Localization, mapping and haptic feedback for inspection of a confined space in machinery

• US 10,712,391 B2
• Filed: 11/07/2017
• Issued: 07/14/2020
• Est. Priority Date: 02/27/2015
• Status: Active Grant

• Current Assignee: ABB Schweiz AG (ABB Limited)
• Original Assignee: ABB Schweiz AG (ABB Limited)
• Inventors: Choi, Sangeun, Zhang, George Q., Fuhlbrigge, Thomas A., Lakhani, Hetal V., Htaik, Than, Penza, Gregory, Kodadek, Robert, Eakins, William John, Rossano, Gregory F.
• Primary Examiner(s): Moyer, Dale
• Application Number:
  US15/805,998
• Publication Number:
  US 20180059187A1
• Time in Patent Office: 980 Days
• CPC Class Codes: B25J 13/025 comprising haptic means
• CPC Class Codes: B25J 13/065 comprising joy-sticks
• CPC Class Codes: B62D 55/06 with tracks without ground wheels
• CPC Class Codes: B62D 57/024 specially adapted for moving on inclined or vertical surfaces endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02
• CPC Class Codes: G01C 21/16 by integrating acceleration or speed, i.e. inertial navigation
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01R 31/34 Testing dynamo-electric machines
• CPC Class Codes: G08B 6/00 Tactile signalling systems, e.g. personal calling systems
• CPC Class Codes: H02K 15/00 Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
• CPC Class Codes: Y10S 901/44 inspection

Abstract

A modular device is used to inspect a confined space in a machine. The entire inspection coverage area and corresponding status are mapped so that the inspection location and associated data are graphically visualized. An accelerometer mounted on the device serves as a tilt sensor and also provides data about a collision of the device with the space being inspected or defects therein. The accelerometer data in combination with an odometry system determines the axial position of the device. A gyroscope mounted on the device is used to determine the device heading. The locational information is used to generate an inspection map that provides inspection history, logged data and a reference that are useful in scheduling the next inspection. The output of the gyroscopes can be used to provide haptic feedback to the device operator to maintain proper device orientation.

Claims

1. A system comprising:

a crawler operable for traversing through a confined space in a machine;

one or more sensors coupled with the crawler, the one or more sensors structured and positioned to sense information associated with the machine;

a transmitter for transmitting information from the one or more sensors to at least one of a visual display and a retrievable memory storage; and

a control system having haptic feedback capability to signal an occurrence of one of a plurality of predefined events based upon the information sensed by the one or more sensors,

wherein the plurality of predefined events include sensing a defect in the machine, and

wherein the control system generates an electronic result map of an inspected space within the machine to define discreet regions, each of the discreet regions includes a status indicator selected, based on a defined criteria, from a plurality of different status indicators, the defined criteria including at least information indicative of at least one of defects or foreign objects are within the discreet region.

2. The system of claim 1, wherein the defect includes a foreign object located proximate the confined space.

3. The system of claim 1, wherein the one or more sensors include at least one of a video camera, an accelerometer bases tilt sensor, or a proximity sensor.

4. The system of claim 1 further comprising a tether connected to the crawler for transmitting electronic data to and from the crawler.

5. The system of claim 1, wherein the crawler includes a main function module and one or more drive modules.

6. The system of claim 1, wherein the crawler includes modular capability to add a plurality of function modules and drive modules.

7. The system of claim 1, wherein the confined space is an air gap positioned between a stator and a rotor of an electrical machine.

8. The system of claim 1, wherein the control system includes a manual control device with haptic feedback capability.

9. The system of claim 8, wherein haptic feedback is transmitted by the manual control device when one or the predefined events is sensed by the crawler.

10. The system of claim 9, wherein the plurality of predefined events include sensing at least one of a defect or that a position or orientation of the crawler is different from that of a desired position or orientation.

11. The system of claim 1 further comprising defining a new inspection schedule map based on the result map created during a previous inspection.

12. An inspection and repair system for a machine comprising:

a crawler configured to move within an air gap formed in the machine;

one or more sensors associated with the crawler, the sensors operable for sensing defects within a sensing range of the crawler;

a transmitter for transmitting information about the defect to at least one of a display and a retrievable memory;

a control system for controlling movement and communication with the crawler; and

a mapping system with schedule information operable for creating an output map defined by discreet regions;

wherein each of the discreet regions of the output map includes a status indicator selected from a plurality of different status indicators based on sensed inspection data obtained by the crawler, the plurality of different status indicators including status indicators indicative of whether at least one of defects or foreign objects are present within the discreet region.

13. The inspection and repair system of claim 12, wherein the status indicator includes information related to at least one of a surface defect, a foreign object, a pass/fail index or other user defined criteria.

14. The inspection and repair system of claim 12, wherein the control system includes at least one of a tether line or wireless communication means operable with the crawler.

15. The inspection and repair system of claim 12, wherein an inspection path for the crawler is defined based on information from the status indicators of the output map.

16. The inspection and repair system of claim 12, wherein the crawler is controlled autonomously by the control system.

17. The inspection and repair system of claim 12, wherein movement of the crawler is at least partially controlled by a manual device.

18. The inspection and repair system of claim 17, wherein the manual device included a haptic feedback system.

19. The inspection and repair system of claim 18, wherein the haptic feedback system transmits haptic feedback output when a defect is identified.

20. The inspection and repair system of claim 19, wherein the magnitude of the haptic feedback is proportional to a size of the defect.

21. The inspection and repair system of claim 18, wherein the haptic feedback system transmits haptic feedback output when a position or orientation of the crawler is not within a predefined limit of a desired position or orientation.

22. The inspection and repair system of claim 18, wherein the haptic feedback system includes a plurality of different signal definitions, each of the signal definitions corresponding to one of a plurality of different defect indicators or crawler orientation indicators.

23. The inspection and repair system of claim 12 further comprising a repair module associated with the crawler configured to perform a repair operation on the machine.

24. The inspection and repair system of claim 12 further comprising an inertial measurement unit operable with the crawler.

25. A method comprising:

moving a crawler within an air gap of an electrical machine;

sensing a surface of the electrical machine during the moving;

mapping the surface of the machine, wherein the mapping includes defining the surface as a plurality of discrete regions with a status indicator and schedule information associated therewith, wherein the status indicator is selected from a plurality of different status indicators, and wherein at least some of the status indicators indicate a machine defect;

displaying a map with the status indicators on a visual display; and

transmitting haptic feedback in response to the sensing at least one of a defect in the electrical machine or a deviation from a desired position or orientation of the crawler.

26. The method of claim 25, generating a new inspection schedule path for the crawler in response to the mapping of the electrical machine.

27. The method of claim 25, wherein the status indicator indicates one of a machine defect, foreign object, pass/fail criteria, or other defined criteria.

28. The method of claim 25, wherein the sensing includes sensors with at least one of video, orientation or proximity capability.

29. The method of claim 25, wherein the sensing occurs on at least one of a stator or a rotor of the electrical machine.

30. The method of claim 25, wherein the moving includes input from a manual input device.

31. The method of claim 25, wherein a transmission magnitude of haptic feedback is proportional to at least one of a size of the defect or a magnitude of the deviation.

32. The method of claim 25, wherein the transmission of haptic feedback includes a plurality of different signals to correspond with a plurality of predefined status indicators.