Submersible robotically operable vehicle system for infrastructure maintenance and inspection

• US 8,805,579 B2
• Filed: 02/19/2011
• Issued: 08/12/2014
• Est. Priority Date: 02/19/2011
• Status: Expired due to Fees

• Current Assignee: Richard Arthur Skrinde
• Original Assignee: Richard Arthur Skrinde
• Inventors: Skrinde, Richard Arthur
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US12/932,171
• Publication Number:
  US 20120215348A1
• Time in Patent Office: 1,270 Days
• Field of Search: 700/245, 700/246, 700/250, 700/253, 901/1, 901/40, 901/50, 901/30, 901/41, 318/568.11, 318/591, 318/590, 318/576, 318/17, 318/568.1, 318/568.17, 318/568.19, 318/568.23, 152/46, 134/18, 134/56.R, 134/57.R, 483/8, 483/10
• US Class Current: 700/245
• CPC Class Codes: B08B 9/049 having self-contained propelling means for moving the cleaning devices along the pipes , i.e. self-propelled
• CPC Class Codes: B25J 11/008 Manipulators for service tasks
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: B25J 3/00 Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: B25J 9/1661 characterised by task planning, object-oriented languages
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: F16L 2101/12 Cleaning
• CPC Class Codes: F16L 55/32 being self-contained
• CPC Class Codes: Y10S 901/05 Machine driven lead through

Abstract

A configurable robotic apparatus and system is disclosed that is remotely operable in difficult, hazardous, subterranean, or submerged environs. The apparatus merges diverse disciplines to effect inspecting, cleaning, treating, repairing or otherwise maintaining a wide variety of materials and conditions. Deployment environments include power, municipal water and wastewater plants, surface and submerged infrastructures (pipes, lines, conduits), and like industrial applications. Extensible and articulating modules, configurable through standardized and interchangeable connectors, provide unique flexibility, scalability and versatility to accommodate a wide range of shapes, surfaces, and obstacles. In-module intelligence and instrumentation eliminates the need for constant manual control through autonomous operation capable of simultaneous optimization and synchronization of multiple work processes, but manual override and remote control is provided to overcome unanticipated limitations. Benefits include improved efficiency, cost, and safety over prior art. High-performance, one-pass operation reduces facility downtime while incorporating environmentally responsible debris recovery.

Claims

1. A system, comprising:

a first apparatus for inspecting, cleaning, and maintaining a work surface, including;

a set of interchangeable modules including a frame module and at least one of a first shoulder module, a first articulation module, and a first hand module;

a respective module control unit for embedding intelligence being disposed in each of said interchangeable modules;

each of said interchangeable modules having a proximal end, a center, and a distal end;

each of said module control units being configured to send and receive signals from each of said interchangeable modules;

each of said module control units creating a respective signal identifying at least one of an identity of said interchangeable module, a configuration of said interchangeable module, a status of said interchangeable module, a functional capability of said interchangeable module, a module connection of said interchangeable module, and a module resource requirement of said interchangeable module;

said frame module being terminated at said proximal end by a first universal connector, and terminated at said distal end by a second universal connector;

said frame module having a master module control unit for aggregating and distributing signals among said set of interchangeable modules, said master module control unit being configured to detect and monitor the identity of each of said interchangeable modules, the configuration of each of said interchangeable modules, the status of each of said interchangeable module, the functional capability of each of said interchangeable modules, the module connection of each of said interchangeable modules, and the module resource requirement of each of said interchangeable modules;

said master module control unit being configured to transmit and receive motion and function coordination signals to each of said interchangeable modules;

said master module control unit being connected to a bus for conveyance of signals;

said frame module further having a power distribution unit and power conduit connected to said power distribution unit for distributing power among said interchangeable modules;

said shoulder module having a first universal connector at said proximal end and a second universal connector at said distal end;

said articulation module having a first universal connector at said proximal end and further having a second universal connector at said distal end, said articulation module being configured to be at least one of extendable, rotatable, articulateable about multiple axes, and to brace another of said plurality of interchangeable modules; and

