Flexible, squishable, nimble and stable robot for inspection of above ceiling areas or other constrained spaces with uneven terrain

Abstract

A robotic device that can be elastically deformed to enable navigating through constrained areas with a non-uniform ground surface, such as an above-ceiling or other types of environments. The robotic device includes an elastic deformable suspension to reduce the height, enabling it to navigate through spaces with obstacles that are lower than its initial or normal height. Once the obstacles are traversed, the robotic device reverts back to its initial state. The robotic device may be further configured with an elastic deformable body to further enhance its ability to navigate constrained areas by increasing or enhancing its height reduction.

Description

Atorney Docket No.: MYRP2024PCT16WO0FLEXIBLE, SQUISHABLE, NIMBLE AND STABLE ROBOT FOR INSPECTION OF ABOVE CEILING AREAS OR OTHER CONSTRAINED SPACES WITH UNEVENTERRAINCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the priority of Provisional Application Number 63 / 701,606, filed on October 1, 2025, which is herein incorporated by reference for all purposes.FIELD

[0002] The present disclosure pertains to the field of robotic devices. More particularly, the present disclosure pertains to deformable and stable robotic devices and systems capable of traversing constrained spaces with non-uniform surfaces, such as the above-ceiling environment or other types of environments.BACKGROUND

[0003] False or suspended ceilings are a common feature of modem buildings. These ceilings are used to create separate spaces to conceal building infrastructure elements such as electrical wiring, plumbing, communication cables, fire sprinkler systems, HVAC systems, and other building fixtures. Modem building maintenance regulations typically require that such spaces be regularly inspected to ensure the safety of building occupants.

[0004] In many buildings, infrastructure elements are installed additively. Often, these additions are installed in close proximity in order to conform to the limited space that is available or to minimize the amount of space used. Such practices lead to constrained spaces and disrupted lines of sight to individual elements. Inspection teams typically have to utilize multiple access hatches or create new access hatches in their efforts to gain visibility to conduct comprehensive inspections.Atorney Docket No.: MYRP2024PCT16WO0

[0005] It is recognized that inspecting the above ceiling environment is a laborious endeavor. It is desirable to have a solution that can traverse the above ceiling environment or other constrained spaces to collect up-close and inaccessible data to aid inspection tasks.SUMMARY

[0006] Embodiments of the disclosure relate to deformable and stable robotic devices and systems capable of traversing constrained spaces with non-uniform surfaces, such as the aboveceiling environment or other types of environments.

[0007] In one embodiment, the disclosure is directed to a robot for navigating in constrained spaces. The robot is a remotely-controlled robot. The robot includes a chassis assembly having a chassis frame and an elastic deformable suspension module attached thereto. The suspension module includes wheels for suspending the chassis frame above the ground with a ground clearance He at an undeformed state. A body is attached to the frame. The height of the robot from a bottom of the wheels to a top of the body at the undeformed state is HR. The robot, when an external downward force is applied to the body by an overhead obstacle, the external downward force causes the elastic deformable suspension module to deform elastically downwards to reduce HR to Hs, where Hs < HR, to enable the robot to pass through the overhead obstacle. When the robot traverses the overhead obstacle and the external downward force is no longer present, the elastic deformable suspension module reverts back to the undeformed state.

[0008] In another embodiment, the disclosure is directed to a method for inspecting a constrained area with a remotely-controlled robot. The method includes providing the remotely-controlled robot having a chassis assembly with an elastic deformable suspension module attached to a chassis frame and a body coupled to the chassis frame. The remotely- controlled robot has a resting or normal height of HR from the ground to a top of the body. The elastic deformable suspension module is capable of elastically deforming to reduce the initialAttorney Docket No.: MYRP2024PCT16WO0 height HR of the robot to HS with the presence of an external force. The elastic deformable suspension module returns the robot to the initial height of HR when the external force is removed. The elastica deformable suspension module enables navigating the constrained area with obstacles having a height below HR.

[0009] These and other advantages and features of the embodiments herein disclosed will become apparent through reference to the following description and the accompanying drawings. Furthermore, it is to be understood that the features of the various embodiments described herein are not mutually exclusive and can exist in various combinations and permutations.BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In the drawings, like reference characters generally refer to the same parts throughout the different views. Also, the drawings are not necessarily to scale, with emphasis instead generally being placed upon illustrating the principles of the invention. In the following description, various embodiments are described with reference to the following drawings, in which:

[0011] Figs, la-le shows various views of a simplified embodiment of a robot;

[0012] Figs. 2a-2d show various views of simplified embodiments of a robot without the body;

[0013] Figs. 3a-3b show a simplified embodiment of a robot illustrating rest and squished positions;|0014| Figs. 4a-4d show a simplified embodiment of a robot with a deformable body, illustrating different degrees of deformation;

[0015] Fig. 4e shows an embodiment of a flexible body mount;Attorney Docket No.: MYRP2024PCT16WO0

[0016] Figs. 5a-5c show different views of a simplified embodiment of a robot illustrating twisting of the suspension module; and

[0017] Figs. 6a-6c illustrates an embodiment of a robot navigating a constrained space.DETAILED DESCRIPTION

[0018] Embodiments relate to a robotic system. In particular, a deformable and stable robotic device and systems capable of navigating and operating within confined or constrained environments to perform comprehensive inspections that are typically difficult to access using traditional rigid or non-adaptive robotic platforms.

