Localization, mapping and haptic feedback for inspection of a confined space in machinery
First Claim
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, andwherein 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 Assignments
0 Petitions
Accused Products
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.
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Citations
32 Claims
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1. A system comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An inspection and repair system for a machine comprising:
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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. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A method comprising:
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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. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32)
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Specification