Serpentine robotic crawler

• US 9,031,698 B2
• Filed: 10/31/2012
• Issued: 05/12/2015
• Est. Priority Date: 10/31/2012
• Status: Active Grant

• Current Assignee: Edwards Limited (Atlas Copco AB), Sarcos Corp. (Sarcos Technology & Robotics Corp.)
• Original Assignee: SARCOS LC (Sarcos Technology & Robotics Corp.)
• Inventors: Smith, Fraser M.
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US13/665,669
• Publication Number:
  US 20140121835A1
• Time in Patent Office: 923 Days
• Field of Search: 700245-264, 180/9.46, 180/9.44, 180/9.4, 180/901, 280/5.2, 280/5.22, 280/138.1, 280/138.2
• US Class Current: 700/259
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B62D 55/06 with tracks without ground wheels
• CPC Class Codes: B62D 55/0655 Articulated endless track vehicles steering specially adapted for trailers B62D13/00; articulated buses B62D47/025; tractor-trailer combinations or road trains comprising a uni-axle unit and a uni-axle trailer B62D53/02
• CPC Class Codes: B62D 55/07 Mono-track vehicles

Abstract

A robotic crawler having a non-dedicated smart control system is disclosed. Such a crawler can include a first drive subsystem, a second drive subsystem, a multi-degree of freedom linkage subsystem coupling the first and second drive subsystems, and a non-dedicated, smart control device removably supported about one of the first drive subsystem, the second drive subsystem, and the linkage subsystem. The smart control device is configured to initiate and control operational functionality within the robotic crawler upon being connected to the robotic crawler. The crawler can also include a communication subsystem functionally coupled between the smart control device and the serpentine robotic crawler, the communication subsystem facilitating control by the smart control device of at least one of the first drive subsystem, the second drive subsystem, and the linkage subsystem.

Claims

1. A serpentine robotic crawler, comprising:

a first drive subsystem;

a second drive subsystem;

a multi-degree of freedom linkage subsystem coupling the first and second drive subsystems;

a non-dedicated, smart control device supported about one of the first drive subsystem, the second drive subsystem, and the linkage subsystem, the smart control device providing smart functionality to initiate and control operational functionality within the robotic crawler; and

a communication subsystem functionally coupled between the smart control device and the serpentine robotic crawler, the communication subsystem facilitating control by the smart control device of at least one of the first drive subsystem, the second drive subsystem, and the linkage subsystem.

2. The serpentine robotic crawler of claim 1, wherein the smart control device is a member selected from the group consisting of cellular devices, wireless network devices, Bluetooth devices, and combinations thereof.

3. The serpentine robotic crawler of claim 1, wherein the smart control device is a smart phone.

4. The serpentine robotic crawler of claim 1, wherein the smart control device is operable to independently control the first drive subsystem, the second drive subsystem, and the linkage subsystem.

5. The serpentine robotic crawler of claim 1, wherein the communication subsystem includes a communication medium selected from the group consisting of electrical coupling, optical coupling, wireless coupling, Bluetooth coupling, or a combination thereof.

6. The serpentine robotic crawler of claim 1, wherein the smart control device provides a functionality to the serpentine robotic crawler selected from the group consisting of wireless communication to the crawler, wireless communication external to the crawler, GPS data, accelerometer data, vibration detection, a user interface, camera and/or video functionality, audio input, audio output, sensor processing, navigation, control, or a combination thereof.

7. The serpentine robotic crawler of claim 1, wherein the smart control device further includes an integrated digital camera.

8. The serpentine robotic crawler of claim 7, further comprising a lens optically coupled to the digital camera, the lens being operable to bend a focal axis direction of the digital camera.

9. The serpentine robotic crawler of claim 8, wherein the lens is operable to rotate such that the focal axis direction of the digital camera can be rotated.

10. The serpentine robotic crawler of claim 1, wherein the smart control device is supported about one of the first drive subsystem or the second drive subsystem.

11. The serpentine robotic crawler of claim 1, further comprising at least one external data collection device coupled to the serpentine robotic crawler.

12. The serpentine robotic crawler of claim 11, wherein the at least one external data collection device is operable to interface with the smart control device via the communication subsystem.

16. A serpentine robotic crawler system, comprising:

the serpentine robotic crawler of claim 1;

a smart control communication device operable to wirelessly communicate with the smart control device of the serpentine robotic crawler.

17. The system of claim 16, wherein wirelessly communicating includes sending control instructions to the smart control device of the serpentine robotic crawler.

18. The system of claim 16, wherein wirelessly communicating includes receiving communication signals from the smart control device of the serpentine robotic crawler.

19. The system of claim 18, wherein the communication signals can include at least one of positional data, acceleration data, external sensor data, diagnostic data, video data, or audio data.

20. The system of claim 16, wherein the smart control communication device and the smart control device of the serpentine robotic crawler are operable to communicate across a cellular network.

13. A serpentine robotic crawler, comprising:

a first drive subsystem;

a second drive subsystem;

a multi-degree of freedom linkage subsystem coupling the first and second drive subsystems;

a mount supported about one of the first drive subsystem, the second drive subsystem, and the linkage subsystem, the mount being operable to accept and removably support a non-dedicated smart control device that provides smart functionality to initiate and control operational functionality within the robotic crawler; and

a communication subsystem functionally coupled between the serpentine robotic crawler and the smart control device upon being connected, the communication subsystem facilitating control by the smart control device of at least one of the first drive subsystem, the second drive subsystem, and the linkage subsystem.

14. The serpentine robotic crawler of claim 13, wherein the mount is configured to interface with a smart control device that is a member selected from the group consisting of cellular devices, wireless network devices, Bluetooth devices, and combinations thereof.

15. The serpentine robotic crawler of claim 13, wherein the mount is configured to interface with a smart phone.