System and method for accessing ferrous surfaces normally accessible only with special effort

• US 20080148876A1
• Filed: 04/22/2007
• Published: 06/26/2008
• Est. Priority Date: 04/20/2000
• Status: Abandoned Application

• Current Assignee: Charles Marsh, Frank Robb, Vince Hock, Warren Whittaker
• Original Assignee: Charles Marsh, Frank Robb, Vince Hock, Warren Whittaker
• Inventors: Whittaker, Warren, Marsh, Charles, Hock, Vince, Robb, Frank
• Application Number:
  US11/789,812
• Publication Number:
  US 20080148876A1
• Time in Patent Office: Days
• US Class Current: 73/865.8
• CPC Class Codes: G01N 2291/02854 Length, thickness
• CPC Class Codes: G01N 2291/2632 flat
• CPC Class Codes: G01N 2291/2636 cylindrical from inside
• CPC Class Codes: G01N 29/041 on the surface of the material, e.g. using Lamb, Rayleigh or shear waves
• CPC Class Codes: G01N 29/225 Supports, positioning or alignment in moving situation
• CPC Class Codes: G01N 29/265 by moving the sensor relative to a stationary material

Abstract

A system incorporating a robot to inspect ferrous surfaces. Preferably, the robot is an articulated device having a tractor module for motive power and steering, a power module for electrical power and communications and additional motive power, and a third module for cleaning and inspection. The robot uses sensors and transmits signals to a computer through a tether and receives direction from an operator via the computer and tether. The computer continuously monitors the location of the robot and supports the robot during deployment. In a specific application, the robot travels the interior of a tank on a set of magnetized wheels. Prior to measurement, the tank surface is cleaned of deposits by rotary cutters and rotary brushes on the third module. The robot obtains at least thickness measurements via onboard ultrasonic transducers that contact the cleaned surface. A method for implementing inspection of ferrous surfaces is also described.

Claims