WO2022043670A1

WO2022043670A1 - A robotic device and method of operating the same and an attachment mechanism for the same

Info

Publication number: WO2022043670A1
Application number: PCT/GB2021/052188
Authority: WO
Inventors: Kaspar Alexander ALTHOEFER; Taqi ABRAR; Fabrizio PUTZU; Ahmad Ataka Awwalur Rizqi
Original assignee: Q-Bot Limited
Priority date: 2020-08-28
Filing date: 2021-08-23
Publication date: 2022-03-03
Also published as: GB2598560A; GB202013547D0

Abstract

A robotic device comprising an inflatable elongate body; a first inflatable pouch arranged at a first position along the length of the elongate body and configured to bend the elongate body at the first position when inflated; and a second inflatable pouch arranged at a second position along the length of the elongate body and configured to bend the elongate body at the second position when inflated, wherein the first position and the second position are spaced from each other along the length of the elongate body; and wherein the first and second inflatable pouches are independently inflatable such that the elongate body can be simultaneously bent at the first position and at the second position.

Description

A ROBOTIC DEVICE AND METHOD OF OPERATING THE SAME AND AN ATTACHMENT MECHANISM FOR THE SAME

[0001] This invention relates to a robotic device, a method of operating a robotic device and an attachment mechanism for a robotic device.

BACKGROUND

[0002] Buildings are often constructed with suspended floors, cavity walls and other void spaces. However, suspended timber and concrete floors are often uninsulated, and can result in poor thermal insulation of a building, such as a home. These properties suffer from draughts, uneven temperatures and cold surfaces, significantly impacting occupants' comfort, health and energy use. However, suspended floors are challenging to access, and therefore difficult to maintain. Underfloor insulation is typically applied by removing numerous floor boards from a room, by creating a hole through the concrete slab, foundations or wall, and spraying insulation into the underfloor cavity before relaying the floor boards, or making good the hole. The process is then repeated for each section of the void. As this process is highly disruptive and requires considerable time, this is highly undesirable.

[0003] An underfloor void is typically between 150mm and 800mm in height, and can contain gas pipes, electrical wiring, mains water pipes, waste pipes and central heating pipework creating restrictions within the void. Underfloor voids can also have 'sleeper walls' located 1.2m apart with only small openings for crossflow ventilation around 70- 90mm square. This makes underfloor voids generally inaccessible to humans. When combined with building rubble and other obstacles that are often present in underfloor voids, these provide significant obstruction to existing devices that are able to survey and insulate underfloor cavities. In some cases, there can be as little as a 100mm to 150mm diameter space remaining. Existing devices are not capable of accessing and operating in such underfloor voids and require additional floor openings to be created which adds to the disruption and cost of insulating an underfloor void.

[0004] Cavity walls, beam and slab and hollow concreate sections often have spaces 50 to 150mm wide which need inspection. Many cavity walls have been insulated but using the wrong material, requiring remedial work to remove and reapply the insulation. This is typically done by drilling holes and removing bricks every 30-50cm and sucking the insulation out, before a new material is reapplied. This is time consuming but also difficult to do while ensuring that 100% of the insulation is removed. [0005] Everting robots are one type of robotic device or articulated structure that could potentially be used to access underfloor voids, as an everting robot could be inserted via a small opening in a wall of the building, and extend through the cavity or underfloor void as the robot everts. However, existing everting robots are not intended for use in the underfloor or cavity environment as they are designed to operate in open spaces with little or no constraints on how they can deform and move. Existing everting robots have further drawbacks that make them unsuitable for use in the underfloor environment. For example, existing everting robots require the external attachment of inflatable pouches to the underlying structure of the robotic device, which is a complex procedure, and where inflatable pouches are externally attached to the underlying structure, there is an increased risk of failure or detachment when the robotic device comes into contact with external obstacles. A further problem with attaching inflatable pouches externally to an underlying structure is the limited range of bending of such devices can achieve. This further restricts the application of such devices, in particular when manoeuvring through extended void spaces under buildings or within wall cavities.

[0006] The present invention seeks to alleviate at least some of these issues.

BRIEF SUMMARY OF THE DISCLOSURE

[0007] Viewed from a first aspect, the present invention provides a robotic device comprising an inflatable elongate body; a first inflatable pouch arranged at a first position along the length of the elongate body and configured to bend the elongate body at the first position when inflated; and a second inflatable pouch arranged at a second position along the length of the elongate body and configured to bend the elongate body at the second position when inflated. The first position and the second position are spaced from each other along the length of the elongate body, and the first and second inflatable pouches are independently inflatable such that the elongate body can be simultaneously bent at the first position and at the second position.

[0008] Thus, the present robotic device is able to bend in different directions simultaneously, enabling navigation of unknown environments, such as underfloor voids.

