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Autonomous robotic crawler for in-pipe inspection

  • US 7,182,025 B2
  • Filed: 12/08/2003
  • Issued: 02/27/2007
  • Est. Priority Date: 10/17/2001
  • Status: Expired due to Term
First Claim
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1. An autonomous robot for traversing a conduit comprising:

  • a first section 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 each of said pitched wheels being positioned at a different point along the length of the robot such that no two pitched wheels are at the same point along the length of the robot;

    a second section rotatably connected to said first section, said second section having a plurality of wheels aligned parallel to the longitudinal axis of the conduit; and

    means for causing rotation of one of said first and second sections relative to the other of said first and second sections;

    wherein said relative rotation of said first and second sections provides locomotive motion of the robot.

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