Autonomous robotic crawler for in-pipe inspection
First Claim
1. An autonomous robot for traversing a conduit comprising:
- a drive module having a plurality of pitched wheels, said pitched wheels being oriented such that each of their axes defines a pitch angle greater than zero degrees and less than ninety degrees with respect to the longitudinal axis of the conduit;
a driver module connected to said drive module, said driver module having a plurality of wheels aligned parallel to the longitudinal axis of the conduit; and
a power module;
wherein said drive and driver modules provide locomotive motion of the robot, and wherein said power module provides the power to said drive and driver modules.
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Accused Products
Abstract
The specification discloses a robot for inspection adapted to travel virtually unlimited distances through small-diameter enclosed spaces such as conduits or ducts, preferably using a fluid-driven screw-drive propulsion system. The robot preferably includes a drive module having a plurality of wheels inclined at an angle greater than zero degrees and less than ninety degrees to the longitudinal axis of the pipe, a driver module having a plurality of wheels aligned parallel to the longitudinal axis of the pipe, and a power module. The driver module is preferably connected to the drive module such that the drive and driver modules are capable of providing the locomotive motion of the robot. The power module preferably provides the power to the drive and driver modules.
164 Citations
53 Claims
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1. An autonomous robot for traversing a conduit comprising:
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a drive module having a plurality of pitched wheels, said pitched wheels being oriented such that each of their axes defines a pitch angle greater than zero degrees and less than ninety degrees with respect to the longitudinal axis of the conduit;
a driver module connected to said drive module, said driver module having a plurality of wheels aligned parallel to the longitudinal axis of the conduit; and
a power module;
wherein said drive and driver modules provide locomotive motion of the robot, and wherein said power module provides the power to said drive and driver modules. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49)
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15. The robot according to clam 1, further comprising paddles or sails for deriving power from a fluid flow past the robot.
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16. The robot according to clam 15 wherein the power generated by said paddles or sails is stored in a battery prior to use.
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50. A robot for performing in-pipe inspection of a conduit, comprising:
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a drive module having a plurality of pitched wheels, said pitched wheels being oriented such that each of their axes defines a pitch angle greater than zero degrees and less than ninety degrees with respect to the longitudinal axis of the conduit;
a driver module connected to said drive module, said driver module having a plurality of wheels aligned parallel to the longitudinal axis of the conduit; and
a power module;
a sensor for inspecting the pipe;
wherein said drive and driver modules provide locomotive motion of the robot, and wherein said power module provides the power to said drive and driver modules.
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51. An autonomous robot for traversing a conduit comprising:
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a body;
a drive system capable of extracting energy from a flow of fluid through the conduit and using the energy to advance the body along the inside of the conduit; and
at least one sensor mounted on said body. - View Dependent Claims (52, 53)
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Specification