[0009] The first inflatable pouch may be arranged to bend the elongate body in a first direction and the second inflatable pouch may be arranged to bend the elongate body in a second direction. The first direction may be different to the second direction.

[0010] The elongate body may define an axial direction and a circumferential direction, and the first direction may be offset from the second direction in the circumferential direction. For example, the first direction may be perpendicular or opposite or at any angle in between to the second direction. The first and second inflatable pouches may be integrated with the elongate body. This improves the versatility of the robotic device, as deflation of specific inflatable pouches creates a line or area of weakness in the elongate body itself. This line or area of weakness becomes a kink in the elongate body which enables significantly greater bending at the areas of weakness along the elongate body.

[0011] The elongate body may define an axial direction and a circumferential direction, and the robotic device may comprise a first inflatable segment comprising a plurality of first inflatable pouches distributed in the circumferential direction of the elongate body at the first position, and a second inflatable segment comprising a plurality of second inflatable pouches distributed in the circumferential direction of the elongate body at the second position. Each of the plurality of first inflatable pouches and each of the plurality of second inflatable pouches may be independently inflatable so that the elongate body can be bent in a plurality of different directions at both the first position and the second position.

[0012] Each of the first inflatable segment and second inflatable segment may comprise a first layer of material attached to a second layer of material to form a fluid-tight periphery around each inflatable segment, and a plurality of sealed portions between the first and second layers to define each of the plurality of first inflatable pouches and second inflatable pouches.

[0013] The robotic device may comprise a first fluid line extending from a first fluid source to the first inflatable pouch and a second fluid line extending form a second fluid source to the second inflatable pouch. Any of the first and second fluid lines may be embedded in the body of the robotic device. In examples where the robotic device comprises a plurality of inflatable pouches, each of the inflatable pouches may comprise a fluid line extending to a fluid source to permit independent inflation of the inflatable pouches. In some examples, a group of inflatable poches may be provided with a single fluid line so that the group is inflated together.

[0014] The inflatable elongate body may be an everting tubular robot having an inflatable annular volume that can be inflated by a base station to cause the inflatable elongate body to evert in an axial direction.

[0015] The robotic device may further comprise a base station adapted to inflate the annular volume of the elongate body. The base station may comprise a store for an uninflated portion of the elongate body, and inflation of the inflatable annular volume may cause the uninflated portion to be conveyed towards a distal end of the elongate body so that the elongate body everts in the axial direction.

[0016] Preferably, the store for the uninflated portion of the elongate body comprises a tube onto which the uninflated portion of the elongate body is bunched so that the uninflated portion can be drawn off of the tube for eversion. Such an arrangement preferably provides for compressed air to be provided to the inflatable annular region within the elongate body, for everting the elongate body.

[0017] In some examples, the bunched material within the base station is secured to the tube. In some cases, the tube has a taper to provide a recessed portion on which the material of the body can bunch around. In some cases, the base station comprises four driven wheels to release the bunched material. In some cases, the wheels are arranged at 45 degrees relative to vertical and horizontal planes. In some cases, the base station comprises a free or passive wheel to support the weight of the cylinder. The free wheel may be located substantially below the tube. In some examples, the base station comprises feeder wheels to manage the bunching up of material behind the driven wheels. The feeder wheels are arranged to provide a substantially smooth layer of material to the drive wheels. The feeder wheels may be passive or driven. Alternatively, or additionally to the feeder wheels, a conveyor or tracked system or soft ‘paddle’ type wheels may be used. In some cases, the driven wheels are resiliently biased towards the tube, so that contact between the driven wheel and the bunched material is maintained as the body everts. For example, a sprung driven wheel bracket is suitable for providing sufficient traction while accommodating differing thicknesses of material.

[0018] In some cases, the base station is an air-tight chamber. In some cases, the channel extends through the length of the base station and the elongate body to allow material or components to extend through the channel of the robotic device. In some cases, the user will be at the base station and controlling the robotic device to locate a payload at the distal end of the body in a particular position within an underfloor cavity.

[0019] The robotic device may comprise a payload secured to a distal end of the body.

[0020] The body may comprise a channel extending from the base station to the distal end.

[0021] The robotic device may comprise a tether extending through the channel between the payload and the base station, and the tether may be configured to operate under tension to locate the payload at the distal end of the elongate body as the elongate body everts.

[0022] The payload may comprise a frame configured to at least partially surround the distal end of the elongate body. The frame may be attached to the payload.

[0023] The payload may comprise a first part disposed within the inflatable annular volume at the distal end of the elongate body and a second part disposed on an outer surface of the body at the distal end of the elongate body. The first part may be magnetically coupled to the second part so as to allow the elongate body to slide therebetween for eversion of the elongate body.

[0024] The second part may comprise a plurality of magnets spaced around a periphery of the second part. The plurality of magnets may be arranged as a magnetic ring.

