Description:
A SYSTEM FOR INSPECTION AND MAINTENANCE OF COMPLEX ENVIRONMENTS USING MULTIPLE-MODAL OPERATIONS AND METHOD THEREOF
TECHNICAL FIELD
[0001] Embodiments of the present disclosure generally relate to autonomous inspection and maintenance systems. In particular, the present disclosure relates to a system and method for inspection and maintenance of one or more complex environments using multiple modal operations.
BACKGROUND
[0002] Inspection robots are the robotic devices that autonomously inspect one or more environments to reduce human intervention. Inspection robots are essential due to their ability to access hazardous or hard-to-reach areas, enhancing safety by reducing risks to human inspectors. Further, the inspection robots offer efficiency through continuous operation without fatigue, ensuring faster results thorough inspections. Additionally, the accuracy and consistency in data collection introduced by the inspection robots reduce the likelihood of human error. While there is an initial investment, these inspection robots prove cost-effective over time by reducing labor costs and minimizing downtime. Further, the inspection robots facilitates remote operation capability which allows inspections in environments where direct human presence is challenging, further improving safety. In overall scenario, inspection robots are versatile tools that provide precise data, enabling better decision-making and predictive maintenance.
[0003] Currently, in existing technologies, one such inspection robots are cable driven robots which are widely used for confined space (e.g. pipe) inspection & maintenance. However, these cable-driven robots often face difficulties in navigating through large pipelines with varying diameters, bends, and junctions owing to cable lengths.
[0004] Further, another category of the inspection robots corresponds to fixed-size inspection robots which are designed for specific environments and configurations. They are often bulky and cannot accommodate changes in terrain or geometry. Consequently, these fixed-size inspection robots cannot access environments with different dimensions, limiting their utility.
[0005] However, the existing technologies in the field of inspection and maintenance robots are limited by their inability to navigate through challenging environments with varying diameters, bends, and junctions. Moreover, the lack of customization and adaptability restricts their application in diverse environments.
[0006] Therefore, a need exists for a novel solution that overcomes the above-said problems, providing a highly flexible, modular, and easily expandable inspection robot with multi-mode and multifunctionality. Hence, there is a need in the art to provide a system and method for inspection and maintenance of one or more complex environments using multiple modal operations, to address the aforementioned deficiencies in the art.
SUMMARY
[0007] This summary is provided to introduce a selection of concepts, in a simple manner, which is further described in the detailed description of the disclosure. This summary is neither intended to identify key or essential inventive concepts of the subject matter nor to determine the scope of the disclosure.
[0008] An aspect of the present disclosure provides a system for inspection and maintenance of one or more complex environments using multiple modal operations. The system comprises a front body and a rear body further comprising a plurality of omni wheel modules, individually driven, in which the front body and the rear body may be connected to each other via a 2 Degrees of Freedom (DOF) joint. Further, the front body and the rear body individually further comprises a lead screw attached to a spring. In an embodiment, the lead screw may be configured to alter distance between the plurality of omni wheel modules. Further, the front body and the rear body individually comprises a DC motor coupled to the plurality of omni wheel modules via the lead screw. In an embodiment, the DC motor may be configured to rotate the plurality of omni wheel modules using a shaft. Further, the system comprises the 2 DOF joint coupled with a servo motor. In an embodiment, the servo motor may be configured to actuate the 2 DOF joint, in which the 2 DOF joint may be configured to provide 90 degrees longitudinal movement and flexibility for the front body and the rear body upon actuation. Furthermore, the system comprises one or more propellers coupled to the front body. In an embodiment, the one or more propellers may be configured to move through one or more liquid medium, when actuated by the DC motor of the front body. Furthermore, the system comprises a control unit coupled with a memory. In an embodiment, control unit may be configured to receive one or more visual data of one or more complex environments in real-time, from one or more cameras associated with the system. Further, the control unit may be configured to receive one or more sensor data in real-time, from one or more sensors associated with the system, and provide the one or more visual data and the one or more sensor data to a user in real-time. In an embodiment, the user may be connected to the system through a network. Furthermore, the control unit may be configured to receive one or more user command data from the user. In an embodiment, the one or more user command data may comprise a type of mode of operation selected by the user. Subsequently, the control unit may be configured to perform transition in orientation and size of the system based on the received one or more user command data. Finally, the control unit may be configured to perform inspection and maintenance of the one or more complex environments based on the performed transition.
[0009] Another aspect of the present disclosure includes method for inspection and maintenance of one or more complex environments using multiple modal operations. The method includes receiving, by a control unit, one or more visual data of one or more complex environments in real-time, from one or more cameras associated with the system. The method then includes receiving, by the control unit, one or more sensor data in real-time, from one or more sensors associated with the system. Further, the method includes providing, by the control unit, the one or more visual data and the one or more sensor data to a user in real-time. In an embodiment, the user may be connected to the system through a network. Furthermore, the method includes receiving, by the control unit, one or more user command data from the user. In an embodiment, the one or more user command data may comprise a type of mode of operation selected by the user. Subsequently, the method includes performing, by the control unit, transition in orientation and size of the system based on the received one or more user command data. Finally, the method includes performing, by the control unit, inspection and maintenance of the one or more complex environments based on the performed transition.
[0010] To further clarify the advantages and features of the present disclosure, a more particular description of the disclosure will follow by reference to specific embodiments thereof, which are illustrated in the appended figures. It is to be appreciated that these figures depict only typical embodiments of the disclosure and are therefore not to be considered limiting in scope. The disclosure will be described and explained with additional specificity and detail with the appended figures.
BRIEF DESCRIPTION OF ACCOMPANYING DRAWINGS
[0011] The disclosure will be described and explained with additional specificity and detail with the accompanying figures in which:
[0012] FIG. 1 illustrates an exemplary environment for inspection and maintenance of one or more complex environments, in accordance with an embodiment of the present disclosure;
[0013] FIG. 2 illustrates a detailed internal block diagram of a system, for inspection and maintenance of one or more complex environments using multiple modal operations, in accordance with an embodiment of the present disclosure;
[0014] FIG. 3 illustrates a modular design of the system, as shown in FIG. 1, in accordance with an embodiment of the present disclosure.
[0015] FIG. 4A illustrates an exemplary illustration of internal structure of a body of a system, in accordance with an embodiment of the present disclosure;
[0016] FIGs. 4B-4C illustrates exemplary representation of plurality of omni wheel modules in fully retracted position and completed expanded position, in accordance with an embodiment of the present disclosure;
[0017] FIG. 5 illustrates an exemplary structural representation of a 2 DOF joint, in accordance with an embodiment of the present disclosure;
[0018] FIGs. 6A-6C illustrates an exemplary representation of different angles view of plurality of omni wheel modules, in accordance with an embodiment of the present disclosure;
[0019] FIGs. 7A-7C illustrates an exemplary representation of different modes of operation of the system, in accordance with an embodiment of the present disclosure;
[0020] FIGs. 8A-8B illustrates an exemplary representation of transition of the system into different modes, in accordance with an embodiment of the present disclosure; and
[0021] FIG. 9 illustrates a flow chart representation of method for inspection and maintenance of one or more complex environments using multiple modal operations, in accordance with an embodiment of the present disclosure.
[0022] Further, those skilled in the art will appreciate that elements in the figures are illustrated for simplicity and may not have necessarily been drawn to scale. Furthermore, in terms of the construction of the device, one or more components of the device may have been represented in the figures by conventional symbols, and the figures may show only those specific details that are pertinent to understanding the embodiments of the present disclosure so as not to obscure the figures with details that will be readily apparent to those skilled in the art having the benefit of the description herein.

