Device for moving through granular medium

Abstract

A device (1) for moving through a granular medium, the device comprising: a body (2); a rotatable member (4A, 4B) for rotational movement about an axis of rotation (6) relative to the body, wherein the rotatable member is exposed and arranged to cause agitation of an adjacent portion of the granular medium in which the device is to be placed; an electric motor configured to cause the rotational movement of the rotatable member; and a protrusion (8) arranged to extend from the body and limit rotational movement of the body about the axis of rotation relative to the granular medium when the electric motor causes the rotational movement of the rotatable member relative to the granular medium.

Description

Technical Field

[0001] The present invention relates to an apparatus for moving through a granular medium and a method for moving the apparatus through a granular medium. Background Technology

[0002] Few devices are designed to move through granular media (such as grains of rice or sand). However, devices designed to move through granular media can find many practical applications, such as in sensing or even mapping environmental conditions through granular media.

[0003] The few existing devices in this art generally achieve propulsion through granular media by translating particles upon the application of a normal force (e.g., by the flapping of blades) or by the lift generated when a horizontally towed object passes through the granular medium. Such devices require a large amount of force to achieve propulsion, resulting in high stress on the device body and effectively limiting operation to shallow or only semi-submerged states, as the force required to translate the particles typically increases with depth in the granular medium. These devices are generally inefficient, making it difficult to achieve the basic translational motion required for such devices.

[0004] WO 2019 / 086870A1 discloses an example apparatus and a method for propelling an object through a granular medium. This propulsion is achieved by rotating one or more rotatable portions for sufficiently agitating the granular medium, causing localized liquefaction of the granular medium (i.e., forming a liquid-like phase).

[0005] It is against this backdrop that this disclosure was designed. Summary of the Invention

[0006] According to one aspect of this disclosure, an apparatus for moving a particulate medium is provided. The apparatus includes: a body; and a rotatable member for rotational movement about a rotation axis relative to the body. The rotatable member is exposed and arranged to cause agitation of adjacent portions of the particulate medium to be placed into the apparatus. The apparatus further includes a motor configured to rotate the rotatable member. The rotational movement of the rotatable member relative to the particulate medium moves the apparatus through the particulate medium.

[0007] The device may include protrusions arranged to extend from the body. The protrusions constrain (i.e., prevent and / or limit, e.g., substantially prevent) rotational movement of the body about a rotation axis relative to the granular medium, for example, when a motor causes a rotatable component to rotate relative to the granular medium. When a motor causes a rotatable component to rotate relative to the granular medium, the protrusions may prevent the device from rotating about the rotation axis.

[0008] Advantageously, the device can therefore move in a direction having at least a component substantially transverse to the axis of rotation, which is more efficient than if the device had no protrusion. It should be understood that the protrusion effectively increases the resistance to rotational movement of the body relative to the granular medium by increasing the energy required for the combination of the protrusion and the body to rotate about the axis of rotation in the granular medium. By reducing, constraining, or even completely eliminating the rotational movement of the body relative to the granular medium about the axis of rotation, the rotational movement of the rotatable component relative to the granular medium about the axis of rotation can be increased compared to a device without the protrusion. In this way, it should be understood that the device can be made to move through the granular medium more efficiently and / or more effectively.

[0009] It should be understood that device movement through the granular medium means that the device moves in a direction having at least a component that is substantially transverse to the axis of rotation.

[0010] In some instances, the device is moved through the particulate medium by sufficiently agitating the particulate medium to achieve localized liquefaction of the particulate medium in adjacent portions. In other words, the particulate medium can be considered to behave at least partially like a liquid in the adjacent portions and to be able to “flow” around the device.

[0011] Typically, the protrusion can extend sufficiently from the body of the device to be positioned away from the adjacent portion of the particulate medium. In other words, the protrusion can extend into the region of the particulate medium where, even if not completely eliminated, the degree of local liquefaction of the particulate medium is reduced compared to its adjacent portion.

[0012] Protrusions typically extend or project in a direction having a component perpendicular to the (outer) surface of the body. Protrusions can extend or project in a direction having a component perpendicular to the outer surface of the rotatable component. Protrusions can extend or project in a direction having a component perpendicular to the surface of the device. For example, when the body is within a granular medium, the protrusion can extend into the granular medium. Therefore, the protrusion advantageously provides resistance to rotation of the body relative to the granular medium, thereby allowing the body to move more efficiently through the granular medium.

[0013] The protrusion may be formed integrally with the body. In other instances, the protrusion may be formed separately from the body and attached to the body during device assembly. In some instances, the protrusion may be attached to and / or removed from the body. The device may include multiple protrusions. Thus, one or more protrusions may be selected and / or configured, for example, according to the specific granular medium in which the device will be placed. This allows for customization of the device, enabling it to move effectively through different types of granular media or under different environmental conditions.

[0014] The protrusion may sometimes be referred to as the tail or anchor. In other words, the protrusion can be considered as any structural feature of the device that extends from the body into the granular medium and prevents the body from rotating relative to the granular medium about its axis of rotation.

[0015] The protrusion may be tail-like. The protrusion may be limb-like. The protrusion may include a column. The protrusion may include a ridge. The protrusion may include a bump. The protrusion may include a fin. Preferably, the protrusion is elongated. In the context of a protrusion, the term "elongated" should be understood to mean that the length of the protrusion in the direction along the protrusion away from the body is greater than the size of the protrusion in any other orthogonal direction, such as depth or width. The protrusion may include a spine. It should be understood that the rotatable component is considered separate from the protrusion, and therefore the protrusion cannot be considered to be provided by the rotatable component.

[0016] In some instances, the device includes multiple rotatable components, such as two rotatable components, each rotatable component for rotational movement relative to the body about the same or separate axes of rotation, and each rotatable component is arranged to cause agitation of one or more adjacent portions of the particulate medium. In other words, in some instances, the device may include one or more rotatable components. The one or more rotatable components may be controlled jointly or independently.

[0017] The device is preferably configured such that, when the device moves through the granular medium, the frictional force generated between the granular medium and the protrusion is less than the frictional force generated between the granular medium and the body. The device is preferably configured such that, when the device moves through the granular medium, the frictional force generated between the granular medium and the protrusion is less than the frictional force generated between the granular medium and said or each of the rotatable components. In other words, the protrusion does not generate significant resistance that hinders the movement of the device through the granular medium.

[0018] Preferably, the surface characteristics of the protrusion result in a lower coefficient of friction for the protrusion than for the body. Therefore, the protrusion does not generate significant resistance that impedes the movement of the device through the granular medium. It should be understood that the term "surface characteristics" includes surface properties, such as the surface microstructure or other properties, that affect the friction between the protrusion and the surrounding granular medium as the device moves through it.

[0019] The projected area of ​​the protrusion in a plane transverse to the direction of movement of the device can be smaller than the projected area of ​​the device excluding the protrusion. Therefore, the protrusion typically does not cause significant resistance as the device moves through the granular medium. The projected area of ​​the protrusion can be less than 90% of the projected area of ​​the device excluding the protrusion. The projected area of ​​the protrusion can be less than 50% of the projected area of ​​the device excluding the protrusion. The projected area of ​​the protrusion can be less than 25% of the projected area of ​​the device excluding the protrusion. The projected area of ​​the protrusion can be greater than 10% of the projected area of ​​the device excluding the protrusion.

[0020] The device can move through the granular medium in a direction having at least a component perpendicular to the vertical direction (e.g., perpendicular to the direction of gravity). Therefore, the device can be manipulated laterally within the granular medium. The device can also move through the granular medium in a direction having at least a component parallel to the vertical direction (e.g., parallel to the direction of gravity, or optionally antiparallel to the direction of gravity). Therefore, the device can be manipulated to rise or fall within the granular medium. While providing a device with protrusions has the advantage of reducing the extent to which the device can rotate relative to the granular medium about (e.g., one or more) axes of rotation of a rotatable component, the device can also be configured to rotate relative to the granular medium about one or more other axes of rotation. The device can be configured to travel within the granular medium. For example, the device can be configured to travel to a predetermined position within the granular medium. The device can be configured to travel to a randomly selected position within the granular medium. The device can be configured to travel within the granular medium and subsequently determine its position within the granular medium. The device can be configured to travel along a predetermined path within the granular medium. The device can be configured to travel along a randomly generated path within a granular medium. The path can be a straight line. The path can include one or more segments with multiple different path directions.

[0021] The device can move through the granular medium in a direction having at least one rotation axis perpendicular to (e.g., one or more) the rotatable components and a component perpendicular to the vertical direction when (e.g., one or more) the rotation axis of the rotatable components is horizontal. The device can also move through the granular medium in a direction having at least one rotation axis inclined relative to (e.g., one or more) the rotatable components and a component perpendicular to the vertical direction when (e.g., one or more) the rotation axis of the rotatable components is horizontal. The device can also move through the granular medium in a direction having at least one rotation axis perpendicular to (e.g., one or more) the rotatable components and a component perpendicular to the horizontal direction when (e.g., one or more) the rotation axis of the rotatable components is vertical. The device can also move through the granular medium in a direction having at least one rotation axis inclined relative to (e.g., one or more) the rotatable components and a component perpendicular to the horizontal direction when (e.g., one or more) the rotation axis of the rotatable components is vertical.

[0022] The protrusion can achieve a gradual rotational motion relative to the rotation axis while the device moves through the granular medium in a direction transverse to the rotation axis. Therefore, the direction of movement of the device can be changed within a plane defined transverse to the rotation axis.

[0023] The body can move through the granular medium in a direction having at least a component perpendicular to the vertical direction (e.g., perpendicular to the direction of gravity). The body can also move through the granular medium in a direction having at least a component parallel to the vertical direction (e.g., parallel to the direction of gravity, or optionally antiparallel to the direction of gravity). While providing a device with protrusions has the advantage of limiting the degree of rotation of the body relative to the granular medium about (e.g., one or more) axes of rotation of the rotatable components, the body can also rotate relative to the granular medium about other axes of rotation. The body can be configured to travel within the granular medium. For example, the body can be configured to travel to a known position within the granular medium. The body can be configured to travel to a randomly selected position within the granular medium. The body can be configured to travel to a predetermined position within the granular medium. The body can be configured to travel along a predetermined path within the granular medium. The body can be configured to travel along a randomly generated path within the granular medium.

[0024] In the case where the device (e.g., the body of the device) includes multiple rotatable components, each rotatable component can be used to rotate about a corresponding axis of rotation. For example, the device (e.g., the body of the device) may include two rotatable components, three rotatable components, or four rotatable components. If present, each rotatable component is exposed and can be arranged to cause agitation of the particulate medium (e.g., agitation of adjacent portions of the particulate medium placed into the device). In the case of multiple rotatable components, the device (e.g., the body of the device) may include multiple motors, each of which can be used to rotate one of the multiple rotatable components independently of the other rotatable components. The other rotatable component may be rotatably coupled to the body.

