Multi-terrain inspection robotic device and methods for configuring and guiding the same
US11372409B2 · kind B2 · utility
Assignees
Inventors
- Gustavo Medeiros Freitas
- Filipe Augusto Santos Rocha
- Marcos Paulo Torre
- Angelo Frederico Fontes Junior
- Victória Regina Ramos
- Luiz Eduardo Da Costa Nogueira
- Alexandre Souza Santos
- Eduardo Cota
- Wilson Miola
- Marco Antonio Dos Reis
- Branilson Luiz Santos Costa
- Luis Carlos Moreno Ledezma
- Ronaldo Pereira Evangelista
- Pedro Xavier Alcantara
- Rebeca Tourinho Lima
- Tiago Pereira De Souza
- Iuri Viana Brandi
- Ramon Nunes Araújo
- Márcio Fernando Mansur Gomes
- Gabriel Carvalho Garcia
- Héctor Azpúrua
Key dates
| Filing date | Feb 9, 2018 |
| Grant date | Jun 28, 2022 |
| Priority date | — |
| Expiry date | Dec 30, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0274
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
This disclosure presents a robotic device for multi-terrain inspection, composed by a robot body, a quick reconfigurable locomotion module and a mapping unit capable to model the inspected environment through a 3D colored point cloud. The robot has different locomotion mechanisms that can be quickly replaced, thereby changing the robot mobility characteristics. The device is controlled through teleoperation or autonomously. When in teleoperated mode, an operating assist module provides relevant locomotion information to the operator including a map that shows areas where the robot may not transpose or tip-over. This module also suggests to the operator other locomotion configurations to overcome obstacles presented in the map. When in autonomous mode, the navigation module provides a strategy to explore unknown environments and trace optimal locomotion path considering the traveled distance, tipping-over risk and energy consumption. Regarding the invention characteristics described above, the main objective is to perform inspections of confined and risk areas, i.e., caves, sewer and dam spillway galleries, and areas with risk of collapse.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.