Bi-directional Robotic Crawler for Complex Surface Inspection
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Solution Overview
Problem
Current robotic crawler systems struggle to accurately pinpoint the location of sensor data collected on structures with complex geometries, such as pipes, and face challenges in traversing curvilinear surfaces effectively.
Innovation Solution
A bi-directional robotic crawler system is designed with a first and second crawler system, each equipped with wheels and an actuator, connected by a linkage. This system allows for movement in two orthogonal directions, enabling precise navigation and data collection on complex surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single-direction crawler system is used, then the device complexity is reduced, but the adaptability to traverse curvilinear surfaces and complex geometries deteriorates
Solution Approach 1:
The crawler system is divided into multiple independent crawler units (first crawler system and second crawler system) that can be selectively coupled together. Each crawler unit can independently engage with the surface, allowing the system to adapt to complex geometries while maintaining manageable complexity through modular design.
Solution Approach 2:
The system transitions from single-direction movement to bi-directional movement by adding a second crawler system spaced apart from the first. This dimensional expansion enables traversal along multiple axes, allowing the crawler to navigate curvilinear surfaces and complex structures that require movement in multiple directions.
2Measurement precision
If the crawler system lacks location tracking capability, then the device complexity is reduced, but the measurement precision of sensor data location deteriorates
Solution Approach 1:
The controller selectively operates actuators to move crawler systems and track their positions. This feedback mechanism provides location information for sensor data without requiring complex additional hardware, as the existing actuator control system generates position data that can be used to pinpoint sensor locations on the structure.
3Adaptability or versatility
If crawler systems are spaced apart to engage different surface areas, then the adaptability to traverse complex structures is improved, but the device complexity increases due to linkage requirements
Solution Approach 1:
The linkage between crawler systems includes actuators that can dynamically adjust the relative positions and orientations of spaced-apart crawler units. This dynamic adjustment capability allows the system to maintain adaptability across various surface geometries while managing complexity through controlled, programmable motion rather than rigid mechanical connections.
Data Source
AI summary
A robotic crawler is provided. The robotic crawler includes a first crawler system configured to engage and selectively couple with a surface. A second crawler system is spaced apart from the first crawler system and configured to engage and selectively couple with the surface. A linkage is coupled between the first crawler system and the second crawler system, the linkage having an actuator and a bar member. A controller is operably coupled to the first crawler system, the second crawler system and the actuator, the controller being configured to selectively operate the actuator and move one of the first crawler system or the second crawler system from a first position to a second position.