Modular robot
A modular robot ( 11 ) has an elongated body portion ( 14 ) including at least one interchangeable module ( 29 ) having an elongated profile containing circuitry configured to implement a predetermined functionality of the robot. At least one motherboard ( 37 ) is disposed at at least one end of the robot and is configured to connect to the module circuitry.
1 . A modular robot comprising:
an elongated body portion having an elongated frame supported between opposing end portions of complementary shape to upper and lower end caps each configured to accommodate opposing ends of a respective interchangeable module having an elongated profile, at least one of which module contains a custom circuit configured to implement a predetermined functionality of the module, and
a motherboard supported within at least one of the end caps at a respective end of the robot and having connectors configured to connect to complementary connectors of the custom circuit inside the modules upon assembly of the robot;
the motherboard including a processing unit that oversees operation of each of the custom circuits.
2 . The modular robot according to claim 1 , wherein one of the modules contains a custom circuit for feeding power and control to at least one propulsion element mounted on the body portion.
3 . The modular robot according to claim 2 , wherein the at least one propulsion element is a traction element fixed to the body portion.
4 . The modular robot according to claim 3 , wherein the traction element is fixed to the body portion by means of a collapsible and expandable mechanism allowing a base of the traction element to be adjusted.
5 . The modular robot according to claim 2 , wherein the traction element is a wheel carriage or a crawler belt.
6 . The modular robot according to claim 2 , wherein the at least one propulsion element is a thruster fixed to an end-cap that is configured for securing to an end of the body portion.
7 . The modular robot according to claim 2 , wherein the custom circuit in one of the modules is associated with a component that is either part of a different module or is supported directly by the body portion.
8 . The modular robot according to claim 7 , wherein the custom circuit is connected to the component via the at least one motherboard.
9 . The modular robot according to claim 7 , wherein the custom circuit is connected to the component via a cable.
10 . The modular robot according to claim 7 , wherein the component is a propulsion element or a sensor or an actuator.
11 . The modular robot according to claim 1 , wherein each module is supported at opposite ends between respective flanges of a respective first end cap and a second end cap each of which is configured for securing to the respective ends of the modules.
12 . The modular robot according to claim 1 , wherein one of the modules is a sensor head removably coupled to an end of the robot via at least one universal coupler that serves to feed power and control signals to the sensor head.
13 . The modular robot according to claim 1 , wherein at least one of the modules is a sensor comprising a cassette supporting hardware components that are controlled via a dedicated circuit.
14 . The modular robot according to claim 13 , wherein the dedicated circuit is disposed inside the cassette.
15 . The modular robot according to claim 1 , wherein the motherboard is configured to detect and install a module, and to configure system resources and driver software for the module's hardware.
16 . The modular robot according to claim 1 , wherein the motherboard is a backplane that serves as a common power and data bus suitable for connection to an external computer.
17 . The modular robot according to claim 1 , wherein the motherboard is configured to provide a common power and data bus for each of the custom circuits.
18 . A pipe-inspection system comprising:
the modular robot according to claim 1 ; and
a sensor head removably coupled to an end of the robot via a universal coupler that serves to feed power and control signals to the sensor head.
19 . The pipe-inspection system according to claim 18 , being dimensioned for movement along an inner surface of a pipe.
20 . The pipe-inspection system according to claim 19 , comprising at least one wheel carriage fixed to the body portion by means of a respective collapsible and expandable mechanism allowing adjustment of a base of the wheel carriage to fit an internal diameter of the pipe.