DESC:FIELD OF THE INVENTION

The present invention relates to the technical field of mechanical engineering. Particularly, the present invention relates to remotely controlled vehicles or “Remote Operated Vehicles” (ROVs). More particularly, the present invention relates to a surface-adhering apparatus capable of traversing along a surface with a locomotion rolling seal assembly, which provides both a seal to affect the vacuum adhesion and a locomotion to drive the surface-adhering apparatus across the surface.

BACKGROUND

With the advent of technology over the recent years, significant growth and development has been in the application of remote-controlled devices and robots in multiple science and industry segments, including automotive, design, exploratory, rescue, painting, surface preparation, diagnostic and environmental clean-up sectors. There are more and more instances that require remote controlled devices capable that can traverse or climb the surface. Innovation in this area would be useful for high surface climbing or when surfaces need to be decontaminated, washed, or covered with instruments that decrease human exposure to contamination and possibly dangerous operating circumstances of elevated heights.

Accordingly, there has been development of remote-controlled devices and robots that traverse over a surface for example by way of crossing and climbing. There exists various systems that include suction or magnetically operated devices mounted on movable frames. A few of such systems work on principal of motion like the caterpillar where in first frame suction cups adhere while the second frame moves freely. Subsequently, in the second frame, the suction cups adhere, and the first frame detaches itself from the surface and freely pulls the first frame up to the second frame. This attaching and detaching motion of such devices is repeatedly performed. But the drawbacks of such approach is that the surface traversal is very slow, erratic, and does not operate effectively on surfaces where smooth, continuous travel is needed such as while cleaning, coating removal, decontamination surveys, etc.

Further, the aforementioned existing systems have limitations in terms of surface obstacles that it can encounter and circumvent. In another attempt suction cups are mounted on endless tracks. Devices employing suction cups on endless tracks require relatively flat surfaces because a large percentage of the suction cups must be in intimate sealing contact with the surface to affect adhesion. On rough or uneven surfaces, a large percentage of the suction cups are unable to make firm contact, thus the devices lose adhesion. Such devices are most appropriate for climbing the skin of large aircraft, where the surface is relatively smooth. Such a device would not work well on spalled concrete, where the surface is very uneven, or on many bridge structures where the surfaces include many plates bolted together. The large bolts and the unevenness of the plates render the suction cup adhering device ineffectual at negotiating these surfaces. The valving on this type of device is typically very complex, since the vacuum is only applied to the cups that are firmly secured and not applied to the cups that are not firmly secured to the surface. Otherwise, too much vacuum loss will occur. Thus, there is limited use of this type of design to applications justifying a very complex and costly device and/or where relatively flat, smooth surfaces exist, such as commercial aircraft skins.

In another attempt a large suction chamber is surrounded by a fixed seal partition which is dragged or slid over the surface being traversed. Wheels or endless tracks move devices in this family of machines. While the vacuum force in the large chamber affects adhesion to the surface, premature and excessive wear on the seal partition led to numerous attempted improvements in seal technology, such as vibrating seals or easily replaceable seal partitions. These devices, however, are limited to flat or relatively flat surfaces, because the seal partition, even those made from rubber or inflated diaphragms, are dragged over the surface. These devices cannot negotiate surface obstructions such as large bolts or plates without a suction loss. This, in turn, can result in the device falling from the surface. Furthermore, the dragging of the seal partition results in rapid seal wear and deterioration, necessitating frequent seal replacement. The major concern is predicting when the seal will fail from wear. The habitual failure of seals in these type of devices presents danger and reliability concerns, limiting their commercial acceptance and usage.

Clearly, the existing apparatuses and systems for adhering to surfaces exhibit limitations that render them ineffective in practical as well commercial conditions. Also, in the need of actual field operation limitations of such systems have restricted their use to generally flat, obstacle free surfaces. These systems fail to traverse such surfaces that commonly exist.

Thus, there exists an unmet need for apparatus climb as well as traverse along surfaces such as spalled concrete, corroded metal, or surfaces with bolts, plates, weldment, surface obstacles, sharp protrusions, or obstructions breaking the plane of the surface or where the surface is uneven. Particularly, there is a need of device presenting a high level of reliability, resistance to seal failures, and the ability to overcome uneven surfaces, common surface protrusions, or real-life surface conditions are needed. Further, there is a need of reliable climbing surface traversing apparatus capable of engaging a wide array of surface types and surface conditions. Further, there is a need of apparatus that are highly, show resistance to seal failures, and have the ability to surpass any uneven surfaces, common surface protrusions, or cross the surface conditions that generally exist in real life.

SUMMARY AND OBJECTIVES OF THE INVENTION

This summary is provided to introduce a selection of concepts, in a simplified format, that are further described in the detailed description of the invention. This summary is neither intended to identify key or essential inventive concepts of the invention and nor is it intended for determining the scope of the invention.

In an embodiment of the present invention, a self-propelled surface-adhering apparatus for traversing along a surface is disclosed. The apparatus includes a housing, a vacuum source disposed on the housing and adapted to generate a vacuum pressure that creates a resultant vacuum force in a space between a bottom surface of the housing and the surface to keep the housing in contact with the surface, and a seal assembly adapted to seal an interface between the bottom surface of the housing and the surface while traversing the surface.

In another embodiment of the present invention, a self-propelled surface-adhering apparatus for traversing a surface is disclosed. The apparatus includes a housing, a jet propeller in a fluid communication with the housing and adapted to generate a thrust in a direction opposite to the surface S so as to create an attraction force in the interface between a bottom surface of the housing and the surface S, and a seal assembly adapted to seal an interface between the bottom surface of the housing and the surface while traversing the surface based on the thrust generated from the jet propeller.

Accordingly, a primary objective of the present invention may be contemplated as providing a surface adhering apparatus capable of adhering to horizontal, tilted, vertical and inverted surfaces, by a vacuum force and that is also self-propelled.

In one embodiment a vacuum power or a negative pressure is given by a vacuum source that could be mounted on the housing of the surface adhering apparatus. Further the vacuum source has such a shape that a portion of the vacuum source lies below the housing of the apparatus. The vacuum source also includes a top plate that contacts the seal assembly while moving. The apparatus may further include a flexible, rolling, headway seal. The seal is commonly characterized by the seal perimeter, the resilient, rolling, locomotion seal contacts the traversable surface.

Another embodiment of the invention contemplates to seal in part characterizing the vacuum source volume keeping up a suction bond to the surface. The seal can be crashed into rolling activity by a power conveyance framework, to locomotes the mechanical assembly along the surface. The flexible, moving, headway seal of the present invention empowers the mechanical assembly to move easily and, as vital, move over surface obstacles. The rolling and velocity activity of the seal gives upgraded toughness and life span, and by and large framework unwavering quality. The versatility of the seal material adjusts significantly totally to surface unpleasantness, anomalies, and snags; along these lines, there is no loss of vacuum or suction, notwithstanding the surface territory of the surface being crossed by this development.

Yet another embodiment of the invention contemplates to the development concerns of surface crossing mechanical assembly. The apparatus includes a casing, a seal having a seal border that is mounted to the edge, and a drive arranged to move the device with respect to the surface. Also, the seal edge is adjusted considerably for moving contact with a surface to be navigated. In one implementation, a first roller of the surface adhering apparatus incorporates a flexible, compressible external surface. In further implementation, a part of the seal edge incorporates further roller, thus, the further roller incorporates a compressible external surface.

Yet another embodiment of the invention contemplates to the drive of the surface adhering apparatus that can be adjusted to control both first roller and further roller. In a specific implementation, the seal edge of the surface-adhering apparatus incorporates in any event two rollers. In any event two rollers are considerably parallel and arranged on rival sides of the edge. In different implementations, the seal border of the mechanical assembly incorporates a generously shut polygon. In a specific an implementation, the polygon is a quadrilateral. In different implementations, the seal edge may incorporate blends of arcuate and polygonal fragments.

Yet another embodiment of the invention contemplates to the seal edge of the surface navigating mechanical assembly incorporating a track in different embodiments.

