US-12623501-B2 - Amphibious snake robot

US12623501B2US 12623501 B2US12623501 B2US 12623501B2US-12623501-B2

Abstract

An amphibious robot is provided. An aspect of the robot includes an elongated flexible body, actuators in the flexible body and spaced apart along a length of the flexible body. The actuators are configured to move the flexible body in a serpentine or concertina motion on land and in water. An additional aspect includes a camera coupled adjacent to an end of the flexible body, at least one sensor coupled to the flexible body, and a buoyancy controller located in the flexible body. Another aspect includes a power source coupled to the flexible body and configured to power the actuators, the camera, the sensors, and the buoyancy controller. Yet another aspect employs an electric controller to control the actuators and receive data from the sensors.

Inventors

Xiaobo Tan
Hongyang SHI
Christian Robert LUEDTKE

Assignees

BOARD OF TRUSTEES OF MICHIGAN STATE UNIVERSITY

Dates

Publication Date: 20260512
Application Date: 20221219

Claims (20)

1 . An amphibious robot, comprising: an elongated flexible body; actuators in the elongated flexible body and spaced apart along a length of the elongated flexible body, the actuators configured to move the elongated flexible body in a serpentine or concertina motion on land and in water; a camera coupled adjacent to an end of the elongated flexible body; at least one sensor coupled to the elongated flexible body; a buoyancy adjuster located in the elongated flexible body, the buoyancy adjuster comprising: (a) a pump; (b) at least one tank fluidly coupled to the pump and extending at least partially along the length of the elongated flexible body; and (c) the pump being configured to control water volume inside the at least one tank; a power source coupled to the elongated flexible body and configured to power the actuators, the camera, the at least one sensor, and the buoyancy adjuster; and an electric controller configured to control the actuators and receive data from the at least one sensor.
2 . The amphibious robot of claim 1 , wherein the elongated flexible body includes a plurality of body segments.
3 . The amphibious robot of claim 2 , further comprising an end cap coupled to another end of the elongated flexible body.
4 . The amphibious robot of claim 2 , wherein each of the plurality of body segments comprises: one of the actuators; a cable coupled to the one of the actuators; a flexible backbone coupled to the cable; and at least one cover defining an interior space including the one of the actuators, the cable, and the flexible backbone.
5 . The amphibious robot of claim 4 , wherein the at least one cover comprises a corrugated shape.
6 . The amphibious robot of claim 4 , wherein the at least one cover comprises: a first portion; and a second portion, the first portion and the second portion configured to be coupled and define the interior space.
7 . The amphibious robot of claim 4 , wherein each of the actuators comprise: an electric motor; and a base configured to receive the electric motor.
8 . The amphibious robot of claim 7 , wherein a first end of the cable is coupled to the electric motor and a second end of the cable is configured to be coupled to another base of an adjacent body segment.
9 . The amphibious robot of claim 4 , wherein the one of the actuators is configured to actuate the cable between a first direction and a second direction to move the elongated flexible body forward or backward in the serpentine or concertina motion on land and in water.
10 . The amphibious robot of claim 1 , wherein the elongated flexible body includes a first end and a second end, the elongated flexible body comprising: a first body segment at the first end; a second body segment at the second end; and one or more middle body segments coupled between the first body segment and the second body segment.
11 . The amphibious robot of claim 10 , wherein a respective actuator of the actuators is located respectively in each of the first body segment and the one or more middle body segments.
12 . The amphibious robot of claim 10 , wherein the first body segment and each of the one or more middle body segments comprise: a cable anchor at an end of the one or more middle body segments; and a clamp at an end of the one or more middle body segments opposite the cable anchor, one of the actuators configured to be coupled to the clamp; wherein a shape of the cable anchor corresponds to an inner perimeter of the one or more middle body segments.
13 . The amphibious robot of claim 12 , wherein the clamp comprises: a wall portion; and a clamp portion coupled to the wall portion, the clamp portion defining an opening configured to receive at least a portion of the one of the actuators.
14 . The amphibious robot of claim 12 , further comprising a cable coupled to the one of the actuators, an end of the cable coupled to the cable anchor, the one of the actuators being configured to actuate the cable between a first direction and a second direction to move the flexible body forward or backward in the serpentine or concertina motion on land and in water.
15 . The amphibious robot of claim 12 , wherein the first body segment and each of the one or more middle body segments comprise a vertical wall extending from the cable anchor toward the one of the actuators.
16 . The amphibious robot of claim 10 , each of the first body segment, the second body segment, and the one or more middle body segments comprise: a bottom portion; and a top portion configured to be coupled to the bottom portion.
17 . The amphibious robot of claim 1 , wherein the elongated flexible body comprises a corrugated shape.
18 . The amphibious robot of claim 1 , further comprising: a transmitter and receiver coupled adjacent to an end of the elongated flexible body opposite the camera, the transmitter and receiver configured to send data to and receive data from an external device.