[0019] Figs, la-le show various simplified views of an embodiment of a robot 100. In particular, Fig. la shows a perspective view, Fig. lb shows a side view, Fig. 1c shows a side view without the wheels, Fig. Id shows a front view, and Fig. le shows a bottom view. As discussed, the views are simplified views to highlight the key aspects of the robots. Components of the robot which are not shown are due to simplify the drawings to avoid confusion. Such components are well known in robots.

[0020] Referring to Figs, la-le, the robot is configured to navigate through constrained spaces. In particular, the robot is configured to squish and spring back between a resting height HR andHs, measured from the ground G, by an application of a downward force or the absence of a downward force.

[0021] As shown, the robot includes a chassis assembly 110 The chassis assembly includes a chassis frame 120 The chassis frame may include U-shaped frame rails (e g , right and left) along the length direction of the vehicle and chassis frame braces connecting the chassis frame rails. The chassis frame braces may be a bottom chassis frame plate connecting the frame rails together. Other configurations of the chassis frame braces for connecting the chassis frame rails may also be useful. A chassis bed or plate 122 is disposed on the chassis frame. Other types or configurations of the chassis frame may also be useful.Atorney Docket No.: MYRP2024PCT16WO0

[0022] The chassis bed serves as a load-carrying bed. For example, an electronic component module with electronic components of the robot are supported by the chassis bed. The components of the robot may be mounted or disposed on the chassis bed. Component mounts may be provided on the chassis bed for mounting the components of the electronic component module.

[0023] The component module, for example, may be covered by a robot body 170. For example, the robot body may be mounted or attached to the chassis bed by body mounts. For example, the body mounts may be attached to the body by an adhesive. The body mounts may be removably mounted or attached to the chassis bed, facilitating easy attachment and removal of the body from the chassis bed.

[0024] Regarding the components of the electronic component module covered by the robot body, they may include a communication module, a camera module 172, a lighting module, a motor module, a steering module, a controller module, an onboard computer module, an odometry module, a navigation module and a power module or any combination thereof. Other types of components or component modules may also be provided for the robot.

[0025] In one embodiment, the motor module includes a motor, such as an electric motor, for driving or moving the robot. The use of other types of motor may also be useful. The steering module includes steering linkages for turning the front wheels of the robot. The camera module provides vision capabilities for the robot. The camera module may include a low-light a night vision camera to image darkly lit areas. In one embodiment, the camera is a 360° prism camera, providing a holistic view around the robot. The camera module provides real-time video or image transfer. Other types of cameras for the camera module may also be useful. The lighting module provides lighting for visibility in dark places. The lights, for example, may be placed at the front of the robot to light the way. Other configurations of the lighting module may also be useful.Atorney Docket No.: MYRP2024PCT16WO0

[0026] The power module includes a power source, such as a battery. Other types of power sources may also be useful. The power module provides power to the robot for operating the various components. The odometry module provides information to the operator for better comprehension of the motion and rotational state of the robot. In some embodiments, the robot may include a navigation module or system that ingests movement data to derive positional data of the robot.

[0027] The communication module, in one embodiment, is a wireless communication module, enabling wireless communication with the robot. For example, the communication module provides a communication link between the robot and a remote control station. Signals, such as control signals, real-time video and images as well as other data or information may be wirelessly communicated to the robot between the robot and the remote control station from where an operator operates the robot remotely. The onboard computer module includes a processor. The processor may control the operations of the robot, including the various components. In one embodiment, the onboard computer may be employed to derive information about the state of the robot. Such information, for example, may include its pose (i.e. orientation, angle of tilt) or which components are involved in deformation. Such information is helpful for the operator to comprehend the current state of the robot. The onboard computer may also store data related to motion, enabling the robot to autonomously navigate back to its starting position. The onboard computer may also be used for other purposes.

[0028] The controller module includes controllers, such as a motor controller for controlling the motor module and a steering controller for controller the steering module. Motor linkages may connect the motor controller to the motor module for controlling the motor, such as speed and direction (forwards or backwards). Steering linkages connect the steering controller to the steering module for turning, for turning the front wheels to steer theAttorney Docket No.: MYRP2024PCT16WO0 robot. The controllers, for example, may be servo motors. Other types of controllers may also be useful. The controller module may also include a camera controller for controlling the operation of the camera. Providing other controllers may also be useful to control other components.

