Automated mobile boom system for crawling robots

摘要

A system comprising a multi-functional boom subsystem integrated with a holonomic-motion boom base platform. The boom base platform may comprise: Mecanum wheels with independently controlled motors; a pair of sub-platforms coupled by a roll-axis pivot to maintain four-wheel contact with the ground surface; and twist reduction mechanisms to minimize any yaw-axis twisting torque exerted on the roll-axis pivot. A computer with motion control software may be embedded on the boom base platform. The motion control function can be integrated with a real-time tracking system. The motion control computer may have multiple platform motion control modes: (1) a path following mode in which the boom base platform matches the motion path of the surface crawler (i.e., integration with crawler control); (2) a reactive mode in which the boom base platform moves based on the pan and tilt angles of the boom arm; and (3) a collision avoidance mode using sensors distributed around the perimeter of the boom base platform to detect obstacles.

主权项

1. A mobile boom system comprising:
a mobile boom base platform; a rotary mast carried by said boom base platform and rotatable relative to said boom base platform about a pan axis; a gimbal comprising a first portion attached to said rotary mast and a second portion rotatable relative to said rotary mast about a tilt axis; a boom arm having first and second ends and an intermediate portion coupled to said gimbal, said boom arm having a hollow center; a tilt angle sensor for detecting a tilt angle of the boom arm; at least one counterweight supported on a portion of said boom arm disposed between said intermediate portion and said first end; a counterweight positioning subsystem for changing a position of said at least one counterweight relative to said gimbal; and a computer system programmed to receive tilt angle data from said tilt angle sensor and send control signals to said counterweight positioning subsystem for controlling the position of the at least one counterweight as a function of at least said tilt angle data.