Chain-like self-moving robot and control system therefor

• US 4,621,532 A
• Filed: 05/15/1985
• Issued: 11/11/1986
• Est. Priority Date: 05/18/1984
• Status: Expired due to Fees

• Current Assignee: Hitachi, Ltd., Tokyo Gas Company Limited
• Original Assignee: Hitachi, Ltd., Tokyo Gas Company Limited
• Inventors: Takagi, Atsushi, Sato, Chikara, Izumi, Shigeru, Takahashi, Fuminobu, Sonoda, Shinji, Naitoh, Shinji
• Primary Examiner(s): NOT, DEFINED
• Application Number:
  US06/734,047
• Time in Patent Office: 545 Days
• Field of Search: 73/623, 73/637, 73/638, 73/640, 324/220
• US Class Current: 73/623
• CPC Class Codes: B08B 9/0551 Control mechanisms therefor
• CPC Class Codes: F16L 55/34 the pig or mole being moved step by step
• CPC Class Codes: G01M 3/005 using pigs or moles G01M3/246, G01M3/2823 take precedence

Abstract

A chain-like self-moving robot includes three or more capsule units connected to one another in a string by means of couplers. By expanding and contracting intercapsule spaces in a predetermined sequence so that a smaller number of the capsules are moved while a larger number of capsules remain stationary, the chain-like robot can move forwardly or backwardly.

Claims

1. A chain-like self-moving robot crawling on an object, comprising:

at least three capsule units;

coupling means for interconnecting said capsule units serially in a chain-like manner;

a plurality of expanding and contracting means each provided between said coupling means and said capsule unit and capable of being in an expanding state and a contracting state, for stretching and diminishing a space between said interconnected capsules by expanding and contracting only in a direction of movement of said robot; and

control means for controlling the expanding and contracting means in a predetermined sequence on the basis of predetermined expansion/contraction control signals, said predetermined sequence being such that a changing operation between the expanding state and contracting state is propagated through said plurality of expanding and contracting means in said direction of movement of said robot to provide a motion with less than a half of said capsule units being moved while the remaining capsule units are held stationary is repeated sequentially to move said robot as a whole.

2. A chain-like self-moving robot according to claim 1, said control means being accommodated within said capsule unit, wherein said expansion/contraction control signal is supplied to said control means accommodated within one of said capsule units, said expansion/contraction control signal supplied to said control means of said one capsule unit being subsequently transmitted to the control means of other one or more capsule units sequentially.

3. A chain-like self-moving robot according to claim 2, wherein said expansion/contraction control signal determines a time point at which expansion or contraction of said expanding and contracting means to be subsequently activated is to be started with reference to a time point at which expansion or contraction of one of said expanding and contracting means is activated.

4. A chain-like self-moving robot according to claim 3, each of said expanding and contracting means including a permanent magnet member connected to said coupling means at one end thereof, a solenoid coil located within said capsule unit, and a power supply source, wherein said permanent magnet member is disposed to move into or out of a space enclosed by said solenoid coil, and a current supply to said solenoid coil from said power supply source is controlled in response to said expansion/contraction control signal supplied from said control means for expanding or contracting a space between adjacent said capsule units.

5. A chain-like self-moving robot according to claim 4, wherein said coupling means includes a flexible member.

6. A chain-like self-moving robot according to claim 5, wherein said flexible member is composed of a coil spring.

7. A chain-like self-moving robot according to claim 6, wherein tension is applied across said coil spring by a wire for preventing said coil spring from being stretched.

8. A chain-like self-moving robot according to claim 2, each of said expanding and contracting means including a permanent magnet member connected to said coupling means at one end thereof, a solenoid coil located within said capsule unit, and a power supply source, wherein said permanent magnet member is disposed to move into or out of a space enclosed by said solenoid coil, and a current supply to said solenoid coil from said power supply source is controlled in response to said expansion/contraction control signal supplied from said control means for expanding or contracting a space between adjacent said capsule units.

9. A chain-like self-moving robot according to claim 8, wherein said coupling means includes a flexible member.

10. A chain-like self-moving robot according to claim 9, wherein said flexible member is composed of a coil spring.

11. A chain-like self-moving robot according to claim 10, wherein tension is applied across said coil spring by a wire for preventing said coil spring from being stretched.

12. A chain-like self-moving robot according to claim 1, the number of said capsule units being greater than four, wherein said expansion/contraction control signal is supplied to said control means accommodated within one of said capsule units, said expansion/contraction control signal supplied to said control means of said one capsule unit being subsequently transmitted to the control means of other one or more capsule units sequentially.

13. A chain-like self-moving robot according to claim 12, each of said expanding and contracting means including a permanent magnet member connected to said coupling means at one end thereof, a solenoid coil located within said capsule unit, and a power supply source, wherein said permanent magnet member is disposed to move into or out of a space enclosed by said solenoid coil, and a current supply to said solenoid coil from said power supply source is controlled in response to said expansion/contraction control signal supplied from said control means for expanding or contracting a space between adjacent said capsule units.

14. A chain-like self-moving robot according to claim 13, wherein said coupling means includes a flexible member.

15. A chain-like self-moving robot according to claim 14, wherein said flexible member is composed of a coil spring.

16. A chain-like self-moving robot according to claim 15, wherein tension is applied across said coil spring by a wire for preventing said coil spring from being stretched.

17. A chain-like self-moving robot according to claim 12, wherein said capsule unit is of a spherical configuration.

18. A chain-like self-moving robot according to claim 1, each of said expanding and contracting means including a permanent magnet member connected to said coupling means at one end thereof, a solenoid coil located within said capsule unit, and a power supply source, wherein said permanent magnet member is disposed to move into or out of a space enclosed by said solenoid coil, and a current supply to said solenoid coil from said power supply source is controlled in response to said expansion/contraction control signal supplied from said control means for expanding or contracting a space between adjacent said capsule units.

