MOBILE ROBOT

• US 20130140801A1
• Filed: 11/30/2012
• Published: 06/06/2013
• Est. Priority Date: 12/02/2011
• Status: Active Grant

• Current Assignee: Helical Robotics, LLC
• Original Assignee: Helical Robotics, LLC
• Inventors: Schlee, Bruce A., Schlee, Keith L.
• Granted Patent: US 9,168,786 B2
• Time in Patent Office: Days
• US Class Current: 280/762
• CPC Class Codes: B60B 2900/931 Magnetic effects
• CPC Class Codes: B60B 39/00 Increasing wheel adhesion wheels, wheel attachments or tyre attachments, designed for increasing traction B60B15/00, B60C; tyre constructions B60C; road surface conditioning to prevent slipperiness E01C
• 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: Y10S 901/01 Mobile robot

Abstract

A mobile robot configured to be widely versatile in its use. For example, the mobile robot can be configured for being used on a wide assortment of surfaces, regardless of the orientation and/or shape of the surfaces. Alternatively or in combination, the mobile robot can be configured for effective and efficient movement on the surfaces it traverses. In some cases, the mobile robot is configured with two or more component units. In some cases, the component units are configured with magnets and a control system for orientating the magnets. In some cases, one or more component couplings join the component units. In some cases, the mobile unit is configured with Mecanum wheels.

Claims

1. A mobile robot configured to be used on a ferromagnetic surface, regardless of orientation of the surface to ground or floor, the mobile robot comprising:

a framework; and

a plurality of magnets, the magnets being operably coupled to the framework and held a distance above the ferromagnetic surface yet having field strengths sufficient to hold the robot and payload thereof against the surface, the plurality of magnets including at least a first set of magnets operably coupled to outer ends of the framework, thereby keeping to a minimum one or more of (i) clearance of the framework from the ferromagnetic surface, (ii) center of gravity of the robot, and (iii) overall profile of the robot.

2. The mobile robot of claim 1 wherein the ferromagnetic surface is of an object having one or more portions angled from the ground or floor.

3. The mobile robot of claim 2 wherein the object is a wind turbine tower.

4. The mobile robot of claim 1 wherein the magnets are selectively adjustable in two or more dimensions in relation to the ferromagnetic surface.

5. The mobile robot of claim 4 wherein the magnets are selectively adjustable with regard to angle and clearance in relation to the ferromagnetic surface.

6. The mobile robot of claim 1 wherein certain of the first set of magnets are operably coupled to one end of the framework, and remainder of the first set of magnets are operably coupled to an opposing end of the framework.

7. The mobile robot of claim 6 wherein the magnets are operably coupled to the framework via orientation control structure, the orientation control structure comprising a plurality of pivot members.

8. The mobile robot of claim 7, wherein each pivot member is formed as an “

L”

bracket, wherein each “

L”

bracket has a leg segment that is pivotally adjustable to the ferromagnetic surface, and each “

L”

bracket has a base member that operably supports one of the magnets while permitting vertical adjustment of the one magnet to the ferromagnetic surface.

9. The mobile robot of claim 7, wherein each pivot member is formed as a block that is pivotally adjustable to the ferromagnetic surface, and defined with one or more vertical openings there through and plates thereon for operably supporting a same one or more of the magnets while permitting vertical adjustment of the magnets to the ferromagnetic surface.

10. The mobile robot of claim 1 wherein the framework comprises one or more pairs of component units, wherein each of the component units is an integral assembly and has a frame surrounding the assembly, and wherein the component units of each pair are operably joined in a side-by-side manner.

11. The mobile robot of claim 10 wherein the plurality of magnets includes a second set of magnets, wherein the second set of magnets is operably coupled between at least one of the component unit pairs.

12. The mobile robot of claim 10 wherein the framework comprises one pair of component units.

13. The mobile robot of claim 12 wherein certain of the magnets are operably coupled to a first component unit of the one pair and remainder of the magnets are operably coupled to a second component unit of the one pair, the magnets being on opposing sides of the first and second component units.

14. The mobile robot of claim 10 wherein the frames of the component units of the one pair are operably joined via one or more component couplings.

15. The mobile robot of claim 14 wherein the joined component units are locked in relation to each other via the component couplings.

16. The mobile robot of claim 14 wherein one or more of the component couplings comprise linkages, wherein the linkages are configured to permit the joined component units to shift in relation to each other so that contact between the robot and the ferromagnetic surface is maintained.

17. The mobile robot of claim 16 wherein the joined component units are enabled to shift in relation to each other in more than one degree of freedom.

18. The mobile robot of claim 17 wherein one of the degrees of freedom involves the joined component units being able to pivot in relation to each other.

19. A mobile robot configured to be used on a surface regardless of shape of the surface, the mobile robot comprising:

a pair of component units, wherein each of the component units is an integral assembly and has a frame surrounding the assembly, and

one or more linkages operably joining the component units in a side-by-side manner, the linkages configured to permit the joined component units to shift in relation to each other so that contact between the robot and the surface is maintained.

