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In situ gap inspection robot system and method

  • US 10,434,641 B2
  • Filed: 07/18/2017
  • Issued: 10/08/2019
  • Est. Priority Date: 07/18/2017
  • Status: Active Grant
First Claim
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1. A system comprising:

  • a robotic crawler having a plurality of multidirectional traction modules, an expandable body connected to the multidirectional traction modules, and a plurality of sensor modules, each of the plurality of sensor modules including a mounting interface, each mounting interface configured to attach to a sensor interface on the robotic crawler or one of the plurality of sensor modules, wherein the plurality of sensor modules are positioned relative to the plurality of multidirectional traction modules; and

    a control system in communication with the robotic crawler, the control system providing a control signal to the robotic crawler to navigate an inspection path within an annular gap of a machine, wherein navigating the inspection path includes axial movement and circumferential movement of the plurality of multidirectional traction modules to inspect the machine using the plurality of sensor modules.

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