| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 21 | MAGNETIC CRAWLER VEHICLE WITH PASSIVE REAR-FACING APPARATUS | US15647372 | 2017-07-12 | US20190017656A1 | 2019-01-17 | Pablo Carrasco Zanini; Fadl Abdellatif; Brian Parrott; Ali Outa |
| A robotic vehicle for traversing surfaces is provided. The vehicle is comprised of a front chassis section including a magnetic drive wheel for driving and steering the vehicle and a front support point configured to contact the surface. The vehicle also includes a rear chassis section supporting a follower wheel. The front and rear chassis sections are connected by joints including a hinge joint and a four-bar linkage. The hinge is configured to allow the trailing assembly to move side-to-side while the four-bar linkage allows the trailing assembly to move up and down relative to the front chassis. Collectively, the rear facing mechanism is configured to maintain the follower wheel in contact with and normal to the surface and also maintains the front support in contact with the surface and provides stability and maneuverability to the vehicle while traversing surfaces regardless of surface curvature and vehicle orientation. | ||||||
| 22 | Hinged vehicle chassis | US15851038 | 2017-12-21 | US10118655B2 | 2018-11-06 | Ali Outa; Pablo Carrasco Zanini; Fadl Abdellatif; Brian Parrott |
| A robotic vehicle chassis is provided. The robotic vehicle chassis includes a first chassis section, a second chassis section, and a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction. The vehicle includes a drive wheel mounted to one of the first and second chassis sections and an omni-wheel mounted to the other of the first and second chassis sections. The omni-wheel is mounted at an angle orthogonal with respect to the drive wheel. The hinge joint rotates in response to the curvature of a surface the vehicle is traversing. | ||||||
| 23 | SYSTEM, METHOD, AND APPARATUS FOR INSPECTING A NON-FERROUS MATERIAL ON A FERROUS SUBSTRATE | US15997534 | 2018-06-04 | US20180284794A1 | 2018-10-04 | Mark Loosararian; Joshua Moore; Yizhu Gu; Kevin Low; Edward Bryner; Logan MacKenzie; Ian Miller; Alvin Chou; Todd Joslin |
| A system includes an inspection robot having a plurality of input sensors comprising a plurality of magnetic induction sensors and configured to provide inspection data of an inspection surface, wherein the inspection data comprises electromagnetic (EM) induction data, and wherein the plurality of input sensors are distributed horizontally relative to the inspection surface; wherein at least a portion of the inspection surface comprises a ferrous substrate having a non-ferrous coating thereupon; a controller, comprising: an EM data circuit structured to interpret the EM induction data, and to determine a substrate distance value in response to the EM induction data; and a thickness processing circuit structured to determine a thickness value in response to the EM induction data, the thickness value comprising a thickness of the non-ferrous coating. | ||||||
| 24 | INSPECTION ROBOT HAVING A NUMBER OF HORIZONTALLY DISPLACED SENSORS | US15990021 | 2018-05-25 | US20180275674A1 | 2018-09-27 | Mark Loosararian; Joshua Moore; Yizhu Gu; Kevin Low; Edward Bryner; Logan MacKenzie; Ian Miller; Alvin Chou; Todd Joslin |
| A system includes an inspection robot comprising a plurality of payloads; a plurality of arms, wherein each of the plurality of arms is pivotally mounted to one of the plurality of payloads; a plurality of sleds, wherein each sled is mounted to one of the plurality of arms; a plurality of inspection sensors, each of the inspection sensors coupled to one of the plurality of sleds such that each sensor is operationally couplable to an inspection surface; and wherein the plurality of sleds are horizontally distributed on the inspection surface at selected horizontal positions, and wherein each of the arms is horizontally moveable relative to the corresponding payload. | ||||||
| 25 | SYSTEM, METHOD, AND APPARATUS TO PERFORM A SURFACE INSPECTION USING REAL-TIME POSITION INFORMATION | US15988975 | 2018-05-24 | US20180275671A1 | 2018-09-27 | Mark Loosararian; Joshua Moore; Yizhu Gu; Kevin Low; Edward Bryner; Logan MacKenzie; Ian Miller; Alvin Chou; Todd Joslin |
