Description:F O R M 2
THE PATENTS ACT, 1970
(39 of 1970)
The Patent Rule, 2003

COMPLETE SPECIFICATION
(See section 10 and rule 13)

“A MOUNTING STRUCTURE FOR AN INSPECTION VEHICLE”

By
Planys Technologies Private Limited
An Indian company
No. 5, Balaji Nagar Main Road, Jaya Nagar Extension,
Puzhuthivakam, Chennai - 600091
Tamil Nadu, INDIA

The following specification particularly describes the invention and the manner in which it is to be performed

TECHNICAL FIELD OF INVENTION
[001] The present invention relates to non-destructive ultrasonic evaluation of a surface and more particularly to a mounting structure for an inspection vehicle, for example a mobile remotely operated vehicle (ROV) deployed within a tank for inspecting a tank floor surface.
BACKGROUND OF THE INVENTION
[002] Generally, it is known to provide a non-destructive ultrasonic evaluation and inspection for an above ground tank floor surface primarily after emptying the tank. Such inspection is, however, time-consuming, expensive and inconvenient for application. Therefore, conventionally, submersible remotely operated vehicles (ROVs) have been deployed into the tank while said tank is still under operation. The submersible remotely operated vehicles (ROVs) are equipped to carry a single non-destructive evaluating probe to inspect the tank floor surface, and thus inevitably, such submersible remotely operated vehicles (ROVs) consume a significant amount of time for inspection of the tank floor surfaces.
[003] It is also known conventionally, to deploy mounting structure having an array of probes mounted onto the remotely operated vehicles (ROVs) for enabling faster inspection of the tank floor surface. However, such array of probes mounting structure has inherent limitations of alignment with the tank floor surface and further alignment of the probes with tank floor surface during the movement of the remotely operated vehicle (ROV), leading to inaccurate and inefficient inspection.
[004] Therefore, there is a need to provide a mounting structure for an inspection vehicle to overcome one or more of the aforementioned problems.
SUMMARY OF THE INVENTION
[005] Accordingly, an aspect of the present invention discloses a mounting structure for an inspection vehicle, said mounting structure comprising: at least a linking member having a first end and a second end; a plurality of sensor mounting members in alignment mounted on at least a base member, each said aligned sensor mounting member has at least a sensor for inspecting at least a surface; at least a wheeled carrier structure having a plurality of wheels for contacting at least said surface of inspection, at least said wheeled carrier structure and at least said base member are coupled to at least said linking member at said second end via at least a spherical joint member; and
at least a resilient member having a top end coupled to said inspection vehicle and a bottom end coupled to at least said linking member at said first end, for enabling a preload downward force onto at least said linking member and simultaneously onto at least said spherical joint member, to impart a dynamic rotation of at least said linking member, at least said wheeled carrier structure and at least said base member at said first and second ends pivoting at a first rotational axis and a second rotational axis in at least one rotational degrees of freedom each, for ensuring continuous adjustment and passive self-alignment of each said aligned sensor to at least said surface of inspection in a stationary start stage and a real time movement stage of said inspection vehicle.
BRIEF DESCRIPTION OF ACCOMPANYING DRAWINGS
[006] The above and other aspects, features, and advantages of certain exemplary embodiments of the present invention will be more apparent from the following description taken in conjunction with the accompanying drawings in which:
[007] Figure 1 illustrates an isometric view of an inspection vehicle with a mounting structure, according to an exemplary aspect of the invention;
[008] Figure 2 illustrates an isometric view of the mounting structure, according to an embodiment of the present invention;
[009] Figure 3 illustrates a side view of the inspection vehicle with the mounting structure, according to the embodiment of the invention; and
[010] Figure 4 illustrates a top view of the inspection vehicle with the mounting structure, according to the embodiment of the invention.
[011] Persons skilled in the art will appreciate that elements in the figures are illustrated for simplicity and clarity and may have not been drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to the other elements to help to improve understanding of various exemplary embodiments of the present disclosure. Throughout the drawings, it should be noted that like reference signs are used to depict the same or similar elements, features, and structures.
