Inspection robots with a payload engagement device
Inspection robots with a payload engagement device are described. An example inspection robot may have a housing, a drive module, having at least one wheel and a motor, where a sled is coupled to the payload, the sled having a sensor mounted thereon, and a payload engagement device interposed between the drive module and the payload and structured to regulate an engagement of the sled with an inspection surface.
1. An inspection robot, the robot comprising:
a housing;
at least one drive module comprising at least one wheel and a motor, wherein the at least one drive module is operatively coupled to the housing;
a payload operationally coupled to the at least one drive module;
a sled operationally coupled to the payload, the sled comprising a sensor mounted thereon;
a payload engagement device interposed between the at least one drive module and the payload and structured to regulate an engagement of the sled with an inspection surface; and
a controller, the controller comprising:
a payload engagement determination circuit structured to determine a sled engagement value in response to an engagement value from the payload engagement device;
a payload engagement circuit structured to determine a payload engagement change value in response to the sled engagement value; and
a payload engagement control circuit structured to provide a payload action command in response to the payload engagement change value.
2. The inspection robot of claim 1 , wherein the payload engagement device comprises an actuator, and wherein the payload action command comprises an adjust payload height command.
3. The inspection robot of claim 2 , wherein the adjust payload height command comprises a raise payload command, a lower payload command or a set payload height command.
4. The inspection robot of claim 1 , wherein the payload engagement device comprises an actuator, and wherein the payload action command comprises an adjust payload angle command.
5. The inspection robot of claim 1 , wherein the payload engagement device comprises an actuator, and the payload action command comprises an adjust a payload pressure command.
6. The inspection robot of claim 1 , wherein the payload engagement device comprises an actuator, wherein the actuator in a first position engages the sensor with the inspection surface, and in a second position lifts the payload away from the inspection surface.
7. The inspection robot of claim 1 , wherein the payload engagement device comprises an electrically controlled spring, and wherein the payload action command comprises a set spring compression command.