Yet another embodiment of the invention contemplates to the drive which is adjusted to control the track. In one specific encapsulation, the track incorporates most bordering cushions. In any event one cushion incorporates an adaptable fixing component. In another encapsulation, in any event one cushion incorporates a couple of autonomously compressible adaptable fixing components. In one encapsulation, the mechanical assembly’s seal perimeter incorporates two tracks. The two tracks might be generously parallel and arranged on rival sides of the casing. In different implementations, the surface crossing mechanical assembly further incorporates implies for keeping up the surface-adhering apparatus in contact with the surface. The keeping up methods incorporates a weight differential in respect to a zone characterized at any rate to some degree by the seal edge. In one embodiment, the weight differential is an incomplete vacuum. In different implementations, the surface navigating device further incorporates a handling mechanical assembly mounted to the casing and adjusted to process in any event a segment of the surface being crossed. In different encapsulations, the surface navigating surface-adhering apparatus further incorporates a processor for controlling the mechanical assembly.

Yet another embodiment of the invention contemplates to a surface adhering apparatus including a locomotion seal. By and large, the surface-adhering apparatus incorporates an edge, a motion seal, and a drive. The seal is mounted to the casing and the drive is designed to move the mechanical assembly with respect to the surface. Further the seal is adjusted considerably for moving contact with the surface to be crossed. In one encapsulation, the motion seal incorporates an edge, in any event a bit of which participates with the drive to move the device in respect to the surface.

Yet another embodiment of the invention contemplates to navigating mechanical assembly including a velocity seal. All in all, the mechanical assembly incorporates an edge, a velocity seal, and a drive. The movement seal incorporates first and second generously parallel rollers arranged on rival sides of the edge and first and second tracks arranged on extra rival sides of the casing. In this angle, the rollers are rotatable associated with the edge. Further, the rollers and tracks are adjusted considerably for moving contact with the surface to be crossed and keeping up a seal with the surface, while the drive is designed to move the surface-adhering apparatus in respect to the surface.

Yet another embodiment of the invention contemplates to a technique for navigating a surface. The strategy incorporates the means of giving a mechanical assembly crossing the surface with the device. The mechanical assembly incorporates a casing, a seal having a seal border and a drive designed to move the device in respect to the surface. The seal is mounted to the edge and the seal edge is adjusted generously for moving contact with the surface to be navigated. The development is coordinated to a suction following gadget for playing out a huge range of work exercises. The exercises incorporate yet are not constrained to paint and covering evacuation, sterilization, surface buffing and cleaning, surface assessment, non-damaging testing, paint and covering application, remote welding or mechanical fix, and automated fixing. The surface-adhering apparatus includes the frame, the locomotion seal assembly, the vacuum source, and one or more motors. The seal assembly includes rolling and/or conveying compliant, resilient materials forming a sealing partition. The seal assembly also serves to locomotes the machine along the surface, in various embodiments.

Yet another embodiment of the invention contemplates to the seal which incorporates one strong front roller, one resilient back roller, and two resilient side seals, assigned left and right-side seals. The whole seal segment frames a rectangular, square, polygonal, arcuate, or generally appropriately molded area inside the vacuum chamber or blends thereof. The side seals might be exceedingly strong and consistent material, constant or portioned to shape a continuum, connected to a perpetual chain. Vitality from the motor(s) is passed on to the interminable chain(s). The pivot of the chain makes the seal get together roll. This activity locomotes the gadget over the surface. The high flexibility and consistence of the seal enables the gadget to conquer surface hindrances while keeping up vacuum attachment of the gadget to the surface.

Yet another embodiment of the invention contemplates to two chain and flexible seal assemblies, at any rate one each for two rival sides of the gadget. The versatile front roller and the flexible back roller are either free rolling or, in the option, controlled by at least one of the equivalents. The mechanical assembly promptly and dependably conquers surface deterrents by the seal fitting in with nearby surface conditions. Further, since the whole seal get together moves, impediments or blocks superficially do not end the advancement of the machine nor do they cause any critical opening between the surface and the seal, through which unsuitable vacuum misfortune may happen. This enables the gadget to continue over a surface while keeping up bond to the surface paying little heed to how unpleasant or what number of hindrances or abnormalities are available superficially. The vacuum is available while the gadget is driving along surface. In this way, the machine can move easily, ceaselessly, over surface unpleasantness or abnormalities or hindrances, and critically, without losing suction bond over surface inconsistencies or surface harshness.

Yet another embodiment of the invention contemplates to the fact that the seal rolls and is not hauled, contact is negligible and control utilization is notably diminished over earlier workmanship gadgets. The different kinds of surface preparing mechanical assembly can be coupled to the surface crossing surface-adhering apparatus. Mechanical abraders, for example, brushes and so forth can be mounted on the gadget. A cover set over the abraders and a different vacuum connected to the cover successfully catch the garbage and transport the garbage to separated, (for example, HEPA filtered) vacuum accumulation drums or containers. In this way this gadget climbs, cleans, and catches risky or dangerous materials and remediate them from work surfaces.

Yet another embodiment of the invention contemplates to an apparatus that drastically diminishes exposure of human to both raised tallness conditions and introduction to unsafe or harmful materials. Coarseness impacting, water impacting, lasers, wipes, carbon dioxide, or any methods or some other mechanical devices can likewise be used in the vacuumed cover to influence climbing, cleaning, catching and remediating abilities of this creation.

Yet another embodiment of the invention contemplates to radiation testing and decontamination of structures, particularly concrete structures, or metal tank structures where bolts, plates and surface roughness severely limit the usefulness of known devices, yet these are surfaces that can be effectively negotiated with this invention, with its enhanced ability to maintain suction adhesion while climbing over such surfaces.

Yet another embodiment of the invention contemplates to robotic arms mounted to the device, thereby enabling the performance of an endless array of remote- controlled tasks such as, but not limited to, welding, cutting, sawing, lifting, and performing repairs, etc.

Yet another embodiment of the invention contemplates to the rolling and locomotion seal used in aspects of the invention reducing the amount of energy required to move the device along surfaces. Overcoming the friction from static type seals of past inventions requires large motors and significant force, adding weight and energy consumption. Energy consumption and motor sizes can thereby be reduced with this invention.

To further clarify advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof, which is illustrated in the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. The invention will be described and explained with additional specificity and detail with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features, aspects, and advantages of the present invention will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:

Figure 1 illustrates a perspective view of a surface-adhering apparatus for traversing over a surface, according to an embodiment of the present invention;

Figure 2 illustrates a wireframe structure of the surface-adhering apparatus, according to an embodiment of the present invention;

Figures 3a, 3b, 3c, and 3d illustrate a front view, a side view, a top view, and an isometric view, respectively, of the surface-adhering apparatus, according to an embodiment of the present invention; and

Figure 4 illustrates an exploded view of the surface-adhering apparatus depicting constituent components, according to an embodiment of the present invention.

Further, skilled artisans will appreciate that elements in the drawings are illustrated for simplicity and may not have been necessarily drawn to scale. For example, the flow charts illustrate the method in terms of the most prominent steps involved to help to improve understanding of aspects of the present invention. Furthermore, in terms of the construction of the device, one or more components of the device may have been represented in the drawings by conventional symbols, and the drawings may show only those specific details that are pertinent to understanding the embodiments of the present invention so as not to obscure the drawings with details that will be readily apparent to those of ordinary skill in the art having benefit of the description herein.

DETAILED DESCRIPTION

For promoting an understanding of the principles of the invention, reference will now be made to the embodiment illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended, such alterations and further modifications in the illustrated system, and such further applications of the principles of the invention as illustrated therein being contemplated as would normally occur to one skilled in the art to which the invention relates. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skilled in the art to which this invention belongs. The system, methods, and examples provided herein are illustrative only and not intended to be limiting.

The term “some” as used herein is defined as “none, or one, or more than one, or all.” Accordingly, the terms “none,” “one,” “more than one,” “more than one, but not all” or “all” would all fall under the definition of “some.” The term “some embodiments” may refer to no embodiments or to one embodiment or to several embodiments or to all embodiments. Accordingly, the term “some embodiments” is defined as meaning “no embodiment, or one embodiment, or more than one embodiment, or all embodiments.”

