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US 11,630,025 B2Granted
Robotic inspection device
AssigneeThe Florida International University Board of Trustees
InventorsDwayne E. McDaniel, Mackenson Telusma, Leonel E. Lagos
Life of this patent
Estimating the term…
Abstract
Robotic devices that can be utilized on pipes of any material and of a variety of pipe diameters are provided. The robotic device utilizes a ducted fan to create the normal forces needed to adhere to any part of a pipe. The chassis of the device can be segmented to allow for application on various diameter pipes.
Claims17
A robotic inspection device, comprising:
- a body chassis;
- a plurality of wheels attached to the body chassis and disposed lower than a lower surface of the body chassis, in a first direction perpendicular to the lower surface of the body chassis;
- and
- at least one electronic ducted fan (EDF) disposed on the body chassis and configured to blow air in a second direction opposite to the first direction, thereby providing thrust in the first direction to the robotic inspection device,
- the body chassis being curved such that the robotic inspection device is configured to navigate on an external surface of a pipe, and
- each wheel of the plurality of wheels being a two-degree-of-freedom (2-DOF) wheel.
3 more elements
A robotic inspection device, comprising:
- a body chassis;
- a plurality of wheels attached to the body chassis and disposed lower than a lower surface of the body chassis, in a first direction perpendicular to the lower surface of the body chassis;
- at least one electronic ducted fan (EDF) disposed on the body chassis and configured to blow air in a second direction opposite to the first direction, thereby providing thrust in the first direction to the robotic inspection device, and
- an omnidirectional drive mechanism disposed on each wheel of the plurality of wheels,
- the omnidirectional drive mechanism comprising a planetary gear drive setup, an absolute encoder rod mount, and a design for large force distribution along a bottom motor enclosure unit.
2 more elements
A method of inspecting a pipe or wall, the method comprising:
- providing a robotic inspection device on the pipe or wall, the robotic inspection device comprising:
- a body chassis;
- a plurality of wheels attached to the body chassis and disposed lower than a lower surface of the body chassis, in a first direction perpendicular to the lower surface of the body chassis;
- at least one electronic ducted fan (EDF) disposed on the body chassis and configured to blow air in a second direction opposite to the first direction, thereby providing thrust in the first direction to the robotic inspection device;
- and
- a receiver for receiving control signals from a controller;
- and
- controlling, using the controller, at least one of a speed of the at least one EDF, an orientation of the plurality of wheels, and a speed of the plurality of wheels such that the robotic inspection device navigates on the pipe or wall,
- the body chassis being curved such that the robotic inspection device is configured to navigate on an external surface of the pipe, and
- each wheel of the plurality of wheels being a two-degree-of-freedom (2-DOF) wheel.
7 more elements
A method of inspecting a pipe or wall, the method comprising:
- providing a robotic inspection device on the pipe or wall, the robotic inspection device comprising:
- a body chassis;
- a plurality of wheels attached to the body chassis and disposed lower than a lower surface of the body chassis, in a first direction perpendicular to the lower surface of the body chassis;
- at least one electronic ducted fan (EDF) disposed on the body chassis and configured to blow air in a second direction opposite to the first direction, thereby providing thrust in the first direction to the robotic inspection device;
- and
- a receiver for receiving control signals from a controller, and
- controlling, using the controller, at least one of a speed of the at least one EDF, an orientation of the plurality of wheels, and a speed of the plurality of wheels such that the robotic inspection device navigates on the pipe or wall,
- the robotic inspection device further comprising an omnidirectional drive mechanism disposed on each wheel of the plurality of wheels, and
- the omnidirectional drive mechanism comprising a planetary gear drive setup, an absolute encoder rod mount, and a design for large force distribution along a bottom motor enclosure unit.
6 more elements
A robotic inspection device, comprising:
- a body chassis;
- a plurality of wheels attached to the body chassis and disposed lower than a lower surface of the body chassis, in a first direction perpendicular to the lower surface of the body chassis, the plurality of wheels comprising four wheels respectively disposed at corner areas of the body chassis;
- at least one electronic ducted fan (EDF) disposed on the body chassis and configured to blow air in a second direction opposite to the first direction, thereby providing thrust in the first direction to the robotic inspection device;
- at least one nondestructive examination (NDE) sensor disposed on the body chassis;
- an omnidirectional drive mechanism disposed on each wheel of the plurality of wheels;
- and
- a radio receiver and transmitter configured to remotely communicate with a controller for controlling at least one of a speed of the at least one EDF, an orientation of the plurality of wheels, and a speed of the plurality of wheels,
- the body chassis being curved such that the robotic inspection device is configured to navigate on an external surface of a pipe having a diameter of at least 13 inches,
- each wheel of the plurality of wheels being a two-degree-of-freedom (2-DOF) wheel,
- the at least one EDF comprising a first EDF disposed in a center area of the body chassis, and
- the omnidirectional drive mechanism comprising a planetary gear drive setup, an absolute encoder rod mount, and a design for large force distribution along a bottom motor enclosure unit.
8 more elements
Dependencies are inferred from the claim text.