DETAILED DESCRIPTION
[0023] For simplicity and illustrative purposes, the present disclosure is described by referring mainly to examples thereof. The examples of the present disclosure described herein may be used together in different combinations. In the following description, details are set forth in order to provide an understanding of the present disclosure. It will be readily apparent, however, that the present disclosure may be practiced without limitation to all these details. Also, throughout the present disclosure, the terms “a” and “an” are intended to denote at least one of a particular element. The terms “a” and “an” may also denote more than one of a particular element. As used herein, the term “includes” means includes but not limited to, the term “including” means including but not limited to. The term “based on” means based at least in part on, the term “based upon” means based at least in part upon, and the term “such as” means such as but not limited to. The term “relevant” means closely connected or appropriate to what is being performed or considered.
[0024] For the purpose of promoting an understanding of the principles of the disclosure, reference will now be made to the embodiment illustrated in the figures and specific language will be used to describe them. It will nevertheless be understood that no limitation of the scope of the disclosure is thereby intended. Such alterations and further modifications in the illustrated system, and such further applications of the principles of the disclosure as would normally occur to those skilled in the art are to be construed as being within the scope of the present disclosure. It will be understood by those skilled in the art that the foregoing general description and the following detailed description are exemplary and explanatory of the disclosure and are not intended to be restrictive thereof.
[0025] In the present document, the word “exemplary” is used herein to mean “serving as an example, instance, or illustration”. Any embodiment or implementation of the present subject matter described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments. The terms “comprise”, “comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion, such that one or more devices or sub-systems or elements or structures or components preceded by “comprises… a” does not, without more constraints, preclude the existence of other devices, sub-systems, additional sub-modules. Appearances of the phrase “in an embodiment”, “in another embodiment”, “in an exemplary embodiment” and similar language throughout this specification may, but not necessarily do, all refer to the same embodiment.
[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this disclosure belongs. The system, methods, and examples provided herein are only illustrative and not intended to be limiting. A computer system (standalone, client, or server, or computer-implemented system) configured by an application may constitute a “module” (or “subsystem”) that is configured and operated to perform certain operations. In one embodiment, the “module” or “subsystem” may be implemented mechanically or electronically, so a module includes dedicated circuitry or logic that is permanently configured (within a special-purpose processor) to perform certain operations. In another embodiment, a “module” or a “subsystem” may also comprise programmable logic or circuitry (as encompassed within a general-purpose processor or other programmable processor) that is temporarily configured by software to perform certain operations. Accordingly, the term “module” or “subsystem” should be understood to encompass a tangible entity, be that an entity that is physically constructed permanently configured (hardwired), or temporarily configured (programmed) to operate in a certain manner and/or to perform certain operations described herein.
[0027] Embodiments described herein provide a system and method for inspection and maintenance of one or more complex environments using multiple modal operations. The system comprises a front body and a rear body further comprising a plurality of omni wheel modules, individually driven, in which the front body and the rear body may be connected to each other via a 2 Degrees of Freedom (DOF) joint. Further, the front body and the rear body individually further comprises a lead screw attached to a spring. In an embodiment, the lead screw may be configured to alter distance between the plurality of omni wheel modules. Further, the front body and the rear body individually comprises a DC motor coupled to the plurality of omni wheel modules via the lead screw. In an embodiment, the DC motor may be configured to rotate the plurality of omni wheel modules using a shaft. Further, the system comprises the 2 DOF joint coupled with a servo motor. In an embodiment, the servo motor may be configured to actuate the 2 DOF joint, in which the 2 DOF joint may be configured to provide 90 degrees longitudinal movement and flexibility for the front body and the rear body upon actuation. Furthermore, the system comprises one or more propellers coupled to the front body. In an embodiment, the one or more propellers may be configured to move through one or more liquid medium, when actuated by the DC motor of the front body. Furthermore, the system comprises a control unit coupled with a memory. In an embodiment, control unit may be configured to receive one or more visual data of one or more complex environments in real-time, from one or more cameras associated with the system. Further, the control unit may be configured to receive one or more sensor data in real-time, from one or more sensors associated with the system, and provide the one or more visual data and the one or more sensor data to a user in real-time. In an embodiment, the user may be connected to the system through a network. Furthermore, the control unit may be configured to receive one or more user command data from the user. In an embodiment, the one or more user command data may comprise a type of mode of operation selected by the user. Subsequently, the control unit may be configured to perform transition in orientation and size of the system based on the received one or more user command data. Finally, the control unit may be configured to perform inspection and maintenance of the one or more complex environments based on the performed transition.
[0028] Referring now to the drawings, and more particularly to FIG. 1 through FIG. 9, where reference characters denote corresponding features consistently throughout the figures, there are shown preferred embodiments, and these embodiments are described in the context of the following exemplary system and/or method.
[0029] FIG. 1 illustrates an exemplary environment 100 for inspection and maintenance of one or more complex environments using multiple modal operations, in accordance with an embodiment of the present disclosure. In an embodiment, the one or more complex environment may include for example, but not limited to, the environment 100.
[0030] As illustrated in FIG. 1, environment 100 may include a system 101. The system 101 further comprises a front body 103 and a rear body 105 comprising a plurality of omni wheel modules (107a, 107b), individually driven, in which the front body 103 and the rear body 105 may be connected to each other via a 2 Degrees of Freedom (DOF) joint 109. As shown in FIG. 1, the front body 103 comprises the plurality of modules 107a, and the rear body 105 comprises the plurality of omni wheel modules 107b.
[0031] Further, the front body 103 and the rear body 105 may individually further comprise a lead screw (111a, 111b) attached to a spring (113a, 113b). In an embodiment, the lead screw (111a, 111b) may be configured to alter distance between the plurality of omni wheel modules (107a, 107b). As shown in FIG. 1, the front body may comprise the lead screw 111a, attached to the spring 113a. Similarly, the rear body 105 may comprise the lead screw 111b, attached to the spring 113b.
[0032] Furthermore, the front body 103 and the rear body 105 individually may comprise a DC motor (115a, 115b) coupled to the plurality of omni wheel modules (107a, 107b) via the lead screw (111a, 111b). In an embodiment, the DC motor (115a, 115b) may be configured to rotate the plurality of omni wheel modules (107a, 107b) using a shaft (not shown in FIG. 1).
[0033] Further, the 2 DOF joint 109 may be coupled with a servo motor 117. The servo motor 117 may be configured to actuate the 2 DOF joint 109, in which the 2 DOF joint 109 may provide 90 degrees longitudinal movement and flexibility for the front body 103 and the rear body 105 upon actuation.
[0034] Furthermore, the system 101 may comprise one or more propellers 119 coupled to the front body 103. In an embodiment, the one or more propellers 119 may be configured to move through one or more liquid medium, when actuated by the DC motor 115a of the front body 103.
[0035] In an embodiment, the system 101 may comprise a control unit 121 coupled with a memory 123. The control unit 121 may be configured to receive one or more visual data of one or more complex environments in real-time, from one or more cameras 125 associated with the system 101. Further, the control unit 121 may receive one or more sensor data in real-time, from one or more sensors 127 associated with the system 101, and may provide the one or more visual data and the one or more sensor data to a user 129 in real-time. In an embodiment, the user 129 may be connected to the system 101 through a network 131. Furthermore, the control unit 121 may be configured to receive one or more user command data from the user 129. In an embodiment, the one or more user command data may comprise a type of mode of operation selected by the user 129. Furthermore, the control unit 121 may be configured to perform transition in orientation and size of the system 101 based on the received one or more user command data. Finally, the control unit 121 may be configured to perform inspection and maintenance of the one or more complex environments based on the performed transition.
[0036] FIG. 2 illustrates a detailed internal block diagram of a system 201, for inspection and maintenance of one or more complex environments using multiple modal operations, in accordance with an embodiment of the present disclosure. In an embodiment, the system 201 is similar to the system 101 of FIG. 1.
