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1. WO2020112903 - CRAWLER VEHICLE WITH AUTOMATIC PROBE NORMALIZATION

Publication Number WO/2020/112903
Publication Date 04.06.2020
International Application No. PCT/US2019/063446
International Filing Date 26.11.2019
IPC
B62D 61/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
61Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
06with only three wheels
B60B 19/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
BVEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
19Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
B62D 57/024 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
57Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track
02with ground-engaging propulsion means, e.g. walking members
024specially adapted for moving on inclined or vertical surfaces
G01N 29/22 2006.01
GPHYSICS
01MEASURING; TESTING
NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
29Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
22Details
G01N 29/265 2006.01
GPHYSICS
01MEASURING; TESTING
NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
29Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
22Details
26Arrangements for orientation or scanning
265by moving the sensor relative to a stationary material
CPC
B60B 19/006
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
BVEHICLE WHEELS
19Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
006Magnetic wheels
B60B 19/12
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
BVEHICLE WHEELS
19Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
12Roller-type wheels
B60B 2900/931
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
BVEHICLE WHEELS
2900Purpose of invention
90Providing or changing
931Magnetic effects
B60G 11/00
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
GVEHICLE SUSPENSION ARRANGEMENTS
11Resilient suspensions characterised by arrangement, location or kind of springs
B60G 3/01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
GVEHICLE SUSPENSION ARRANGEMENTS
3Resilient suspensions for a single wheel
01the wheel being mounted for sliding movement, e.g. in or on a vertical guide
B60K 1/02
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
1Arrangement or mounting of electrical propulsion units
02comprising more than one electric motor
Applicants
  • SAUDI ARABIAN OIL COMPANY [SA]/[SA]
  • KING ABDULLAH UNIVERSITY OF SCIENCE AND TECHNOLOGY [SA]/[SA]
  • ARAMCO SERVICES COMPANY [US]/[US] (US)
Inventors
  • ABDELLATIF, Fadl
  • AL-HANNABI, Abdoulelah
  • PATEL, Sahejad
  • ABDELKADER, Mohamed
  • SHAMMA, Jeff S.
Agents
  • LEASON, David
  • ELLIS, Edward J.
  • WAGAR, Bruce
  • GABATHULER, Henry
Priority Data
16/689,79720.11.2019US
62/772,70029.11.2018US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) CRAWLER VEHICLE WITH AUTOMATIC PROBE NORMALIZATION
(FR) VÉHICULE À CHENILLES PRÉSENTANT UNE NORMALISATION DE SONDE AUTOMATIQUE
Abstract
(EN)
A robotic vehicle (100) for traversing surfaces comprises a chassis having a plurality of wheels (117, 118, 128) mounted thereto. Two magnetic drive wheels (117, 118) are spaced apart in a lateral direction and rotate about a rotational axis (154) while a stabilizing wheel (128) is provided in front of or behind the two drive wheels. The drive wheels are configured to be driven independently, thereby driving and steering the vehicle along the surface. The vehicle also includes a sensor probe assembly (130) that is supported by the chassis and configured to take measurements of the surface being traversed. In accordance with a salient aspect, the vehicle includes a probe normalization mechanism (170) that is configured to determine the surface curvature and adjust the orientation of the probe transducer as a function of the curvature of the surface, thereby maintaining the probe at the preferred inspection angle irrespective of changes in the surface curvature with vehicle movement.
(FR)
La présente invention concerne un véhicule robotisé (100) destiné à traverser des surfaces comprenant un châssis présentant une pluralité de roues (117, 118, 128) montées sur ce dernier. Deux roues motrices magnétiques (117, 118) sont espacées dans une direction latérale et tournent autour d'un axe de rotation (154) tandis qu'une roue de stabilisation (128) est disposée devant ou derrière les deux roues motrices. Les roues motrices sont conçues pour être entraînées indépendamment, ce qui permet d'entraîner et de diriger le véhicule le long de la surface. Le véhicule comprend également un ensemble sonde de capteur (130) qui est supporté par le châssis et configuré pour prendre des mesures de la surface parcourue. Selon un aspect saillant, le véhicule comprend un mécanisme de normalisation de sonde (170) qui est configuré pour déterminer la courbure de surface et régler l'orientation du transducteur de sonde en fonction de la courbure de la surface, ce qui permet de maintenir la sonde au niveau de l'angle d'inspection préféré indépendamment des changements de la courbure de surface à l'aide du mouvement du véhicule.
Also published as
Latest bibliographic data on file with the International Bureau