| CPC B25J 9/0009 (2013.01) [B25J 15/0441 (2013.01); B25J 19/021 (2013.01); B25J 19/04 (2013.01); B66C 13/48 (2013.01); B66C 21/08 (2013.01)] | 17 Claims |
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1. A modular, propelled cable-driven robotic platform system, comprising:
a robotic platform including a chassis, a navigation sensor on board the chassis and an on-board controller in operative communication with the navigation sensor, the robotic platform further comprising a coupling mechanism provided on a bottom side of the chassis;
a cable suspension system including:
a plurality of cables, wherein each cable extends from a respective motorized cable reel through a respective elevated suspension point and is attached at a free end to the robotic platform, whereby the robotic platform is suspended from above by the cables and moveable within a three-dimensional workspace defined by a respective location of each respective elevated suspension point, and wherein a position of the platform within the workspace is a function of a respective length of the respective cable extending from the respective elevated suspension point to the platform;
a plurality of tool modules, wherein the coupling mechanism is configured to releasably attach each tool module to the robotic platform and thereby support the attached tool module from the robotic platform, and each tool module including:
a body,
an equipping head on a top side of the body, the equipping head being configured to couple with the coupling mechanism of the platform, thereby equipping the platform with the tool module,
a propulsion system mounted to the body, wherein the propulsion system is configured to provide a directional thrust on the body during operation, and
a respective tool mounted to the body for performing a respective task, and
an electronic control unit in operative communication with the propulsion system and the respective tool and configured to control operation of the propulsion system and the respective tool according to commands from a master control computer; and
the master control computer including a processor, a communication interface, a non-transitory computer-readable memory, and instructions in the form of code that, when executed by the processor, configure the processor to:
receive, via the communication interface, information captured by the navigation sensor including a present location of the platform within the workspace,
determine a location of an obstacle relative to the platform,
generate a navigation path suitable for moving the platform to a target location within the workspace avoiding the obstacle,
send commands for controlling the motorized reels and the propulsion system in a manner that causes the platform to move from the present location toward the target location along the navigation path, and
upon reaching the target location, activate the respective tool to perform the respective task at the target location.
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