Structural assessment, maintenance, and repair apparatuses and methods

• US 9,751,207 B2
• Filed: 11/02/2015
• Issued: 09/05/2017
• 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, Jr., Lowell L.
• Primary Examiner(s): MOYER, DALE S
• Application Number:
  US14/930,305
• Publication Number:
  US 20160052126A1
• Time in Patent Office: 673 Days
• 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 system for maintaining a structure, comprising:

a first robot, the first robot including a first robot body, a first robot tool arm coupled to the first robot body, a first robot sensor coupled to the first robot body, a first robot drive system configured to allow positioning of the first robot along the structure, including inverted positioning and vertical positioning, a first robot transceiver coupled to the first robot body, and a first robot controller coupled to the first robot body;

a second robot, the second robot including a second robot body, a second robot drive system configured to allow positioning of the second robot along the structure, a second robot transceiver coupled to the second robot body, and a second robot controller coupled to the second robot body; and

a base station in communication with at least one of the first robot via the first robot transceiver or the second robot via the second robot transceiver;

wherein the first robot is configured to autonomously perform a maintenance task on the structure;

wherein the second robot is configured to autonomously provide a support service to the first robot during the maintenance task; and

wherein the first robot is configured to electronically communicate with the second robot.

2. The system of claim 1, wherein the second robot further includes a second robot tool arm coupled to the second robot body.

3. The system of claim 1, wherein the second robot drive system is configured to allow inverted positioning and vertical positioning of the second robot.

4. The system of claim 1, wherein the base station is configured to send signals to the second robot via the first robot.

5. The system of claim 1, wherein the second robot is configured to send signals to the base station via the first robot.

6. The system of claim 1, wherein the second robot includes a storage compartment housing a supply necessary for completion of the maintenance task.

7. The system of claim 6, wherein the supply is a tool.

8. The system of claim 7, wherein the second robot is configured to mount the tool on a first tool arm of the first robot.

9. The system of claim 6, wherein the supply is a consumable fluid.

10. The system of claim 9, wherein the consumable fluid is paint or cleaner.

11. The system of claim 1, wherein the first robot and the second robot are coupled to each other via an optical fiber.

12. The system of claim 1, wherein the second robot includes a supplemental power source and a charging port.

13. The system of claim 12, wherein the second robot is configured to provide a charge to a power source of the first robot through the charging port.

14. The system of claim 1, wherein the support service includes locating an area of the structure to be repaired, and the maintenance task is repairing the area of the structure.