ROBOT FOR NAVIGATING IN VISCOUS MIXTURES AND METHOD FOR NAVIGATING A ROBOT IN VISCOUS MIXTURES - Patent application

Abstract

Various embodiments include a robot including a chassis, an aft section, and a forward propulsion auger. The chassis includes a forward section, a first drive motor disposed within the forward section, the aft section, an interface for coupling the chassis to a fluid intake and a power line, and a steering gimbal. The forward propulsion auger is disposed at a forward end of the forward section and is coupled to the first drive motor. The forward propulsion auger includes at least one fluid nozzle configured to eject a fluid to fluidize at least a portion of a viscous mixture. The forward section and the aft section are configured to selectively pivot relative to one another about a pivot axis of the steering gimbal. And, the forward propulsion auger is configured to be rotated by the first drive motor relative to the forward section about an axis of rotation perpendicular to the pivot axis of the steering gimbal.

Description

[Technical field]

[0001] This application claims priority to U.S. Patent Application No. 17 / 543,344, filed December 6, 2021, which is incorporated herein by reference. [Background technology]

[0002] Self-propelled robotic inspection devices that can navigate through various fluids to inspect vessels, pipelines, ships, etc. have many applications. Summary of the Invention [Problem to be solved by the invention]

[0003] However, robots operating in oil, sludge, sediment, sand, or other viscous mixtures have difficulty navigating the media and frequently become stuck. The challenges of self-propelled robots navigating viscous fluids and mixtures limit the types of environments in which self-propelled robots can operate. For example, modern robots may not be able to inspect the interiors of crude oil storage tanks or other types of tanks with thick or heavy sediments. This requires draining such tanks for inspection, increasing the expense and delays required to perform routine inspections. Additionally, to remove fluids (e.g., oil) and sediments (i.e., viscous mixtures) from tanks for inspection, chemicals are used to dislodge and / or loosen the sludge. Such chemicals are harsh, expensive, and can pose environmental concerns. Brute force approaches to forcing a probe through the sludge, even if successful, require too much power to be practical. [Means for solving the problem]

[0004] Various aspects include devices, systems, and methods for a robot to move through viscous mixtures. The robot may include a chassis, a rear section, and a forward propulsion auger. The chassis may include a forward section, a first drive motor disposed within the forward section, the rear section, and a maneuvering gimbal. The forward propulsion auger may be disposed at a forward end of the forward section and coupled to the first drive motor. The forward propulsion auger may include at least one fluid nozzle configured to eject a fluid to fluidize at least a portion of the viscous mixture adjacent the forward propulsion auger. The forward section and the rear section may be configured to selectively pivot relative to one another about a pivot axis of the maneuvering gimbal. Additionally, the forward propulsion auger may be configured to be rotated by the first drive motor relative to the forward section about an axis of rotation perpendicular to the pivot axis of the maneuvering gimbal.

[0005] In some embodiments, the robot may also include a second drive motor and a rear propulsion auger. The second drive motor may be disposed within the rear section. The rear propulsion auger may be disposed in the rear section. The rear propulsion auger may be configured to be rotated by the second drive motor relative to the rear section about another axis of rotation perpendicular to the pivot axis of the steering gimbal.

[0006] In some embodiments, the first drive motor, the second drive motor, the forward propulsion auger, and the rearward propulsion auger can be configured to rotate the forward and rearward propulsion augers relative to one another. In some embodiments, the robot may also include a vibrator coupled to the chassis and configured to vibrate at least a portion of the robot. The vibrator may be configured to vibrate the chassis. The vibrator may be configured to vibrate the forward propulsion auger. The chassis may include an inner frame and an outer sleeve surrounding the inner frame. The vibrator may be configured to vibrate the outer sleeve relative to the inner frame. The vibrator may be mounted on the exterior of the chassis.

[0007] In some embodiments, the robot may include a fluid intake within the chassis and fluidly coupled to at least one fluid nozzle. The fluid intake may be configured to be coupled to a fluid line for providing a primary fluid to the robot from a remote source of fluid. The robot may include a fluid pump within the chassis and configured to pump fluid through the at least one fluid nozzle. The robot may include one or more gimbal actuator arms within the maneuvering gimbal configured to pivot the forward section and the aft section about a pivot axis.

[0008] In some embodiments, the forward propulsion auger can include a first set of auger blades and a second set of auger blades. The first and second sets of auger blades can be configured to counter-rotate with respect to one another. The first set of auger blades can include two axially offset rows of auger blades configured to rotate in the same direction. At least some of the second set of auger blades can be disposed between the two axially offset rows of auger blades. The forward propulsion auger can include rows of axially offset auger blades, at least one of the rows of axially offset auger blades includes a plurality of auger blades spaced apart from one another.

[0009] Various aspects include a method of steering a robot in a viscous mixture disposed beneath a primary fluid that created the viscous mixture. In the method, the robot may include a chassis supporting a forward section, an aft section, and a steering gimbal coupled between the forward section and the aft section. The steering gimbal may have a pivot axis configured to pivot the forward and aft relative to one another about the pivot axis. A forward propulsion auger may be disposed at a forward end of the forward section and coupled to a first drive motor. The forward propulsion auger may include at least one fluid nozzle configured to eject the primary fluid. The method may include disposing the robot in or near the viscous mixture. A portion of the primary fluid may be pumped through at least one fluid nozzle in the forward propulsion auger, thereby fluidizing a portion of the viscous mixture surrounding the robot. A drive motor configured to rotate the forward propulsion auger may be actuated to propel the robot through the flowing portion of the viscous mixture.

[0010] In some embodiments, the method can include actuating the steering gimbal to pivot the forward section relative to the aft section about the pivot axis to perform the pivoting movement. A second drive motor configured to rotate a rearward thrust auger disposed in the aft section can also be actuated. The first and second drive motors can be configured to rotate the forward and rearward thrust augers relative to one another.

[0011] In some embodiments, operating the drive motor to rotate the forward thrust auger can cause the first set of auger blades and the second set of auger blades to rotate relative to one another.

[0012] The method can include activating a vibrator in the chassis to vibrate at least a portion of the robot. The method can include coupling the robot to a remote source of the primary fluid. Additionally, the primary fluid can be delivered to the robot while pumping the primary fluid through at least one fluid nozzle in the forward propulsion auger. [Brief description of the drawings]

[0013] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the claims and, together with the general description given above and the detailed description given below, serve to explain the features of the claims. [Figure 1] FIG. 1 is a partial exploded perspective view of a robot for moving through a viscous mixture having counter-rotating augers, according to various embodiments. [Figure 2A] FIG. 2A is a perspective view of a chassis separated without an auger in a linear configuration according to various embodiments. [Figure 2B] FIG. 2B is a perspective view of the chassis of FIG. 2A in a non-linear configuration according to various embodiments. [Figure 3A] FIG. 3A is a perspective view of various movements performed by a robot, according to various embodiments. [Figure 3B] 3A-3B are perspective views of various movements performed by a robot, according to various embodiments. [Figure 3C] 3A-3C are perspective views of various movements performed by a robot, according to various embodiments. [Figure 3D] 3A-3D are perspective views of various movements performed by a robot, according to various embodiments. [Figure 4] FIG. 4 is a schematic diagram of a robot moving in a working environment, according to various embodiments. [Diagram 5] FIG. 5 is a perspective view of a robot for moving through a viscous mixture without a rear-pushing auger, according to various embodiments. [Figure 6A] FIG. 6A is a perspective view of a front portion of a robot, according to various embodiments. [Figure 6B] FIG. 6B is a cross-sectional view of the front section of the robot of FIG. 6A, according to various embodiments. [Figure 7] FIG. 7 is a cross-sectional view of a propulsion auger having a lateral fluid nozzle according to various embodiments. [Figure 8] FIG. 8 is a side view of a front portion of a robot for moving through viscous mixtures having a decoupling damper between the vibrating auger and the chassis, according to various embodiments. [Figure 9A] FIG. 9A is a perspective view of a push auger with an outer sleeve configured to oscillate relative to an inner frame according to various embodiments. [Figure 9B] 9B is a front and side view of the push auger with the outer sleeve of FIG. 9A according to various embodiments. [Figure 9C] 9C is a front and side view of the push auger with the outer sleeve of FIG. 9A according to various embodiments. [Figure 10A] FIG. 10A is a perspective view of a robot with counter-rotating propulsion augers, according to various embodiments. [Figure 10B] FIG. 10B is a side view of the robot of FIG. 10A, according to various embodiments. [Figure 11] FIG. 11 is a side view of a robot for moving through a viscous mixture with dual counter-rotating augers, according to various embodiments. [Figure 12A] FIG. 12A is a perspective view of a propulsion auger having two pairs of counter-rotating auger blades according to various embodiments. [Figure 12B] FIG. 12B is a perspective view of a propulsion auger having two pairs of counter-rotating auger blades according to various embodiments. [Figure 13A] FIG. 13A is a process flow diagram illustrating a method of using a robot to navigate a viscous mixture, according to various embodiments. [Figure 13B] FIG. 13B is a process flow diagram illustrating a method of using a robot to navigate a viscous mixture, according to various embodiments. [Figure 13C] FIG. 13C is a process flow diagram illustrating a method of using a robot to navigate a viscous mixture, according to various embodiments. [Figure 13D] FIG. 13D is a process flow diagram illustrating a method of using a robot to navigate a viscous mixture, according to various embodiments. [Figure 13E] FIG. 13E is a process flow diagram illustrating a method of using a robot to navigate a viscous mixture, according to various embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to refer to the same or similar components whenever possible. References to specific examples and implementations are for illustrative purposes only and are not intended to limit the scope of the claims.