DETAILED DESCRIPTION OF THE INVENTION
[012] While this invention is susceptible of embodiments in many different forms, there is shown in the drawings and will herein be described in detail, a preferred embodiment of the invention with the understanding that the present disclosure is to be considered as an exemplification of the principles of the invention and is not intended to limit the broad aspects of the invention to the embodiment illustrated. Other aspects, advantages, and salient features of the invention will become apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses exemplary embodiments of the invention. Embodiments of the present disclosure will now be described with reference to the accompanying drawings. Embodiments are provided so as to thoroughly and fully convey the scope of the present disclosure to a person skilled in the art. Numerous details are set forth relating to specific components to provide a complete understanding of embodiments of the present disclosure. It will be apparent to the person skilled in the art that the details provided in the embodiments should not be construed to limit the scope of the present disclosure. In some embodiments, well-known processes, well-known apparatus structures, and well-known techniques are not described in detail.
[013] In general, the present invention claims, a mounting structure for an inspection vehicle comprising: at least a linking member; a plurality of sensor mounting members in alignment mounted on at least a base member; at least a wheeled carrier structure having a plurality of wheels for contacting at least said surface of inspection; and at least a resilient member to impart a dynamic rotation of at least said linking member, at least said wheeled carrier structure and at least said base member at said first and second ends for ensuring passive self-alignment of each aligned sensor to at least said surface of inspection.in a stationary start stage and a real time movement stage of said inspection vehicle.
[014] Accordingly, the present invention according to an exemplary embodiment discloses a structure for mounting a passive self-aligning array of non-destructive ultrasonic evaluation probes on a mobile remotely operated inspection vehicle (ROV) deployed within a tank floor surface. The self-aligning array of non-destructive ultrasonic evaluation probes reliably inspects and measures a thickness of tank floor surface without usage of any separate actuators. The mobile remotely operated inspection vehicle (ROV) employs NDT probe alignment mechanism and a pitch averaging mechanism.
[015] According to the embodiment, the passive self-alignment mechanism includes application of a preload onto the inspection surface of the tank to ensure contact of the wheels of the remotely operated vehicle (ROV) with the inspection surface which is crucial for self-alignment. The passive self-alignment mechanism includes a single axis rotary pivots and spherical joints rod-ends with a preload to achieve self-alignment of multiple ultrasonic probe sensors to the target floor of inspection. The mechanism is made to be operated in submerged conditions under high external hydrostatic pressures.
[016] Unlike conventionally available array of probes structure which is restricted by rigid mounting of the probes onto the remotely operated vehicle (ROV), the present invention provides passive self-alignment mechanism that address self-alignment of the probes in dynamic conditions. According to the embodiment of the present invention, a wheeled carrier is used to carry the probes for an easier movement on any terrain of the tank floor surface. The probes and the relevant mechanical moving parts are sealed to operate in harsh conditions typically found at the bottom of storage tanks due to sludge formation.
[017] The present invention has a variety of applications in the area of field robotics – especially where remotely operated vehicle (ROV) inspections are used. The disclosed invention is very compact while being effective in achieving the set objective.
[018] According to the embodiment, the self-alignment mechanism of array of probes is passive in nature i.e., there are no actuators or screws or other mechanisms to align the probes to the inspection tanks surface. The self-alignment mechanism is continuously adjusted automatically to the inspection tank surface while the remotely operated vehicle (ROV) is moving unlike in other mechanisms where the alignment is set to the probes prior to the remotely operated vehicle (ROV) deployment and is rigid thereafter. The mechanism consists of combinations of single axis rotary joints and spherical joints to achieve the required function. The mechanism can be independently mounted onto any mobile remotely operated vehicle (ROV).
