CN106170371A - 模块化移动式检查车辆 - Google Patents
模块化移动式检查车辆 Download PDFInfo
- Publication number
- CN106170371A CN106170371A CN201480073702.0A CN201480073702A CN106170371A CN 106170371 A CN106170371 A CN 106170371A CN 201480073702 A CN201480073702 A CN 201480073702A CN 106170371 A CN106170371 A CN 106170371A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- module
- wheel
- modularitys
- underframe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/003—Multidirectional wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/006—Magnetic wheels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating 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
- G01N29/04—Analysing solids
- G01N29/048—Marking the faulty objects
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating 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
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating 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
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/28—Details, e.g. general constructional or apparatus details providing acoustic coupling, e.g. water
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/44—End effector inspection
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
Description
Claims (29)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361910328P | 2013-11-30 | 2013-11-30 | |
US61/910,328 | 2013-11-30 | ||
PCT/US2014/067490 WO2015081135A1 (en) | 2013-11-30 | 2014-11-25 | Modular mobile inspection vehicle |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106170371A true CN106170371A (zh) | 2016-11-30 |
CN106170371B CN106170371B (zh) | 2019-02-22 |
Family
ID=52282856
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201480073702.0A Active CN106170371B (zh) | 2013-11-30 | 2014-11-25 | 模块化移动式检查车辆 |
Country Status (8)
Country | Link |
---|---|
US (1) | US9863919B2 (zh) |
EP (1) | EP3074188B1 (zh) |
JP (1) | JP6521971B2 (zh) |
KR (1) | KR102239660B1 (zh) |
CN (1) | CN106170371B (zh) |
SA (1) | SA516371225B1 (zh) |
SG (1) | SG11201604614UA (zh) |
WO (1) | WO2015081135A1 (zh) |
Cited By (7)
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CN108088795A (zh) * | 2017-11-09 | 2018-05-29 | 陈家龙 | 一种管道探伤装置用辅机 |
CN109945012A (zh) * | 2019-04-03 | 2019-06-28 | 杭州谷典服饰有限公司 | 一种输水管道检测装置 |
CN109990901A (zh) * | 2017-12-29 | 2019-07-09 | 广州西门子变压器有限公司 | 用于变压器检测的潜油探测机器人及潜油探测系统 |
JP2019117138A (ja) * | 2017-12-27 | 2019-07-18 | 株式会社東芝 | 検査システムおよび検査方法 |
CN110892259A (zh) * | 2017-05-19 | 2020-03-17 | 沙特阿拉伯石油公司 | 两阶段绝缘下腐蚀检测方法以及具有双运动感觉系统的模块化载具 |
CN112485267A (zh) * | 2020-11-11 | 2021-03-12 | 苏州热工研究院有限公司 | 蒸汽发生器视频检查装置 |
US20210389195A1 (en) * | 2020-06-12 | 2021-12-16 | Beijing Institute Of Technology | Ultrasonic test device and test method for service stress of a moving mechanical component |
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US9321306B2 (en) | 2013-11-30 | 2016-04-26 | Saudi Arabian Oil Company | Hinged vehicle chassis |
US10086516B2 (en) * | 2014-04-02 | 2018-10-02 | President And Fellows Of Harvard College | Color- or grayscale-sensing, magnetic, mobile, marking robot |
US9586636B1 (en) * | 2014-10-28 | 2017-03-07 | The United States Of America As Represented By The Secretary Of The Navy | Multi-segmented magnetic robot |
US9656806B2 (en) * | 2015-02-13 | 2017-05-23 | Amazon Technologies, Inc. | Modular, multi-function smart storage containers |
US20160274584A1 (en) * | 2015-03-18 | 2016-09-22 | Astec, Inc. | Apparatus and method for an inspection device |