[0015] Various embodiments include a robot configured to move through a viscous mixture, which can move through sludge and sediments, such as sediments in an oil tank. The robot may include a propulsion auger on a forward section of the robot, and in some embodiments, a propulsion auger on a rearward section of the robot. The forward and rearward propulsion augers can be rotated by a drive motor to propel the robot through the mixture. The robot can locally reduce the viscosity of the viscous mixture by ejecting a primary fluid through one or more nozzles on one or both of the propulsion augers without the use of external chemicals and using a low energy solution to locally reduce the viscosity of the mixture around the robot. The locally reduced viscosity allows for movement and maneuvering in the viscous mixture, facilitating inspection in environments such as crude oil tanks, without removing material (i.e., the viscous mixture or fluids associated with the viscous mixture). Various embodiments enable the robot to operate in a viscous mixture environment to inspect and / or analyze the tank and / or sediments. A technical advantage provided by various embodiments is that inspection of such tanks and / or sediments may be performed without removing the viscous mixture (e.g., sediment).

[0016] Conventional robots for operating in viscous mixed conditions either use brute force methods to force the robot through the viscous material without reducing the viscosity (consuming large amounts of energy) or inject chemicals to dissolve or modify the material to reduce the viscosity. Generally, it is not possible for a compact robot to generate enough energy to push through thick materials, making movement therein impossible.

[0017] Various embodiments locally reduce the viscosity of the viscous mixture to allow the robot to move and navigate through the viscous mixture. Specifically, various embodiments can create a pocket of liquefaction on the robot or at least the tip of the robot. Some embodiments can achieve localized liquefaction through fluid injection to reduce the viscosity. Some embodiments can achieve localized liquefaction through a combination of liquid injection and vibration of the viscous mixture near the robot, both of which reduce the viscosity of the area around the robot. These liquefaction techniques can achieve propulsion and steering forces in dense materials such as sludge, sediment, and sand. Inducing liquefaction of the viscous mixture can minimize or reduce the power required for the robot to move through the viscous mixture without the use of added or extraneous chemicals, according to various embodiments. Once the viscosity of the viscous mixture has been reduced, robots using counter-rotating augers and a gimbaled directional maneuvering system can be activated to take advantage of the reduced viscosity around the robot and move within the material.

[0018] Various embodiments include a robot suitable for moving through a viscous mixture that includes a product of sediment or sludge accumulated from a primary fluid. Such a viscous mixture is typically composed of liquid and solid components or a semi-solid slurry, but has a much higher percentage of solid components and / or a higher viscosity than the primary fluid from which it originates. The solid components may originate as material that was previously suspended in the primary fluid but settled to the bottom over time or as part of a refining process. As used herein, the terms "primary fluid" and "viscous mixture" are related in that the viscous mixture is a product of the primary fluid and / or originates from the same fluid as the fluid from which the viscous mixture originates. In various embodiments, the primary fluid may be drawn from above the viscous mixture (e.g., at a higher level in a tank that stores both the primary fluid and the viscous mixture) and pumped out of one or more nozzles in a propelling auger. By using the primary fluid to reduce the local viscosity, various embodiments avoid the need to use a different fluid that is foreign to the primary fluid contained in the target tank or that may contaminate the primary fluid.

[0019] A robot configured to move through a viscous mixture according to various embodiments can have various functions. One function includes a robot configured to modify a viscous mixture, such as sediment, sand, or other thick viscous material, in a localized manner and easily move through or around the area. To modify the viscous mixture, various embodiments can use fluid injection and / or vibration around the robot to create liquefaction of the viscous mixture in the immediate vicinity of the front end of the robot. Another function includes the ability to drive motion in the fluidized area of ​​the viscous mixture to achieve controlled movement and propulsion. Various embodiments allow for steering and propulsion using one or more propulsion augers in combination with a maneuvering gimbal. By articulating the maneuvering gimbal and controlling the drive propulsion elements, the speed and / or direction of the robot can be controlled to move through the viscous mixture.

[0020] The robot according to various embodiments can be used to inspect fluid storage tanks that store viscous mixtures, such as sediment at the bottom of tanks that store water, oil, or other similar liquids. Over time, sludge, sediment, and / or other particulate matter accumulates at the bottom of the fluid storage tank, making the tank unable to be inspected without removing the viscous mixture. The robot according to various embodiments can be placed in the tank that stores the viscous mixture. When the robot reaches the viscous mixture in the tank (e.g., at the bottom), the robot can be configured to liquefy and generate propulsion, which allows the robot to inspect the tank. In this manner, the robot can be configured to deliver a sensor to an area of ​​the tank that is buried under the viscous mixture, which can be used to inspect the tank for corrosion, rust, or other material defects. The robot of various embodiments can eliminate the need to empty the tank and / or clean the tank, which would require taking the tank offline for inspection. Additionally, the robot of various embodiments can also be used for inspection of other liquid storage or transport vessels, such as pipelines, that may have similar issues with clogs and sediments. Thus, the robots of the various embodiments can be used to move and navigate through complex viscous environments.

[0021] 1 shows a robot 100 for moving through a viscous mixture, according to various embodiments. The robot 100 includes a chassis 105. The chassis 105 is supported by a pivot axis A of a steering gimbal 115. PThe robot 100 may include forward and aft chassis sections 110, 120 coupled to one another by a steering gimbal 115 configured to selectively pivot relative to one another about a first drive motor 111. A first drive motor 111 may be incorporated in the forward section 110 and configured to drive (i.e., rotate) a forward propulsion auger 112 with one or more auger blades 114, 116. The steering gimbal 115 provides pivoted support controlled by one or more actuators that control the pivotal rotation relative to the forward section 110 and aft section 120. By controlling the pivotal relationship of the forward and aft chassis sections 110, 120 as the forward propulsion auger 112 generates thrust, the steering gimbal 115 may control the pitch and yaw attitude of the robot 100, enabling the robot to move through the viscous mixture.

[0022] FIG. 1 shows a partially exploded chassis 105, with the forward and aft chassis sections 110, 120, and the forward gimbal section 115a and the rear gimbal section 115b of the steering gimbal 115 separated from one another for ease of viewing. The forward chassis section 110 is fixed to the forward gimbal section 115a. Similarly, the aft chassis section 120 is fixed to the aft gimbal section 115b. The forward gimbal section 115a and the aft gimbal section 115b of the steering gimbal 115 may also be coupled to one another via a pivot support 125 and an actuator arm 135. A gimbal actuator may linearly move a selected one of the actuator arms 135 to move the forward gimbal section 115a and the aft gimbal section 115b relative to one another. The pivot support 125 may be configured to linearly move a selected one of the actuator arms 135 to linearly move the forward gimbal section 115a and the aft gimbal section 115b relative to one another. The pivot support 125 may be configured to linearly move the forward gimbal section 115a and the aft gimbal section 115b relative to one another about a pivot axis A. PThe actuator arm 135 can guide and / or control the relative movement between the forward gimbal section 115a and the aft gimbal section 115b. When the forward gimbal section 115a and the aft gimbal section 115b are rotationally fixed, the forward and aft chassis sections 110, 120 attached thereto are rotationally fixed to each other. The forward section 110 and the aft section 120 can be pivoted relative to each other to provide directional steering control for movement of the robot 100 through the viscous mixture in response to at least the propulsive force from the forward propulsion auger 112. In this manner, the steering gimbal 115 can provide a gimbaled directional steering system.

