The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 13, 2022
Filed:
Jan. 13, 2022
Applicant:
Square Robot, Inc., Boston, MA (US);
Inventor:
Jerome Vaganay, Norwell, MA (US);
Assignee:
Square Robot, Inc, Boston, MA (US);
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G01C 21/16 (2006.01); G01C 21/20 (2006.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); G05D 1/06 (2006.01); G05D 1/10 (2006.01);
U.S. Cl.
CPC ...
G01C 21/165 (2013.01); G01C 21/20 (2013.01); G05D 1/0088 (2013.01); G05D 1/027 (2013.01); G05D 1/0255 (2013.01); G05D 1/0272 (2013.01); G05D 1/0692 (2013.01); G05D 1/10 (2013.01); G05D 2201/0207 (2013.01);
Abstract
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.