US 5,363,935 A · Reconfigurable mobile vehicle with magnetic tracks

Abstract

A reconfigurable mobile vehicle having at least one endless driven member and a motor for driving the endless member on a surface capable of supporting a magnetic circuit. The vehicle is equipped with a magnetic system that comprises a magnet, a fixed magnetic circuit member, and a movable magnetic circuit member for establishing first and second magnetic circuits. A clutch is provided to selectively connect the movable magnetic circuit member to the motor to move the movable magnetic circuit member between a first position wherein the first magnetic circuit is established such that the endless driven member can magnetically engage the surface and a second position wherein the second magnetic circuit is established such that the endless member does not magnetically engage the surface. The vehicle is equipped with sensing apparatuses for analyzing the structural integrity of the surface upon which the vehicle is riding and is also equipped with acoustical positioning apparatus for assisting the operating personnel and computer in locating and controlling the vehicle's position within an enclosed environment. The vehicle is also equipped with a tether line that is used to facilitate the transfer of control power/data between the vehicle and the various operating components attached thereto and a control console located remote from the vehicle. The tether line is also used to deploy and retrieve the vehicle.

Claims21

Dependent claims

A vehicle for use in a vessel having walls with interior surfaces capable of supporting a magnetic circuit, comprising:

a frame member;
an endless driven member received on said frame member and adapted for travel on the interior surfaces of the vessel walls;
means for driving said endless driven member;
a magnetic system attached to said frame member and comprising a magnet, fixed magnetic circuit means, and movable magnetic circuit means for establishing first and second magnetic circuits;
and
means for selectively connecting said movable magnetic circuit means to said means for driving to move said movable magnetic circuit means between a first position wherein said first magnetic circuit is established between said endless driven member, said magnet, said fixed magnetic circuit means and said movable magnetic circuit means such that said endless driven member is caused to magnetically engage one of the interior surfaces of the vessel, and a second position wherein said second magnetic circuit is established between said magnet, said fixed magnetic circuit means, and said movable magnetic circuit means such that said endless driven member does not magnetically engage one of the interior surfaces of the vessel.

3 more elements

A remotely configurable vehicle for use in an enclosed vessel having walls with interior surfaces capable of supporting a magnetic circuit comprising:

a plurality of interconnected drive members, each said drive member having a frame member, an endless driven member received on said frame member and adapted for travel on one of the interior surfaces of the vessel, means for driving said endless driven member attached to said frame member, a magnetic system attached to said frame member and comprising a magnet, a fixed magnetic circuit means, and movable magnetic circuit means for establishing first and second magnetic circuits, and means for selectively connecting said movable magnetic circuit means between a first position wherein said first magnetic circuit is established between said endless driven member, said magnet, said fixed magnetic circuit means, and said movable magnetic circuit means such that said endless member is caused to magnetically engage one of the interior surfaces of the vessel, and a second position wherein said second magnetic circuit is established between said magnet, said fixed magnetic circuit means and said movable magnetic circuit means such that said endless driven member does not magnetically engage one of the interior surfaces of the vessel;
and
a sensor carrying member interconnected to at least one said drive member.

A method for performing tasks within a vessel having walls with interior surfaces capable of supporting a magnetic circuit comprising the steps of:

providing a mobile vehicle having at least one drive member, said drive member having a frame member, an endless driven member received on said frame member and adapted for travel on the interior surfaces of the vessel walls, means for driving said endless driven member, a magnetic system attached to said frame member and comprising a magnet, fixed magnetic circuit means, and movable magnetic circuit means for establishing first and second magnetic circuits, and means for selectively connecting said movable magnetic circuit means to said means for driving to move said movable magnetic circuit means between a first position wherein said first magnetic circuit is established between said endless driven member, said magnet, said fixed magnetic circuit means, and said movable magnetic circuit means such that said endless driven member is caused to magnetically engage one of the interior surfaces of the vessel, and a second position wherein said second magnetic circuit is established between said magnet, said fixed magnetic circuit means, and said movable magnetic circuit means such that said endless driven member does not magnetically engage one of the interior surfaces of the vessel;
deploying said vehicle into said vessel by a vehicle deploying means;
connecting said movable magnetic circuit means to said means for driving to move said movable magnetic circuit means to said first position to cause said endless driven member to magnetically engage one of the interior surfaces of the vessel;
and
moving said vehicle along the interior surface by driving said endless driven member with said means for driving said endless driven member.

2 more elements

Dependencies are inferred from the claim text.

Reconfigurable mobile vehicle with magnetic tracks

Life of this patent

Reconfigurable mobile vehicle with magnetic tracks

Life of this patent

Abstract

Claims21