[0029] In one embodiment, the components of the component module can be categorized into 2 categories. The first category is related to the brain function of the robot while the second category is related to the movement function of the robot. The components (first category) related to the brain function include, for example, onboard electronics, sensors, controls, lighting and computers.

[0030] In one embodiment, the first category may include the communication module, the camera module 172, the onboard computer module, the odometry module, the lighting module and the navigation module. The first category of components may be mounted on the top surface of the chassis bed. The chassis bed may be configured to be removably attached to the chassis frame. Components on the chassis bed may be referred to as the upper portion of the chassis assembly.

[0031] As for the second category of electronic components, they include the motor module, the power module and parts of the controller module, such as the steering and motor controllers. The second category of components may be mounted on the chassis frame, forming a lower portion of the chassis assembly For example, the chassis bed delineates the upper and lower portions of the chassis assembly In some embodiments, the components may be mounted on the frame. In yet other embodiments, the components may be mounted as part of the body. Other configurations of the components may also be useful. In one embodiment, the upper and lower portions of the chassis assembly are designed to be rapidly detachable and releasable, imparting flexibility in easily changing components of the upper portion as well as the lower portion to accommodate the needs of a specific task or project.Attorney Docket No.: MYRP2024PCT16WO0

[0032] The chassis assembly includes a suspension module 130 connected to the chassis frame. The suspension module, for example, may be part of the second category of components located below the chassis bed. The suspension module includes mechanical linkages and dampeners, such as shock absorbers, for suspending the chassis frame above the ground G.

[0033] In one embodiment, the suspension module is connected to an axle unit 140 with a wheel unit 142. An axle unit includes a front axle 140F with front right and left wheels 142FR and 142FL. Rear right and left wheels 142RR and 142RL are disposed at the ends of the rear axle 140R. The suspension module, for example, is part of the lower portion of the chassis assembly.

[0034] An axle includes a differential unit connected to the motor by a drive shaft. Preferably, the front axle is connected to a front differential located at about the center of the front axle, and the rear axle includes a rear differential located at about the center of the rear axle. Front and rear drive shafts connect the differentials to the motor for driving the robot. The motor, for example, may be mounted onto the bottom surface of the chassis frame bed. Such a configuration provides for a 4-wheel drive robot. Providing a 2-wheel drive robot may also be useful. In such cases, only one axle will include the differential.

[0035] In one embodiment, the front wheels are configured to turn to steer the robot. For example, the front wheels are mounted to steering cups disposed on the ends of the front axle. The steering linkages connect the steering controller and the steering cups for turning the wheels. The steering controller, for example, may be disposed on the front axle above the front differential. Other configurations of the axles, the steering controller, the motor, and the differentials may also be useful.

[0036] An axle connecting link unit 150 connects the axles to the chassis frame 120. In one embodiment, the axle connecting link unit includes front upper and lower, right and left axle connectors 150 RU, 150FRL, 150FLU and 150FLL for connecting the front axle 140 to the chassisAtorney Docket No.: MYRP2024PCT16WO0 frame; rear upper and lower, right and left axle connectors 150RRU, 150RRL, 150 LU and 150RLL for connecting the rear axle 140R to the chassis frame.

[0037] The suspension module also includes a shock absorber unit 160. The shock absorber unit includes front and rear, right and left shock absorbers 160E , 160EL, 160RR and 160RL. The front right and left shock absorbers connect the right and left portions of the front axle 140F to the front portions of the right and left chassis frame; the rear right and left shock absorbers connect the right and left portions of the rear axle 140R to the rear portions of the right and left chassis frame.

[0038] The chassis frame is configured with suspension mounts for mounting the suspension module thereto. In one embodiment, the chassis frame is configured with frame axle connector mounts for connecting the frame end of the axle connectors to the chassis frame while the axles are configured with axle connector mounts for connecting the axle end of the axle connectors to the axles. In one embodiment, the front axle is configured with front right and left axle shock mounts for connecting the axle end of the shock absorbers to the front axle, and the right and left front portions of the chassis frame are configured with front right and left frame shock mounts for connecting the frame end of the shock absorbers. Similarly, the rear axle is configured with rear right and left axle shock mounts for connecting the axle end of the shock absorbers to the rear axle, and the rear right and left portions of the chassis frame are configured with rear right and left frame shock mounts for connecting the frame end of the shock absorbers to the chassis frame.

[0039] In one embodiment, the upper and lower axle connecting links connect the axles to the frame in a V-arrangement or V-configuration. In one embodiment, the V-arrangements of the upper and lower axle connectors are arranged as opposite V-arrangements. As shown, the lower axle connectors are connected to lower frame axle connector mounts located at a central portion of the chassis frame brace at the bottom of the chassis frame. From the frame axleAtorney Docket No.: MYRP2024PCT16WO0 connector mounts, the lower axle connectors extend outwardly to connect to axle connector mounts located at the right and left outer portions of the axle, forming a lower axle connector V-arrangement having a vertex of the V-arrangement at the chassis frame. As for the upper axle connectors, the V-arrangement is the opposite of that of the lower axle connectors. For example, upper axle connectors are connected to the chassis frame rail and extend inwardly to upper axle connector mounts at the center of the axle. This forms an upper V-arrangement having the vertex at the axle. The V-arrangements of the axle connectors may be the same for both the front and rear suspensions of the robot Other configurations of the axle connectors may also be useful.

