Mobile Inspection Robot

• US 20130231779A1
• Filed: 02/13/2013
• Published: 09/05/2013
• Est. Priority Date: 03/01/2012
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Purkayastha, Indrajit, Tirozzi, Michael John, Smith, Jason R., Monti, Kimberly Susanne
• Granted Patent: US 9,463,574 B2
• Time in Patent Office: Days
• US Class Current: 700/259
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/45066 Inspection robot
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: H02B 3/00 Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear

Abstract

A mobile inspection robot that includes a robot body and a drive system supporting the robot body and configured to maneuver the robot over a work surface. A controller communicates with the drive system and a sensor system. The controller executes a control system that includes a control arbitration system and a behavior system in communication with each other. The behavior system executes an inspection behavior, the inspection behavior influencing execution of commands by the control arbitration system based on sensor signals received from the sensor system to identify and inspect electrical equipment.

Claims

1. A mobile inspection robot comprising:

a robot body;

a drive system supporting the robot body and configured to maneuver the robot over a work surface;

a controller in communication with the drive system and executing a control system; and

a sensor system in communication with the controller;

wherein the control system comprises a control arbitration system and a behavior system in communication with each other, the behavior system executing an inspection behavior, the inspection behavior influencing execution of commands by the control arbitration system based on sensor signals received from the sensor system to identify and inspect electrical equipment.

2. The mobile robot of claim 1, wherein the inspection behavior causes the robot to identify a navigation reference using the sensor system and maneuver relative to the navigation reference.

3. The mobile robot of claim 2, wherein the navigation reference comprises a visual fiducial.

4. The mobile robot of claim 2, wherein the inspection behavior causes the robot to identify the electrical equipment using the navigation reference and execute an environmental scan on the identified electrical equipment.

5. The mobile robot of claim 1, wherein the inspection behavior causes the robot to:

identify at least one of a circuit breaker, a contractor, a motor control center, a fuse, a switch, a relay, a capacitor bank, an inverter, a battery bank; and

obtain an image thereof using a camera of the sensor system.

6. The mobile robot of claim 5, wherein the image comprises an infrared image.

7. The mobile robot of claim 1, wherein the inspection behavior causes the robot to:

identify at least one of a circuit breaker, a contactor, a motor control center, a fuse, a switch, a relay, a capacitor bank, an inverter, a battery bank; and

obtain an ultrasound measurement thereof using an ultrasound sensor of the sensor system.

8. The mobile robot of claim 1, further comprising:

an articulated arm having a pivot end pivotally coupled to the robot body and a distal end;

a racking actuator disposed on the distal end of the arm;

wherein the inspection behavior causes the robot to identify a circuit breaker using the sensor system, engage the identified circuit breaker with the racking actuator, and move the circuit break between a racked position and unracked position.

9. The mobile robot of claim 8, wherein the racking actuator engages and turns a lead screw of the circuit breaker.

10. The mobile robot of claim 1, wherein the inspection behavior causes the robot to identify an actuator of a circuit breaker and actuate the circuit breaker actuator using an articulated manipulator arm disposed on the robot body and in communication with the controller.

11. The mobile robot of claim 10, wherein the circuit breaker actuator comprises a lever, the robot moving the manipulator arm and a gripper disposed on the manipulator arm to grasp and rotate the lever between open and closed positions.

12. The mobile robot of claim 10, wherein the circuit breaker actuator comprises a button, the robot moving the manipulator arm to toggle the button.

13. The mobile robot of claim 1, wherein the inspection behavior causes the robot to identify a switchgear panel and open the switchgear panel using an articulated manipulator arm disposed on the robot body and in communication with the controller.

14. The mobile robot of claim 1, wherein the inspection behavior causes the robot to:

identify a navigation reference using the sensor system;

maneuver to a scanning location using the navigation reference; and

obtain at least one sensor reading using the sensor system of at least one target at the scanning location.

15. The mobile robot of claim 14, wherein the at least one the sensor reading comprises at least one of an infrared image, a visual image, temperature, or humidity.

16. The mobile robot of claim 14, wherein the inspection behavior causes the robot to associate collected sensor data with the scanning location.

17. The mobile robot of claim 16, wherein the inspection behavior causes the robot to store in memory the collected sensor data.

18. The mobile robot of claim 1, wherein the drive system comprises:

right and left driven tracks, each track trained about a corresponding front wheel rotatable about a front wheel axis defined by the robot body; and

right and left elongated flippers disposed on corresponding sides of the robot body and operable to pivot about the front wheel axis of the robot body, each flipper having a driven track trained about its perimeter.

19. The mobile robot of claim 1, wherein the drive system comprises holonomically driven wheels.

20. A method of operating a mobile robot, the method comprising:

driving the robot according to a drive command;

maneuvering the robot adjacent electrical equipment; and

obtaining a local sensory perception of the electrical equipment using a sensor system of the robot.

21. The method of claim 20, further comprising identifying a navigation reference and maneuvering relative to the navigation reference.

22. The method of claim 21, wherein the navigation reference comprises a visual fiducial.

23. The method of claim 21, further comprising identifying the electrical equipment using the navigation reference and executing an environmental scan on the identified electrical equipment.