[0037] The system 201 may include, without limiting to, a control unit 203, an I/O interface 205, and a memory 207 storing instructions, executable by the control unit 203, which, on execution, may cause the system 201 to inspect and maintain one or more complex environments using multiple modal operations. In an embodiment, the control unit 203 is similar to the control unit 121 of FIG. 1.
[0038] In an embodiment, the memory 207 may include data 209 and one or more modules 211. In an embodiment, each of the one or more modules 211 may be a hardware unit which may be outside the memory 207 and coupled with the system 201. In an embodiment, the memory 207 is similar to the memory 123 of FIG. 1.
[0039] In an embodiment, the data 209 may include for example, one or more visual data 213, one or more sensor data 215, and one or more user command data 217. Further in an embodiment, the one or more modules 211 may include a visual data receiving module 219, a sensor data receiving module 221, a visual data and sensor data providing module 223, a user command data receiving module 225, a transition performing module 227, and an inspection and maintenance performing module 229.
[0040] In an embodiment, the visual data receiving module 219 may be configured to receive one or more visual data 213 of one or more complex environments in real-time, from one or more cameras 125 associated with the system 201.
[0041] In an embodiment, the sensor data receiving module 221 may be configured to receive one or more sensor data 215 in real-time, from one or more sensors 127 associated with the system 201.
[0042] In an embodiment, the visual data and sensor data providing module 223 may be configured to provide the one or more visual data 213 and the one or more sensor data 215 to the user 129 in real-time. In an embodiment, the user 129 may be connected to the system 201 through a network 131 (as shown in FIG. 1).
[0043] Further, in an embodiment, the user command data receiving module 225 may be configured to receive one or more user command data 217 from the user 129. In an embodiment, the one or more user command data 217 may comprise a type of mode of operation selected by the user 129.
[0044] In an embodiment, the transition performing module 227 may be configured to perform transition in orientation and size of the system 201 based on the received one or more user command data 217. To perform the transition in orientation and size of the system 201, transition performing module 227 may be configured to reduce the distance between the plurality of omni wheel modules (107a, 107b) when the received one or more user command data 217 corresponds to mode-1 operation. Further, in embodiment, the transition performing module 227 may be configured to increase distance between the plurality of omni wheel modules (107a, 107b) and actuate the shock absorbing mechanism, when the received one or more user command data 217 corresponds to mode-2 operation. Furthermore, in an embodiment, the transition performing module 227 may actuate the one or more propellers 119 coupled to the front body 103, using the DC motor 115a, when the received one or more user command data 217 corresponds to mode-3 operation.
[0045] In an embodiment, the mode-1 operation may correspond to the system 201 travelling in horizontal and vertical pipelines of various diameter variations. Further, in an embodiment, the mode-2 operation may correspond to the system 201 travelling in one or more uneven land surfaces containing small-medium obstacles. Furthermore, in an embodiment, the mode-3 operation may correspond to the system 201 travelling in one or more liquid medium.
[0046] In an embodiment, the inspection and maintenance performing module 229 may be configured to perform inspection and maintenance of the one or more complex environments based on the performed transition.
[0047] FIG. 3 illustrates a modular design of the system 101, as shown in FIG. 1, in accordance with an embodiment of the present disclosure. In an embodiment, the system 101 may include for example, but not limited to, an inspection robot.
[0048] The system 101 may comprise a front body 103 and a rear body 105. The front body 103, and the rear body 105 may be connected by a 2-DOF joint 109. Further, the system 1001 may comprise a plurality of omni wheel modules (107a, 107b). Furthermore, as shown in FIG. 3, the one or more propellers 119 may be coupled to the front body 103. In an embodiment, the one or more propellers 119 may be configured to move through one or more liquid medium, when actuated by the DC motor (not shown in FIG. 3) of the front body 103.
[0049] In an embodiment, the overall design of the system 101 may optimize the ability of the system 101 to traverse through constrained terrains with minimal modifications. Additionally, the modular design of the system 101 may allow for ease of maintenance and customization.
[0050] FIG. 4A illustrates an exemplary illustration of internal structure of a body 401, of the system 400, in accordance with an embodiment of the present disclosure. In an embodiment, the system 400 is similar to the system 101 of FIG. 1, and the system 201 of FIG. 2. Further, in an embodiment, the body 401 may include, but not limited to, the front body 103, and the rear body 105.
[0051] In an embodiment, the body 401, may incorporate a leadscrew 403 for increasing or decreasing the distance between the plurality of omni wheel modules 405. In other words, the lead screw 403 may be attached to a spring 407, in which the lead screw 403 may be configured to alter distance between the plurality of omni wheel modules 405.
[0052] In an embodiment, the lead screw 403 may include, but not limited to, the lead screw 111a, and the lead screw 111b. Further, in an embodiment, the plurality of omni wheel modules 405 may include, but not limited to, the plurality of omni wheel modules 107a, and the plurality of omni wheel modules 107b (as shown in FIG. 3). Furthermore, in an embodiment, the spring 407 may include, but not limited to, the spring 113a, and the spring 113b.
[0053] In an embodiment, the body 401 may consist of a wall press mechanism which may further consists of the lead screw 403 and the spring 407, which may in turn actuate a pantograph mechanism with a primary lever connected to a fixed base and a secondary lever attached to a moving base (not shown in FIG. 4). The longitudinal motion of the moving part may be translated into radial expansion of the plurality of omni wheel modules 405, through the pantograph mechanism.
[0054] In an embodiment, the body 401 may comprise a motor casing 409, (as shown in FIG. 4A), in which the motor casing 409 may be a protective enclosure designed to house the DC motor (115a, 115b) securely. Further, in an embodiment, the motor casing 409 may provide structural support and may safeguard the DC motor (115a, 115b) against external environmental factors, such as for example, but not limited to, debris, water, and physical impact. Moreover, the motor casing 409 may also ensure proper alignment of the DC motor (115a, 115b) with the lead screw mechanism 403 to optimize torque transmission and operational efficiency. Additionally, the motor casing 409 may aid in heat dissipation to maintain optimal performance of the DC motor (115a, 115b) during extended operations.
[0055] FIGs. 4B-4C illustrates exemplary representation of plurality of the omni wheel modules 405 in fully retracted position and completed expanded position, in accordance with an embodiment of the present disclosure.
[0056] In an embodiment, the user command data receiving module 225 (as shown in FIG. 2) of the system 400 may be configured to receive one or more user command data 217 from the user 129. In an embodiment, the one or more user command data 217 may comprise a type of mode of operation selected by the user 129.
[0057] Further, in an embodiment, the transition performing module 227 (as shown in FIG. 2) may be configured to perform transition in orientation and size of the system 400 based on the received one or more user command data 217. To perform the transition in orientation and size of the system 400, transition performing module 227 may be configured to reduce the distance between the plurality of omni wheel modules 405 (as shown in FIG. 4B) when the received one or more user command data 217 corresponds to mode-1 operation. This results the system 400 to be in fully retracted position (as shown in FIG. 4B).
[0058] Further, in embodiment, the transition performing module 227 may be configured to increase distance between the plurality of omni wheel modules 405 and actuate the shock absorbing mechanism, when the received one or more user command data 217 corresponds to mode-2 operation. This results the system 400 to be in completely expanded position (as shown in FIG. 4C).
[0059] FIG. 5 illustrates an exemplary structural representation of a 2 Degrees of Freedom (DOF) joint 501, in accordance with an embodiment of the present disclosure. In an embodiment, the 2 DOF joint 501 is similar to the 2 DOF joint 109 of FIG. 1 and FIG. 3.
[0060] In an embodiment, the front body 103 and the rear body 105 may be connected through a universal joint such as for example, but not limited to, the 2 DOF joint 501, as depicted in FIG. 5. Further, the 2 DOF joint 501 may be coupled with a servo motor 503. In an embodiment, the servo motor 503 may be configured to actuate the 2 DOF joint 501, in which the 2 DOF joint 501 may provide 90 degrees longitudinal movement and flexibility for the front body 103 and the rear body 105 upon actuation. Further, in an embodiment, the servo motor 503 may have a high torque value. In an embodiment, the servo motor 503 is similar to the servo motor 117 of FIG. 1.
[0061] In an embodiment, the 2 DOF joint 501 may be configured to provide flexibility to the system 101 when navigating 90 degree turns and T-joints, while avoiding any collision between the driving units in the front body 103 and the rear body 105. Further, the 2 DOF joint 501 may allow for angular freedom, thus preventing longitudinal movement between the front body 103 and the rear body 105. This may mitigate the risk of damage to the various parts of the system 101. Moreover, the 2 DOF joint 501 may offer stability, as the lower part of the 2 DOF joint 501 may prevent the system 101 from slipping if the upper part of the 2 DOF joint 501 loses traction. Therefore, the 2 DOF joint 501 may be deemed a suitable choice for the flexible joint between the front body 103 and the rear body 105, given its ability to provide the required flexibility while maintaining stability and preventing damages to the parts of the system 101.
