A method of inspection or maintenance of a curved ferromagnetic surface using an unmanned aerial vehicle (UAV) having a releasable crawler is provided. The method includes: flying the UAV from an initial position to a pre-perching position in a vicinity of the ferromagnetic surface; autonomously perching the UAV on the ferromagnetic surface; maintaining magnetic attachment of the perched UAV to the ferromagnetic surface; releasing the crawler from the magnetically attached UAV onto the ferromagnetic surface; moving the crawler over the curved ferromagnetic surface while maintaining magnetic attachment of the released crawler to the ferromagnetic surface; inspecting or maintaining the ferromagnetic surface using the magnetically attached crawler; and re-docking the released crawler with the perched UAV.

A vehicle may include a chassis, at least one wheel rotatably coupled to the chassis, and a magnet positioning inside of the at least one wheel. The magnet may be rotatably coupled to the wheel with a first shaft, such that the magnet is rotatable about a first axis. In some instances, the magnet may also be coupled to the first shaft with a second shaft, such that the magnet is rotatable relative to the wheel about a second axis. Accordingly, the magnet may have either one or two degrees of freedom of movement within the at least one wheel. The magnet may rotate passively, actively, or semi-actively in one or more directions to provide an attractive force toward a ferromagnetic surface to secure the vehicle to the ferromagnetic surface.

A multidirectional wheel for traversing a surface is provided that includes a magnet and a plurality of rollers disposed around an outer periphery of each of the hubs of the wheels. The rollers are mounted for rotation in a second axial direction that is perpendicular to a first axial direction of the wheel. The rollers are supported by a plurality of magnetically-inducible brackets attached to the hub. The brackets are optimally sized and shaped to reduce the space between the magnetized materials of the wheel and the surface upon which the wheel travels.

A system for extraction of a pool cleaning robot from a pool, the system may include a pool cleaning robot interface that is arranged to be coupled to a pool cleaning robot during an exit process during which the pool cleaning robot is extracted from the pool; and a pool cleaning robot manipulator that is coupled to the pool cleaning robot interface, wherein the pool cleaning robot manipulator is arranged to move the pool cleaning robot interface between a first and second portion; wherein when the pool cleaning robot interface is at the first position and is coupled to the pool cleaning robot, the pool cleaning robot is within the pool; wherein when the pool cleaning robot interface is at the second position and is coupled to the pool cleaning robot, the pool cleaning robot is positioned outside the pool.

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.

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.

A robotic vehicle for traversing surfaces comprises a chassis having a plurality of wheels mounted thereto. Two magnetic drive wheels are spaced apart in a lateral direction and rotate about a rotational axis while a stabilizing wheel is provided in front of or behind the two drive wheels. The drive wheels are configured to be driven independently, thereby driving and steering the vehicle along the surface. The vehicle also includes a sensor probe assembly that is supported by the chassis and configured to take measurements of the surface being traversed. In accordance with a salient aspect, the vehicle includes a probe normalization mechanism that is configured to determine the surface curvature and adjust the orientation of the probe transducer as a function of the curvature of the surface, thereby maintaining the probe at the preferred inspection angle irrespective of changes in the surface curvature with vehicle movement.

An unmanned aerial vehicle (UAV) includes a body constructed to enable the UAV to fly and three or more legs connected to the body and configured to land and perch the UAV on a curved ferromagnetic surface. Each leg includes a first portion connected to the body, a second portion including a magnet and configured to magnetically attach and maintain the magnetic attachment of the leg to the ferromagnetic surface during the landing and perching, and a passive articulation joint connecting the first and second portions and configured to passively articulate the second portion with respect to the first portion in response to the second portion approaching the ferromagnetic surface. The UAV further includes a releasable crawler including magnetic wheels which detach the crawler from the body during the perching and maneuver the crawler on the ferromagnetic surface while magnetically attaching the crawler to the ferromagnetic surface after detachment.

An excavator for use on slopes having an incline above 30 degrees, the excavator comprising an undercarriage, a propulsion system and a house rotatably mounted to the undercarriage, wherein a rigid member extends upwardly from the undercarriage, through the house and around which the house rotates, the rigid member supports a cradle to which an engine power pack is mounted within the house, the cradle allowing the engine power pack to tilt within the cradle so that it stays generally horizontal as the excavator travels over a slope.

An unmanned aerial vehicle (UAV) autonomously perching on a curved surface from a starting position is provided. The UAV includes: a 3D depth camera configured to capture and output 3D point clouds of scenes from the UAV including the curved surface; a 2D LIDAR system configured to capture and output 2D slices of the scenes; and a control circuit. The control circuit is configured to: control the depth camera and the LIDAR system to capture the 3D point clouds and the 2D slices, respectively, of the scenes; input the captured 3D point clouds from the depth camera and the captured 2D slices from the LIDAR system; autonomously detect and localize the curved surface using the captured 3D point clouds and 2D slices; and autonomously direct the UAV from the starting position to a landing position on the curved surface based on the autonomous detection and localization of the curved surface.