Surface wave detection of surface defects
A moving robot has at least one surface wave transducer or a transmitter and receiver, to identify defects on or in a surface on which the robot moves, and provide data indicative of the location, size and/or orientation of the defects from robot position data.
1. A moving robot for identifying defects in a thin wall, the moving robot comprising at least one transducer or a transmitter and receiver pair incorporated in one or more wheels, tracks, or rollers of the robot, the transducer or transmitter arranged to transmit ultrasonic energy into the wall as the robot moves on the wall, the transducer or receiver arranged to receive said energy to identify defects breaking the surface of the wall, wherein the transducer or transmitter is arranged at an angle to a surface of the material along which the robot moves, such that transmitted ultrasonic energy is confined to the surface of the wall and propagates in the wall as surface waves to within a depth of two wavelengths beneath the surface, the transducer or receiver arranged to receive said ultrasonic energy to identify defects breaking the surface of a wall; and
an articulating carriage attached to the robot that is configured to carry and hold the one or more wheels, tracks or rollers comprising the at least one transducer or transmitter and receiver pair in contact with and normal to the surface of the wall such that the angle of the transducer or transmitter and receiver pair to the wall is maintained as the robot moves across the surface.
2. The moving robot according to claim 1 , arranged to provide data indicative of the location, size and/or orientation of the defects from robot position data.
3. The moving robot according to claim 1 , wherein the transducer or transmitter is configured to transmit ultrasonic enemy which propagates in the wall as surface waves at multiple frequencies, in order to determine the depth of defects breaking the surface of a material.
4. The moving robot according to claim 1 , wherein the at least one transducer or transmitter and receiver pair, and comprise a combination of:
at least one pulse-echo transducer or transmitter and receiver, and
at least one transmit mode transmitter and receiver.
5. The moving robot according to claim 1 , further comprising multiple transducers or transmitters and receivers.
6. The moving robot according to claim 1 , wherein the moving robot is a climbing robot.
7. The moving robot according to claim 6 , further comprising one or more suction devices arranged to initially move towards the surface to expel air from between the suction devices and the surface, and then away from the surface without breaking the suction devices from the surface to create a vacuum between the suction devices and the surface effective to hold the robot on the surface.
8. The moving robot according to claim 7 , further comprising a drive system arranged to move the robot on the surface causing sliding of the suction devices on the surface while maintaining a vacuum to hold the robot attached to the surface.
9. The moving robot according to claim 1 , wherein the arm of the articulating carriage is pivotally attached to the robot for movement about a first axis, and wherein the one or more robotic wheels, rollers, or tracks are carried at an outer end of the arm for movement about a different, second axis.
10. The moving robot according to claim 1 , wherein the transducer or transmitter is arranged at an angle to the wall such that transmitted ultrasonic energy propagates in the wall as surface waves to within a depth of one wavelength beneath the surface.
11. The moving robot according to claim 1 , wherein the articulating carriage further comprises an arm pivotally attached to the robot.
12. The moving robot according to claim 11 , wherein the arm is biased towards the surface of the wall to apply force onto the one or more wheels, rollers, or tracks against the surface of the wall.
13. The moving robot according to claim 12 , wherein the arm is pivotally attached to the robot by at least one spring loaded pivot which biases the arm towards the surface of the wall.
14. The moving robot according to claim 11 , wherein the articulating carriage further comprises a sub-assembly pivotally mounted to the end of the arm distal to the robot, the sub-assembly configured to carry and hold the one or more wheels, tracks or rollers.
15. The moving robot according to claim 14 , wherein the one or more wheels, tracks or rollers comprise spring loaded wheels, each carried and held via a swing arm pivotally carried by the sub-assembly.
16. The moving robot according to claim 15 , wherein each wheel, roller, or track comprises a hub which rotates about an axle, wherein a transducer or transmitter or receiver is mounted in an aperture of the hub at an inclined angle so as to transmit or receive ultrasonic energy at an angle to the wall to identify defects breaking the surface of the wall.