[0025] When the device (e.g., the body of the device) moves through the granular medium, the frictional force generated between the granular medium and the protrusions can be less than the total frictional force generated between the granular medium and the body, and between the granular medium and each of the rotatable components. Therefore, adding protrusions does not significantly increase the resistance encountered by the device as it moves through the granular medium.

[0026] The rotation of the said or each rotatable component may include at least one complete rotation of the rotatable component (e.g., a 360° rotation); however, this is not the case, and the rotation of the said or each rotatable component may include one or more incomplete rotations of the rotatable component (e.g., less than 360° rotation). The rotation of the said or each rotatable component may include rotation at a constant angular velocity. The rotation of the said or each rotatable component may include rotation at a variable or different angular velocity. In the case where the device includes multiple rotatable components, the rotational speed of each of the multiple rotatable components may vary independently in one or two rotational directions.

[0027] The outer surface area of ​​the protrusion can be smaller than the outer surface area of ​​the main body. The outer surface area of ​​the protrusion can be smaller than (e.g., one or more) the outer surface area of ​​the rotatable components or the combined outer surface area of ​​each rotatable component. Therefore, typically, the protrusion has only a relatively small effect on the resistance of the device during movement through the granular medium.

[0028] The outer surface area of ​​the protrusion may account for less than 15% of the total outer surface area of ​​the body, the protrusion, and said (or each) rotatable components together (e.g., in aggregate). Setting the protrusion to account for less than 15% of the total outer surface area of ​​the body, the protrusion, and (e.g., one or more) rotatable components together (e.g., in aggregate) gives the protrusion the advantage of providing resistance to prevent the body from rotating about the axis of rotation (thus allowing the body to travel effectively through the granular medium), while limiting the protrusion from increasing the overall frictional force on the device during travel. This results in a device that requires less energy to move through the granular medium than in other cases.

[0029] The outer surface area of ​​the protrusion may account for less than 10% of the total outer surface area of ​​the body, the protrusion, and (e.g., one or more) rotatable components combined. The outer surface area of ​​the protrusion may account for less than 5% of the total outer surface area of ​​the body, the protrusion, and (e.g., one or more) rotatable components combined. For example, the outer surface area of ​​the protrusion may be less than 15% of the total outer surface area of ​​the body, the protrusion, and (e.g., one or more) rotatable components combined. The outer surface area of ​​the protrusion may account for at least 1% of the total outer surface area of ​​the body, the protrusion, and (e.g., one or more) rotatable components combined. Therefore, the size of the protrusion may be sufficient to provide resistance to rotation of the body about a rotation axis during (e.g., one or more) rotatable components' movement relative to the granular medium.

[0030] The protrusion can be elongated. As described above, this should be understood as the length of the protrusion being greater than its depth or width. In a direction aligned with the length of the protrusion, the length of the protrusion can be at least 20% of the combined length of the protrusion and the body. It has been found that setting the protrusion to a length of at least 20% of the combined length of the protrusion and the body is sufficient to help prevent the body from rotating about the axis of rotation. The length of the protrusion can be at least 40% of the combined length of the protrusion and the body. The length of the protrusion can be at least 50% of the combined length of the protrusion and the body. Preferably, the length of the protrusion does not exceed 200% of the length of the maximum dimension of the body. It should be understood that excessively long protrusions may impede the maneuverability of the device in granular media without significantly (or even any) increasing the effectiveness of the protrusion in preventing the rotation of the body relative to the axis of rotation.

[0031] (For example, at least one of the above) The maximum dimension of the rotatable component in the direction transverse to the rotation axis may be greater than 1 cm. (For example, at least one of the above) The maximum dimension of the rotatable component in the direction transverse to the rotation axis may be greater than 5 cm. (For example, at least one of the above) The maximum dimension of the rotatable component in the direction transverse to the rotation axis may be less than 5 m. (For example, at least one of the above) The maximum dimension of the rotatable component in the direction transverse to the rotation axis may be less than 1 m.

[0032] Preferably, the torque generated by the protrusion is substantially equal to the torque generated by the friction between the rotatable component and the granular medium when the rotatable component rotates. In other words, the protrusion is capable of generating a maximum reaction torque about the axis of rotation that is greater than the maximum torque generated by the rotatable component about the axis of rotation due to friction between the rotatable component and the granular medium.

[0033] In some embodiments, the device may include a tether. It should be understood that the tether connects the body to a structure located outside the granular medium. This provides the advantage that, in the event of a malfunction or error, such as preventing errors in the movement of (e.g., one or more) rotatable parts, the user can easily remove the body. Furthermore, the tether allows the transmission of electrical signals, such as power, data, and control signals, between the device body within the granular medium and the structure located outside the granular medium. Typically, the tether can be flexible. The tether can be flexible enough not to interfere with the manipulation of the device within the granular medium. Conversely, the protrusion can be substantially rigid. In some instances, the protrusion can be elastically deformable.

[0034] In some embodiments, the protrusion may include a connector for attaching the protrusion to a tether. In this way, the tether can be attached to the body via the protrusion. The connector for attaching the protrusion to the tether provides a convenient way to securely attach the device to such a tether. Alternatively, although not preferred, the protrusion may be the tether itself. In some embodiments, the body may include a connector for attaching the body to the tether. The device may be detachable from the tether.

[0035] In other instances, the device may not have a tether.

[0036] The device may further include one or more agitating portions. The one or more agitating portions may be provided with (e.g., one or more) rotatable members for agitating adjacent portions of the granular medium. The one or more agitating portions may be configured as (e.g., at least one of the one or more) a portion of the rotatable member, or may be configured to be separate from (e.g., at least one of the one or more) the rotatable member. Typically, the one or more agitating portions are arranged to rotate with (e.g., at least one of the one or more) the rotatable member. (e.g., at least one of the one or more) the rotatable member may be an agitating portion.

[0037] It should be understood that the agitation section is any part of the device that has the properties described herein and typically causes movement of the granular material when (e.g., at least one of the rotatable components) is moved and when the device is immersed in the granular medium.

[0038] The one or more agitating portions can be multiple agitating portions. Each of the multiple agitating portions can be separately mounted from (e.g., one or more) rotatable components. The multiple agitating portions can be distributed around (e.g., one or more) the outer periphery of the rotatable component. The multiple agitating portions can be substantially distributed throughout (e.g., one or more) the entire outer periphery of the rotatable component. The outer periphery can be (e.g., one or more) the circumference of the rotatable component, wherein (e.g., one or more) the rotatable component has a circular cross-section.

[0039] At a first rotational position of (e.g., one or more) rotatable components relative to the body, the device can be configured such that (e.g., one or more) a first portion of the rotatable component and the one or more agitating portions induce a first degree of agitation in a first region of the granular medium. At the first rotational position of (e.g., one or more) rotatable components relative to the body, the device can be configured such that (e.g., one or more) a second portion of the rotatable component and the one or more agitating portions induce a second degree of agitation in a second region of the granular medium. At the second rotational position of (e.g., one or more) rotatable components relative to the body, the device can be configured such that (e.g., one or more) a first portion of the rotatable component and the one or more agitating portions induce a second degree of agitation in a second region of the granular medium. Thus, (e.g., one or more) the same portion of the rotatable component and the one or more agitating portions can induce different degrees of agitation in different rotational positions. Advantageously, this allows the device to use different degrees of agitation at different rotational positions to move the device through the granular medium. In other words, by providing a second degree of agitation in the second region of the granular medium when it is in the first rotating position and the second rotating position, the agitation in the second region of the granular medium can be maintained at the second degree so that the device can move.

[0040] This is considered novel in itself, and therefore, according to another aspect of this disclosure, an apparatus for moving through a particulate medium is provided. The apparatus includes: a body; (e.g., one or more) rotatable members for rotational movement about a rotational axis, the (e.g., one or more) rotatable members being exposed and arranged to cause agitation of adjacent portions of the particulate medium to be placed into the apparatus; a motor configured to cause the (e.g., one or more) rotatable members to rotate; and one or more agitation portions having the (e.g., one or more) rotatable members disposed thereon for causing agitation of adjacent portions of the particulate medium. At a first rotational position of the (e.g., one or more) rotatable members relative to the body (i.e., the body of the apparatus), the apparatus is configured such that (e.g., one or more) first portions of the rotatable members and the one or more agitation portions cause a first degree of agitation in a first region of the particulate medium, and (e.g., one or more) second portions of the rotatable members and the one or more agitation portions cause a second degree of agitation in a second region of the particulate medium. At a second rotational position relative to the body (i.e., the body of the device) of one or more rotatable components, the device preferably causes a second degree of agitation in a second region of the granular medium by a first portion of one or more rotatable components and the one or more agitating portions.

[0041] Subsequently, at a first rotational position relative to the main body (i.e., the main body of the device) of one or more rotatable components, the device can be configured such that a first portion of one or more rotatable components and the one or more agitating portions induce a second degree of agitation in a first region of the granular medium. Therefore, the region in which the second degree of agitation is maintained can be changed from the second region, for example, to the first region. In this way, the device can be configured to move in different directions.

[0042] The first degree of agitation is usually different from the second degree of agitation. The first rotation position is usually different from the second rotation position.

[0043] Advantageously, by providing an apparatus configured such that varying degrees of agitation of the granular medium can be caused by the same portion of (e.g., one or more) rotatable components (and the one or more agitating portions) at different rotational positions, the movement of the apparatus within the granular medium can be more easily controlled than if the apparatus were not configured in this way. For example, this can allow the apparatus to rotate and / or climb (e.g., move in a direction with at least an upward component, against gravity) and / or drill within the granular medium (e.g., move in a direction with at least a downward component, along gravity).

[0044] The one or more agitating portions are movable between a first position and a second position. The first position can extend further than the second position. The first position extends further from the outer surface of the rotatable component (e.g., at least one of the one or more) than the second position. The first position can be referred to as the maximum extension position. The second position can be referred to as the maximum retraction position. Advantageously, providing one or more agitating portions movable between the first and second positions makes it easy to achieve a range of degrees of agitation of the granular medium when moving (e.g., one or more) the rotatable component. Therefore, the operability of the device can be improved.

[0045] Typically, when the one or more agitating portions are in a first position (e.g., the maximum extension position), the agitation of the particulate medium caused by the one or more agitating portions is greater than when the one or more agitating portions are in a second position (e.g., the maximum retraction position). Typically, when the one or more agitating portions are in a second position (e.g., the maximum retraction position), the agitation of the particulate medium caused by the one or more agitating portions is less than when the one or more agitating portions are in a first position (e.g., the maximum extension position).

[0046] In some instances, the agitating portion may be configured to extend beyond (e.g., at least one of the one or more) the outer surface of the rotatable component.