Preferably two magnets distributed around a periphery of the part are used. For example, the magnets may be located around the circumference of a round first part. In some cases three, four or more magnets may be used. More magnets may be necessary to secure the payload at the distal end when the pressure within the body increases. An advantage of using a tether and the magnetic coupling is that the tether provides a recovery mechanism in case the magnetic attachment fails.

[0025] The robotic device may comprise a ground engaging member configured to engage a surface on which the body is located. The ground engaging member may comprise any of one or more skids or one or more wheels. The wheels may be driven or passive. The ground engaging member may be formed as an end cap. The ground engaging member may be secured to the second part of the attachment mechanism. The ground engaging member may integral to the second part of the attachment mechanism

[0026] The payload may comprise one or more of a sensor, a light source, manipulator, actuator, and/or a spray nozzle. The sensor may include one or more visual cameras, thermal cameras, range-finders (e.g. a laser rangefinder), depth cameras, thermometer, hygrometer, moisture probe, Geiger counter, radon and/or other gas concentration measuring devices. The payload may include one or more actuators for changing a direction of the sensor, light source, or spray nozzle without having to move the elongate body. The manipulator may be combined with the actuator to create an arm, hand or grabbing mechanism to move items, take and store material samples or it may include a device to break up and dislodge material, for example drill, brush or impact driver.

[0027] The spray nozzle may be configured to spray a preservative (such as a fungicide, wood preservative, varnish or paint), an adhesive or filler to make repairs to the structure, an insulating material (such as polyurethane, mineral wool or cellulose fibres), or to remove material. The tether may comprise a hose for transporting one or more materials to or from the spray nozzle. The hose may extend through a channel within the elongate body. Thus, the tether may be used to transport spray material to the spray nozzle or remove debris and material from the work area, whilst simultaneously securing the spray nozzle in position. The spray nozzle may include one or more actuators for varying the direction of the spray nozzle without having to move the elongate body.

[0028] Viewed from a further independent aspect, the present invention provides a method of operating a robotic device comprising the steps of providing a robotic device according to any of the appended claims, inflating the first inflatable pouch to bend the body in a first direction at the first position along the length of the elongate body, inflating a second inflatable pouch to bend the body in a second direction at the second position along the length of the elongate body.

[0029] Viewed from a further independent aspect, the present invention provides an attachment mechanism for use with an everting robotic device, the everting robotic device comprising an elongate body defining an inflatable annular volume that is inflatable to cause the elongate body to evert, the attachment mechanism comprising a first part disposed within the inflatable annular volume at a distal end of the elongate body, and a second part disposed on an outer surface of the elongate body at the distal end of the elongate body. The first part is magnetically coupled to the second part so as to allow the elongate body to slide therebetween for eversion of the elongate body, and the second part is configured to carry a payload.

[0030] In some examples, the inflatable pouches are integrated into the elongate body. This advantageously allows the robot to bend more since inflation and deflation of a pouch occurs on the surface of the elongate body. In particular, deflation of an integrated inflatable pouch creates a weaker point at the respective inflatable section of the elongate body that is bending, which allows the robot to bend more compared to other bending techniques, such as where inflatable pouches are attached to the external surface of a separate underlying body. In some examples, the inflatable pouches are created while constructing the robot, in particular the elongate body. This advantageously reduces the need to separately integrate inflatable pouches to a separate elongate body.

[0031] In other examples, the inflatable pouches are separate from the elongate body and attached to the elongate body. In particular, an inflatable segment that comprises a plurality of inflatable pouches may be formed by sealing two sheets of material together to define a plurality of inflatable pouches. In some examples, an inflatable segment may have eight, nine or ten inflatable pouches. The sealed inflatable pouches are preferably then attached to an elongate body such that the inflatable segment extends circumferentially of the elongate body. A plurality of such inflatable segments may be spaced along the length of the elongate body to bend the elongate body at those points. In some examples, adjacent inflatable segments are spaced apart from one another by a link segment that preferably comprises a straight section of the elongate body. Such an arrangement may preferably result in fewer inflatable pouches, allowing a simpler pneumatic control system.

[0032] In some examples, the fluid source is a compressed air supply. The first and second fluid sources may be connected to a single compressed air supply with multiple air outlets. [0033] In some examples, any of the sheets of material that form the elongate body, inflatable pouches, and/or inflatable segments comprise a fabric, such as a woven fabric or thin plastic sheets (e.g., made from polyethylene (PE). PE is one example of a non-woven fabric that would be suitable for the elongate body. In some cases, the fabric comprises nylon and is configured to resist tearing and ripping. In some cases, the fabric can be sewn together and/or heat sealed. In some cases, seals are treated with latex to provide an airtight seal. The material may be stitched and then treated with latex to provide a sealed seam.

