Robotic modeling of voids
First Claim
1. A method for mapping an interior surface of a subterranean void, comprising the steps of:
- inserting an autonomous void mapping robot at least partially into an interior portion of the subterranean void;
capturing local range data describing the interior surface of the subterranean void at a position proximate to said void mapping robot;
incorporating said captured local range data into a full data map of the interior surface of said subterranean void;
moving said void mapping robot to a second local position within the subterranean void, the route to said second position calculated by the autonomous void mapping robot based on an analysis of the full map data including the captured local range data;
capturing second local range data describing the interior surface of the subterranean void at a position proximate to said void mapping robot; and
incorporating said captured second local range data into the full data map.
1 Assignment
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Accused Products
Abstract
Robotic systems for modeling, mapping and exploring subterranean void spaces such as mines, caves, tunnels, bunkers, and conduits. Robotic modeling of subterranean voids is generally enabled by a procedural system consisting of preprocessing, ingress, void modeling, mapping and navigation, exploration, conveying payloads other than void modeling sensors, egress, and post processing. The robots can either be imposed mobility or can be self mobile with either autonomous, remote, teleoperated, or manual modes of operation. The robot may optionally transform from a compact size into a more conventional operating size if the operating size exceeds the void entry opening size. Void geometries with flat floors are amenable to robot locomotion such as rolling, crawling, walking or swimming. Alternatively, irregular floor geometries that preclude self mobilization may be accessible by imposed mobilization such as dropping or pushing a movable robotic sensor into such voids. The robotic device is preferably adaptable to voids filled with a gas or liquid. To maximize mapping applicability, the robot optionally includes sensing, locomotion and environmental tolerance to submersion and safeguarding, according to use criteria.
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Citations
21 Claims
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1. A method for mapping an interior surface of a subterranean void, comprising the steps of:
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inserting an autonomous void mapping robot at least partially into an interior portion of the subterranean void; capturing local range data describing the interior surface of the subterranean void at a position proximate to said void mapping robot; incorporating said captured local range data into a full data map of the interior surface of said subterranean void; moving said void mapping robot to a second local position within the subterranean void, the route to said second position calculated by the autonomous void mapping robot based on an analysis of the full map data including the captured local range data; capturing second local range data describing the interior surface of the subterranean void at a position proximate to said void mapping robot; and incorporating said captured second local range data into the full data map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 21)
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14. A method for mapping interior surfaces of a void, comprising the steps of:
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storing existing data about the interior surfaces of the void; ingressing an autonomous void mapping robot into said void; determining a mode of exploration based on said existing data; determining an initial mobility plan based on said existing data and said mode of exploration; modeling at least a local area of said interior surfaces of the void proximate the void mapping robot using two dimensional range finding scans; utilizing additional sensors to gather environmental information about the interior of the void not related to navigation; autonomously updating said mobility plan on board the void mapping robot based on the model of said local area; and egressing the void mapping robot out of said void.
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15. A robot for mapping the internal surface of a void, comprising:
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means for moving the robot within the void; range data collection means for collecting local mapping data about the void by determining the distance from a point in the internal surface of the void to the robot; means for incorporating said local mapping data into an overall void map on board said robot; and means on board said robot for utilizing said local mapping data to calculate movement of the robot through the void by the means for moving the robot. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification