LOCALIZATION, MAPPING AND HAPTIC FEEDBACK FOR INSPECTION OF A CONFINED SPACE IN MACHINERY

摘要

A modular crawler device is used to inspect a confined space in a machine. The inspection coverage area and corresponding status can be mapped so that the inspection location and associated data are graphically visualized. One or more sensors are coupled with the crawler so as to provide positional data and information regarding defects within the confined space. The sensed 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 sensors can also be used to provide haptic feedback to an operator.