Autonomous inspector mobile platform

• US 20060290779A1
• Filed: 01/18/2006
• Published: 12/28/2006
• Est. Priority Date: 01/18/2005
• Status: Active Grant

• Current Assignee: RedZone Robotics, Inc.
• Original Assignee: RedZone Robotics, Inc.
• Inventors: Thayer, Scott M., Whittaker, William, Hudson, Edison, Slifko, Adam, Vallapuzha, Subramanian, Close, Eric C., Reverte, Carlos F.
• Granted Patent: US 8,024,066 B2
• Time in Patent Office: Days
• US Class Current: 348/84
• CPC Class Codes: E03F 7/10 Wheeled apparatus for emptying sewers or cesspools
• CPC Class Codes: F16L 55/32 being self-contained
• CPC Class Codes: G01S 13/881 for robotics
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control

Abstract

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.

Claims

1. A robot for inspection and surveillance of pipes, comprising:

at least one sensor onboard said robot for gathering information;

a controller for autonomously determining navigation based upon said gathered information; and

means in communication with said controller for moving the robot within the pipe response to the autonomously determined navigation.

2. The robot of claim 1, wherein said sensor is a pose sensor that gathers information about the pose of said robot within the pipe, and wherein said controller determines navigation based upon said gathered pose information.

3. The robot of claim 1, wherein said sensor is an imaging sensor that gathers information about the state of the pipe, and wherein said controller determines navigation based upon said gathered information about the state of the pipe.

4. The robot of claim 3, further comprising:

a second sensor that is a pose sensor for gathering information about the pose of said robot within the pipe, and wherein said controller determines navigation based upon both the gathered information about the state of the pipe as well as the gathered pose information.

5. The robot of claim 2, wherein said sensor is a tilt sensor.

6. The robot of claim 3, wherein said imaging sensor is a still digital camera that automatically takes pictures based on location as it moves through the pipe.

7. The robot of claim 6, further comprising:

a strobed illumination device in synchronization with the imaging sensor.

8. The robot of claim 6, wherein said imaging sensor is a wide angle lens.

9. The robot of claim 6, wherein said controller includes a software program to compress each picture as it is received by the controller.

10. The robot of claim 1, further comprising:

a tether connected between the robot and an offboard feature.

11. The robot of claim 10, wherein said tether only mechanically connects the robot to an offboard feature.

12. The robot of claim 10, wherein said tether mechanically and communicatively interconnects the robot to an offboard feature.

13. The robot of claim 12, wherein said tether also provides power to said robot from said offboard feature.

14. The robot of claim 1, further comprising:

a rechargeable battery.

15. The robot of claim 1, wherein said means for moving the robot are wheels.

16. The robot of claim 1, wherein said means for moving the robot are WHEGS.

17. A method for inspecting the interior of a pipe utilizing an autonomous inspector mobile robot including a controller and an image capture device, comprising the steps of:

loading at least one mission goal into the robot controller;

deploying the robot into the interior of said pipe;

regularly capturing image data with said image capture device;

locally storing said captured data onboard said robot; and

retrieving the robot from the interior of said pipe.

18. The method of claim 17, wherein said image capture device includes a wide angle lens, further comprising the steps of:

downloading the captured image data from the robot to an external computer;

using software to unwarp each captured image; and

electronically stitching together at least two unwarped images into a synthesized view of the interior of the pipe.

19. The method of claim 17, wherein said step of locally storing the captured image data includes the step of compressing the captured image data to a more efficient digital format before storage.

20. The method of claim 19, wherein said captured data includes both still pictures and video image data.

21. The method of claim 17, further comprising the step of:

responsive to encountering a blockage in the pipe, executing a stored recovery plan to direct the robot to a predetermined egress point.

22. The method of claim 17, further comprising the steps of:

loading at least one mission goal into a controller of a second inspection robot;

deploying the second robot into the interior of said pipe at a location adjacent to the location of the first inspection robot.

23. A method for inspecting the interior of a pipe utilizing an autonomous inspector mobile robot including a controller and an image capture device, comprising the steps of:

loading at least one mission goal into the robot controller;

deploying the robot into the interior of said pipe;

gathering pose and odometry information about the robot with respect to its orientation and position within the pipe;

navigating the robot based on said gathered pose and odometry information;

regularly capturing image data with said image capture device;

locally storing said captured data onboard said robot;

retrieving the robot from the interior of said pipe;

downloading the captured image data from the robot to an external computer;

using software to unwarp each captured image; and

electronically stitching together at least two unwarped images into a synthesized view of the interior of the pipe.