A vault inspection system is configured to obtain visual inspection data of an underground utility vault without disturbing the components within the vault. A support apparatus supports a pole that is used to advance an inspection structure into the vault. A mount frame can be configured to position the support apparatus over an access opening so that the pole will not contact components within the vault. The inspection structure can be a robot that is lowered to the floor of the vault. The inspection structure can also be an expandable vision system that can be compacted for advancement through the access opening, and expanded within the vault to provide greater perspective for obtaining inspection data.

A vault inspection system is configured to obtain visual inspection data of an underground utility vault without disturbing the components within the vault. A support apparatus supports a pole that is used to advance an inspection structure into the vault. A mount frame may be configured to position the support apparatus over an access opening so that the pole will not contact components within the vault. The inspection structure may be a robot that is lowered to the floor of the vault. The inspection structure may be an expandable vision system that may be compacted for advancement through the access opening, and expanded within the vault to provide greater perspective for obtaining inspection data.

A method of maneuvering a robot includes driving the robot across a surface and turning the robot by shifting a center of mass of the robot toward a turn direction, thereby leaning the robot into the turning direction. The robot includes an inverted pendulum body, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg prismatically coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the at least one leg. The inverted pendulum body has first and second end portions and defines a forward drive direction. The method also includes turning the robot by at least one of moving the counter-balance body relative to the inverted pendulum body or altering a height of the at least one leg with respect to the surface.

A method of maneuvering a robot includes driving the robot across a surface and turning the robot by shifting a center of mass of the robot toward a turn direction, thereby leaning the robot into the turning direction. The robot includes an inverted pendulum body, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg prismatically coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the at least one leg. The inverted pendulum body has first and second end portions and defines a forward drive direction. The method also includes turning the robot by at least one of moving the counter-balance body relative to the inverted pendulum body or altering a height of the at least one leg with respect to the surface.

Apparatus and methods for remote (at a distance) actuation of points of control, such as valves and switches. Controlling a switch or valve at a distance is achieved by a support member having a movable portion, with the moveable portion including an elongate member, and a drive mechanism in communication with the moveable portion. A motor, hand crank, or other force transmission apparatus acts to move the drive mechanism and thus the movable portion and elongate member such that a valve or switch is actuated at a distance.

Apparatus and methods for remote (at a distance) actuation of points of control, such as valves and switches. Controlling a switch or valve at a distance is achieved by a support member having a movable portion, with the moveable portion including an elongate member, and a drive mechanism in communication with the moveable portion. A motor, hand crank, or other force transmission apparatus acts to move the drive mechanism and thus the movable portion and elongate member such that a valve or switch is actuated at a distance.

Controlling a switch or valve at a distance is achieved by a support member having a movable portion, with the moveable portion including an elongate member, and a drive mechanism in communication with the moveable portion. A motor, hand crank, or other force transmission apparatus acts to move the drive mechanism and thus the movable portion and elongate member such that a valve or switch is actuated at a distance from a user.

The present invention relates to a device for moving piece goods from a supply device to a receiving device, comprising: A supply device, such as a conveyor belt, for delivering piece goods; A receiving device, such as a tray, for receiving piece goods;
wherein The supply device and the receiving device are essentially in the same plane; A suspension point located above the plane, relative to which a first part of a: telescopic arm is suspended at a first location thereof so as to be rotatable about two axes of rotation, which axes of rotation each extend substantially parallel to the plane and at a, preferably straight, angle to each other, so that a second location, located at a distance towards the plane of the first location, formed by an end of the first part of the telescopic arm: is movable relative to the plane with a directional component in two mutually perpendicular directions parallel to the plane; and where the telescopic arm comprises a second part, which is telescopically movable relative to the first part in a direction from the first location to the second location, thus with a directional component from the suspension point to and from the plane, which second part is provided on a side facing the plane with an engaging means for engaging at least one of the piece goods.

The invention further relates to an assembly of devices of the aforementioned type, as well as to a method for operating these devices.