초록 ▼

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 auton

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.

대표청구항 ▼

What is claimed is: 1. A method, implemented by an autonomous robot, for inspecting an interior of a sewer pipe, the method comprising:a) capturing information about the interior of the sewer pipe via at least one sensor;b) storing data representative of the captured information;c) determining a po

What is claimed is: 1. A method, implemented by an autonomous robot, for inspecting an interior of a sewer pipe, the method comprising:a) capturing information about the interior of the sewer pipe via at least one sensor;b) storing data representative of the captured information;c) determining a position of the autonomous robot in the sewer pipe;d) relating the determined position to the stored data;e) traversing through the sewer pipe, while performing steps (a)-(d), wherein traversing through the sewer pipe comprises traversing based on the captured information, and wherein at least steps (a)-(b) and (e) are performed automatically by the autonomous robot; and(f) utilizing a tether connected to the autonomous robot to determine a distance traveled by the autonomous robot.