MAGNETIC ADHESIVE FORCE MONITORING SYSTEM FOR MAGNETIC WHEELED ROBOT
First Claim
1. A magnetic adhesion force monitoring system, comprising:
- a magnetic field sensor measuring a stray field portion of a total magnetic field emitted by a magnetic wheel that is magnetically adhered to a ferromagnetic structure, the stray field portion including a portion of the total magnetic field redirected by the ferromagnetic structure; and
a controller determining a change in a magnetic adhesion force of the magnetic wheel to the ferromagnetic structure based on a change in the measured stray field portion of the total magnetic field.
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Accused Products
Abstract
A magnetic adhesive force monitoring system, magnetic wheeled robot and related method are disclosed. The system includes a magnetic field sensor measuring a stray field portion of a total magnetic field emitted by a magnetic wheel that is magnetically adhered to a ferromagnetic structure, the stray field portion including a portion of the total magnetic field redirected by the ferromagnetic structure. A controller determines a change in a magnetic adhesion force of the magnetic wheel to the ferromagnetic structure based on a change in the measured stray field portion of the total magnetic field. Embodiments also provide for determination of a contact point of the wheel with a ferromagnetic structure.
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Citations
20 Claims
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1. A magnetic adhesion force monitoring system, comprising:
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a magnetic field sensor measuring a stray field portion of a total magnetic field emitted by a magnetic wheel that is magnetically adhered to a ferromagnetic structure, the stray field portion including a portion of the total magnetic field redirected by the ferromagnetic structure; and a controller determining a change in a magnetic adhesion force of the magnetic wheel to the ferromagnetic structure based on a change in the measured stray field portion of the total magnetic field. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A magnetic crawler robot, comprising:
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a chassis having a plurality of magnetic wheels thereon, each magnetic wheel configured to magnetically adhere the chassis to a ferromagnetic structure; a magnetic field sensor measuring a stray field portion of a total magnetic field emitted by at least one selected magnetic wheel, the stray field portion including a portion of the total magnetic field redirected by the ferromagnetic structure; and a controller determining a change in a magnetic adhesion force of the magnetic wheel to the ferromagnetic structure based on a change in the measured stray field portion of the total magnetic field. - View Dependent Claims (15, 16)
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17. A method, comprising:
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measuring a stray field portion of a total magnetic field emitted by a magnetic wheel while the magnetic wheel is magnetically adhered to a ferromagnetic structure, the stray field portion including a portion of the total magnetic field redirected by the ferromagnetic structure; and identifying a change in a magnetic adhesion force of the magnetic wheel to the ferromagnetic structure based on a change in the measured stray field portion of the total magnetic field. - View Dependent Claims (18, 19, 20)
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Specification