The terminology and structure employed herein is for describing, teaching, and illuminating some embodiments and their specific features and elements and does not limit, restrict, or reduce the scope of the claims or their equivalents.

More specifically, any terms used herein such as but not limited to “includes,” “comprises,” “has,” “consists,” and grammatical variants thereof do NOT specify an exact limitation or restriction and certainly do NOT exclude the possible addition of one or more features or elements, unless otherwise stated, and furthermore must NOT be taken to exclude the possible removal of one or more of the listed features and elements, unless otherwise stated with the limiting language “MUST comprise” or “NEEDS TO include.”

Whether or not a certain feature or element was limited to being used only once, either way, it may still be referred to as “one or more features” or “one or more elements” or “at least one feature” or “at least one element.” Furthermore, the use of the terms “one or more” or “at least one” feature or element do NOT preclude there being none of that feature or element, unless otherwise specified by limiting language such as “there NEEDS to be one or more . . . ” or “one or more element is REQUIRED.”

Unless otherwise defined, all terms, and especially any technical and/or scientific terms, used herein may be taken to have the same meaning as commonly understood by one having ordinary skills in the art.

Reference is made herein to some “embodiments.” It should be understood that an embodiment is an example of a possible implementation of any features and/or elements presented in the attached claims. Some embodiments have been described for the purpose of illuminating one or more of the potential ways in which the specific features and/or elements of the attached claims fulfil the requirements of uniqueness, utility, and non-obviousness.

Use of the phrases and/or terms such as but not limited to “a first embodiment,” “a further embodiment,” “an alternate embodiment,” “one embodiment,” “an embodiment,” “multiple embodiments,” “some embodiments,” “other embodiments,” “further embodiment”, “furthermore embodiment”, “additional embodiment” or variants thereof do NOT necessarily refer to the same embodiments. Unless otherwise specified, one or more particular features and/or elements described in connection with one or more embodiments may be found in one embodiment, or may be found in more than one embodiment, or may be found in all embodiments, or may be found in no embodiments. Although one or more features and/or elements may be described herein in the context of only a single embodiment, or alternatively in the context of more than one embodiment, or further alternatively in the context of all embodiments, the features and/or elements may instead be provided separately or in any appropriate combination or not at all. Conversely, any features and/or elements described in the context of separate embodiments may alternatively be realized as existing together in the context of a single embodiment.

Any particular and all details set forth herein are used in the context of some embodiments and therefore should NOT be necessarily taken as limiting factors to the attached claims. The attached claims and their legal equivalents can be realized in the context of embodiments other than the ones used as illustrative examples in the description below.

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

Figure 1 illustrates a perspective view of a surface-adhering apparatus 100 for traversing along a surface S, according to an embodiment of the present invention. The term surface-adhering apparatus 100 may be hereinafter interchangeably referred as “apparatus 100”. In an implementation the apparatus 100 may be a self-propelled apparatus. Further, the apparatus 100 may be adapted to operate in a number of environments. Examples of the number of environments may include, but are not limited to, an underwater environment, a radioactive environment, a toxic environment, a hazardous environment, varying altitudinal as well as conventional manufacturing and constructional environments. The raw material used for manufacturing the apparatus 100 in accordance with the present invention may include selection of materials falling in Zone 0, Zone 1, Zone 2 of the hazardous area zones.

Figure 2 illustrates a wireframe structure of the surface-adhering apparatus 100 according to an embodiment of the present invention. Figures 3a, 3b, 3c, and 3d illustrate a front view, a side view, a top view, and an isometric view, respectively, of the surface-adhering apparatus 100, according to an embodiment of the present invention. Similarly, Figure 4 illustrates an exploded view of the surface-adhering apparatus 100 depicting constituent components, according to an embodiment of the present invention. In one embodiment, the apparatus 100 may include, but is not limited to a housing (not shown in figure), a vacuum source 1, and a seal assembly 1a. Further skilled artisans will appreciate that the seal assembly 1a may also be considered as a vacuum cushion without departing from the scope of the present invention. For the sake of brevity, Figure 1, Figure 2a, Figure 2b, Figure 2c, Figure 2d, and Figure 3 are explained in conjunction with each other.

Referring to Figure 1, Figures 2a, 2b, 2c, and 2d, and Figure 3, the surface traversing apparatus 100 may be adapted to adhere to a vertical surface S. In one embodiment, the apparatus 100 may include a vacuum source 1 disposed on the housing and adapted to generate a vacuum pressure. The vacuum pressure upon generation creates a resultant vacuum force in an interface between a bottom surface of the housing and the surface S to keep the housing in contact with the surface S.

Further, as illustrated, the apparatus 100 includes a side plate L, 2. The function of side plate L, 2, and further other supporting structures may be to provide at least a foundation and prevent a misalignment of a lead screw. Below is a table of mechanical properties of the side plate L, 2. The below-mentioned values of the mechanical properties are provided as an example and should not be construed as limiting to the scope of the present invention.
S. No. Parameters Description
1 Material AL 6062 T4
2 Yield strength 140 Mpa
3 Ultimate tensile strength 241 Mpa
4 Young modulus 69 Gpa
5 Poisson’s ratio 0.33
Table 1: Mechanical Properties
Further, the apparatus 100 includes a guide rod 3 adapted to provide a smooth guide way for a tool block. The guide rod may be made up of a SS 304. Also, the apparatus 100 may include a side plate R, 4, having similar mechanical properties and functionality as the side plate L, 2. Additionally, the apparatus 100 includes a lead screw 5. Below is a non-limiting example of the design description of the lead screw 5.
S. No. Parameters Description
1 Material Stainless steel 304
2 Diameter 8 mm
3 Pitch 1.25 mm
4 Thread Matric
5 Total length 470 mm
6 Diameter 8 mm
7 Capacity Draven by 18kg-cm motor

Table 2: Design description
Furthermore, the apparatus 100 may include a guide block 6 with a linear bearing within the core of the guide block 6. An outer body of the guide block 6 may be made up of an aluminium alloy. The guide block 6 may consist of similar properties as the side plate L, 2. The apparatus 100 may include a tool holder block 7 made up of an aluminium alloy. In an embodiment, the tool holder block 7, similar to the side plate L, 2may be a machined part. . The tool holder block 7 may act as a guide surface for a tool holder plate and may further provide a mounting space for a motor. A fixture top 8 and a fixture bottom 9 may hold the tool holder block 7 and further connect the tool holder block 7 with the lead screw 5. In an embodiment, the fixture top 8 and the fixture bottom 9 may consist of mechanical properties similar to the side plate L.

