Crawler vehicle with automatic probe normalization

Patent metadata

Field	Value
Publication number	US-11548577-B2
Application number	US-201916689797-A
Country	US
Kind code	B2
Filing date	Nov 20, 2019
Priority date	Nov 29, 2018
Publication date	Jan 10, 2023
Grant date	Jan 10, 2023

Abstract

A robotic vehicle for traversing surfaces comprises a chassis having a plurality of wheels mounted thereto. Two magnetic drive wheels are spaced apart in a lateral direction and rotate about a rotational axis while a stabilizing wheel is provided in front of or behind the two drive wheels. The drive wheels are configured to be driven independently, thereby driving and steering the vehicle along the surface. The vehicle also includes a sensor probe assembly that is supported by the chassis and configured to take measurements of the surface being traversed. In accordance with a salient aspect, the vehicle includes a probe normalization mechanism that is configured to determine the surface curvature and adjust the orientation of the probe transducer as a function of the curvature of the surface, thereby maintaining the probe at the preferred inspection angle irrespective of changes in the surface curvature with vehicle movement.

First claim

What is claimed is:

1. A magnetic robotic crawler vehicle for traversing a surface, comprising:
a chassis;
a plurality of wheels mounted to the chassis and configured to traverse the surface during normal operation of the vehicle, the plurality of wheels including:
two magnetic drive wheels, wherein the drive wheels are spaced apart in a lateral direction and rotate about a rotational axis and wherein the drive wheels are configured to be driven independently, thereby driving and steering the vehicle along the surface, and wherein a longitudinal axis of the vehicle extends perpendicularly to the lateral, rotational axis in a front and back direction and through the midpoint between the two drive wheels, and
a stabilizing wheel, wherein the stabilizing wheel is spaced apart from the two magnetic drive wheels in the longitudinal direction and configured to roll along the surface;

a sensor probe assembly supported by the chassis, wherein the sensor probe assembly comprises:
a dry coupled wheel probe having a probe wheel rotating about a fixed probe transducer shaft, wherein the probe wheel is configured to passively roll generally in a direction of travel of the vehicle along the surface, and wherein a probe transducer within the probe transducer shaft is configured to measure characteristics of the surface at the prescribed angle, and wherein the sensor probe assembly is mounted to the chassis such that the probe transducer is positioned at the midpoint between the two drive wheels; and

a probe normalization mechanism coupled to the sensor probe assembly, the probe normalization mechanism being configured to maintain at least the probe transducer of the sensor probe assembly at a prescribed angle relative to the surface during normal operation of the vehicle as a function of a curvature of the surface.

2. The magnetic robotic crawler vehicle of claim 1 , further comprising:
a sensor support moveably coupling the sensor probe assembly to the chassis, wherein the sensor support assembly is configured to passively move the probe assembly relative to the housing in at least the up and down direction in response to the curvature of the surface thereby maintaining the probe assembly in contact with the surface.

3. The magnetic robotic crawler vehicle of claim 2 , wherein the sensor support comprises:
one or more shafts supporting the probe transducer shaft, the one or more shafts being coupled to the chassis by at least one mount, wherein the at least one mount is configured to allow the one or more shafts to move relative to the chassis in at least the up and down direction; and
one or more spring elements configured exert a force between at least the sensor probe assembly and the chassis that urges the probe wheel downward and into contact with the surface.

4. The magnetic robotic crawler vehicle of claim 1 , wherein the probe normalization mechanism comprises:
a floating wheel assembly including a floating wheel configured to contact and move along the surface during normal operation of the vehicle, wherein the floating wheel is moveably coupled to the chassis and moveable relative to the chassis in at least an up and down direction in response to the curvature of the surface, wherein the up and down direction is generally perpendicular to both the longitudinal axis and the rotational axis; and
a mechanical linkage mechanically linking the floating wheel assembly and the probe assembly, wherein the probe normalization mechanism is passive in nature and wherein the mechanical linkage is configured to translate the movement of the floating wheel in at least the up and down direction into rotation of the transducer shaft about its central axis and at a rate that maintains the sensor probe assembly at the prescribed angle relative to the surface during normal operation of the vehicle as a function of the curvature of the surface.

5. The magnetic robotic crawler vehicle of claim 4 , wherein the mechanical linkage comprises a multi-linkage system including,
a first linkage arm fixedly attached to the probe transducer shaft, and
a second linkage arm, wherein the second linkage arm is pivotably coupled at one end to the first linkage arm and pivotably coupled at another end to the floating wheel assembly.

6. The magnetic robotic crawler vehicle of claim 5 , wherein the first and second linkage arms are joined together in a fixed relationship.

7. The magnetic robotic crawler vehicle of claim 5 , wherein the floating wheel assembly moveably couples the floating wheel to the chassis and further comprises:
a wheel support shaft, the floating wheel being mounted to the wheel support shaft at one end thereof, and the wheel support shaft being coupled at a second end thereof to the chassis by a mount configured to allow the wheel support shaft to move linearly relative to the chassis in at least the up and down direction.

8. The magnetic robotic crawler vehicle of claim 7 , wherein the wheel support assembly further comprises: one or more spring elements configured exert a force between the floating wheel assembly and the chassis that urges the floating wheel downward and into contact with the surface.

9. The magnetic robotic crawler vehicle of claim 7 , wherein the linkage system is configured to rotate the transducer shaft about its central axis as a function of the movement of the floating wheel in the up and down direction.

10. The magnetic robotic crawler vehicle of claim 4 , wherein the floating wheel is moveably coupled to the chassis by the mechanical linkage.

11. The magnetic robotic crawler vehicle of claim 4 , wherein the floating wheel assembly and the probe wheel are arranged in-line.

12. The magnetic robotic crawler vehicle of claim 1 , wherein the stabilizing wheel and the probe transducer are positioned at the longitudinal axis of the vehicle.

13. The magnetic robotic crawler vehicle of claim 1 , wherein the stabilization wheel is a caster wheel positioned behind the drive wheel when the vehicle is traversing the surface.

14. The magnetic robotic crawler vehicle of claim 1 , wherein the probe normalization mechanism comprises:
a distance sensor attached to the chassis and configured to measure a distance from the chassis to the surface; and
a computing device communicatively coupled to the distance sensor, the computing device including a processor configured by executing instructions to calculate the curvature of the surface based on the measured distance; and
a mechanical drive mechanism comprising an actuator or a motor, the mechanical drive mechanism being configured to, based on control signals generated by the computing device processor as a function of the calculated surface curvature, mechanically adjust an orientation of the sensor probe assembly relative to the surface.

15. The magnetic robotic crawler vehicle of claim 14 , wherein the drive mechanism is a motor and wherein the probe normalization mechanism further comprises:
a mechanical linkage mechanically linking an output of the motor and the sensor probe assembly, wherein the mechanical linkage is configured to translate rotation of the motor output into rotation of the probe transducer shaft of the probe assembly about its central axis relative to the chassis.

Assignees

• Saudi Arabian Oil Co
• Univ King Abdullah Sci & Tech

Inventors

• Abdellatif Fadl
• Al-Hannabi Abdoulelah
• Patel Sahejad
• Abdelkader Mohamed
• Shamma Jeff S

Classifications

• B60R2011/008

  Adjustable or movable supports · CPC title

• G01N29/2493

  Wheel shaped probes · CPC title

• G01S17/86

  Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders · CPC title

• B64C25/32

  characterised by elements which contact the ground or similar surface  (arrester hooks B64C25/68) · CPC title

• G06V20/17

  taken from planes or by drones · CPC title