Robot-based internal inspection of objects

Abstract

The present invention relates to a mobile robot (10) for inspecting an inner cavity of an object under inspection, wherein the mobile robot (10) comprises an actuating system (2) for driving on an inner surface abutting the inner cavity of the object under inspection and a sensory system (3, 6) configured to capture sensor data related to the inner surface. The present invention also relates to a system comprising said robot, to a method for utilizing said robot and / or system and to uses of said robot and / or system.

Description

[0001] Robot-based internal inspection of objects

[0002] The present invention relates to internal inspection of objects using a robot. The present invention primarily relates to internal inspection of wind turbine blades.

[0003] A wind turbine generator (WTG) is a device that converts wind kinetic energy into electrical power. There are currently hundreds of thousands of WTGs worldwide. Typically, a WTG consists of a rotating part (often these are 3 rotor blades) that rotate with the wind, helping a generator to which they are connected, to generate energy.

[0004] Rotor blades are typically made of a light composite material, most often glass fiber composite, with the largest rotor blade models exceeding 100 m length and 5 m width, while the tips of the rotor blades are narrow (approx. 30 cm) and thin. The rotor blade can rotate with a linear speed of up to 300 km / h and is otherwise exposed to large temperature fluctuations, ultraviolet irradiation, diverse humidity conditions, mechanical impacts (sand particles, dust, dirt, insects, algae, guano and other) and lateral and mechanical strains and vibrations. This can lead to mechanical failure of certain parts of the rotor blades. As the rotor blades are mostly coated with protective coatings from the outside, some defects in the glass fiber structure of the rotor blade are best observed from the inside of the rotor blade. These typically appear as but are not limited to cracks, delamination and condensed water presence or signs of water exposure. Moreover, internal circuitry for the lightning protection system built into the rotor blade is best seen from the inside, enabling detection of corrosion, interruptions in the electrical circuit and other defects. Hence the rotor blades are inspected from the inside. The service is often referred to as internal inspection of the rotor blade.

[0005] The internal inspection is mostly performed by trained professionals climbing up the WTG tower and sometimes inside the rotor blade. The inspection worker then inspects the widest section of the rotor blade and photographs key elements of the rotor blade and defects if any are discovered. The size and position are also evaluated and noted, providing the client with a report. However, due to the safety regulations, human personnel are only able to inspect the first 30 - 50 % of the rotor blade, leaving the tip along with narrower sections and passages of the rotor blade uninspected. This can lead to a failure to detect faults of the rotor blade at an early stage. Without detection, the faults cannot be repaired, thus potentially leading to larger damages and rotor blade failures later on. This can lead to large repair expenses, extended WTG downtimes and lost profit for the wind park operators. Some alternatives exist. Cameras mounted on a vertical support structure or at times even fiber optic telescopes (probes) can be used to inspect narrower passages of the rotor blade. However, they often lack the precision or resolution to determine the precise size of the faults and a precise location of these within the rotor blade. Furthermore, as the inside of the rotor blade is dark, lighting can also be a challenge. Since the cameras are directly operated by a technician, the reach of these can also be limited, and their operation can be challenging.

[0006] Another approach is to use drones for internal rotor blade inspection. The use of drones enables inspection of the rotor blade closer to their tip - in places which could not be reached by inspection professionals. This is feasible and indeed even provided as a commercial service. However, resolution, lighting and determination of precise size and location within the rotor blade is again challenging. Furthermore, a drone has relatively high standby energy consumption, as it consumes power even if it stays still in the air, thus their operation time is very limited.

[0007] Remote controlled vehicles with a mounted camera have also recently been introduced, however, these again lack the precision and capacity to orient themselves in the rotor blade, determining a precise size and position of the defect within it. Furthermore, lighting and speed of performance also remain key challenges.

[0008] Thermal inspection is another solution to inspect wind turbine blades. The method involves simultaneous inspection of both sides of the blades using thermography and visual imaging to ensure comprehensive detection of potential internal damages. Two distinct thermography types are employed: a passive type utilizing sunlight as the heat source and an active type employing a laser or another source for controlled blade heating and thermal contrast analysis. However, a drawback of this technique is the requirement for a lifting platform or placement of the blade on the ground during the inspection process. Radiographic or x-ray- based in-situ-based inspections could be an alternative following a similar approach.

[0009] The present invention aims at alleviating and mitigating the above shortcomings.

[0010] The present invention relates to a mobile robot for inspecting an inner cavity of an object under inspection. The mobile robot can comprise an actuating system for driving on an inner surface abutting the inner cavity of the object under inspection and a sensory system configured to capture sensor data related to the inner surface.

[0011] The mobile robot may offer several technical advantages that can significantly enhance the efficiency, accuracy, and safety of the inspection process.

[0012] The robot may eliminate or reduce manual labor needed for internal inspection. Thus, the robot may make it easier and more cost-effective to perform internal inspections. This may enable inspections to be conducted more frequently, leading to improved maintenance and increased longevity of the object under inspection.

[0013] Unlike human inspectors, the robot can navigate through complex internal structures and reach areas that are typically inaccessible or difficult to access for humans. For instance, in the case of wind turbine rotor blades, while human access may be limited to approximately 30-50% of the inner cavity of the rotor blade, the robot may comprise a greater reach, ensuring a more comprehensive inspection of the blade's internal structure. This extended reach can enable the robot to collect sensor data from a larger portion of the inner surface, resulting in more accurate and representative inspection results.

[0014] The robot's ability to approach different portions of the inner surface and obtain sensor data allows for a more detailed and thorough inspection. Moreover, different portions of the inner surface may be viewed from a close distance by the mobile robot. By systematically scanning the entire inner cavity, the robot can capture high-resolution sensor data that provides a comprehensive view of the object's condition, including any defects or anomalies present.

[0015] Equipped with multiple sensors, the robot can provide a more complete understanding of any defects or abnormalities detected. By combining data from different sensors, the robot can identify and characterize defects with greater accuracy and reliability.

[0016] The mobile robot can operate with low standby energy consumption or even remain stationary without active energy usage, making it an energy-efficient solution for internal inspection. This minimizes operational costs and environmental impact while ensuring prolonged deployment and continuous monitoring capabilities. Overall, the robot for internal inspection represents a technological advancement that revolutionizes the inspection process by overcoming traditional limitations and offering unparalleled capabilities for comprehensive and efficient inspection of objects' internal structures.

[0017] The mobile robot can comprise a robot base and a robot body mounted on the robot base. The robot base may comprise a chassis and may be configured to provide structural support to the robot. The robot body may generally be configured to cover internal component of the mobile robot. The robot body may be configured to provide sufficient structural support for mounting other robot components thereto, such as, sensors and light sources.

[0018] The robot body can be configured to cover at least in part internal components of the mobile robot.

[0019] The robot body can comprise one or more cover plates.

[0020] The actuating system can be mounted, at least in part, to the robot base.

[0021] The mobile robot can comprise a front attachment configured to facilitate attaching at least one front assembly to the robot. This can facilitate repurposing the mobile robot. For example, different sensory systems or other attachments may be attached to the mobile robot via the front attachment.

[0022] The front attachment can comprise an attachment frame with a plurality of pre-drilled holes.

[0023] The front attachment can comprise a female and / or a male part of at least one locking mechanism. For example, the front attachment may comprise a standardized locking mechanism.

[0024] The sensory system can be configured to be mounted to the front attachment. Additionally, the sensory system may comprise a view towards the front of the mobile robot.

[0025] The sensory system can be releasably mounted to the robot via the front attachment. This way the sensory system can be interchangeable and / or can be easily removed for fixing or updating. The sensory system can be mounted on the robot body with a field of view towards the inner surface. This can facilitate capturing sensor data related to the inner surface.

[0026] The robot body can be shaped to reduce the likelihood of the robot getting stuck inside the object under inspection. For example, the robot body may comprise a compact size, rounded or carved edges, and / or a tapered rear or front section.

[0027] The mobile robot can comprise a battery component for storing electrical energy. By storing electrical energy, the battery component may allow continuous operation of the robot, even in environments where external power sources may be unavailable or impractical.

[0028] The battery component can be mounted to the robot base. This can be advantageous given that typically the battery component may be heavy.

[0029] The battery component can be provided on a middle portion of the robot base between a rear portion and a front portion of the mobile robot. This placement of the battery component may optimize the distribution of weight and balance, potentially aligning the center of mass at the geometrical center of the robot. By positioning the battery in this manner, the overall stability and maneuverability of the robot can be improved. This configuration can minimize the risk of tipping or imbalance during movement, especially in challenging terrains or environments.

[0030] The battery component can be mounted to the robot base such that it can be positioned on a lower portion, such as a lower half, of the mobile robot. This positioning may optimize the distribution of weight within the robot, lowering its center of gravity and enhancing stability.

[0031] The battery component can be provided on a left and / or right side of the mobile robot. Preferably, the battery component can be provided on a left and right side of the mobile robot. This may provide a better weight distribution within the robot. At the same time, battery capacity can be increased.

[0032] The battery component can comprise a left battery part provided on a left side of the mobile robot and a right battery part provided on a right side of the mobile robot. It will be understood that terms such as front, rear, left and right of the mobile robot can be defined with respect to the forward motion of the mobile robot.