| A system includes an inspection robot for performing an inspection on an inspection surface with an inspection robot, the apparatus comprising a position definition circuit structured to determine an inspection robot position on the inspection surface; a data positioning circuit structured to interpret inspection data, and to correlate the inspection data to the inspection robot position on the inspection surface; and wherein the data positioning circuit is further structured to determine position informed inspection data in response to the correlating of the inspection data with the inspection robot position. | ||||||
| 26 | INSPECTION VEHICLE | US15430056 | 2017-02-10 | US20180232874A1 | 2018-08-16 | Tor Mikal ØSTERVOLD; Klaus Østervold |
| Inspection vehicle (1) for under water inspection of coating, marine growth, structural integrity and corrosion on ferromagnetic ship hulls and other ferromagnetic structures. The inspection vehicle is distinctive in that it comprises a non-magnetic element (2), at least one magnetic wheel or device (3) operatively arranged to the element, and a watertight camera (4) for visual inspection attached to the element or other structure of the inspection vehicle, wherein the inspection vehicle comprises one coupling side (5) where the at least one magnetic wheel or device is operatively arranged for the inspection vehicle to couple magnetically through coating, any marine growth and corrosion products and allow rolling the inspection vehicle on said structure, in horizontal to vertical to upside down-orientation while holding the inspection vehicle attached to the structure, and one non-coupling side (6) oriented in substance in opposite direction to the coupling side, where the at least one magnetic wheel is not operatively arranged and the non-coupling side will not couple magnetically to said structure. A method for operating the inspection vehicle is also provided. | ||||||
| 27 | INSPECTION ROBOT | US15853391 | 2017-12-22 | US20180181136A1 | 2018-06-28 | Mark Loosararian; Joshua Moore; Yizhu Gu; Kevin Low; Edward Bryner; Logan MacKenzie; Ian Miller; Alvin Chou; Todd Joslin |
| A system includes an inspection robot having a number of payloads, a number of arms mounted to the payloads, and a number of sleds mounted to the arms. The system includes a number of sensors, each mounted to a corresponding sled, such that the sensor is operationally coupleable to an inspection surface in contact with a bottom surface of the corresponding sled. A couplant chamber is provided within at least two of the sleds, the couplant chamber between a transducer of a sensor and the inspection surface. The system includes a biasing member for each of the arms, where the biasing member provides a down force on the corresponding sled. | ||||||
| 28 | Hinged Vehicle Chassis | US15851038 | 2017-12-21 | US20180178861A1 | 2018-06-28 | Ali Outa; Pablo Carrasco Zanini; Fadl Abdellatif; Brian Parrott |
| A robotic vehicle chassis is provided. The robotic vehicle chassis includes a first chassis section, a second chassis section, and a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction. The vehicle includes a drive wheel mounted to one of the first and second chassis sections and an omni-wheel mounted to the other of the first and second chassis sections. The omni-wheel is mounted at an angle orthogonal with respect to the drive wheel. The hinge joint rotates in response to the curvature of a surface the vehicle is traversing. | ||||||
| 29 | Magnetic omni-wheel and method for traversing surface therewith | US15436368 | 2017-02-17 | US09849722B2 | 2017-12-26 | Brian Parrott; Pablo Carrasco Zanini; Ali Outa; Fadl Abdellatif; Hassane Trigui |
| A multidirectional wheel for traversing a surface that includes a hub having a first axial direction of rotation. A plurality of rollers are disposed around an outer periphery of the hub. The rollers are mounted for rotation in a second axial direction that is at an angle to the first axial direction. The wheel includes at least one magnet that is mounted to the hub. The hub is made of a magnetically inducible material that concentrates the flux of the at least one magnet toward the surface being traversed. A method for traversing a magnetically inducible surface using the multidirectional wheel is further provided. | ||||||