[0040] The suspension module is configured to be elastic deformable. For example, the suspension module can be compressed under the application of an external downward force (overhead obstacle) or upward force (ground surface obstacle) and relax its original noncompressed state. In one embodiment, as described, the suspension can be separated into front and rear suspension units for the front wheels and rear wheels. For example, the front suspension unit includes the front shock absorbers subunit (front right and left shock absorbers), front axle connecting link subunit front right and left upper and lower connectors), front axle subunit (front axle) and front wheel subunit (front right and left wheels) while the rear suspension unit includes the rear shock absorbers subunit (rear right and left shock absorbers), rear axle connecting link subunit rear right and left upper and lower connectors), rear axle subunit (rear axle) and rear wheel subunit (front right and left wheels).

[0041] The front and rear suspension units are configured to operate independently. For example, the front and rear suspension units are independently elastic deformable. The front and rear suspension units can be compressed or relaxed and twisted independently. By allowing the robot to squish (lowering the height of the robot), it can navigate constrained areas. In addition, the independent twisting of the front and rear axles, based on the surfaceAtorney Docket No.: MYRP2024PCT16WO0 profile, enables the robot to navigate uneven surfaces. In one embodiment, the configuration of the axle linkages allows for up to ± 45° twisting of the axles. It is to be noted that the configuration of the axle connectors results in the expansion of the wheel base when compressed. Likewise, twisting of the axle will cause the side of the axle being twisted to extend, increasing the wheel base on that side. For example, if the ride side is twisted, the wheel base on the right side is increased.

[0042] In one embodiment, the shock absorbers are configured to compress or expand according to a force or forces applied. When the force or forces are removed, the shock absorbers revert to their normal or resting position. The shock absorbers, along with the connectors, enable the robot to compress and twist independently with force and revert back to its normal position when the force is absent.

[0043] The wheel base and height of the robot should be designed to facilitate stability in uneven terrains. In an exemplary embodiment, the dimension of the robot fitted with 110 mm wheels is (W) 210 mm x (L) 320 mm x (H) 220 mm at the resting stage. The clearance He of the robot is about 100 mm. The dimensions provided are for the robot in the rest or normal position In other words, the L and He may change in the event that the robot is squished. In one embodiment, L is increased while He is decreased Other dimensions for the robot may also be useful, depending on the requirements.

[0044] The robot body is designed to enable the robot to squish or compress while protecting the components. The robot body may be an elongated dome-like structure that, when mounted on the chassis bed, serves as a protective shell covering the components. In addition, the body has a shape that facilitates compression of the body height to navigate through overhead obstacles.

[0045] As shown, the elongated dome-like structure is semi-circular in shape along the width direction, being widest in the middle and tapering towards the front and rear of the body.Attorney Docket No.: MYRP2024PCT16WO0Front and rear openings 173p and 173R may be provided at the front and rear of the body. In one embodiment, the height of the body is highest at the middle portion and slopes downwards towards the front and rear. In some embodiments, only the front is sloped. Having sloping front and rear body portions may also be useful.

[0046] The angles of the sloping body should be sufficient to enable the body to be pushed downwards by overhead obstacles without being stuck when moving forward. In the case where both the front and rear portions 170FS 170RS are sloped, the body can be pushed downwards when moving forward or backward. The body slope, for example, may be about 5-20°. Other sloping body angles may also be useful. For example, other shallower or greater angles may also be useful. In one embodiment, the front body slope is steeper than the rear slope. Other configurations of the body may also be useful.

[0047] In one embodiment, the body may be a rigid body. The body should be durable to withstand the downward force exerted by overhead obstacles. For example, the body may be formed from a rigid material, such as molded plastic. Other types of rigid materials may also be useful to form the body. The body mount may be attached to the body. For example, an adhesive may be used to attach the body mount to the body. The body mount may be removably attached to the chassis bed. For example, the body mount can be easily attached or removed from the chassis bed The rigid body enables the robot to compress from HR to Hs when a force is applied and relax back to HR after the removal of the force.

[0048] In other embodiments, the body is configured to deform under force and revert back to its normal shape when the force is removed. The deformable body is configured to deform under force. In other words, both the body and suspension are configured to compress when force is applied and decompress when the force is removed. The deformable body is constructed from a flexible or resilient material with elastic properties, such as thermoplastic polyurethane or thermoplastic elastomer. Other types of flexible or resilient materials may alsoAtorney Docket No.: MYRP2024PCT16WO0 be useful. In the case of a deformable body, the body mounts may also be deformable. The use of a deformable body enhances the compression height further below Hs. For example, HES is < HS.

