Structural assessment, maintenance, and repair apparatuses and methods

• US 9,193,402 B2
• Filed: 11/26/2013
• Issued: 11/24/2015
• Est. Priority Date: 11/26/2013
• Status: Expired due to Fees

• Current Assignee: Elwha LLC (Intellectual Ventures LLC)
• Original Assignee: Elwha LLC (Intellectual Ventures LLC)
• Inventors: Chin, Hon Wah, Duncan, William D., Hyde, Roderick A., Kare, Jordin T., Pan, Tony S., Tuckerman, David B., Wood, Lowell L. Jr.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): MOYER, DALE S
• Application Number:
  US14/090,725
• Publication Number:
  US 20150148949A1
• Time in Patent Office: 728 Days
• US Class Current: 1/1
• CPC Class Codes: A47L 11/4083 Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: B05D 1/02 performed by spraying
• CPC Class Codes: B08B 1/165 Scrapers
• CPC Class Codes: B24C 1/086 Descaling; Removing coating films
• CPC Class Codes: B25J 13/006 by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B62D 57/024 specially adapted for moving on inclined or vertical surfaces endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02
• CPC Class Codes: B63B 59/10 using trolleys or the like driven along the surface
• CPC Class Codes: B63G 2008/005 remotely controlled
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

Systems for cleaning a structure via a robot are described. The robot includes a body. The robot further includes a tool coupled to the body and configured to hold a structural maintenance tool. The robot includes a sensor coupled to the body. The robot includes a drive system configured to allow positioning of the body along the structure, including inverted positioning and vertical positioning. The robot further includes a communication interface coupled to the body. The robot includes a controller coupled to the body. The controller is in communication with the tool, the sensor, and the drive system. The controller is configured to receive an operating instruction through the communication interface. The controller is configured to autonomously position the body via the drive system and to perform a task with at least one of the tool and the sensor according to the operating instruction.

Claims

1. A robot configured to rove and maintain a structure, the robot comprising:

a body;

a tool arm coupled to the body, the tool arm having a tool connector coupled to an end of the tool arm, the tool connector configured to removably receive a tool from a plurality of tools, the plurality of tools including a structural maintenance tool and a painting tool;

a sensor coupled to the body;

a drive system configured to allow positioning of the body along the structure, including inverted positioning and vertical positioning;

a wireless transceiver coupled to the body; and

a controller coupled to the body;

wherein the controller is in communication with the tool, the sensor, and the drive system;

wherein the controller is configured to;

receive an operating instruction via the wireless transceiver;

autonomously position the body via the drive system,

identify a location of the structure where a treatment is needed via the sensor,

treat the location of the structure with the structural maintenance tool, and

repaint the location of the structure with the painting tool after treating the location of the structure according to the operating instruction; and

wherein the drive system includes an adhesive dispenser configured to dispense an adhesive between a component of the drive system and the structure.

2. The robot of claim 1, wherein the drive system includes a plurality of wheels.

3. The robot of claim 2, wherein each wheel includes a gripping element configured to create an attraction force between the wheel and a surface of the structure.

4. The robot of claim 3, wherein the gripping element is at least one of a dry adhesive, a suction device, an electromagnet, and an electrostatic adhesion device.

5. The robot of claim 1, wherein the drive system includes a gripping element configured to create an attraction force between the drive system and a surface of the structure.

6. The robot of claim 5, wherein the gripping element is at least one of a dry adhesive, a suction device, an electromagnet, an electrostatic adhesion device, and a glue dispenser.

7. The robot of claim 1, wherein the drive system includes a suction device.

8. The robot of claim 1, wherein the drive system includes an electromagnetic gripping element.

9. A robot configured to rove and maintain a structure, the robot comprising:

a body;

a tool arm coupled to the body, the tool arm having a tool connector coupled to an end of the tool arm, the tool connector configured to removably receive a tool from a plurality of tools, the plurality of tools including a structural maintenance tool and a painting tool;

a sensor coupled to the body;

an underwater drive system;

a gripping element coupled to the body configured to create an attraction force between the body and a surface of the structure;

a transceiver coupled to the body; and

a controller coupled to the body;

wherein the controller is in communication with the tool arm, the sensor, and the underwater drive system;

wherein the controller is configured to;

receive an operating instruction through the transceiver,

autonomously position the body via the underwater drive system,

identify a location of the structure where a treatment is needed via the sensor;

treat the location of the structure with the structural maintenance tool, and

apply an anti-corrosion paint to the location of the structure with the painting tool after treating the location of the structure according to the operating instruction.

10. The robot of claim 9, further comprising a ballast coupled to the body.

11. The robot of claim 9, wherein the underwater drive system includes a propeller.

12. The robot of claim 9, wherein the underwater drive system includes a water jet.

13. The robot of claim 9, further comprising a drive system configured to allow positioning of the body along the structure, including inverted positioning and vertical positioning.

14. The robot of claim 9, wherein the transceiver is configured for acoustic communication.

15. The robot of claim 9, wherein the transceiver is configured for optical fiber communication.

16. A robot configured to rove and maintain a structure, the robot comprising:

a body;

a tool connector coupled to the body and configured to hold a tool from a plurality of tools, the plurality of tools including a structural maintenance tool and a painting tool;

a drive system configured to allow positioning of the body along the structure, including inverted positioning and vertical positioning;

a communication interface coupled to the body; and

a controller coupled to the body;

wherein the controller is in communication with the tool and the drive system;

wherein the controller is configured to;

receive an operating instruction via the communication interface,

autonomously position the body via the drive system to a location of the structure where a treatment is needed,

treat the location of the structure with the structural maintenance tool, and

repaint the location of the structure with the painting tool after treating the location of the structure according to the operating instruction; and

wherein the drive system includes a dry adhesive.

17. The robot of claim 16, wherein the drive system includes a plurality of wheels.

18. The robot of claim 16, wherein the drive system includes a plurality of legs.

19. The robot of claim 16, wherein the drive system comprises a plurality of tracks.

20. The robot of claim 16, wherein the drive system includes a gripping element configured to create an attraction force between the drive system and a surface of the structure.

21. The robot of claim 20, wherein the gripping element is at least one of a dry adhesive, a suction device, an electromagnet, an electrostatic adhesion device, and a glue dispenser.

22. The robot of claim 16, further comprising a tool arm coupled to the body, wherein the tool connector is mounted to an end of the tool arm.

23. The robot of claim 16, wherein the dry adhesive creates an adhesive force between the body and a surface of the structure through a plurality of setae and spatulae.

24. The robot of claim 16, wherein the drive system includes a suction device.

25. The robot of claim 16, wherein the drive system includes an electromagnetic gripping element.

26. The robot of claim 16, wherein the drive system includes an adhesive dispenser configured to dispense the dry adhesive between a component of the drive system and the structure.