公开(公告)号：US20180059187A1

公开(公告)日：2018-03-01

申请号：US15805998

申请日：2017-11-07

申请人： ABB Schweiz AG

发明人： Sangeun Choi ,  George Q. Zhang ,  Thomas A. Fuhlbrigge ,  Hetal V. Lakhani ,  Than Htaik ,  Gregory Penza ,  Robert Kodadek ,  William John Eakins

IPC分类号： G01R31/34 ,  G01C21/20 ,  G01C21/16 ,  B25J13/06 ,  B25J13/02 ,  B62D55/06 ,  G08B6/00

摘要： 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.

公开(公告)号：US10712391B2

公开(公告)日：2020-07-14

申请号：US15805998

申请日：2017-11-07

申请人： ABB Schweiz AG

发明人： Sangeun Choi ,  George Q. Zhang ,  Thomas A. Fuhlbrigge ,  Hetal V. Lakhani ,  Than Htaik ,  Gregory Penza ,  Robert Kodadek ,  William John Eakins ,  Gregory F. Rossano

IPC分类号： G01R31/34 ,  H02K15/00 ,  B62D57/024 ,  B25J13/02 ,  B25J13/06 ,  B62D55/06 ,  G01C21/16 ,  G01C21/20 ,  G08B6/00

摘要： 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.