[0049] Figs. 2a-2d show various views of simplified embodiments of a robot without the body attached to the chassis. In particular, Fig. 2a shows a perspective view without components, Fig. 2b shows a perspective view having a multi-panel chassis frame bed with components disposed thereon and Figs. 2c-2d show perspective and side views of the embodiment of Fig. 2b that illustrate the movement of the panels of the multi-panel chassis frame bed. The robots are similar to the one described in Figs, la-le. Common elements may not be described or described in detail.

[0050] Referring to Fig 2a, a chassis assembly of the robot 100 is shown. The chassis assembly includes a chassis frame 120 with a chassis bed 122 disposed thereon The chassis bed serves as a load-carrying bed for the components of the robot. As shown, the chassis bed may be configured with some brackets for some of the components. In one embodiment, the chassis bed is a single rigid plate disposed on the chassis frame. Other configurations of the chassis bed may also be useful. The suspension module 130 is attached to the frame for suspending the chassis assembly above the ground.

[0051] Referring to Fig. 2a, an embodiment of a chassis assembly of the robot 100 is shown. The chassis assembly includes a chassis frame 120 with a chassis bed 122 disposed thereon. Other configurations of the chassis frame may also be useful. The chassis bed serves as a loadcarrying bed for the components of the robot. As shown, the chassis bed may be configured with some brackets for some of the components. For example, the chassis bed may be configured with brackets in the front and rear of the chassis plate. The bracket in the front serves as a camera module bracket for a camera. The brackets include openings to provide access, such as wires between the upper and lower portions. In one embodiment, the chassisAtorney Docket No.: MYRP2024PCT16WO0 bed is a single rigid plate disposed on the chassis frame. Other configurations of the chassis bed may also be useful. The suspension module 130 is attached to the frame for suspending the chassis assembly above the ground.

[0052] Figs. 2b-2d shows another embodiment of a chassis assembly of the robot 100. Similar to Fig. 2a, the chassis assembly includes a chassis frame 120 with a chassis bed 122 disposed thereon. The chassis bed serves as a load-carrying bed for the components of the robot. Similar to the embodiment of Fig. 2a, the chassis bed may be configured with some brackets for some of the components as well as openings for access between the upper and lower portions of the chassis assembly.

[0053] As shown, the chassis bed is mounted with a camera module 172, an onboard computer module 182, a controller module 184 and a wireless communication module 185. There may be other modules, as discussed, which are not visible. Providing other modules or a combination of modules may also be useful. The communication system can be used to transfer data from the camera to a remote control station as well as to receive commands to the controller module to actuate and control the robot.

[0054] In one embodiment, the chassis bed includes a multi-panel chassis bed. As shown, the multi-panel chassis bed includes a central bed panel 122c, left and right side bed panels 122RS and 122LS, a rear bed panel 122R and a front bed panel 122F. The chassis panels are rigid panels. However, the are joined by a flexible joint, such as thermoplastic polyurethane or thermoplastic elastomer. Other types of flexible joints may also be useful The flexible joints allow the panels to move up and down relative to the central panel, as illustrated in Fig. 2c-3d. It is to be noted that the front panel should be configured to be fixed in the same plane as the central panel to avoid disrupting the camera disposed in the front panel.

[0055] The multi-panel chassis bed is particularly useful with a deformable body. For example, the deformation of the body can lift or lower the panels to accommodate theAtorney Docket No.: MYRP2024PCT16WO0 deformation and revert back to their normal positions when undeformed. This can be facilitated by using compliant or deformable mounts. The body mount may be formed from thermoplastic polyurethane or thermoplastic elastomer. Other types of compliant or deformable materials may also be used. It is noted that the rigid single and multi-panel chassis beds can be employed with both rigid and deformable bodies.

[0056] Figs. 3a-3b show a simplified embodiment of a robot 100 illustrating rest and squished positions. The robot is similar to the robot described in Figs, la-ld and Figs. 2a-2d. Common elements may not be described or described in detail.

[0057] Referring to Fig. 3a, the robot 100 is shown in a rest position. For example, no external force, such as a downward force, is applied to the robot. The robot, as discussed, includes a chassis assembly 110 having a chassis frame 120. The chassis frame may include a chassis bed 122. Components are provided on the chassis frame, such as the chassis bed, as well as on the frame. A body 170 protects the components. A suspension module 130 connects an axle unit with a wheel unit 142 to the frame by an axle connecting link unit 150 and a shock absorber unit 160. The suspension system suspends the chassis above the ground. At the rest position, the robot has a wheel base with a length L, a height of HR and a chassis clearance of He.