[019] The terminology used, in the present disclosure, is only for the purpose of explaining a particular embodiment and such terminology shall not be considered to limit the scope of the present disclosure. The use of the expression “at least” or “at least one” suggests the use of one or more elements or ingredients or quantities, as the use may be in the embodiment of the disclosure to achieve one or more of the desired objects or results. As used in the present disclosure, the forms “a,” “an,” and “the” may be intended to include the plural forms as well, unless the context clearly suggests otherwise. The terms “comprises,” “comprising,” “including,” “made of” and “having,” are open ended transitional phrases and therefore specify the presence of stated elements, units and/or components, but do not forbid the presence or addition of one or more other elements, components, and/or groups thereof.
[020] The terms and words used in the following description and claims are not limited to the bibliographical meanings, but, are merely used by the inventor to enable a clear and consistent understanding of the invention. Accordingly, it should be apparent to those skilled in the art that the following description of exemplary embodiments of the present invention are provided for illustration purpose only and not for the purpose of limiting the invention as defined by the appended claims and their equivalents. The skilled person will be able to devise various structures, shapes of the mounting structure that, although not explicitly described herein, embody the principles of the present invention. All the terms and expressions in the description are only for the purpose of the understanding and nowhere limit the invention. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein may be made without departing from the scope of the invention. Terms plurality, top, bottom, front end, rear end, first, second, parallel, inner, outer, perpendicular, primary, secondary, coaxial, and the like are used to differentiate between objects having the same terminology and are in no way intended to represent a chronological order, unless where explicitly stated otherwise. Moreover, all statements herein reciting principles, aspects, and embodiments of the invention, as well as specific examples thereof, are intended to encompass equivalents thereof. Thus, while particular type of structure, configuration, shape and number of plurality of mounting members, sensors, wheels, wheel structure, linking members, springs, support structures, guideways, fasteners, apertures patterns have been disclosed., it will be appreciated that the embodiments may be manufactured with other design parameters and configurations as well and are not limited to those described herein above may be as per operational requirements and nowhere limits the scope of the invention. And are provided only for reference and for understating purpose of the invention.
[021] Referring Figures 1-4 discloses an inspection vehicle (100), a mounting structure (110), at least a linking member (120L, 120R), at least a first pattern aperture (124), at least a second pattern aperture (122), a plurality of sensor mounting members (130), at least a plurality of fingers (135), at least a base member (140), a plurality of guideways (145), at least a sensor (150), at least a wheeled carrier structure (170a, 170b), a plurality of wheels (160L, 160R, 165L, 165R), at least a spherical joint member (175), at least a resilient member (180), a left-right direction (LR), a first supporting member (190a, 190b), a second supporting member (195L, 195R), a first rotational axis (X1), a second rotational axis (X2).
[022] Referring Figures 1-4, according to an exemplary embodiment of the present invention discloses a mounting structure (110) for an inspection vehicle (100), said mounting structure (110) comprising: at least a linking member (120L, 120R) having a first end and a second end. The mounting structure (110) includes a plurality of sensor mounting members (130) in alignment mounted on at least a base member (140), each said aligned sensor mounting member (130) has at least a sensor (150) for inspecting at least a surface. The mounting structure (110) includes at least a wheeled carrier structure (170a, 170b) having a plurality of wheels (160L, 160R, 165L, 165R) for contacting at least said surface of inspection, at least said wheeled carrier structure (170a, 170b) and at least said base member (140) are coupled to at least said linking member (120L, 120R) at said second end via at least a spherical joint member (175). The mounting structure (110) includes at least a resilient member (180) having a top end coupled to said inspection vehicle (100) and a bottom end coupled to at least said linking member (120L, 120R) at said first end, for enabling a preload downward force onto at least said linking member (120L, 120R) and simultaneously onto at least said spherical joint member (175), to impart a dynamic rotation of at least said linking member (120L, 120R), at least said wheeled carrier structure (170a, 170b) and at least said base member (140) at said first and second ends pivoting at a first rotational axis (X1) and a second rotational axis (X2) in at least one rotational degrees of freedom each, for ensuring continuous adjustment and passive self-alignment of each said aligned sensor (150) to at least said surface of inspection in a stationary start stage and a real time movement stage of said inspection vehicle (100).