US10908128B2 (en) | 2015-03-18 | 2021-02-02 | Astee, Inc. | Apparatus for an inspection device |
US20170084154A1 (en) * | 2015-09-23 | 2017-03-23 | Ali Kord | Posture Monitor |
US9568995B1 (en) * | 2015-12-30 | 2017-02-14 | Thunder Power Hong Kong Ltd. | Remote driving with a virtual reality system |
US10019054B2 (en) * | 2015-12-30 | 2018-07-10 | Thunder Power New Energy Vehicle Development Company Limited | Remote driving with a virtual reality system |
US11420692B2 (en) * | 2016-03-18 | 2022-08-23 | Invert Robotics Limited | Surface wave detection of surface defects |
US10239347B2 (en) * | 2016-05-18 | 2019-03-26 | Saudi Arabian Oil Company | Magnetic omni-wheel with roller bracket |
US10456906B2 (en) * | 2016-07-08 | 2019-10-29 | ETAK Systems, LLC | Mechanical tower climber for operations on cell towers |
FR3056752B1 (fr) * | 2016-09-23 | 2019-07-12 | Airbus Operations | Dispositif de controle avec reperage de position |
CN106290572A (zh) * | 2016-09-29 | 2017-01-04 | 国网福建省电力有限公司 | 一种变电站绝缘子无线带电探伤仪 |
US10184813B2 (en) * | 2016-11-09 | 2019-01-22 | The Boeing Company | System and method for performing an automated inspection operation |
JP6443428B2 (ja) * | 2016-11-09 | 2018-12-26 | マツダ株式会社 | 無線式送受信装置及び車両 |
US10369679B2 (en) * | 2016-11-09 | 2019-08-06 | The Boeing Company | Apparatus, system and method for performing automated finishing operations on a workpiece |
EP3559654B1 (en) | 2016-12-23 | 2021-10-27 | Gecko Robotics, Inc. | Inspection robot |
US11307063B2 (en) | 2016-12-23 | 2022-04-19 | Gtc Law Group Pc & Affiliates | Inspection robot for horizontal tube inspection having vertically positionable sensor carriage |
US10451222B2 (en) | 2017-07-12 | 2019-10-22 | Saudi Arabian Oil Company | Magnetic crawler vehicle with passive rear-facing apparatus |
US10262411B2 (en) * | 2017-09-01 | 2019-04-16 | Deere & Company | Site scanning using a work machine with a camera |
US11577794B2 (en) | 2017-11-22 | 2023-02-14 | Sector Industries, Inc. | Apparatus and related method for coating an irregular surface |
US11312435B2 (en) * | 2018-07-18 | 2022-04-26 | General Electric Company | Motorized apparatus including articulated body |
CN110856935A (zh) * | 2018-08-23 | 2020-03-03 | 上海智远弘业机器人有限公司 | 一种金库巡检移动终端 |
CN109115882B (zh) * | 2018-09-14 | 2024-03-08 | 杭州浙达精益机电技术股份有限公司 | 可柔性自适应检测管道的低频超声自动探伤装置 |
CN109283593B (zh) * | 2018-11-26 | 2024-02-27 | 河北工业大学 | 车辆底盘检测系统和车辆底盘检测方法 |
US11097796B2 (en) * | 2018-11-29 | 2021-08-24 | Saudi Arabian Oil Company | Articulated magnet-bearing legs for UAV landing on curved surfaces |
US11143599B2 (en) | 2018-12-03 | 2021-10-12 | Mistras Group, Inc. | Systems and methods for inspecting pipelines using a pipeline inspection robot |
US10783623B2 (en) * | 2018-12-03 | 2020-09-22 | Mistras Group, Inc. | Systems and methods for inspecting pipelines using a robotic imaging system |
US10890505B2 (en) | 2018-12-03 | 2021-01-12 | Mistras Group, Inc. | Systems and methods for inspecting pipelines using a robotic imaging system |
TWI725363B (zh) * | 2018-12-11 | 2021-04-21 | 緯創資通股份有限公司 | 移動機構、移動載具與行李箱 |
CN109782762B (zh) * | 2019-01-16 | 2022-07-15 | 云南兆讯科技有限责任公司 | 基于宽窄异构通信技术的电力巡检机器人控制系统及方法 |
US10859510B2 (en) | 2019-01-16 | 2020-12-08 | Honeybee Robotics, Ltd. | Robotic sensor system for measuring parameters of a structure |
JP7282186B2 (ja) | 2019-02-12 | 2023-05-26 | コモンウェルス サイエンティフィック アンド インダストリアル リサーチ オーガナイゼーション | 状況認識監視 |