[0023] The forward thrust auger 112 may be mounted on a pivot shaft at the front end of the chassis 105 (i.e., on the left side of FIG. 1 in the illustrated configuration). R-F is the pivot axis A of the steering gimbal 115 P The forward propulsion auger 112 is configured to be selectively driven by a first drive motor 111 to rotate relative to the chassis 105 to propel the robot 100 through the viscous mixture.

[0024] The first drive motor 111 may be an electric motor (e.g., an alternating current (AC) motor, a brushed direct current (DC) motor, a brushless DC motor, a geared DC motor, a servo motor, a stepper motor, or a linear motor), a pneumatic motor, a hydraulic motor, an internal combustion motor (i.e., an engine), a chemical motor, or other device that converts energy into motion. In some embodiments, the first drive motor 111 may be configured to rotate the forward propulsion auger 112 at different rotational speeds. It has been found that in some situations and materials, sludge can behave in a non-Newtonian manner such that its viscosity and tendency to bind to a surface (e.g., auger blades 114, 116) varies with the speed of the contacting surface. Thus, in some embodiments, the first drive motor 111 may be configured to rotate the forward propulsion auger 112 at rotation range speeds, including a higher rotational speed to reduce binding of sludge to the auger blades 114, 116 or to remove sludge bound to the blades, and a lower rotational speed to move the robot 100 through liquid that does not bind to the blades.

[0025] The forward propulsion auger 112 can include at least one forward fluid nozzle 118 configured to discharge a fluid to fluidize a portion of the viscous mixture adjacent the forward propulsion auger 112. In some embodiments, the at least one forward fluid nozzle 118 can be configured to discharge the same fluid as the fluid from which the viscous mixture originates or the primary fluid of which the viscous mixture is a product. The fluid discharged from the at least one forward fluid nozzle 118 can help fluidize the viscous mixture immediately before and around the forward propulsion auger 112. The amount of fluid required to fluidize the viscous mixture depends on the amount of fluid already contained in the viscous mixture, the viscosity of the fluid being discharged, and the density of the viscous mixture being passed through.

[0026] The fluid ejected from the at least one forward fluid nozzle 118 may be collected from a remote area of ​​the tank, such as higher in the tank above the level where the viscous mixture (e.g., sediment) was collected. The robot 100 may include a fluid pump 150 for drawing in and expelling fluid from the at least one forward fluid nozzle 118. In some embodiments, the fluid pump 150 may be an onboard fluid pump supported by the chassis 105 and configured to eject fluid from the at least one fluid nozzle 118. The onboard fluid pump 150 may be internal to the chassis 105 or may be external, as desired. Alternatively, the fluid pump may be a remote fluid pump configured to pump fluid to the robot 100, which may be ejected from the at least one forward fluid nozzle 118. In some embodiments, the robot 100 may include an internal storage chamber for storing or at least staging fluid for ejection from the at least one forward fluid nozzle 118. In some embodiments, such an internal chamber may be continuously refilled with liquid from a remote reservoir via a hose or pipe.

[0027] The auger blades 114, 116 on the forward propulsion auger 112 may project radially outward from a central attachment point of the forward propulsion auger 112. The one or more sets of auger blades 114, 116 may generate a propulsive force for the robot 100 when rotated relative to the chassis 105. In this manner, rotating the one or more sets of auger blades 114, 116 in a first rotational direction L causes the robot 100 to move forward, while a second rotational direction opposite the first rotational direction causes the robot 100 to move in the opposite direction.

[0028] In some embodiments, the first set of auger blades 114 may be formed as one continuous helical twist that wraps around the cylindrical base portion of the central attachment point. In some embodiments, the second set of auger blades 116 at the front end of the bullet-shaped head may be formed as multiple separate blade sections, each having a non-zero angle of attack relative to the intended direction of travel. In some embodiments, the first set of auger blades 114 may be formed as multiple separate blade sections and / or the second set of auger blades 116 that are formed together as one continuous helical twist that wraps around the cylindrical base portion of the central attachment point. In some embodiments, the bullet-shaped head may have only one continuous helical twist auger blade, rather than two or more separate sets of auger blades.

[0029] In some embodiments, the first and / or second sets of auger blades 114, 116 may have a low friction coating, such as Teflon, a polymer, or a material configured to resist binding to sludge material. Such a coating can reduce the tendency of sludge to bind to the auger blades upon rotation.

[0030] Some embodiments may also utilize gravity, which can pull the robot toward the bottom of the tank in combination with the liquefaction techniques described herein. In some embodiments that use gravity to pull the robot, propulsion auger blades may not be necessary or may not need to be very large. Smaller or no propulsion auger blades at all may reduce steering control of the robot, but the vibration and fluid ejection techniques described herein may be sufficient to get the robot through the viscous mixture.

[0031] In some embodiments, the robot 100 can include a rearward propulsion auger 122 mounted to the rear section 120 of the chassis 105 (i.e., to the left in FIG. 1 in the illustrated configuration). The rearward propulsion auger 122 is selectively driven by a second drive motor 121 to rotate relative to the chassis 105. The second drive motor 112 can be disposed within the rearward section 120. The second drive motor 112, like the first drive motor 111, may use the same or similar drive mechanisms as described above. In particular, the second drive motor 112 may be configured to rotate the rearward propulsion auger 122 at a different rotational speed. Forward Rotation Axis AR-F Similarly, the rear rotation axis A of the rear thrust auger 122 R-R is the pivot axis A of the steering gimbal 115 P However, due to the pivotal relationship between the forward section 110 and the rearward section 120 of the chassis 105, the forward rotation axis A R-F and rear rotation axis A R-R also pivot relative to one another. Alternatively, the robot 100 may include only a rearward thrust auger 122, rather than a forward thrust auger.

[0032] Similar to the forward thrusting auger 112, the rearward thrusting auger 122 may also include one or more sets of rearward thrusting auger blades 124, 126 that project radially outward from a bullet-shaped head of the rearward thrusting auger 122. The set of one or more rearward thrusting auger blades 124, 126 may generate a propulsive force for the robot 100 when rotated relative to the chassis 105. In this manner, rotation of the one or more sets of rearward thrusting auger blades 124, 126 in a second rotational direction R moves the robot 100 forward, while a first rotational direction opposite the second rotational direction moves the robot 100 in the opposite direction. Similar to the forward thrusting auger blades, the rearward thrusting auger blades 124, 126 may be coated with a low friction coating, such as Teflon, to reduce binding of sludge to the blade surfaces.

[0033] The rearward propulsion auger 122 can include at least one rearward fluid port 128 configured to receive fluid for discharge from the at least one forward fluid nozzle 118. A fluid intake line (e.g., 410 in FIG. 4) can be coupled to the at least one rearward fluid port 128. Alternatively, the fluid intake line can be coupled to the chassis 105 such that fluid is directed to either the at least one forward fluid port 118 or the rearward fluid port 128 depending on the direction of movement of the robot 100 (i.e., forward or rearward).

[0034] The forward and rearward pushing augers 112, 122 may be configured to rotate in opposite directions to one another (i.e., counter-rotating augers) to reduce or eliminate rotation by the chassis 105 as the forward and rearward pushing augers 112, 122 rotate to move the robot 100 through the viscous mixture. In this manner, counter-rotating the forward and rearward pushing augers 112, 122 steers the robot 100. Additionally, the rotational speed of each of the pushing augers 112, 122 may be independently controlled. Using different speeds for the forward and rearward pushing augers 112, 122 may induce a roll maneuver. The robot 100 tends to rotate against the direction of rotation of the faster pushing auger (e.g., 112, 122). For example, if the forward pushing auger 112 is rotating faster than the rearward pushing auger 112 and the forward pushing auger 112 is rotating clockwise, the robot 100 may be induced to rotate in a counterclockwise direction.

[0035] Optionally, one or both of the forward and aft sections 110, 120 of the chassis 105 may include one or more protruding fins that may act as anti-rotation stabilizers.

