초록 ▼

A multi-unit mobile robot comprising a plurality of separate carriages or units linked together by linkages. Each unit comprises hinged first and second segments which facilitates pitch relative motion between the segments, and accordingly the units. By controlling actuators to the hinges, one can c

A multi-unit mobile robot comprising a plurality of separate carriages or units linked together by linkages. Each unit comprises hinged first and second segments which facilitates pitch relative motion between the segments, and accordingly the units. By controlling actuators to the hinges, one can cause the robot to coil around and compress against the exterior, or compress against the interior, of an object to be traversed. The linkage between mobile units facilitates at least one of lateral pivot or yaw relative motion between units, and optionally roll. Each hinged platform is carried by a pair of Mecanum wheels, which facilitate movement of the unit in any direction. Among other possible uses, the multi-unit mobile robot can be used to service windmill blades and towers, and carrying cargo up and down windmill towers by directing a multi-unit mobile robot to wrap around the and traverse the tower.

대표청구항 ▼

1. A multi-unit mobile robot comprising: a plurality of separate mobile units linked together by linkages;each said mobile unit including at least one wheel, and each said mobile unit comprising hinged first and second segments, hinges for said segments being adapted to facilitate pitch relative mot

1. A multi-unit mobile robot comprising: a plurality of separate mobile units linked together by linkages;each said mobile unit including at least one wheel, and each said mobile unit comprising hinged first and second segments, hinges for said segments being adapted to facilitate pitch relative motion between said segments; andcontrol actuators operably connected to said hinges, operable to cause said robot to coil around and compress against exterior, or compress against interior, of an object to be traversed, wherein:said wheels on said mobile units are Mecanum wheels each driven independently by a motor, a controller being associated with each said motor, whereby through operation of said controllers, said multi-unit mobile robot can be moved in any direction;pitch axis of each said hinges is concentric with axis of rotation of said Mecanum wheels,there are a pair of said Mecanum wheels for each pair of said hinged segments, one on each side of the segments; andalternating ones of said mobile units are of differing widths, and said Mecanum wheels adjacent the mobile units are sufficiently large such that said Mecanum wheels are capable of overlapping, thereby enabling the multi-unit mobile robot to navigate very sharp edges or corners in a surface of and object being traversed by said robot, with said Mecanum wheels maintaining contact with the surface being traversed. 2. The multi-unit mobile robot of claim 1, in which at least some of said linkages are adapted to facilitate at least one of lateral pivot or yaw relative motion between said mobile units; control actuators operably connected to said linkages, operable to allow said multi-unit mobile robot to wrap around and coil against the object in a helical fashion. 3. The multi-unit mobile robot of claim 2, in which at least some of said linkages are adapted to facilitate roll relative motion between said mobile units, allowing the wheels of said units to maintain contact with an irregular work surface. 4. The multi-unit mobile robot of claim 3, in which there is an actuator for each said hinge and for each said linkage. 5. The multi-unit mobile robot of claim 2 in which said linkage is adapted to facilitate lateral yaw motion between adjacent mobile units. 6. The multi-unit mobile robot of claim 1 comprising a master controller computer, which provides a plurality of individual controllers, each operably connected to one of said control actuators and to one of said motors, for independent control thereof to achieve desired movement and clamping force on the object. 7. The multi-unit mobile robot of claim 6 in which each said actuator and motor provides feedback information to the corresponding individual controller, which in turn feeds said information back to said master controller. 8. The multi-unit robot of claim 7 in which said master controller computer is adapted to receive and read configuration of a surface of an object to be cleaned, painted or otherwise treated or traversed, as loaded into said master controller computer, said master controller being adapted to instruct said multi-unit mobile robot, through the individual controllers, on how to move to cover the surface completely. 9. The multi-unit robot of claim 7 in which global position of specific point(s) of reference on said mobile robot units is sent to said master controller computer; said master controller computer being adapted to compare said global positions to positions of the various mobile units, whereby said master controller will have an accurate position reference for each said mobile unit. 10. The multi-unit robot of claim 7 in which global position of specific point(s) of reference on said mobile robot units is sent to said master controller computer; said master controller computer being adapted to compare said global positions to positions of the various mobile units, whereby said master controller will have an accurate position reference for each said mobile unit. 11. The multi-unit mobile robot of claim 7, in which at least some of said linkages are adapted to facilitate at least one of lateral pivot or yaw relative motion between said mobile units; control actuators operably connected to said linkages, operable to allow said multi-unit mobile robot to wrap around and coil against the object in a helical fashion; said master controller including a plurality of individual controllers operably connected to said control actuators for said linkages, for independent control thereof. 12. The multi-unit mobile robot of claim 6, in which at least some of said linkages are adapted to facilitate at least one of lateral pivot or yaw relative motion between said mobile units; control actuators operably connected to said linkages, operable to allow said multi-unit mobile robot to wrap around and coil against the object in a helical fashion; said master controller including a plurality of individual controllers operably connected to said control actuators for said linkages, for independent control thereof. 13. The multi-unit mobile robot of claim 1 in which clamping force is augmented by a tension generating member connecting lead and trailing mobile units of the multi-unit mobile robot. 14. The multi-unit mobile robot of claim 13 in which said tension generating member contains features that allow the memeber to transversely slip along the work surface being traversed. 15. A method of servicing windmill blades and towers comprising; providing a multi-unit mobile robot of claim 1; anddirecting the multi-unit mobile robot to wrap around, compress against, and traverse exterior of a windmill blade or tower, while cleaning, inspecting, resurfacing or painting the blade or tower. 16. A method of carrying cargo up and down windmill towers comprising; providing a multi-unit mobile robot of claim 1;joining cargo to the multi-tool robot; anddirecting the multi-unit mobile robot to wrap around, compress against, and traverse a windmill tower with the cargo.