JP7232080B2 (ja) * | 2019-02-27 | 2023-03-02 | 東日本旅客鉄道株式会社 | 鋼管の研磨装置及びこれを用いた鋼管の研磨方法 |
CA3126283A1 (en) | 2019-03-08 | 2020-09-17 | Gecko Robotics, Inc. | Inspection robot |
US11833674B2 (en) | 2019-08-14 | 2023-12-05 | Honeybee Robotics, Llc | Bi-directional robotic crawler for transporting a sensor system about a structure |
JP2021053749A (ja) * | 2019-09-30 | 2021-04-08 | セイコーエプソン株式会社 | 移動ロボット |
US11579586B2 (en) * | 2019-09-30 | 2023-02-14 | Saudi Arabian Oil Company | Robot dispatch and remediation of localized metal loss following estimation across piping structures |
US11686710B2 (en) | 2020-03-31 | 2023-06-27 | Evident Canada, Inc. | Longitudinal and circumferential ultrasound scanner |
JP7205642B2 (ja) * | 2020-07-31 | 2023-01-17 | Jfeスチール株式会社 | 検査装置、検査システムおよび検査方法、ならびに部材の補修方法 |
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US11760127B2 (en) | 2020-12-03 | 2023-09-19 | Saudi Arabian Oil Company | Two-wheel compact inspection crawler with automatic probe normalization |
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FR3123441A1 (fr) * | 2021-05-25 | 2022-12-02 | Intact | Robot piloté dedié à l'inspection de soudures par ultrasons |
CN113371092B (zh) * | 2021-07-01 | 2022-12-27 | 江苏省特种设备安全监督检验研究院 | 一种激光导向多自由度损伤检测爬壁机器人装置 |
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2014
- 2014-11-25 WO PCT/US2014/067490 patent/WO2015081135A1/en active Application Filing
- 2014-11-25 SG SG11201604614UA patent/SG11201604614UA/en unknown
- 2014-11-25 CN CN201480073702.0A patent/CN106170371B/zh active Active
- 2014-11-25 EP EP14824180.5A patent/EP3074188B1/en active Active
- 2014-11-25 JP JP2016535105A patent/JP6521971B2/ja active Active
- 2014-11-25 US US14/553,876 patent/US9863919B2/en active Active
- 2014-11-25 KR KR1020167016818A patent/KR102239660B1/ko active IP Right Grant
-
2016
- 2016-05-29 SA SA516371225A patent/SA516371225B1/ar unknown
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CN103009373A (zh) * | 2012-12-13 | 2013-04-03 | 浙江大学 | 具有曲面自适应吸附的磁轮式爬壁机器人 |
CN103171640A (zh) * | 2013-04-15 | 2013-06-26 | 山东科技大学 | 一种基于永磁吸附结构的爬壁机器人 |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110892259A (zh) * | 2017-05-19 | 2020-03-17 | 沙特阿拉伯石油公司 | 两阶段绝缘下腐蚀检测方法以及具有双运动感觉系统的模块化载具 |
CN108088795A (zh) * | 2017-11-09 | 2018-05-29 | 陈家龙 | 一种管道探伤装置用辅机 |
JP2019117138A (ja) * | 2017-12-27 | 2019-07-18 | 株式会社東芝 | 検査システムおよび検査方法 |
CN109990901A (zh) * | 2017-12-29 | 2019-07-09 | 广州西门子变压器有限公司 | 用于变压器检测的潜油探测机器人及潜油探测系统 |
CN109945012A (zh) * | 2019-04-03 | 2019-06-28 | 杭州谷典服饰有限公司 | 一种输水管道检测装置 |
US20210389195A1 (en) * | 2020-06-12 | 2021-12-16 | Beijing Institute Of Technology | Ultrasonic test device and test method for service stress of a moving mechanical component |
US11680857B2 (en) * | 2020-06-12 | 2023-06-20 | Beijing Institute Of Technology | Ultrasonic test device and test method for service stress of a moving mechanical component |
CN112485267A (zh) * | 2020-11-11 | 2021-03-12 | 苏州热工研究院有限公司 | 蒸汽发生器视频检查装置 |
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SG11201604614UA (en) | 2016-07-28 |
JP2017512975A (ja) | 2017-05-25 |
EP3074188B1 (en) | 2020-07-01 |
US20150153312A1 (en) | 2015-06-04 |
US9863919B2 (en) | 2018-01-09 |
KR20160105787A (ko) | 2016-09-07 |
JP6521971B2 (ja) | 2019-05-29 |
EP3074188A1 (en) | 2016-10-05 |
WO2015081135A1 (en) | 2015-06-04 |
CN106170371B (zh) | 2019-02-22 |
SA516371225B1 (ar) | 2020-08-05 |
KR102239660B1 (ko) | 2021-04-12 |
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