[0033] The battery component can comprise a battery enclosure configured to enclose at least one battery of the battery component. The battery enclosure may thus protect the at least one battery.

[0034] The battery enclosure can be configured to dissipate heat away from the at least one battery of the battery component. For example, the battery enclosure may comprise opening allowing air circulation and / or its material may be selected such that heat conductivity is increased.

[0035] Additionally or alternatively, an active battery colling element may be provided for cooling the battery component.

[0036] The mobile robot can be configured to be powered from an external electrical power source. This can be particularly advantageous for extending the operating time of the mobile robot.

[0037] The mobile robot can comprise a power input port configured to connect therein a power cable for providing electrical power to the mobile robot from the external power source. For example, the mobile robot may comprise a power socket.

[0038] The electrical power source can be an external battery component.

[0039] The actuating system can comprise a plurality of wheels, preferably at least 3 wheels, more preferably 4 wheels, and at least one actuator configured to rotate the plurality of wheels.

[0040] Each of the at least one actuator can be an in-wheel motor integrated into a respective one of the plurality of wheels. This may provide a more compact mobile robot.

[0041] Each of the at least one actuator uses electrical energy to produce mechanical force.

[0042] The robot can comprise a rear wheel and a front wheel.

[0043] The battery component can be provided between the rear wheel and the front wheel. This can provide a particularly stable mobile robot, as discussed above. The robot can comprise a rear-left wheel, a rear-right wheel, a front-left wheel and a frontright wheel.

[0044] The left battery part can be provided between the rear-left wheel and the front-left wheel and the right battery part can be provided between the rear-right wheel and the front-right wheel.

[0045] Each one of the plurality of wheels can be individually steerable. This can increase the maneuverability of the mobile robot. By enabling individual steering for each wheel, the robot can execute complex movements such as turning in place, navigating tight spaces, and maneuvering around obstacles with precision. Furthermore, the mobile robot may move sideways without substantially changing its orientation. This may increase the quality of sensor data capture, given that the overall orientation of the sensory system does not have to change substantially while performing sideway motions.

[0046] Each one of the plurality of wheels can comprise a high-traction outer surface. This may reduce slippage of the mobile robot, particularly when climbing or descending inclined surfaces.

[0047] The actuating system can comprise a propeller configured to generated a thrust parallel to a moving direction, preferably forward moving direction, of the mobile robot via a rotary motion of the propeller. The thrust may be parallel to a central axis of the mobile robot extending between the rear and front of the mobile robot. Said axis may also be referred to as a robot axis or robot central axis. The propeller can help the robot to travel on inclined surfaces without slipping. By directing the thrust parallel to the moving direction of the robot, the propeller can assist in maintaining stability and propulsion, especially when traversing slopes or uneven terrain. This can ensure that the robot can navigate inclined surfaces with greater efficiency and control, enhancing its overall mobility and adaptability to varied environments.

[0048] The propeller can comprise an electric duct fun. This may be a particularly simple and costefficient propeller.

[0049] The mobile robot can be configured to automatically activate the propeller when driving on a sloped surface, preferably when climbing an upwards slopped surface. This facilities operability of the mobile robot and may increase its autonomy. The mobile robot can be configured to detect a slope of the inner surface and to automatically activate the propeller when the slope can be larger than a predetermine slope threshold. For example, the mobile robot may utilize internal sensors, such as, a gyroscope, an accelerometer and / or inertial measurement unit to detect orientation of the mobile robot while being on the inner surface and based thereon to detect a slope of the inner surface.

[0050] The mobile robot can be configured for manual activation of the propeller, wherein the robot can be configured to activate the propeller in response to receiving a user input indicative of thrust activation. This may allow a robot operator to control over the propeller.

[0051] The propeller can be provided on a rear portion of the mobile robot. This can be particularly advantageous for providing a forward thrust to the mobile robot and for climbing upwards tilted surfaces.

[0052] The propeller can be configured such that the magnitude of the thrust generated by the propeller can be adjustable. This can allow adjusting the thrust as needed, e.g., based on the slope. As a result, a more energy efficient operation of the thrust can be achieved. Additionally, adjusting the magnitude of the thrust may facilitate maintaining a constant speed of the mobile robot - which can be advantageous for capturing good quality sensor data.

[0053] The mobile robot can be configured to automatically adjust the magnitude of the thrust based on data from internal sensors of the robot, such as, based on data from a gyroscope comprised by the mobile robot. Thus, the robot may operate the propeller according to an orientation of the robot.