Further, a side plate L corner 10 may consist of mechanical properties and a functionality similar to the side plate L, 2. A side plate R corner 11 may consist of the mechanical properties and the functionality similar to the side plate R, 4. A back plate 12 may consist of the mechanical properties and the functionality similar to the side plate L, 2. A Side Plate M corner 13 may consist of the mechanical properties and the functionality similar to the side plate L, 2. A screw nut 14 may be made of brass and machines with very high precession. In an embodiment, the screw nut 14 may convert a rotary motion of the lead screw 5 into a linear motion. Further, a tool holder plate 15 moves up and down in the tool holder block 7 when a small motor rotates. The toll holder plate 15 may also provide at least one mounting for the tool holders. The tool holder 16, tool holder 1, 17, is a fixture top holding an ultrasonic sensor and guiding a couplant fluid pipe and further consists of the mechanical properties similar to the side plate L, 2. A number of shafts 18 may be used for a power transmission and the number of shafs18 may be made by the SS 304 with a fine surface finish. Further, pulleys (raster), 19 may be made up by the aluminium alloy and adapted to transfer the power from the motor shaft to the lead screw.. The belts (raster pulley) 20 may be used to connect as a flexible member in the power transmission between the pulleys 19. Further an inner frame 21 may consist of the mechanical properties and the functionality similar to the side plate L, 2. A number of guiding shafts 22 may be used for the power transmission and made up by the SS 304 with a fine surface finish. A number of roller shafts 23 may be used for power transmission and made up by SS 304 with the fine surface finish. A Wheel Shaft 24 may be used for the power transmission and made up by the SS 304 with the fine surface finish. An outer frame 25 may consist of the mechanical properties and the functionality similar to the side plate L, 2. Further, a driver pulley 26 may be made up by the aluminium alloy and adapted to transfer the power from the motor shaft to track belt. A key 27 may act as a fastener to connect the motor shaft with the driver Pulley 26. A guiding pulley 28 may guide the track and may work as an idle pulley. A roller pulley 29 may assure a contact between the track belt and the driver pulley. A number of wheels 30 may provide a traction for a crawler to mover forward. Further, an M5 Bolt 31, and an M6 Bolt 32 may act as a fastener. A driver shaft cover 33 may act as a cover plate of the driver shaft. Bearing ID 12, 34, are made up by the SS304 and machined with high precision and have the fine surface finish adapted to reduce friction between rolling parts. Bearing ID 8, 35, are made up by the SS304 and machined with high precision and have the fine surface finish adapted to reduce the friction between the rolling parts. In an embodiment, a track belt 36 may provide a traction force to the crawler. A motor side-track main motor (2pcs) 37 may be used to move the crawler. In an embodiment, the A motor side-track main motor may be a 24vdc motor with 80kg/cm rated torque. A small motor 38 may be used to move the tool holder up and down. The small motor 38 may have specification, but not limited to, 12vdc stepper motor with 2.4kg/cm rated torque.
In another embodiment, the apparatus 100 may include, but is not limited to, a jet propeller (not shown in figure) in a fluid communication with the housing and adapted to generate a thrust in a direction opposite to the surface S so as create an attraction force in an interface between a bottom surface of the housing and the surface S to keep the housing in contact with the surface S. Further the seal assembly 1a is adapted to seal the interface between the bottom surface of the housing and the surface s while traversing the surface S based on the thrust generated from the jet propeller.

In one implementation, the vacuum source 1 may be an enclosed cuboid of hollow component parts including at least one opening at a top portion of the vacuum source 1 and at least seven openings at a bottom portion of the vacuum source 1 1. The vacuum source 1 may be constituted of the aluminum alloy. Further, the vacuum source 1 may be able to, but is not limited to, sustain a pressure of at least 60KPA pressure.

Further, the housing (not shown in figure) of the apparatus 100 may be interchangeably referred to as “a pressure reduction frame”. The housing may be adapted to provide support to the various components of the apparatus 100 and also facilitate the binding of the vacuum or suction volume proximal to the surface S to be traversed by the apparatus 100.
Further, the apparatus 100 may include the seal assembly 1a adapted to seal the interface between the bottom surface of the housing and the surface S while traversing the surface S. The seal assembly 1a may include, but is not limited to, a locomotive seal adapted to provide suction adhesion through which the housing adheres to the surface S and a flexible rolling headway seal adapted to provide uninterrupted locomotion when an obstacle is encountered on the surface S. Further, in an embodiment, the vacuum source 1 may include a top plate adapted to connect the locomotive seal with the flexible rolling headway seal during the traversal along the surface S.

Further, the seal assembly 1a may include at least one first endless side seal tracks and at least one second endless side seal tracks on either side of the housing. Further, the seal assembly 1a may include at least one front roller and at least one a back roller that are split, such that the left side of the front roller (when viewed from the front) is connected to the left track and the right side of the front roller is connected with the right track during operation. The back roller is also split such that the left side of the back roller operates with the left track and the right side of the back roller operates with the right track. In one implementation, the first and second tracks or the front and back rollers may be individually controlled and independently moved. In an example the front and back rollers may be cylindrical in shape.

In various embodiments, either one or both of the front rollers and the back rollers need not be split into right and left sides, rather undivided rollers may also be used without departing form the scope of the present invention. The front and back rollers, or portions thereof, may be powered or unpowered, as desired. The front and back rollers may typically include a relatively thick resilient outer material layer to facilitate navigating over surface protrusions without loss of sealing provided by the seal assembly 1a. In addition to the front and the back rollers and first and second tracks, further elements and configurations may be used to provide an effective seal assembly 1a without departing from the scope of the present invention.

In another embodiment, modified rollers may be employed to achieve an effecting sealing and surface adhering properties. Specifically, the front rollers and the back rollers of the apparatus 100 may be modified to operate effectively as the tracks. Such configuration may allow each roller to function in a manner analogous to the continuous tracks. The rollers cooperate with the continuous tracks to form a seal and move the apparatus 100 in response to the motor or applied force. Further, each roller is supported by a first spaced axle and a second spaced axle, and sprockets or hubs may be disposed on the axles to support each roller. Further, a dual axle configuration may also support the roller for rotation along a generally extended oval path. Also, utilizing each roller as a track element advantageously increases the actual seal contacting area of the front and back rollers with the surface S. An enhanced seal area improves obstacle negotiation capabilities and operational reliability for the apparatus 100.

Further, during operation, when the apparatus turns and/or negotiates against surface obstacles, the increased area of the sealing interface maintains seal integrity and keeps the vacuum force intact. Thus, a wider variety of manoeuvres and irregular terrain negotiations are possible with the apparatus 100. Since the apparatus 100 may be used for various high-risk activities and in high toxic environments, increased reliability is a very desirable operational feature. While use of the dual axle rollers may increase roller friction and marginally lower roller durability, the dual axle roller configuration may also be used in combination with thicker, softer, and/or coated roller materials. Further, the seal assembly 1a may also include alternative vacuum sealing plate may also be employed without departing from the scope of the present invention. The alternative vacuum sealing plate provides sealing against the faces of the front and back rollers and at least two curved partitions that are formed to substantially match the outer diameter of the front and/or back rollers in this region. An alternative vacuum sealing plate provides a larger sealing surface area to provide a more reliable sealing effect.

More specifically, the at least two curved partitions and a central bridging portion of the vacuum plate (36) form an “H” shaped plate. In one embodiment, the H plate (36) may be located slightly higher up in the device than the plate (36) discussed above, to change the volume of the vacuum source 1. In one embodiment, based upon the configuration shown in FIG. 2B, the bottom portion of the vacuum plate (36), that is substantially parallel to the surface to be traversed ranges from about 4” to /2” thick (See FIG. 18B). In one embodiment, the curved partitions C of the sealing plate (36), are about 3 inches wide. In one embodiment the curved partitions C. are formed from thin gauge aluminium; however, other suitable construction materials suitable for maintaining a vacuum may be used without limitation, as known to those of skill in the art. The use of the curved partitions C, and the H plate geometry yields a reliable front roller-to-vacuum plate and back roller-to-vacuum plate seal.

One embodiment of a power transmission system employed with the apparatus 100 may be flexible timing belts T to drive or locomotive the tracks rather than the chains. The timing belts may provide a transfer of kinetic drive forces, may decrease weight, and may provide a sealing face to run along the runners/slides of H plate. In one embodiment, the timing belts are as wide as the tracks and the timing belts are adhered to the inside surfaces of the foam side-tracks. Although adhesives may be used, the belts can also be secured to the tracks using friction, prongs, grippers, or other suitable attachment mechanisms. The grooves or teeth of each timing belt are driven by grooved plastic rollers or timing pulleys. There are four grooved plastic rollers, and each respective roller is positioned at one of the corners of the apparatus 100 .

In some embodiments, the rollers are optional and other rotatable elements may be used. Using plastic or other lightweight materials for the various drive, Seal, frame, and other system components substantially reduce the weight of the apparatus 100. Specifically, the timing belt configuration allows for the use of other light plastic elements rather than the heavier metal sprockets typically required to drive various metal track chains. Since weight reduction of the apparatus 100 may be related to improved surface adhesion and for optimal operational reliability apparatus 100 of the apparatus, it may be desirable in various applications to select weight reducing materials in the form of composites and other strong, light-weight materials.

