Remotely controlled or autonomous marsupial system and methods for remotely or autonomously performing operations with same
View Patent ↗A marsupial robotics system for performing an operation, such as inspection, on various surfaces is presented herein. The marsupial robotics system can be employed for performing the operation on various environments and surfaces in remotely controlled and autonomous fashions. The marsupial robotics system includes an aerial vehicle and a crawler detachably carried by the aerial vehicle and configured to perform the operation on a target surface. The aerial vehicle includes a landing structure from which the aerial vehicle is configured to attach to a deployment site. At the deployment site, the crawler is configured to detach from the aerial vehicle and move to the target surface to perform the operation on the target surface.
1 . A marsupial robotics system comprising:
an aerial vehicle; and
a crawler detachably carried by the aerial vehicle and configured to perform an operation on a target surface;
wherein the aerial vehicle comprises a landing structure configured to attach to a deployment site, and wherein when the aerial vehicle is attached to the deployment site, the crawler is configured to detach from the aerial vehicle and move to the target surface to perform the operation on the target surface;
wherein the landing structure includes a housing forming a landing element by which the landing structure attaches to the deployment site, the housing configured to fully enclose the crawler when the crawler is carried by the aerial vehicle.
2 . The marsupial system of claim 1 , wherein the crawler comprises actuated wheels or legs for moving to or on the target surface.
3 . The marsupial system according to claim 1 , wherein the crawler comprises one or more sensors or actuators disposed thereon to perform the operation on the target surface.
4 . The marsupial system according to claim 1 , wherein the crawler is configured to move underwater.
5 . The marsupial system according to claim 1 , wherein the operation is an inspection operation of the target surface, and wherein the one or more sensors are inspection sensors.
6 . The marsupial system according to claim 1 , wherein the crawler is detachably received by the housing of the landing structure.
7 . The marsupial system according to claim 1 , wherein the crawler is retrieved by the aerial vehicle after performing the operation on the target surface.
8 . The marsupial system of claim 7 , wherein the crawler aligns itself with the landing structure to attach to the aerial vehicle.
9 . The marsupial system according to claim 1 , wherein the landing structure is rotatable in any direction.
10 . The marsupial system according to claim 1 , wherein the crawler is tethered to the aerial vehicle.
11 . The marsupial system of claim 1 , wherein the landing structure comprises an articulated arm attached to a main body of the aerial vehicle by a rotary joint, the articulated arm configured to position the housing, and wherein the articulated arm forms a second landing element that is configured to attach to the deployment site when carrying the housing.
12 . A method for performing an operation on a target surface of a structure, the method comprising:
an aerial vehicle approaching a deployment site of the structure;
the aerial vehicle attaching to the deployment site using a landing structure of the aerial vehicle, the landing structure including a housing forming a landing element by which the landing structure attaches to the deployment site;
a crawler, housed in the housing of the landing structure of the aerial vehicle, undocking from the landing structure and moving to the target surface; and
the crawler performing the operation on the target surface;
wherein the crawler, when housed in the housing of the landing structure, is fully enclosed by the housing.
13 . The method of claim 12 further comprising:
the aerial vehicle moving to a retrieval site;
the crawler moving to the retrieval site;
the crawler docking to the aerial vehicle; and
the aerial vehicle flying away from the retrieval site.
14 . The method of claim 12 , wherein the crawler comprises actuated wheels or legs for moving to or on the target surface, and wherein the crawler comprises one or more sensors or actuators disposed thereon to perform the operation on the target surface.
15 . The method of claim 14 , wherein the operation is an inspection operation of the target surface, and wherein the one or more sensors are inspection sensors.
16 . The method of claim 12 , wherein the crawler is detachably received by a housing of the landing structure.
17 . The method of claim 12 , wherein the landing structure comprises an articulated arm attached to a main body of the aerial vehicle by a rotary joint, the articulated arm configured to position the housing, and wherein the articulated arm forms a second landing element that is configured to attach to the deployment site when carrying the housing.
18 . An aerial vehicle, the aerial vehicle configured to detachably carry a crawler for performing an operation on a target surface, the aerial vehicle comprising:
a landing structure configured to attach to a deployment site, wherein the landing structure includes a housing forming a landing element by which the landing structure attaches to the deployment site, the housing configured to fully enclose the crawler when the crawler is carried by the aerial vehicle;
wherein when the aerial vehicle is attached to the deployment site, the aerial vehicle is configured to detach the crawler to enable the crawler to move to the target surface to perform the operation on the target surface.
19 . The aerial vehicle of claim 18 , wherein the landing structure comprises an articulated arm attached to a main body of the aerial vehicle by a rotary joint, the articulated arm configured to position the housing, and wherein the articulated arm forms a second landing element that is configured to attach to the deployment site when carrying the housing.
20 . A crawler, the crawler detachably carried by an aerial vehicle and configured to perform an operation on a target surface, wherein when the aerial vehicle is attached to the deployment site by a landing structure of the aerial vehicle, the landing structure comprising a housing, the crawler is configured to detach from the aerial vehicle and move to the target surface to perform the operation on the target surface, wherein the crawler, when carried by the aerial vehicle, is fully enclosed by the housing, the housing forming a landing element by which the landing structure attaches to the deployment site.
21 . The crawler of claim 20 , wherein the landing structure comprises an articulated arm attached to a main body of the aerial vehicle by a rotary joint, the articulated arm configured to position the housing, and wherein the articulated arm forms a second landing element that is configured to attach to the deployment site when carrying the housing.