[0034] In some examples, the fluid source for inflating the inflatable pouches is separate from a further fluid source for everting the robot. This allows for better control of the robotic device, as faster eversion of the body can be achieved through a higher flow rate, whereas inflating each array of inflatable pouches requires relative low fluid flow. This also enables the body to bend independently of the everted length of the robot.

[0035] Control of the robotic device comprises control of eversion and control of bending. Control of eversion may comprise providing compressed air to the inflatable annular region of the elongate body, and/or controlling release of the uninflated portion of the elongate body, to control eversion of the elongate body. Control of bending comprises controlling supply of compressed air to the inflatable pouches. Control of bending may additionally comprise extracting or venting compressed air from an inflatable pouch to deflate the inflatable pouch.

[0036] In some examples, a user interface is provided to control the robotic device. This can be achieved by controlling individual inflatable segments, individual inflatable pouches, or the entire robotic device. In some cases, the robotic device can be controlled using forward kinematics or inverse kinematics. In some cases, the user interface receives a user input indicative of a desired movement of the robotic device. In some cases, the user uses a joystick or similar to control one or more segments of the robotic device. In some cases, the user uses a joystick or similar to the whole robotic device. Feedback on the movement of the robotic device can be provided to the user based on a sensor (e.g. a video camera).

BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Embodiments of the invention are further described hereinafter with reference to the accompanying drawings, in which:

Figure 1 illustrates an exemplary method of assembling an exemplary robotic device; Figure 2 illustrates the change in length of an array of inflatable pouches when inflated;

Figure 3 illustrates a further exemplary robotic device;

Figure 4 illustrates an exemplary robotic device in different configurations;

Figure 5 provides a schematic illustration of a further exemplary robotic device;

Figures 6A to 6D illustrates exemplary outputs of a user interface for controlling the robotic device;

Figure 7 illustrates an exemplary base station;

Figure 8 illustrates an alternative base station;

Figure 9 illustrates an attachment mechanism for securing a payload to the body of the robotic device;

Figures 10A to 10D illustrate how the attachment mechanism is secured to the body of the robotic device;

Figures 11A to 11C illustrate different configurations of an exemplary payload.

DETAILED DESCRIPTION

[0038] Figure 1 illustrates an exemplary method of assembling a robotic device. As shown in Figures 1a and 1b, two overlapping sheets of ripstop fabric 10A, 10B are placed together and a seal 12 is formed around their respective peripheries. Seams 14 are then stitched into the overlapping sheets 10A, 10B which forms an array 16 of rectangular pouches which can be inflated. The rectangles that make up each pouch 18 have a longitudinal direction that is substantially perpendicular to a longitudinal axis of the robotic device 25. The seams 14 are then sealed applying a thin layer of latex. This ensures the pouches 18 remain airtight. While the seal 12 is formed around substantially all of the periphery, an air inlet 13 is preferably formed in the seal to allow a compressed air line to be fluidly connected to each array 16 of pouches. As shown in Figures 1c to 1e, a first array of pouches can be joined to a second array of pouches along opposed edges to form a cylindrical structure 20 (Figure 1e) defining a main chamber 19. One of the two ends is closed, and all the seams 12, 14 are sealed with latex. The cylindrical structure 20 is then turned inside out (Figure 1f), so when pressurized the cylindrical structure 20 gradually everts from the tip generating longitudinal translation. The robotic device 25 can be formed by connecting multiple inflatable segments 20 together in series. Each inflatable segment 20 can act as independent joint within the robotic device 25 to provide considerable operational flexibility. By way of reference, the robotic device 25 shown in Figure 1f includes link segments 22 which are formed without the seams 14 and maintain a substantially linear profile when inflated. However, it would be apparent that the link segments 22 were not essential, and multiple inflatable segments 20 may be directed connected to one another. Each of the link segments 22 and inflatable segments 20 are preferably connected to separate sources of compressed air (not shown) so each segment 20, 22 can be inflated independently to provide better control of the robotic device 25. The three inflatable segments 20 illustrated in Figure 1f provide three rotational degrees of freedom in additional to the translational degree of freedom of the end of the robotic device 25. While inflatable segments 20 having two arrays 16 are illustrated, it would be apparent that three, four, or more arrays 16 may be present in each inflatable segment 20 to provide greater degrees of freedom for a given inflatable segment 20. Where three arrays are provided, the robotic device will have six degrees of freedom in addition to the extension of the robotic device 10. While ripstop fabric has been described herein, it would be apparent that this was not essential. It would also be apparent that ripstop material was merely provided as an example of a reinforced woven fabrics resistant to tearing and ripping and that other such fabrics would also be suitable.