Further, the front and the back rollers are split in order that the right portion of the front/back rollers roll (turn) with the right track and the left portion of the front/back rollers roll (turn) with the left track. An annular sheet of thin film Mylar or other high lubricity material may be provided between the roller halves to separate the left and right sides of both front and back rollers and reduce friction. This allows the rollers to move in opposite directions while not interfering with or dragging on the other. In various embodiments, the rollers may be segmented circumferentially into a plurality of individually independently movable sealing elements. Alternatively, in other embodiments, the rollers may each be one undivided substantially cylindrical resilient element, or any number of proximately disposed annular resilient elements.

The front and back rollers may also mount to suspension systems incorporated within the apparatus 100 to permit an upward and a downward movement of the rollers relative to the housing thereby further enhancing the ability of the apparatus 100 to negotiate Surface irregularities and obstacles while maintaining the seal continuity, hence maintaining the vacuum force between the apparatus 100 and the surface S. Further, a sealing plate defines a portion of a lower vacuum source 1. The sealing plate extends from and seals against the side seal tracks and the front and back rollers, thus enabling the formation of a Substantially complete seal within the vacuum source 1 when the apparatus 100 contacts a surface S and a vacuum is applied in the vacuum source 1.

The sealing plate may include a connection port in form of an annular ring with which the connection conduit and/or the vacuum source 1 may be coupled, thereby facilitating the formation of a vacuum in the vacuum source 1. In an embodiment, the seal assembly 1a include the two rollers and the two endless tracks. Further, the track and roller assemblies are mounted to the housing of the apparatus 100. The housing may include at least two structural side panels and a structural top panel essentially forming an inverted “U-shaped’ housing. Generally, the housing can assume any configuration suitable for attaching the seal elements and various frame configurations known in the art relating to various robotic chasses, housings, mountings and so forth teach frames within the scope of the present invention.

Further a front axle and a rear axle may run perpendicular to the side panels through the apparatus 100. The front axle runs through both side-tracks and through the front roller assembly. The rear axle also runs through both side-tracks and through the back roller assembly.

Each of the front and rear axles may also include a drive sprocket on one end. Further, at least two motors provide the driving force for the side-tracks as well as the front and back rollers in such an embodiment. In various embodiments in accordance with the present invention, air or pneumatic motors are employed, however any type of power delivery device, such as an electrically powered motor may be employed with the apparatus 100. Further, a sprocket may be attached to a shaft of each motor. Further, an endless chain runs from each motor sprocket to each axle sprocket. There may be at least two chains one for each motor sprocket and axle sprocket pair and one axle sprockets may be attached to one axle.

Further, in an embodiment, alternative drives and power transmission components may be employed with the apparatus 100. Such alternative drives and power transmission components may include, but are not limited to, belts, flexible shafts, gears, and kinematic linkages. All the components such as a right motor, a right motor sprocket, a right chain and a right axle sprocket function in unison to drive the right track and the right side of the front and back rollers. Since the motors are reversible, the left motor functions to drive the left half of the seal assembly 1a both forward and reverse directions. The left motor and related assemblies operate in the same fashion as their right-side counterparts. Furthermore, the turning of the apparatus 100 is accomplished by driving one side of the apparatus 100 forward direction while driving the other side of the apparatus 100 in reverse direction or alternatively, by just driving one side of the apparatus 100.

Further, in order to drive the tracks in their endless paths of travel, cogs or sprockets are mounted on the axles. These cogs or sprockets transfer rotational force from the axles to the endless side-tracks. The side-track assemblies consist of a track chain of a high strength material construction. Also, a relatively thick outer layer of highly flexible, compliant, resilient material may be attached to track chain via mechanical fasteners and/or glue, such as closed cell foam, rubber, neoprene, etc. This flexible/resilient material forms the side seals for the vacuum source 1. During a motion of the tracks and the rollers move a sealing is formed that facilitates both adhesion and rolling of the apparatus 100 across the surface S. Thus, the seal assembly 1a employed in various embodiments of the invention is a source of locomotion along with the mechanism for adhering the apparatus 100 to the surface S. The contacting materials of the rollers and the tracks are elected such that they possess highly flexible, resilient properties, thereby ensuring that a sealing is maintained as the apparatus 100 locomotes along the surface S that may be even or along highly irregular with surface obstacles. Optionally, an additional outer layer or coatings may be provided, for example to change the coefficient of friction, provide tackiness, modify puncture or abrasion resistance, etc. In general, however, such outer layers or coatings are not required.

The front/back rollers encircle the front/back axles in between the side-tracks and run perpendicular to the side-tracks. The rollers may include a relatively hard core that fits over the round axles, allowing the rollers to spin freely relative to the axles. The hard core is essentially a cylinder with a small-bore hole to fit over the axles. The outer diameter of the hard core receives a relatively thick layer of highly flexible, compliant, resilient material, similar to that used on the tracks, that is wrapped around and secured to the core. The flexibility/resilience of this material serves to affect a seal for the vacuum source 1 as the rollers roll over the surfaces, even over the Surface irregularities and/or Surface obstructions.

Depending on the nature of the surface to be traversed, the radial thickness of the sealing assembly may be up to about 25%, 50%, 75% or more of the total radius of the rollers. Further, an alternative segmented track assembly may also be employed where at least two segmented track assemblies are attached to the frame of the apparatus 100. Further, track chains are also incorporated in the segmented track assembly. Rather than attaching to a resilient continuous band of material, the track chain attaches to a plurality of individual track elements. The track elements are individually deflectable or compressible, in various embodiments, to facilitate maintaining a vacuum along with the sealing when a bolt or other surface protrusion is encountered by the track assembly. When a surface protrusion compresses one or more segmented elements, the track elements of the track will still form a seal with the protrusion disposed in a pocket of the track assembly formed by the compressed elements. Each individual track element includes a first fixed portion, a second telescoping outwardly biased second portion capable of sliding relative to the fixed portion and a resilient outer layer. In an alternative type of track element suitable for inclusion within a larger segmented track assembly each track element is divided into two sub-elements, both of which are individually independently compressible. Thus, by dividing each individual track element into two compressible sub-elements, when a Surface protrusion, such as bolt, is encountered the likelihood of maintaining the seal is increased. This follows, because the protrusion may be positioned to cause only one portion of the track element to compress, while the remaining track elements and the other seal constituent elements remain unperturbed. Thus, the vacuum seal is maintained around the Surface protrusion with only a minor disturbance to the seal assembly 1a, thereby ensuring adherence to the surface being traversed. Now the first and second mini rollers achieve a near frictionless seal between the front and back rollers and the sealing plate of the vacuum source 1.

A first mini-roller assembly exists between the front rollers and the sealing plate and a separate second mini roller assembly exists between the back rollers and the sealing plate. These mini rollers serve to fill any space between the front/back rollers and the sealing plate. Moreover, these mini-roller assemblies enhance the sealing function by maintaining a seal around the plate while the apparatus 100 is locomoting upon a given surface. In one embodiment, these mini roller assemblies may be spring loaded. Thus, they automatically adjust frontward and backward for any front-to-back movement that the rollers may encounter or for any wear on the front/back roller assemblies. These mini rollers also serve to swipe or clean the debris off the rollers during operation.

Further, a three-dimensional region or vacuum volume is defined by the substantially cylindrical resilient surface portions of rollers, the resilient surface materials of the tracks and the surface S being traversed. Typically, a vacuum source 1 either incorporated within or separate from the apparatus 100 or is brought into fluid communication within a region of the surface S. The apparatus 100 may include, but is not limited to, a connecting conduit adapted to connect the vacuum source 1 with the housing for establishing the fluid communication between the vacuum source 1 and the housing. The means for establishing fluid communication between the vacuum source 1 and the apparatus 100, in those instances where the vacuum source 1 is not incorporated within the apparatus 100 , is achieved through a connecting conduit (not shown in figure) Generally, the connecting conduit can include one or more conduits, hoses, cables, wires or other transfer/transmission apparatus for connecting the apparatus 100 to a power supply, vacuum source 1, control mechanisms, pneumatic devices, and/or other Suitable auxiliary devices or systems. Again, at a general level the connecting conduit(s) serves to transfer fluid, gas, energy, chemicals, electricity, light, information, debris, or other suitable matter or data to and from the apparatus 100 to assist in the functioning of the apparatus 100.

