Unmanned apparatus traversal and inspection system

A method of traversing and inspecting at least a portion of an elongated structure using an unmanned apparatus, the method comprising

• disposing a portion of the elongated structure within a recess defined by a structural member of the unmanned apparatus, the recess sized and configured to receive the portion of the elongated structure and the unmanned apparatus comprising
• (i) attachment means for attaching the unmanned apparatus to the elongated structure when the elongated structure is disposed within the recess, the attachment means comprising traversal means for moving the unmanned apparatus relative to at least the portion of the elongated structure, wherein the attachment means comprises a plurality of traction members operatively connected to the structural member and the traversal means comprises a locomotion system coupled to at least one of the traction members, and wherein the attachment means further comprises
• a first traction member coupled to the structural member, wherein the first traction member is proximate a top portion of the recess and the first traction member contacts the portion of the elongated structure when the portion of the elongated structure is disposed within the recess during use of the unmanned apparatus;
• and
• a clamping mechanism comprising
• (a) at least one hinged member coupled to the structural member,
• (b) a second traction member operatively coupled to the hinged member, and
• (c) a third traction member operatively coupled to the hinged member,
• wherein, the clamping mechanism is sized and configured so that the clamping mechanism may be selectively biased to contact or separate from the elongated structure and while the portion of the elongated structure is disposed within the recess and the clamping mechanism is biased to contact the elongated structure, the second traction member and the third traction member contact the elongated structure and, when the locomotion system is actuated while each traction member contacts the elongated structure, the unmanned apparatus traverses and inspects at least a portion of a length of the elongated structure;
• (ii) a plurality of cameras coupled to at least one portion of the unmanned apparatus, the cameras being configured so that the cameras are collectively capable of providing one or more images of the entire surface area of at least the portion of the elongated structure;
• biasing at least a portion of the traversal means into contact with the portion of the elongated structure;
• actuating the traversal means so that the unmanned apparatus traverses at least the portion of the elongated structure;
• and
• capturing with the cameras one or more images of at least the portion of the elongated structure.

An unmanned apparatus for use in traversing and inspecting at least a portion of an elongated structure, the unmanned apparatus comprising

• at least one structural member defining a recess sized and configured to receive the portion of the elongated structure;
• attachment means for attaching the unmanned apparatus to the elongated structure, the attachment means comprising traversal means for traversing at least the portion of the elongated structure, wherein the attachment means comprises a plurality of traction members operatively connected to the structural member and the traversal means comprises a locomotion system coupled to at least one of the traction members, and wherein the attachment means further comprises
• a first traction member coupled to the structural member, wherein the first traction member is proximate a top portion of the recess and the first traction member contacts the portion of the elongated structure when the portion of the elongated structure is disposed within the recess during use of the unmanned apparatus;
• and
• a clamping mechanism comprising
• (i) at least one hinged member coupled to the structural member,
• (ii) a second traction member operatively coupled to the hinged member, and
• (iii) a third traction member operatively coupled to the hinged member;
• wherein the clamping mechanism is sized and configured so that the clamping mechanism may be selectively biased to contact or separate from the elongated structure and while the portion of the elongated structure is disposed within the recess and the clamping mechanism is biased to contact the elongated structure, the second traction member and the third traction member contact the elongated structure and, when the locomotion system is actuated while each traction member contacts the elongated structure, the unmanned apparatus traverses and inspects at least a portion of a length of the elongated structure;
• and
• at least one sensor coupled to a portion of the unmanned apparatus, the sensor comprising a transmitter proximate a receiver, wherein at least one wave form is transmitted from the transmitter to the elongated structure and thereafter received by the receiver, such that information regarding the elongated structure may be recovered from the wave form.

A method of traversing and inspecting at least a portion of an elongated structure using an unmanned apparatus, the method comprising

• disposing a portion of the elongated structure within a recess defined by a structural member of the unmanned apparatus, the recess sized and configured to receive the portion of the elongated structure and the unmanned apparatus comprising
• (i) attachment means for attaching the unmanned apparatus to the elongated structure when the elongated structure is disposed within the recess, the attachment means comprising traversal means for moving the unmanned apparatus relative to at least the portion of the elongated structure, and
• (ii) at least one sensor comprising a transmitter proximate a receiver, wherein at least one wave form is transmitted from the transmitter to the elongated structure and thereafter received by the receiver, such that information regarding the internal portion of the elongated structure may be recovered from the wave form;
• biasing at least a portion of the traversal means into contact with the portion of the elongated structure;
• actuating the traversal means so that the unmanned apparatus traverses at least the portion of the elongated structure;
• and
• detecting with the sensor information regarding the internal portion of the elongated structure.