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Submersible robotically operable vehicle system for infrastructure maintenance and inspection

  • US 20120215348A1
  • Filed: 02/19/2011
  • Published: 08/23/2012
  • Est. Priority Date: 02/19/2011
  • Status: Active Grant
First Claim
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1. An apparatus for inspecting, cleaning, and maintaining a work surface, said apparatus comprising:

  • a plurality of interconnected modules, including at least;

    a frame module comprising;

    a proximal end, a center, and a distal end, with each end able to separately flex and twist with respect to the center;

    external connection means for connecting to an umbilical and a debris line;

    signal aggregating and distributing means for aggregating and distributing signals to a plurality of interchangeable modules via a bus;

    power distribution means for distributing power to the plurality of interchangeable modules;

    inter-module connection means for connecting mechanically to the plurality of interchangeable modules and for conveying power and signals via the bus, said inter-module connection means being mediated by standardized interfaces; and

    ,means for detecting and monitoring the configuration, identification, status, connection, resource requirements, and functional capabilities of the plurality of connected modules;

    a shoulder module means for controllable rotation around a central axis and having interface means for interconnection to the plurality interchangeable modules;

    an articulation module means configurable for any combination of controllable extension, radial orientation, multi-axis articulation, and structural bracing;

    a hand module means for controllably connecting to any of a plurality of interchangeable tools comprising a propulsion tool for providing controllable propulsion means to the apparatus, a debris removal tool for providing means to controllably remove material from a surface, a debris recovery tool for providing means to controllably recover debris from area of the surface, and an inspection tool providing sensor means to sense the environment of the apparatus;

    each of said plurality of connected modules further comprising;

    an embedded intelligence means;

    means for sending signals descriptive of identification, configuration, status, and functional capabilities to any other module to which it is connected;

    means for interconnecting resources and signals;

    means for sensing position, orientation, and motion responsive to control signals; and

    ,means for obstacle avoidance;

    said frame module having means for controllably coordinating the motion and functions of, and signals produced by sensors within, the plurality of interchangeable modules;

    said umbilical;

    connected to a remote control means; and

    .providing power to and control signals both to and from the frame module;

    said debris line connected to debris removal means for removing debris from the environment of the apparatus;

    said remote control means providing the ability to monitor and control the position, orientation, movement and functions of the apparatus; and

    ,said frame module having the means for autonomously navigation, inspection, and remediation of the work surface via control and coordination of the plurality of interchangeable modules and the debris removal means.

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