[0047] In the maximum retracted position, the one or more agitating portions may not extend beyond (e.g., at least one of the one or more) the outer surface of the rotatable component. In the maximum retracted position, the one or more agitating portions may be substantially flush with (e.g., at least one of the one or more) the outer surface of the rotatable component. The one or more agitating portions may surround (e.g., one or more) the rotatable component. For example, the one or more agitating portions may surround (e.g., at least one of the one or more) the rotatable component when (e.g., extended to the maximum or at least partially). Preferably, the agitating portions are movable through a series (e.g., consecutive) (e.g., multiple) positions between the maximum extended position and the maximum retracted position.

[0048] Preferably, the one or more agitating portions are movable relative to the outer surface of the rotatable member (e.g., at least one of the one or more) in a direction having at least a component orthogonal to the outer surface of the rotatable member (e.g., at least one of the one or more). Therefore, this provides an apparatus in which the degree of agitation of the particulate medium can be adjusted. Generally, the movement of the one or more agitating portions relative to the surface of the rotatable member (e.g., at least one of the one or more) can change the degree of agitation of the particulate medium (i.e., when moving the one or each rotatable member relative to the particulate medium). For example, the movement of the one or more agitating portions relative to the surface of the rotatable member (e.g., at least one of the one or more) can change the degree of agitation of portions of the particulate medium adjacent to the agitating portions or adjacent to the rotatable members (e.g., at least one of the one or more) whose agitation is caused by the movement of the (exposed) (e.g., one or more) rotatable members relative to the particulate medium.

[0049] Advantageously, by providing an agitation section that can move between different positions (e.g., between a maximum extension position and a maximum retraction position) to cause different degrees of agitation of the granular medium (i.e., when (e.g., one or more) rotatable components move relative to the granular medium), the movement of the device through the granular medium can be controlled to a greater extent compared to a situation where the agitation section cannot be moved in this way. In particular, this provides the user with the option to select the degree of agitation of the granular medium according to how the user desires the device to move. For example, the user can select the position of the agitation section that causes a greater degree of agitation of the granular medium when the device is on the surface of the granular medium (i.e., when (e.g., one or more) rotatable components move relative to the granular medium), thereby causing the device to drill into the granular medium (i.e., from a position on the surface of the granular medium to a position immersed in the granular medium). Alternatively, for example, the user can select the position of the agitation section, which minimizes the agitation of the granular medium when the device is already immersed in it (i.e., when (e.g., one or more) rotatable components move relative to the granular medium), in order to reduce the frictional resistance of the device moving through the granular medium, and thereby reduce the amount of energy required to move the device at a given speed and / or in a given direction.

[0050] The device can be configured to determine an appropriate position of the agitating portion to induce an appropriate degree of agitation in the granular medium (i.e., when (e.g., one or more) rotatable components move relative to the granular medium). The device can be configured to achieve the determined position of the agitating portion based on this determination. For example, the device can be configured to adjust the position of the agitating portion in response to receiving a signal indicating that the device (or body) is on the surface of the granular medium, or in response to a signal indicating that the device (or body) is (at least partially) immersed in the granular medium. The device can be configured to adjust the position of the agitating portion in response to receiving a pressure-related signal, such as the pressure within the granular medium.

[0051] The device may further include a cam for engaging at least one of the one or more agitating portions during rotation of the rotatable component and the one or more agitating portions. The cam may be mounted to rotate independently of the rotatable component. Generally, it should be understood that the cam defines a non-circular annular path along which at least one of the one or more agitating portions follows during rotation of the rotatable component. Thus, in a first rotational position, a first portion of the cam will cause the at least one agitating portion to extend from the first portion of the rotating component by a first amount; in a second rotational position, a second portion of the cam will cause the at least one agitating portion, which has already rotated between the first and second rotational positions, to extend from the first portion of the rotating component by a second amount different from the first amount, the second portion being spaced differently from the center of the cam than the first portion of the cam.

[0052] The cam can be connected to at least one of the one or more agitating parts.

[0053] The device may further include a cam motor. The cam motor can be used to cause rotation of a cam (e.g., relative to the body and / or relative to each of the rotatable components and / or relative to the granular medium). Typically, the cam is configured to be rotatably fixed relative to the body when the cam motor is not operated. If present, the cam and cam motor are typically positioned below the outer surface of the (e.g., one or more) rotatable components. The cam may be connected to at least one of the one or more agitating components. Thus, in some embodiments, movement of at least one of the one or more agitating components between a first position and a second position can be controlled by rotation of the cam (i.e., rotation of the cam causes at least one of the one or more agitating components to move between the first and second positions). For example, rotation of the cam can cause movement of at least one of the one or more agitating components. Rotation of the cam can cause extension and / or retraction of at least one of the one or more agitating components. This arrangement of the cam connected to the agitating components allows for convenient adjustment of the degree of agitation caused by the one or more agitating components as the (e.g., one or more) rotatable components move.

[0054] Rotating the cam to the first cam position moves a first region of the one or more agitating parts to a second position and a second region of the one or more agitating parts to the first position. Rotating the cam to the second cam position moves a third region of the one or more agitating parts to a second position and a fourth region of the one or more agitating parts to the first position. Therefore, movement of the cam can move at least one of the one or more agitating parts. The first region of the one or more agitating parts may be the same as the fourth region of the one or more agitating parts. The second region of the one or more agitating parts may be the same as the third region of the one or more agitating parts.

[0055] The device may define one or more (e.g., multiple) orifices through which the one or more agitating portions may extend and / or retract. The outer surface of each or all of the rotatable components may define one or more (e.g., multiple) orifices through which the one or more agitating portions may extend and / or retract. This allows the agitating portions to directly induce agitation of the particulate medium as the rotatable components move. The one or more agitating portions may define (e.g., the outer surface of each or all of the one or more) rotatable components.

[0056] At least one agitating portion can be positioned substantially adjacent to at least one other agitating portion when the agitating portion is in its maximum retracted position, for example, without any gap between them. Each agitating portion can be positioned substantially adjacent to at least one other agitating portion when the agitating portion is in its maximum retracted position, for example, without any gap between them. When a gap is defined between the agitating portions, the gap can be smaller than the average or median maximum size (e.g., diameter) of the particles in the granular medium. When a gap is defined between the agitating portions, the gap can be smaller than the average or median maximum size (e.g., diameter) of the dust particles in the granular medium. For example, the gap can define a distance between adjacent agitating portions that is less than 10 cm, less than 5 cm, less than 1 cm, less than 0.5 cm, less than 1 mm, or less than 0.5 mm. For example, the gap can define a distance between adjacent agitating portions that is at least 0.1 micrometers, or at least 0.5 micrometers, or at least 1 micrometer. Adjacent agitating portions can be configured to slide past each other.

[0057] The outer surface of each of the rotatable components may be (e.g., substantially) smooth, except for the area defining the hole (if provided). The outer surface of each of the rotatable components may be (e.g., substantially) continuous, except for the area defining the hole (if provided). The outer surface of each of the rotatable components may include one or more recesses. The outer surface of each of the rotatable components may include one or more grooves. The outer surface of each of the rotatable components may include one or more pits. The outer surface of each of the rotatable components may include one or more bumps.

[0058] The length of the one or more agitating parts can be greater than 1 mm. The length of the one or more agitating parts can be greater than 5 mm. The length of the one or more agitating parts can be less than 10 cm. The length of the one or more agitating parts can be less than 3 cm.

[0059] The one or more agitating portions may be at least five agitating portions. The one or more agitating portions may be at least ten agitating portions. The one or more agitating portions may be at least fifteen agitating portions. The one or more agitating portions may be less than 10,000 agitating portions. The one or more agitating portions may be distributed substantially around (e.g., at least one of the one or more) the entire outer periphery of the rotatable component.

[0060] The one or more agitating portions can be moved relative to (e.g., at least one of the one or more) the outer surface of a rotatable component to change the degree of agitation of adjacent portions of the granular medium, the agitation of which is caused by (e.g., at least one of the one or more) rotatable component moving relative to the granular medium. The one or more agitating portions can move in a direction having at least a component orthogonal to (e.g., at least one of the one or more) the outer surface of the rotatable component.

[0061] This is considered novel in itself, and therefore, according to another aspect of this disclosure, a device for moving a particulate medium is provided. The device includes: a body; (e.g., one or more) rotatable members for rotational movement about a rotation axis, the (e.g., one or more) rotatable members being externally located and arranged to cause agitation of adjacent portions of the particulate medium to be placed into the device; a motor configured to cause the (e.g., one or more) rotatable members to rotate; and one or more agitating portions having the (e.g., one or more) rotatable members for causing agitation of adjacent portions of the particulate medium. The one or more agitating portions are movable relative to (e.g., at least one of the one or more) outer surface of the rotatable member in a direction having at least a component orthogonal to (e.g., at least one of the one or more) outer surface of the rotatable member to change the degree of agitation of adjacent portions of the particulate medium, the agitation of which is caused as (e.g., at least one of the one or more) rotatable members move relative to the particulate medium.

[0062] Multiple agitating portions may move together relative to the outer surface of a rotatable component (e.g., at least one of the agitating portions). In other words, at least some of the movable agitating portions may extend together or retract together to change the degree of agitation caused by the agitating portions together as the rotatable component moves relative to the granular medium. Generally, when the at least some of the movable agitating portions extend, the degree of agitation caused by the movement of the rotatable component is greater than when the at least some of the agitating portions retract. Therefore, the degree of agitation caused by the rotatable component can be increased or decreased as needed according to the desired operating conditions of the device. The inventors have particularly found that increasing the degree of agitation by extending the one or more agitating portions can help the device penetrate the granular medium from its surface. At least one-quarter of the one or more agitating portions may move together. At least half of the one or more agitating portions may move together. More than half of the one or more agitating portions may move together.

[0063] In some instances, the shape of the cam can move between a first size in which (e.g., one or more) rotatable components and the one or more agitating portions are configured to cause a first degree of agitation and a second size in which (e.g., one or more) rotatable components and the one or more agitating portions are configured to cause a second degree of agitation, the second degree of agitation being greater than the first degree of agitation.

[0064] The apparatus may include a sampling section (e.g., a particle sampling section). The sampling section can be used (e.g., controlled to) selectively capture a sample of the particulate medium for removal from the particulate medium. Therefore, a sample of the particulate medium can be obtained from within the particulate medium using a device for moving through it, for example, for analysis. Previously, sampling of particulate media was not easy, and it was not possible to accurately sample from various locations within the particulate medium. Current techniques involve the use of manual sampling tools that are only suitable for obtaining samples on or near the surface of the particulate medium.