| 30 | Magnetic omni-wheel | US14552010 | 2014-11-24 | US09579927B2 | 2017-02-28 | Brian Parrott; Pablo Eduardo Carrasco Zanini Gonzalez; Ali Outa; Fadl Abdel Latif; Hassane Trigui |
| A multidirectional wheel for traversing a surface that includes at least one hub is provided. The hub defines a first axial direction of rotation. A plurality of rollers are disposed around an outer periphery of the hub. The rollers are mounted for rotation in a second axial direction that is at an angle to the first axial direction. The wheel includes at least one magnet that is mounted to the hub. The hub is made of a magnetically inducible material that concentrates the flux of the at least one magnet toward the surface being traversed. | ||||||
| 31 | Mobile Operations Chassis with Controlled Magnetic Attraction to Ferrous Surfaces | US14194003 | 2014-02-28 | US20140230711A1 | 2014-08-21 | Reginald Benjamin Lovelace; Donald T. Darling; Kenneth W. Holappa |
| A chassis clings to a ship hull or other ferrous surface by a magnet that moves toward or away from the surface to adjust the magnet air gap and thus the attractive force. The magnet(s) can be the only clinging force or used with other sources such as a suction chamber or fluid jet drive. An internal magnet on a crank mechanism can pivot around a wheel rotation axis inside a wheel body having a non-ferrous traction surface or tire. The magnet gap is least at an angle perpendicular to the surface on which the wheel rests, and larger at an angle oblique to that, for varying the attractive force to two or more levels. The vehicle can be an autonomous hull maintenance device with sensors, controllers and actuators to sense, measure and clean away fouling. | ||||||
| 32 | Robotic submersible cleaning system | US12952973 | 2010-11-23 | US08506719B2 | 2013-08-13 | Kenneth Walter Holappa; Donald T. Darling; William Martin Hertel, III |
| A cleaning system includes a chassis supporting a propulsion system for propelling the cleaning system across a surface. At least one sensor of a first type is coupled to the chassis, and a surface engagement mechanism is configured to maintain the cleaning system coupled to the surface as the propulsion system propels the cleaning system across the surface. A cleaning device is coupled to the chassis and configured to abrade the fouling from the surface, and a controller coupled to the chassis and in signal communication with the propulsion system and the first sensor. The controller is configured to receive a signal from the at least one sensor of the first type and control the propulsion system in response to the signal. | ||||||
| 33 | Magnetic wheel for vehicles | US10546355 | 2004-02-17 | US20060162610A1 | 2006-07-27 | Oscar Reboredo Losada; Manuel Varela Rey |
| Specially conceived for vehicles which have to be displaced over ferromagnetic surfaces, like the iron or steel walls of large tanks for example, it is incorporated by the combination of a hollow rim (1-1′) and a tyre (4) of an elastomer or similar material, which define a cylindrical chamber (8) inside which a magnetic annulus (9) runs, materialized in a permanent magnet of adequate strength, with the particularity that said magnetic annulus (9) has a substantially smaller diameter than that of the cited chamber (8), so that it is capable of carrying out a planetary motion inside the same, maintaining a permanently tangential condition with the tyre (4) at the point in which the latter is in contact at all times with the ferromagnetic surface over which the vehicle is displaced, achieving maximum adherence at said point. In this way it is managed to improve the grip of the wheel on said surface, overcome possible obstacles of the same, lighten the wheel and increase safety through not requiring an electricity supply. | ||||||
| 34 | 磁石ホイールの荷重分散装置 | JP2017544262 | 2015-10-29 | JP6408165B2 | 2018-10-17 | イ ドンウク |
| 35 | 磁石ホイール | JP2017533844 | 2015-12-18 | JP2018504306A | 2018-02-15 | イ ドンウク |
