Mobile inspection robot

• US 9,463,574 B2
• Filed: 02/13/2013
• Issued: 10/11/2016
• Est. Priority Date: 03/01/2012
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Purkayastha, Indrajit, Tirozzi, Michael John, Smith, Jason R., Monti, Kimberly Susanne
• Primary Examiner(s): LIN, ABBY YEE
• Application Number:
  US13/766,125
• Publication Number:
  US 20130231779A1
• Time in Patent Office: 1,336 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/45066 Inspection robot
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: H02B 3/00 Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear

Abstract

A mobile inspection robot that includes a robot body and a drive system supporting the robot body and configured to maneuver the robot over a work surface. A controller communicates with the drive system and a sensor system. The controller executes a control system that includes a control arbitration system and a behavior system in communication with each other. The behavior system executes an inspection behavior, the inspection behavior influencing execution of commands by the control arbitration system based on sensor signals received from the sensor system to identify and inspect electrical equipment.

Claims

1. A mobile inspection robot comprising:

a robot body;

a drive system supporting the robot body and configured to maneuver the robot over a work surface;

an arm disposed on the robot body;

a controller in communication with the drive system and executing a control system, the controller configured to;

obtain a layout map of a data center; and

obtain scanning locations of the data center, each scanning location associated with at least one scanning height; and

a sensor system in communication with the controller, the sensor system comprising at least one scanner payload disposed on the arm, the at least one scanner payload comprising a temperature sensor;

wherein the control system comprises a control arbitration system and a behavior system in communication with each other, the behavior system executing an inspection behavior, the inspection behavior configured to influence execution of commands by the control arbitration system based on sensor signals received from the sensor system to;

issue drive commands to the drive system based on the layout map to autonomously maneuver the mobile inspection robot to at least one scanning location of the data center;

obtain at least one temperature reading using the temperature sensor of the at least one scanner payload at the at least one scanning height associated with the at least one scanning location; and

output a three-dimensional model of the data center to a display system in communication with the controller, the three-dimensional model including an augmented overlay of the obtained at least one temperature reading at the corresponding at least one scanning location, and

wherein the inspection behavior causes the mobile inspection robot to;

identify electrical equipment as an inspection target; and

obtain at least one sensor reading relative to the inspection target using the sensor system.

2. The mobile robot of claim 1, wherein the inspection behavior causes the robot to identify a navigation reference using the sensor system and maneuver relative to the navigation reference.

3. The mobile robot of claim 2, wherein the navigation reference comprises a visual fiducial.

4. The mobile robot of claim 2, wherein the inspection behavior causes the robot to identify electrical equipment using the navigation reference and execute an environmental scan on the identified electrical equipment.

5. The mobile robot of claim 1, wherein the inspection behavior causes the robot to:

identify at least one of a circuit breaker, a contactor, a motor control center, a fuse, a switch, a relay, a capacitor bank, an inverter, or a battery bank as the inspection target; and

obtain an image of the inspection target using a camera of the sensor system.

6. The mobile robot of claim 5, wherein the image comprises an infrared image.

7. The mobile robot of claim 1, wherein the inspection behavior causes the robot to:

identify at least one of a circuit breaker, a contactor, a motor control center, a fuse, a switch, a relay, a capacitor bank, an inverter, or a battery bank as the inspection target; and

obtain an ultrasound measurement of the inspection target using an ultrasound sensor of the sensor system.

8. The mobile robot of claim 1, further comprising:

an articulated arm having a pivot end pivotally coupled to the robot body and a distal end;

a racking actuator disposed on the distal end of the arm;

wherein the inspection behavior causes the robot to identify a circuit breaker using the sensor system, engage the identified circuit breaker with the racking actuator, and move the circuit breaker between a racked position and an unracked position.

9. The mobile robot of claim 8, wherein the racking actuator engages and turns a lead screw of the circuit breaker.

10. The mobile robot of claim 1, wherein the inspection behavior causes the robot to identify an actuator of a circuit breaker and actuate the circuit breaker actuator using an articulated manipulator arm disposed on the robot body and in communication with the controller.

11. The mobile robot of claim 10, wherein the circuit breaker actuator comprises a lever, the robot moving the manipulator arm and a gripper disposed on the manipulator arm to grasp and rotate the lever between open and closed positions.