[0065] This is considered novel in itself, and therefore, according to another aspect of this disclosure, an apparatus for sampling granular material from a granular medium is provided. The apparatus includes: a body; (e.g., one or more) rotatable components for rotational movement about a rotational axis, said (e.g., one or more) rotatable components being exposed and arranged to cause agitation of adjacent portions of the granular medium into which it is to be placed; a motor configured to cause the (e.g., one or more) rotatable components to rotate, thereby moving the apparatus through the granular medium; and a sampling section. The sampling section is preferably used to selectively capture a sample from the granular medium for removal from the granular medium.

[0066] It should be understood that the sample is a sample of granular material from a particulate medium. It will be further understood that removal from the particulate medium can be removal from the bulk region of the particulate medium, for example, removal into a device. In other instances, it can be removed from a container holding the particulate medium, for example, by removing the device, or by removing the particulate medium via a conduit that provides fluid communication between an external storage container and the device.

[0067] The device may include one or more sensors. The one or more sensors may include at least one sensor for outputting a signal indicating the position (e.g., depth) of the device within the granular medium. The at least one sensor may be a surface position sensor. The surface position sensor or each surface position sensor is preferably used to record surface position data, such as whether the subject is on the surface of the granular medium and / or the distance between the subject and the surface of the granular medium. In this way, it should be understood that the position signal can be referred to as surface position data. Therefore, the configuration of the device can be controlled based on whether the device is on (or near) the surface of the granular medium.

[0068] The one or more sensors may be multiple sensors of various different types.

[0069] The plurality of sensors may include one or more motion detectors. The one or more motion detectors may include one or more accelerometers. The one or more motion detectors may include one or more gyroscopes. Each or every motion detector is preferably used to record motion data, such as the speed and / or direction of motion and / or acceleration rate of the device. Advantageously, providing one or more motion detectors facilitates the movement of the device within a granular medium. In some embodiments, the one or more motion detectors may be configured to detect motion outside the device, in which case the one or more motion detectors may include one or more cameras.

[0070] The plurality of sensors may include one or more temperature sensors. The plurality of sensors may include one or more cameras. The plurality of sensors may include one or more pressure sensors. The advantage of providing pressure sensors is that this allows the location of the agitation section to be selected based on pressure data related to the (e.g., local) pressure in the granular medium.

[0071] The device may include one or more moisture or humidity sensors. The device may also include one or more (e.g., electronic) radiation sensors. An advantage of providing a device having one or more sensors, including one or more temperature sensors, one or more cameras, and / or one or more pressure sensors, is that the device can thereby provide information about environmental conditions (e.g., temperature, pressure, humidity, etc.) within the particulate medium.

[0072] The device may include a controller. Typically, the controller is used to control the operation of at least one motor of the device. The controller may be provided as part of the device. In other instances, the controller may be separate from the device (e.g., external to the device). The controller may be located remotely from the device. The controller may be used to receive data and / or signals from one or more sensors. The controller may be used to receive surface position data from a surface position sensor. The controller may be used to receive pressure signals from a pressure sensor. The controller may be used to extend or retract the one or more agitating portions. For example, the controller may be used to extend or retract the one or more agitating portions in response to surface position data. The controller may be used to extend or retract the one or more agitating portions in response to pressure data. The controller may include a processor, such as a microprocessor. If present, the processor may communicate electronically with a memory storing instructions configured to operate the device as described herein. The instructions may be referred to as computer-executable program code. It should be understood that in this way, the processor and the memory storing the instructions can be considered as the controller.

[0073] The controller can be configured to select (e.g., automatically select) appropriate positions of the one or more agitating portions such that an appropriate degree of agitation is caused in the granular medium (i.e., when the rotatable components (e.g., one or more) move relative to the granular medium). For example, the controller can be configured to adjust the position of the one or more agitating portions in response to receiving a signal indicating that the device (or body) is on the surface of the granular medium, or in response to a signal indicating that the device (or body) is (at least partially) immersed in the granular medium. The controller can also be configured to adjust the position of the agitating portions in response to receiving a pressure-related signal, such as the pressure within the granular medium.

[0074] The device can be controlled via a controller, for example, by a user. The device can be remotely controlled. The device can be remotely controlled. The device can be at least partially automatic (e.g., fully automatic).

[0075] The device may be a vehicle, such as a motor vehicle. The vehicle may be remotely controlled. The vehicle may be automated. The vehicle may be an unmanned vehicle, such as an unmanned underground vehicle (e.g., a drone).

[0076] This disclosure extends to combinations including the device and a controller that communicates with the device (e.g., wired or wireless communication).

[0077] Particulate media typically include granular materials. Particulate media typically include particles (e.g., microparticles). Granular materials may include particles.

[0078] The maximum range (e.g., diameter) of the mean (e.g., volume-weighted mean or mass-weighted mean) or median (e.g., volume-weighted median or mass-weighted median) of particles is typically between 0.1 μm and 10 cm. For example, the maximum range (e.g., diameter) of the mean (e.g., volume-weighted mean or mass-weighted mean) or median (e.g., volume-weighted median or mass-weighted median) of particles constituting a fine powder can be as low as 0.1 μm. In contrast, the maximum range (e.g., diameter) of the mean (e.g., volume-weighted mean or mass-weighted mean) or median (e.g., volume-weighted median or mass-weighted median) of the particles constituting coarse powder can be about 0.05 mm, and the maximum range (e.g., diameter) of the mean (e.g., volume-weighted mean or mass-weighted mean) or median (e.g., volume-weighted median or mass-weighted median) of grains can be at most about 5 mm, while the maximum range (e.g., diameter) of the mean (e.g., volume-weighted mean or mass-weighted mean) or median (e.g., volume-weighted median or mass-weighted median) of pebbles can be from about 1 cm to 10 cm.

[0079] Particulate media may include, for example, sand, soil, glass, ceramics, stone, or rock (e.g., pebbles). Particulate media may include food, such as beans (e.g., coffee beans, cocoa beans, lentils), grains (e.g., corn or wheat), or powders (e.g., flour or cocoa powder). Particles may include, for example, sand, soil, glass, ceramics, stone, or rock (e.g., pebbles). Particles may include food, such as beans (e.g., coffee beans, cocoa beans, lentils), grains (e.g., corn or wheat), or powders (e.g., flour or cocoa powder). Particulate media may include seeds.

[0080] The particulate medium is preferably dry; however, in some embodiments, the particulate medium may be wet, or at least partially wet. For example, the particulate medium may include water or another liquid in the intergranular voids between adjacent particles, but this is not preferred. Typically, a gaseous phase (e.g., air) is provided in the intergranular voids between adjacent particles of the particulate medium. A mixture of liquid and gas may be provided in the intergranular voids between adjacent particles of the particulate medium. The particles are typically (i.e., substantially) solid. The particulate medium is typically an aggregate of said particles.

[0081] The maximum dimension (e.g., cross-section, such as a circular cross-section) of the rotatable component in the direction transverse to the axis of rotation (e.g., at least one of the aforementioned components) can be larger than the maximum dimension (e.g., the average maximum dimension) of the particles forming the granular medium. This allows the device to move more easily within the granular medium compared to a situation where the size of the rotatable component is smaller than the size of the particles forming the granular medium. The maximum dimension (e.g., cross-section, such as a circular cross-section) of the rotatable component in the direction transverse to the axis of rotation (e.g., at least one of the aforementioned components) can be five times larger than the maximum dimension (e.g., the average maximum dimension) of the particles forming the granular medium, or preferably ten times larger, or more preferably twenty times larger. This provides the advantage of limiting the risk of particles getting stuck when the device moves through the granular medium, while also meaning that the device is large enough to apply sufficient force to the granular material to move the device through the granular medium. (For example, at least one of the one or more) The maximum size of the rotatable component may be less than 100 times the maximum size (e.g., the average maximum size) of the particles forming the granular medium.

[0082] Each or one of the one or more agitating portions may preferably extend a distance of at least 25% of the (e.g., average) diameter of the particles forming the granular medium, or preferably at least 40% of the (e.g., average) diameter of the particles forming the granular medium, or preferably at least 60% of the (e.g., average) diameter of the particles forming the granular medium. Each or one of the one or more agitating portions may preferably retract completely (i.e., such that it does not protrude any significant distance from the outer surface of the rotatable component). Each or one of the one or more agitating portions may retract beyond the outer surface of the rotatable component. For example, each or one of the one or more agitating portions may retract beyond the outer surface of the rotatable component, such that one or more cavities (e.g., recesses) of the rotatable component are defined by each or one of the one or more agitating portions and the outer surface of the rotatable component.

[0083] The cross-section of each or every rotatable component may be (e.g., substantially) circular (e.g., when the agitating portion is in the retracted position). The external shape of each or every rotatable component may be (e.g., substantially) convex (e.g., when the agitating portion is in the retracted position). Each or every rotatable component may be elongated. Each or every rotatable component may be (e.g., substantially) cylindrical. Preferably, each or every rotatable component is (e.g., substantially) hemispherical (e.g., when the agitating portion is in the retracted position), or flattened (e.g., substantially) hemispherical (e.g., when the agitating portion is in the retracted position). Preferably, each or every rotatable component is a wheel. Typically, (e.g., one or more) rotatable components are not helical or spiral-shaped rotatable components. Typically, each or every (e.g., one or more) rotatable components are not tracks.

[0084] Although the device is for moving through a granular medium, it is preferably also configured to move on the surface of the granular medium. Therefore, the device can also be a device for moving on the surface of a granular medium.

[0085] The axis of rotation of the said or each rotatable component may coincide with the longitudinal axis of the rotatable component. The axis of rotation of the said or each rotatable component may extend through the respective center of mass of the rotatable component. In some embodiments, the axis of rotation of the said or each rotatable component may extend through the center of mass of the body, but this is not required.

[0086] In another aspect, this disclosure provides a method for moving a device through a granular medium. The method includes: introducing the device as described above into the granular medium; receiving a control signal; and controlling the device to move through the granular medium according to the control signal. Typically, the control signal indicates at least one of the following: a target position within the granular medium; a target direction; and / or a target velocity for moving through the granular medium.

[0087] The control device may include: determining whether the device is on the surface of the granular medium based on a signal indicating the depth position of the device; moving the one or more agitating parts to a first agitating position to induce a first degree of agitation in the vicinity of (e.g., one or more) rotatable components, or moving them to a second agitating position to induce a second degree of agitation in the vicinity of (e.g., one or more) rotatable components, based on the determination that the device is on the surface of the granular medium; and rotating a motor, thereby inducing rotation of (e.g., one or more) rotatable components and thereby inducing the first or second degree of agitation of the granular medium.

[0088] Therefore, a particularly effective method is provided for moving a device through a granular medium and for controlling the direction of the device's movement through the granular medium.

[0089] Typically, the first degree of agitation is a degree of agitation that causes the granular medium to agitate more than the second degree of agitation (i.e., when (e.g., one or more) rotatable components move relative to the granular medium). The method may include moving the one or more agitating components from a first agitation position to a second agitation position and optionally to one or more additional agitation positions.