[0039] As shown in Figure 2, an array 16 of inflatable pouches is made up of a series of interconnected pouches 18 defined by the seams 14, with each pouch 18 in fluid communication with an air line 17. While each of the eight pouches 18 illustrated in Figure 2 are in fluid communication with an adjacent pouch 18, it would be apparent that each pouch 18 may be directly connected to the air line 17. As shown in the lower illustration of Figure 2, inflating the array 16 causes each pouch 18 to inflate, resulting in a reduction in the overall length of the array 16 as a tensile force is exerted on one side of the main body of the robotic device 25. This causes the robotic device to bend (see Figure 3). By providing two arrays 16 of pouches on opposite sides of the robotic device 25, the arrays 16 are able to work in an antagonistic manner. The greater the level of contraction of an individual array 16, the greater the bending of the robotic device 16 about that inflatable segment 20. The pressure equilibrium between each array 16 and the main chamber 19 can also influence the bending performance of the robotic device 25. The lower the pressure in the main chamber 19 and the higher the pressure in the arrays 16, the greater the bending angle that is achieved by the robotic device. Conversely, as the pressure in the main chamber 19 is increased, this causes the body of the robotic device to stiffen and become more resistant to bending. It would be apparent that a liquid or gas may be used to inflate one or more of the inflatable pouches. Air is one example of a suitable gas for inflating the inflatable pouches. Oil or water is one example of a suitable liquid for inflating the inflatable pouches. [0040] Figure 3 illustrates a further exemplary robotic device 30. The robotic device 30 illustrated on the left side of Figure 3 is in a retracted state, where only one link segment 22A and two inflatable segments 20A, 20B are exposed. As the main chamber of the robotic device 30 is inflated, this causes the robotic device 30 to evert and extend in a longitudinal direction. As illustrated in Figure 3, as the robotic device 30 everts, the remainder of inflatable segment 20B extends out of the robotic device 30 in addition to link segment 22B and additional inflatable segment 20C. As the array of inflatable pouches 16A of inflatable segment 20B inflates, this causes the robotic device 30 to bend about inflatable segment 20B towards the contracted side array 16A of inflatable segment 20B. As array 16B on inflatable segment 20C inflates, this causes the robotic device 30 to bend about inflatable segment 20C towards the side of array 16B of inflatable segment 20C. As each array 16 can be inflated independently of one another, the robotic device 30 is able to contort itself into a range of different configurations. The robotic device 30 is therefore able to navigate an unknown environment, such as an underfloor cavity, and negotiate a route around obstacles that may be present in the environment. In some cases, one or more valves can be integrated within an inflatable segment 20A, 20B, 20C to reduce the number of air lines 24 needed to actuate the arrays 16 of inflatable pouches. By way of example, a single air line 24 connected to a compressed air source (not shown) may be used to actuate two or more arrays 16 of inflatable pouches. The valves can be electrically actuated using connecting cables that are integrated or woven into an outer shell of the inflatable segment 20A, 20B, 20C. Figure 4 illustrates an exemplary robotic device in different configurations 40A, 40B, 40C, 40D, 40E.

[0041] Figure 5 provides a schematic illustration of a further exemplary robotic device. The illustrated robotic device 100 includes a base station 110 attached to a body 115 formed of multiple inflatable segments 120A, 120B, 120C. Inflatable segments 120A, 120B, 120C may have a similar structure to inflatable segment 20 described above. The illustrated body 115 is formed of three layers. First and second layers define the pouches present in each of the inflatable segments 120A, 120B, 120C. A third layer 125 is attached to the second layer and one end of the third layer is attached to the base station 110. As shown in Figure 5, the body 115 is preferably formed as a tube extending along a longitudinal axis 130 and is inverted into itself such that both ends of the tube are secured to the base station 110. This defines an inflatable volume 128 with an air line 114 to a compressed air source so that the inflatable volume 128 can be inflated to evert the body 115. By bunching the material that makes up the body 115 within the base station 110, it is possible to evert the body 115 by inflating the inflatable volume 128 and releasing the bunched material in a controlled manner. Thus a distal end 135 of the body 115 will extend away from the base station as the body 115 extends away from the base station. The illustrated robotic device 110 also includes a channel 132 that extends through the body 115 and the base station 110. This channel 132 provides a method of transporting tools or material between to distal end 135 from the base station while the robotic device is in operation.

[0042] Figures 6A to 6D illustrates exemplary outputs of a user interface 250 for controlling a robotic device 200. In one example, a controller may control the robotic device 200 by utilising a forward kinematics mode. In this mode, the user can independently control each array of an inflatable segment 220 using a joystick controller, or similar user input device. However, in some cases it is desirable to control only the arrays of a particular segment, referred to as an active segment, for example inflatable segment 220C of Figure 6A, inflatable segment 220E in Figures 6B and 6D and inflatable segment 220G in Figure 6C. Additionally, the user can switch the active segment if required to adjust the bending of another segment. In this way, the user can focus on one segment at a time, simplifying control of the robotic device 200. In some cases the control mechanism is configured to evert the robotic device 200 to elongate the robotic device in a direction determined by the orientation of the end-most segment. By visualising the configuration of the robotic device 200 at any given time, the user is provided with feedback that helps them navigate the environment. Link segments 222A, 222B, 222C, 222D, 222E and 222F are also be represented in the user interface 250.