[0058] In Fig. 3b, an external force F is applied to the body 170, compressing the robot. This results in the overall height of the robot being reduced to Hs. Simultaneously, the reduction of the robot height increases the wheel base to Ls, as well as reducing the chassis clearance to Hcs Lowering the height of the robot enables it to maneuver in constrained spaces which having a height clearance lower than the resting robot height HR. When the force is removed, the robot reverts to its normal rest position (e g, height = HR, wheel base = L and chassis clearance = He).Attorney Docket No.: MYRP2024PCT16WO0

[0059] As discussed, the front and rear suspension units operate independently. When the front of the robot encounters the force first (driving forward), the front suspension is compressed first due to the sloping profile of the body. As the robot progresses, the force is then distributed to the rear suspension, causing the whole robot to compress. On the other hand, when the robot exits the constrained area, the front will relax first due to the sloping profile of the body.

[0060] Figs. 4a-4d show a simplified embodiment of a robot with a deformable body, illustrating different degrees of deformation. Tn particular, Fig. 4a shows a robot with a low degree of deformation, Fig. 4b shows a robot with a higher degree of deformation and Figs. 4c- 4d are side and perspective views of a robot having its body with a high degree of deformation. The robot is similar to those described in Figs, la-ld, Figs. 2a-2d and Figs. 3a-3b. Common elements may not be described or described in detail.

[0061] Referring to Figs. 4a-4d, a robot 100 is shown. The robot, as discussed, includes a chassis assembly 110 having a chassis frame 120 with a chassis bed disposed thereon. Components are provided on the chassis bed, as well as on the chassis frame. A body 170 protects the components. A suspension module 130 connects an axle unit with awheel unit 142 to the frame by an axle connecting link unit 150 and a shock absorber unit 160. The suspension module suspends the chassis above the ground

[0062] In one embodiment, the body is an elastic deformable body. The elastic deformable body is configured to deform under an externally applied force, such as going under an obstacle. The external force elastically transforms the body from an initial shape into a deformed shape. The transformation changes the geometry of the body to enable the robot to traverse the overhead obstacle. The transformation results in a controlled change of the surface profile of the body. The change may serve to absorb energy, redirect forces, or modify the external contour of the body. Upon removal of the external force, the body returns to its originalAttorney Docket No.: MYRP2024PCT16WO0 shape. This approach provides a protective frame that is not rigidly fixed but dynamically reconfigures under load, offering both protection and adaptability. The body is constructed from a flexible or resilient material, such as thermoplastic polyurethane or thermoplastic elastomer. Other types of materials that can deform and elastically return to their initial form may also be useful.

[0063] In one embodiment, the defonnable body includes a plurality of individual deformable body members 1711.7. As shown, the deformable body includes 7 individual deformable body members. Providing a body with other numbers of body members may also be useful. For example, the body may have N numbers of body members, where N is > 2. The members are coupled to the chassis through component or deformable body mounts. Various techniques may be employed to attach the body mount to the body member. For example, adhesive, magnetic attachments, as well as various types of joints, including ball and socket joints, hinge joints, saddle joints, ellipsoid joints or pivot joints. The choice of joints selected may depend on the range of movement required When coupled to the chassis, the members overlap to form a deformable body. In particular, a body member overlaps a succeeding body member (from front to rear).

[0064] In one embodiment, an individual member may be configured with a plurality of member plates 177. The plates, for example, are arranged in a matrix with rows and columns, delineated by longitudinal lines 178L (along the length of the body) and one or more traversal lines 178T (perpendicular to the longitudinal lines). The number of traversal lines of a member may depend on this length (along the length of the body). As shown, the front or first member 17h includes 2 traversal lines 178T while the other members include 1 traversal line. Other configurations of the members may also be useful.

[0065] The longitudinal and traversal lines define the bending or deflection points of a member. In one embodiment, the lines may correspond to the shape of the members, as shownAtorney Docket No.: MYRP2024PCT16WO0 in, for example, Fig. Id. To define the bending points of the member, a shallow cut may be formed on the internal side of the member to facilitate deformation under pressure while returning to its natural form without pressure due to the elasticity of the material. In one embodiment, the longitudinal lines corresponding to the last row of member plates facing the rear of the body include a complete cut 179. This further facilitates deformation of the body.

[0066] When an external force deforms the body, the deformation causes adjacent body members to shift position relative to one another. For example, the motion of individual body members may include sliding, pivoting, or separating along predefined paths. This coordinated movement advantageously prevents direct transmission of force into the body. Instead, the force is dissipated and redirected, protecting the components of the robot.

[0067] The deformable body may further allow temporary deformation to reduce the spacing between individual body members in the presence of the external force. After the removal of the external force, the individual body members return to their original configuration. Such a body design provides a controlled articulation between semi-rigid individual frame members while maintaining overall structural integrity. In addition, the deformable shell provides protection for the components of the robot.