[023] According to an exemplary embodiment of the present invention, the least said linking member (120L, 120R) of the mounting structure (110) is pivotably coupled to at least a surface inspection vehicle (100) in a left-right direction (LR), via a first supporting member (190a, 190b). Each at least said linking member (120L, 120R) is located intermediate at least said wheeled carrier structure (170a, 170b) and at least said base member (140) towards a rear end of said inspection vehicle (100).
[024] According to the embodiment, the plurality of wheels (160L, 160R, 165L, 165R) of at least said wheeled carrier structure (170a, 170b) has at least a first wheel (165L, 165R) of first wheel diameter at a front end and at least a second wheel (160L, 160R) of second wheel diameter at a rear end. The first wheel diameter is smaller than said second wheel diameter and said first wheel (165L, 165R) and said second wheel (160L, 160R) are coupled to at least said wheeled carrier structure (170a, 170b) via at least a fastener each.
[025] According to the embodiment, at least said spherical joint member (175) is coupled to at least said wheeled carrier structure (170a, 170b) at a first leg and is pivotably coupled to at least said linking member (120L, 120R) and at least said base member (140) at a second leg.
[026] According to the embodiment, each said linking member (120L, 120R) has at least a plurality of apertures. The plurality of apertures includes at least a first pattern aperture (124) co-axial with said bottom end of at least said resilient member (180), at least a second pattern aperture (122) co-axial with said first supporting member (190a, 190b) at said first end and at least a third pattern aperture co-axial with at least said linking member (120L, 120R), at least said base member (140) and at least said spherical joint member (175) at said second end. According to the embodiment, top end of at least said resilient member (180) is coupled to said inspection vehicle (100) via a second supporting member (195L, 195R).
[027] According to the embodiment, each said plurality of sensor mounting member (130) are mounted onto at least said base member (140) via at least said fastener and said first leg of at least said spherical joint member (175) is coupled to said wheeled carrier structure (170a, 170b) via at least said fastener. Each of equidistantly spaced apart said plurality of sensor mounting members (130) have at least a plurality of fingers (135) for mounting and securing of each said aligned sensor (150).
[028] According to the embodiment, at least said base member (140) has a plurality of guideways (145) for alignment and lateral movement of each of said plurality of sensor mounting members (130) across length of at least said base member (140). According to the embodiment, said plurality of sensor mounting members (130) have same or different sensors (150) and at least said resilient member (180) is a spring. According to the embodiment, said inspection vehicle (100) is a remotely operated vehicle (ROV) or a manual vehicle and inspection surface is a tank floor surface.
[029] There have been described and illustrated herein several embodiments of exemplary indicative implementation of a mounting structure for an inspection vehicle. It will be also apparent to a skilled person that the embodiments described above are specific examples of a single broader invention, which may have greater scope than any of the singular descriptions taught. There may be many alterations made in the description without departing from the scope of the invention. The present invention is simple in construction and design, integrated, cost effective and easy to manufacture and assembly. While particular embodiments of the invention have been described, it is not intended that the invention be limited said configuration disclosed thereto, as it is intended that the invention be as broad in scope as the art will allow and that the specification be read likewise not restrictive to the terminology described herein above. Any discussion of embodiments included in this specification is solely for the purpose of providing a context for the disclosure. It is not to be taken as an admission that any or all of these matters form a part of the prior art base or were common general knowledge in the field relevant to the disclosure as it existed anywhere before the priority date of this application.
