Wall-climbing robot

• US 6,793,026 B1
• Filed: 11/27/2001
• Issued: 09/21/2004
• Est. Priority Date: 08/22/2000
• Status: Expired due to Fees

• Current Assignee: iRobot Corporation
• Original Assignee: I Robot Corporation
• Inventors: De Fazio, Thomas L.
• Primary Examiner(s): BOEHLER, ANNE MARIE M
• Application Number:
  US10/022,037
• Time in Patent Office: 1,029 Days
• Field of Search: 280/5.2, 280/5.24, 280/5.26, 280/DIG.10, 180/164, 180/8.1, 180/8.2, 180/8.3, 180/8.5, 180/8.6, 180/8.7, 180/901, 180/167, 305/1, 305/2, 305/3, 305/4, 305/5, 305/7, 446/177, 446/353, 446/431, 446/445, 446/405
• US Class Current: 180/8.3
• CPC Class Codes: A63H 11/04 Climbing figures moving up-and-down
• CPC Class Codes: A63H 17/262 Chassis; Wheel mountings; Wheels; Axles; Suspensions; Fitting body portions to chassis
• CPC Class Codes: A63H 30/04 using wireless transmission
• CPC Class Codes: Y10S 180/901 Devices for traversing vertical surfaces

Abstract

A wall-climbing robot or mobility platform able to ascend and descend various horizontal and vertical surfaces having a chassis, a rotor rotatable with respect to the chassis, one or more prominences on the rotor, and means for adhering to a surface attached to the prominences. The robot is able to make a transition from horizontal travel to vertical travel. In certain embodiments, the means for adhering to a wall is a pressure sensitive adhesive. In addition, multiple rotor configurations and radio-control are used for remote operation.

Claims

1. A wall-climbing robot comprising:

(a) a chassis, said chassis comprising a topside and an underside;

(b) a rotor attached to said chassis and rotatable with respect to the chassis, said rotor comprising a radial prominence;

(c) a foot attached to said prominence, said foot comprising means for adhering to a surface, the means for adhering comprising a pressure sensitive adhesive; and

(d) an active drive means operatively connected to said rotor.

2. The wall-climbing robot of claim 1 further comprising an element attached to the underside of said chassis, said element comprising means for adhering to a surface.

3. The wall-climbing robot of claim 1 wherein said rotor further comprises a plurality of prominences.

4. The wall-climbing robot of claim 3 wherein said prominences are substantially equispaced around the rotor.

5. The wall-climbing robot of claim 3 further comprising a plurality of feet with a foot attached to each of said plurality of prominences.

6. The wall-climbing robot of claim 3, wherein said prominences are positioned at substantially equal radii around the axis of the rotor.

7. The wall-climbing robot of claim 5, wherein said feet are positioned at substantially equal radii around the axis of the rotor.

8. The wall-climbing robot of claim 1, wherein said means for adhering comprises an adhesive of polymerizing styrene, butadiene naphthenic oil, calcium carbonate, and hydrogenated polyterpene resin.

9. The wall-climbing robot of claim 1, wherein said rotor comprises a hub, a leg connected to said hub, and a foot connected to said leg.

10. The wall-climbing robot of claim 9, wherein said robot further comprises a plurality of legs and a plurality of feet.

11. The wall-climbing robot of claim 3, wherein a maximum of two prominences on said rotor are able to contact a surface at any time.

12. The wall-climbing robot of claim 5, wherein a maximum of two feet on said rotor are able to contact a surface at any time.

13. The wall-climbing robot of claim 1 further comprising a means for the remote control of said active drive means.

14. The wall-climbing robot of claim 1 wherein a foot contacts a surface over less than half of a revolution of the rotor.

15. A wall-climbing robot comprising:

(a) a chassis;

(b) a first rotor attached to said chassis and rotatable with respect to the chassis, said first rotor comprising a first radial prominence;

(c) a second rotor attached to said chassis and rotatable with respect to the chassis, said second rotor comprising a second radial prominence;

(d) a first foot attached to said first radial prominence, said first foot comprising means for adhering to a surface, the means for adhering comprising a pressure sensitive adhesive, and a second foot attached to said second radial prominence, said second foot comprising means for adhering to a surface, the means for adhering comprising a pressure sensitive adhesive; and

(e) an active drive means operatively connected to said first rotor and to said second rotor.