said hand module having a first universal connector at said proximal end and further having a second universal connector at said distal end;

a second apparatus for inspecting, cleaning, and maintaining a work surface, including;

a set of interchangeable modules including a frame module and at least one of a first shoulder module, a first articulation module, and a first hand module;

a respective module control unit for embedding intelligence being disposed in each of said interchangeable modules;

each of said interchangeable modules having a proximal end, a center, and a distal end;

each of said module control units being configured to send and receive signals from each of said interchangeable modules;

each of said module control units creating a respective signal identifying at least one of an identity of said interchangeable module, a configuration of said interchangeable module, a status of said interchangeable module, a functional capability of said interchangeable module, a module connection of said interchangeable module, and a module resource requirement of said interchangeable module;

said frame module being terminated at said proximal end by a first universal connector, and terminated at said distal end by a second universal connector;

said frame module having a master module control unit for aggregating and distributing signals among said set of interchangeable modules, said master module control unit being configured to detect and monitor the identity of each of said interchangeable modules, the configuration of each of said interchangeable modules, the status of each of said interchangeable module, the functional capability of each of said interchangeable modules, the module connection of each of said interchangeable modules, and the module resource requirement of each of said interchangeable modules;

said master module control unit being configured to transmit and receive motion and function coordination signals to each of said interchangeable modules;

said master module control unit being connected to a bus for conveyance of signals;

said frame module further having a power distribution unit and power conduit connected to said power distribution unit for distributing power among said interchangeable modules;

said shoulder module having a first universal connector at said proximal end and a second universal connector at said distal end;

said articulation module having a first universal connector at said proximal end and further having a second universal connector at said distal end, said articulation module being configured to be at least one of extendable, rotatable, articulateable about multiple axes, and to brace another of said plurality of interchangeable modules; and

said hand module having a first universal connector at said proximal end and further having a second universal connector at said distal end; and

a remote control connected to a master module control unit of said first apparatus and a master module control unit of said second apparatus and including a computer for controlling, monitoring, and coordinating said first apparatus and said second apparatus simultaneously.

2. The system according to claim 1, wherein:

each of said modules includes a respective sensor;

each of said modules includes a respective actuator;

whenever said apparatus is under remote control, said computer of said remote control is configured to register and acquire data from said sensors in each of said apparatus;

said computer of said remote control detects, registers, and controls said actuators in each of said apparatus;

said computer of said remote control develops plans and responses to data about the surface and an environment, said plans including positioning and orientation commands;

said computer of said remote control transmitting signals for navigating the apparatus and respective modules in response to the positioning and orientation commands;

said computer of said remote control includes a detection unit that detects and controls position and orientation of the apparatus and said modules;

said computer of said remote control includes a coordination unit that coordinates and controls said apparatus for debris removal, recovery, and reclamation;

said computer of said remote control designs, stores, retrieves, and executes solution patterns, control templates, and work processes; and

said computer of said remote control includes a human-operable interface for design and operation of the apparatus.

3. The system according to claim 2, wherein said human operable interface integrates, into an overlaid output, a combination of sensor data, simulation of apparatus movement, and previously recorded data.

4. The system according to claim 1, wherein:

each of said modules includes a respective sensor;

each of said modules includes an actuator;

whenever said apparatus is under autonomous control, said master module control unit is configured to register and acquire data from said sensors in each of said apparatus;

said master module control unit detects, registers, and controls said actuators in each of said apparatus;

said master module control unit develops plans and responses to data about the surface and the environment, said plans including positioning and orientation commands;

said master module control unit transmits signals for navigating the apparatus and respective modules in response to the positioning and orientation commands;

said master module control unit includes a detection unit that detects and controls position and orientation of the apparatus and said modules;

said master module control unit includes a coordination unit that coordinates and controls said apparatus for debris removal, recovery, and reclamation;

said master module control unit designs, stores, retrieves, and executes solution patterns, control templates, and work processes; and

said master module control unit includes a human-operable interface for design and operation of the apparatus.