[0062] Further, in an embodiment, the system 101 further comprises one or more bevel gears 505 (as shown in FIG. 5) placed between the servo motor 503 and the 2 DOF joint 501. In an embodiment, the one or more bevel gears 505 may be configured to rotate the 2 DOF joint 501 in x-axis, y-axis, and z-axis directions. The one or more bevel gears 505, as illustrated in FIG. 5, may be integral to the 2 DOF joint 501, operating as a differential gear system with at least for example, but not limited to, three bevel gears.
[0063] In an embodiment, the system 101 may allow for distinct movements of the one or more bevel gears 503 such as for example, but not limited to, opposite direction rotations to enable rolling motion (-90° to +90°), same-direction rotations to enable pitch or yaw motion (-90° to +90°). Additionally, the system 101 may allow side-to-side motion in the home position through same-direction rotation, and up-down motion through initial rolling followed by same-direction rotation. The design of the one or more bevel gears 503 may ensure smooth articulation, precise torque transfer, and flexibility, critical for navigating bends and complex geometries in constrained environments.
[0064] FIGs. 6A-6C illustrates an exemplary representation of different angles view of plurality of omni wheel modules 405, in accordance with an embodiment of the present disclosure.
[0065] In an embodiment, the body 401 may consist of a plurality of omni wheel modules 405 (as shown in FIG. 4A). For example, the plurality of omni wheel modules may include, but not limited to, 3 set of Swedish mecannum (omni) wheel modules, in which the front body 103 and the rear body 105 may consist of two omni wheels. Further, in an embodiment, the distance between the plurality of omni wheel modules 405 may be altered using the lead screw 403 mechanism.
[0066] In an embodiment, the plurality of omni wheel modules 405 may be designed with rollers set at 90 degrees along the circumference of the plurality of omni wheel modules 405, enabling holonomic motion. This unique configuration allows the system 101 to achieve omnidirectional movement, unlike conventional wheels that support only linear motion. Additionally, due to the unique structure of the plurality of omni wheel modules 405, the front body 103 of the system 101 may perform pivot movements. The pivoting movement of the system 101 may be actuated by the 2 DOF joint 501, allowing the system 101 to reorient the front body 103 independently, which may be essential for navigating constrained and complex environments effectively.
[0067] In an embodiment, the distance between the plurality of the omni wheel modules 405 may be increased when travelling on flat ground to increase the support polygon for better stability. Further, in an embodiment, the plurality of omni wheel modules 405 may be rotated using a single shaft, in which the shaft may be actuated by a worm gear assembly 601 driven by a geared DC motor 603. In an embodiment, the DC motor 603 is similar to the DC motor 115a and the DC motor 115b of FIG. 1. In an embodiment, the single shaft in the system 101 may be centrally located within the front body 103 and the rear body 105. The single shaft may serve as the primary axis for transferring rotational motion from the DC motor (115a, 115b) to the plurality of omni wheel modules 405. Furthermore, the single shaft may be actuated through the worm gear assembly 601, ensuring synchronized rotation of the plurality of omni wheel modules 405 for smooth and controlled navigation of the system 101.
[0068] In other words, the plurality of omni wheel modules 405 may allow the system 101 to move forward as roll about its axis. Further, the plurality of omni wheel modules 405 may facilitate holonomic motion of the system 101.
[0069] FIGs. 7A-7C illustrates an exemplary representation of different modes of operation of the system 101, in accordance with an embodiment of the present disclosure.
[0070] FIG. 7A shows a mode-1 operation of the system 101. In an embodiment, the system 101 may be utilized to inspect pipelines 701 (as shown in FIG. 7) from inside. Due to the wall-press mechanism of the system 101, the system 101 may traverse in pipelines 701 such as for example, but not limited to, horizontal and vertical pipelines of various diameter variations. Further, the system 101 may also pass through 90-degree bends at any angle, due the unique 2 DOF joint 109.
[0071] FIG. 7B shows a mode-2 operation of the system 101. In an embodiment, the system 101 may travel on an uneven land terrain 703 containing small-medium obstacles using the shock absorbing mechanism incorporated in the system 101.
[0072] FIG. 7C shows a mode-3 operation of the system 101. In an embodiment, the system 101 may be configured to travel in one or more liquid medium 705 (as shown in FIG. 7C). In other words, the system 101 may overcome the drag force of the one or more liquid medium 705 by using the inbuilt propellers such as, for example, but not limited to the one or more propellers 119 (as shown in FIG. 3), both in-pipe and in external environment.
[0073] FIGs. 8A-8B illustrates an exemplary representation of transition of the system 101 into different modes, in accordance with an embodiment of the present disclosure.
[0074] FIG. 8A shows the representation of the transition of the system 101 from mode-1 operation to the mode-2 operation. In an embodiment, the system 101 may perform transition from the mode- 1 to the mode-2 by increasing the distance between the plurality of omni wheel modules 405 (as shown in FIG. 4A) for better support. For example, when the system 101 needs to travel from the pipelines 701 to the uneven land terrain 703, the system 101 may increase the distance between the plurality of omni wheel modules 405. Further, in an embodiment, the system 101 may decrease the distance between the plurality of omni wheel modules 405, when the system 101 needs to travel in the pipelines 701 using the variable support mechanism incorporated in the system 101.
[0075] Further, in an embodiment, the plurality of omni wheel modules 405 may include, but not limited to, the plurality of omni wheel modules 107a, and the plurality of omni wheel modules 107b (as shown in FIG. 3).
[0076] In an embodiment, the control unit 121 may be configured to receive one or more user command data 217 from the user 129, in which the one or more user command data 217 may comprise a type of mode of operation selected by the user. Further, the control unit may be configured to perform the transition in the orientation and size of the system 101 by reducing the distance between the plurality of omni wheel modules 405 when the received one or more user command data 217 corresponds to the mode-1 operation.
[0077] In an embodiment, the system 101 may increase distance between the plurality of omni wheel modules 405 and may further actuate the shock absorbing mechanism, when the received one or more user command data 217 corresponds to mode-2 operation.
[0078] FIG. 8B shows the representation of the transition of the system 101 from mode-2 operation to the mode-3 operation, and from mode-1 operation to the mode-3 operation.
[0079] In an embodiment, the system 101 may turns on the one or more propellers 119 when the system 101 needs to face marshy land, such as in pipe or external environment. Hence, the system 101 may perform transition from both mode-1 and mode-2 to mode-3 by turning on the one or more propellers 119. In other words, the control unit 121 may actuate the one or more propellers 119 coupled to the front body 103, using the DC motor 115a, when the received one or more user command data 217 corresponds to mode-3 operation
[0080] FIG. 9 illustrates a flow chart representation of method for inspection and maintenance of one or more complex environments using multiple modal operations, in accordance with an embodiment of the present disclosure.
[0081] At step 901, the method 900 includes receiving, by a control unit 203, one or more visual data 213 of one or more complex environments in real-time, from one or more cameras 125 associated with the system 101. In an embodiment, the visual data receiving module 219 may be configured to receive one or more visual data 213 of one or more complex environments in real-time, from one or more cameras 125 associated with the system 201.
[0082] At step 902, the method 900 includes receiving, by the control unit 203, one or more sensor data 215 in real-time, from one or more sensors 127 associated with the system 101. In an embodiment, the sensor data receiving module 221 may be configured to receive one or more sensor data 215 in real-time, from one or more sensors 127 associated with the system 201.
[0083] At step 903, the method 900 includes providing, by the control unit 203, the one or more visual data 213 and the one or more sensor data 215 to the user 129 in real-time. In an embodiment, the user 129 may be connected to the system 101 through a network 131. In an embodiment, the visual data and sensor data providing module 223 may be configured to provide the one or more visual data 213 and the one or more sensor data 215 to the user 129 in real-time.
[0084] At step 904, the method 900 includes receiving, by the control unit 203, one or more user command data 217 from the user 129. In an embodiment, the one or more user command data 217 may comprise a type of mode of operation selected by the user 129. In an embodiment, the user command data receiving module 225 may be configured to receive one or more user command data 217 from the user 129
[0085] At step 905, the method 900 includes performing, by the control unit 203, transition in orientation and size of the system 101 based on the received one or more user command data 217. To perform the transition in orientation and size of the system 201, transition performing module 227 may be configured to reduce the distance between the plurality of omni wheel modules (107a, 107b) when the received one or more user command data 217 corresponds to mode-1 operation. Further, in embodiment, the transition performing module 227 may be configured to increase distance between the plurality of omni wheel modules (107a, 107b) and actuate the shock absorbing mechanism, when the received one or more user command data 217 corresponds to mode-2 operation. Furthermore, in an embodiment, the transition performing module 227 may actuate the one or more propellers 119 coupled to the front body 103, using the DC motor 115a, when the received one or more user command data 217 corresponds to mode-3 operation.
