System and method for inspection and maintenance of hazardous spaces with track and roller
Disclosed herein are systems and methods for a robotic system capable of carrying out operations in a hazardous or confined space. The system comprises a manipulator arm, a plinth, a trolley, an end effector, and a control system. The plinth and trolley each comprise one or more locking pawls for securing the system to mounting points. The system is capable of maneuvering between mounting points in an inch-worm-like fashion. Motion starts from a fixed position where both the trolley and plinth locking pawls are secured to a first mounting point. The trolley locking pawls are then released and the trolley runs along the manipulator and secures locking pawls to a second mounting point. The plinth locking pawls are then released and the plinth is drawn to the second mounting point where it is secured via locking pawls. When both the plinth and trolley are secured, operations can be carried out.
1. A robotic system for carrying out operations in a confined space, comprising:
a manipulator arm;
a plinth, wherein the plinth is coupled the manipulator arm and includes a plinth anchor configured to engage a first mounting area in the confined space;
a trolley, wherein the trolley is configured to move relative to the manipulator arm and includes a trolley anchor configured to engage the first mounting area;
wherein the manipulator arm includes a track, and the trolley includes a roller, and wherein the track and the roller are configured to mate to facilitate movement between the trolley and the manipulator arm; and
a control system configured to:
release the trolley anchor from the first mounting area;
move the trolley relative to a length of the manipulator arm;
move the trolley anchor into engagement with a second mounting area in the confined space different from the first mounting area;
release the plinth anchor from the first mounting area;
reposition the plinth to the second mounting area by moving the manipulator arm lengthwise relative to the engaged trolley; and
move the plinth anchor into engagement with the second mounting area.
2. The system of claim 1 , wherein at least one of the trolley anchor and the plinth anchor includes at least one of an extendable and retractable pole, an extendable and retractable rod, an extendable and retractable shoe, a magnet, or a locking pawl.
3. The system of claim 1 , wherein the manipulator arm defines lengthwise direction, wherein at least one of the trolley anchor or the plinth anchor includes an extendable and retractable member, the member configured to extend and retract radially relative to the lengthwise direction.
4. The system of claim 3 , wherein the member includes a contact point configured to provide sufficient friction and/or pressure against the first mounting area to secure the respective trolley and/or plinth.
5. The system of claim 4 , wherein a portion of the member that comes in contact with the first mounting area includes at least one of large surface area and material having high coefficient of friction.
6. The system of claim 1 , wherein at least one of the trolley anchor or the plinth anchor includes two or more extendable and retractable poles.
7. The system of claim 6 , wherein the manipulator arm defines a central axis, wherein the poles are configured to extend and retract radially relative to the central axis.
8. The system of claim 1 , wherein the manipulator arm defines a central axis, wherein the manipulator arm is configured to bend in at least one plane at one or more joints and/or to rotate about its central axis.
9. The system of claim 1 , wherein the plinth is fixedly coupled to the manipulator arm.
10. The system of claim 1 , wherein the plinth is fixedly coupled to an end of the manipulator arm.
11. The system of claim 1 , wherein the manipulator arm defines a central axis, wherein the trolley is configured to move along the central axis of the manipulator arm.
12. The system of claim 1 , further comprising an end effector configured to couple with one or more tools.
13. The system of claim 1 , wherein the manipulator arm passes through the trolley.
14. A method for maneuvering a robotic system between mounting areas in a confined space, comprising:
releasing a trolley anchor from a first mounting area;
moving a trolley associated with the trolley anchor relative to a length of a manipulator arm, wherein the manipulator arm includes a track, and the trolley includes a roller, and wherein the track and the roller are configured to mate to facilitate the movement between the trolley and the manipulator arm
moving the trolley anchor into engagement with a second mounting area in the confined space different from the first mounting area;
releasing a plinth anchor from the first mounting area;
repositioning a plinth associated with the plinth anchor to the second mounting area by moving the manipulator arm lengthwise relative to the engaged trolley, wherein the plinth is coupled to the manipulator arm and
moving the plinth anchor into engagement with the second mounting area.
15. The method of claim 14 , further comprising hydraulically operating the trolley anchor and/or the plinth anchor.
16. The method of claim 14 , wherein releasing and moving the trolley anchor and/or the plinth anchor includes extending and retracting the trolley anchor and/or the plinth anchor radially with respect to the length of the manipulator arm.
17. A robotic system for carrying out operations in a confined space, comprising:
a manipulator arm having a length defining a lengthwise direction;
a first point and a second point being defined along the lengthwise direction, wherein the second point is spaced from the first point in the lengthwise direction;
a plinth, wherein the plinth is fixedly coupled to the manipulator arm and includes a plinth anchor configured to engage and release a first mounting area in the confined space, the plinth anchor configured to secure the plinth and the manipulator arm with respect to the first mounting area when engaged, wherein the first mounting area is disposed radially about the first point; and
a trolley including a trolley anchor configured to engage and release the first mounting area disposed radially about the first point, the trolley anchor configured to secure the trolley with respect to the first mounting area when engaged,
wherein the manipulator arm includes a track, and the trolley includes a roller, wherein the track and the roller are configured to mate to facilitate movement between the trolley and the manipulator arm,
wherein the trolley is configured to move relative to the length of the manipulator arm as the secured manipulator arm remains stationary, and the manipulator arm is configured to move lengthwise relative to the trolley as the secured trolley remains stationary, thereby facilitating movement of the plinth anchor and the trolley anchor from the first mounting area to a second mounting area in the confined space different from the first mounting area, wherein the second mounting area is disposed radially about the second point.
18. The robotic system of claim 17 , wherein the plinth anchor includes two or more plinth anchors and the trolley anchor includes two or more trolley anchors.
19. The robotic system of claim 18 , wherein the plinth anchors are extendable and retractable in different radial directions with respect to the lengthwise direction, and wherein the trolley anchors are extendable and retractable in different radial directions with respect to the lengthwise direction.