[0090] Typically, the first agitation position is the position where the plurality of agitated portions are extended to their maximum extent. The first agitation position can be the position of maximum extension. Optionally, the second agitation position can be the position where the plurality of agitated portions are retracted to their maximum extent. The second agitation position can be the position of maximum retraction, but this is not necessary; the second agitation position can be an intermediate position between the position of maximum extension and the position of maximum retraction.

[0091] The control signal can indicate the sampling position to which the device should move. The method may further include, after controlling the device to move through the particulate medium to the sampling position according to the control signal, capturing a sample of the particulate medium at the sampling position using a sampling portion. The method may further include removing the sample from the particulate medium.

[0092] This is considered novel in itself, and therefore, according to one aspect of this disclosure, a method for sampling particulate media is provided. The method includes: introducing a device as described above and including a sampling portion into the particulate media; controlling the device to move through the particulate media to a sampling position below the surface of the particulate media; and using the sampling portion to capture a sample of the particulate media at the sampling position. The method may further include removing the sample from the particulate media.

[0093] Therefore, an efficient method for sampling particulate media from a desired sampling location beneath the surface of the particulate media is provided. In particular, the capture of such samples can be more convenient and safer than before. This is especially advantageous because it eliminates the need for manual collection of the particulate media sample. By removing the sample of the particulate material from the particulate media, the sample can then be tested or analyzed outside the particulate media without the user needing to manually remove the sample first.

[0094] The method may further include controlling the device to move to the surface of the particulate medium (e.g., after a sample of the particulate medium has been captured). Advantageously, by moving the device to the surface of the particulate medium after a sample has been captured, a user can conveniently receive and remove the particulate medium sample from the particulate material (e.g., for subsequent analysis and / or one or more tests), and optionally, the device can also be removed from the particulate medium. The device can then be returned to the same particulate medium to capture another sample, or it can be introduced into another particulate medium (e.g., another storage area with the same type of particulate medium) to capture a sample from said other particulate medium. Alternatively, the device can be removed from the particulate medium and stored until the next time it is needed.

[0095] The method may include analyzing a sample of granular material. For example, the method may include receiving a sample of the granular medium at a surface, and optionally performing one or more tests on the sample. Thus, analysis (and / or testing) can provide information about the sample, and consequently, information about the entire granular medium.

[0096] In some embodiments, the method may include performing one or more tests on a sample while the device is in a particulate medium (e.g., immersed in a particulate medium), and optionally subsequently releasing the sample back into the particulate medium, in which case the method may not include moving the device to the surface of the particulate medium.

[0097] Typically, granular media are stored in silos, such as grain silos. However, granular media can also be stored in any other container, or not at all. For example, granular media may include (e.g.) granular material stockpiles or granular terrain areas.

[0098] When the granular medium is stored in a silo or another container, and when a tether is provided, the tether can connect the main body to a structure located outside the silo or container.

[0099] In some embodiments, the method may include capturing a second and / or subsequent sample of granular material from the granular medium using a particle sampling portion. Optionally, the second and / or subsequent sample may be captured after the release of the first sample.

[0100] The device typically includes a power source. For example, the device may include (and the power source may be) one or more batteries. The power source may be an external mains power source. The power source may be a generator. If present, power can be supplied to the device via a tether. The tether may include a power cord. The tether may include a communication cable.

[0101] The protrusion may be detachable. The protrusion may include detachable portions. In this way, the device can be provided with a protrusion that can be changed depending on the task or environment in which the device will be used. At least one arbitrary sensor may be disposed in the detachable portion of the protrusion.

[0102] Features, integers, characteristics, or groups described in connection with a particular aspect, embodiment, or example of this disclosure should be understood to be applicable to any other aspect, embodiment, or example described herein, unless incompatible with each other. All features disclosed in this specification (including any appended claims, abstract, and drawings) and / or all steps of any method or process so disclosed can be combined in any combination, except for at least some mutually exclusive combinations of such features and / or steps. The invention is not limited to the details of any of the disclosed embodiments. This disclosure extends to any novel feature or any novel combination of said features disclosed in this specification (including any appended claims, abstract, and drawings) or to any novel step or any novel combination of said steps in any method or process so disclosed. Attached Figure Description

[0103] Examples of this disclosure will now be described with reference to the following diagrams, in which:

[0104] Figure 1A It is a perspective view of an example of a device for moving through a granular medium;

[0105] Figure 1B yes Figure 1A Side view of the device, Figure 1C yes Figure 1A Front view of the device, Figure 1D yes Figure 1A A plan view of the device;

[0106] Figure 2This is a contour plot showing an example of the effect of the rotation of the rotatable component (wheel) of device 1 on the granular medium, with the device traveling in the granular medium according to one of the movement modes of the device;

[0107] Figure 3A This is a perspective view of another example of a device for moving through granular media;

[0108] Figure 3B yes Figure 3A Side view of the device, Figure 3C yes Figure 3A Front view of the device, Figure 3D yes Figure 3A A plan view of the device;

[0109] Figures 4A to 4F yes Figures 3A to 3D A series of sectional perspective views of the rotatable component (wheel) of the device;

[0110] Figure 5 This is a flowchart of example steps of a method for moving a device for moving through a granular medium;

[0111] Figure 6A This is a perspective view of another device used to move samples through granular media and capture granular materials;

[0112] Figure 6B yes Figure 6A Side view of the device, Figure 6C yes Figure 6A Front view of the device, Figure 6D yes Figure 6A A plan view of the device;

[0113] Figure 6E yes Figure 6A A cross-sectional perspective view of the device;

[0114] Figure 7 This is a flowchart of example steps of a method for capturing a sample of granular material according to one aspect of this disclosure;

[0115] Figure 8 This is a cross-sectional front view of a device for removing a captured sample, according to an example of this disclosure; and

[0116] Figure 9 This is a diagram illustrating another example of the apparatus disclosed herein. Detailed Implementation

[0117] Those skilled in the art will understand that any dimensions and relative orientations mentioned in this application, such as lower and upper, above and below, and any direction, such as vertical, horizontal, upper, lower, axial, radial, longitudinal, tangential, etc., are within the expected structural tolerances and limitations of the technical field (hereinafter, including means for moving through granular media) and the devices and methods described therein, and this should be taken into account when interpreting them.

[0118] Figure 1A This is a diagram illustrating an example of a device 1 for moving a granular medium composed of granular material. Device 1 has a generally spherical shape and includes a main body 2 and first and second rotatable components, which are in the form of two generally hemispherical wheels 4A and 4B located on either side of the main body 2 and for rotation relative to the main body. Device 1 includes two motors (in... Figure 1A A dedicated power supply (not shown) is mounted relative to the main body 2 and together drives the wheels 4A and 4B to rotate about the rotation axis 6 relative to the main body 2. A narrow, elongated protrusion 8 extends from the main body 2. The protrusion 8 extends transversely to the rotation axis 6. The protrusion 8 includes an end portion 10 from which a tether 12, in the form of a tether cable 12, extends for transmitting control signals and sensor data between the device 1 and another component (not shown). The outer surface of each wheel 4A and 4B has multiple agitation portions 14 in the form of multiple raising protrusions 14. Figure 1B , 1C And 1D is Figure 1A Side view, front view and plan view of device 1.

[0119] Device 1 typically includes a controller (not shown) for controlling the operation of the motor and / or wheels 4A, 4B. Device 1 may include a processor (electronically communicating with a memory storing computer-executable program code), which is programmed to control the movement of device 1 through the granular medium, for example, by guiding device 1 along a pre-programmed path.

[0120] Device 1 also includes one or more sensors (not shown) for sensing one or more characteristics of the external environment of device 1. For example, in an example embodiment, the device has one or more temperature sensors for measuring temperature and transmitting temperature signals (e.g., to a controller, user, or external device). Device 1 also includes one or more surface position sensors for detecting whether device 1 is on the surface of the granular medium and transmitting signals indicating whether device 1 is on the surface of the granular medium (e.g., to a controller, user, or external device).

[0121] In some alternative embodiments, device 1 further includes: one or more humidity sensors for measuring humidity and transmitting humidity signals (e.g., to a controller, user, or external device); and / or one or more moisture sensors for measuring moisture and transmitting moisture signals (e.g., to a controller, user, or external device); and / or one or more motion sensors (e.g., one or more accelerometers and / or one or more gyroscopes) for detecting motion and transmitting motion signals (e.g., to a controller, user, or external device).

[0122] The inventors have discovered that when device 1 is immersed in a granular medium, the rotation of wheels 4A and 4B around the rotation axis 6 causes device 1 to move through the granular medium. Specifically, the two motors generate torque on wheels 4A and 4B, which in turn generate rotational torque on the main body in the opposite direction of rotation. The rotation of wheel 4A can be driven independently of the rotation of wheel 4B, and vice versa. When wheels 4A and 4B rotate relative to the main body 2 and device 1 is immersed in the granular medium, protrusion 8 prevents the main body 2 from rotating relative to the granular medium around the rotation axis 6, thus allowing wheels 4A and 4B to rotate relative to the granular medium around the rotation axis and enabling device 1 to move effectively through the granular medium, as will be referred to below. Figure 2 Further described.

[0123] Device 1 can travel vertically, horizontally, and laterally through the granular medium, and can rotate, wherein the direction of movement can be adjusted by adjusting the speed and rotation direction of the motor (and thus the speed and rotation direction of wheels 4A and 4B). Device 1 can also travel on the surface of the granular medium. When wheels 4A and 4B rotate, the agitating portion 14 causes agitation of the granular material. During the rotation of wheels 4A and 4B, the agitating portion 14 can also provide at least some friction (i.e., gripping force) between wheels 4A and 4B and the granular medium. It should be understood that the rotational speed of wheels 4A and 4B can be varied to change the degree of agitation of the granular medium and / or the degree of gripping between wheels 4A and 4B and the granular medium.

[0124] In practice, the movement of the device through the granular medium can be achieved by the rotation of the rotatable part at various angular velocities, such as between 0.1 Hz (i.e., 0.1 complete rotations per second) and 10 Hz (i.e., 10 complete rotations per second), and in some cases up to 100 Hz, where a particular angular velocity is selected based on device parameters such as the shape, size and weight of the device and the properties of the granular material.

[0125] The tether 12 can be used to retrieve the device 1, for example, in the event that the device 1 malfunctions or stops moving.