Once the vacuum force is sufficient, the suction adhesion of the apparatus 100 is achieved and maintained by the seal assembly 1a. Accordingly, the energised components facilitates the movement of apparatus 100 along the surface S.

Additionally, as addressed above, the use of resilient materials, continuous or segmented tracks, and optionally individually compressible divided track elements may be used to ensure the seal integrity is maintained when Surface irregularities or protrusions are encountered. Sliding of the seal on the surface S contributes to abrasion and wear of the seal. Rolling contact is generally the preferred movement It is understood that the apparatus 100 and the seal will undergo some insubstantial amount of sliding contact, such as when turning. In operation, however, it will be understood by those skilled in the art the primary principle of operation of the seal assembly 1a, including when turning, is by substantially rolling contact.

However, in some alternative embodiments, the seal assembly 1a may not maintain rolling contact with the surface when the apparatus 100 moves, are used to form portions of the seal perimeter. Further, combinations of rollers and track seal assembly 1a, an all-track seal assembly 1a and an all-roller seal assembly 1a is possible without departing from the scope of the present invention. Moreover, the seal assembly 1a may be combined with side seal elements known in the prior art such as a seal curtain formed of overlapping flexible sheets or fingers. Consequently, hybrid embodiments can include both rolling contact and sliding contact seal elements to define the seal. Additional details regarding some exemplary embodiments of this type are discussed below. The suction adhesion is held relatively constant by the barrier between the outside environment and the interior environ of the vacuum source 1 by the rotating, flexible seals described above that maintain an effective seal as the apparatus 100 locomotes over the surface S, even on uneven surfaces. In regard to the material and shape of the suction adhering seal, various materials and/or shapes may be employed effectively besides those exemplified in the aforementioned alternative embodiments.

Further, various auxiliary and support components associated with the apparatus 100, in accordance with the embodiments of the present invention. Further, the auxiliary components may be adapted to assist the operation and enhance the functioning of the apparatus 100. However, such auxiliary components are generally not necessary to practice the core teachings of the embodiments of the present invention.

In an embodiment, an example of an auxiliary component includes, but is not limited to, an optional safety tether system (not shown in figure). In such an embodiment, the apparatus may include the optical safety tether system connected to the housing and adapted to support the housing when the housing is disengaged from the surface S. The optical safety tether system facilitates the initial adhering of the apparatus 100 to the surface S, as well as to ensure that the apparatus 100 does not fall when the apparatus 100 is powered down or otherwise disengaged from the surface S. In various embodiments in accordance with the present invention, the apparatus 100 adheres to the surface S through a vacuum bounded, in part, by a locomoting seal disposed in contact with the surface S.

In an embodiment, the apparatus 100 may include a control system adapted to receive at least one user input indicative of operating components of the apparatus 100 and transmit an instruction to operate the components based on the at least one user input. The control system may typically include a processor coupled to the apparatus 100 through the connecting conduit although wireless, radio frequency or other communication scheme may be employed. The control system provides user instructions to manoeuvre the apparatus 100 and/or control some or all of the components included within or associated with the apparatus 100.

In various wireless embodiments, the control system may transmit to and receive information from the apparatus 100 through means, such as an infrared, cellular, sonic, optical, or radio-based interface, thereby obviating the need for a connecting conduit to the apparatus 100 for control purposes. Exemplary control systems include, but is not limited to, a handheld remote, a Personal Digital Assistant (PDA), a separate pendant controller, a personal computer, and a laptop.

In an embodiment, the apparatus 100 is also connected to a power supply and an optional power converter (not shown in figure). Further, in other embodiments, a power source, such as a battery is incorporated within the apparatus 100. The power converter may be an AC to DC converter or other suitable power conversion apparatus 100. A pneumatic power supply is used to energize the apparatus 100 and/or its subsystems in various embodiments. In other embodiments, electrical, solar, chemical, or other types of power supplies may be used without limitation.

Further, in some embodiments, drive mechanisms, as known in the art, may be employed advantageously to actuate one or more components of the seal assembly 1a. Additionally, a plurality of equal-circumferentially spaced, substantially cylindrical voids or crush zones are longitudinally disposed within the resilient compliant material forming the outer parts of rollers to mitigating the effects of surface protrusions on seal integrity. Although the crush zones possess a substantially cylindrical geometry, the crush zines may take the form of one or more voids of various geometry disposed within the roller, regions of varying density within the resilient compliant material, or other suitable configurations. The incorporation of crush zones within the individual seal elements allows for localized areas of increased deformation when a surface protrusion is encountered, rather than more widespread seal surface deformation and the potential for localized seal detachment. The localized areas of increased deformation may further enhance the ability of the apparatus 100 to maintain adherence to the surface while the seal assembly 1a is rolling and/or negotiating over obstructions.

In another embodiment, the apparatus 100 may include an attachment structure (not shown in figure). The attachment structure may be adapted to attach devices with the apparatus 100 to accomplish manipulation, diagnosis, processing, sensing or other interaction with the surface S, that may include but is not limited to normal painting, spray painting, etc.. Further, such attached device may be used to modify the surface S being traversed and adhered by the apparatus 100. The attachment structure may include, but not limited to, surface modifications tools, and third party tools or equipment that adjustable and fitted to the apparatus 100 for automation. In further embodiments, the apparatus 100 may include, integrated surface processing features and functionality, thereby obviating the need for the attachment structure.

In such embodiments incorporating the attachment structure, such attachment structures may be adapted to connect a cleaning unit with the housing, wherein the cleaning unit is adapted to clean the surface S. In further embodiments, the apparatus 100 may include a cleaning unit connected with the housing. The cleaning unit may be adapted to clean the surface S in such embodiments. The clean unit may be employed with mechanical cleaner tools, such as, but not limited to brushes, scrabbles, etc. Further, a separate motor may be adapted to drive the mechanical cleaner tools. The mechanical cleaner tools may be housed in a vacuum shroud in order to capture the debris or the waste material generated during the cleaning operation performed by mechanical cleaner tools. The debris or the waste material is carried away by a separate vacuum source 1 through a separate hose to a well-filtered vacuum source 1 and collection bin/container, such as HEPA (High Efficiency Particulate Air) filtered vacuum source 1. In the illustrated embodiments, the apparatus 100 may be adapted to function as a climbing apparatus 100, a cleaning apparatus 100, a capturing apparatus 100, and a remediating apparatus 100. As the remediating apparatus 100, the apparatus 100 remediates by performing the cleaning activity of capturing the debris or waste material right at the point-of-generation and transfers it through a hose directly into suitable waste collection receptacles. It should be noted that this activity is accomplished with no human contact or introduction of debris or waste into the environment, because the entire cleaning, capturing, and remediating aspects occur with the vacuum shroud or hose. Another advantage of the mechanical cleaner tools, incorporated in various the apparatus 100, is that they generate no secondary waste in the cleaning process.

In yet another embodiment, the apparatus 100 includes a surface processing apparatus coupled to the apparatus 100. Further, a seal perimeter made up of locomoting elements is employed thereby facilitating the surface processing apparatus to adhere and traverse along a surface S using the seal perimeter.

The surface processing apparatus may be disposed with the vacuum volume within the apparatus 100. The surface processing apparatus may be an abrading device. Although, the surface processing apparatus as a rotating abrading element . Further, various embodiments can incorporate different types of the surface processing apparatus without departing from the scope of the present invention. The surface processing apparatus as a rotating abrading element includes an abrader spindle or cleaning head, an abrader shroud for capturing and containing waste/debris; an abrader drive motor and drive components; an abrader lift and lowering assembly and an abrader frame.

In one embodiment, the mechanical abrader is a completely modular assembly that attaches to the apparatus 100 and all of its operations are remotely controlled at a control pendant or laptop computer located with or adjacent to the control panel for operating the apparatus 100. The abrading surface processing apparatus may be a rotary or hub styled abrader and may employed for cleaning by rotation of the abrader head on a spindle or a shaft.