19. A chain-like self-moving robot according to claim 18, wherein said coupling means includes a flexible member.

20. A chain-like self-moving robot according to claim 19, wherein said flexible member is composed of a coil spring.

21. A chain-like self-moving robot according to claim 20, wherein tension is applied across said coil spring by a wire for preventing said coil spring from being stretched.

22. A control system for a chain-like self-moving robot according to claim 1, wherein said control system includes a control station for generating control commands for controlling said robot;

said capsule unit of said robot including communication means for performing communication with said control station and a control circuit for controlling movement and stoppage of said robot;

said control station further including transmitter/receiver means of said capsule unit and receiving signals from said communication means.

23. A control system according to claim 22, wherein said capsule unit of said robot further includes one or more of inspection means for inspecting interior of a pipeline, monitoring means and tool means.

24. A control system according to claim 23, wherein inspection means for inspecting the interior of a pipeline includes means for measuring wall thickness of said pipeline;

said wall thickness measuring means including a probe which is composed of a metal rod pressed against said pipeline and a transducer for applying to said metal rod ultrasonic vibration in accordance with an electric signal and detecting the ultrasonic wave reflected by said pipeline and converting the detected ultrasonic wave into an electric signal, and arithmetic means for applying said electric signal to said probe and determining the wall thickness of said pipeline on the basis of the electric signal produced by said transducer.

25. A control system according to claim 23, wherein said inspection means for inspecting the interior of a pipeline includes means for measuring wall thickness of said pipeline;

said wall thickness measuring means including a probe which is constituted by a tube pressed against said pipeline and filled with a liquid and a transducer for receiving an electric signal and applying ultrasonic vibration to said pipeline through said liquid and detecting ultrasonic wave reflected by said pipeline for converting the detected ultrasonic wave into an electric signal, and arithmetic means for applying said electric signal to said probe and determining the wall thickness of said pipeline on the basis of the electric signal produced by said transducer.

26. A control system according to claim 22, wherein said communication means and said control circuit are accommodated within one of said capsule units which is located nearest to said transmitter/receiver means of said control station.

27. A control system according to claim 22, wherein said capsule unit further includes a timekeeper and sound wave generating means for generating a sound wave in the direction toward said control station in response to indication of a predetermined time point by said timekeeper, said control station further including a timekeeper synchronised with said timekeeper of said capsule unit, detecting means for detecting said sound wave, and robot position determining means for determining the position of said robot on the basis of a time point at which said timekeeper of said station indicates the time point at which said sound wave is detected.

28. A control system according to claim 22, wherein said capsule unit further includes sound wave generating means for generating a sound wave toward said control station, and light generating means for generating light in the direction toward said control station;

said control station further including sound wave detecting means and light detecting means for detecting said sound wave and said light, respectively, and means for determining the position of said robot on the basis of difference in time between detections of said sound wave and said light.

29. A control system according to claim 22, wherein said capsule unit and said control station include respective sound wave transmitting/receiving means for transmitting respective sound waves toward each other and receiving the sound waves transmitted thereto, respectively;

said sound wave transmitting/receiving means of said capsule unit transmitting the sound wave to said control station in response to reception of the sound wave transmitted from said control station;

said control station including means for determining the position of said robot on the basis of difference between a time point at which the sound wave transmitted from said sound wave transmitting/receiving means of said capsule unit is received and a time point at which the sound wave is transmitted toward said capsule unit.

30. A control system according to claim 22, wherein said communication means of said capsule unit is composed of either a light transceiver or a sound wave transceiver while said transmitter/receiver means of said control station is composed of either a light transceiver or a sound wave transceiver so that wireless communication is performed between said robot and said control station.

31. A method of moving a chain-like self-moving robot composed of at least three capsule units and coupling means for interconnecting said capsule units, comprising steps of:

leaving at least more than a half of said capsule units in stationary state while moving the remaining number of said capsule units by selectively expanding and contracting inter-capsule spaces in a direction of movement of the robot without substantially changing the lateral dimensions of the inter-capsule spaces, wherein the capsule units to be moved are sequentially changed over to thereby move said robot as a whole.

32. A method of moving a chain-like self-moving robot according to claim 31, wherein expansion and contraction of said inter-capsule spaces are performed in dependence on a space expanding/contracting signal which is supplied to one of said capsule units and subsequently transmitted to another one or more of said capsule units sequentially.

33. A method of moving a chain-like self-moving robot according to claim 32, wherein expansion and contraction of the inter-capsule space are effected under electromagnetic induction of a permanent magnet attached to said coupling means and a solenoid coil installed in said capsule unit.

34. A method of moving a chain-like self-moving robot according to claim 33, wherein said capsule unit equipped with said solenoid coil further includes control means for controlling the expansion and contraction of said inter-capsule space;

said control signal for controlling the expansion and contraction of said inter-capsule space is supplied to said control means of one of said capsule units, said signal being subsequently transmitted sequentially to the control means of the capsule unit distanced from said one capsule unit by a few capsule units and so on for effecting the inter-capsule space expanding and contracting operation.

35. A method of moving a chain-like self-moving robot according to claim 33 adopted for conducting examination of a pipeline, wherein said capsule unit includes examining means for examining the interior of said pipeline, said robot being moved within said pipeline for examination of said pipeline.

36. A method of moving a chain-like self-moving robot according to claim 35, wherein a part of said coupling means is constituted by a flexible member so that said robot can move through a curved portion of said pipeline.

37. A method of moving a chain-like self-moving robot according to claim 31, wherein moving operation of said capsule units is performed in a manner in which a time point of the capsule unit to be next moved is determined with reference to a time point at which one of the capsule units is moved.