| 磁石ホイールが開示される。本発明の磁石ホイールは、均衡ブロックと;均衡ブロックに設けられ、磁力で均衡ブロックを付着対象物に付着させる磁性体;及び均衡ブロックに設けられ、磁性体から発生される磁場を付着対象物の方向へ誘導する磁気遮蔽ブロックとを含む。 | ||||||
| 36 | 移動ロボット | JP2016111031 | 2016-06-02 | JP2017214038A | 2017-12-07 | グエン ジュイヒン; 西澤 克彦; 法上 司; 中村 圭佑 |
| 【課題】 2つの平面が交差している場合でも2つの平面間移動が可能な移動ロボットを提供する。 【解決手段】 互いに交差する磁性体の第1平面4から磁性体の第2平面9を走行する移動ロボット100であって、ロボット本体2に回転可能に支持されかつ外周面に永久磁石1bを備える一対の駆動輪1と、一対の駆動輪を夫々独立して回転駆動させる駆動機構3と、ロボット本体に回転自在に支持され外周面に永久磁石を備える後輪8と、第2平面までの距離を取得する距離センサ10と、第1平面と接触可能な接触位置112と第1平面から退避した退避位置110との間で移動可能な押出部材5,13cを有する押出機構7,13Bとを備え、距離センサで駆動輪が第2平面に接触したことを検出したとき、押出機構により押出部材を退避位置から接触位置まで移動させて第1平面に接触させて、駆動輪を第1平面から離すことにより、駆動輪が第1平面から第2平面に移動する。 【選択図】図1 |
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| 37 | モジュール式移動検査ビークル | JP2016535105 | 2014-11-25 | JP2017512975A | 2017-05-25 | パブロ・エドゥアルド・カラスコ・ザニーニ・ゴンザレス; アリ・オータ; ファドゥル・アブデル・ラティフ; ブライアン・パロット; ハサン・トゥリグイ; サヘジャド・パテル; アイマン・モハマド・アメル |
| 少なくとも第1および第2運動モジュールを有するモジュール式検査ビークルが提供される。第1および第2運動モジュールは、シャーシに接続される。第1運動モジュールは、シャーシに取り付けられた第1車輪を含む。第2運動モジュールは、シャーシに取り付けられた第2車輪を含み、第2車輪は、第1車輪に対して角度をなす。ビークルは、ビークルの位置に関する位置データを収集するよう構成されたナビゲーションモジュールと、ビークルの環境に関する検査データを収集するよう構成された検査モジュールと、データを送受信するよう構成された通信モジュールとをさらに含む。ビークルはまた検査データを受信し、通信モジュールを介した送信のために、対応する位置で収集した検査データに対応する受信した位置データに検査データを関連付けるよう構成された制御モジュールを含むことができる。 | ||||||
| 38 | Magnetic attraction type wall surface running vehicle | JP11468183 | 1983-06-24 | JPS608169A | 1985-01-17 | TAKADA NORIYUKI |
| PURPOSE:To make it possible to move a vehicle on a wall surface without scratching the wall surface, by utilizing tires packed therein with magnetic fluid for travelling wheels. CONSTITUTION:Magnetic fluid 24 is packed in a tire 22, and electromagnets 30 are provided on both side parts of the tire 22. In order to move a wall surface running vehicle, at first the coils of the magnets 30 are energizged to creat magnetic flux for attraction between a wall surface 14 and the magnetic fluid 24 and between the lower end of an iron core 36 and the wall surface 14 so that the vehicle 10 is attracted onto the inclined wall surface 14. Then, wheels 20 are rotated by drive motors 39 to advance the vehicle 10. Further, the turning of the vehicle may be easily made by a steering device. With this arrangement utilizing magnetism, the vehicle 10 is surely attracted onto the wall surface 14, and as well the tread area of each wheel of the vehicle with respect to the wall surface 14 is small, thereby the steering of the vehicle is simple so that the vehicle may be smoothly turned. | ||||||
| 39 | Magnet type truck | JP10741983 | 1983-06-15 | JPS601083A | 1985-01-07 | ISHIWATARI KOUJI; FUJII KAZUAKI; YADA TOSHIO |
| PURPOSE:To freely elevate the undulating surface of an iron plate by using a polyhedral wheel as the running wheel and comprising the polyhedral wheel with permanent magnets. CONSTITUTION:When this magnet type truck is run, motors 18 and 19 that are separately installed right and left are driven simultaneously. Since wheels 4, 5, 6, and 7 before and behind a car body use all permanent magnets, the wheels roll while they are adsorbed in the surface of the iron plate 8 on a running road. For the relationship of adsorption force between the magnetic pole of a polyhedral magnet 12 and the iron plate 8, since a magnetic flux 16 issued from the magnetic pole N13 of the wheel that is adjacent to the iron plate 8 passes through the inner part of the iron plate 8 and forms a magnetic circuit applied to a magnetic pole S14, force is actuated between the iron plate 8 and the wheels 4, 5, 6, and 7 and adsorption force 17 is generated. Since the wheels use regular polyheddrons, a flat surface 9 is adjacent to the iron plate 8. As a result, as compared with the linear contact for a true circle, exceedingly high adsorption force can be obtained. | ||||||
| 40 | 自走式車両用の磁気的に結合される球形タイヤ | JP2017032407 | 2017-02-23 | JP2017149416A | 2017-08-31 | セバスティアン ウィリ フォンテヌ; アルマン ルネ ガブリエル ルコント; フレデリク ニョ; クロード エルネ フェリス ボワ |
| 【課題】地面または他の表面を走行する間車両を支持する組立体を提供する。 【解決手段】路面上を走行し、路面および車両に対して回転する少なくとも2つの球形タイヤ1010と、駆動システム1100とを有し、駆動システム1100は、駆動システム1100自体のいかなる部分もタイヤ1010または路面に物理的に接触することがないように駆動システム1100自体に対するタイヤ1010の回転を磁気的に駆動する。 【選択図】図1 |
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