[0086] At step 906, the method 900 includes performing, by the control unit 203, inspection and maintenance of the one or more complex environments based on the performed transition. In an embodiment, the inspection and maintenance performing module 229 may be configured to perform inspection and maintenance of the one or more complex environments based on the performed transition.
[0087] The present disclosure offers design of a system such as a multi-modal inspection robot that addresses the limitations of existing technologies and introduces a modular and adaptable structure. The proposed design of the system utilizes an active 2 DOF joint as a connector in a two-body system, providing enhanced flexibility, maneuverability, and an improved range of motion. Further, the system enables the use of propellers attached for locomotion in shallow water. By offering a highly customizable and easily expandable framework, the system of the present disclosure is capable of navigating through tubes of varying diameters, bends, junctions, and configurations.
[0088] Further the modular paradigm of the system of the present disclosure also streamlines maintenance and repair procedures, with replaceable or upgradable components. Furthermore, the present disclosure negates the necessity for manual inspections in hazardous or inaccessible areas by providing a system such as a semi-autonomous and manual (teleoperated) control of the robot, leading to reduced labor costs, increased operational efficiency, real-time defect detection, and proactive maintenance strategies.
[0089] The design-driven approach used in the present disclosure involves several key steps. The initial step is to identify the specific requirements for navigating and inspecting constrained conditions, such as size, mobility, and sensor capabilities. Once the requirements have been identified, Computer Aided Design (CAD) tools are used to create a 3D model of the system of the present disclosure.
[0090] The next step in the methodology is to develop a physics-based simulation model of the system using software tools such as Anti-Doping Administration and Management System (ADAMS) and Matrix Laboratory (MATLAB). The simulation model is used to evaluate the performance of the system under different operating conditions, including navigation and inspection of constrained spaces.
[0091] Once the design and simulation model have been optimized, the system is manufactured using custom parts. 3D printing and Computer Numerical Control (CNC) machining are employed to manufacture custom parts as needed. The system is assembled and tested for functionality, including mobility, sensor performance, and control responsiveness. The manufacturing process ensures that the system is low-cost and can be manufactured efficiently and reliably.
[0092] Further, electronic circuits are planned out, along with simultaneous trials and execution. Micro Direct Current (DC) motors with a worm gear drive mechanism are used to control the speed of the plurality of omni wheel modules of the system, and the distance between the plurality of omni wheel modules. These motors are driven by motor drivers and an Advances RISC machine (ARM) based microcontroller. A geared DC servo motor actuates the lead screw mechanism to vary the distance of the plurality of omni wheel modules from the body.
[0093] Further, two 35 kg-cm servo motors actuate the 2-DOF joint. A Red Green Blue Depth (RGBD) camera is embedded to provide visuals for teleoperation and control (human control). A Single Board Computer (SBC) serves as the central processing unit, controlling all motor drivers via Universal Asynchronous Receiver/Transmitter (UART) or Controller Area Network (CAN) protocol and handling RGBD camera data for visual feed transmission. Wireless Fidelity (Wi-Fi) communication protocol is used for remote control. A power bus with different voltages is created using suitable DC-DC buck converters, powered by a Li-ion battery with a battery management system module. The circuit is custom designed on a PCB prototyping board, and wire harnessing is done throughout the system appropriately.
[0094] The final step in the methodology is to test the performance of the system in simulated constrained conditions, such as narrow passages, complex geometries, and varying terrain. The ability of the proposed system to navigate and inspect constrained spaces is evaluated, including its mobility and sensor capabilities. The test results are analyzed to identify strengths and weaknesses of the system and areas for improvement. The results are then used to refine the system design, simulation model, and manufacturing process for future iterations. Overall, the methodology used in the present disclosure provides a comprehensive and iterative approach to the development of a low-cost system for inspection and surveillance in constrained conditions. The design-driven approach ensures that the system is optimized for its intended use, while the use of simulation modeling and testing allows for iterative improvement of the performance of the system.
[0095] In other words, the proposed the proposed system of the present disclosure presents multifaceted advantages over prior technologies. By merging inspection and cleaning functions in multiple modes of operations, the system averts hazardous manual inspections, enhances operational efficiency, detects defects in real-time, and encourages proactive maintenance. The modular design of the system also facilitates component replacement or upgrades, streamlining maintenance. Further, the adaptive structure of the proposed system also accommodates various environments, curbing the limitations of other systems such as fixed-size robots.
[0096] One of the ordinary skills in the art will appreciate that techniques consistent with the present disclosure are applicable in other contexts as well without departing from the scope of the disclosure.
[0097] What has been described and illustrated herein are examples of the present disclosure. The terms, descriptions, and figures used herein are set forth by way of illustration only and are not meant as limitations. Many variations are possible within the spirit and scope of the subject matter, which is intended to be defined by the following claims and their equivalents in which all terms are meant in their broadest reasonable sense unless otherwise indicated.
[0098] The written description describes the subject matter herein to enable any person skilled in the art to make and use the embodiments. The scope of the subject matter embodiments is defined by the claims and may include other modifications that occur to those skilled in the art. Such other modifications are intended to be within the scope of the claims if they have similar elements that do not differ from the literal language of the claims or if they include equivalent elements with insubstantial differences from the literal language of the claims.
[0099] The embodiments herein may comprise hardware and software elements. The embodiments that are implemented in software include but are not limited to, firmware, resident software, microcode, and the like. The functions performed by various modules described herein may be implemented in other modules or combinations of other modules.
[00100] A description of an embodiment with several components in communication with each other does not imply that all such components are required. On the contrary, a variety of optional components are described to illustrate the wide variety of possible embodiments of the invention. When a single device or article is described herein, it will be apparent that more than one device/article (whether or not they cooperate) may be used in place of a single device/article. Similarly, where more than one device or article is described herein (whether or not they cooperate), it will be apparent that a single device/article may be used in place of the more than one device or article, or a different number of devices/articles may be used instead of the shown number of devices or programs. The functionality and/or the features of a device may be alternatively embodied by one or more other devices which are not explicitly described as having such functionality/features. Thus, other embodiments of the invention need not include the device itself.
[00101] The illustrated steps are set out to explain the exemplary embodiments shown, and it should be anticipated that ongoing technological development will change the manner in which particular functions are performed. These examples are presented herein for purposes of illustration, and not limitation. Further, the boundaries of the functional building blocks have been arbitrarily defined herein for the convenience of the description. Alternative boundaries may be defined so long as the specified functions and relationships thereof are appropriately performed. Alternatives (including equivalents, extensions, variations, deviations, and the like., of those described herein) will be apparent to persons skilled in the relevant art(s) based on the teachings contained herein. Such alternatives fall within the scope and spirit of the disclosed embodiments. Also, the words "comprising," "having," "containing," and "including," and other similar forms are intended to be equivalent in meaning and be open-ended in that an item or items following any one of these words is not meant to be an exhaustive listing of such item or items or meant to be limited to only the listed item or items. It must also be noted that as used herein and in the appended claims, the singular forms “a”, “an”, and “the” include plural references unless the context clearly dictates otherwise.
[00102] Finally, the language used in the specification has been principally selected for readability and instructional purposes, and it may not have been selected to delineate or circumscribe the inventive subject matter. It is therefore intended that the scope of the invention be limited not by this detailed description, but rather by any claims that issue on an application based here on. Accordingly, the embodiments of the present invention are intended to be illustrative, but not limited, of the scope of the invention, which is outlined in the following claims.
REFERRAL NUMERALS:

Reference number Description
100 Environment
101 System
103 Front body
105 Rear body
107a, 107b Omni wheel modules
109 2 DOF joint
111a, 111b Lead screw
113a, 113b Spring
115a, 115b DC motor
117 Servo motor
119 Propellers
121 Control unit
123 Memory
125 Cameras
127 Sensors
129 User
131 Network
201 System
203 Control unit
205 I/O interface
207 Memory
209 Data
211 Modules
213 Visual data
215 Sensor data
217 User command data
219 Visual data receiving module
221 Sensor data receiving module
223 Visual data and Sensor data providing module
225 User command data receiving module
227 Transition performing module
229 Inspection and maintenance performing module
401 Body
403 Lead screw
405 Omni wheel modules
407 Spring
409 Motor casing
501 2 DOF joint
503 Servo motor
505 Bevel gears
601 Worm gear assembly
603 DC motor
701 Pipelines
703 Uneven land terrain , C , Claims:We Claim:
1. A system (101) for inspection and maintenance of one or more complex environments using multiple modal operations, the system (101) comprises:
a front body (103) and a rear body (105) comprising a plurality of omni wheel modules (107a, 107b), individually driven, wherein the front body (103) and the rear body (105) are connected to each other via a 2 Degrees of Freedom (DOF) joint (109), wherein the front body (103) and the rear body (105) individually further comprises:
a lead screw (111a, 111b) attached to a spring (113a, 113b), wherein the lead screw (111a, 111b) is configured to alter distance between the plurality of omni wheel modules (107a, 107b); and
a DC motor (115a, 115b) coupled to the plurality of omni wheel modules (107a, 107b) via the lead screw (111a, 111b), wherein the DC motor (115a, 115b) is configured to rotate the plurality of omni wheel modules (107a, 107b) using a shaft;
the 2 DOF joint (109) coupled with a servo motor (117), wherein the servo motor (117) is
configured to:
actuate the 2 DOF joint (109), wherein the 2 DOF joint (109) is configured to provide 90 degrees longitudinal movement and flexibility for the front body (103) and the rear body (105) upon actuation;
one or more propellers (119) coupled to the front body (103), wherein the one or more propellers (119) are configured to move through one or more liquid medium (705), when actuated by the DC motor (115a) of the front body (103); and
a control unit (203) coupled with a memory (207), wherein the control unit (203) is configured to:
receive one or more visual data (213) of one or more complex environments in real-time, from one or more cameras (125) associated with the system (101);
receive one or more sensor (215) data in real-time, from one or more sensors (127) associated with the system (101);
provide the one or more visual data (213) and the one or more sensor (217) data to a user (129) in real-time, wherein the user (129) is connected to the system (101) through a network (131);
receive one or more user command data (217) from the user (129), wherein the one or more user command data (217) comprises a type of mode of operation selected by the user (129);
perform transition in orientation and size of the system (101) based on the received one or more user command data (217); and
perform inspection and maintenance of the one or more complex environments based on the performed transition.