16. The wall-climbing robot of claim 15, wherein said means for adhering comprises an adhesive of polymerizing styrene, butadiene naphthenic oil, calcium carbonate, and hydrogenated polyterpene resin.

17. The wall-climbing robot of claim 15, wherein said first rotor comprises a first plurality of prominences and a first plurality of feet attached to said first plurality of prominences, and said second rotor comprises a second plurality of prominences and a second plurality of feet attached to said second prominences.

18. A method of using the wall-climbing robot of claim 17, wherein no fewer than one foot on each of said first rotor and said second rotor contacts a surface at any time.

19. The wall-climbing robot of claim 17, wherein at least two feet of said first plurality of feet are able to contact a surface during a least a small arc of a revolution of said first rotor.

20. The wall-climbing robot of claim 19, wherein no more than two feet of the first plurality of feet contact a surface at any time.

21. The wall-climbing robot of claim 15 further comprising a means for the remote control of said active drive means.

22. The wall-climbing robot of claim 15 further comprising a means for the remote control of said active drive means.

23. The wall-climbing robot of claim 17, wherein said first plurality of prominences are equispaced around said first rotor.

24. The wall-climbing robot of claim 23 wherein said first plurality of feet are positioned at substantially equal radii around the axis of the first rotor.

25. The wall-climbing robot of claim 15 further comprising an axle attached to said chassis, wherein said first rotor is attached proximate to an end of said axle.

26. The wall-climbing robot of claim 25 wherein said second rotor is attached proximate to an end of said axle.

27. The wall-climbing robot of claim 15 further comprising a skid mounted to said chassis able to contact a surface.

28. The wall-climbing robot of claim 15 further comprising a roller connected to said chassis able to contact a surface.

29. The wall-climbing robot of claim 27, wherein said skid is substantially remote from said first rotor.

30. The wall-climbing robot of claim 28, wherein said roller is substantially remote from said first rotor.

31. A wall-climbing robot comprising:

(a) a chassis;

(b) a first rotor attached to said chassis and rotatable with respect to the chassis, said first rotor comprising a first radial prominence;

(c) a second rotor attached to said chassis and rotatable with respect to the chassis, said second rotor comprising a second radial prominence;

(d) a first foot attached to said first radial prominence, said first foot comprising means for adhering to a surface, the means for adhering comprising a pressure sensitive adhesive, and a second foot attached to said second radial prominence, said second foot comprising means for adhering to a surface, the means for adhering comprising a pressure sensitive adhesive; and

(e) a first active drive means operatively connected to said first rotor, and a second active drive means operatively connected to said second rotor.

32. The wall-climbing robot of claim 31, wherein said means for adhering comprises an adhesive of polymerizing styrene, butadiene naphthenic oil, calcium carbonate, and hydrogenated polyterpene resin.

33. The wall-climbing robot of claim 31, wherein said first rotor comprises a first plurality of prominences and a first plurality of feet attached to said first plurality of prominences, and said second rotor comprises a second plurality of prominences and a second plurality of feet attached to said second prominences.

34. A method of using the wall-climbing robot of claim 33, wherein no fewer than one foot on each of said first rotor and said second rotor contacts a surface at any time.

35. The wall-climbing robot of claim 33, wherein at least two feet of said first plurality of feet are able to contact a surface during a least a small arc of a revolution of said first rotor.

36. The wall-climbing robot of claim 35, wherein no more than two feet of the first plurality of feet contact a surface at any time.

37. The wall-climbing robot of claim 31 further comprising a means for the remote control of said active drive means.

38. The wall-climbing robot of claim 31 further comprising a means for the remote control of said active drive means.

39. The wall-climbing robot of claim 33, wherein said first plurality of prominences are equispaced around said first rotor.

40. The wall-climbing robot of claim 39 wherein said first plurality of feet are positioned at substantially equal radii around the axis of the first rotor.

41. The wall-climbing robot of claim 31 further comprising an axle attached to said chassis, wherein said first rotor is attached proximate to an end of said axle.

42. The wall-climbing robot of claim 41 wherein said second rotor is attached proximate to an end of said axle.

43. The wall-climbing robot of claim 31 further comprising a skid mounted to said chassis able to contact a surface.

44. The wall-climbing robot of claim 31 further comprising a roller connected to said chassis able to contact a surface.

45. The wall-climbing robot of claim 43, wherein said skid is substantially remote from said first rotor.

46. The wall-climbing robot of claim 44, wherein said roller is substantially remote from said first rotor.