19 . The amphibious robot of claim 1 , further comprising cables coupled to the actuators, the actuators being configured to actuate the cables such that the elongated flexible body is configured to move in the serpentine or concertina motion on land and in water.
20 . An amphibious robot, comprising: an elongated flexible body having a first end and a second end, the elongated flexible body including a plurality of body segments; an actuator located in one of the body segments; at least one cable coupled to the actuator, the actuator configured to actuate the at least one cable between a first direction and a second direction to move the elongated flexible body in a serpentine or concertina motion on land and in water; and at least one cover defining an interior space within which are the actuator and the at least one cable.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS The present application claims priority to U.S. provisional patent application Ser. No. 63/291,556 filed on Dec. 20, 2021, which is incorporated by reference herein. BACKGROUND The present application relates generally to a mobile sensing apparatus and more particularly to an amphibious robotic snake for mobile sensing. Robots capable of moving underwater for surveillance, monitoring, and sensing of various conditions are generally known. An underwater robot is described in International Patent Application Publication No. WO 2016/120071 entitled “Underwater Manipulator Arm Robot” filed on Jan. 13, 2016; U.S. Pat. No. 9,718,523 entitled “Gliding Robotic Fish Navigation and Propulsion” filed on Oct. 23, 2014; and U.S. Pat. No. 7,865,268 entitled “Mechanical Fish Robot Exploiting Vibration Modes for Locomotion” filed Jun. 23, 2005. Additionally, robotic snakes capable of moving in dry environments are described in European Patent No. 2390066 entitled “Robotic Snakes for Use in Non-Destructive Evaluation and Maintenance Operations” filed May 13, 2011, and International Patent Application Publication No. WO 2006/036067 entitled “A Controllable Articulated element and a Robotic Snake Including a Skin Structure and Fire Extinguishing Nozzle” filed Sep. 26, 2005. These patent applications and patents are all incorporated by reference herein. While the commonly invented U.S. Pat. No. 9,718,523 is a significant advance in the industry, further improvements are now desirable. SUMMARY In accordance with the present invention, an amphibious robot is provided. An aspect of the robot includes an elongated flexible body, actuators in the flexible body and spaced apart along a length of the flexible body. The actuators are configured to move the flexible body in a serpentine or concertina motion on land and in water. An additional aspect includes a camera coupled adjacent to an end of the flexible body, at least one sensor coupled to the flexible body, and a buoyancy controller located in the flexible body. Another aspect includes a power source coupled to the flexible body and configured to power the actuators, the camera, the sensors, and the buoyancy controller. Yet another aspect employs an electric controller to control the actuators and receive data from the sensors. In accordance with the present invention, an amphibious robot is provided. An aspect of the robot includes an elongated flexible body having a first end and a second end. The flexible body includes a plurality of body segments. An additional aspect includes an actuator located in each of the body segments and at least one cable coupled to the actuator. The actuator is configured to actuate the at least one cable between a first direction and a second direction to move the flexible body in a serpentine or concertina motion on land and in water. Another aspect includes at least one cover defining an interior space within which are the actuator and the at least one cable. In accordance with the present invention, an amphibious robot is provided. An aspect of the robot includes an elongated flexible body having a first end and a second end, actuators in the flexible body and spaced apart along a length of the flexible body, and at least two cables coupled to each of the actuators. The actuators are configured to actuate the cables such that the flexible body is configured to move in a serpentine or concertina motion on land and in water. An additional aspect includes a camera coupled adjacent to the first end of the flexible body, at least one sensor coupled to the flexible body, a buoyancy controller located in the flexible body, and a power source coupled to the flexible body. The power source is configured to power the actuators, the camera, the sensors, and the buoyancy controller. Another aspect includes an electric controller configured to control the actuators and receive data from the sensors. Yet another aspect includes a transmitter and receiver coupled adjacent to the second end of the flexible body opposite the camera. The transmitter and receiver is configured to send data to and receive data from an external device. The present systems, apparatuses, and methods are advantageous over prior constructions. For example, the present systems, apparatuses, and methods allow for mobility across various terrains and in water environments. A flexible exterior is also provided, enabling mobility through narrow or other constraining environments. Additional advantages and features will be disclosed in the following description and claims as well as in the appended drawings. BRIEF DESCRIPTION OF THE FIGURES FIG. 1 is a perspective view showing an embodiment of the present amphibious snake robot; FIG. 2 is a perspective view of a first end of the amphibious snake robot of FIG. 1; FIG. 3 is a perspective view of a second end of the amphibious snake robot of FIG. 1; FIG. 4A is a top, diagrammatic view showing a first posi