[0126] Figure 2This is a contour plot illustrating an example of the effect of the rotation of wheels 4A and 4B of device 1 on the granular medium, with device 1 traveling in the granular medium according to one of the movement methods of device 1. In particular, the movement of the rotatable parts 4A and 4B relative to the granular medium at a sufficient angular velocity causes the agitating part 14 to agitate the particles of the granular medium. Under sufficient agitation, the particles of the granular medium can be considered to exhibit some liquid-like properties. In this way, this effect can be called liquefaction. Furthermore, the rotation causes a relatively high-pressure region 50 to be formed in the granular medium on one side of the wheels 4A and 4B of device 1, generally on the lower left side of device 1, and correspondingly, a relatively low-pressure region 52 to be formed in the granular medium on the opposite side of device 1, generally on the upper right side of device 1. Therefore, it should be understood that device 1 will move according to the pressure gradient defined between the higher-pressure region 50 and the lower-pressure region 52, particularly in the direction of the lower-pressure region 52. Figure 2 The diagram shows wheels 4A and 4B rotating clockwise around the center of the figure. It should be understood that when wheels 4A and 4B rotate counter-clockwise, the higher pressure region 50 will be located generally on the lower right side of device 1, and the lower pressure region 52 will be located generally on the upper left side of device 1. Figure 2 In the example shown, the density of the device is greater than the density of the particulate medium. Therefore, if the density of the particulate medium is actually greater than the density of the device, the mechanism will change such that the position of the higher pressure region 50 will be at least partially above the device, and the position of the lower pressure region 52 will be at least partially below the device.

[0127] Because device 1 is provided with protrusion 8, which provides resistance to the rotation of device 1 around the rotation axis 6, device 1 can move more efficiently through the granular medium while losing less energy due to the undesired rotational movement of body 2 relative to the granular medium. Because protrusion 8 is elongated and narrow, the friction between protrusion 8 and the granular material is relatively small when device 1 moves through the granular medium, allowing device 1 to move through the granular medium relatively easily. Specifically, the friction between protrusion 8 and the granular medium is smaller than the friction between wheels 4A, 4B and body 2 when the device moves through the granular medium. Therefore, protrusion 8 provides the advantage of limiting rotational movement without significantly increasing the resistance of device 1 during movement. This makes the movement of the device more efficient than in other cases.

[0128] Figure 3AThis is a diagram of another example of a device 100 for moving a granular medium composed of granular material. The device 100 is generally spherical and includes a body 102 and first and second generally hemispherical rotatable components, which are in the form of two wheels 104A, 104B mounted on either side of the body 102 and for rotation relative to the body 102. The outer surface of each wheel 104A, 104B defines a plurality of holes 116 through which a plurality of movable agitating portions 114 can extend and / or retract. Here, the plurality of agitating portions 114 are provided in the form of generally cylindrical prisms. The body 102 contains two wheel motors (in... Figure 3A (not shown in the image), two cams (in...) Figure 3A (not shown in the image), two cam motors (in...) Figure 3A (Not shown) and a dedicated power supply (not shown). Each cam is connected to a plurality of movable agitator parts 114 of one of the wheels 104A, 104B. The two wheel motors are used to drive the wheels 104A, 104B to rotate about the rotation axis 106. The two cam motors are used to drive the two cams to rotate. Two protrusions 108A, 108B, in the form of two narrow, elongated protrusions 108A, 108B, extend from the body 102, respectively extending in opposite directions transverse to the rotation axis 106. Figure 3B , 3C 3D and 3D are respectively Figure 3A Side view, front view and plan view of device 1.

[0129] The rotation of wheel 104A can be driven independently of the rotation of wheel 104B, and vice versa. The rotation of wheels 104A and 104B can be driven independently of the rotation of the cam.

[0130] As in Figures 1A to 1D In the example embodiments shown and described above, when the device 100 is immersed in the granular medium, the rotation of wheels 104A and 104B about the rotation axis 106 causes the device 100 to travel through the granular medium. Specifically, the two wheel motors generate torque on wheels 104A and 104B, which in turn generate rotational torque on the body in the opposite direction of rotation. Protrusions 108A and 108B then prevent the body 102 from rotating about the rotation axis 106, thus allowing the device 100 to travel more efficiently within the granular medium.

[0131] As referenced above Figures 3A to 3DAs described, when wheels 104A and 104B rotate, the agitating portion 114 provides a gripping force and causes agitation of the granular material. The rotation of the cam motor drives the rotation of the cam, which in turn drives the movement of the agitating portion 114, causing it to extend and / or retract through the holes 116 in the outer surfaces of wheels 104A and 104B. In this way, both the gripping degree and the degree of agitation of the granular material can be adjusted.

[0132] Because the cam engages with the agitation portion 114 of each wheel 104A, 104B, it can be seen that the agitation portion 114 on the first side of the wheels 104A, 104B, substantially adjacent to the second protrusion 108B, extends further from the outer surface of the wheels 104A, 104B than the agitation portion 114 on the second side of the wheels 104A, 104B, substantially adjacent to the first protrusion 108A. Therefore, the degree of agitation and / or gripping force provided by the agitation portion 114 is different on the first and second sides of the wheels 104A, 104B. The cam is configured to be mounted independently of the rotation of the wheels 104A, 104B. In this way, when the wheels 104A, 104B rotate, if the cam does not rotate, the agitation portion 114 extends further from the outer surface of the wheel in the region adjacent to the first protrusion 108A than in the region adjacent to the second protrusion 108B. Therefore, the degree of agitation of the granular medium is greater in the region of the granular medium adjacent to the first protrusion 108A than in the region of the granular medium adjacent to the second protrusion 108B, regardless of the rotational position of the wheels 104A and 104B.

[0133] In other words, as wheels 104A and 104B rotate, the wheels move from a first rotational position relative to the body 102 to a second rotational position relative to the body 102 (and in fact, typically continue to move to another rotational position). At the first rotational position of wheels 104A and 104B relative to the body 102, the agitating portion 114 is positioned (e.g., extended or retracted) such that the agitating portion 114 at the first portion of wheels 104A and 104B causes a first degree of agitation in a first region of the granular medium, and the agitating portion 114 at the second portion of wheels 104A and 104B causes a second degree of agitation in a second region of the granular medium. Then, when wheels 104A and 104B rotate to the second rotational position relative to the body 102, the agitating portion 114 at the first portion of wheels 104A and 104B causes a second degree of agitation in the second region of the granular medium.

[0134] The advantage of the extendable and retractable agitator 114 and thus the adjustable gripping force and adjustable agitation degree of the granular material (i.e., when the wheels 104A, 104B are rotating) is that it improves the maneuverability of the device as the device 100 travels through the granular medium.

[0135] By rotating the cam, the area to be agitated in the granular medium can be changed. It should be understood that the cam can rotate independently for each of wheels 104A and 104B.

[0136] Furthermore, the plurality of agitating portions 114 can move together (e.g., extend and / or retract). For example, in one exemplary embodiment, all agitating portions 114 can extend (or retract) together through their respective orifices 116, for example, by the same amount and / or in the same proportion. In this way, the device 100 can be configured differently depending on precise environmental conditions, such as the type of particulate medium or the location of the device within the particulate medium (e.g., whether the device is on the surface or immersed in the particulate medium).

[0137] In other words, when the device 100 is on the surface of the granular medium, all agitation portions 114 can extend (e.g., fully extend). Because the agitation portions 114 cause a greater degree of agitation when fully extended, this has the effect of causing the device 100 to immerse itself in the granular medium as the wheels 104A and 104B rotate. Conversely, when the device 100 is immersed in the granular medium, the agitation portions 114 can each (e.g., fully) retract to limit the friction on the wheels 104A and 104B as they rotate, thereby improving the efficiency of the device 100's movement within the granular medium.

[0138] Figures 4A to 4D yes Figures 3A to 3D (Protrusions not shown) A series of cross-sectional perspective views of the rotatable component (wheel) of the device 100 shown and discussed above. Figure 4E It is equivalent to Figures 3A to 3D A cross-sectional front view of the rotatable component (wheel) of an example embodiment of the device 100 shown (but with only one protrusion). Figure 4F yes Figures 3A to 3D A diagram of the internal components of the device shown. Figures 4A to 4E The internal workings of the rotatable component shown are described. It should be understood that some components of the device 100 are hidden in some figures in order to better illustrate the other components of the device 100.

[0139] refer to Figures 4A to 4F This illustrates an example of how the agitating portion 114 can be controlled to extend through the hole 116. Multiple agitating portions 114 are mounted on the agitating portion base 113 and aligned with the multiple holes 116 defined in the wheel 104A. Figure 4A As can be seen, wheel 104A is provided with multiple agitator base frames 113. Each agitator base frame 113 engages with rails 146, 148, and in this example, there are multiple rails 146, 148 (optimally located in...). Figure 4FAs seen in the image, the internal structure defined within the wheel 104A is in the form of two semi-circular portions 138 and 142. The agitator base 113 includes a plurality of track engaging protrusions 113A and 113B, respectively for engaging within each of the tracks 146 and 148. In this way, the tracks 146 and 148 define the extent to which the agitator portion 114 of the agitator base 113 extends from the outer surface of the wheel 104A through the hole 116. As the wheel rotates about its axis of rotation, the agitator base 113 rotates together with the tracks 146 and 148, the rotation of which is independent of the wheel 104A. Thus, it should be understood that any lateral movement of the tracks 146 and 148 within the internal structure of the wheel in a direction toward or away from the surface of the wheel 104A will alter the extent to which the agitator portion 114 of the agitator base 113 extends through the hole 116 in a region adjacent to a specific portion of the track on the wheel.

[0140] Figures 4A to 4F Tracks 146 and 148 can be moved by two interdependent mechanisms, each of which will now be described.

[0141] First, such as Figure 4A As shown, an annular member 126 is provided, defining a plurality of arcuate grooves 128, six in this example. Each of the plurality of arcuate grooves 128 extends from a first position to a second position. The second position is radially outward and circumferentially spaced from the first position. Corresponding plurality of expanding arcs 132 are movably mounted relative to each arcuate groove 128 by locating pins 130 engaging within the arcuate grooves 128. Figure 4A In the example shown, the positioning leg is positioned adjacent to the second location of the arcuate groove 128, forcing the expansion arc 132 to reach its radially outermost position. For example... Figure 4D As shown, the opposite sides of the expansion arc 132 define expansion arc tracks 137 for engagement with the locator portions 139 of the two semicircular portions 138, 142. The agitator base 113 and the tracks 146, 148 (as shown) defined on the opposite sides of the locator portions 139 of the semicircular portions 138, 142... Figure 4E and 4F (Optimally shown) The engagement.

[0142] The annular member 126 has internal teeth and meshes with the driven gear 154, causing the annular member 126 to rotate relative to the expansion arc 132, thereby causing the expansion arc 132 to move radially inward or outward in a direction transverse to the axis of rotation. The retracted position of this mechanism is... Figure 4C As shown in the image.

