ROBOTIC VEHICLE SYSTEMS FOR INSPECTING REMOTE LOCATIONS

• US 20140336846A1
• Filed: 06/13/2014
• Published: 11/13/2014
• Est. Priority Date: 03/31/2011
• Status: Active Grant

• Current Assignee: Tobor Technology LLC
• Original Assignee: Tobor Technology LLC
• Inventors: SLAWINSKI, Michael D., GUTHRIE, Dennis L.
• Granted Patent: US 9,010,465 B2
• Time in Patent Office: Days
• US Class Current: 701/2
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: B60L 15/40 Adaptation of control equipment on vehicle for remote actuation from a stationary place devices along the route for controlling devices on rail vehicles B61L3/00; central rail-traffic control systems B61L27/00
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2240/622 by satellite navigation
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B62D 55/00 Endless track vehicles steering aspects B62D11/00; characterised by the driver not being seated B62D51/007
• CPC Class Codes: B62D 55/075 Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfacesmagnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00
• CPC Class Codes: B62D 55/10 Bogies; Frames track-tensioning means B62D55/30
• CPC Class Codes: B62D 55/24 of continuously flexible type, e.g. rubber belts
• CPC Class Codes: E04D 13/00 Special arrangements or devices in connection with roof coverings; Protection against birds; Roof drainage ; Sky-lights ventilation tiles E04D1/30; ventilation slabs E04D3/40; internal channels E04F17/00
• CPC Class Codes: Y02P 90/60 Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility
• CPC Class Codes: Y02T 90/16 Information or communication technologies improving the operation of electric vehicles
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

Devices, systems, and methods for inspecting and objectively analyzing the condition of a roof are presented. A vehicle adapted for traversing and inspecting an irregular terrain includes a chassis having a bottom surface that defines a higher ground clearance at an intermediate location, thereby keeping the center of mass low when crossing roof peaks. In another embodiment, the drive tracks include a partially collapsible treads made of resilient foam. A system for inspecting a roof includes a lift system and a remote computer for analyzing data. Vehicles and systems may gather and analyze data, and generate revenue by providing data, analysis, and reports for a fee to interested parties.

Claims

1. A vehicle comprising:

a chassis supported above a terrain by a pair of substantially continuous tracks near opposing left and right sides of said chassis, each of said tracks engaged with at least one driven sprocket and at least one free sprocket, wherein said chassis has a front end and a rear end with a longitudinal axis extending therebetween, and an upper deck and a generally opposing bottom surface, wherein said bottom surface defines a first clearance near said ends and a second clearance along a substantially transverse axis extending between said sides and located intermediate said ends;

a motive system supported by said chassis and operative to propel said vehicle, wherein said motive system comprises said pair of tracks, at least one motor connected to and operative to propel said vehicle by engaging one or more of said at least one driven sprockets, and a partially collapsible tread attached along each of said pair of tracks, wherein said partially collapsible tread and said second clearance cooperate to substantially prevent overturning of said vehicle;

a power system supported by said chassis and providing energy to power said vehicle;

an imaging system supported by said chassis and comprising a video control system, a video camera lens assembly spaced apart from and above said chassis, and a wireless router for transmitting video to a remote console;

a sensor system supported by said chassis and comprising one or more positional sensors and a plurality of range sensors; and

a control system supported by said chassis and electrically connected to said motive system, said power system, said imaging system, and said sensor system, wherein said control system comprises one or more microcontrollers dedicated to monitoring said sensor system, processing said video, activating said motive system, and receiving signals from said remote console, wherein said remote console comprises user interface controls and a wireless transmitter.

2. The vehicle of claim 1, wherein said control system further comprises a guidance routine that, in cooperation with said imaging system and said sensor system, directs the motion of said vehicle in an autonomous mode across said terrain, and wherein said guidance routine comprises instructions to direct said vehicle:

(a) to move forward from a starting location until said sensor system indicates a hazard or boundary;

(b) to turn said vehicle away from said hazard or boundary; and

(c) to autonomously survey said terrain by repeating steps (a) and (b) until said vehicle returns to an ending location near said starting location.

3. The vehicle of claim 1, wherein said second clearance is substantially greater than said first clearance when said chassis is positioned on a substantially planar surface.

4. The vehicle of claim 1, wherein said user interface controls comprise one or more devices selected from the group consisting of a push button, a switch, and a joystick.

5. The vehicle of claim 1, wherein said imaging system further comprises a data storage system for storing said video.

6. The vehicle of claim 1, wherein said motive system further comprises a selectively releasable adhesive layer between said partially collapsible tread and each of said tracks.

7. The vehicle of claim 1, wherein said one or more positional sensors comprises one or more of a compass, a three-axis gyroscope, a GPS module, and a shaft encoder.

8. The vehicle of claim 1, wherein said plurality of range sensors comprises a plurality of ultrasonic range detectors.