WO2025118024A1 - Véhicule d'exploration terrestre - Google Patents

Véhicule d'exploration terrestre Download PDF

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Publication number
WO2025118024A1
WO2025118024A1 PCT/AU2024/051308 AU2024051308W WO2025118024A1 WO 2025118024 A1 WO2025118024 A1 WO 2025118024A1 AU 2024051308 W AU2024051308 W AU 2024051308W WO 2025118024 A1 WO2025118024 A1 WO 2025118024A1
Authority
WO
WIPO (PCT)
Prior art keywords
platform
remotely operated
tools
ground exploration
wheels
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/AU2024/051308
Other languages
English (en)
Inventor
Alexander CUTRI
Sugan SHRESTHA
Jordan HUMPHRIES
Matthew Mcardle
Matthew HARRISON
Sarmad YOUSIF
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
UAM Tec Pty Ltd
Original Assignee
UAM Tec Pty Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from AU2023903938A external-priority patent/AU2023903938A0/en
Application filed by UAM Tec Pty Ltd filed Critical UAM Tec Pty Ltd
Publication of WO2025118024A1 publication Critical patent/WO2025118024A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • B60W60/00259—Surveillance operations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/225—Supports, positioning or alignment in moving situation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/222—Remote-control arrangements operated by humans
    • G05D1/224—Output arrangements on the remote controller, e.g. displays, haptics or speakers
    • G05D1/2244—Optic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/222—Remote-control arrangements operated by humans
    • G05D1/224—Output arrangements on the remote controller, e.g. displays, haptics or speakers
    • G05D1/2244—Optic
    • G05D1/2247—Optic providing the operator with simple or augmented images from one or more cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/226—Communication links with the remote-control arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/46—Control of position or course in three dimensions [3D]
    • G05D1/467—Control of position or course in three dimensions [3D] for movement inside a confined volume, e.g. indoor flying
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/48—Control of altitude or depth
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/611—Station keeping, e.g. for hovering or dynamic anchoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/80—Specific applications of the controlled vehicles for information gathering, e.g. for academic research
    • G05D2105/87—Specific applications of the controlled vehicles for information gathering, e.g. for academic research for exploration, e.g. mapping of an area
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/80—Specific applications of the controlled vehicles for information gathering, e.g. for academic research
    • G05D2105/89—Specific applications of the controlled vehicles for information gathering, e.g. for academic research for inspecting structures, e.g. wind mills, bridges, buildings or vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/50—Confined spaces, e.g. tanks, pipelines, tunnels or containers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/30—Water vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/50—Vehicles specially adapted for two or more of space, air, land or water environments, e.g. amphibious vehicles