2. The system (101) as claimed in claim 1, wherein the system (101) further comprises one or more bevel gears placed (505) between the servo motor (503) and the 2 DOF joint (501), wherein the one or more bevel gears (505) are configured to rotate the 2 DOF joint (501) in x-axis, y-axis, and z-axis directions.

3. The system (101) as claimed in claim 1, wherein to rotate the plurality of omni wheel modules (107a, 107b) using a shaft, the DC motor (115a, 115b) is configured to actuate the shaft using a worn gear assembly (601) coupled with the shaft.

4. The system (101) as claimed in claim 1, wherein to perform the transition in the orientation and size of the system (101) based on the received one or more user command data (217), the control unit (203) is configured to:
reduce the distance between the plurality of omni wheel modules (107a, 107b) when the received one or more user command data (217) corresponds to mode-1 operation;
increase distance between the plurality of omni wheel modules (107a, 107b) and actuate the shock absorbing mechanism, when the received one or more user command data (217) corresponds to mode-2 operation; and
actuate the one or more propellers (119) coupled to the front body (103), using the DC motor (115a), when the received one or more user command data (217) corresponds to mode-3 operation.

5. The system (101) as claimed in claim 4, wherein the mode-1 operation corresponds to the system (101) travelling in horizontal and vertical pipelines of various diameter variations.