[0068] As shown in Fig. 4a, the body is subjected to a small degree of deformation, as compared to the non-deformed body of Fig. la-ld. In Fig. 4b, the body is subjected to a greater degree of deformation compared to the robot of Fig. 4a. As shown, the degree of deformation causes only a central portion of the body to compress. This, in turn, causes the end portions of the body to bend upwards. As shown in Figs. 4c-4d, the force exerted results in a high degree of deformation. This results in the body being highly compressed, spreading outwards like the shell of an armadillo. In addition, the high degree of deformation also causes the cuts of the longitudinal lines to split. Once the force is removed, the body reverts to its initial or normal shape.Attorney Docket No.: MYRP2024PCT16WO0

[0069] Fig. 4e shows an embodiment of a flexible body mount 400. The flexible body mount, in one embodiment, is employed to mount body members of a deformable body onto the chassis of the robot. The flexible body mount includes a body mount base 410 configured to be attached to the chassis bed for mounting the body thereto. A plurality of body member posts 420 extends perpendicularly from the body mount base. The number of body member posts should be at least equal to the number of body members of the deformable body. Preferably, the number of body member posts is equal to the number of body members of the deformable body. A body member post is configured to be attached to a body member. Tn one embodiment, at the top of a body member post is a body member contact 425 for attaching to a body member. For example, the body member contact may be a ball, which is part of a ball and socket joint arrangement. The socket joint is located on the body member. The ball may be press-fitted into the socket joint. The flexible body mount further includes a body mount rail 430 that connects the plurality of posts together. The body mount rail imparts rigidity to the body mount.

[0070] The body mount may be formed from a compliant material, such as thermoplastic polyurethane or thermoplastic elastomer. Other types of compliant material may also be useful . In one embodiment, the body mount may be an injection-molded or 3D printed body mount. To mount a body to the chassis, right and left body mounts are used. Other configurations of the body mount or mounts may also be useful For example, the flexible body mount may be configured as a roll cage design. The roll cage provides further protection to the components, in addition to the body.

[0071] Figs. 5a-5c show various views of a simplified embodiment of a robot 100 illustrating the twisting of the suspension module. Tn particular, Fig. 5a shows a perspective view, Fig. 5b shows a front view and Fig. 5c shows a side view. The robot is similar to thoseAttorney Docket No.: MYRP2024PCT16WO0 described in Figs, la-ld, Figs. 2a-2d, Figs. 3a-3b and Figs. 4a-4d. Common elements may not be described or described in detail.

[0072] Referring to Figs. 5a-5c, a robot 100 is shown. The robot, as discussed, includes a chassis assembly 110 having a frame 120. The frame may have a chassis bed 122 disposed thereon. Components are provided on the chassis bed, as well as on the frame. A body 170 protects the components. A suspension module 130 connects an axle unit with a wheel unit 142 to the frame by an axle connecting link unit 150 and a shock absorber unit 160. The suspension system suspends the chassis above the ground.

[0073] In one embodiment, the suspension can be separated into front and rear suspension units. Each suspension unit operates independently. For example, the suspension unit can be elastically compressed or twisted based on the type of external force encountered. In one embodiment, a suspension unit can be twisted up to ± 45° relative to the horizontal (e.g., plane of the chassis bed). As shown, the front suspension is twisted in the counterclockwise direction while the rear suspension is twisted in the clockwise direction. As discussed, the side of the wheel that is compressed will be extended forward.

[0074] Figs. 6a-6c show various views of a robot 100 navigating a constrained area 600. In particular, Fig. 6a shows a side view, Fig. 6b shows a front view and Fig. 6c shows an angle view from the front. The robot is similar to those described in Figs, la-ld, Figs. 2a-2d, Figs. 3a-3b, Figs. 4a-4d and Figs. 5a-5c. Common elements may not be described or described in detail.

[0075] In Figs. 6a-6c, the constrained area includes first and second overhead obstacles 6351-2. The obstacles have a height which is lower than the resting height of the robot, with the first obstacle being higher than the second obstacle In addition, there are ground obstacles, creating an uneven ground surface. As shown, the robot is fitted with a deformable body 170. As the robot traverses the constrained area and encounters the first overhead obstacle, the forceAttorney Docket No.: MYRP2024PCT16WO0 causes the suspension module and body to deform. Also, a ground obstacle causes the front suspension unit to twist (upward force from the ground). As illustrated, the present robot can easily navigate constrained areas having obstacles that are lower than the normal or resting height of the robot.

[0076] Described herein is a four-wheeled robot. However, it will be appreciated that variations in the number of wheels are possible For example, a robot configured with three wheels may also be suitable for implementing the described features and functions, and such variations are within the scope of the invention

[0077] The present disclosure may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The foregoing embodiments, therefore, are to be considered in all respects illustrative rather than limiting the invention described herein. The scope of the invention is thus indicated by the appended claims, rather than by the foregoing description, and all changes that come within the meaning and range of equivalency of the claims are intended to be embraced therein.

