Reconfigurable mobile vehicle with magnetic tracks

• US 5,363,935 A
• Filed: 05/14/1993
• Issued: 11/15/1994
• Est. Priority Date: 05/14/1993
• Status: Expired due to Fees

• Current Assignee: Carnegie Mellon University
• Original Assignee: Carnegie Mellon University
• Inventors: Albrecht, Brian, Schempf, Hagen
• Primary Examiner(s): Camby, Richard M.
• Assistant Examiner(s): Hurley, Kevin
• Application Number:
  US08/062,797
• Time in Patent Office: 550 Days
• Field of Search: 180/9, 180/9.1, 180/9.44, 180/9.62, 180/313, 180/901, 901/1, 901/40, 901/44, 114/222
• US Class Current: 180/9.1
• CPC Class Codes: B08B 9/0933 Removing sludge or the like from tank bottoms
• CPC Class Codes: B62D 55/0655 Articulated endless track vehicles steering specially adapted for trailers B62D13/00; articulated buses B62D47/025; tractor-trailer combinations or road trains comprising a uni-axle unit and a uni-axle trailer B62D53/02
• CPC Class Codes: B62D 55/07 Mono-track vehicles
• CPC Class Codes: B62D 55/265 having magnetic or pneumatic adhesion
• CPC Class Codes: Y10S 180/901 Devices for traversing vertical surfaces

Abstract

A reconfigurable mobile vehicle having at least one endless driven member and a motor for driving the endless member on a surface capable of supporting a magnetic circuit. The vehicle is equipped with a magnetic system that comprises a magnet, a fixed magnetic circuit member, and a movable magnetic circuit member for establishing first and second magnetic circuits. A clutch is provided to selectively connect the movable magnetic circuit member to the motor to move the movable magnetic circuit member between a first position wherein the first magnetic circuit is established such that the endless driven member can magnetically engage the surface and a second position wherein the second magnetic circuit is established such that the endless member does not magnetically engage the surface. The vehicle is equipped with sensing apparatuses for analyzing the structural integrity of the surface upon which the vehicle is riding and is also equipped with acoustical positioning apparatus for assisting the operating personnel and computer in locating and controlling the vehicle'"'"'s position within an enclosed environment. The vehicle is also equipped with a tether line that is used to facilitate the transfer of control power/data between the vehicle and the various operating components attached thereto and a control console located remote from the vehicle. The tether line is also used to deploy and retrieve the vehicle.

Claims

1. A vehicle for use in a vessel having walls with interior surfaces capable of supporting a magnetic circuit, comprising:

a frame member;

an endless driven member received on said frame member and adapted for travel on the interior surfaces of the vessel walls;

means for driving said endless driven member;

a magnetic system attached to said frame member and comprising a magnet, fixed magnetic circuit means, and movable magnetic circuit means for establishing first and second magnetic circuits; and

means for selectively connecting said movable magnetic circuit means to said means for driving to move said movable magnetic circuit means between a first position wherein said first magnetic circuit is established between said endless driven member, said magnet, said fixed magnetic circuit means and said movable magnetic circuit means such that said endless driven member is caused to magnetically engage one of the interior surfaces of the vessel, and a second position wherein said second magnetic circuit is established between said magnet, said fixed magnetic circuit means, and said movable magnetic circuit means such that said endless driven member does not magnetically engage one of the interior surfaces of the vessel.

2. The vehicle of claim 1 wherein said fixed magnetic circuit means includes an upper magnetic circuit piece, a first lower magnetic circuit piece, and a second lower magnetic circuit piece, and wherein said movable magnetic circuit piece includes a shaft having a magnetic and non-magnetic portion, and wherein said movable magnetic circuit means is positioned so as to rotate within said fixed magnetic circuit means.

3. The vehicle of claim 2 wherein said magnet is positioned between said upper magnetic circuit piece and said first lower magnetic circuit piece.

4. The vehicle of claim 3 wherein said means for selectively connecting said movable magnetic circuit means to said means for driving comprises a clutch member.

5. The vehicle of claim 1 wherein said second magnetic circuit prevents said movable magnetic circuit member from being accidentally moved to said first position.

6. The vehicle of claim 1 wherein said endless driven member comprises a plurality of pivotally interconnected cleat members.

7. The vehicle of claim 1 further comprising an ultrasonic sensing system attached to said frame member for ultrasonically analyzing the integrity of the walls of the vessel upon which said vehicle is driven.

8. The vehicle of claim 1 further comprising a video camera system attached to said frame of said vehicle.

9. The vehicle of claim 1 wherein said means for driving and said means for selectively connecting are controlled by control means located outside of the vessel.

10. The vehicle of claim 1 further comprising a tether means attached to said frame, said tether means supplying power to said vehicle from a remote power source and providing a mechanism whereby said vehicle may be deployed and retrieved by a vehicle retrieval means located outside of the vessel.

11. The vehicle of claim 1 further comprising means for pinpointing the location of said vehicle within the vessel such that the vehicle can be tracked and monitored by personnel located outside of the vessel.

