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1. 发明申请

WO2006078873A3 AUTONOMOUS INSPECTOR MOBILE PLATFORM 审中-公开
标题翻译：自动检测机动平台
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
申请人： REDZONE ROBOTICS INC
发明人： REVERTE CARLOS , THAYER SCOTT M , WHITTAKER WILLIAM , CLOSE ERIC C , SLIFKO ADAM , HUDSON EDISON T , VALLAPUZHA SUBRAMANIAN
IPC分类号： G06F19/00
CPC分类号： H04N7/185 , E03F7/10 , F16L55/32
摘要： 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.
摘要翻译：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。

2. 发明申请

WO2006078873A9 AUTONOMOUS INSPECTOR MOBILE PLATFORM 审中-公开
标题翻译：自动检测机动平台
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
申请人： REDZONE ROBOTICS INC
发明人： REVERTE CARLOS , THAYER SCOTT M , WHITTAKER WILLIAM , CLOSE ERIC C , SLIFKO ADAM , HUDSON EDISON T , VALLAPUZHA SUBRAMANIAN
CPC分类号： H04N7/185 , E03F7/10 , F16L55/32
摘要： 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.
摘要翻译：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。

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