In one embodiment, the abrader head may be approximately 12 inches long and 4 inches in diameter. When the shaft rotates the abrader head elements impinge on the surface to be cleaned. Rotation of the shaft may be, but is not limited to, in the range of 2000 to 4000 rpm, as measured at the spindle. Various interchangeable abraders may be affixed to the spindle. 3MTM abrader head with tungsten carbide shot attached to flexible wear resistant flaps that may be mounted to the 12-inch-long spindles. Wire or synthetic brushes, star cutters and a variety of other mechanical cleaning head technologies may be adapted. The shroud serves to prevent the egress of debris or contamination during the cleaning process. A vacuum hose maybe attached to the shroud, with the hose running from the shroud to the vacuum source 1 that is equipped with filtration, such as a HEPA (High Efficiency Particulate Air). The shroud hose maybe the same or different than the hose in communication with the vacuum source 1. As the abrader cleans, the shrouded vacuum captures all the particles, dust, and debris generated during the cleaning process. In one embodiment, the vacuum hose may be a dual lumen design with one lumen for vacuum source 1 of the apparatus 100 and the other for shroud vacuum, in order to provide contaminant/debris isolation. In other embodiments, the vacuum hose may be a primary hose trunk that divides into two or more secondary vacuum hoses for debris collection.

The surface processing apparatus may be powered with a motor to turn the spindle at the desired speed. The pneumatic, electric, or hydraulic motors or other suitable power sources may be used, in various embodiments. Furthermore, motor operation may be remote controlled and driven at variable speeds. A human operator typically controls the motor and related parameters; however, control may be automated via a processor or other mechanism. Such as guidewires, tethers, tracks or other external guiding elements.

In the embodiment, the drive motor of the abrader transfers power to the abrader spindle via two pulleys and a belt. Further, other transmission drive assemblies known in the art may also be used. The shroud and tool ride on the surface on one or more wheels or sliding assemblies to reduce drag or friction as the surface processing apparatus moves along the surface S. The assembly may be a spherical roller. The assembly in combination with seal perimeter of the apparatus 100 may defines a stable operating mode when the apparatus 100 is traversing and adhering to the surface S. Further, other elements may be disposed along the interior or the exterior of the surface processing apparatus that may be used in various embodiments. Such elements may include, but are not limited to, wheels, rollers, tracks, bearings, side elements, combinations thereof and other suitable devices for supporting the surface processing apparatus on a given surface. Additionally, the elements included may incorporate shocks, height controls, rolling sliding seals or other features. The mounting of such element may be used to set the height of the abrading tool or further surface processing device tool relative to the Surface. Alternatively, the standoff distance may be by height adjusting elements in the frame or a lift/lowering assembly. Further, an abrader lift and lowering assembly may be used to retract or deploy the surface processing apparatus relative to the surface. For example, a centrally disposed actuatable lead screw shaft and two shock absorbers or guides form the assembly. An air motor coupled to the lead screw shaft raises and lowers the surface processing apparatus to a desired height from the surface.

The raising and lowering of the surface processing apparatus may be accomplished via alternative methods, such as by electric or hydraulic motors. The operation of the motor to raise and lower the cleaning head to the surface may be performed via remote-control by the human operator. In one embodiment, cameras mounted on the apparatus 100 assist the operator in seeing the obstacles on the surface, thereby informing the operator when the abrader assembly needs to be raised away from the Surface.

The abrader type surface processing apparatus is attached to a frame which is attached to the apparatus 100. The frame is designed to facilitate ease of attachment and removal from the apparatus 100. In one embodiment, the frame is fabricated using a carbon fibre/composite construction. However, other light weight durable construction materials may be used to fabricate the frame. The abrader apparatus elements may be fabricated using lightweight, high strength materials.

In yet another embodiment, an inspection equipment may be mounted on/in or coupled to the apparatus 100, as surface processing apparatus. Thus, remote inspections may be performed with this apparatus 100. Cameras, non-destructive testing probes such as those that can detect Surface thickness, cracks, and imperfections, or equipment to detect radiation, chemical/biological, warfare agents, etc., may be mounted to the apparatus 100 to perform remote inspection capabilities, thereby safeguarding human life. This capability is particularly beneficial in highly radioactive or highly toxic areas, where the reduction of exposure to human life of hazardous reagents or environs would be beneficial.

Additional cleaning apparatus employing alternative cleaning methods can also be attached to the apparatus 100 and these cleaning apparatuses housed within a vacuum charged shroud so as to capture all the debris/waste generated. Grit blasting, water blasting, ice pellet blasting, etc. are just a few cleaning methods that may be attached to the apparatus 100 . In these cleaning methods, the vacuum cleaning operation captures both the primary waste (i.e., whatever is being removed from the Surface) and the secondary waste (i.e., whatever media or agent is used to perform the cleaning, such as the grit, water, or ice).

In another embodiment of the apparatus 100 , remote-controlled cameras, testing probes and/or survey equipment can also be attached to the apparatus 100 . Thus, the apparatus 100 may be used to gather information, perform testing and/or provide visual display, all remotely. Signals for remote control of the apparatus 100 and the data or information collected by the apparatus 100 may be conveyed via cable or radio waves or another method to data collection or video screens located remote from the apparatus 100 .

Such fully remote capabilities allow the apparatus 100 to perform cleaning and/or data collection, whereby the human operator may be in a fully safe environment, while the apparatus 100 travels in hazardous or dangerous environments. This remote cleaning and/or remote data collection and testing capability is a highly advantageous application of the apparatus 100 .

In accordance with present invention that favours rolling seal contact over sliding seal contact, an alternative configuration for the seal assembly 1a is possible without departing from the scope of the present invention where a plurality of individual seal elements may be arranged in an overlapping sealing configuration. One aspect of the invention contemplates using a plurality of individual seal elements to form the seal assembly 1a having a seal perimeter that can range over any two-dimensional substantially closed shape. Thus, the shape of the seals boundary may be polygonal, arcuate, combinations thereof or any other suitable shape that facilitates substantially rolling contact with the surface being traversed. Suitable elements for forming the seal assembly 1a typically incorporate a compliant resilient coating or layer and, more specifically, include but are not limited to rollers, tracks, spherical elements, bead arrays, and other Suitable elements capable of locomoting and maintaining a vacuum seal.

Although in one embodiment, all of the elements can roll while maintaining a vacuum seal, in other embodiments of the invention it may be desirable for one or more portions of the seal to slide relative to the surface. Thus, in various embodiments some of the elements may be fixed or designed to slide relative to the surface, while other elements maintain rolling contact with the surface. In some embodiments, portions of the seal may drag, and wear as other seal elements roll along the surface. For example, in a rectangular seal configuration, two sides of the surface traversing apparatus seal may be defined by a pair of parallel oppositely disposed rollers or tracks that maintain Substantially rolling contact with the surface. The other two sides of the seal perimeter can include overlapping strips, wedges or other sections of material that form a curtain or lip seal configuration that slides relative to the Surface. In combination, the seal elements substantially maintain the vacuum as the apparatus 100 traverses a surface, though the sliding elements would be subject to frictional wear. Such elements may be desirable where particularly large obstructions must be accommodated. For example, a device with rolling foam side seal tracks and front and back curtains may be used to traverse large bolt studs extending from the surface, by straddling the studs with the foam tracks.

Details regarding the weight and dimensions can varying based upon the desired application of the locomoting seal-based apparatus 100 . The apparatus 100 should generally be as light as possible, to reduce the energy required to power the drive motors and to reduce the vacuum, both flow and Suction, necessary to properly hold the apparatus 100 to the surface being traversed. In one embodiment the weight of the apparatus 100 is under 50 pounds (e.g. approx.., 23 Kilos). In such embodiment, the climber apparatus 100 dimensions are approximately 20 inches wide by 20 inches long by 8inches in height. The overall weight and dimensions of the apparatus 100, including vacuum source 1, power source, accessories, and on-board cleaning/non-destructive testing/robotic arm capabilities should also be as light as possible, to facilitate portability and ease of mobilization/demobilization. Naturally, the apparatus 100 should be sized such that the amount of vacuum and related force required to keep the apparatus 100 adhered to the surface, with Sufficient margin to accommodate anticipated transient leakage due to relatively large or commonly anticipated, obstructions and Surface discontinuities (for example, Surface mounted piping and conduits), is minimally influenced by the steepness, orientation, roughness, and material of the Surface to be traversed. Additional vacuum margin may be required in particular applications, for example if the Surface is semi porous, if there are occasional perforations or apertures in the Surface, etc. to ensure the system maintains adhesion to the Surface. The anticipated obstructions and surface discontinuities, however, can also influence the thickness of the selected sealing material, as will be apparent to those skilled in the art.

