Multi-unit mobile robot

Abstract

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. Preferably, alternating units are of differing widths, and the wheels on the units are sufficiently large that they capable of overlapping, thereby enabling the robot to navigate very sharp edges or corners in the surface of an object being traversed by the robot, with the wheels always maintaining contact with the surface being traversed. 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.

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, said hinges being adapted to facilitate pitch relative motion between said segments;   control actuators operably connected to said hinges, operable to cause said robot to coil around and compress against the exterior, or compress against the interior, of an object to be 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 - 14 . (canceled) 
     
     
         15 . The multi-unit mobile robot of  claim 1  in which alternating ones of said mobile units are of differing widths, and said wheels adjacent mobile units are sufficiently large that they are capable of overlapping, thereby enabling the robot to navigate very sharp edges or corners in the surface of an object being traversed by said multi-unit mobile robot, with said wheels always maintaining contact with the surface being traversed. 
     
     
         16 . The multi-unit mobile robot of  claim 1  wherein each wheel is driven by a motor, and further 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 the desired movement and clamping force on the object said multi-unit robot is on. 
     
     
         17 . The multi-unit mobile robot of  claim 16  in which each said actuator and motor provides feedback information to its individual controller, which in turn feeds it back to said master controller. 
     
     
         18 . The multi-unit robot of  claim 17  in which said master controller computer is adapted to receive and read the configuration of the surface of an object to be cleaned, painted or otherwise treated or traversed, as loaded into said master controller computer in a CNC type program, said master controller being adapted to instruct said multi-unit mobile robot, through individual controllers, on how to move to cover the surface completely. 
     
     
         19 . The multi-unit robot of  claim 18  in which the global position of specific point(s) of reference on said mobile units is sent to said master controller computer; said master controller computer being adapted to compare said global positions to the positions of the various mobile units, whereby said master controller will have an accurate position reference for each said mobile unit. 
     
     
         20 . The multi-unit robot of  claim 17  in which the 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 the positions of the various mobile units, whereby said master controller will have an accurate position reference for each said mobile unit. 
     
     
         21 . The multi-unit mobile robot of  claim 17 , 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. 
     
     
         22 . The multi-unit mobile robot of  claim 16 , 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. 
     
     
         23 . The multi-unit mobile robot of  claim 2  in which said linkage is adapted to facilitate lateral yaw motion between adjacent mobile units. 
     
     
         24 . The multi-unit mobile robot of  claim 1  in which clamping force is augmented by a tension generating member connecting the lead and trailing mobile units of the multi-unit mobile robot. 
     
     
         25 . The multi-unit mobile robot of  claim 24  in which said tension generating member contains features that allow it to transversely slip along the work surface being traversed. 
     
     
         26 . A multi-unit mobile robot comprising at least two mobile units connected by a pair of tension generating members whereby said multi-unit mobile robot maintains clamping force on an object to be traversed when wrapped around it. 
     
     
         27 . A multi-unit mobile robot comprising: a plurality of separate segments, each of said segments being joined to the next adjacent segment in alternating fashion by a hinge or a linkage, said hinges being adapted to facilitate pitch relative motion between said segments; said linkages being adapted to facilitate at least one of lateral pivot or yaw relative motion between said segments; control actuators operably connected to said hinges, operable to cause said robot to coil around and compress against the exterior, or compress against the interior, of an object to be traversed; control actuators operably connected to said linkages, operable to allow said multiunit mobile robot to wrap around or coil against the interior of the object in a helical fashion; there being a pair of wheels supporting each pair of hinged segments. 
     
     
         28 - 29 . (canceled)