[0043] Alternatively, the controller may control the robotic device by utilising an inverse kinematics mode. In one example, the whole robotic device is actuated simultaneously in order to control the orientation and position of the distal end 135 of the robotic device, for example, using a joystick. The controller will automatically calculate the required pressure needed in each array to position and orient the distal end 135 in the desired manner. This mode is useful if the user wants the robotic device to perform a particular task, such as trajectory tracking in an open-space environment where the robotic device can exploit all its segments to perform the task. A variation of the whole-device inverse kinematics mode is a segment-based inverse kinematics approach. In this mode the user can select which segments are controllable, with unselected segments remaining static. This mode is particularly suited for navigating an underfloor environment. In one example, the user could initially use forward kinematics to guide the robotic device through the underfloor void until the distal end reaches a point of interest. At this point, the user could then select the two most-distal segments only, for example, and switch to one of the inverse kinematics modes. The active segments would then be able to perform an operational task while the rest of the segments stay still. If the task required more degrees of freedom, additional segments could be activated and also switched to inverse kinematics mode. [0044] An exemplary base station 300 is illustrated in Figure 7, containing a frame 305 to support a series of motorised wheels 315, a cylinder 310 for supporting the fabric sheets making up the body of the robotic device (omitted from Figure 8 for clarity) and a passive wheel 320 to further support the cylinder 320. The cylinder 320 has a recess 312 between opposed first and second ends, defining an inner diameter and an outer diameter, and a hollow core 325 extending between the first and second ends. The motorised wheels 315 are mounted on brackets 335 which have hinged first 335A and second 335B parts connected by a spring 330. The spring 330 acts as a resiliently biased member which pulls the two parts 335A, 335B of the bracket 335 together and ensures the motorised wheels always remain in contact with the material on the cylinder 310. This is important, as extending or retracting the body will cause material to be released from, or bunched up on, the cylinder 310 causing a change in thickness of the material bunched around the cylinder 310. While it is preferable to have the robotic device extend by eversion, i.e. by releasing material from within the body of the robotic device such that the released material is located on the outside of the body as the device extends, in some cases it is desirable for the robotic device to extend by releasing material from the outside of the body, such that released material is located on the inside of the body as the device extends. It should be noted that while four driven wheels are shown, more or fewer driven wheels may be used depending on the requirements of the robotic device. It should also be noted that while the four driven wheels are arranged equally around the cylinder at approximately 45 degrees to the horizontal and vertical planes respectively, this is not essential. However, an advantage of the illustrated arrangement is that multiple driven wheels located below the cylinder 310 is better able to manage the release and retraction of material from the cylinder 310. An advantage of the recess 312 is to mitigate against material bunching undesirably as the body 115 is retracted or extended and to enable more material to be bunched within the base station 110, and thus enable a longer robotic device to be deployed. Locating the driven wheels 315 nearer the end of the recess 312 was also found to reduce the bunching effect and increase the amount of material that could be stored on the cylinder 310. It is also preferable to enclose the base station 300 within an air-tight container to enable inflation of the robotic device.

[0045] Figure 8 illustrates an alternative base station. The base station shown in Figure 8 is similar to the base station 300 illustrated in Figure 7, with the addition of two feeder wheels 340 to straighten the fabric 345 that is used to make up the body 115 of the robotic device before it is passed through the driven wheels 315. This improves the reliability with which material can be accumulated and released from the cylinder 310. It would be apparent that the paddle feeder wheels 340 illustrated are merely an example, and that different wheel types, sizes or positions would be suitable with the present device. A conveyor I tracked system, or studded tyres or smooth wheels or soft fin wheels may be used alternatively or additional to the soft paddle type wheels 340 illustrated.

[0046] Figure 9 illustrates an exemplary attachment mechanism for securing a payload to the body of the robotic device. The illustrated attachment mechanism 400 is a two part design, with a first part configured as a cross-shaped component 405 which has two magnets 410 and a camera 450 secured thereto, and a second part 415 provided as a magnetic ring which includes four magnets 412 and four guide wheels 420 secured thereto. The two magnets 410 of the first part 405 are arranged to couple with two of the four magnets 412 on the magnetic ring 415. By providing a ring, the four magnets 412 can be distributed around the periphery of the ring, providing multiple possible attachment configurations between the first 405 and second 415 parts. In some cases, the first 405 and second 415 parts will have the same number of magnets secured thereto. In some cases two magnets are sufficient to hold the first part 405 in place and using more could restrict the movement of the material. However, if the body is inflated with higher pressures, additional magnets may be used to ensure the sensor is secured in place.