Definitions

  • the present invention relates to a ground exploration vehicle and in particular to a remotely controlled ground exploration vehicle for use in exploring, surveying, assessing, maintaining and/or repairing waterways and will be described hereinafter with reference to this application. It is particularly related to an adaptable round exploration vehicle for countering variable environments and emergency recovery so as to be usable in confined and hostile environments.
  • a remotely operated ground exploration vehicle is usually a car-like vehicle having wheels which are connected to a box-like body by suspensions.
  • these remotely operated ground exploration vehicles may likewise be deployed in confined industrial systems. Its portability, maneuverability, and accessibility is beneficial in inspecting the confines of pipelines, manholes, and other limited space with a hazardous environment.
  • pipeline inspection robots are properly equipped to provide a visual assessment of the innards of the pipelines.
  • these pipeline inspection robots lack mobility features and structures for easily traversing the confines of pipelines.
  • these pipelines inspection robots do not comprise adaptable safety features to avoid hazardous terrain and substances it may be faced with while traversing the pipelines.
  • Another substantial problem in confined spaces is that the environment is not homogenous.
  • the environment In particular in water supply, sewerage or storm water runoff there is a confined area with a lower water or fluid environment with possible suspension or mixture of solids and an upper air or other gaseous environment.
  • the plurality of environments is also not consistent. In dry times, the water environment could be at a low level in the pipes, while after a storm, the water level could be fast flowing at a high level.
  • a remotely operated ground exploration vehicle has the problems of: a) Mobility through confined spaces; b) operation in multiple environments c) effects of change of multiple environments d) Protecting both structural and electrical components of the remote vehicle; e) Adaptability to be reconfigured based on the terrain currently traversing through; and f) Safe and easy deployment of the remote vehicle in to the confined industrial systems;
  • a remotely operated vehicle specialized in inspecting confined industrial spaces equipped with: a) inspecting features for proper remote visual assessment of the confined space; b) safety features for protecting the remote vehicle from hazardous substances and terrain c) mobility features for easily traversing the confined spaces of the industrial systems; d) modular features for restructuring the remote vehicle to adapt to an intended space or terrain it will be deployed in to; and e) a deployment feature to safely and easily deploy the remote vehicle in to the confined industrial spaces.
  • the present invention seeks to provide a remotely operated vehicle, which will overcome or substantially ameliorate at least one or more of the deficiencies of the prior art, or to at least provide an alternative.
  • a remotely operated ground exploration vehicle having a platform, one or more tools mounted on the platform, and at least one set of opposing wheels mounted to the platform, and a drive means for receiving signals from remote operation controls and for driving the wheels accordingly to move the vehicle.
  • the opposing wheels include tapered external outward surfaces which contact the curved wall of a ride-on surface to provide a driving attitude of the vehicle.
  • the interaction of one or more of the component parts of the remotely operated ground exploration vehicle can be adjustable relative to each other to adjust the width and or height of the one or more of the component parts.
  • the interaction of the one or more of the component parts provides a change in the attitude of a vehicle with respect to a ride on surface.
  • the ride on surface can be an angular bottom waterway or the lower walls of an enclosed tunnel such as large diameter pipes in sewerage or storm water systems.
  • the remotely operated ground exploration vehicle can include one or more tools which include one or more of:
  • the wheels are mountable to the platform in an adjustable manner to allow increasing or decreasing of the relative spacing of the opposing wheels.
  • the operative parts of the tools can be mountable adjustably to provide a higher attitude and remain above water level.
  • the tools can be mountable in an adjustable manner to allow increasing or decreasing height relative to the opposing wheels wherein the tools are lifted above a certain desired height which allows the electronics and sensor payload to sit above a higher water flow, and to allow for operation in larger diameter pipes with higher levels of water flow.
  • the operative parts of the tools are mountable adjustably to provide a higher attitude and remain above water level.
  • the operative parts of the tools can be mountable on modular scaffolding on the platform to allow adjustable height of the tools relative to the platform and associated opposed wheels.
  • the invention achieves a method of modifying a set of opposing wheels mounted to the platform to including a step of creating a desired taper angle of external outward surfaces of the wheels which allows simultaneous contact of the opposing curved wall of a tunnel.
  • the desired taper can be based on factors including the ovoid invert angle which varies based on the tunnel height.
  • the modifying of a set of opposing wheels mounted to the platform can include the step of altering the desired operating height of the platform inside the ovoid tunnel wherein Increasing the width will sit the unit higher in the ovoid.
  • the desired operating height can be adjusted by increasing or decreasing the spacing of the opposing wheels. At higher positions in the tunnel, a sharper taper angle can be required to match the curve of the ovoid.
  • Fig. 1 shows a front perspective view of a remotely operated ground exploration vehicle
  • Fig. 2 shows a front perspective view of a second embodiment of the remotely operated ground exploration vehicle
  • Fig. 3 shows a front perspective view of a third embodiment of the remotely operated ground exploration vehicle
  • Fig. 4 shows a left side view of the remotely operated ground exploration vehicle as shown in Fig. 3;
  • Fig. 5 shows a front view of the remotely operated ground exploration vehicle as it traverses through a tunnel
  • Fig. 6 shows a perspective view of an embodiment of the remotely operated ground exploration vehicle used for deploying the buoyancy operated height adjustment of the vehicle
