Robotic modeling of voids

  • US 7,069,124 B1
  • Filed: 10/28/2003
  • Issued: 06/27/2006
  • Est. Priority Date: 10/28/2002
  • Status: Active Grant
  • ×
    • Pin Icon | RPX Insight
    • Pin
First Claim
Patent Images

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.

View all claims
  • 1 Assignment
    ×
    ×

    Thank you for your feedback

    ×
    ×