IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
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출원번호 |
US-0143227
(2013-12-30)
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등록번호 |
US-8789631
(2014-07-29)
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발명자
/ 주소 |
- Slawinski, Michael D.
- Guthrie, Dennis L.
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출원인 / 주소 |
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대리인 / 주소 |
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인용정보 |
피인용 횟수 :
0 인용 특허 :
7 |
초록
▼
Devices, systems, and methods for inspecting and objectively analyzing the condition of a roof are presented. A vehicle adapted for traversing and inspecting an irregular terrain includes a chassis having a bottom surface that defines a higher ground clearance at an intermediate location, thereby ke
Devices, systems, and methods for inspecting and objectively analyzing the condition of a roof are presented. A vehicle adapted for traversing and inspecting an irregular terrain includes a chassis having a bottom surface that defines a higher ground clearance at an intermediate location, thereby keeping the center of mass low when crossing roof peaks. In another embodiment, the drive tracks include a partially collapsible treads made of resilient foam. A system for inspecting a roof includes a lift system and a remote computer for analyzing data. Vehicles and systems may gather and analyze data, and generate revenue by providing data, analysis, and reports for a fee to interested parties.
대표청구항
▼
1. A vehicle adapted for traversing and inspecting an irregular terrain, comprising: a chassis supported above a terrain by a pair of substantially continuous tracks near opposing left and right sides of said chassis, each of said tracks engaged with at least one driven sprocket and at least one fre
1. A vehicle adapted for traversing and inspecting an irregular terrain, comprising: a chassis supported above a terrain by a pair of substantially continuous tracks near opposing left and right sides of said chassis, each of said tracks engaged with at least one driven sprocket and at least one free sprocket, wherein said chassis has a front end and a rear end with a longitudinal axis extending therebetween, and an upper deck and a generally opposing bottom surface, wherein said bottom surface defines a first clearance near said ends and a second clearance along a substantially transverse axis extending between said sides and located intermediate said ends, wherein said second clearance is substantially greater than said first clearance when said chassis is positioned on a substantially planar surface;a motive system supported by said chassis and operative to propel said vehicle by engagement with one or more of said at least one driven sprockets, said motive system comprising said pair of tracks and at least one motor connected to and operative to propel said vehicle by engaging one or more of said at least one driven sprockets;a power system supported by said chassis and providing energy to power said vehicle;an imaging system supported by said chassis and comprising a main imaging assembly and a lens assembly;a sensor system supported by said chassis and comprising one or more positional sensors and a plurality of range sensors; anda control system supported by said chassis and electrically connected to said motive system, said power system, said imaging system, and said sensor system, wherein said control system comprises a guidance routine that, in cooperation with said imaging system and said sensor system, directs the motion of said vehicle in an autonomous mode across said terrain. 2. The vehicle of claim 1, wherein said guidance routine comprises instructions to direct said vehicle: (a) to move forward from a starting location until said sensor system indicates a hazard or boundary;(b) to turn said vehicle away from said hazard or boundary; and(c) to autonomously survey said terrain by repeating steps (a) and (b) until said vehicle returns to an ending location near said starting location. 3. The vehicle of claim 1, wherein said imaging system comprises a first camera and a second camera, and wherein said main imaging assembly receives input from said first and second cameras and synchronizes said input to produce a stereographic image. 4. The vehicle of claim 1, wherein said main imaging assembly comprises a digital video control system and said lens assembly comprises a video camera. 5. The vehicle of claim 1, wherein said lens assembly is spaced apart from and above said chassis. 6. The vehicle of claim 1, wherein said motive system further comprises a partially collapsible tread attached along each of said tracks, wherein said partially collapsible tread and said second clearance cooperate to substantially prevent overturning of said vehicle. 7. The vehicle of claim 6, wherein said motive system further comprises a selectively releasable adhesive layer between said partially collapsible tread and each of said tracks. 8. The vehicle of claim 1, wherein said one or more positional sensors comprises one or more of a compass, a three-axis gyroscope, a GPS module, and a shaft encoder. 9. The vehicle of claim 1, wherein said plurality of range sensors comprises a plurality of ultrasonic range detectors. 10. The vehicle of claim 1, wherein said control system further comprises a wireless router and a remote console having a wireless transmitter in communication with said wireless router, wherein said remote console comprises a remote computer and user interface controls for directing the motion of said vehicle in a semi-autonomous mode across said terrain. 11. A vehicle adapted for traversing and inspecting an irregular terrain, comprising: a chassis comprising a fore sub-chassis connected by one or more hinges to a rear sub-chassis, said chassis supported above a terrain by a pair of substantially continuous tracks near opposing left and right sides of said chassis, each of said tracks engaged with at least one driven sprocket and at least one free sprocket, wherein said fore sub-chassis has a front end, an first upper deck, and a generally opposing first bottom surface, said first bottom surface defining a first clearance near said front end, andwherein said one or more hinges lie along a substantially transverse axis extending between said left and right sides of said chassis and define a second clearance, wherein said second clearance is substantially greater than said first clearance when said chassis is positioned on a substantially planar surface;a motive system supported by said chassis and operative to propel said vehicle by engagement with one or more of said at least one driven sprockets, said motive system comprising said pair of tracks and at least one motor connected to and operative to propel said vehicle by engaging one or more of said at least one driven sprockets;a power system supported by said chassis and providing energy to power said vehicle;an imaging system supported by said chassis and comprising a main imaging assembly and a lens assembly;a sensor system supported by said chassis and comprising one or more positional sensors and a plurality of range sensors; anda control system supported by said chassis and electrically connected to said motive system, said power system, said imaging system, and said sensor system, wherein said control system comprises a guidance routine that, in cooperation with said imaging system and said sensor system, directs the motion of said vehicle in an autonomous mode across said terrain. 12. The vehicle of claim 11, wherein said chassis further comprises one or more limiters positioned to limit the motion of said fore sub-chassis relative to said rear sub-chassis. 13. The vehicle of claim 11, wherein said guidance routine comprises instructions to direct said vehicle: (a) to move forward from a starting location until said sensor system indicates a hazard or boundary;(b) to turn said vehicle away from said hazard or boundary; and(c) to autonomously survey said terrain by repeating steps (a) and (b) until said vehicle returns to an ending location near said starting location. 14. The vehicle of claim 11, wherein said imaging system comprises a first camera and a second camera, and wherein said main imaging assembly receives input from said first and second cameras and synchronizes said input to produce a stereographic image. 15. The vehicle of claim 11, wherein said main imaging assembly comprises a digital video control system and said lens assembly comprises a video camera. 16. The vehicle of claim 11, wherein said lens assembly is spaced apart from and above said chassis. 17. The vehicle of claim 11, wherein said motive system further comprises a partially collapsible tread attached along each of said tracks, wherein said partially collapsible tread and said one or more hinges cooperate to substantially prevent overturning of said vehicle. 18. The vehicle of claim 11, wherein said motive system further comprises a partially collapsible tread attached along each of said tracks, wherein said partially collapsible tread and said second clearance cooperate to substantially prevent overturning of said vehicle. 19. The vehicle of claim 18, wherein said motive system further comprises a selectively releasable adhesive layer between said partially collapsible tread and each of said tracks. 20. The vehicle of claim 11, wherein said one or more positional sensors comprises one or more of a compass, a three-axis gyroscope, a GPS module, and a shaft encoder. 21. The vehicle of claim 11, wherein said plurality of range sensors comprises a plurality of ultrasonic range detectors. 22. The vehicle of claim 11, wherein said control system further comprises a wireless router and a remote console having a wireless transmitter in communication with said wireless router, wherein said remote console comprises a remote computer and user interface controls for directing the motion of said vehicle in a semi-autonomous mode across said terrain.
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