In situ gap inspection robot system and method
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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Abstract
Systems and methods for in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine are described. A robotic crawler has multidirectional traction modules, an expandable body, and sensor modules. A control system communicates with the robotic crawler to provide a control signal to navigate an inspection path within an annular gap of the machine. The inspection path includes axial and radial movements to inspect the annular gap using the sensor modules.
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Citations
25 Claims
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1. A system comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method comprising:
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inserting a robotic crawler into an annular gap of a machine; expanding an expandable body of the robotic crawler such that a plurality of multidirectional traction modules on the robotic crawler engage opposed surfaces in the annular gap; traversing an inspection path within the annular gap using axial movements and circumferential movements of the robotic crawler; and performing a plurality of inspection tests along the inspection path using a plurality of sensor modules, each of the plurality of sensor modules including a mounting interface, each mounting interface attached to a sensor interface on the robotic crawler or one of the plurality of sensor modules, wherein the plurality of sensor modules is attached to the robotic crawler. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A robot control system comprising:
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a crawler configuration module providing operating instructions for 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 the expandable body or one of the plurality of sensor modules; at least one inspection path definition correlating to an inspection path within an annular gap of a machine, the machine selected from a generator, an electric motor, or a turbomachine, and an autonomous navigation module in communication with the robotic crawler to provide a control signal for the robotic crawler to traverse the inspection path using axial movements and circumferential movements of the plurality of multidirectional traction modules to inspect the machine using the plurality of sensor modules.
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Specification