Hybrid surface-traversing apparatus and method

Abstract

The invention relates to a hybrid surface traversing apparatus adapted to be adhered to a (e.g., submerged or in air) surface by a non-flow-through pressure differential, the apparatus includes a frame forming a chamber; a seal (e.g., closed-cell foam) having a closed seal perimeter (e.g., a closed polygon, a quadrilateral, and the like) defining an opening of the chamber, the seal perimeter adapted substantially for rolling relative to the chamber and for contact with the surface to be traversed to prevent leakage and maintain a non-flow-through seal with the surface; a suction pump structured and arranged to produce the (e.g., negative) pressure differential and cooperate with the seal to adhere the apparatus to the surface; and a drive configured to move the apparatus relative to the surface.

What is claimed is: 
     
         1 . A surface traversing apparatus adapted to be adhered to a surface by a non-flow-through pressure differential, the apparatus comprising:
 a frame forming a chamber;   a seal having a substantially closed seal perimeter defining an opening of the chamber, the seal perimeter adapted substantially for rolling relative to the chamber and for contact with the surface to be traversed to prevent leakage and maintain a seal with the surface;   a fluid pump structured and arranged to produce the non-flow-through pressure differential and cooperate with the seal to adhere the apparatus to the surface; and   a drive configured to move the apparatus relative to the surface.   
     
     
         2 . The apparatus of  claim 1 , wherein a portion of the seal perimeter comprises at least one roller. 
     
     
         3 . The apparatus of  claim 2 , wherein the at least one roller comprises a compressible outer surface. 
     
     
         4 . The apparatus of  claim 2 , wherein the drive is adapted to power the at least one roller. 
     
     
         5 . The apparatus of  claim 1 , wherein a portion of the seal perimeter comprises at least two rollers. 
     
     
         6 . The apparatus of  claim 5 , wherein the at least two rollers are substantially parallel and disposed on opposing sides of the frame. 
     
     
         7 . The apparatus of  claim 1 , wherein a portion of the seal perimeter comprises a track. 
     
     
         8 . The apparatus of  claim 7 , wherein the drive is adapted to power the track. 
     
     
         9 . The apparatus of  claim 1 , wherein the seal comprises closed cell foam. 
     
     
         10 . The apparatus of  claim 1 , wherein a portion of the seal perimeter comprises two tracks. 
     
     
         11 . The apparatus of  claim 10 , wherein the two tracks are substantially parallel and disposed on opposing sides of the frame. 
     
     
         12 . The apparatus of  claim 1 , wherein the fluid pump is adapted to maintain the apparatus in contact with the surface. 
     
     
         13 . The apparatus of  claim 12 , wherein the fluid pump comprises a pressure differential relative to a zone defined at least in part by the seal perimeter. 
     
     
         14 . The apparatus of  claim 1  further comprising a processing apparatus mounted to the frame and adapted to process at least a portion of the surface. 
     
     
         15 . The apparatus of  claim 1 , wherein the surface is a submerged surface. 
     
     
         16 . A surface traversing apparatus adapted to be adhered to a surface by a non-flow-through pressure differential, the apparatus comprising:
 a frame forming a chamber;   a locomoting seal having a substantially closed seal perimeter defining an opening of the chamber, the seal perimeter adapted substantially for rolling relative to the chamber and for contact with the surface to be traversed to prevent leakage and maintain a seal with the surface;   a fluid pump structured and arranged to produce the non-flow-through pressure differential and to cooperate with the seal to adhere the apparatus to the surface; and   a drive configured to move the apparatus relative to the surface.   
     
     
         17 . A surface traversing apparatus, the apparatus comprising:
 a frame;   a locomoting seal comprising:
 first and second substantially parallel rollers disposed on opposing sides of the frame, wherein the rollers are rotatably connected to the frame; and 
 first and second tracks disposed on additional opposing sides of the frame, wherein the rollers and tracks are adapted substantially for rolling contact with a surface to be traversed and maintaining a seal with the surface; 
   a fluid pump structured and arranged to produce a non-flow-through pressure differential and to cooperate with the seal to adhere the apparatus to the surface; and   a drive configured to move the apparatus relative to the surface.   
     
     
         18 . The apparatus of  claim 17 , wherein the surface is a submerged surface. 
     
     
         19 . A method of traversing a surface, the method comprising the steps of:
 providing an apparatus adapted to be adhered to the surface by a non-flow-through pressure differential, the apparatus comprising:
 a frame forming a chamber; 
 a seal having a substantially closed seal perimeter defining an opening of the chamber, the seal perimeter adapted substantially for rolling relative to the chamber and for contact with the surface to be traversed to prevent leakage and maintain a seal with the surface; 
 a fluid pump structured and arranged to produce the non-flow-through pressure differential and to cooperate with the seal to adhere the apparatus to the surface; and 
 a drive configured to move the apparatus relative to the surface; and traversing the surface with the apparatus. 
   
     
     
         20 . The method of  claim 19 , wherein the surface is a submerged surface.