Reconfigurable mobile vehicle with magnetic tracks

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

• a vehicle frame member;
• at least two drive members, each said drive member having a housing connected to said vehicle frame member such that said drive members are parallel to one another, each said drive member further having a first endless driven member received on said housing and adapted for travel on one of the interior surfaces of one of the vessel walls, and means for driving said first endless driven member, and a magnetic system attached to said housing 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 one of said endless driven members, said magnet, said fixed magnetic circuit means and said movable magnetic circuit means such that one of said first endless driven members 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 one of said first endless driven member does not magnetically engage one of the interior surfaces of the vessel;
• and
• at least one permanent magnet means pivotally attached to each said drive member housing, said permanent magnet means adapted to selectively pivotally engage the interior surfaces of the walls of the vessel to enable the vehicle to move from a first interior surface to a second interior surface that intersects the first interior surface as said one of said first endless driven member is driven.

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

• a vehicle frame member;
• at least one drive member attached to said frame member, each said drive member having a substantially hermetically sealed drive housing having a predetermined pressure established therein, each said drive member further having a first endless driven member received on said housing and adapted for travel on the interior surfaces of the vessel walls, means for driving said first endless driven member, and a magnetic system attached to each housing 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 first endless driven member, said magnet, said fixed magnetic circuit means and said movable magnetic circuit means such that said first 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 first endless driven member does not magnetically engage one of the interior surfaces of the vessel;
• tether means;
• power supply means located exterior to the vessel and attached to each said means for driving said corresponding endless driven members and each said means for selectively connecting said corresponding movable magnetic circuit means to said corresponding means for driving by said tether means;
• means for monitoring said predetermined pressure;
• and
• means for controlling said power supply means, said means for controlling said power supply means communicating with said monitoring means to cause said power supply means to discontinue supplying power to each said means for driving and said means for selectively connecting said movable magnetic circuit means when said predetermined pressure changes by a predetermined amount.