[0036] In some embodiments, the robot may include a vibrator (i.e., a vibration engine), which may loosen or facilitate liquefaction of the viscous mixture around the robot, further enabling the robot 100 to move through the viscous mixture. The vibrator may operate in combination with fluid (e.g., primary fluid) ejected from at least one forward fluid nozzle 118 to facilitate liquefaction of the viscous mixture. The vibrator may be located in or on selected portions of the robot 100. Alternatively, the vibrator may surround the entire robot 100. The vibrator may also be built directly into the robot 100 or integrated as a floating attachment that operates around the robot 100.

[0037] As shown in FIG. 1, the front and rear sections 110, 120 of the chassis 105 may include external vibrators 130, 132, respectively. The external vibrators 130, 132 may vibrate in sync or out of sync with each other. In addition to the vibrators 130, 132 themselves vibrating, the vibrators may also be configured to vibrate the chassis 105, at least its external shell, and / or the front and / or rear propelling augers 112, 120. The vibrations generated by the vibrators 130, 132 may be linear or rotational. The vibrators 130, 132 may generate the vibrations by electric, pneumatic, hydraulic, and / or other means. The amplitude and frequency of the generated vibrations may be designed / tuned to facilitate viscosity changes of the surrounding viscous mixture. The robot 100 needs to have enough liquid in its immediate area so that the vibrations from the vibrators 130, 132 can create a liquefaction phenomenon.

[0038] Depending on the viscous material the robot 100 needs to move through, either or both of the fluid ejection or vibration techniques may be included and / or used by the robot 100. For heavier, more viscous mixtures (e.g., sand), a combination of fluid ejection and vibration may be required for the robot to move through.

[0039] 2A and 2B show a chassis 205 with an alternative steering gimbal 215, separated without a propulsion auger. In the orientation shown in FIGS. 2A and 2B, the left side is referred to as the forward end and the left side is referred to as the aft end. The chassis 205 includes forward and aft chassis sections 210, 220 with a steering gimbal 215 therebetween. The forward and aft chassis sections 210, 220 may each have a cylindrical shape. The steering gimbal 215 may include various components such as guide bars 230, push rods 240, and anti-rotation pins 242, which work together to control the pivotal movement of the forward and aft chassis sections 210, 220. The steering gimbal 215 is shown as including four sets of guide bars 230, push rods 240, and anti-rotation pins 242 according to some embodiments. Some embodiments may have more or fewer sets of guide bars 230, push rods 240, and anti-rotation pins 242.

[0040] The cylindrical forward end 222 of the rear chassis section 220 can have a smaller outer diameter than the remainder of the rear chassis section 220. The narrower cylindrical forward end 222 is secured to the rear end of the front chassis section 210 and configured to fit between guide bars 230 that extend toward the rear chassis section 220. Each of the guide bars 230 can include a guide slot 232 configured to receive one anti-rotation pin 242. Each anti-rotation pin 242 can be coupled to and extend from the cylindrical forward end 222 of the rear chassis section 220. Additionally, each of the anti-rotation pins 242 can be configured to be aligned with the rear rotation axis A. R-R2 and may extend radially away from and pass through the respective guide slots 232. In this manner, the anti-rotation pin 242 may be configured to slide within the longitudinal extension of the respective guide slots 232 as the front and aft chassis sections 210, 220 move relative to one another.

[0041] The push rods 240 (i.e., actuator arms) may extend from the rear end of the forward chassis section 210 toward the rear chassis section 220 and are spaced apart at either 90 degree intervals or 120 degree intervals, as are the guide bars 230 and the anti-rotation pins 242. The push rods 240 may be separately controlled by actuator motors configured to extend and retract the individual push rods 240 from the forward chassis section 210 relative to the rear chassis section 220. In this manner, each push rod 240 may extend and retract to a different extent than the other push rods 240. Also, each push rod 240v is coupled to a separate body of the anti-rotation pin 242 via a ball joint 244 at the base of each anti-rotation pin 242. The push rods 240 may guide and / or control the relative movement between the forward and rear chassis sections 210, 220. Such relative movement between the forward and rear chassis sections 210, 220 may include pivotal movement therebetween. The front and rear chassis sections 210, 220 can be pivoted relative to one another to provide steering control of the direction of movement of the robot (e.g., 100) as it moves through the viscous mixture. In this manner, the steering gimbal 215 can provide a gimbaled directional steering system.

[0042] FIG. 2A illustrates a front rotation axis A according to some embodiments. R-F is the rear rotation axis A R-R 2B shows the chassis 205 in a linear configuration that is parallel to the forward rotation axis A. In contrast, FIG. R-F is the rear rotation axis A R-R2 shows the chassis 205 in a non-linear configuration where it is no longer parallel to the front chassis section 210. The actuator motor controlling the push rods 240 can cause at least one of the push rods 240 to extend further away from the front chassis section 210 than the other push rod 240, which causes pivotal movement of the front and rear chassis sections 210, 220 relative to one another.

[0043] 3A-3D show a robot 100 performing locomotion, according to various embodiments, in which first and second rotational directions R, L are relative to the front and rear chassis sections 110, 120 and the steering gimbal 115.

[0044] In FIG. 3A, the robot 100 is moving straight downward in the direction shown. To perform a forward movement, the robot 100 rotates the forward thrust auger 112 in a first rotational direction R and the rearward thrust auger 122 in a second rotational direction L while rotating the forward rotation axis (i.e., A R-F ) to the rear rotation axis (i.e., A R-R ) and keep it parallel to the

[0045] In FIG. 3B, the robot 100 is moving straight backward, upward in the direction shown. To perform a backward movement, the robot 100 rotates the forward propulsion auger 112 in a second rotational direction L and the rearward propulsion auger 122 in a first rotational direction R while rotating the rearward rotation axis (i.e., A R-R ) to the front rotation axis (i.e., A R-F ) and keep it parallel to the

[0046] 3C, the robot 100 is shown pivoting forward in the direction shown while pivoting downward and to the left. To perform the forward pivot motion, the steering gimbal 115 rotates the forward propulsion auger 112 in a first rotational direction R and the rearward propulsion auger 122 in a second rotational direction L while pivoting the forward chassis section 110 relative to the rearward chassis section 120.

[0047] 3D, the robot 100 is reversing while pivoting up and to the left in the orientation shown. To perform the reversing pivot operation, the steering gimbal 115 rotates the forward propulsion auger 112 in the second rotational direction L and rotates the rearward propulsion auger 122 in the first rotational direction R while pivoting the forward chassis section 110 relative to the rearward chassis section 120.

[0048] Figure 4 illustrates a robot 100 moving in a work environment 400, according to various embodiments. In Figure 4, the robot 100 is shown submerged in a tank 50 (i.e., a storage vessel) whose bottom contains a primary fluid 60 and a viscous mixture 70 in the form of a thick sediment layer. The robot 100 is shown submerged in the viscous mixture 70 and moving towards the bottom of the tank 50.

[0049] In some embodiments, the robot 100 may include a fluid intake line 410 in the form of a collection hose, tether line, or pipe that extends from the robot 100 (e.g., connected to at least one rear fluid port 128) past the viscous mixture 70 and into the primary fluid 60 associated with the viscous mixture 70, also inside the tank 50. The fluid intake line 410 may be used to draw in (i.e., suction, etc.) a portion of the primary fluid 60. The intake fluid 63 collected at the distal end 419 of the fluid intake line 410 may be configured to pass through the chassis (e.g., 105) of the robot 100 for ejection from at least one forward fluid nozzle (e.g., 118) at and / or around the forward end of the robot 100. The ejected fluid 67 may be configured from the at least one forward fluid nozzle 118 to fluidize or help fluidize the viscous mixture 70 in front of the robot 100.

[0050] In some embodiments, the fluid intake line 410 may be connected to a float 420 that ensures that the distal end 419 remains at the top of the tank 50. The float 420 may be a buoyancy device or other tether (e.g., a cable attached to the top of the tank 50) that ensures that the distal end 419 remains surrounded by the primary fluid 60 and does not sink into the viscous mixture 70. Alternatively, the fluid intake line 410 may be formed from lightweight tubing and may have naturally buoyant properties, thus remaining in the upper layer of the tank where the primary fluid 60 is collected.

[0051] In some embodiments, the robot 100 may include a fluid pump configured to generate the negative pressure necessary to draw in the inlet fluid 63 and expel the expelled fluid 67. Alternatively, the fluid pump may be located within the float 420 or outside the tank 50. A fluid pump located outside the tank may require that a fluid inlet line 410 extend from the robot 100 to the fluid pump outside the tank and back to the upper level of the tank for collection of the primary fluid 60.