12. A remotely configurable vehicle for use in an enclosed vessel having walls with interior surfaces capable of supporting a magnetic circuit comprising:

a plurality of interconnected drive members, each said drive member having a frame member, an endless driven member received on said frame member and adapted for travel on one of the interior surfaces of the vessel, means for driving said endless driven member attached to said frame member, a magnetic system attached to said frame member and comprising a magnet, a fixed magnetic circuit means, and movable magnetic circuit means for establishing first and second magnetic circuits, and means for selectively connecting said movable magnetic circuit means between a first position wherein said first magnetic circuit is established between said endless driven member, said magnet, said fixed magnetic circuit means, and said movable magnetic circuit means such that said endless member is caused to magnetically engage one of the interior surfaces of the vessel, and a second position wherein said second magnetic circuit is established between said magnet, said fixed magnetic circuit means and said movable magnetic circuit means such that said endless driven member does not magnetically engage one of the interior surfaces of the vessel; and

a sensor carrying member interconnected to at least one said drive member.

13. The remotely configurable vehicle of claim 12 wherein said sensor carrying member is interconnected to at least one said drive member by a steering module adapted to selectively articulate said sensor carrying module with respect to said drive members attached thereto about a pitch axis and a yaw axis.

14. The remotely configurable vehicle of claim 13 wherein a first drive member is interconnected to a first end of said sensor carrying member by a first steering module and wherein a second drive member is interconnected to a second end of said sensor carrying member by a second steering module such that said vehicle can be configured and driven in a plurality of configurations by selectively operating said first and said second steering modules in predetermined sequences.

15. A remotely configurable vehicle for use in an enclosed vessel having walls with interior surfaces capable of supporting a magnetic circuit comprising:

a plurality of interconnected drive members, each said drive member having a frame member, an endless driven member received on said frame member, said endless driven member including a plurality of pivotally interconnected cleat members each having an electro-magnet formed thereon, means for driving said endless driven member attached to said frame member, and electrical contact means carried by said frame member for selectively providing electrical power to said electro-magnets of said endless member to enable said endless member to selectively magnetically engage one of the interior surfaces of the vessel walls for travel thereon; and

a sensor carrying member interconnected to at least one said drive member.

16. The remotely configurable vehicle of claim 15 wherein said sensor carrying member is interconnected to at least one said drive member by a steering module adapted to selectively articulate said sensor carrying module with respect to said drive members attached thereto about a pitch axis and a yaw axis.

17. The remotely configurable vehicle of claim 16 wherein a first drive member is interconnected to a first end of said sensor carrying member by a first steering module and wherein a second drive member is interconnected to a second end of said sensor carrying member by a second steering module such that said vehicle can be configured and driven in a plurality of configurations by selectively operating said first and said second steering modules in predetermined sequences.

18. A mobile vehicle for use in an enclosed vessel having walls with interior surfaces capable of supporting a magnetic circuit comprising:

a frame member;

at least two drive members, each said drive member having a housing connected to said frame member such that said drive members are parallel to one another, each said drive member further having an endless driven member received on said housing and adapted for travel on one of the interior surfaces of one of the vessel walls and means for driving the endless driven member and a magnetic system attached to said housing comprising a magnet, fixed magnetic circuit means, and movable magnetic circuit means for establishing first and second magnetic circuits, and means for selectively connecting said movable magnetic circuit means to said means for driving to move said movable magnetic circuit means between a first position wherein said first magnetic circuit is established between said endless driven member, said magnet, said fixed magnetic circuit means and said movable magnetic circuit means such that said endless driven member is caused to magnetically engage one of the interior surfaces of the vessel, and a second position wherein said second magnetic circuit is established between said magnet, said fixed magnetic circuit means and said movable magnetic circuit means such that said endless driven member does not magnetically engage one of the interior surfaces of the vessel; and

a sensor carrying member attached to said frame member.

19. A method for performing tasks within a vessel having walls with interior surfaces capable of supporting a magnetic circuit comprising the steps of:

providing a mobile vehicle having at least one drive member, said drive member having a frame member, an endless driven member received on said frame member and adapted for travel on the interior surfaces of the vessel walls, means for driving said endless driven member, a magnetic system attached to said frame member and comprising a magnet, fixed magnetic circuit means, and movable magnetic circuit means for establishing first and second magnetic circuits, and means for selectively connecting said movable magnetic circuit means to said means for driving to move said movable magnetic circuit means between a first position wherein said first magnetic circuit is established between said endless driven member, said magnet, said fixed magnetic circuit means, and said movable magnetic circuit means such that said endless driven member is caused to magnetically engage one of the interior surfaces of the vessel, and a second position wherein said second magnetic circuit is established between said magnet, said fixed magnetic circuit means, and said movable magnetic circuit means such that said endless driven member does not magnetically engage one of the interior surfaces of the vessel;

deploying said vehicle into said vessel by a vehicle deploying means;

connecting said movable magnetic circuit means to said means for driving to move said movable magnetic circuit means to said first position to cause said endless driven member to magnetically engage one of the interior surfaces of the vessel; and

moving said vehicle along the interior surface by driving said endless driven member with said means for driving said endless driven member.

20. The method of claim 19 wherein said vehicle deploying means comprises a pod member located outside of the vessel and communicating with an opening therein to create an airtight seal therebetween, said pod member including decontamination and storage means for decontaminating said vehicle and storing said vehicle therein when said vehicle has been retrieved from said vessel.

21. The method of claim 20 wherein said vehicle deploying means further comprising vehicle maintenance means attached to said pod member for permitting personnel located outside of said pod member to perform maintenance tasks on said vehicle when said vehicle is stored within said pod member means.