Automatic self-centering duct robot

• US 20080012310A1
• Filed: 06/30/2007
• Published: 01/17/2008
• Est. Priority Date: 07/01/2006
• Status: Abandoned Application

• Current Assignee: Bernt Askildsen, Lance Weaver
• Original Assignee: Bernt Askildsen, Lance Weaver
• Inventors: Askildsen, Bernt, Weaver, Lance
• Application Number:
  US11/823,929
• Publication Number:
  US 20080012310A1
• Time in Patent Office: Days
• US Class Current: 285/288.1
• CPC Class Codes: B08B 9/049 having self-contained propelling means for moving the cleaning devices along the pipes , i.e. self-propelled
• CPC Class Codes: B25J 13/086 Proximity sensors
• CPC Class Codes: B25J 13/089 Determining the position of the robot with reference to its environment
• CPC Class Codes: B25J 19/021 Optical sensing devices
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: F16L 2101/12 Cleaning
• CPC Class Codes: F16L 2101/16 Coating by application of fluent materials, e.g. painting
• CPC Class Codes: F16L 2101/30 Inspecting, measuring or testing
• CPC Class Codes: F16L 55/32 being self-contained
• CPC Class Codes: F24F 2221/22 Cleaning ducts or apparatus
• CPC Class Codes: G05B 2219/45233 Repairing pipelines, tubes

Abstract

Embodiments of an automatic self-centering duct robot are disclosed which may be used as a tool platform for cleaning and maintenance of HVAC conduits and ducts. The robot includes sensors and a control system such that it is self-centering and automatically moves along the centerline of a conduit or duct.

Claims

1. An automatic self-centering robot intended to operate within a defined enclosed space such as a conduit or duct having a consistent cross section with forward describing movement in one direction through the defined enclosed space and movement in the other direction being described as rearward comprising:

(1) a platform with at least three attached rotatable wheels upon which the platform may move through the defined enclosed space;

(2) two controllable motors each having the capability of turning any two of the wheels in either direction and at variable speeds such that said platform may be moved within the defined enclosed space in any direction by controlling the speed and direction of rotation of the two controllable motors;

(3) at least two lateral distance sensors affixed to said platform and directed toward the sidewalls of the defined enclosed space such that, using data from the lateral distance sensors, the position of said platform relative to the sidewalls may continuously determined; and

(4) a microcontroller capable of determining the distance between said platform and the sidewalls using data from the lateral distance sensors and capable of controlling said two controllable motors such that said platform may be moved through the defined enclosed space in any direction and with any specified distance between either of the sidewalls and said platform;

whereby the automatic self-centering robot may be moved through a defined enclosed space such as a duct or conduit either forward or rearward in a predetermined path such as along the centerline of the defined enclosed space or along a path offset from the centerline.

2. The automatic self-centering robot of claim 1 in which a height sensor is affixed to said platform such that the height of the defined enclosed space may be determined.

3. The automatic self-centering robot of claim 1 in which the microcontroller may be programmed to move said platform automatically through the defined enclosed space, either forward or rearward, along any predetermined path.

4. The automatic self-centering robot of claim 1 in which an operator may use feedback from said microcontroller and control said controllable motors to manually move said platform through the defined enclosed space.

5. The automatic self-centering robot of claim 2 in which the microcontroller may be programmed to move said platform automatically through the defined enclosed space, either forward or rearward, along any predetermined path.

6. The automatic self-centering robot of claim 2 in which an operator may use feedback from said microcontroller and control said controllable motors to manually move said platform through the defined enclosed space.

7. An automatic self-centering robot intended to operate within a defined enclosed space such as a conduit or duct having a consistent cross section with forward describing movement in one direction through the defined enclosed space and movement in the other direction being described as rearward comprising:

(1) a platform with two rotatable belts upon which the platform may move through the defined enclosed space;

(2) two controllable motors each having the capability of turning one of the rotatable belts in either direction and at variable speeds such that said platform may be moved within the defined enclosed space in any direction by controlling the speed and direction of rotation of the two controllable motors;

(3) at least two lateral distance sensors affixed to said platform and directed toward the sidewalls of the defined enclosed space such that, using data from the lateral distance sensors, the position of said platform relative to the sidewalls may continuously determined; and

(4) a microcontroller capable of determining the distance between said platform and the sidewalls using data from the lateral distance sensors and capable of controlling said two controllable motors such that said platform may be moved through the defined enclosed space in any direction and with any specified distance between either of the sidewalls and said platform;

whereby the automatic self-centering robot may be moved through a defined enclosed space such as a duct or conduit either forward or rearward in a predetermined path such as along the centerline of the defined enclosed space or along a path offset from the centerline.

8. The automatic self-centering robot of claim 7 in which a height sensor is affixed to said platform such that the height of the defined enclosed space may be determined.