Roof inspection systems and methods of use

• US 8,651,206 B2
• Filed: 03/31/2012
• Issued: 02/18/2014
• Est. Priority Date: 03/31/2011
• Status: Active Grant

• Current Assignee: Tobor Technology LLC
• Original Assignee: Tobor Technology LLC
• Inventors: Slawinski, Michael D., Guthrie, Dennis L.
• Primary Examiner(s): Walters, John
• Assistant Examiner(s): TRIGGS, JAMES J
• Application Number:
  US13/436,904
• Publication Number:
  US 20130087399A1
• Time in Patent Office: 689 Days
• Field of Search: 180/7.1, 180/8.7, 180/9.32, 180/9.5, 180/8.2, 180/2.1, 180/167, 180/54.1, 180/9.2, 901/1, 901/48
• US Class Current: 180/9.32
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: B60L 15/40 Adaptation of control equipment on vehicle for remote actuation from a stationary place devices along the route for controlling devices on rail vehicles B61L3/00; central rail-traffic control systems B61L27/00
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2240/622 by satellite navigation
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B62D 55/00 Endless track vehicles steering aspects B62D11/00; characterised by the driver not being seated B62D51/007
• CPC Class Codes: B62D 55/075 Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfacesmagnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00
• CPC Class Codes: B62D 55/10 Bogies; Frames track-tensioning means B62D55/30
• CPC Class Codes: B62D 55/24 of continuously flexible type, e.g. rubber belts
• CPC Class Codes: E04D 13/00 Special arrangements or devices in connection with roof coverings; Protection against birds; Roof drainage ; Sky-lights ventilation tiles E04D1/30; ventilation slabs E04D3/40; internal channels E04F17/00
• CPC Class Codes: Y02P 90/60 Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility
• CPC Class Codes: Y02T 90/16 Information or communication technologies improving the operation of electric vehicles
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

Devices, systems, and methods for inspecting and objectively analyzing the condition of a roof are presented. A vehicle adapted for traversing and inspecting an irregular terrain includes a chassis having a bottom surface that defines a higher ground clearance at an intermediate location, thereby keeping the center of mass low when crossing roof peaks. In another embodiment, the drive tracks include a partially collapsible treads made of resilient foam. A system for inspecting a roof includes a lift system and a remote computer for analyzing data. Vehicles and systems may gather and analyze data, and generate revenue by providing data, analysis, and reports for a fee to interested parties.

Claims

1. A vehicle adapted for traversing and inspecting an irregular terrain, comprising:

a chassis supported above a surface by a pair of flexible continuous tracks on opposing left and right sides of said chassis, each of said tracks engaged with at least one driven sprocket and at least one free sprocket,

wherein said chassis has a front end and a rear end with a longitudinal axis extending therebetween, and an upper deck and a generally opposing bottom surface, said bottom surface defining a first clearance near said ends, and a second clearance along a substantially transverse axis extending between said sides and located intermediate said ends, wherein said second clearance is substantially greater than said first clearance when said chassis is positioned on a substantially planar surface;

a motive system supported by said chassis and operative to propel said vehicle by engagement with one or more of said at least one driven sprockets, said motive system comprising;

(a) a motor connected to and operative to propel said vehicle by engaging one or more of said at least one driven sprockets;

(b) said pair of flexible continuous tracks; and

(c) a partially collapsible tread attached lengthwise along each of said tracks, wherein said collapsible tread and said second clearance cooperate to substantially prevent overturning of said vehicle when traversing an irregular terrain;

a power system supported by said chassis and providing energy to power said vehicle;

an imaging system supported by said chassis and comprising a main imaging assembly, a lens assembly spaced apart from and above said chassis, and a wireless router capable of transmitting to a computer remote from said vehicle;

a sensor system supported by said chassis and comprising one or more positional sensors and a plurality of range sensors; and

a control system supported by said chassis and electrically connected to said motive system, said power system, said imaging system, and said sensor system, wherein said control system comprises;

(a) a first microcontroller dedicated to executing a system control program that directs the motion of said vehicle; and

(b) a second microcontroller dedicated to monitoring said sensor system, activating said motive system, and receiving signals from a remote console, wherein said remote console comprises user interface controls and a wireless transmitter.

2. The vehicle of claim 1, wherein said second clearance is located intermediate said ends near a barycenter of said vehicle.

3. The vehicle of claim 1, wherein said second clearance is about two times to about four times greater than said first clearance.

4. The vehicle of claim 1, wherein said partially collapsible tread comprises an adhesive layer for a selectively releasable attachment to said tracks.

5. The vehicle of claim 1, wherein said partially collapsible tread comprises a cellular polyurethane foam rubber material having a thickness of about one to about two inches.

6. The vehicle of claim 1, wherein said one or more positional sensors comprise one or more of a compass, a three-axis gyroscope, a GPS module, and a shaft encoder.

7. The vehicle of claim 1, wherein said vehicle exists in a local three-axis coordinate system, and wherein said plurality of range sensors comprises a least one set of three ultrasonic range detectors wherein each is directed along one of said three axes.

8. The vehicle of claim 1, wherein said system control program is configured to direct the motion of said vehicle in response to inputs received from said second microcontroller.

9. The vehicle of claim 1, wherein said first microcontroller is configured to store data and to communicate with a remote computer.