[0052] The robot 100 may optionally include power lines 430 that may extend from a chassis (e.g., 105) of the robot 100 to a power source external to the tank 430. If desired, the power lines 430 may pass through the float 420 to provide power to other components therein, such as sensors or fluid pumps.

[0053] 5 shows a robot 500 for moving through a viscous mixture, according to various embodiments. The robot 500 is configured with a steering gimbal 515 pivot axis A, disposed between forward and aft sections 510, 520, which are coupled together. PThe robot 500 includes a chassis 505 having forward and aft chassis sections 510, 520 configured to selectively pivot relative to one another about a forward propulsion auger 112. However, in contrast to the robot 100 described above with respect to FIGS. 1-4, the robot 500 does not include a rear propulsion auger. A steering gimbal 515 can provide a pivoting support controlled by one or more actuators that control the pivoting rotation of the forward and aft chassis sections 510, 520 relative to one another. By controlling the pivoting relationship of the forward and aft chassis sections 510, 520 as the forward propulsion auger 112 generates thrust, the steering gimbal 515 can also control the pitch and yaw attitude of the robot 500 as it moves. Without the rear propulsion auger, the robot 500 may be less mobile but is still applicable in linear surveying environments such as pipes.

[0054] 6A and 6B show an isolated view of a forward portion of a robot 600 according to various embodiments. Specifically, the robot 600 includes a forward chassis section 610 and an alternative forward propulsive auger 612. The alternative forward propulsive auger 612 is substantially similar to the forward and / or rearward propulsive augers 112, 122 described with respect to FIG. 1, but has a different set of auger blades 614. As shown, the auger blades 614 may be comprised of two axially spaced rows with four separate blades in each row.

[0055] Figure 6B is a cross-sectional view of the front portion of the robot 600 shown in Figure 6A. As shown, the alternative forward thrust auger 612 includes a first receiving chamber 615 configured to receive the front chassis section 610. In addition, the alternative forward thrust auger 612 can include a second receiving chamber 617 configured to receive an auger hub 670 that can transmit rotation to the alternative forward thrust auger 612.

[0056] The forward chassis section 610 can house various components such as an internal vibrator 630 configured to directly induce vibration of the chassis 610. Additionally, the forward chassis section 610 can house a drive motor 611 configured to move a drive gear 645 coupled to a hollow drive shaft 650. The hollow drive shaft 650 can rotate within a chassis mount 660 and transmit rotation to a drive hub 655 configured to be sealed therein by a sealed bearing 657. The chassis mount 660 can be fixed to the forward chassis section 610, which can be formed as a cylindrical structure for receiving components therein. The hollow drive shaft 650 can also transmit rotation to an auger hub 670 located outside a forward end of the chassis mount 660. The auger hub 660 can be coupled to an alternative forward thrust auger 612, such that rotation of the hollow drive shaft 650 and auger hub 670 rotates the alternative forward thrust auger 612.

[0057] The internal fluid intake line 680 is configured to receive fluid from at least one rear fluid port (e.g., 128 in FIG. 1 ) and / or external fluid intake line (e.g., 410 in FIG. 4 ). An onboard and / or remote fluid pump can provide pressure to induce (i.e., encourage) a portion of the primary fluid (e.g., 60 in FIG. 4 ) in the internal fluid intake line 680 toward the forward fluid nozzle 618. Thus, some of the primary fluid can be directed from the internal fluid intake line 680 to the interior of the hollow drive shaft 650 via fluid holes 685. The fluid holes 685 can be aligned with a relatively small internal fluid chamber 682 that surrounds the hollow drive shaft 650 in the vicinity of the fluid holes 685. The primary fluid can flow from the hollow drive shaft 650 into an outer fluid chamber 690 before being discharged from the forward fluid nozzle 618. The outer fluid chamber 690 may be a cavity formed between the inside of the alternate forward propulsion auger 612 and the forward chassis section 610. The primary fluid discharged from the forward fluid nozzle 618 may serve to fluidize the viscous mixture immediately in front of, adjacent to, and / or surrounding the alternate forward propulsion auger 612.

[0058] 7 is a cross-sectional view of another alternative forward thrust auger 712 according to some embodiments. The illustrated alternative forward thrust auger 712 includes a set of auger blades 714 projecting radially therefrom. In addition, the alternative forward thrust auger 712 includes a first receiving chamber 715 configured to receive a forward chassis section (e.g., 610 in FIG. 6B). In addition, the alternative forward thrust auger 712 may include a second receiving chamber 717 configured to receive an auger hub (e.g., 670 in FIG. 6B) that can transmit rotation to the alternative forward thrust auger 712.

[0059] Additionally, the alternative forward propulsive auger 712 may include two or more fluid nozzles. In particular, in addition to a forward fluid nozzle 718 similar to the forward fluid nozzles 118, 618 described above with respect to Figures 1, 6A, and 6B, the alternative forward propulsive auger 712 may include one or more forward lateral nozzles 728 and one or more central lateral nozzles 738, 739. The forward fluid nozzle 718 may connect an outer fluid chamber 790 to an exterior region forward of the alternative forward propulsive auger 712. The outer fluid chamber 790 may be a cavity formed between the interior of the alternative forward propulsive auger 712 and the front chassis section (e.g., 610 in Figure 6B). The primary fluid discharged from the forward fluid nozzle 718 may assist in fluidizing the viscous mixture immediately prior to the alternative forward propulsive auger 712. The one or more forward lateral nozzles 728 may connect the outer fluid chamber 790 to an exterior region laterally adjacent to the front of the alternative forward propulsive auger 712. Similarly, one or more central lateral nozzles 738 , 739 may connect the outer fluid chamber 790 to outer regions laterally adjacent the sides of the alternative forward propulsion auger 712 .

[0060] Various embodiment forward propulsion augers (eg, 112, 612, 712) may include more fluid nozzles, different positions of fluid nozzles, and / or different position patterns of fluid nozzles.

[0061] The robots described in some of the above embodiments include vibrators that vibrate the entire shell of the chassis (e.g., 105, 205, 505, 610). However, these chassis house electronics that can be damaged by repeated vibrations. Therefore, various embodiments isolate the vibrations of the vibrator from the chassis or the rotating auger.

[0062] 8 shows an isolated view of a forward portion of a robot 800 according to various embodiments. In particular, the robot 800 includes a forward chassis section 810 and a forward propelling auger 812. The robot 800 may include an internal vibrator 830 configured to vibrate the forward propelling auger 812, while a damper 840 is provided to isolate the vibrations from the forward chassis section 810 and the remainder of the robot 800 rearward of the forward chassis section 810. In this manner, the internal vibrator 830 may vibrate the forward propelling auger 812 to cause liquefaction independent of the forward chassis section 810 and the main chassis including the electronics housed therein.

[0063] The forward propulsive auger 812 may also include a forward fluid nozzle 818 and other similar elements similar to the forward and / or rearward propulsive augers (e.g., 112, 122, 612, 712) described with respect to Figures 1, 6A, 6B, and 7, but has a different set of auger blades 814. As shown, the auger blades 814 are comprised of rows of axially offset auger blades, each row of auger blades including a plurality of spaced auger blades. The robot 800 may further include any of the features of the other embodiments described and illustrated herein.

[0064] 9A-9C show an isolated view of a forward portion of a robot 900, according to various embodiments. The robot 900 includes a forward chassis section 910, a forward propelling auger 912, and an outer sleeve 960 configured to vibrate. The outer sleeve 960 vibration is isolated from the forward chassis section 910 and the forward propelling auger 912. The forward chassis section 910 functions as an inner frame that supports the outer sleeve 960, which surrounds the forward chassis section 910. The outer sleeve 960 can also surround all or a portion of the forward propelling auger 912.

[0065] The outer sleeve 960 may have a smooth outer surface with a thin or sharp leading edge to cut through thick medium (e.g., sludge). The outer sleeve 960 may have ridges or other elements to promote friction between the outer sleeve 960 and the thick medium. These ridges or other elements may aid in the movement of material and facilitate liquefaction. For example, the outer sleeve 960 may include internal bumps 965 formed as inwardly extending protrusions. Alternatively, the outer sleeve 960 could have a fewer or greater number of internal bumps. Additionally or alternatively, the outer sleeve 960 may include external bumps.

