Robotic modeling of voids
US7069124B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 28, 2003 |
| Grant date | Jun 27, 2006 |
| Priority date | — |
| Expiry date | Jan 31, 2024 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0272
- WIPO fieldControl
- WIPO sectorInstruments
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 safeguar…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.