Modular robotic crawler

• US 8,571,711 B2
• Filed: 07/10/2008
• Issued: 10/29/2013
• Est. Priority Date: 07/10/2007
• Status: Active Grant

• Current Assignee: SARCOS LC (Sarcos Technology & Robotics Corp.)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Jacobsen, Stephen C., Olivier, Marc X.
• Primary Examiner(s): BEHNCKE, CHRISTINE M
• Application Number:
  US12/171,146
• Publication Number:
  US 20090030562A1
• Time in Patent Office: 1,937 Days
• Field of Search: 180/14.1, 180/14.7, 180/7.1, 180/8.6, 180/9.4, 180/9.46, 180/9.26, 180/9.32, 180/9.34, 180/182, 180/183, 180/184, 180/185, 180/186, 180/9, 180/9.21, 180/21, 446/69, 446/71, 446/79, 446/85, 446/94, 446/436, 446/431, 446/470, 318/568.12, 318/568.2, 700/245, 700/247, 700/249, 700/250, 901/1, 280/400, 305/15
• US Class Current: 700/247
• CPC Class Codes: B08B 9/045 the cleaning devices being rotated while moved , e.g. flexible rotating shaft or "snake"B08B9/047 takes precedence
• CPC Class Codes: B25J 9/065 Snake robots
• CPC Class Codes: B62D 57/00 Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track sledges B62B; motor sledges B62M
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members
• CPC Class Codes: B62D 57/04 having other than ground-engaging propulsion means, e.g. having propellers arrangement of jet-propulsion units B60K
• CPC Class Codes: B62D 63/00 Motor vehicles or trailers not otherwise provided for
• CPC Class Codes: G05B 2219/40234 Snake arm, flexi-digit robotic manipulator, a hand at each end
• CPC Class Codes: G05B 2219/40245 Gripper on crawling device, smaller than two cm

Abstract

A modular robotic crawler can be formed by intercoupling a selected plurality of segment modules from a preexisting collection of differing compatible segment modules. The segment modules can have at least one intercoupleable interface. The selection can be based on a planned operational scenario of functions to be performed.

Claims

1. A method of tailoring a modular robotic crawler to perform a sequence of differing functions, comprising:

selecting a plurality of segment modules from a preexisting collection of compatible segment modules providing different functionality based on a planned operational scenario of functions to be performed, the modules each having at least one intercoupleable interface, a first segment module having a first propulsion device for providing a first propulsion mode and a second segment module having a second propulsion device different from and independent of the first propulsion device for providing a second propulsion mode different from the first propulsion mode, wherein the first and second segment modules having the first and second propulsion devices, respectively, operate to cause locomotion of the robotic crawler independent of any other segment module and any other propulsion device; and

intercoupling the selected segment modules in a series arrangement to form a modular robotic crawler capable of performing the scenario of functions.

2. The method of claim 1, further comprising operating the modular robotic crawler to perform the functions.

3. The method of claim 2, further comprising intercoupling at least one additional segment module onto the modular robotic crawler while operating the modular robotic crawler.

4. The method of claim 2, further comprising decoupling at least one segment module from the modular robotic crawler while operating the modular robotic crawler.

5. The method of claim 1, further comprising:

operating the modular robotic crawler; and

switching the modular robotic crawler between a first movement mode and a second movement mode.

6. The method of claim 5 wherein the first movement mode is a gravity-effected traction mode for moving the modular robotic crawler along a gravity-based surface and the second movement mode is a self-effected traction mode for moving the modular robotic crawler along a counter-gravity-based surface.

7. A modular robotic crawler system comprising:

a plurality of segment modules linked in a sequential chain, the plurality of segment modules including at least one intermediary segment module;

the at least one intermediary segment modules having;

a segment body,

a first coupler positioned at a first end of the segment body, and

a second coupler positioned at a second end of the segment body,

wherein the first coupler and second coupler are compatible so that a plurality of intermediary segments can be sequentially coupled; and

wherein a first segment module comprises a first propulsion device for moving the modular robotic crawler, and wherein a second segment module comprises a second propulsion device different from and independent of the first propulsion device, wherein the first and second segment modules having the first and second propulsion devices, respectively, operate to cause locomotion of the robotic crawler independent of any other segment module and any other propulsion device.

8. The modular robotic crawler of claim 7, wherein at least one of the segment modules comprises a joint.

9. The modular robotic crawler of claim 7, wherein at least one of the segment modules comprises an environmental sensor.

10. The modular robotic crawler of claim 9, wherein the environmental sensor is chosen from the group consisting of a camera, a chemical sensor, a biological sensor, an optical sensor, a moisture sensor, a vibration sensor, a temperature sensor, an electromagnetic sensor, a magnetometer, a sound sensor, a force sensor, a pressure sensor, a tactile sensor, a sonar, a radar a lidar, a radioactivity sensor, a seismic sensor, a sampler, and combinations thereof.

11. The modular robotic crawler of claim 7, wherein at least one of the segment modules includes a communications module.

12. The modular robotic crawler of claim 11, wherein the communications module is chosen from the group consisting of an optical transceiver, a radio frequency transceiver, an electromagnetic wave transceiver, an acoustic transceiver, and combinations thereof.

13. The modular robotic crawler of claim 7, wherein at least one of the segment modules is a manipulator module.

14. The modular robotic crawler of claim 7, wherein the segment modules include attachment structure that can be coupled or un-coupled from other modules during operation of the modular robotic crawler.

15. The modular robotic crawler of claim 7, wherein the segment modules each include a power source.

16. The modular robotic crawler of claim 7, further comprising a power source distributed over at least two of the segment modules.

17. The modular robotic crawler of claim 7, wherein the first coupler and the second coupler each comprise compatible signal interfaces to enable communications between coupled intermediary segments.

18. The modular robotic crawler of claim 17, further comprising a control system in communications with the segment modules via the signal interfaces.

19. A modular robotic crawler system comprising:

a plurality of segment modules, the segment modules being alternatively attachable and detachable to each other at a coupler portion and intercompatible so that any segment module may be coupled to any other segment module, the plurality of segment modules, when coupled together, forming a multi-functional modular robotic crawler;

a first segment module having a first propulsion device providing at least a first propulsion mode; and

a second segment module having a second propulsion device different from and independent of the first propulsion device for providing at least a second propulsion mode different from the first propulsion mode, wherein the first and second segment modules having n the first and second propulsion devices, respectively, operate to cause locomotion of the robotic crawler independent of any other segment module and any other propulsion device.

20. The modular robotic crawler of claim 19, wherein at least one segment module provides a sensing capability.

21. The modular robotic crawler of claim 19, wherein at least one of the segment modules is a manipulator module.

22. The modular robotic crawler of claim 19, wherein at least one of the segment modules comprises at least three couplers.

23. The modular robotic crawler of claim 19, wherein the segment modules can be coupled or un-coupled from each other during operation of the modular robotic crawler.

24. The modular robotic crawler of claim 19, wherein the segment modules comprise a signal interface to enable communication between coupled segment modules.

25. The modular robotic crawler of claim 19, further comprising a control system in communications with the segment modules.