Manhole modeler using a plurality of scanners to monitor the conduit walls and exterior

• US 8,467,049 B2
• Filed: 09/17/2007
• Issued: 06/18/2013
• Est. Priority Date: 09/15/2006
• Status: Active Grant

• Current Assignee: RedZone Robotics, Inc.
• Original Assignee: RedZone Robotics, Inc.
• Inventors: Thayer, Scott M., Slifko, Adam, Vallapuzha, Subramanian, Close, Eric C.
• Primary Examiner(s): Chowdhury, Tarifur
• Assistant Examiner(s): Lapage, Michael P
• Application Number:
  US11/856,698
• Publication Number:
  US 20080068601A1
• Time in Patent Office: 2,101 Days
• Field of Search: 3562411-2416, 356/614, 356/625, 25055921-55922, 738/658
• US Class Current: 356/241.5
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01N 2021/9544 with emitter and receiver on the probe
• CPC Class Codes: G01N 2021/9548 Scanning the interior of a cylinder
• CPC Class Codes: G01N 21/954 Inspecting the inner surface of hollow bodies, e.g. bores

Abstract

Methods and apparatuses for inspecting manholes or other voids and collecting data in a comprehensive, repeatable, and measurable manner. A sensor head is suspended and lowered into a manhole or other void. The sensor head collects data related to the condition of the manhole or void walls, and locations of defects, damage, or lateral pipe openings. The data can then be processed to provide a three-dimensional model of the manhole or void, and can be compared to previous or future data.

Claims

1. A method for inspecting a conduit, the method comprising the steps of:

associating a sensor head with a delivery mechanism, wherein said sensor head comprises a plurality of scanners;

positioning said sensor head within said conduit using said delivery mechanism, further wherein said delivery mechanism is adapted to allow said sensor head to be suspended in said conduit;

lowering said sensor head into said conduit;

scanning an environment within said conduit using said plurality of scanners, wherein said scanning includes collecting data regarding walls of said conduit, and

retrieving said sensor head from said conduit;

wherein said data regarding said conduit also includes information regarding materials surrounding an exterior surface of said conduit.

2. The method of claim 1, further comprising the step of collecting data regarding a position of said sensor head within said conduit.

3. The method of claim 2, wherein said data regarding said conduit and said data regarding a position of said sensor head include synchronized time stamps.

4. The method of claim 1, wherein said sensor head is functionally coupled to an anchoring mechanism, wherein said anchoring mechanism is adapted to engage said delivery mechanism to suspend said sensor head within said conduit.

5. The method of claim 1, wherein said conduit is a manhole.

6. The method of claim 1, further comprising storing said data to a data storage device.

7. The method of claim 6, wherein said sensor head includes said data storage device.

8. The method of claim 1, wherein one of said plurality of scanners is selected from the group consisting of a laser-based scanner, a sonar-based scanner, a radar-based scanner, or an image-based scanner.

9. The method of claim 8, wherein said image-based scanner is a digital camera.

10. The method of claim 1, further comprising the step of fusing said data into a three-dimensional representation of said conduit.

11. The method claim 1, wherein said lowering step includes assessing a depth that said sensor head has traversed into said conduit.

12. The method of claim 1, wherein said data regarding said conduit includes information about wall surfaces of said conduit.

13. The method of claim 12, wherein said data regarding wall surfaces of said conduit includes information about defects in said walls, damage of said walls, or lateral pipe openings.

14. The method of claim 12, wherein said data regarding said conduit also includes information about wall structures of said conduit.

15. The method of claim 12, wherein said data regarding said conduit also includes GPS coordinates of said conduit.

16. The method of claim 1, wherein said data about walls of said conduit is obtained during at least one of the following:

while said plurality of scanners are being lowered into said conduit; and

while said plurality of scanners are being retrieved from said conduit.

17. The method of claim 1, wherein said at least one sensor head detects a bottom of said conduit by determining a distance between said sensor head and a bottom interior surface of said conduit.

18. An apparatus for inspecting a conduit, comprising:

at least one scanner for obtaining data about walls of said conduit;

at least one downward looking sensor for obtaining data about a distance between said apparatus and a lower surface of said conduit;

and

a delivery mechanism adapted to receive data from a controller and adjust a depth of said apparatus within said conduit, wherein said controller is adapted to employ said data about said distance to control said depth of said apparatus within said conduit;

said apparatus further comprising at least one scanner for obtaining data about an environment surrounding an exterior surface of said conduit.

19. The apparatus of claim 18, further comprising a radial proximity scanner.

20. The apparatus of claim 18, wherein said delivery mechanism comprises a motorized cable hoist system.

21. The apparatus of claim 18, wherein said controller is located remotely from said apparatus.

22. The apparatus of claim 18, wherein at least one of said at least one scanner for obtaining data about walls of said conduit includes a laser ring generator.

23. The apparatus of claim 18, wherein at least one of said at least one scanner for obtaining data about walls of said conduit includes a fisheye lens camera.

24. The apparatus of claim 18, wherein said apparatus is an autonomous mobile robot.