10. The vehicle of claim 1, wherein said second microcontroller is configured to activate said motive system in response to instructions received from said first microcontroller.

11. The vehicle of claim 1, wherein said main imaging assembly comprises a digital video control system and said lens assembly comprises a video camera.

12. The vehicle of claim 1, wherein said main imaging assembly comprises a thermal image control system and said lens assembly comprises a heat-sensing camera.

13. A vehicle adapted for traversing and inspecting an irregular terrain, comprising:

a chassis supported above a surface by a pair of flexible continuous tracks on opposing left and right sides of said chassis, each of said tracks engaged with at least one driven sprocket and at least one free sprocket,

wherein said chassis has a front end and a rear end with a longitudinal axis extending therebetween, and an upper deck and a generally opposing bottom surface, said bottom surface defining a first clearance near said ends, and a second clearance along a substantially transverse axis extending between said sides and located intermediate said ends, wherein said second clearance is substantially greater than said first clearance when said chassis is positioned on a substantially planar surface;

a motive system supported by said chassis and operative to propel said vehicle by engagement with one or more of said at least one driven sprockets, said motive system comprising said pair of tracks and at least one motor connected to and operative to propel said vehicle by engaging one or more of said at least one driven sprockets;

a power system supported by said chassis and providing energy to power said vehicle;

an imaging system supported by said chassis and comprising a main imaging assembly, a lens assembly, and a wireless router;

a sensor system supported by said chassis and comprising positional sensors and range sensors, wherein said positional sensors comprise one or more of a compass, a three-axis gyroscope, a GPS module, and a shaft encoder, and wherein said range sensors comprise a plurality of ultrasonic range detectors; and

a control system supported by said chassis and electrically connected to said motive system, said power system, said imaging system, and said sensor system, wherein said control system comprises one or more microprocessors, a system control program, and a remote console having user interface controls and a wireless transmitter.

14. The vehicle of claim 13, wherein said second clearance is located intermediate said ends near a barycenter of said vehicle.

15. The vehicle of claim 13, wherein said second clearance is about two times to about four times greater than said first clearance.

16. The vehicle of claim 13, wherein said motive system further comprises a partially collapsible tread comprising a cellular polyurethane foam rubber material having a thickness of about one to about two inches, wherein said tread is releasably attached lengthwise along each of said tracks, and wherein said collapsible tread and said second clearance cooperate to substantially prevent overturning of said vehicle when traversing an irregular terrain.

17. The vehicle of claim 13, wherein said control system comprises:

(a) a first microcontroller that is configured to store data, to communicate with a remote computer, and is dedicated to executing a system control program that directs the motion of said vehicle; and

(b) a second microcontroller that is dedicated to monitoring said sensor system, activating said motive system in response to instructions received from said first microcontroller, and receiving signals from a remote console, wherein said remote console comprises user interface controls and a wireless transmitter.

18. The vehicle of claim 13, wherein said main imaging assembly comprises a digital video control system mounted to said chassis and said lens assembly comprises a video camera spaced apart from and above said chassis.

19. A system for inspecting a roof, comprising:

a vehicle adapted for traversing and inspecting a roof, said vehicle comprising;

(a) a chassis supported above a surface by a pair of flexible continuous tracks on opposing left and right sides of said chassis, each of said tracks engaged with at least one driven sprocket and at least one free sprocket, wherein said chassis has a front end and a rear end with a longitudinal axis extending therebetween, and an upper deck and a generally opposing bottom surface, said bottom surface defining a first clearance near said ends, and a second clearance along a substantially transverse axis extending between said sides and located intermediate said ends, wherein said second clearance is substantially greater than said first clearance when said chassis is positioned on a substantially planar surface;

(b) a motive system supported by said chassis and operative to propel said vehicle by engagement with one or more of said at least one driven sprockets, wherein said motive system comprises (i) a motor connected to and operative to propel said pair of flexible continuous tracks by engaging one or more of said at least one driven sprockets, and (ii) a partially collapsible tread releasably attached lengthwise along each of said tracks;

(c) a power system supported by said chassis and providing energy to power said vehicle;

(d) an imaging system supported by said chassis and comprising a main imaging assembly, a lens assembly spaced apart from and above said chassis, and a wireless router;

(e) a sensor system supported by said chassis and comprising positional sensors and range sensors, wherein said positional sensors comprise one or more of a compass, a three-axis gyroscope, a GPS module, and a shaft encoder, and wherein said range sensors comprise a plurality of ultrasonic range detectors; and

(f) a control system supported by said chassis and electrically connected to said motive system, said power system, said imaging system, and said sensor system, wherein said control system comprises one or more microprocessors, a system control program, and a remote console having user interface controls and a wireless transmitter; and

a lift system comprising a carriage sized and shaped to support said vehicle, and a hoist assembly for lifting said carriage up to said roof; and

a remote computer configured to receive data stored by said vehicle, analyze said data, and produce a report.

20. The system of claim 19, further comprising one or more agreements with an entity willing to pay for said data or said report.

21. The system of claim 19, further comprising a lease agreement with a borrowing entity willing to pay for temporary use of said vehicle, said lift system, or said remote computer.

22. The system of claim 19, wherein said lift system further comprises a ramp, and wherein said hoist assembly is configured to lift said carriage up said ramp and onto said roof.