There is provided a planar member having a flat portion that makes contact with the inner circumferential surface of an endless track at a position at a traveling subject side with respect to a virtual straight line that connects a vertex, at the traveling subject side, in the outer circumferential surface of a first pulley and a vertex, at the traveling subject side, in the outer circumferential surface of a second pulley.

A pool cleaning robot that may include a filtering unit for filtering fluid that passes through the filtering unit; a calorimetric sensor for sensing a cleanliness related parameter of the filtering unit while the pool cleaning robot is submerged in the fluid; and a controller that is configured to at least assist in determining, based on the cleanliness related parameter of the filtering unit, a cleanliness of the filtering unit.

A pool cleaning robot that may include a filtering unit for filtering fluid that passes through the filtering unit; a calorimetric sensor for sensing a cleanliness related parameter of the filtering unit while the pool cleaning robot is submerged in the fluid; and a controller that is configured to at least assist in determining, based on the cleanliness related parameter of the filtering unit, a cleanliness of the filtering unit.

A magnetic track for traveling on a wall and a ceiling of a steel structure according to an exemplary embodiment of the present invention includes: a front wheel which is connected to a main body and positioned at one end; a rear wheel which is connected to the main body and positioned at the other end to face the front wheel; and a chain which is connected, in the form of a loop, to the front wheel and the rear wheel, in which multiple support devices are provided between the front wheel and the rear wheel to support the chain.

A magnetic track for traveling on a wall and a ceiling of a steel structure according to an exemplary embodiment of the present invention includes: a front wheel which is connected to a main body and positioned at one end; a rear wheel which is connected to the main body and positioned at the other end to face the front wheel; and a chain which is connected, in the form of a loop, to the front wheel and the rear wheel, in which multiple support devices are provided between the front wheel and the rear wheel to support the chain.

A kit that may include an interfacing device that includes pool sidewall interface, and a pool cleaning robot that includes a housing and a drive system. The drive system may include a drive motor system, a group of interfacing modules and a transmission system that is arranged to mechanically couple the drive motor system to the group of interfacing modules. At least one interfacing module of the group may include protuberances that are shaped to fit a non-smooth surface of the pool sidewall interface.

A kit that may include an interfacing device that includes pool sidewall interface, and a pool cleaning robot that includes a housing and a drive system. The drive system may include a drive motor system, a group of interfacing modules and a transmission system that is arranged to mechanically couple the drive motor system to the group of interfacing modules. At least one interfacing module of the group may include protuberances that are shaped to fit a non-smooth surface of the pool sidewall interface.

An endless track drive that can be coupled to a vehicle includes a plurality of track feet wherein each track foot is adapted to periodically contact a surface on which the vehicle is to travel as the endless track drive is rotated. At least one spring is coupled to each track foot. The spring(s) apply a biasing force to the track foot that positions the track foot in a neutral position relative to the endless track drive when the track foot is not in contact with the surface. The biasing force is less than a frictional force experienced by the track foot when the track foot is in contact with the surface.

An endless track drive that can be coupled to a vehicle includes a plurality of track feet wherein each track foot is adapted to periodically contact a surface on which the vehicle is to travel as the endless track drive is rotated. At least one spring is coupled to each track foot. The spring(s) apply a biasing force to the track foot that positions the track foot in a neutral position relative to the endless track drive when the track foot is not in contact with the surface. The biasing force is less than a frictional force experienced by the track foot when the track foot is in contact with the surface.

The present invention discloses an apparatus and method for patrol-inspection of a rigid cage channel. The patrol-inspection apparatus comprises a moving member, a transmission member, a driving member, a guide member, and a housing on a main bottom plate. The driving member comprises a tilt sensor and a pressure sensor connected to a microcontroller, the microcontroller is connected to a driver, the driver is connected to a brushless DC motor, and an output shaft of the brushless DC motor is provided with an optical encoder connected to the driver; The moving member comprises a driving output shaft and a driven output shaft, wheel flanges on the driving output shaft and the driven output shaft are each connected with a wheel hub, a permanent magnet is provided in the wheel hub, and a rubber skin is provided on the outer side of the wheel hub; The transmission member comprises a worm connected with the output shaft of the brushless DC motor, a worm wheel on the driving output shaft and meshed with the worm, timing pulleys on the driving output shaft and the driven output shaft, and a timing belt wound on the timing pulleys. The guide member comprises a guide wheel. The present invention increases inspection speed of the rigid cage channel and improves indirectly the production efficiency of the coal mine enterprise.