[0066] The outer sleeve 960 is free to float on rails 962, which allows it to remain connected to and constrained from, yet vibrate away from, the robot 900. While the outer sleeve 960 appears larger than previously described vibrators (e.g., 130, 132), the outer sleeve 960 has less mass due to its thin-walled cylindrical design, requiring less power to vibrate while still facilitating the liquefaction necessary for the robot 900 to pass through thick media.

[0067] FIG. 9C is a cross-sectional view of the robot 900 shown in FIGS. 9A and 9B. As shown, the forward chassis section 910 can house various components, including an internal vibrator 930 configured to directly induce vibration of the outer sleeve 960. The internal vibrator 930, which can impart axial motion (i.e., from left to right in the orientation shown), can be mounted on a rail 962 fixed to a support arm 964 that supports the outer sleeve 960. The rail 962 can be slidably coupled to an inner portion of the forward chassis section 910 via bearings 952, which allows axial movement of the rail 962 relative to the forward chassis section. In this manner, vibration by the internal vibrator 930 can impart relative axial motion, in the form of rapid micro-vibrations, of the outer sleeve 960 independent of the forward chassis section 910 and the forward propulsion auger 912.

[0068] The forward propulsive auger 912 also includes a forward fluid nozzle 918 and other elements similar to the forward and / or rearward propulsive augers 112, 122, 612, 712, 812 described with respect to Figures 1, 6A, 6B, 7, and 8, but may have two different axially offset rotating sections 913a, 913b that include sets of auger blades 914, 916. The first rotating section 913a includes a first set of auger blades 914, and the second rotating section 913b includes a second set of auger blades 916. The two different rotating sections 913a, 913b may counter-rotate with respect to one another, meaning that the first and second sets of auger blades 914, 916 are also configured to counter-rotate with respect to one another.

[0069] The inner fluid intake line 980 can be configured to receive fluid from at least one rear fluid intake port (e.g., 128, FIG. 1 ) and / or an external fluid intake line (e.g., 410, FIG. 4 ) and direct the fluid to the forward fluid nozzle 918. An on-board and / or remote fluid pump can provide pressure to cause (i.e., urge) a portion of the primary fluid (e.g., 60, FIG. 4 ) into the inner fluid intake line 980 and toward the forward fluid nozzle 918. The primary fluid ejected from the forward fluid nozzle 918 can help fluidize the viscous mixture immediately prior to, adjacent to, and / or surrounding the forward propulsion auger 912 and the outer sleeve 960. The robot 900 may further include any of the features of the other embodiments described and illustrated herein.

[0070] 10A and 10B are perspective and side views, respectively, of a robot 1000 having dual counter-rotating propulsion augers 1012, 1022, in accordance with various embodiments. The robot 1000 includes a chassis 1005 having forward and rear chassis sections 1010, 1020, and a steering gimbal 1015 disposed between the forward and rear sections 1010, 1020. Additionally, the robot 1000 can include a forward fluid nozzle 1018 and a rear fluid nozzle 1028.

[0071] Rather than providing counter-rotating augers at opposite ends of an elongated robot, the robot 1000 includes counter-rotating auger blades in close proximity to one another. This tends to allow any changes in material density or viscosity near the robot 1000 to be better handled when the counter-rotating elements are closer together. This can improve the operation of the robot. Thus, each of the counter-rotating propulsive augers 1012, 1022 includes separate axially offset sections that support a set of auger blades. The forward counter-rotating propulsive auger 1012 can include a first forward auger section 1013a having a first set of forward auger blades 1014 and a second forward auger section 1013b having a second set of forward auger blades 1016. The first and second forward auger sections 1013a, 1013b counter-rotate with respect to one another. For example, when the first forward auger section 1013a rotates clockwise, the second forward auger section 1013b rotates counterclockwise. Similarly, the rear counter-rotating propulsion auger 1022 can include a first rear auger section 1023a having a first set of rear auger blades 1024 and a second rear auger section 1023b having a second set of rear auger blades 1026. When the first rear auger section 1023a rotates clockwise, the second rear auger section 1023b rotates counterclockwise. The inclination angles of the auger blades 1014, 1016, 1024, 1026 should be such that when all auger sections (e.g., 1013a, 1013b, 1023a, 1023b) rotate simultaneously, they cooperate to direct propulsion in the same direction of movement of the robot 1000 (i.e., forward or backward).

[0072] 10A and 10B, clockwise rotation is indicated by an upward arrow and counterclockwise rotation is indicated by a downward arrow. The robot 1000 may further include any of the features of the other embodiments described and illustrated herein.

[0073] 11A is a side view of a robot with enhanced dual counter-rotating propulsive augers, according to various embodiments. The robot 1100 includes a chassis 1105 having a forward chassis section 1110 and a rear chassis section 1120, and a steering gimbal 1115 disposed between the forward and rear sections 1110, 1120. In addition, the robot 1100 includes counter-rotating propulsive augers 1112, 1122, each of which includes a separate axially offset section that supports a set of auger blades. Similar to the robots (e.g., 100) described with respect to FIG. 1, the robot 1100 can include external vibrators 1130, 1132.

[0074] The robot 1100 may include a combined fluid intake and power line 1140. The combined fluid intake and power line 1140 may supply a primary fluid from a remote portion of the tank (e.g., 50). The combined fluid intake and power line 1140 may be coupled to the chassis 1105 such that depending on the direction of movement of the robot 1100 (i.e., forward or rearward), the fluid is directed to either the front fluid nozzle 1118 or the rear fluid port 1128. Additionally, the combined fluid intake and power line 1140 may supply power to various components of the robot 1100, including motors, pumps, actuators, sensors, etc.

[0075] The forward counter-rotating propulsion auger 1112 can include a first forward auger section 1113a having a set of first forward auger blades 1114. The first forward auger section 1113a can include multiple axially offset rows of separate auger blades 1114. Additionally, the forward counter-rotating propulsion auger 1112 can include a second forward auger section 1113b having a set of second forward auger blades 1116. The first and second forward auger sections 1113a, 1113b counter-rotate with respect to one another. For example, when the first forward auger section 1113a rotates clockwise, the second forward auger section 1113b rotates counterclockwise. Similarly, the rear counter-rotating propulsion auger 1122 can include a first rear auger section 1123a having a first set of rear auger blades 1124 and a second rear auger section 1123b having a second set of rear auger blades 1126. The first rear auger section 1123a can include multiple axially offset rows of separate auger blades 1124. When the first rear auger section 1123a rotates clockwise, the second rear auger section 1123b rotates counterclockwise. The inclination angles of the auger blades 1114, 1116, 1124, 1126 should be such that when all auger sections (e.g., 1113a, 1113b, 1123a, 1123b) rotate simultaneously, they cooperate to direct propulsion in the same direction of movement of the robot 1100 (i.e., forward or backward). As with other embodiments, a drive motor connected to the sludge may be configured to rotate the propelling auger blades 1114, 1116, 1124, 1126 at different rotational speeds, such as to take advantage of the non-Newtonian properties of the sludge in some circumstances. Also, as with other embodiments, the auger blades 1114, 1116, 1124, 1126 may be coated with a low friction coating, such as Teflon, to reduce binding of the sludge to the blade surfaces.

[0076] 11, a clockwise direction in the illustrated orientation is indicated by an up arrow, and a counterclockwise direction in the illustrated orientation is indicated by a down arrow. The robot 1100 may further include any of the features of the other embodiments described and illustrated herein.

[0077] 12A and 12B are perspective views of a four-section counter rotational propulsion auger 1200 according to various embodiments. Maximizing the external surface area of ​​the robot with auger blades can improve propulsion and mobility. For example, a robot with multiple rows of auger blades has improved propulsion and mobility over a robot with fewer rows of auger blades. The four-section counter rotational propulsion auger 1200 includes a chassis coupling frame 1210, a driver mechanism 1215, 1217, 1227, a first auger section 1213a, a second auger section 1213b, a third auger section 1213c, and a fourth auger section 1213d. Each of the first, second, third, and fourth auger sections 1213a, 1213b, 1213c, 1213d includes a set of auger blades. A first set of auger blades 1214a, 1214b is disposed on the first and third auger sections 1213a, 1213c. The first set of auger blades 1214a, 1214b includes two axially offset rows of auger blades configured to rotate in unison in the same direction. A second set of auger blades 1216a, 1216b is disposed on the second and fourth auger sections 1213c, 1213d. The second set of auger blades 1216a, 1216b includes two axially offset rows of auger blades configured to rotate in the same direction, but in the opposite direction to the first set of auger blades 1214a, 1214b. The first row of the second set of auger blades 1216a is disposed between both rows of the first set of auger blades 1214a, 1214b. Similarly, the second row of the first set of auger blades 1214b is disposed between both rows of the second set of auger blades 1216a, 1216b.

