Vehicle for navigating within an enclosed space

Patent metadata

Field	Value
Publication number	US-9927060-B2
Application number	US-201615133251-A
Country	US
Kind code	B2
Filing date	Apr 20, 2016
Priority date	Apr 22, 2015
Publication date	Mar 27, 2018
Grant date	Mar 27, 2018

Abstract

A vehicle includes a head section having a selectively actuated first plurality of claws, a tail section having a selectively actuated second plurality of claws, and a linear actuator operably coupling the head section to the tail section. The linear actuator is configured to be selectively extended and retracted. The vehicle is configured to move forward within an enclosed space by extending the linear actuator, while the first plurality of claws is not actuated and the second plurality of claws is actuated, then retracting the linear actuator, while the first plurality of claws is actuated and the second plurality of claws is not actuated.

First claim

What is claimed is:

1. A vehicle comprising:
a head section comprising a selectively actuated first plurality of claws;
a tail section comprising a selectively actuated second plurality of claws;
a linear actuator operably coupling the head section to the tail section;
a claw actuator operably coupling at least one of the head section and the tail section to claws of at least one of the first and second plurality of claws; and
a switchable lock operably coupled to the claws,
wherein the linear actuator is configured to be selectively extended and retracted,
wherein the vehicle is configured to move forward within an enclosed space by extending the linear actuator, while the first plurality of claws is not actuated and the second plurality of claws is actuated, then retracting the linear actuator, while the first plurality of claws is actuated and the second plurality of claws is not actuated, and
wherein the claws are defined by a complex curve, are constructed entirely of a semi rigid material, and are configured to deform against a wall of the enclosed space such that a contact surface area of the claws increases.

2. The vehicle of claim 1 , wherein the vehicle is configured to move backward within the enclosed space by extending the linear actuator, while the second plurality of claws is not actuated and the first plurality of claws is actuated, then retracting the linear actuator, while the second plurality of claws is actuated and the first plurality of claws is not actuated.

3. The vehicle of claim 1 , wherein each claw of the first plurality of claws is configured to extend approximately the same distance from the head section when extended and each claw of the second plurality of claws is configured to extend approximately the same distance away from the tail section when extended.

4. The vehicle of claim 3 , wherein the extending the first plurality of claws or the second plurality of claws approximately the same distance causes the head section or tail section of the vehicle to be substantially centered in the enclosed space.

5. The vehicle of claim 1 , wherein the complex curve enables each of the plurality of claws to have a gripping surface over a full range of extension of each claw from the head section or tail section.

6. The vehicle of claim 1 , wherein the first plurality of claws inhibit motion of the head section when actuated and the second plurality of claws inhibit motion of the tail section when actuated.

7. The vehicle of claim 1 , wherein the first plurality of claws or second plurality of claws is configured to be extended to a plurality of distances from the head section or tail section, respectively, enabling the vehicle to transition between enclosed spaces of different diameters.

8. The vehicle of claim 1 , wherein the operable coupling of the head section or tail section to the linear actuator comprises an articulated joint or ball joint.

9. The vehicle of claim 8 , wherein the articulated joint enables the vehicle to navigate enclosed spaces that include turns or bends.

10. The vehicle of claim 1 , wherein the linear actuator comprises a servo configured to steer the head section or tail section.

11. The vehicle of claim 1 further comprising a working element.

12. The vehicle of claim 11 , wherein the working element comprises a cutting tool.

13. The vehicle of claim 11 , wherein the working element comprises a grabber.

14. The vehicle of claim 1 further comprising a sensor.

15. The vehicle of claim 14 , wherein the sensor comprises a camera.

16. The vehicle of claim 14 , wherein the sensor comprises a distance measurement device.

17. The vehicle of claim 14 , wherein the sensor comprises a proximity detector.

18. The vehicle of claim 14 , wherein the sensor comprises a range detector.

19. The vehicle of claim 1 , wherein the enclosed space is a pipe or tubular biological cavity.

Assignees

• Univ Johns Hopkins

Inventors

• Moses Matthew S
• Brown Christopher Y
• Rizk Charbel G
• Tiffany Jason E
• Kutzer Michael D
• Scheidt David H

Classifications

• F16L55/34 Primary

  the pig or mole being moved step by step · CPC title

• A61B2034/302

  specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities · CPC title

• A61B1/00156

  using self propulsion · CPC title

• A61B1/041

  Capsule endoscopes for imaging · CPC title

• A61B1/00108

  characterised by self-sufficient functionality for stand-alone use · CPC title