a tool head interface for mechanically, electrically and operatively interconnecting a plurality of interchangeable tool heads to perform various work functions. The robot and tool head may include several levels of digital feedback (local, remote and wide area) depending on the application. The systems include a single umbilical cord to send power, air, and communications signals between the robot and a remote computer. Additionally, all communication (including video) is preferably sent in a digital format. Finally, a GUI running on the remote computer automatically queries and identifies all of the various devices on the network and automatically configures its user options to parallel the installed devices. Systems according to the preferred embodiments find particular application in the pipeline arts. For example, interchangeable tool heads may be designed to facilitate inspection, debris clearing, cleaning, relining, lateral cutting after relining, mapping, and various other common pipeline-related tasks.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
60.
DEVICE FOR PIPE INSPECTION AND METHOD OF USING SAME
A device. The device 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.
Methods and apparatuses for inspecting manholes or other voids and collecting data in a comprehensive, repeatable, and measurable manner. A sensor head is suspended and lowered into a manhole or other void. The sensor head collects data related to the condition of the manhole or void walls, and locations of defects, damage, or lateral pipe openings. The data can then be processed to provide a three-dimensional model of the manhole or void, and can be compared to previous or future data.
G01N 21/00 - Recherche ou analyse des matériaux par l'utilisation de moyens optiques, c. à d. en utilisant des ondes submillimétriques, de la lumière infrarouge, visible ou ultraviolette
Methods and apparatuses for inspecting manholes or other voids and collecting data in a comprehensive, repeatable, and measurable manner. A sensor head is suspended and lowered into a manhole or other void. The sensor head collects data related to the condition of the manhole or void walls, and locations of defects, damage, or lateral pipe openings. The data can then be processed to provide a three-dimensional model of the manhole or void, and can be compared to previous or future data.
G01N 21/00 - Recherche ou analyse des matériaux par l'utilisation de moyens optiques, c. à d. en utilisant des ondes submillimétriques, de la lumière infrarouge, visible ou ultraviolette
39 - Services de transport, emballage et entreposage; organisation de voyages
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Robotic system comprised of a hydraulically powered robot with on-board sensors and a computer that controls the operation of the robot and sensors, used for conducting pipeline inspections Inventory management in the field of public infrastructure Electronic storage of data about the physical integrity of public infrastructure using sensor-based systems to facilitate maintenance of public infrastructure Collecting and reproducing data about the physical integrity of public infrastructure using sensor-based systems to facilitate maintenance of public infrastructure
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Robotic system comprised of a hydraulically powered robot with on-board sensors and a computer that controls the operation of the robot and sensors, used for conducting pipeline inspections Pipeline inspection services
65.
Spatio-temporal and context-based indexing and representation of subterranean networks and means for doing the same
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.
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.
H04L 12/28 - Réseaux de données à commutation caractérisés par la configuration des liaisons, p.ex. réseaux locaux [LAN Local Area Networks] ou réseaux étendus [WAN Wide Area Networks]
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.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
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.
F16L 55/48 - Indication de la position du hérisson ou du chariot dans le tuyau ou dans la conduite
F16L 55/26 - Hérissons ou chariots, c.à d. dispositifs pouvant se déplacer dans un tuyau ou dans une conduite et portant ou non un moyen de propulsion autonome
G01N 21/954 - Inspection de la surface intérieure de corps creux, p.ex. d'alésages
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.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
70.
Network architecture for remote robot with interchangeable tools
Systems, methods and devices for the remote control of a robot which incorporates interchangeable tool heads. Although applicable to many different industries, the core structure of the system includes a robot with a tool head interface for mechanically, electrically and operatively interconnecting a plurality of interchangeable tool heads to perform various work functions. The robot and tool head may include several levels of digital feedback (local, remote and wide area) depending on the application. The systems include a single umbilical cord to send power, air, and communications signals between the robot and a remote computer. Additionally, all communication (including video) is preferably sent in a digital format. Finally, a GUI running on the remote computer automatically queries and identifies all of the various devices on the network and automatically configures its user options to parallel the installed devices. Systems according to the preferred embodiments find particular application in the pipeline arts. For example, interchangeable tool heads may be designed to facilitate inspection, debris clearing, cleaning, relining, lateral cutting after relining, mapping, and various other common pipeline-related tasks.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
09 - Appareils et instruments scientifiques et électriques
Produits et services
Robotic machines for use in inspection, repair, and rehabilitation of water and wastewater pipes, sanitary and storm sewers, water mains, industrial chemical pipes, gas pipes, and tanks PC-based systems for controlling machines and software for use in robotic systems for use in inspection, repair and rehabilitation of water and wastewater pipes, sanitary and storm sewers, water mains, industrial chemical pipes, gas pipes, and tanks