[0143] The two semicircular portions 138 and 142 each define a semicircular portion of a circle (i.e., having a substantially constant radius of curvature). Ideally, in... Figure 4F As can be seen, the two semicircular portions 138, 142 are connected via a first expandable connection 140 and a second expandable connection 144, allowing slight lateral movement between the semicircular portions 138, 142, such that each of the two semicircular portions 138, 142 defines a circular portion of a track 146, 148, and defines a short, approximately straight portion of the track 146, 148 in the transition region between the semicircular portions 138, 142. In this way, it can be seen that in the expanded configuration, the tracks 146, 148 will define a non-circular path. Therefore, when traversing the middle portion of the track 146, 148 defined by the central region of each semicircular portion 138, 142, the agitation portion 114 will extend further from the wheel 104A. The greater the expansion of the two semicircular portions 138, 142 at the expandable connections 140, 144, the greater the extent to which the agitating portion 114 extends from the wheel 104A in the central region of the semicircular portions 138, 142. Similarly, the agitating portion 114 will extend less (or even not at all) from the wheel 104A in the region of the expandable connections 140, 144. It will be understood that the degree of expansion of the two semicircular portions 138, 142 is controlled by the movement of the expansion arc 132 as described above. In this way, the degree of agitation caused by the agitating portion 114 can be changed. In this way, the tracks 146, 148 defined in the two semicircular portions 138, 142 can be regarded as forming cam elements that selectively define a noncircular path for the agitating portion 114.

[0144] In addition to the mechanism described above, tracks 146 and 148 can be further manipulated by rotation of a cam formed by the two semicircular portions 138 and 142. The first semicircular portion 142 defines a circular region with internal teeth. The cam can be rotated to a desired rotational position, thereby driving the worm gear 150 to mesh with another gear 152 to drive the internal teeth of the first semicircular portion 142. Thus, the first semicircular portion 142 and the second semicircular portion 138 can rotate together relative to the wheel 104A to move to a position relative to the body 102 where the agitator 114 extends most from the surface of the wheel 104A, thereby allowing the direction of movement of the control device 100.

[0145] Figure 5This is a flowchart of example steps of method 61 of the moving device. Here, the method is typically performed by a controller and includes the step of receiving a signal 60 indicating whether devices 1, 100 are on the surface of the granular medium. If the signal indicates that the devices are on the surface of the granular medium 68, then the method includes extending the agitation portion 114 62. Subsequently, the method includes moving wheels 104A, 104B 66. Conversely, if the signal indicates that the devices are not on the surface of the granular medium 70, then the method includes retracting the agitation portion 114 64. Subsequently, the method includes moving (i.e., rotating) wheels 104A, 104B 66. The method may be repeated. In other words, the method subsequently includes (again) receiving another signal 60 indicating whether devices 1, 100 are on the surface of the granular medium.

[0146] Figure 6A This is a diagram of an apparatus 200 for moving through a granular medium composed of particles and capturing particle samples. The apparatus 200 is generally spherical and includes a body 202 and first and second generally hemispherical rotatable components in the form of two wheels 204A, 204B located on either side of the body 202. The outer surface of each wheel 204A, 204B has a plurality of agitation portions 214 as described above. In this example, the agitation portions 214 are provided in the form of a series of vanes surrounding the outer surface of each wheel 204A, 204B. The body 202 contains two wheel motors (not shown) and a dedicated power supply (not shown). The two wheel motors drive the wheels 204A, 204B to rotate about a rotation axis 206. A narrow, elongated protrusion 208 extends from the body 202. The protrusion 208 connects to a particle sampler 218. The particle sampler 218 has two connectors in the form of ports 210A and 210B, via which it is connected to two tethers in the form of an air conduit 220 and a particle conduit 222. The particle sampler also has two particle inlets 224A and 224B for receiving particles to be sampled. Figure 6B , 6C And 6D are respectively Figure 6A Side view, front view and plan view of device 1.

[0147] As in Figures 1A to 1D and Figures 3A to 3DIn the example embodiments shown and described above, when the device 200 is immersed in the granular medium, the rotation of wheels 204A and 204B about the rotation axis 206 causes the device 200 to travel through the granular medium. Specifically, the two wheel motors generate torque on wheels 204A and 204B, which in turn generate rotational torque on the main body in the opposite direction of rotation. Thus, the protrusion 208 (as well as the particle sampler 218 and the tether, which is provided here in the form of an air duct 220 and a particle duct 222) prevents the main body 202 from rotating about the rotation axis 206, thereby allowing the device 200 to travel within the granular medium.

[0148] exist Figure 6E This can be seen most clearly in the middle, Figure 6E yes Figure 6A A cross-sectional perspective view of the device 200 shows that, in use, pressurized air flows into air conduit 220 and towards particle inlets 224A, 224B, where the pressurized air mixes with particles of the granular medium adjacent to particle sampler 218, causing the particle sample to enter particle sampler 218 via particle inlets 224A, 224B, thereby capturing the particle sample. In this example embodiment, the pressurized air and particle sample then exit particle sampler 218 (and granular medium) via particle conduit 222. Figure 6E In Figure 6, the airflow path of the pressurized air is shown with thin arrows in pipes 220 and 222, while the path used for the particle samples is shown with solid arrows at particle inlets 224A and 224B. The example device 200 shown in Figure 6 also includes a cooling air source pipe 240 for receiving cooling air from the air pipe 220 for cooling the components of the device 200 within the body 202 and wheels 204A and 204B. Air returns from the device to the particle conduit 222 via the cooling air exhaust pipe 242.

[0149] Figure 7 This is a flowchart of example steps of a method for capturing a particulate material sample according to an exemplary aspect of this disclosure. Generally, method 71 includes introducing a device into a particulate medium 72. The device is typically any of the devices described above that include a sampling portion. Method 71 further includes receiving a control signal 74. The control signal indicates a sampling position where the device will sample the particulate medium. Method 71 further includes controlling 76, according to the control signal, to move the device through the particulate medium to the sampling position. Method 71 further includes capturing 78 a sample of the particulate medium at the sampling position. Optionally, method 71 may also include removing the sample from the particulate medium. Figure 7 (Not shown in the image).

[0150] Advantageously, the user can then perform sample analysis. However, in alternative embodiments of the method, the sample may not be removed from the particulate medium, but rather can be analyzed while the sample is held by the particulate sampler 218 (the sample may then optionally be released back into the particulate medium or may be removed from the particulate medium). In some alternative embodiments of the method, the method may include moving the device to a position on the surface of the particulate medium where it can be removed by the user (optionally while holding the sample).

[0151] Figure 8 This is a cross-sectional front view of an example of a pressurized air device 300 used to provide pressurized air and receive captured samples; however, those skilled in the art will understand that other devices or methods may also be used. Device 300 has a cyclone separator 340 formed within a cylinder having an inner cylindrical surface 380 and a cone having an inner conical surface 390. Device 300 also has a reservoir 350 and an outlet connection 360 for connecting device 300 to an external vacuum source. (As in...) Figure 6E In the diagram, the airflow path of the pressurized air is shown by a dashed arrow, while the path used for the particle sample is shown by a solid arrow.

[0152] In use, compressed air enters the pipe at inlet point 370 and passes through air pipe 320 (which is connected to...). Figures 6A to 6E The air (the same pipe as air pipe 220) travels downwards until it reaches the position in device 200 where it mixes with the granular material entering particle sample 218 via particle inlets 224A, 224B. The air mixed with the granular material then travels through particle pipe 322 (which is the same pipe as air pipe 220). Figures 6A to 6E The particles (same as those in the duct 222) travel upwards and then enter the cyclone separator 340, where they move about a vertical axis (not shown), traveling substantially along the inner cylindrical surface 380 until they fall under gravity and then, substantially along the inner conical surface 390, finally reaching the reservoir 350, where they separate from the airflow. The air then travels upwards along a vertical central axis (not shown) and exits the cyclone separator via the outlet connection 360. The collected particles can then be easily removed by the user. In this example, the particle inlets 224A, 224B can be selectively opened and closed by rotation about the vertical axis, such that the inlet of the particle sample 218 becomes isolated from the external environment (i.e., the particulate medium) of the device 200, and the particle bags 224A, 224B are oriented toward and open towards the internal ducts 220, 222 to facilitate the entry of the particulate medium sample in the particle bags 224A, 224B into the ducts 220, 222 and out of the device 200.

[0153] The advantage of providing a device 200 for moving through a granular medium composed of particles and having a particle sampler 218 is that it allows for the collection of particle samples without requiring the user to manually collect such samples.

[0154] In alternative embodiments, tether 12 may include a power line for supplying power to devices 1, 100, 200, and / or may include one or more communication lines for transmitting information to and / or receiving data from devices 1, 100, 200. Connector 10 may include a slip ring. In some alternative embodiments, the one or more sensors may be mounted on bodies 2, 102, 202 or protrusions 8, 108A, 108B, 208.

[0155] Devices 1, 100, and 200 may be remotely controlled (in which case the vehicle may include a receiver and transmitter for communicating with the remote control unit), or devices 1, 100, and 200 may be automated. Such devices 1, 100, and 200 may be used for underground research, object retrieval, planetary exploration, or silos containing (grains, seeds, or beans) granules or powders (e.g., cement).

[0156] In some alternative embodiments, with the particle sampler 218 improved, the particle sampler 218 may be configured to capture particle samples, but may not have particle conduit 222. In this case, the particle sample can be removed as the devices 1, 100, 200 move to the surface of the particulate medium. Alternatively, the devices 1, 100, 200 may include sensors and can test the sample without removing it from the particulate medium, in which case the sample may optionally be subsequently returned to the particulate medium.

[0157] Figure 9This is a figure illustrating another example of the device disclosed herein. Except for the differences noted below, device 400 is substantially as described with reference to devices 1, 100, and 200 above. A protrusion 408 of device 400 extends from the body 402 and is formed by a first protrusion portion 409A and a second protrusion portion 409B. As described with reference to other devices 1, 100, and 200, the body 402 also has two rotatable parts 404A and 404B extending therefrom. The first protrusion portion 409A extends from the body 402. The second protrusion portion 409B is detachably connected to the first protrusion portion 409A. In this example, the second protrusion portion 409B can be selected as one of a plurality of different second protrusion portions (alternatives not shown), wherein any one of the second protrusion portions can be attached to the first protrusion portion 409A as needed. Each of the plurality of different second protrusion portions can be shaped differently and / or may be provided with different components, such as different sensors. In this way, the first protrusion 409A can be permanently attached to the body 402 of the device, and the second protrusion 409B can be selectively attached to the first protrusion 409A as needed. The second protrusion 409B is typically connected to the first protrusion 409A by a fastening member, such as a fastener, like one or more threaded fasteners, such as one or more screws or bolts. In this way, the shape and / or function of the protrusion 408 can be changed by replacing the second protrusion 409B according to the environmental conditions in which the device 400 will be operated or the tasks to be performed by the device 400.