5. An apparatus for inspecting, cleaning, and maintaining a work surface, comprising:

a set of interchangeable modules including a frame module and at least one of a first shoulder module, a first articulation module, and a first hand module;

a respective module control unit for embedding intelligence being disposed in each of said interchangeable modules;

each of said interchangeable modules having a proximal end, a center, and a distal end;

each of said module control units being configured to send and receive signals from each of said interchangeable modules;

each of said module control units creating a respective signal identifying at least one of an identity of said interchangeable module, a configuration of said interchangeable module, a status of said interchangeable module, a functional capability of said interchangeable module, a module connection of said interchangeable module, and a module resource requirement of said interchangeable module;

said frame module being terminated at said proximal end by a first universal connector, and terminated at said distal end by a second universal connector;

said frame module having a master module control unit for aggregating and distributing signals among said set of interchangeable modules, said master module control unit being configured to detect and monitor the identity of each of said interchangeable modules, the configuration of each of said interchangeable modules, the status of each of said interchangeable module, the functional capability of each of said interchangeable modules, the module connection of each of said interchangeable modules, and the module resource requirement of each of said interchangeable modules;

said master module control unit being configured to transmit and receive motion and function coordination signals to each of said interchangeable modules;

said master module control unit being connected to a bus for conveyance of signals;

said frame module further having a power distribution unit and power conduit connected to said power distribution unit for distributing power among said interchangeable modules;

said shoulder module having a first universal connector at said proximal end and a second universal connector at said distal end;

said articulation module having a first universal connector at said proximal end and further having a second universal connector at said distal end, said articulation module being configured to be at least one of extendable, rotatable, articulateable about multiple axes, and to brace another of said plurality of interchangeable modules; and

said hand module having a first universal connector at said proximal end and further having a second universal connector at said distal end,

wherein said frame module further comprises;

an on-board processor;

a sensor;

a distribution element;

a navigation element;

a fail-safe element; and

an environmentally-protected, frame enclosing said bus, said on-board processor,

said sensor, said distribution element, said navigation element, and said fail-safe element;

a proximal multi-axis joint assembly connecting said proximal universal connector to said proximal end of the frame module; and

a distal multi-axis joint assembly connecting said distal universal connector to said distal end of said frame module.

6. An apparatus according to claim 5, further comprising a fail-safe unit within said frame module, said fail-safe unit including:

a back-up battery bank for powering emergency procedures when an external power source fails; and

on-board memory, a processor, and a program, said program implementing an automated operation of a pre-programmed, situation-specific task matching last signal inputs stored and received before when said umbilical failed to provide power.

7. An apparatus for inspecting, cleaning, and maintaining a work surface, comprising:

a set of interchangeable modules including a frame module and at least one of a first shoulder module, a first articulation module, and a first hand module;

a respective module control unit for embedding intelligence being disposed in each of said interchangeable modules;

each of said interchangeable modules having a proximal end, a center, and a distal end;

each of said module control units being configured to send and receive signals from each of said interchangeable modules;

each of said module control units creating a respective signal identifying at least one of an identity of said interchangeable module, a configuration of said interchangeable module, a status of said interchangeable module, a functional capability of said interchangeable module, a module connection of said interchangeable module, and a module resource requirement of said interchangeable module;

said frame module being terminated at said proximal end by a first universal connector, and terminated at said distal end by a second universal connector;

said frame module having a master module control unit for aggregating and distributing signals among said set of interchangeable modules, said master module control unit being configured to detect and monitor the identity of each of said interchangeable modules, the configuration of each of said interchangeable modules, the status of each of said interchangeable module, the functional capability of each of said interchangeable modules, the module connection of each of said interchangeable modules, and the module resource requirement of each of said interchangeable modules;

said master module control unit being configured to transmit and receive motion and function coordination signals to each of said interchangeable modules;