[0078] An internal fluid intake line 1280 can be configured to receive fluid from an external fluid intake port (e.g., 128 in FIG. 1 and / or 1140 in FIG. 11 ) and direct the fluid to the forward fluid nozzle 1218. The primary fluid ejected from the forward fluid nozzle 1218 can assist in fluidizing a viscous mixture in front of, adjacent to, and / or surrounding the four section counter-rotating propulsive auger 1200.

[0079] The dimensions and / or proportions of the robots according to various embodiments may be varied to suit the intended operating environment. The size of the chassis may be kept compact and relatively smaller than the propulsion auger. Additionally, the chassis may be designed and constructed to be waterproof to prevent fluids from interfering with any of the components therein.

[0080] 13A-13D are process flow diagrams illustrating exemplary methods 1300-1303 of using a robot according to various embodiments to navigate through a viscous mixture. With reference to FIGS. 13A-13D, the methods 1300-1303 and operations thereof may be performed using a robot (e.g., 100, 500, 600) configured to navigate through a viscous mixture. The operations of the methods 1300-1303 may be controlled by an operator or may be performed by a processor of the robot. In this manner, the robot may operate as a non-autonomous, semi-autonomous, or fully autonomous vehicle.

[0081] 13A, in method 1300, at block 1310, a robot may be placed in or near the viscous mixture. The viscous mixture may be placed below a primary fluid that creates the viscous mixture. The placement of the robot in or near the viscous mixture may be performed by an operator or by the robot's own propulsion system. For example, the viscous mixture may be sludge that accumulates at the bottom of an oil tank where the primary fluid is oil.

[0082] At block 1312, the primary fluid may be pumped through at least one fluid nozzle in a forward propulsion auger in a forward section of the robot. Pumping the primary fluid through one or more nozzles in the propulsion auger may help fluidize or dilute the viscous mixture surrounding the robot, thereby facilitating propulsion of the robot moving through the mixture. Pumping the primary fluid through one or more nozzles may be performed by a fluid pump in the robot, configured to draw a portion of the primary fluid through the robot and expel it from at least one fluid nozzle in the forward propulsion auger of the robot to fluidize a portion of the viscous mixture.

[0083] At block 1314, a first drive motor coupled to the forward propulsion auger may be controlled to rotate the forward propulsion auger to propel the robot through the flowing portion of the viscous mixture. As part of the operations at block 1314, the first drive motor may be controlled to rotate the forward propulsion auger at different rotational speeds. In some embodiments, the first drive motor may be controlled to rotate the forward propulsion auger at a low rotational speed to propel the robot in a relatively low viscosity fluid (e.g., oil on top of sludge) and to propel the robot in a high viscosity fluid (e.g., sludge) to reduce binding of the sludge to the auger blades, such as by reducing the viscosity and / or by causing the sludge to slide off the auger blades.

[0084] 13B, in method 1301, a second drive motor configured to rotate a rearward pushing auger on a rear section of the chassis may be controlled in block 1316. The forward and rearward pushing augers may be configured to rotate in counter-rotation with respect to one another. Similar to the operations in block 1314, as part of the operations in block 1316, the second drive motor may be controlled to rotate the rearward pushing auger at different rotational speeds. In some embodiments, the second drive motor may be controlled to rotate the rearward pushing auger at a slower rotational speed to propel the robot in relatively low viscosity fluids (e.g., oil on top of sludge) and to drive the robot at a faster rotational speed to propel the robot in high viscosity fluids (e.g., sludge) to reduce binding of sludge to the auger blades, such as by reducing the viscosity and / or by sliding the sludge off the auger blades.

[0085] 13C, the method 1302 may actuate steering gimbals that cause forward and rear sections of a chassis of the robot to pivot relative to one another to perform pivoting movements through the viscous mixture at block 1318. The forward section of the chassis may support a forward propulsion auger.

[0086] 13D, method 1303 may include rotating the forward and / or rearward pushing augers at blocks 1312 or 1316 while activating a vibrator configured to cause vibration of at least a portion of the robot at block 1320. Vibrating various parts of the robot, such as the forward and / or rearward pushing augers, may act to fluidize portions of the viscous mixture in the vicinity of the robot, thereby facilitating movement through the mixture.

[0087] 13E, in method 1304, the robot may be coupled, such as by a pipe or tube, to a remote reservoir of primary fluid, and in block 1330, the primary fluid may be delivered to the robot to support pumping of the primary fluid through at least one fluid nozzle in the forward propulsion auger. Pumping the primary fluid through a nozzle in the forward propulsion auger may serve to fluidize a portion of the viscous mixture in the vicinity of the robot, thereby facilitating movement through the mixture. Coupling the robot to a reservoir of primary fluid and beginning to deliver the primary fluid to the robot in block 1310 may be previously performed as part of disposing the robot in or near the viscous mixture in block 1310.

[0088] Specific embodiments are described in the numbered embodiments below. EXAMPLES

[0089] 1. A robot for moving through a viscous mixture comprising a chassis and a forward propulsion auger, the chassis comprising: a forward section, a first drive motor disposed within the forward section, a rear section, an interface for coupling the chassis to a fluid intake and an electrical power line, and a steering gimbal coupled between the forward section and the rear section and including a pivot axis, the forward propulsion auger comprising at least one fluid nozzle disposed at a tip of the forward section and coupled to the first drive motor and configured to discharge a fluid to fluidize at least a portion of the viscous mixture proximate the forward propulsion auger, the fluid discharged from the at least one fluid nozzle being supplied from the fluid intake, the forward section and the rear section being configured to selectively pivot relative to one another about the pivot axis of the steering gimbal, and the forward propulsion auger being configured to be rotated by the first drive motor relative to the forward section about an axis of rotation perpendicular to the pivot axis of the steering gimbal. EXAMPLES

[0090] The robot of example 1, further comprising a second drive motor disposed within the rear section and a rear propulsion auger disposed in the rear section, the rear propulsion auger configured to be rotated by the second drive motor relative to the rear section about another rotation axis perpendicular to the pivot axis of the steering gimbal. EXAMPLES

[0091] 3. The robot of example 2, wherein the first drive motor, the second drive motor, the forward propulsion auger, and the rearward propulsion auger are configured to rotate the forward propulsion auger and the rearward propulsion auger relative to one another. EXAMPLES

[0092] 4. The robot of any one of Examples 1 to 3, further comprising a vibrator coupled to a chassis and configured to vibrate at least a portion of the robot. EXAMPLES

[0093] 5. The robot of embodiment 4, wherein the vibrator is configured to vibrate the chassis. EXAMPLES

[0094] 5. The robot of embodiment 4, wherein the vibrator is configured to vibrate the forward propulsion auger. EXAMPLES

[0095] The robot of example 4, wherein the chassis further comprises an inner frame and an outer sleeve surrounding the inner frame, and the vibrator is configured to vibrate the outer sleeve relative to the inner frame. EXAMPLES

[0096] 5. The robot of embodiment 4, wherein the vibrator is mounted on the outside of the chassis. EXAMPLES

[0097] A robot described in any one of Examples 1 to 8, further comprising a fluid intake section within the chassis and fluidly coupled to the at least one fluid nozzle, the fluid intake section being configured to be coupled to a fluid line for providing a primary fluid to the robot from a remote source of fluid. EXAMPLES

[0098] 10. The robot of any one of claims 1 to 9, further comprising a fluid pump within the chassis and configured to pump fluid through the at least one fluid nozzle. EXAMPLES

[0099] The robot of any one of Examples 1 to 10, further comprising one or more gimbal actuator arms in the steering gimbal configured to pivot the front section and the rear section about the pivot axis. EXAMPLES

[0100] 12. The robot of any one of claims 1 to 11, wherein the forward propulsion auger includes a first set of auger blades and a second set of auger blades, the first set of auger blades and the second set of auger blades configured to rotate in opposite directions to each other. EXAMPLES