[0158] Other applications of devices 1, 100, 200, and 400 include: salvaging seabed or underwater objects such as oil pipelines, cable networks, and seabed monitoring equipment buried by turbidity currents or sandstorms; rescuing vehicles, such as cars, whose wheels are stuck in the sand; removing pipelines from the ground; and movable foundations for buildings.

[0159] Further changes and modifications can be made within the scope of the invention disclosed herein.

[0160] In summary, a device (1) for moving through a particulate medium is provided, the device comprising: a body (2); rotatable components (4A, 4B) for rotating relative to the body about a rotation axis (6), wherein the rotatable components are exposed and arranged to cause agitation of adjacent portions of the particulate medium to be placed into the device; a motor configured to cause the rotatable components to perform the rotational movement; and a protrusion (8) arranged to extend from the body and to restrict the rotational movement of the body relative to the particulate medium about the rotation axis when the motor causes the rotatable components to rotate relative to the particulate medium.

[0161] In the description and claims of this specification, the words “comprising” and “containing,” and variations thereof, mean “including but not limited to,” and are not intended to exclude other components, integers, or steps. In the description and claims of this specification, the singular also includes the plural unless the context otherwise requires. In particular, where indefinite articles are used, the specification should be understood to take into account both the plural and singular unless otherwise specified herein.

[0162] List of reference numerals

[0163] 1. Apparatus

[0164] 2. Main body

[0165] 4A, 4B. Rotatable parts, wheels

[0166] 6. Rotation axis

[0167] 8. Protrusion

[0168] 10. Connector

[0169] 12. Tie the rope

[0170] 14. Stirring section

[0171] 50. Areas with relatively high pressure

[0172] 52. Areas with relatively low pressure

[0173] 61. Methods for use in mobile devices

[0174] 60. Receive surface position signal

[0175] 62. Extended stirring section

[0176] 64. Retracting and stirring section

[0177] 66. Moving wheel

[0178] 68. Receive the signal indicating that the device is located on the surface of the granular medium.

[0179] 70. The receiving indicator is not located on the surface of the particulate medium.

[0180] 71. Sampling methods for granular media

[0181] 72. Introduce the device into the particulate medium.

[0182] 74. Receive control signals

[0183] 76. The control device moves through the granular medium to reach the sampling position.

[0184] 78. Capture particulate media samples at the sampling location.

[0185] 100. Apparatus

[0186] 102. Main Body

[0187] 104A, 104B. Rotatable parts, wheels

[0188] 106. Rotation axis

[0189] 108A, 108B. Protrusion

[0190] 113. Stirring section of the base frame

[0191] 114. Stirring section

[0192] 126. Ring

[0193] 128. Arch-shaped groove

[0194] 130. Pin

[0195] 132. Expansion arc

[0196] 137. Expansion Arc Track

[0197] 138. The second semicircular part

[0198] 139. Positioner Section

[0199] 140. First expandable connection

[0200] 142. The first semicircular part

[0201] 144. Second expandable connection

[0202] 146. Outer track

[0203] 148. Inner track

[0204] 150. Worm Gear

[0205] 152. Another gear

[0206] 154. Gear

[0207] 200. Apparatus

[0208] 202. Main Body

[0209] 204A, 204B. Rotatable parts, wheels

[0210] 206. Rotation axis

[0211] 208. Protrusion

[0212] 210A, 210B Connectors

[0213] 214. Stirring section

[0214] 218. Particle sampler

[0215] 220. Air duct

[0216] 222. Particle Pipeline

[0217] 224A, 224B. Particle inlet

[0218] 240. Cooling air source duct

[0219] 242. Cooling air exhaust pipe

[0220] 300. Pressurized air equipment

[0221] 320. Air duct

[0222] 322. Particle Pipeline

[0223] 340. Cyclone separator

[0224] 350. Storage

[0225] 360. Export Connection

[0226] 370. Entry point

[0227] 380. Inner cylindrical surface

[0228] 390. Inner conical surface

[0229] 400. Apparatus

[0230] 402. Main Body

[0231] 404A, 404B. Rotatable parts

[0232] 408. Protrusion

[0233] 409A. First protrusion

[0234] 409B. Second protrusion

Claims

1. A device for moving a granular medium through which a particulate medium passes, the device comprising: main body; A rotatable component for rotating about a rotation axis relative to the body, the rotatable component being exposed and arranged to cause agitation of adjacent portions of the particulate medium to be placed into the device; An electric motor configured to cause the rotatable component to perform the rotational motion; A protrusion, arranged to extend from the body and prevent the body from rotating about the axis of rotation relative to the granular medium when the motor causes the rotatable component to rotate relative to the granular medium; and One or more agitating portions, each agitating portion having the rotatable component for causing agitation of the adjacent portion of the granular medium. Wherein, at a first rotational position of the rotatable component relative to the body, the device is configured such that a first portion of the rotatable component and the one or more agitating portions cause a first degree of agitation in a first region of the granular medium, and a second portion of the rotatable component and the one or more agitating portions cause a second degree of agitation in a second region of the granular medium, and At the second rotational position of the rotatable component relative to the body, the first portion of the rotatable component and the one or more agitating portions cause the second degree of agitation in the second region of the granular medium.

2. The device according to claim 1, wherein the outer surface area of ​​the protrusion accounts for less than 15% of the total surface area of ​​the body, the protrusion and the rotatable component combined.

3. The device of claim 1, wherein the length of the protrusion is at least 20% of the combined length of the protrusion and the body.

4. The apparatus of claim 1, wherein the apparatus includes a tether.

5. The device of claim 1, wherein the protrusion includes a connector for connecting the body to a tether via the protrusion.

6. The apparatus of claim 1, wherein the one or more agitating portions are movable relative to the outer surface of the rotatable member in a direction having at least a component orthogonal to the outer surface of the rotatable member, to change the degree of agitation of the adjacent portion of the granular medium caused by the movement of the rotatable member relative to the granular medium.

7. The apparatus of claim 1, further comprising a sampling portion capable of selectively capturing a sample of the particulate medium for removal from the particulate medium.

8. The apparatus of claim 1, wherein the maximum dimension of the rotatable member in the direction transverse to the rotation axis is greater than five times the average maximum dimension of the particles forming the granular medium.

9. The apparatus of claim 1, wherein the apparatus includes a sensor for outputting a signal indicating the depth position of the apparatus within the granular medium.

10. The apparatus of claim 1, wherein the granular medium is a dry granular medium and comprises food, and wherein the granular medium is stored in a silo.

11. An apparatus for moving through a granular medium, the apparatus comprising: main body; A rotatable component for rotating about a rotation axis, the rotatable component being exposed and arranged to cause agitation of adjacent portions of the particulate medium to be placed into the device; An electric motor configured to cause the rotatable component to perform the rotational motion; as well as One or more agitating portions, each having the rotatable component for causing agitation of the adjacent portions of the granular medium, and Wherein, at a first rotational position of the rotatable component relative to the body, the device is configured such that a first portion of the rotatable component and the one or more agitating portions cause a first degree of agitation in a first region of the granular medium, and a second portion of the rotatable component and the one or more agitating portions cause a second degree of agitation in a second region of the granular medium, and At the second rotational position of the rotatable component relative to the body, the first portion of the rotatable component and the one or more agitating portions cause the second degree of agitation in the second region of the granular medium.

12. The apparatus of claim 11, wherein the apparatus has another configuration in which, at the first rotational position of the rotatable member relative to the body, the apparatus is configured such that the first portion of the rotatable member and the one or more agitating portions cause the second degree of agitation in the first region of the granular medium.

13. The apparatus of claim 11, wherein at least one of the one or more agitating portions is movable between a first position and a second position, the first position extending further than the second position.

14. The apparatus of claim 13, wherein the apparatus further comprises: A cam, which is connected to at least one of the one or more agitating parts and is capable of moving independently of the rotatable component; as well as A cam motor, capable of rotating the cam relative to the body. The rotation of the cam causes at least one of the one or more agitating portions to move between the first position and the second position.

15. The apparatus of claim 14, wherein the cam rotates to a first cam position to move a first region of the one or more agitating portions to a second position and to move a second region of the one or more agitating portions to the first position, and wherein the cam rotates to a second cam position to move a third region of the one or more agitating portions to the second position and to move a fourth region of the one or more agitating portions to the first position.

16. The apparatus of claim 11, wherein the rotatable member defines one or more orifices, and the one or more agitating portions are capable of extending and / or retracting through the orifices.

17. An apparatus for moving through a granular medium, the apparatus comprising: main body; A rotatable component for rotating about a rotation axis, the rotatable component being exposed and arranged to cause agitation of adjacent portions of the particulate medium to be placed into the device; An electric motor configured to cause the rotatable component to perform the rotational motion; as well as One or more agitation sections, each equipped with the rotatable component, for inducing agitation of the adjacent portion of the granular medium. The one or more agitating portions are movable relative to the outer surface of the rotatable member in a direction having at least a component orthogonal to the outer surface of the rotatable member, to change the degree of agitation of the adjacent portion of the granular medium caused by the movement of the rotatable member relative to the granular medium.

18. A method for moving a device through a particulate medium, the method comprising: The apparatus according to any one of claims 1-17 is introduced into the granular medium; Receive a control signal indicating at least one of the target position, target direction, and target velocity moving through the granular medium within the granular medium; as well as Based on the received control signal, the device is controlled to move through the granular medium.

19. The method of claim 18, wherein controlling the means comprises: Based on the signal indicating the depth position of the device, it is determined whether the device is on the surface of the granular medium; Based on the determination that the device is on the surface of the granular medium, the one or more agitating portions are moved to a first agitating position to induce a first degree of agitation in the vicinity of the rotatable component, or the one or more agitating portions are moved to a second agitating position to induce a second degree of agitation in the vicinity of the rotatable component. as well as The motor is rotated, thereby causing the rotatable component to rotate, and thereby causing the granular medium to be agitated to the first or second degree.

20. The method of claim 18, wherein the control signal indicates a sampling location, and wherein the method further comprises, after controlling the device to move through the granular medium to the sampling location according to the control signal: The sampling section is used to capture a sample of the particulate medium at the sampling location; and The sample is removed from the granular medium.

21. The method of claim 20, further comprising, after capturing a sample of the particulate medium, controlling the device to move to the surface of the particulate medium.

22. The method of claim 20, further comprising analyzing the sample of the granular material.

23. The method of claim 18, wherein the granular medium is a dry granular medium and comprises food, and wherein the granular medium is stored in a silo.

24. A method for sampling particulate media, the method comprising: The apparatus according to claim 7 is introduced into the granular medium. The device is controlled to move through the granular medium to a sampling position below the surface of the granular medium. The sampling portion is used to capture a sample of the particulate medium at the sampling location, and The sample is removed from the granular medium.

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