Robotic stabilization mechanisms and related methods
AssigneeMeta Platforms, Inc.
InventorsJonathan M. Kuriloff, Benjamin Lagosz-Sinclair
Life of this patent
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Abstract
Stabilization mechanisms may include at least one gripper mounted to a powerline-crawling robot, which may be configured to grasp a powerline supporting the powerline-crawling robot. At least one controller may be configured to control a lateral position of the at least one gripper. At least one inertial measurement unit may be configured to sense at least one of lateral movement and axial rotation of the powerline-crawling robot. The controller may control the lateral position of the gripper based on data from the inertial measurement unit. Various other related systems, devices, mechanisms, and methods are also disclosed.
Claims20
A stabilization mechanism, comprising:
- at least one gripper mounted to a powerline-crawling robot, the at least one gripper configured to grasp a powerline supporting the powerline-crawling robot;
- at least one controller configured to control a lateral position of the at least one gripper;
- and
- at least one inertial measurement unit configured to sense at least one of lateral movement and axial rotation of the powerline-crawling robot, wherein the at least one controller controls the lateral position of the at least one gripper based on data from the at least one inertial measurement unit.
A powerline-crawling robotic system, comprising:
- a drive subsystem configured to drive the powerline-crawling robotic system along a powerline;
- and
- a stabilization subsystem configured to stabilize the robotic system on the powerline, the stabilization subsystem comprising:
- an inertial measurement unit configured to sense a lateral movement and rotation of the powerline-crawling robot;
- and
- at least one gripper mounted to a frame of the powerline-crawling robotic system, the at least one gripper configured to grip the powerline and to move laterally to counteract the lateral movement and rotation of the powerline-crawling robot sensed by the inertial measurement unit.
A method of stabilizing a robot mounted to a powerline, the method comprising:
- sensing, with an inertial measurement unit, an axial rotation of a robotic system mounted to a powerline relative to a desired stable rotational state;
- and
- laterally moving at least one gripper positioned on the robotic system to substantially laterally align a center of gravity of the robot with the powerline.
Dependencies are inferred from the claim text.