Inspection robot with stability assist device

Patent metadata

Field	Value
Publication number	US-11673272-B2
Application number	US-202016813701-A
Country	US
Kind code	B2
Filing date	Mar 9, 2020
Priority date	Dec 23, 2016
Publication date	Jun 13, 2023
Grant date	Jun 13, 2023

Abstract

An inspection robot incudes a robot body, at least two sensors, a drive module, a stability assist device and an actuator. The at least two sensors are positioned to interrogate an inspection surface and are communicatively coupled to the robot body. The drive module includes at least two wheels that engage the inspection surface. The drive module is coupled to the robot body. The stability assist device is coupled to at least one of the robot body or the drive module. The actuator is coupled to the stability assist device at a first end, and coupled to one of the drive module or the robot body at a second end. The actuator is structured to selectively move the stability assist device between a first position and a second position. The first position includes a stored position. The second position includes a deployed position.

First claim

What is claimed is:

1. An inspection robot, comprising:
a robot body;
at least two sensors positioned to interrogate an inspection surface, wherein the at least two sensors are communicatively coupled to the robot body;
a drive module comprising at least two wheels that engage the inspection surface, wherein the drive module is coupled to the robot body;
a stability assist device coupled to at least one of the robot body or the drive module;
an actuator coupled to the stability assist device at a first end, and coupled to one of the drive module or the robot body at a second end, wherein the actuator is structured to selectively move the stability assist device between a first position and a second position,
wherein the first position comprises a stored position,
wherein the stability assist device is positioned away from the inspection surface in the stored position, and
wherein the second position comprises a deployed position,
wherein the actuator includes a linear actuator structured to extend to pivot the stability assist device toward the inspection surface into the deployed position, and to retract to pivot the stability assist device away from the inspection surface into the stored position.

2. The inspection robot of claim 1 , wherein, in the deployed position, the stability assist device urges the inspection robot to an engaged position with the inspection surface.

3. The inspection robot of claim 1 , wherein the stability assist device comprises an upper stability body rotationally coupled to a lower stability body.

4. The inspection robot of claim 3 , wherein the stability assist device further comprises a stability spring positioned to oppose rotation of the upper stability body toward the lower stability body.

5. The inspection robot of claim 1 , wherein the stability assist device comprises a stability wheel positioned to engage the inspection surface when the stability assist device is in the second position.

6. The inspection robot of claim 5 , wherein the stability wheel is magnetic.

7. The inspection robot of claim 1 , wherein the stability assist device comprises a dragbar.

8. The inspection robot of claim 1 , wherein the actuator includes a gas spring structured to cause linear extension of the actuator.

9. The inspection robot of claim 1 , wherein the stability assist device further comprises:
a biasing spring at a pivot axle and structured to oppose further rotation of the inspection robot when the stability assist device engages the inspection surface.

10. A method of operating an inspection robot on a vertical inspection surface, the method comprising:
using an actuator, pivoting a stability assist device away from the vertical inspection surface into a first position,
wherein the first position comprises a stored position, and
wherein the actuator includes a linear actuator structured to extend to pivot the stability assist device toward the vertical inspection surface into a deployed position, and to retract to pivot the stability assist device away from the vertical inspection surface into the stored position;

inspecting the vertical inspection surface with the inspection robot having the stability assist device in the first position;
determining a stability request value; and
moving the stability assist device to a second position in response to the stability request value, wherein the second position comprises the deployed position.

11. The method of claim 10 , wherein moving the stability assist device to the second position comprises urging the inspection robot toward the vertical inspection surface.

12. The method of claim 10 , wherein determining the stability request value further comprises determining a movement dampening request, the method further comprising controllably articulating the stability assist device between the first position and the second position in response to the movement dampening request.

13. The method of claim 10 , wherein moving the stability assist device to the second position further comprises limiting a rotation of the inspection robot relative to the vertical inspection surface.

14. The method of claim 10 , further comprising moving the stability assist device to a third position in response to the stability request value.

15. The method of claim 14 , wherein moving the stability assist device to the third position comprises providing additional urging force of the inspection robot toward the vertical inspection surface relative to the stability assist device in the second position.

16. The method of claim 14 , wherein the stability assist device further comprises an upper portion coupled to the inspection robot at a first end of the upper portion, and a lower portion rotatably coupled to the upper portion at a second end of the upper portion, and wherein moving the stability assist device to the third position further comprises extending the lower portion of the stability assist device.

17. A system, comprising:
an inspection robot comprising:
a magnetic wheel that engages an inspection surface;
a plurality of sensors positioned to interrogate the inspection surface;
a stability assist device motively coupled to the inspection robot; and
an actuator moveably coupled to the stability assist device and the inspection robot, wherein the actuator is structured to selectively move the stability assist device between a first position and a second position,
wherein the first position comprises a stored position,
wherein the second position comprises a deployed position,
wherein the stability assist device is positioned away from the inspection surface in the stored position, and
wherein the actuator includes a linear actuator structured to extend to pivot the stability assist device toward the inspection surface into the deployed position, and to retract to pivot the stability assist device away from the inspection surface into the stored position.

18. The system of claim 17 , wherein the stability assist device is motively coupled to a front surface of the inspection robot along a direction of travel of the inspection robot.

19. The system of claim 18 , wherein the stability assist device comprises an elastomeric bumper positioned to dampen forward movement of the inspection robot when in contact with an obstacle on the inspection surface.

20. The system of claim 17 , wherein the stability assist device is motively coupled to a rear surface of the inspection robot along a direction of travel of the inspection robot.

21. The system of claim 17 , wherein the stability assist device comprises an upper stability body rotationally connected to a lower stability body.

22. The system of claim 21 , wherein the stability assist device further comprises a stability spring positioned to oppose rotation of the upper stability body toward the lower stability body.

23. The system of claim 17 , wherein the stability assist device comprises an angle limiter configured to limit rotation of the inspection robot relative to the stability assist device.

24. The system of claim 23 , wherein moving the actuator to the second position rotates the stability assist device relative to the inspection robot.

Assignees

• Gecko Robotics Inc

Inventors

• Loosararian Mark J
• Binger Michael A
• Bryner Edward A
• Cho Edwin H
• Cho Mark
• Cuti Alexander R
• Cordova Ignacio J
• Guise Benjamin A
• Jourde Dillon R
• Low Kevin Y
• Mackenzie Logan A
• Moore Joshua D
• Mrkonich Jeffrey J
• Pridgen William J
• Rodriguez Domenic P
• Trogu Francesco H
• Watt Alex C
• Gu Yizhu
• Miller Ian
• Joslin Todd
• Denner Katherine Virginia
• Auda Michael Stephen
• Westenberg Samuel Theodore

Classifications

• B25J9/0009

  Constructional details, e.g. manipulator supports, bases · CPC title

• B62D57/024 Primary

  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 title

• G01B7/105

  for measuring thickness of coating · CPC title

• G05B15/02

  electric · CPC title

• B25J9/1666

  Avoiding collision or forbidden zones · CPC title