[0101] 13. The robot of example 12, wherein the first set of auger blades includes two axially offset rows of auger blades configured to rotate in the same direction, and at least some of the second set of auger blades are disposed between the two axially offset rows of auger blades. EXAMPLES

[0102] The robot of any one of Examples 1 to 13, wherein the forward thrust auger includes rows of axially offset auger blades, and at least one of the rows of axially offset auger blades includes a plurality of spaced auger blades. EXAMPLES

[0103] The robot according to any one of Examples 1 to 14, wherein the interface is a combination of a fluid intake and a power line. EXAMPLES

[0104] 16. The robot of any one of claims 1 to 15, wherein the fluid intake line is connected to a float separate from the chassis. EXAMPLES

[0105] 17. The robot of any one of claims 1 to 16, wherein the chassis further comprises an internal storage chamber for storing the fluid ejected from the at least one fluid nozzle. EXAMPLES

[0106] 18. The robot of any one of claims 1 to 17, wherein the steering gimbal includes four sets of guide bars and push rods. EXAMPLES

[0107] 19. The robot of any one of claims 1 to 18, wherein the forward thrust auger includes axially spaced rows having separate auger blades in each of the axially spaced rows. EXAMPLES

[0108] 20. The robot of any one of Examples 1 to 19, wherein the forward propulsion auger includes two or more fluid nozzles. EXAMPLES

[0109] 21. The robot of any one of claims 1 to 20, further comprising an outer sleeve surrounding the chassis, the outer sleeve configured to vibrate independently of the chassis. EXAMPLES

[0110] 22. The robot of any one of claims 1 to 21, wherein the forward thrust auger includes counter-rotating auger blades. EXAMPLES

[0111] The robot of any one of Examples 1 to 22, wherein one or more of the auger blades are low-friction coated. EXAMPLES

[0112] 24. The robot of any one of Examples 1 to 23, wherein either or both of the first drive motor and the second drive motor are configured to rotate the forward thrust auger and / or the rearward thrust auger at different rotational speeds. EXAMPLES

[0113] 1. A method of maneuvering a robot in a viscous mixture disposed beneath a primary fluid generating a viscous mixture, the robot including a chassis supporting a forward section, a rear section, and a steering gimbal coupled between the forward section and the rear section, the steering gimbal having a pivot axis configured to pivot the front section and the rear section relative to one another about the pivot axis, and a forward propulsion auger disposed at a tip of the forward section and coupled to a first drive motor, the forward propulsion auger including at least one fluid nozzle configured to eject a primary fluid, the method including disposing the robot in or near the viscous mixture, pumping a portion of the primary fluid through the at least one fluid nozzle in the forward propulsion auger to an interface coupled to the chassis, thereby fluidizing a portion of the viscous mixture surrounding the robot, and actuating a drive motor configured to rotate the forward propulsion auger to propel the robot through the flowing portion of the viscous mixture. EXAMPLES

[0114] 26. The method of claim 25, further comprising actuating the steering gimbal to pivot the forward section relative to the aft section about the pivot axis to perform a pivoting movement. EXAMPLES

[0115] 27. The method of claim 25 or 26, further comprising operating a second drive motor configured to rotate a rearward thrust auger disposed in the rear section, the first and second drive motors configured to rotate the front and rearward thrust augers in counter-rotation with respect to one another. EXAMPLES

[0116] 28. The method of any one of claims 25 to 27, wherein operating the drive motor to rotate the forward thrust auger rotates a first set of auger blades and a second set of auger blades in counter-rotation relative to one another. EXAMPLES

[0117] 29. The method of any one of Examples 25 to 28, further comprising activating a vibrator in the chassis to vibrate at least a portion of the robot. EXAMPLES

[0118] The use of any one of Examples 25 to 29, further comprising coupling the robot to a remote source of the primary fluid and delivering the primary fluid to the robot while pumping the primary fluid through the at least one fluid nozzle in the forward propulsion auger. EXAMPLES

[0119] The method of any one of Examples 25 to 30, further comprising the drive motor for rotating either or both of the forward thrust auger and / or the rearward thrust auger at a higher rotational speed when the robot is operating with a high viscosity fluid than the rotational speed when the robot is operating with a relatively low viscosity fluid.

[0120] The foregoing descriptions of systems, devices, and methods are provided merely as illustrative examples and are not intended to require or imply that the steps of the various embodiments must be performed in the order presented. As will be understood by one of ordinary skill in the art, the order of steps in the foregoing embodiments may be performed in any order. Words such as "then," "next," and "then" are not intended to limit the order of the steps, but rather, these words are used to guide the reader through the method description. Additionally, references to claim elements in the singular, for example, using the articles "a," "an," or "the," should not be construed as limiting the element to the singular.

[0121] The foregoing description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the spirit or scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the following claims and the principles and novel features disclosed herein.

Claims

1. 1. A robot for maneuvering through a viscous mixture, comprising: a chassis including a forward section and an aft section; a forward thrust auger located in the forward section of the chassis and coupled to a first drive motor; at least one fluid nozzle adjacent to at least one of the chassis or the forward propulsion auger and configured to eject a fluid into the viscous mixture; a steering gimbal configured to pivot the front and rear sections of the chassis.

2. a rear thrust auger located in the rear section of the chassis; The robot of claim 1 , wherein the rear thrust auger is configured to rotate relative to the rear section.

3. The robot of claim 1 , further comprising a vibrator coupled to the chassis and configured to vibrate at least a portion of the robot.

4. The robot of claim 3 , wherein the vibrator is configured to vibrate the forward thrust auger.

5. The chassis includes: An inner frame, an outer sleeve surrounding the inner frame; The robot of claim 3 , wherein the vibrator is configured to vibrate the outer sleeve relative to the inner frame.

6. The robot of claim 3 , wherein the vibrator is mounted on an exterior of the chassis.

7. The robot of claim 1 , wherein the at least one fluid nozzle ejects the fluid from at least a portion of the forward propulsion auger.

8. The robot of claim 1 , wherein the steering gimbal includes one or more gimbal actuator arms configured to pivot the front section and the rear section about a pivot axis.

9. the forward thrust auger includes a first set of auger blades and a second set of auger blades; The robot of claim 1 , wherein the first set of auger blades and the second set of auger blades are configured to counter-rotate relative to one another.

10. the first set of auger blades includes two rows of axially offset auger blades configured to rotate in the same direction; 10. The robot of claim 9, wherein at least some of the second set of auger blades are disposed between two of the axially offset rows of auger blades.

11. the forward thrust auger includes an array of axially offset auger blades; The robot of claim 1 , wherein at least one of the rows of axially offset auger blades includes a plurality of spaced auger blades.

12. 1. A method for maneuvering a robot in a viscous mixture, comprising: The robot comprises: A chassis, a forward propulsion auger located on a forward section of the chassis and coupled to a first drive motor; The method comprises: Positioning the robot in or near the viscous mixture; discharging fluid from at least one fluid nozzle into the viscous mixture adjacent at least one of the chassis or the forward propulsion auger; activating a drive motor configured to rotate the forward thrust auger to propel the robot through the viscous mixture; A method of actuating a steering gimbal to pivot the forward and aft sections of the chassis about a pivot axis of the steering gimbal to perform a pivoting motion.

13. The method of claim 12 further comprising rotating a rearward thrust auger rearwardly of the forward thrust auger.

14. 13. The method of claim 12, wherein actuating the drive motor to rotate the forward thrust auger causes a first set of auger blades and a second set of auger blades to rotate in opposite directions.

15. The method of claim 12 , further comprising activating a vibrator in the chassis to vibrate at least a portion of the robot.

16. 14. The method of claim 13, wherein the forward thrust auger and the rearward thrust auger are rotated at different speeds relative to one another.

17. the steering gimbal includes a pivot joint that pivotally supports the forward section and the aft section of the chassis; The robot of claim 1 , wherein the forward section of the chassis is fixedly coupled to the forward thrust auger.

18. The robot of claim 2 , wherein the forward thrust auger and the rearward thrust auger are configured to operate at different speeds relative to one another.

19. The robot of claim 7 , further comprising a fluid pump disposed within the chassis and configured to pump the fluid through the at least one fluid nozzle.

20. The method of claim 12 , wherein the fluid is discharged from the at least one fluid nozzle disposed on at least a portion of the forward propulsion auger.

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