Some content of this application is unavailable at the moment.
If this situation persist, please contact us atFeedback&Contact
1. (WO2019005939) METHOD AND APPARATUS FOR SELF-CONTAINED POSITIONING OF A MOBILE ROBOT INSIDE A TANK
Latest bibliographic data on file with the International Bureau    Submit observation

Pub. No.: WO/2019/005939 International Application No.: PCT/US2018/039719
Publication Date: 03.01.2019 International Filing Date: 27.06.2018
IPC:
G05D 1/02 (2006.01) ,G05D 1/08 (2006.01) ,G05D 1/10 (2006.01) ,G05D 3/12 (2006.01) ,G01C 21/20 (2006.01)
G PHYSICS
05
CONTROLLING; REGULATING
D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1
Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02
Control of position or course in two dimensions
G PHYSICS
05
CONTROLLING; REGULATING
D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1
Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
08
Control of attitude, i.e. control of roll, pitch, or yaw
G PHYSICS
05
CONTROLLING; REGULATING
D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1
Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
10
Simultaneous control of position or course in three dimensions
G PHYSICS
05
CONTROLLING; REGULATING
D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
3
Control of position or direction
12
using feedback
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21
Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
20
Instruments for performing navigational calculations
Applicants:
SQUARE ROBOT, INC. [US/US]; 21 Drydock Avenue Suite 750 W. Boston, MA 02210, US
Inventors:
VAGANAY, Jerome; US
O'HALLORAN, William, F.; US
LEVITT, Eric, S.; US
Agent:
CASEIRO, Chris, A.; US
Priority Data:
62/527,12830.06.2017US
Title (EN) METHOD AND APPARATUS FOR SELF-CONTAINED POSITIONING OF A MOBILE ROBOT INSIDE A TANK
(FR) PROCÉDÉ ET APPAREIL DE POSITIONNEMENT AUTONOME D'UN ROBOT MOBILE À L'INTÉRIEUR D'UN RÉSERVOIR
Abstract:
(EN) A method and apparatus for positioning a mobile robot inside a vertical cylindrical Aboveground Storage Tank filled with a liquid is described. No additional hardware is needed other than the robot itself. The only piece of information needed is the tank's diameter which is known by construction. The robot carries proprioceptive sensors needed to propagate its position estimate as well as exteroceptive sensors needed to control the dead reckoning positional drift. Proprioceptive and exteroceptive data are merged using data fusion algorithms adapted to the sensor suite integrated in the vehicle, which can take different forms.
(FR) L'invention concerne un procédé et un appareil pour positionner un robot mobile à l'intérieur d'un réservoir de stockage au-dessus du sol cylindrique vertical rempli d'un liquide. Aucun matériel supplémentaire n'est nécessaire autre que le robot lui-même. La seule information nécessaire est le diamètre du réservoir qui est connu par la construction. Le robot transporte des capteurs proprioceptifs nécessaires pour propager son estimation de position ainsi que des capteurs extéroceptifs nécessaires pour commander la dérive de position d'estime. Des données proprioceptives et extéroceptives sont fusionnées à l'aide d'algorithmes de fusion de données adaptés à la suite de capteurs intégrée dans le véhicule, pouvant prendre différentes formes.
front page image
Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)