said master module control unit being connected to a bus for conveyance of signals;

said frame module further having a power distribution unit and power conduit connected to said power distribution unit for distributing power among said interchangeable modules;

said shoulder module having a first universal connector at said proximal end and a second universal connector at said distal end;

said articulation module having a first universal connector at said proximal end and further having a second universal connector at said distal end, said articulation module being configured to be at least one of extendable, rotatable, articulateable about multiple axes, and to brace another of said plurality of interchangeable modules; and

said hand module having a first universal connector at said proximal end and further having a second universal connector at said distal end,

wherein said shoulder module has a central shaft and further comprises;

a plurality of internal sensors for positioning said shoulder module;

a rotary joint assembly mounted around said central shaft and having a plurality of universal connectors;

an articulation module attached to at least one of said plurality of universal connectors; and

a bus splitter routing said bus from said central shaft and distributing said bus separately to each of said universal connectors through said rotary joint assembly.

8. An apparatus for inspecting, cleaning, and maintaining a work surface, comprising:

a set of interchangeable modules including a frame module and at least one of a first shoulder module, a first articulation module, and a first hand module;

a respective module control unit for embedding intelligence being disposed in each of said interchangeable modules;

each of said interchangeable modules having a proximal end, a center, and a distal end;

each of said module control units being configured to send and receive signals from each of said interchangeable modules;

each of said module control units creating a respective signal identifying at least one of an identity of said interchangeable module, a configuration of said interchangeable module, a status of said interchangeable module, a functional capability of said interchangeable module, a module connection of said interchangeable module, and a module resource requirement of said interchangeable module;

said frame module being terminated at said proximal end by a first universal connector, and terminated at said distal end by a second universal connector;

said frame module having a master module control unit for aggregating and distributing signals among said set of interchangeable modules, said master module control unit being configured to detect and monitor the identity of each of said interchangeable modules, the configuration of each of said interchangeable modules, the status of each of said interchangeable module, the functional capability of each of said interchangeable modules, the module connection of each of said interchangeable modules, and the module resource requirement of each of said interchangeable modules;

said master module control unit being configured to transmit and receive motion and function coordination signals to each of said interchangeable modules;

said master module control unit being connected to a bus for conveyance of signals;

said frame module further having a power distribution unit and power conduit connected to said power distribution unit for distributing power among said interchangeable modules;

said shoulder module having a first universal connector at said proximal end and a second universal connector at said distal end;

said articulation module having a first universal connector at said proximal end and further having a second universal connector at said distal end, said articulation module being configured to be at least one of extendable, rotatable, articulateable about multiple axes, and to brace another of said plurality of interchangeable modules; and

said hand module having a first universal connector at said proximal end and further having a second universal connector at said distal end, wherein said bus further comprises;

a plurality of power conductors for conveying power from said proximal to said distal end of each of said modules, each of said power conductors being insulated against environment, leakage, interference, and power loss;

each of said conductors having a standardized orientation and placement on both a proximal and a distal side of each of said universal connectors.

9. The apparatus according to claim 8, wherein at least one of said power conductors further comprises a connector transmitting at least one of hydraulic pressure, mechanical power, pneumatic pressure, and electrical power.

10. An apparatus for inspecting, cleaning, and maintaining a work surface, comprising:

a set of interchangeable modules including a frame module and at least one of a first shoulder module, a first articulation module, and a first hand module;

a respective module control unit for embedding intelligence being disposed in each of said interchangeable modules;

each of said interchangeable modules having a proximal end, a center, and a distal end;

each of said module control units being configured to send and receive signals from each of said interchangeable modules;

each of said module control units creatin a respective signal identifying in at least one of an identity of said interchangeable module, a configuration of said interchangeable module, a status of said interchangeable module, a functional capability of said interchangeable module, a module connection of said interchangeable module, and a module resource requirement of said interchangeable module;

said frame module being terminated at said proximal end by a first universal connector, and terminated at said distal end by a second universal connector;