20. The mobile robot of claim 19 wherein the surface is of an object having one or more curved portions.

21. The mobile robot of claim 20 wherein the object is a wind turbine tower.

22. The mobile robot of claim 20 wherein the component units are each self-adapting to curvature of the surface underneath the corresponding unit.

23. The mobile robot of claim 19 wherein the one or more linkages are located external to the component units.

24. The mobile robot of claim 19 wherein the one or more linkages are operably coupled to outer sides of the component units.

25. The mobile robot of claim 19 wherein the one or more linkages are located along a midline of the robot, but are located apart from wheel axles of the robot.

26. The mobile robot of claim 19 wherein the one or more linkages are configured for at least pivoting the component units in relation to teach other.

27. The mobile robot of claim 19 wherein the surface is formed of a ferromagnetic material, wherein the robot and payload thereof is configured to be held against the surface regardless of the surface'"'"'s orientation to ground or floor.

28. The mobile robot of claim 27, further comprising a plurality of magnets, wherein the magnets are operably coupled to the component units and held a distance above the ferromagnetic surface yet having field strengths sufficient to hold the robot and payload thereof against the surface.

29. The mobile robot of claim 28, wherein the plurality of magnets includes at least a first set of magnets, and wherein certain of the first set of magnets are operably coupled to an end of one of the joined component units and remainder of the first set of magnets are operably coupled to an opposing end of the other of the joined component units.

30. The mobile robot of claim 29 wherein the magnets are selectively adjustable in two or more dimensions in relation to the ferromagnetic surface.

31. The mobile robot of claim 30 wherein the magnets are selectively adjustable with regard to angle and clearance in relation to the ferromagnetic surface.

32. The mobile robot of claim 28 wherein the magnets are operably coupled to the robot via orientation control structure, the orientation control structure comprising a plurality of pivot members.

33. The mobile robot of claim 19 wherein the joined component units are enabled to shift in relation to each other in more than one degree of freedom.

34. The mobile robot of claim 33 wherein one of the degrees of freedom involves the joined component units being able to pivot in relation to each other.

35. A mobile robot configured to be used on a surface while having capability to move to all areas on the surface in direct and expedient manner, the mobile robot comprising:

a framework configured to be held against the surface regardless of the surface'"'"'s orientation to ground or floor; and

at least four omni-directional wheels operably joined to the framework, the wheels generally positioned proximate to four separate corners of the robot, rotation of the wheels being independently controlled so that all are rotated either forward or back to accommodate movement of the robot in forward, backward, right, left, clockwise, and counterclockwise directions.

36. The mobile robot of claim 35 wherein the surface is of an object having one or more portions angled from the ground or floor.

37. The mobile robot of claim 36 wherein the object is a wind turbine tower.

38. The mobile robot of claim 35 wherein the omni-directional wheels are Mecanum wheels.

39. The mobile robot of claim 38 wherein rotation of each of the Mecanum wheels results from a master controller.

40. The mobile robot of claim 39 wherein the master controller controls individual controllers, each controlling the rotation of a corresponding one of the Mecanum wheels.

41. The mobile robot of claim 35 wherein the framework comprises one or more pairs of component units, wherein each of the component units is an integral assembly and has a frame surrounding the assembly, and wherein the component units of each pair are operably joined in a side-by-side manner.

42. The mobile robot of claim 41 wherein the surface is formed of a ferromagnetic material.

43. The mobile robot of claim 42, further comprising a plurality of magnets, wherein the magnets are operably coupled to outer ends of certain of the component units and held a distance above the ferromagnetic surface yet have field strengths sufficient to hold the robot and payload thereof against the surface.

44. The mobile robot of claim 43, wherein the plurality of magnets includes at least a first set of magnets, and wherein certain of the first set of magnets are operably coupled to one end of the framework, and remainder of the first set of magnets are operably coupled to an opposing end of the framework.

45. The mobile robot of claim 44 wherein the magnets are selectively adjustable in two or more dimensions in relation to the ferromagnetic surface.

46. The mobile robot of claim 45 wherein the magnets are selectively adjustable with regard to angle and clearance in relation to the ferromagnetic surface.

47. The mobile robot of claim 43 wherein the magnets are operably coupled to the component units via orientation control structure, the orientation control structure comprising a plurality of pivot members.

48. The mobile robot of claim 41 wherein the frames of the component units of each pair are operably joined via one or more component couplings.

49. The mobile robot of claim 48 wherein the joined component units are locked in relation to each other via the component couplings.

50. The mobile robot of claim 48 wherein one or more of the component couplings comprise linkages, wherein the linkages are configured to permit the joined component units to shift in relation to each other so that contact between the robot and the ferromagnetic surface is maintained.

51. The mobile robot of claim 50 wherein the joined component units are enabled to shift in relation to each other in more than one degree of freedom.

52. The mobile robot of claim 51 wherein one of the degrees of freedom involves the joined component units being able to pivot in relation to each other.