In one embodiment, the sealing material may be R1800-FX closed cell foam. Various embodiments of the apparatus 100 may be powered by a multiplicity of suitable power supply devices or methods. Power is used to drive the motors that drive the apparatus 100 across a given Surface. That power source will depend on the type of motor used. Electric, pneumatic, hydraulic power, etc., are all feasible alternatives. In one embodiment, pneumatic power is selected for its superior torque to weight ratio.

Pneumatic solenoids can also be used to control the airflow to the motors; hence, the only power necessary is pneumatic. For additional onboard capabilities, such as a video camera mounted on the apparatus 100, cleaning tools, NDT (non-destructive testing) instrumentation, robotic arms, etc., power is also required. For video, electric power is the most sensible. For cleaning tools, pneumatic is a likely power source, if pneumatic is used to power the apparatus 100. For NDT instrumentation, electric power is a suitable power source. The same is true for embodiments of the apparatus 100 employing robotic arms. Regardless of the type of power used or the array of power sources, the power may be conveyed to the climber from a source located Substantially on the ground via conduit hard wire, or by radio, infrared, light, etc. Determining the necessary vacuum force required within the source 1 is defined, at least in part, by the enclosed area of the locomoting seal and the seal with the Surface, and may be determined readily by one of ordinary skill in the art. More particularly, this determination of the required vacuum is a function the weight of the apparatus 100 and the height to which it will climb while adhering to a given surface. In various embodiments the vacuum achieved by the apparatus 100 ranges from about 3.5 to about 6 inches of Hg. Preferably, the seal and vacuum assembly achieve a vacuum in the range from about 2 to about 7 inches of Hg, such as, for example, about 2.5 to about 6.5 inches of Hg, about 3 to about 6 inches of Hg, about 3.5 to about 6 inches of Hg, about 4 to about 5.5 inches of Hg, or about 4.5 to about 5 inches of Hg. Any materials used in conventional construction and manufacture of robotic devices are suitable for use in various embodiments of the apparatus 100 , subject to the environmental conditions of the application. In one embodiment, ABS plastic is used to make portions of the apparatus 100. Such as the housing or frame. In other embodiments, Suitable metals, wood, alloys, or composite materials may be used to fabricate parts of the apparatus 100.

In one embodiment, the roller shafts include aluminium and/or carbon fiber. The rollers and side-tracks are relatively soft, compliant, and resilient material. This resilient material can include, but is not limited to, closed cell foams, Neoprene, open cell foams with rubber coating, and combinations thereof. Alternatively, closed cell foam, such as four-pound expanded sponge rubber vinyl nitrile may be used. Track and roller materials may also be composites of these materials and other materials. Various materials may be used to provide improved surface obstacle negotiation and turning capabilities, when compared to other materials.

In one embodiment, open cell foam may be coated with a synthetic rubber coating less than about 6 mils thick. The coating prevents the flow of air through the open cell foam rollers/tracks. Coated open cell foam can provide improved obstacle negotiation performance, while closed cell foam can provide improved turning. Additionally, virtually any resilient/flexible material that does not readily allow air to pass through it may be used as a coating for various parts of the apparatus 100 and the seal.

In alternative embodiments, the seal may be unpowered and used just for adherence, with additional tracks, wheels, rollers, grippers, etc. used to propel the apparatus 100 across the surface S. Specifically, the seal is made up of rolling elements that are arranged in a substantially diamond shaped configuration. The rolling elements are not powered and do not provide the driving force in such an embodiment. A motor assembly is used to actively drive one or more axles X, X. Tracks and/or rollers may be mounted on the axles X, X in order to move the apparatus 100 across a surface. In some embodiments, a second motor may be included. Thus, the apparatus 100 can locomote across a surface, while the seal elements (80) move and passively maintain the required vacuum seal. The motor (83) or other suitable drive system drives the overall apparatus 100 .

Another embodiment of a surface traversing apparatus with a passive or unpowered seal may include the use of cantilevered direct drive wheels. In such an embodiment, the wheels may be spaced from the side-track such that they do not interfere with the sealing action of the side-track by holding the apparatus off the surface being traversed. Motors or belts can directly drive these wheels while the rolling or sliding seal portions remain unpowered. Still further, in other embodiments, the apparatus 100 may be pulled, pushed, or otherwise driven by an auxiliary powered driver or prime mover, for example, in the manner of a multi-car train. Other embodiments include devices with an inner seal with at least a portion in rolling contact and an outer seal having sliding contact; devices having all rollers; devices having all tracks; and combinations and hybrid versions thereof as desirable for a given surface. It will therefore be seen that the foregoing represents a versatile and convenient approach to the design of Surface traversing devices.

While specific language has been used to describe the present invention, any limitations arising on account thereto, are not intended. As would be apparent to a person in the art, various working modifications may be made to the apparatus system, and method to implement the inventive concept as taught herein. The drawings and the foregoing description give examples of embodiments. Those skilled in the art will appreciate that one or more of the described elements may well be combined into a single functional element. Alternatively, certain elements may be split into multiple functional elements. Elements from one embodiment may be added to another embodiment.
,CLAIMS:1. A self-propelled surface-adhering apparatus (100) for traversing along a surface (S), the apparatus comprising:
a housing;
a vacuum source (1) disposed on the housing and adapted to generate a vacuum pressure, wherein the vacuum pressure creates a resultant vacuum force in a space between a bottom surface of the housing and the surface (S) to keep the housing in contact with the surface (S); and
a seal assembly (1a) adapted to seal the interface between the bottom surface of the housing and the surface (S) while traversing the surface (S).

2. The apparatus (100) as claimed in claim 1, wherein the seal assembly (1a) comprising:
a locomotive seal adapted to provide suction adhesion through which the housing adheres to the surface (S); and
a flexible rolling headway seal adapted to provide uninterrupted locomotion when an obstacle is encountered on the surface (S).

3. The apparatus (100) as claimed in claim 2, wherein the vacuum source 1 comprising a top plate adapted to connect the locomotive seal with the flexible rolling headway seal during the transversal on the surface (S).

4. The apparatus (100) as claimed in claim 1, comprising an attachment structure adapted to connect a cleaning unit with the housing, wherein the cleaning unit is adapted to clean the surface (S).

5. The apparatus (100) as claimed in claim 1, further comprising a control system (18) adapted to:
receive at least one user input indicative of operating components of the apparatus ; and
transmit an instruction to operate the components based on the at least one user input.

6. The apparatus (100) as claimed in claim 5, wherein the control system (18) comprising at least one of a handheld remote, a Personal Digital Assistant, a separate pendant controller, a personal computer, and a laptop.

7. The apparatus (100) as claimed in claim 1, comprising an optical safety tether system (12) connected to the housing and adapted to support the housing when the housing is disengaged from the surface (S).

8. The apparatus (100) as claimed in claim 1, comprising a connecting conduit adapted to connect the vacuum source (1) with the housing for establishing the fluid communication between the vacuum source (1) and the housing.

9. A self-propelled surface-adhering apparatus (100) for traversing along a surface (S), the apparatus comprising:
a housing;
a jet propeller in a fluid communication with the housing and adapted to generate a thrust in a direction opposite to the surface S so as create an attraction force in an interface between the bottom surface of the housing and the surface S to keep the housing in contact with the surface S; and
a seal assembly (1a) adapted to seal the interface between the bottom surface of the housing and the surface (S) while traversing the surface (S) based on the thrust generated from the jet propeller.

10. The apparatus (100) as claimed in claim 9, comprising an attachment structure adapted to connect a cleaning unit with the housing, wherein the cleaning unit is adapted to clean the surface (S).