said frame module having a master module control unit for aggregating and distributing signals among said set of interchangeable modules, said master module control unit being configured to detect and monitor the identity of each of said interchangeable modules, the configuration of each of said interchangeable modules, the status of each of said interchangeable module, the functional capability of each of said interchangeable modules, the module connection of each of said interchangeable modules, and the module resource requirement of each of said interchangeable modules;

said master module control unit being configured to transmit and receive motion and function coordination signals to each of said interchangeable modules;

said master module control unit being connected to a bus for conveyance of signals;

said frame module further having a power distribution unit and power conduit connected to said power distribution unit for distributing power among said interchangeable modules;

said shoulder module having a first universal connector at said proximal end and a second universal connector at said distal end;

said articulation module having a first universal connector at said proximal end and further having a second universal connector at said distal end, said articulation module being configured to be at least one of extendable, rotatable, articulateable about multiple axes, and to brace another of said plurality of interchangeable modules; and

said hand module having a first universal connector at said proximal end and further having a second universal connector at said distal end, wherein;

two of said modules each have a universal connector, each of said universal connectors having a respective mating surface, and said two modules being directly connected by said mating surface of each of said universal connectors;

wherein said bus terminates in each of said universal connectors;

a standardized placement mates ends of said bus when said universal connectors are connected and provides continuity of said bus across said two modules;

a shielding layer surrounds said bus; and

an outer surface surrounds said shielding layer, said outer surface being configured for mechanical interaction with an interior rotational and orientation positioner.

11. An apparatus for inspecting, cleaning, and maintaining a work surface, comprising:

a set of interchangeable modules including a frame module and at least one of a first shoulder module, a first articulation module, and a first hand module;

a respective module control unit for embedding intelligence being disposed in each of said interchangeable modules;

each of said interchangeable modules having a proximal end, a center, and a distal end;

each of said module control units being configured to send and receive signals from each of said interchangeable modules;

each of said module control units creating a respective signal identifying at least one of an identity of said interchangeable module, a configuration of said interchangeable module, a status of said interchangeable module, a functional capability of said interchangeable module, a module connection of said interchangeable module, and a module resource requirement of said interchangeable module;

said frame module being terminated at said proximal end by a first universal connector, and terminated at said distal end by a second universal connector;

said frame module having a master module control unit for aggregating and distributing signals among said set of interchangeable modules, said master module control unit being configured to detect and monitor the identity of each of said interchangeable modules, the configuration of each of said interchangeable modules, the status of each of said interchangeable module, the functional capability of each of said interchangeable modules, the module connection of each of said interchangeable modules, and the module resource requirement of each of said interchangeable modules;

said master module control unit being configured to transmit and receive motion and function coordination signals to each of said interchangeable modules;

said master module control unit being connected to a bus for conveyance of signals;

said frame module further having a power distribution unit and power conduit connected to said power distribution unit for distributing power among said interchangeable modules;

said shoulder module having a first universal connector at said proximal end and a second universal connector at said distal end;

said articulation module having a first universal connector at said proximal end and further having a second universal connector at said distal end, said articulation module being configured to be at least one of extendable rotatable articulateable about multiple axes, and to brace another of said plurality of interchangeable modules; and

said hand module having a first universal connector at said proximal end and further having a second universal connector at said distal end,

further comprising a tool having a universal connector for connecting to another universal connector, said tool being selected from the group consisting of a propulsion tool for propelling said apparatus, a debris removal tool for removing material from the work surface, a debris recovery tool for recovering debris from the work surface, and an inspection tool for sensing an environment surrounding the apparatus, wherein;

a first of said universal connectors of said frame module is connected directly to a first of said universal connectors of said shoulder module;

a second of said universal connectors of said shoulder module is connected directly to a first of said universal connectors of said articulation module;

a second of said universal connectors of said articulation module is connected directly to a first of said universal connectors of said hand module; and

said universal connector of said tool being connected directly to said second universal connector of said articulation module.