Underwater robotic venting and inspection system

摘要

An improved inspection apparatus includes a control apparatus, a tractor apparatus comprising a tractor and a drive mechanism connected together, the drive mechanism being connected with the control apparatus, a tether apparatus disposed on the tractor and being movable between a deployed position and a retracted position, and a buoy apparatus. The buoy apparatus is connected with the tether apparatus and includes a buoy and a camera apparatus, the buoy in a condition submerged in a fluid applying a buoyant force to the camera apparatus whereby in the deployed position of the tether apparatus the buoy apparatus is in an elevated position situated relatively higher in a vertical direction than in the retracted position of the tether apparatus wherein the buoy apparatus is in another position situated relatively lower in the vertical direction, the camera apparatus being structured to provide a visual output signal to the control apparatus.

主权项

1. An inspection apparatus comprising:
a control apparatus; a tractor apparatus comprising a tractor and a drive mechanism connected together, the drive mechanism being connected with the control apparatus; a tether apparatus disposed on the tractor and being movable from a retracted position toward a deployed position and from the deployed position toward the retracted position; and a buoy apparatus connected with the tether apparatus and comprising a buoy and a camera apparatus, the buoy in a condition submerged in a fluid being structured to apply a buoyant force to the camera apparatus whereby in the deployed position of the tether apparatus the buoy apparatus is in an elevated position situated higher in a vertical direction than in the retracted position of the tether apparatus wherein the buoy apparatus is in another position situated lower in the vertical direction, the camera apparatus being structured to provide a visual output signal to the control apparatus.