, Claims:
1. A mounting structure (110) for an inspection vehicle (100), said mounting structure (110) comprising:
at least a linking member (120L, 120R) having a first end and a second end;
a plurality of sensor mounting members (130) in alignment mounted on at least a base member (140), each said aligned sensor mounting member (130) has at least a sensor (150) for inspecting at least a surface;
at least a wheeled carrier structure (170a, 170b) having a plurality of wheels (160L, 160R, 165L, 165R) for contacting at least said surface of inspection, at least said wheeled carrier structure (170a, 170b) and at least said base member (140) are coupled to at least said linking member (120L, 120R) at said second end via at least a spherical joint member (175); and
at least a resilient member (180) having a top end coupled to said inspection vehicle (100) and a bottom end coupled to at least said linking member (120L, 120R) at said first end, for enabling a preload downward force onto at least said linking member (120L, 120R) and simultaneously onto at least said spherical joint member (175), to impart a dynamic rotation of at least said linking member (120L, 120R), at least said wheeled carrier structure (170a, 170b) and at least said base member (140) at said first and second ends pivoting at a first rotational axis (X1) and a second rotational axis (X2) in at least one rotational degrees of freedom each, for ensuring continuous adjustment and passive self-alignment of each said aligned sensor (150) to at least said surface of inspection in a stationary start stage and a real time movement stage of said inspection vehicle (100).
2. The mounting structure (110) as claimed in claim 1, wherein at least said linking member (120L, 120R) is pivotably coupled to at least a surface inspection vehicle (100) in a left-right direction (LR), via a first supporting member (190a, 190b), and each at least said linking member (120L, 120R) is located intermediate at least said wheeled carrier structure (170a, 170b) and at least said base member (140) towards a rear end of said inspection vehicle (100).
3. The mounting structure (110) as claimed in claim 1 or claim 2, wherein said plurality of wheels (160L, 160R, 165L, 165R) of at least said wheeled carrier structure (170a, 170b) has at least a first wheel (165L, 165R) of first wheel diameter at a front end and at least a second wheel (160L, 160R) of second wheel diameter at a rear end.
4. The mounting structure (110) as claimed in anyone of the preceding claims 1-3, said first wheel diameter is smaller than said second wheel diameter and said first wheel (165L, 165R) and said second wheel (160L, 160R) are coupled to at least said wheeled carrier structure (170a, 170b) via at least a fastener each.
5. The mounting structure (110) as claimed in anyone of the preceding claims 1-4, wherein at least said spherical joint member (175) is coupled to at least said wheeled carrier structure (170a, 170b) at a first leg and is pivotably coupled to at least said linking member (120L, 120R) and at least said base member (140) at a second leg.
6. The mounting structure (110) as claimed in anyone of the preceding claims 1-5, wherein each said linking member (120L, 120R) has at least a plurality of apertures, at least a first pattern aperture (124) co-axial with said bottom end of at least said resilient member (180), at least a second pattern aperture (122) co-axial with said first supporting member (190a, 190b) at said first end and at least a third pattern aperture co-axial with at least said linking member (120L, 120R), at least said base member (140) and at least said spherical joint member (175) at said second end.
7. The mounting structure (110) as claimed in anyone of the preceding claims 1-5, wherein said top end of at least said resilient member (180) is coupled to said inspection vehicle (100) via a second supporting member (195L, 195R).
8. The mounting structure (110) as claimed in anyone of the preceding claims 1-6, wherein each said plurality of sensor mounting member (130) are mounted onto at least said base member (140) via at least said fastener and said first leg of at least said spherical joint member (175) is coupled to said wheeled carrier structure (170a, 170b) via at least said fastener.
9. The mounting structure (110) as claimed in anyone of the preceding claims 1-8, wherein each of equidistantly spaced apart said plurality of sensor mounting members (130) have at least a plurality of fingers (135) for mounting and securing of each said aligned sensor (150).
10. The mounting structure (110) as claimed in anyone of the preceding claims 1-9, wherein at least said base member (140) has a plurality of guideways (145) for alignment and lateral movement of each of said plurality of sensor mounting members (130) across length of at least said base member (140).
11. The mounting structure (110) as claimed in anyone of the preceding claims 1-10, wherein said plurality of sensor mounting members (130) have same or different sensors (150) and at least said resilient member (180) is a spring.
12. The mounting structure (110) as claimed in anyone of the preceding claims 1-11, wherein said inspection vehicle (100) is a remotely operated vehicle (ROV) or a manual vehicle and inspection surface is a tank floor surface.