  • Fig. 7 shows a side view of the embodiment of the remotely operated ground exploration vehicle of Fig 6.
  • Fig. 1 shows a remotely operated ground exploration vehicle 10 comprising a wheelbase 11 and a platform 13, wherein the platform 13 is fixed on top of the wheelbase 11.
  • a plurality of opposing wheels 12 are provided on each side of the wheelbase.
  • An electronics payload is mounted on top of the platform 13, the electronics payload further comprises a plurality of sensors and electronic devices.
  • a panoramic camera 22 is installed proximately on the front side of the electronics payload and protrudes frontwards. Behind the panoramic camera 22, a secondary camera 23 is provided in an upright configuration.
  • the secondary camera 23 may be, but is not limited to, a pan-tilt-zoom (PTZ) camera.
  • PTZ pan-tilt-zoom
  • At least one lighting device 21 is provided proximately behind the secondary camera 23 and is elevated in height in comparison to the panoramic camera and the secondary camera.
  • a lidar device 25 Proximately at the rear of the electronics payload and the remotely operated vehicle 10 is a lidar device 25 capable of transmitting and detecting a light source.
  • a sonar device 24 capable of transmitting and detecting a sound wave.
  • a panoramic camera 22, a secondary camera 23, and a lighting device 21 provides a clear digital view of the current location of the vehicle 10 to a remote user.
  • the addition of the lidar device 25 and sonar device 24 further improves the traversing capabilities of the vehicle 10 should there be a need for the vehicle 10 to autonomously traverse a confined space without live commands from a remote user.
  • Fig. 2 shows an embodiment of a remotely operated ground exploration vehicle 10 similar to that of Fig. 1 .
  • the remotely operated ground exploration vehicle 10 further comprises a gas sensor situated proximately in between the lighting device 21 and the lidar device 25.
  • Actuator arms 30 are installed proximately in the center right and center left of the platform 13.
  • the actuator arms 30 are modifiable in such a way that various modular components can be installed at the end of each actuator arms.
  • a concrete sensor 31 may be provided on one end of the actuator arm 30 for collecting information and data from the concrete walls of tunnels.
  • a gripping mechanism 32 may be provided on one end of the actuator arm 30 for grabbing a material of interest in a current terrain or environment.
  • the gas sensor 26 provides a remote user with a reading of gas levels within an environment without being physically exposed to the same.
  • the concrete sensor 31 provided in the actuator arms 30 allows the remote vehicle 10 to reach and provide readings for structures obstructed by blockades the vehicle 10 would not be able to traverse to.
  • the remotely operated ground exploration vehicle 10 comprises a wheelbase 11 , a plurality of wheels 12 provided on opposing sides of the wheelbase, and a platform 13 fixed on top of the wheelbase.
  • a plurality of vertical rigs 43 are fixed proximately on the corners of the platform 13 in an upright position.
  • a second level platform 41 is fixed to the top ends of the vertical rigs 43 in such a way that, the outer surfaces of the corners of the second level platform are securely joined to the inner surfaces of the vertical rigs 43.
  • a secondary camera 23 is installed on the second level platform 41 .
  • a plurality of shafts 44 are provided on the corners of the second level platform 41 in an upright position.
  • each shaft is connected to an adjacent shaft through bracing members 45.
  • the bracing members 45 are placed on the shafts 44 in such a way that it minimally obstructs the range of view of the secondary camera 23.
  • a third level platform 42 is securely fixed to each top end of the shafts 44.
  • the third level platform 42 includes a plurality of locking members 46 that clamps on a substantial portion of the top ends of the shafts 44.
  • the third level platform 42 serves as the base for other electronics and sensors.
  • a panoramic camera 22 is provided proximately to the front end of the third level platform 42.
  • At least one lighting device 21 is provided proximately behind the panoramic camera 22 and is elevated in height in comparison to the panoramic camera.
  • Proximately at the rear end of the third level platform 42 is a lidar device 25 capable of transmitting and detecting a light source.
  • Providing the vehicle 10 with adjustable platforms 41 and 42 allows the electronics payload and sensors payload to be set in a certain height. Due to this, the vehicle 10 can easily traverse terrain flooded with a liquid substance. The electronics and sensors are protected from low-lying floodwaters and sewage waters while still being able to provide a clear view of the terrain from a better vantage point. The shafts are also supported by bracing members in case of high flowing fluids passes through the confined spaces.
  • actuator arms 30 is provided on opposing sides of the second level platform 41 .
  • actuator arms 30 may also be provided proximately on the center right end and center left end of the third level platform 42.
  • the actuator arms 30 are modifiable in such a way that various modular components can be installed at the end of each actuator arms.
  • a concrete sensor 31 may be provided on one end of the actuator arm 30 for collecting information and data from the concrete walls of tunnels.
  • a gripping mechanism 32 may be provided on one end of the actuator arm 30 for grabbing a material of interest in a current terrain or environment.
  • Fig 5. shows the remotely operated ground exploration vehicle 10 traversing through a tunnel.
  • the wheels 12 are shaped as a conical puck and comprises a central hub 51 .
  • the wheels 12 are rotatably attached to the wheelbase 11 in such a way that the wide base serves as the rim and is proximately closer to the wheelbase 11 , and the central hub 51 protrudes away from the wheelbase 11.
  • the wheels 12 are provided with tread blocks 52 which are raised surfaces on the wheels.
  • the tread blocks 52 extends radially outward from the central hub 51 to the rim in an alternating manner.
  • the structure of the wheels 12 allows the vehicle 10 to easily traverse spaces even if the terrain is filled with miniscule obstructions that may cause a poorly designed rover to be stuck.
  • the vehicle 10 is provided with better grip by the tread blocks 52.
