Dynamically magnetized chassis for crawling robotic vehicles

Patent metadata

Field	Value
Publication number	US-12365405-B2
Application number	US-202217657871-A
Country	US
Kind code	B2
Filing date	Apr 4, 2022
Priority date	Apr 4, 2022
Publication date	Jul 22, 2025
Grant date	Jul 22, 2025

Abstract

Systems and methods for dynamically magnetizing a chassis of a robotic vehicle are provided. The system can include a chassis having a fixed first section with a first magnet, and a moveable a second section having a second magnet with an opposition orientation relative to the first magnet. The second section is located above or below the first section and includes a mechanism that moves the second section relative to the first magnet. The system also includes an actuator connected to the second section, and a control system operatively connected to the actuator. In the systems and methods, the control system can send commands to the actuator to selectively move the mechanism, thereby moving the second section relative to the location of the first magnet to activate or inactivate a magnetic force on a portion of the chassis.

First claim

What is claimed is:

1. A system for dynamically magnetizing a chassis of a robotic vehicle, the system comprising:
a chassis comprising,
a first chassis section comprising at least one magnet, wherein the first chassis section is fixed in position;
a second chassis section comprising a magnet with an opposition orientation relative to the at least one magnet of the first chassis section, wherein the second chassis section is located above or below the first chassis section and wherein the second chassis section comprises a mechanism that configures the second chassis section to selectively move relative to the location of the at least one magnet of the first chassis section;

an actuator operatively connected to the second chassis section; and
a control system comprising a computing device that is operatively connected to the actuator, wherein the control system is configured, via the computing device, to send commands to the actuator to selectively move the mechanism, thereby selectively moving the second chassis section relative to the location of the at least one magnet of the first chassis section to activate or inactivate a magnetic force on a portion of the first chassis section.

2. The system of claim 1 , wherein the control system further comprises at least one of:
a proximity sensor under the chassis;
an air pressure sensor;
a wheel slip sensor; and
at least one inertial measurement unit.

3. The system of claim 2 , wherein the computing device of the control system is configured to send commands to the actuator to selectively move the second chassis section based on at least external factor of the robotic vehicle, wherein the at least one external factor is selected from: wheel slip as measured by the wheel slip sensor, changes in pressure exerted on wheels as measured by the proximity sensor or the air pressure sensor, and changes in tilt and orientation angles of the vehicle as measured by the at least one inertial measurement unit.

4. The system of claim 1 , wherein the actuator is a stepper motor or another mechanism that outputs a linear motion or translates any type of motion to a linear motion.

5. The system of claim 1 , wherein the first chassis section comprises one magnet.

6. The system of claim 1 , wherein the first chassis section comprises two magnets or three magnets.

7. The system of claim 1 , wherein the second chassis section is configured to move the magnet of the second chassis section horizontally, vertically, or both relative to the location of the at least one magnet of the first chassis section.

8. The system of claim 1 , wherein the magnets of the chassis are permanent magnets.

9. The system of claim 1 , wherein the first chassis section comprises at least two magnets and an insulation barrier between each of the at least two magnets.

10. The system of claim 1 , wherein the mechanism is a rack and pinion mechanism.

11. A method for dynamically adjusting a magnetized chassis of a robotic vehicle traveling on a magnetic surface, wherein the vehicle comprises a chassis comprising at least one magnet, an actuator operatively connected to the chassis, and a control system comprising a computing device having a processor and at least one sensor, wherein the processor is configured to send, receive, and analyze signals from the at least one sensor and the actuator, the method comprising:
measuring, with the at least one sensor, at least one external factor of the vehicle;
transmitting, with the at least one sensor, the measurement of the external factor to the computing device;
analyzing, with the computing device, the measurement of the at least one external factor;
determining, with the computing device based the analyzed measurement of the external factor, whether the chassis requires adjustment; and
adjusting, with the actuator based on a signal from the computing device, the chassis such that the location or state of the at least one magnet of the chassis is changed, wherein adjustment of the chassis changes the magnetic force of at least a portion of the chassis towards the magnetic surface.

12. The method of claim 11 , wherein the at least one external factor is selected from: wheel slip, changes in pressure exerted on wheels, and changes in tilt and orientation angles of the vehicle.

13. The method of claim 11 , wherein the at least one sensor is selected from: a proximity sensor, an air pressure sensor, a wheel slip sensor, and at least one inertial measurement unit.

14. The method of claim 11 , wherein the chassis comprises a first section having a first magnet and a second section having a second magnet, and wherein the first magnet has an opposition orientation relative to the second magnet, and wherein the step of adjusting the chassis comprises:
moving the second section of the chassis relative to the first section of the chassis to activate or inactivate a magnetic force on a portion of the first section.

15. The method of claim 14 , wherein the first and second magnets are permanent magnets.

16. The method of claim 14 , wherein the second section moves via a rack and pinion mechanism.

17. The method of claim 14 , the second section is configured to move horizontally, vertically, or both relative to the first section.

18. The method of claim 14 , wherein when the robot is traveling in a smooth motion state, the second magnet is centered in the middle of the chassis to allow equal attraction on both ends of the chassis.

19. The method of claim 11 , wherein the at least one magnet of the chassis is a permanent switchable magnet.

20. The method of claim 11 , wherein the actuator is a stepper motor or another mechanism that outputs a linear motion or translates any type of motion to a linear motion.

Assignees

• Saudi Arabian Oil Co

Inventors

• Alsheikh Mohammed H
• Halawani Abdulwahab
• Patel Sahejad

Classifications

• B62D57/024

  specially adapted for moving on inclined or vertical surfaces (endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02) · CPC title

• H01F7/0231

  Magnetic circuits with PM for power or force generation · CPC title

• B62D61/08

  with single front wheel · CPC title

• B62D55/265 Primary

  having magnetic or pneumatic adhesion · CPC title

• H02K41/031 Primary

  of the permanent magnet type · CPC title