A system includes an inspection robot for performing an inspection on an inspection surface with an inspection robot, the apparatus comprising a position definition circuit structured to determine an inspection robot position on the inspection surface; a data positioning circuit structured to interpret inspection data, and to correlate the inspection data to the inspection robot position on the inspection surface; and wherein the data positioning circuit is further structured to determine position informed inspection data in response to the correlating of the inspection data with the inspection robot position, wherein the position informed inspection data comprises absolute position data.

Inspection vehicle for under water inspection of coating, marine growth, structural integrity and corrosion on ferromagnetic ship hulls and other ferromagnetic structures. The inspection vehicle is distinctive in that it comprises a non-magnetic element, at least one magnetic wheel or device operatively arranged to the element, and a watertight camera for visual inspection attached to the element or other structure of the inspection vehicle, wherein the inspection vehicle comprises one coupling side where the at least one magnetic wheel or device is operatively arranged for the inspection vehicle to couple magnetically through coating, any marine growth and corrosion products and allow rolling the inspection vehicle on said structure, in horizontal to vertical to upside down-orientation while holding the inspection vehicle attached to the structure, and one non-coupling side oriented in substance in opposite direction to the coupling side, where the at least one magnetic wheel is not operatively arranged and the non-coupling side will not couple magnetically to said structure. A method for operating the inspection vehicle is also provided.

Automated storage and retrieval systems which include robots that move along ceilings and/or walls to retrieve and/or transport goods. The robots use magnetic adhesion to hold to the surfaces. The robots adjust the magnetic adhesion force in response to changes in weight or other conditions.

Provided is a magnetic levitation power system. The magnetic levitation power system includes: a magnetic power system disposed on a wheel hub and a driver shaft, where the magnetic power system generates a power capable of enabling a movement of the wheel hub through an interaction of magnetic fields between the wheel hub and the driver shaft; a first magnetic levitation system disposed on the wheel hub and the driver shaft, where the first magnetic levitation system is capable of enabling the wheel hub and the driver shaft to be in a levitation state within a circumferential extent of 360 degrees with the wheel hub being opposite to the driver shaft through the interaction of the magnetic fields between the wheel hub and the driver shaft; and a second magnetic levitation system disposed on the wheel hub and the driver shaft, where the second magnetic levitation system is capable of enabling the wheel hub and the driver shaft to be in a levitation state in a direction of a central axis of the wheel hub through the interaction of the magnetic fields between the wheel hub and the driver shaft. The present invention solves the problems of high hardware costs, low energy utilization rate, environmentally harmful characteristics, etc. of the existing automobile power system.

A two-wheel compact magnetic crawler vehicle for traversing and inspecting surfaces is disclosed. The crawler comprises a chassis. Two independently actuated magnetic drive wheels are spaced apart in a lateral direction and mounted to the chassis by a hinged joint enabling each wheel to tilt in response to the surface curvature. A probe wheel is provided at the midpoint between the two drive wheels and laterally in line therewith. A spring-assisted probe carrier passively moves the probe wheel vertically relative to the chassis in response to changes in the surface curvature. Additionally, the vehicle includes a probe angle normalization mechanism comprising spring-loaded, vertically moveable, ball casters positioned symmetrically about the probe wheel. The combined utilization of the probe carrier and the caster carrier passively maintain the probe contacting the surface, the chassis level, and the probe normal to the surface irrespective of changes in the surface curvature with vehicle movement.

A magnetic crawler configured to navigate on and inspect a ferromagnetic cylindrical surface is provided. The crawler includes a chassis, a controller configured to control the crawler, a probe configured to inspect the cylindrical surface under the control of the controller, and only three articulated magnetic wheels configured to tangentially contact and magnetically adhere to the cylindrical surface. The wheels include two drive wheels respectively coupled to the chassis by two articulation joints and configured to drive the crawler in a desired direction on the cylindrical surface by actively rotating the two drive wheels independently about respective drive axes of rotation by respective drive motors under the control of the controller; and a rear wheel coupled to the chassis by a rear articulation joint and configured to passively rotate about a rear drive axis of rotation in response to the active rotations of the two drive wheels.

A system includes an inspection robot comprising a plurality of sensor sleds; a plurality of ultra-sonic (UT) sensors; a couplant chamber mounted to each of the plurality of sleds, each couplant chamber comprising: a cone, the cone comprising a cone tip portion at an inspection surface end of the cone; a sensor mounting end opposite the cone tip portion; a couplant entry fluidly coupled to the cone at a position between the cone tip portion and the sensor mounting end; and wherein each of the UT sensors is mounted to the sensor mounting end of one of the couplant chambers.

A motorized apparatus includes an articulated body assembly, a plurality of wheels coupled to the articulated body assembly, and at least one maintenance device coupled to the articulated body assembly. The articulated body assembly includes a first body and a second body. The articulated body assembly includes a joint coupling the first body to the second body. The first body is pivotable relative to the second body about a pivot axis extending through the joint. At least one wheel is transitionable between a first position and a second position. The motorized apparatus also includes a motor drivingly coupled to the plurality of wheels and configured to move the articulated body assembly relative to a surface. The motorized apparatus further includes at least one magnet coupled to the at least one wheel.

Automated storage and retrieval systems which include robots that move along ceilings and/or walls to retrieve and/or transport goods. The robots use magnetic adhesion to hold to the surfaces. The robots adjust the magnetic adhesion force in response to changes in weight or other conditions.

A two-wheel compact magnetic crawler vehicle for traversing and inspecting surfaces. The crawler comprises a chassis. Two independently actuated magnetic drive wheels are spaced apart in a lateral direction and mounted to the chassis by a hinged joint enabling each wheel to tilt in response to the surface curvature. A probe wheel is provided at the midpoint between the two drive wheels and laterally in line therewith. A spring-assisted probe carrier passively moves the probe wheel vertically relative to the chassis in response to changes in the surface curvature. Additionally, the vehicle includes a probe angle normalization mechanism comprising spring-loaded, vertically moveable, ball casters positioned symmetrically about the probe wheel. The combined utilization of the probe carrier and the caster carrier passively maintain the probe contacting the surface, the chassis level, and the probe normal to the surface irrespective of changes in the surface curvature with vehicle movement.