  • the spaces between each tread blocks 52 also reduces the miniscule obstructions to be stuck within the wheels.
  • the conical puck shape of the wheels 11 ultimately provides ease of traversing through curved paths such as pipes.
  • the tapered and angled part of the wheels allows traction with the curved surface of the pipes.
  • a plurality of adjustable axles 53 are provided to rotatably mount the wheels 12 to the wheelbase.
  • the adjustable axles 53 can be remotely controlled to extend outwardly from the wheelbase and retract inwardly towards the wheelbase.
  • the taper angle of the surface of the wheels 12 are likewise adjustable based on the desired operating height of the remotely operated ground exploration vehicle 10 and the ovoid angle of the tunnel.
  • tapered wheel design has been developed to assist with remaining centralized (and stable) inside an “ovoid” tunnel shape.
  • the desired taper angle is calculated based on the following factors: a) Ovoid invert angle (which varies based on the tunnel height) b) Desired operating height inside the ovoid tunnel.
  • the desired operating height will be adjusted by increasing or decreasing the wheelbase width (or wheel to wheel width to be precise). Increasing the width will sit the unit higher in the ovoid. At higher positions in the tunnel, a sharper taper angle will be required to match the curve of the ovoid.
  • the remotely operated inspection vehicle is primarily designed for the inspection of confined space areas.
  • the vehicle implements a modular design, to allow for the fit-out of multiple different sensors, and to accommodate different environments.
  • the primary components of the vehicle unit are as follows: a) Wheelbase b) Electronics Payload c) Wheels d) Data Acquisition Payload e) Lights f) Actuator arms g) Sensors Payload
  • the components of the sensor payload will vary depending on the application. They may include any of the following sensors: a) Panoramic camera b) Secondary camera (pan tilt zoom camera) c) 360 degree Lidar d) 360 degree sonar e) Concrete sensor f) Gas Sensor (NH3, 02, CO, CH4, NH3, H2S) g) Specific modifications
  • the concrete scanner is attached to the end of an actuated robotic arm, to allow it to reach the apex (or crown) of the tunnel, and walls as well.
  • the cross-section of the vehicle unit is designed to be fit into a 600mm diameter manhole and can operate in tunnels that range from 600mm up to +3m.
  • lidar device 25 and sonar device 24 further improves the traversing capabilities of the vehicle 10 should there be a need for the vehicle 10 to autonomously traverse a confined space without live commands from a remote user.
  • sonar device 24 is more beneficial in the water
  • Lidar is used to capture in-air 3-dimension reconstruction of a tunnel asset.
  • Sonar is used to create 2D cross-sectional reconstruction of the submerged section of a tunnel. • These three datasets can then be presented in a single interface.
  • the 2D cross-sectional scans from the sonar can be interpolated with respect to chainage data in order to create a 3-dimensional reconstruction of the submerged section of tunnel.
  • Chainage data and sonar data are correlated by the global timestamp.
  • a single sonar scan is captured.
  • a second sonar scan is captured.
  • These two scans can be interpolated, or a “loft” created between the two, in order to create a 3-dimensional reconstruction of the tunnel section between 0m and 0.5m.
  • a localization system comprising an inertial navigation system (complemented with Doppler velocity logger) configured to provide localization data; and a prism configured for line-of-sight localization during traverse using external total stations.
  • the combined trajectory data of INS, DVL, and Visual SLAM are used in parallel and input into an extended Kalman filter
  • the remotely operated ground exploration vehicle can have the one or more tools mounted on the platform are maintained above a water level by one or more of: a) Wheel engagement to ride higher in a confined pipe surface b) An extension tower to maintain tools relatively higher than the platform c) A set of buoyancy means to maintain platform at or above water level.
  • the height of the entire unit can also be adjusted, by using extension modules to lift the electronics payload above a certain desired height. This allows the electronics and sensor payload sit above a higher water flow, to allow for operation in larger diameter pipes, with higher levels of water flow.
  • the wheels 12 can provide the platform to be at a height A.
  • This height A would usually be due to the height of the wheels and the relative height of the platform due to the engagement of the wheels and the platform to the intervening chassis.
  • the wheel shape and its interaction with shaped enclosure can allow for the device to ride higher and therefore the platform height A is substantially higher than the wheel height.
  • the tools can be spaced from the platform by vertical rigs 43 or height modules or extension towers so that the tools are at least at height C which is the tower height above the platform.
  • the remote control of the remotely operated ground exploration vehicle by having one or more of: a) Buoyancy means; and b) Deadman controls.
  • buoyancy modules mounted on the sides of the vehicle to facilitate emergency extraction in the event the platform becomes stuck due to communications loss, power loss, obstructions or other factors.
  • the buoyancy means is based on a lateral frame 65 that can be mounted on the platform but preferably on an extension tower 63 so that is above the height of the platform.
  • the frame Two cross beams extending through the center of the vehicle's extension to provide structural support for mounting the buoyancy modules 66.
  • a pressurized gas canister 62 connected to the buoyancy modules 66 via a regulator 64, configured to inflate the buoyancy modules upon activation.
  • a deadman switch is operably connected to the pressurized gas canister, wherein the deadman switch automatically activates the inflation of the buoyancy modules in the event of a communications or power failure; and it is controllable during normal operating conditions to selectively activate inflation for additional lift during operational bogging.
  • the remotely operated ground exploration vehicle can have the one or more tools maintained above water levels by use of: a) Wheel engagement to ride higher in a confined pipe surface b) An extension tower to maintain tools relatively higher than the platform c) A set of buoyancy means to maintain platform at or above water level to maintain tools at least at:

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
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Abstract

La présente invention concerne un véhicule d'exploration terrestre commandé à distance comprenant : a. une plateforme b. un ou plusieurs outils montés sur la plateforme c. et au moins un ensemble de roues opposées montées sur la plateforme d. un moyen d'entraînement pour recevoir des signaux de commandes à distance et pour entraîner les roues en conséquence afin de déplacer le véhicule. Un ou plusieurs outils sont maintenus au-dessus du niveau de l'eau grâce à : a) l'entrée en prise des roues pour monter plus haut dans une surface de tuyau confinée b) une tour d'extension pour maintenir les outils à une hauteur relativement plus élevée que la plateforme c) un ensemble de moyens de flottabilité pour maintenir la plateforme au niveau de l'eau ou au-dessus de celui-ci afin de maintenir les outils au moins : (i) au niveau A, c'est-à-dire à la hauteur A de la plateforme, qui est au moins égale, mais de préférence supérieure, à la taille des roues et à la hauteur naturelle de la plateforme ; (ii) au niveau B, c'est-à-dire au niveau de flottabilité B résultant de l'activation automatique du système de flottabilité ; ou (iii) au niveau C, c'est-à-dire à la hauteur de la tour au-dessus de la plateforme ; ou (iv) une combinaison de plusieurs de ces niveaux.
PCT/AU2024/051308 2023-12-05 2024-12-05 Véhicule d'exploration terrestre Pending WO2025118024A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AU2023903938A AU2023903938A0 (en) 2023-12-05 A remotely operated ground exploration vehicle
AU2023903938 2023-12-05

Publications (1)

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WO2025118024A1 true WO2025118024A1 (fr) 2025-06-12

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Publication number Priority date Publication date Assignee Title
CN114484149A (zh) * 2022-04-15 2022-05-13 哈工大机器人（合肥）国际创新研究院 模块化两栖管道带水检测机器人
US20220331945A1 (en) * 2021-04-20 2022-10-20 Gecko Robotics, Inc. Inspection robots with flexible wheel/motor positioning
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US20220331945A1 (en) * 2021-04-20 2022-10-20 Gecko Robotics, Inc. Inspection robots with flexible wheel/motor positioning
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