24. The method of claim 20, further comprising receiving the drive command from a remote operator control unit in communication with the robot.

25. The method of claim 20, further comprising receiving the drive command from a control system issuing drive commands based on the obtained local sensory perception.

26. The method of claim 20, further comprising capturing at least one image of the electrical equipment using a camera of the robot sensor system.

27. The method of claim 26, wherein the at least one image comprises an infrared image.

28. The method of claim 20, further comprising obtaining at least one ultrasound measurement of the electrical equipment using an ultrasound sensor of the robot sensor system.

29. The method of claim 20, further comprising obtaining at least one temperature measurement.

30. The method of claim 20, further comprising obtaining at least one humidity measurement.

31. The method of claim 20, further comprising:

identifying a switchgear panel in the local sensory perception; and

opening the switchgear panel using an articulated manipulator arm disposed on the robot.

32. The method of claim 20, further comprising:

identifying a circuit breaker in the local sensory perception;

engaging the identified circuit breaker with a racking actuator of the robot, and

moving the circuit break between a racked position and unracked position using the racking actuator.

33. The method of claim 20, further comprising:

identifying an actuator of a circuit breaker in the local sensory perception;

and actuating the circuit breaker actuator using an articulated manipulator arm disposed on the robot.

34. The method of claim 33, wherein the circuit breaker actuator comprises a lever, the method further comprising commanding movement of the manipulator arm and a gripper disposed on the manipulator arm to grasp and rotate the lever between open and closed positions.

35. The method of claim 33, wherein the circuit breaker actuator comprises a button, the method further comprising commanding movement of the manipulator arm to toggle the button.

36. The method of claim 20, further comprising communicating sensor data of the sensor system to a remote computing device.

37. The method of claim 36, wherein the remote computing device comprises a cloud computing service.

38. The method of claim 20, further comprising identifying a navigation reference and maneuvering with respect to the navigation reference to a scan location.

39. The method of claim 38, further comprising obtaining sensor data from the sensor system for at least one target at the scan location.

40. The method of claim 39, further comprising associating collected sensor data with at least one of the respective target or the scanning location.

41. The method of claim 39, further comprising moving a scanner payload proximate each target before obtaining the sensor data.

42. A mobile inspection robot comprising:

a robot body;

a drive system supporting the robot body and configured to maneuver the robot over a work surface;

a controller in communication with the drive system;

a mast disposed on the robot body and arranged substantially vertical with respect to the work surface;

at least one scanner payload disposed on the mast and monitoring environmental parameters about the robot.

43. The mobile inspection robot of claim 42, wherein the control system comprises a control arbitration system and a behavior system in communication with each other, the behavior system executing an inspection behavior, the inspection behavior influencing execution of commands by the control arbitration system based on sensor signals received from the scanner payload to identify and inspect electrical equipment.

44. The mobile inspection robot of claim 42, wherein the mast has an extendible length, the controller causing the mast to move between a deployed position and a stowed position.

45. The mobile inspection robot of claim 44, wherein the controller moves the mast to the deployed position during a data collection mode and the stowed position during a rapid travel mode.

46. The mobile inspection robot of claim 42, wherein each scanner payload comprises at least one of a temperature sensor, a humidity sensor, a visual camera, or an infrared camera.

47. The mobile inspection robot of claim 42, wherein the at least one scanner payload comprises a camera capable of panning and tilting with respect to the mast.

48. The mobile inspection robot of claim 42, wherein the at least one scanner payload is arranged at a height above the work surface of between about 0.5 ft. and about 8.5 ft.

49. The mobile inspection robot of claim 42, further comprising a first scanner payload disposed near a distal end of the mast and a second scanner payload disposed near a proximal end of the mast.

50. The mobile inspection robot of claim 49, further comprising a third scanner payload disposed on the mast between the first and second scanner payloads.

51. The mobile inspection robot of claim 42, further comprising multiple scanner payloads arranged along the mast in about 2 ft. increments.

52. A method of monitoring environmental parameters, the method comprising:

receiving sensor data from a mobile inspection robot;

processing the received sensor data on a computing processor;

electronically displaying a model of an environment about the robot; and

electronically displaying the processed sensor data.

53. The method of claim 52, wherein the sensor data comprising at least one of temperature, humidity, air flow, or an image.

54. The method of claim 52, wherein the model comprises a three-dimensional model and the processed sensor data is displayed as an augmented overlay on the model.

55. The method of claim 52, wherein the model comprises a picture and the processed sensor data is displayed as an augmented overlay on the picture.

56. The method of claim 52, wherein the model comprises a robot generated map of the environment and the processed sensor data is displayed as an augmented overlay on the map.

57. The method of claim 52, further comprising displaying data collection locations on the model, the data collection locations comprising drive locations of the robot.

58. The method of claim 57, further comprising displaying one or more targets on the model for each data collection location, each target having a different height with respect to the work surface.

59. The method of claim 58, further comprising displaying sensor data associated with the one or more targets of a data collection location upon receiving a selection event corresponding to that data collection location.

60. The method of claim 58, further comprising displaying sensor data associated with a target upon receiving a selection event corresponding to that target.