[0047] Figures 10A to 10D illustrate an exemplary method of securing the attachment mechanism 400 of Figure 9 to the body of the robotic device. The magnetic ring 415 is first placed inside the material of the body by feeding the end of the body through a core 425 of the ring (see also Figure 9) and then folding the material back on itself (Figure 10B). The first part 405 is then snapped to the outside face of the body (Figure 10C) before the material is pulled back around the magnetic ring 415 (Figure 10D). This results in the first part 405, with the attached camera 450, being secured in place on the outside of the body with the magnetic ring 415 on the inside of the body. This design is highly advantageous, as the camera 450 can be secured to the distal end of the body without the need for a tether, which provides considerably greater flexibility in the types of sensors that can be used, as accurate and precise control of the tether length is not required to keep the sensor at the distal end of the body. As the body everts, the camera 450 will remain in place at the distal end of the body due to the magnetic coupling between the first 405 and second 415 parts, as the material of the body slides between the two parts of the attachment mechanism 400.

[0048] The illustrated attachment mechanism 400 can also be used with a tethered camera (not shown). Whilst, the advantages of a tetherless design would be apparent, in some cases, it may be desirable to secure the sensor with a tether. For example, a tether provides a method of recovery of the sensor should the magnetic coupling fail. Tethered sensors, such as an endoscope style camera with built-in LED lighting are also suitable for use with the present devices. In one example, the camera may be secured to a frame having a flat plate designed to rest against the distal end of the body with the tether secured to the centre of the frame. Thus, a tensile load could be applied to the frame via the tether to secure the camera to the distal end as the body everts and extends.

[0049] Figures 11A to 11C illustrate different configurations of an exemplary payload. The payload 500 is configured to be secured to the distal end of the body, for example using the attachment mechanism 400 illustrated in Figures 9 and 10. In one example, the payload 500 includes a housing 505, a plurality of cameras 510 and a spray nozzle 515. The configuration illustrated in Figure 11A may represent a first configuration, where the robotic device (not shown) is navigating an underfloor environment, for example with the assistance of the cameras 510. Once the payload 500 has reached its intended destination, the housing 505 may open (Figure 11B) and the spray nozzle 515 contained therein may be used to apply insulating material to the underside of a suspended timber floor with the payload 500 in a second configuration. As the spray nozzle 515 is connected to a source of material outside the underfloor cavity by a hose, it is possible for the hose to act as a tether for the payload when the hose extends through the body of the robotic device. Thus, the tether may perform the functions of supplying insulating material to the remote spray nozzle 515 and be used to secure the payload 500 to the distal end of the robotic device. As the spray nozzle 515 may also use compressed air to spray the insulating material, the compressed air lines used to operate the spray nozzle may also be used to operate the different inflatable segments of the robotic device during operation of the robotic device. While a camera has been described as an exemplary sensor, it would be apparent that the payload 500 may include alternative or additional sensors such as one or more visual cameras, optical cameras, thermal cameras, depth cameras, range finders (e.g. laser range finders), thermometer, hygrometer, moisture probe, Geiger counter, radon and/or other gas concentration measuring devices.

[0050] The present robotic device is suitable for a wide range of applications. For example, where the payload 500 includes a manipulator, this provides an effective means for taking samples of insulation or for removing failed insulation from a cavity, such as a wall cavity or an underfloor cavity. It would be apparent that the robotic device may collect and/or remove insulation in an automated manner, or be controlled manually by an operator, such as using a graphical user interface such as shown in Figures 6A to 6D.

[0051] Due to the limited number of electronic components in the robotic device, the present device is also well suited to radioactive environments, and is therefore suited to decommissioning nuclear sites, as electronic components have a significantly reduced operating life in such environments. It would be apparent that the robotic device may have one or more payloads having a respective function in order to effectively map and traverse the radioactive environment and also collect and/or move objects in the radioactive environment.

[0052] Where the sensor includes cameras and rangefinders, this enables the device to navigate the environment in an autonomous or manually guided manner. Other sensors, such as a thermal camera, depth camera, thermometer, hygrometer, moisture probe, Geiger counter, radon and/or other gas concentration measuring devices can also be used to measure properties of the environment. This data can also be relayed to a remote recipient for assessment of the environment and/or to facilitate control of the robotic device within the environment.

[0053] Where the payload includes one or more actuators for changing a direction of the sensor, this advantageously allows for directional sensing without having to also move the elongate body. Where a spray nozzle is provided, the spray nozzle that can be directed without also moving the elongate body. Thus an operator can effectively spray an area with visual feedback from a visual camera on the payload, by only moving the spray nozzle. In this case, the robotic device may be controlled manually by an operator, such as using a graphical user interface such as shown in Figures 6A to 6D.