12. The mobile robot of claim 10, wherein the circuit breaker actuator comprises a button, the robot moving the manipulator arm to toggle the button.

13. The mobile robot of claim 1, wherein the inspection behavior causes the robot to identify a switchgear panel and open the switchgear panel using an articulated manipulator arm disposed on the robot body and in communication with the controller.

14. The mobile robot of claim 1, wherein the inspection behavior causes the robot to:

identify a navigation reference using the sensor system;

maneuver to the at least one scanning location using the navigation reference; and

obtain at least one sensor reading using the sensor system of at least one target at the at least one scanning location.

15. The mobile robot of claim 14, wherein the at least one sensor reading comprises at least one of an infrared image, a visual image, temperature, or humidity.

16. The mobile robot of claim 14, wherein the inspection behavior causes the robot to associate collected sensor data with the scanning location.

17. The mobile robot of claim 16, wherein the inspection behavior causes the robot to store in memory the collected sensor data.

18. The mobile robot of claim 1, wherein the drive system comprises:

right and left driven tracks, each track trained about a corresponding front wheel rotatable about a front wheel axis defined by the robot body; and

right and left elongated flippers disposed on corresponding sides of the robot body and operable to pivot about the front wheel axis of the robot body, each flipper having a driven track trained about its perimeter.

19. The mobile robot of claim 1, wherein the drive system comprises holonomically driven wheels.

20. The mobile robot of claim 1, wherein the arm is movable with respect to the robot body and the inspection behavior is configured to direct movement of the arm to move the at least one scanner payload to different heights relative to the work surface to perform scans for parameters of interest.

21. The mobile robot of claim 1, wherein the sensor system comprises multiple scanner payloads disposed on the robot body or the arm at different heights with respect to the work surface.

22. A mobile inspection robot comprising:

a robot body;

a drive system supporting the robot body and configured to maneuver the robot over a work surface;

an adjustable mast disposed on the robot body and arranged substantially vertical with respect to the work surface;

at least one scanner payload disposed on the mast and configured to monitor environmental parameters about the mobile inspection robot;

a controller in communication with the drive system and the mast, the controller configured to;

obtain a layout map of a data center;

obtain scanning locations of the data center, each scanning location associated with at least one scanning height;

issue drive commands to the drive system based on the layout map to autonomously maneuver the mobile inspection robot to at least one scanning location of the data center;

adjust the adjustable mast to position the at least one scanner payload at the at least one scanning height associated with the at least one scanning location to monitor the environmental parameters about the mobile inspection robot; and

output a three-dimensional model of the data center to a display system in communication with the controller, the three-dimensional model including an augmented overlay of the monitored environmental parameters at the corresponding at least one scanning location,

wherein the control system comprises a control arbitration system and a behavior system in communication with each other, the behavior system executing an inspection behavior, the inspection behavior influencing execution of commands by the control arbitration system based on sensor signals received from the at least one scanner payload to identify electrical equipment and inspect the electrical equipment using the at least one scanner payload.

23. The mobile inspection robot of claim 22, wherein the mast has an extendible length, the controller causing the mast to move between a deployed position and a stowed position.

24. The mobile inspection robot of claim 23, wherein the controller moves the mast to the deployed position during a data collection mode and the stowed position during a rapid travel mode.

25. The mobile inspection robot of claim 22, wherein each scanner payload comprises at least one of a temperature sensor, a humidity sensor, a visual camera, or an infrared camera.

26. The mobile inspection robot of claim 22, wherein the at least one scanner payload comprises a camera capable of panning and tilting with respect to the mast.

27. The mobile inspection robot of claim 22, wherein the at least one scanner payload is arranged at a height above the work surface of between about 0.5 ft. and about 8.5 ft.

28. The mobile inspection robot of claim 22, further comprising a first scanner payload disposed near a distal end of the mast and a second scanner payload disposed near a proximal end of the mast.

29. The mobile inspection robot of claim 28, further comprising a third scanner payload disposed on the mast between the first and second scanner payloads.

30. The mobile inspection robot of claim 22, further comprising multiple scanner payloads arranged along the mast in about 2 ft. increments.