6. The system (101) as claimed in claim 4, wherein the mode-2 operation corresponds to the system (101) travelling in one or more uneven land surfaces containing small-medium obstacles.

7. The system (101) as claimed in claim 4, wherein the mode-3 operation corresponds to the system (101) travelling in one or more liquid medium (705).

8. A method for inspection and maintenance of one or more complex environments using multiple modal operations, the method comprising:
receiving, by a control unit (203), one or more visual data (213) of one or more complex environments in real-time, from one or more cameras (125) associated with the system (101);
receiving, by the control unit (203), one or more sensor data (213) in real-time, from one or more sensors (127) associated with the system (101);
providing, by the control unit (203), the one or more visual data (213) and the one or more sensor data (217) to a user (129) in real-time, wherein the user (129) is connected to the system (101) through a network (131);
receiving, by the control unit (203), one or more user command data (217) from the user (129), wherein the one or more user command data (217) comprises a type of mode of operation selected by the user (129);
performing, by the control unit (203), transition in orientation and size of the system (101) based on the received one or more user command data (217); and
performing, by the control unit (203), inspection and maintenance of the one or more complex environments based on the performed transition.

9. The method as claimed in claim 8, further comprising:
rotating, by one or more bevel gears (505), the 2 DOF joint (501) in x-axis, y-axis, and z-axis directions, wherein one or more bevel gears (505) are configured to be placed between the servo motor (503) and the 2 DOF joint (501).

10. The method as claimed in claim 8, further comprising:
actuating, by the DC motor (115a, 115b), the shaft using a worn gear assembly (601) coupled with the shaft; and
rotating, by the DC motor (115a, 115b), the plurality of omni wheel modules (107a, 107b), based on the actuation.

11. The method as claimed in claim 8, wherein performing the transition in the orientation and size of the system (101) based on the received one or more user command data (217), comprises:
reducing, by the control unit (203), the distance between the plurality of omni wheel modules (107a, 107b) when the received one or more user command data (217) corresponds to mode-1 operation;
increasing, by the control unit (203), distance between the plurality of omni wheel modules (107a, 107b) and actuate the shock absorbing mechanism, when the received one or more user command data (217) corresponds to mode-2 operation; and
actuating, by the control unit (203), the one or more propellers (119) coupled to the front body (103), using the DC motor (115a), when the received one or more user command data (217) corresponds to mode-3 operation.

12. The method as claimed in claim 11, wherein the mode-1 operation corresponds to the system (101) travelling in horizontal and vertical pipelines of various diameter variations.

13. The method as claimed in claim 11, wherein the mode-2 operation corresponds to the system (101) travelling in one or more uneven land surfaces containing small-medium obstacles.

14. The method as claimed in claim 11, wherein the mode-3 operation corresponds to the system (101) travelling in one or more liquid medium (705).