[0054] Throughout the description and claims of this specification, the words “comprise” and “contain” and variations of them mean “including but not limited to”, and they are not intended to (and do not) exclude other components, integers or steps. Throughout the description and claims of this specification, the singular encompasses the plural unless the context otherwise requires. In particular, where the indefinite article is used, the specification is to be understood as contemplating plurality as well as singularity, unless the context requires otherwise.

Claims

1. A robotic device comprising: an inflatable elongate body; a first inflatable pouch arranged at a first position along the length of the elongate body and configured to bend the elongate body at the first position when inflated; and a second inflatable pouch arranged at a second position along the length of the elongate body and configured to bend the elongate body at the second position when inflated, wherein the first position and the second position are spaced from each other along the length of the elongate body; and wherein the first and second inflatable pouches are independently inflatable such that the elongate body can be simultaneously bent at the first position and at the second position.

2. A robotic device according to claim 1 , wherein the first inflatable pouch is arranged to bend the elongate body in a first direction and the second inflatable pouch is arranged to bend the elongate body in a second direction, and wherein the first direction is different to the second direction.

3. A robotic device according to claim 2, wherein the elongate body defines an axial direction and a circumferential direction, and wherein the first direction is offset from the second direction in the circumferential direction, for example the first direction is perpendicular or opposite to the second direction.

4. A robotic device according to any of claims 1 to 3, wherein the first and second inflatable pouches are integrated with the elongate body.

5. A robotic device according to any preceding claim, wherein the elongate body defines an axial direction and a circumferential direction, and wherein the robotic device comprises a first inflatable segment comprising a plurality of first inflatable pouches distributed in the circumferential direction of the elongate body at the first position, and a second inflatable segment comprising a plurality of second inflatable pouches distributed in the circumferential direction of the elongate body at the second position, and wherein each of the plurality of first inflatable pouches and each of the plurality of second inflatable pouches are independently inflatable so that the elongate body can be bent in a plurality of different directions at both the first position and the second position.

6. A robotic device according to claim 5, wherein each of the first inflatable segment and second inflatable segment comprises: a first layer of material attached to a second layer of material to form a fluid-tight periphery around each inflatable segment; and, a plurality of sealed portions between the first and second layers to define each of the plurality of first inflatable pouches and second inflatable pouches.

7. A robotic device according to any preceding claim, wherein the robotic device comprises a first fluid line extending from a first fluid source to the first inflatable pouch and a second fluid line extending form a second fluid source to the second inflatable pouch.

8. A robotic device according to any preceding claim, wherein the inflatable elongate body is an everting tubular robot having an inflatable annular volume that can be inflated by a base station to cause the inflatable elongate body to evert in an axial direction.

9. A robotic device according to claim 8, further comprising a base station adapted to inflate the inflatable annular volume of the elongate body, and wherein the base station comprises a store for an uninflated portion of the elongate body, and wherein inflation of the inflatable annular volume causes the uninflated portion to be conveyed towards a distal end of the elongate body so that the elongate body everts in the axial direction.

10. A robotic device according to claim 8 or claim 9, further comprising a payload secured to a distal end of the elongate body.

11. A robotic device according to claim 10, wherein the elongate body comprises a channel extending from the base station to the distal end.

12. A robotic device according to claim 11 , further comprising a tether extending through the channel between the payload and the base station, and wherein the tether is configured to operate under tension to locate the payload at the distal end of the elongate body as the elongate body everts.

13. A robotic device according to claim 12, wherein the payload comprises a frame configured to at least partially surround the distal end of the elongate body.

14. A robotic device according to claim 10, wherein the payload comprises a first part disposed within the inflatable annular volume at the distal end of the elongate body, and a second part disposed on an outer surface of the elongate body at the distal end of the elongate body, and wherein the first part is magnetically coupled to the second part so as to allow the elongate body to slide therebetween for eversion of the elongate body.

15. A robotic device according to any of claims 8 to 14, wherein the payload comprises one or more of a sensor, a light source, and/or a spray nozzle. 18

16. A robotic device according to claim 15, wherein the spray nozzle is configured to spray an insulating material.

17. A method of operating a robotic device comprising the steps of: providing a robotic device according to any preceding claim, inflating the first inflatable pouch to bend the elongate body in a first direction at the first position along the length of the elongate body, inflating the second inflatable pouch to bend the body in a second direction at the second position along the length of the elongate body.

18. An attachment mechanism for use with an everting robotic device, the everting robotic device comprising an elongate body defining an inflatable annular volume that is inflatable to cause the elongate body to evert, wherein the attachment mechanism comprises: a first part disposed within the inflatable annular volume at a distal end of the elongate body, and a second part disposed on an outer surface of the elongate body at the distal end of the elongate body, wherein the first part is magnetically coupled to the second part so as to allow the elongate body to slide therebetween for eversion of the elongate body and wherein the second part is configured to carry a payload.