# US 11,029,257 B2 · Image processing techniques for multi-sensor inspection of pipe interiors

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 11,029,257 B2
- Document ID: US11029257B2
- Status: Granted
- Kind: B2
- Application number: 16/353,034
- Filed: 2019-03-14
- Published: 2019-09-19
- Granted: 2021-06-08
- Earliest claimed: 2018-03-15
- Assignees: RedZone Robotics, Inc.
- Applicants: RedZone Robotics, Inc.
- Inventors: Todd Kueny; Justin Starr; Foster J Salotti
- Web page: https://patentgrep.com/patent/US11029257B2

## CPC

- G01N 21/954: Inspecting the inner surface of hollow bodies, e.g. bores
- G01M 3/005: {using pigs or moles (G01M3/246, G01M3/2823 take precedence)}
- G01M 3/38: by using light (G01M3/02 takes precedence)
- G01M 5/0025: {of elongated objects, e.g. pipes, masts, towers or railways (G01M5/0058 takes precedence)}
- G01M 5/0033: {by determining damage, crack or wear}
- G01M 5/0091: {by using electromagnetic excitation or detection}
- G01N 21/8851: {Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges (G01N21/8806 and G01N21/93 - G01N21/95692 take precedence; optical measurement of dimensions G01B11/00; optical scanning G02B26/10; image transformation G06T3/00; computerised image enhancement G06T5/00; image processing per se for flaw detection G06T7/0002)}
- F16L 2101/30: Inspecting, measuring or testing
- G01N 2021/8887: {based on image processing techniques}
- G01N 2021/9544: {with emitter and receiver on the probe}
- G01N 2021/9548: {Scanning the interior of a cylinder}
- G01S 17/89: for mapping or imaging
- G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q)
- G01M: TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- F16L: PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

An embodiment provides a method, including: obtaining, from a multi-sensor pipe inspection robot that traverses through the interior of a pipe, sensor data, such as structured laser light sensor data and Light Detection and Ranging (LIDAR) sensor data, for the interior of the pipe; identifying a pipe feature using one or more of the sensor data types; selecting an image processing technique based on the pipe feature identified using a stored association between the pipe feature and an image processing technique; and forming an image of the interior of the pipe by implementing the selected image processing technique. Other embodiments are described and claimed.

## Claims

### Claim 1

A method, comprising:
obtaining, from a multi-sensor pipe inspection robot that traverses through the interior of a pipe, two or more sets of condition assessment data for the interior of the pipe collected during a single pass through the interior of the pipe;
the two or more sets of condition assessment data comprising a first data type obtained using a first sensor type and a second data type obtained using a second sensor type;
after a pipe feature has been identified using one or more of the first data type and the second data type, selecting, using a processor, an image processing technique based on the pipe feature;
wherein the selected image processing technique modifies an interpolation technique used to process one or more of the first data type and the second data type associated with the feature; and
forming, using the processor, an image of the interior of the pipe by implementing the selected image processing technique.

### Claim 2 (depends on 1)

The method of claim 1, wherein the image of the interior of the pipe is formed using the two or more sets of condition assessment data obtained from the single pass of the pipe inspection robot through the pipe interior.

### Claim 3 (depends on 1)

The method of claim 1, wherein the first data type comprises structured laser light data and the second data type comprises Light Detection and Ranging (LIDAR) data.

### Claim 4 (depends on 1)

The method of claim 1, wherein the interpolation technique comprises a statistical technique having a predetermined association with the feature.

### Claim 5 (depends on 4)

The method of claim 4, wherein the interpolation technique is selected from the group consisting of a nearest neighbor technique and a spline technique.

### Claim 6 (depends on 1)

The method of claim 1, wherein the image of the interior of the pipe comprises a three-dimensional image.

### Claim 7 (depends on 1)

The method of claim 1, wherein the selected image processing technique modifies a value of a data point of the first data type using a data point value of the second data type.

### Claim 8 (depends on 6)

The method of claim 6, wherein a modification is implemented by substituting the value of the data point of the first data type with a newly calculated value.

### Claim 9 (depends on 1)

The method of claim 1, comprising transmitting the two or more sets of condition assessment data to a remote device.

### Claim 10

A pipe inspection system, comprising:
a multi-sensor pipe inspection robot that traverses through the interior of a pipe and obtains two or more sets of condition assessment data for the interior of the pipe collected during a single pass through the interior of the pipe;
the multi-sensor pipe inspection robot comprising a first sensor type and a second sensor type;
the two or more sets of condition assessment data comprising a first data type obtained using the first sensor type and a second data type obtained using the second sensor type; and
a processor that:
after a pipe feature has been identified using one or more of the first data type and the second data type, selects an image processing technique based on a pipe feature identified;
wherein the selected image processing technique modifies an interpolation technique used to process one or more of the first data type and the second data type associated with the feature; and
forms an image of the interior of the pipe by implementing the selected image processing technique.

### Claim 11 (depends on 10)

The pipe inspection robot of claim 10, wherein the image of the interior of the pipe is formed using the two or more sets of condition assessment data obtained from the single pass of the pipe inspection robot through the pipe interior.

### Claim 12 (depends on 10)

The pipe inspection system of claim 10, wherein the first sensor type comprises a structured laser light sensor and the second sensor type comprises a Light Detection and Ranging (LIDAR) sensor.

### Claim 13 (depends on 10)

The pipe inspection system of claim 10, wherein the interpolation technique comprises a statistical technique having a predetermined association with the feature.

### Claim 14 (depends on 13)

The pipe inspection system of claim 13, wherein the interpolation technique is selected from the group consisting of a nearest neighbor technique and a spline technique.

### Claim 15 (depends on 10)

The pipe inspection system of claim 10, wherein the image of the interior of the pipe comprises a three-dimensional image.

### Claim 16 (depends on 10)

The pipe inspection system of claim 10, wherein the pipe inspection robot comprises a powered track system.

### Claim 17 (depends on 10)

The pipe inspection system of claim 10, wherein the pipe inspection robot comprises a raft platform.

### Claim 18

A method, comprising:
obtaining, from a multi-sensor pipe inspection robot that traverses through the interior of a pipe, structured laser light sensor data and Light Detection and Ranging (LIDAR) sensor data for the interior of the pipe;
identifying, using a processor, a pipe feature using one or more of the structured laser light sensor data and the LIDAR sensor data;
after a pipe feature has been identified using one or more of the first data type and the second data type, selecting, using a processor, an image processing technique based on the pipe feature identified, wherein the selecting uses a stored association between the pipe feature and an image processing technique;
wherein the selected image processing technique modifies an interpolation technique used to process one or more of the first data type and the second data type associated with the feature; and
forming, using the processor, an image of the interior of the pipe by implementing the selected image processing technique.