Claims

Atorney Docket No.: MYRP2024PCT16WO0CLAIMS1. A remotely-controlled robot for navigating in constrained spaces comprising: a chassis assembly, the chassis assembly includes a chassis frame an elastic deformable suspension module attached to the frame, the elastic deformable suspension module includes wheels for suspending the frame above the ground with a ground clearance HC at an undeformed state; a body attached to the frame, wherein the height of the remotely-controlled robot from a bottom of the wheels to a top of the body at the undeformed state is HR; and wherein when an external downward force is applied to the body by an overhead obstacle, the external downward force causes the suspension module to deform elastically downwards to reduce HR to HS, where HS < HR, to enable the remotely- controlled robot to pass through the overhead obstacle, and when the remotely-controlled robot passes the overhead obstacle and the external downward force is no longer present, the elastic deformable suspension module reverts back to the undefonned state.

2. The remotely-controlled robot of claim 1 , wherein the body comprises a rigid body.

3. The remotely-controlled robot of any of claims 1-2, wherein the body is attached to a rigid chassis frame disposed on the chassis frame.

4. The remotely-controlled robot of claim 1, wherein the body comprises an elastic deformable body, wherein the elastic deformable body deformsAtorney Docket No.: MYRP2024PCT16WO0 when the external downward force is applied to the body, the external downward force causes the elastic deformable body and the elastic deformable suspension module to deform elastically downwards to reduce HR to HES, where HES < HS„ and when the external downward force is no longer present, the elastic deformable body and the elastic deformable suspension module revert back to their undeformed states.

5. The remotely-controlled robot of claim 4, wherein: the elastic deformable body is coupled to a multi-panel chassis frame bed disposed on the chassis frame; and deformation of the elastic deformable body causes lifting of a side or sides of the multi-panel chassis frame bed.

6. The remotely-controlled robot of any of claims 4-5, wherein the elastic deformable body comprises a plurality of N individual body members coupled to the frame by flexible body mounts wherein: the N body members overlap to form the elastic deformable body; when the external downward force deforms the elastic deformable body by causing adjacent body members to shift position related to one another along predefined paths; and when the external downward force is removed, the N body members return to their initial undeformed state.Atorney Docket No.: MYRP2024PCT16WO07. The remotely-controlled robot of any of claims 4-6, wherein a coordinated movement of the plurality of N individual body members from the deformation of the body caused by the external downward force prevents direct transmission of the external force into the body.

8. The remotely-controlled robot of any of claims 1-7, wherein the remotely-controlled robot is controlled by a wireless communication link9. The remotely-controlled robot of any of claims 1 -8, wherein the elastic deformable suspension module comprises: a front suspension unit; a rear suspension unit; and wherein the front and rear suspension units are independently elastic deformable.

10. The remotely-controlled robot of claim 9, wherein: the front suspension unit comprises a front axle with front right and front left wheels, a front axle connecting link subunit, the front axle connecting link subunit includes front right and left upper axle connectors and front right and left lower axle connectors, the axle connectors are configured to connect the front axle to the chassis frame, and a front shock absorber subunit, the front absorber subunit comprises front right and left shock absorbers connecting the front axle to the frame; and the rear suspension unit comprises a rear axle with rear right and rear left wheels,Atorney Docket No.: MYRP2024PCT16WO0 a rear axle connecting link subunit, the rear axle connecting link subunit includes rear right and left upper axle connectors and rear right and left lower axle connectors, the axle connectors are configured to connect the rear axle to the chassis frame, and a rear shock absorber subunit, the rear absorber subunit comprises rear right and left shock absorbers connecting the rear axle to the frame.1 1 . The remotely-controlled robot of claim 10 wherein: the front axle connecting link subunit is configured to allow the front axle to move up and down and twist; the front shock absorber subunit imparts elastic characteristics to the front suspension unit; the rear axle connecting link subunit is configured to allow the rear axle to move up and down and twist; and the rear shock absorber subunit imparts elastic characteristics to the rear suspension unit.

12. The remotely-controlled robot of claim 11 wherein: the front suspension unit is configured to twist ± 45o; and the rear suspension unit is configured to twist ± 45o.

13. The remotely-controlled robot of any of claims 1 and 9-12, wherein when the elastic deformable suspension module is deformed, the wheels extend outwards to increase a length of a wheel base of the remotely-controlled robot.Atorney Docket No.: MYRP2024PCT16WO014. The remotely-controlled robot of any of claims 12-13, wherein a side of the wheel being twisted is extended to increase the length of the wheel base of the side being twisted.

15. A method for inspecting a constrained area with a remotely-controlled robot comprising: providing the remotely-controlled robot having a chassis assembly with an elastic deformable suspension module attached to a chassis frame and a body coupled to the chassis frame, the remotely-controlled robot has a resting height of HR from the ground to a top of the body; the elastic deformable suspension module is capable of elastically deforming to reduce the initial height HR of the remotely-controlled robot to HS with the presence of an external downward force; the elastic deformable suspension module returns the remotely-controlled robot to the initial height of HR when the external force is removed; and wherein the elastica deformable suspension module enables navigating the constrained area with obstacles having a height below HR.

Images