[0054] The mobile robot can be configured for manual adjustment of the magnitude of the thrust generated by the propeller, wherein the robot can be configured to adjust the magnitude of the thrust in response to receiving a user input indicative of a thrust magnitude. This can provide control over the magnitude of the thrust generated by the propeller to an operator of the mobile robot.

[0055] The mobile robot can comprise a wheel-propeller controller configured to control the at least one wheel actuator and the propeller in coordination to each other. This can allow a smoother travelling of the mobile robot. For example, the wheel-propeller controller can be configured to maintain a target speed and / or not to exceed a maximum speed. By controlling the propeller and the at least one wheel actuator in coordination, the wheel-propeller controller may achieve said objective with more ease and certainty. As a result, the sensor data can be of better quality.

[0056] The sensory system can comprise a range sensor configured to generate range data indicative of distances between the range sensor and the inner surface and wherein the sensor data can comprise the range data. The range data can be particularly advantageous for mapping the inner surface, measuring a precise size of defects and / or determining a precise location of defects.

[0057] The range sensor can be configured to emit laser beams and receive reflected laser beams to generate point clouds representing the inner surface of the object under inspection. Laserbased range sensors can provide particularly accurate distance measurements.

[0058] The range sensor can comprise a light detection and ranging sensor.

[0059] The sensory system can comprise a visual sensor configured to generate visual data of the inner surface, and wherein the sensor data can comprise the range data. This can facilitate a visual inspection of the inner surface. Furthermore, the visual data may facilitate detecting defects on the inner surface using image processing algorithms.

[0060] The visual sensor can comprise a field of view with an angle of at least 100°, preferably at least 120°, more preferably at least 180°, even more preferably at least 270°, such as 360°.

[0061] The angle can be a horizontal angle.

[0062] The visual sensor can comprise an omnidirectional field of view, preferably configured to substantially cover an entire sphere around the visual sensor.

[0063] The visual sensor can comprise at least one camera, preferably a plurality of cameras.

[0064] The visual data can comprise a plurality of visual images of the inner surface, preferably a plurality of overlapping visual images of the inner surface. This may facilitate merging or stitching the plurality of visual images, e.g., to generate a complete visual representation of the inner surface.

[0065] The visual data can comprise at least one video of the inner surface. Frames of the video can be extracted to thereby obtain a plurality of visual images of the inner surface, preferably a plurality of overlapping visual images of the inner surface.

[0066] The sensory system can comprise at least one ultraviolet sensor configured to detect ultraviolet light, such as light with a wavelength between 10-400 nanometers and to generate ultraviolet intensity data, wherein the sensor data can comprise the ultraviolet intensity data.

[0067] The mobile robot can be configured to utilize the at least one ultraviolet sensor during daytime to detect presence of sunlight in the inner cavity.

[0068] Thus, a crack a wall of the object may be detected and / or regions wherein an ultraviolet light protection layer of the object under inspection may be damaged.

[0069] The sensory system can comprise a plurality of different sensor types, each generating respective sensor type data.

[0070] The mobile robot can be configured to associate the different sensor type data based on a temporal and / or spatial correspondence between the different sensor type data. That is, that the robot can be configured to align the sensor data collected from different sensors based on the time at which the data was captured (temporal correspondence) and / or based on the location or position where the data was captured (spatial correspondence). By associating the sensor data in this manner, the robot can integrate information from multiple sensor sources to create a more comprehensive and coherent understanding of the inner surface. For example, the robot may thus associate the range data and the visual data. Alternatively or additionally, the robot may associate the range data, visual data and other data obtained by other sensors of the mobile robot.

[0071] For example, the different sensor type data may be aligned with respect to a common coordinate system.

[0072] The sensor data can comprise the different sensor type data associated to each other. The mobile robot can comprise a robot positioning system configured to generate location data indicative of the location of the mobile robot. The location data may be indicative of a distance between the mobile robot and an end of the object under inspection.

[0073] The location data can be indicative of a location of the mobile robot relative to the object under inspection.

[0074] The location data can be indicative of a location of the mobile robot at multiple instances during the internal inspection.

[0075] The mobile robot can be configured to operate the sensory system and the robot positioning system substantially synchronized with each other.

[0076] The mobile robot can be configured to associate the sensor data with the location data to thereby generate localized sensor data. This can facilitate determining the position within the object under inspection wherein the sensor data were obtained.

[0077] The mobile robot can be configured to associate the sensor data with the location data based on a temporal correspondence between the sensor data and the location data.

[0078] The positioning system can comprise an internal pose sensor configured to measure a position, orientation and / or acceleration of the mobile robot.

[0079] The internal pose sensor can comprise one or more sensors selected from a set oof sensors comprising: at least one GPS sensor, at least one dead-reckoning sensor, at least one accelerometer, at least one gyroscope, at least one odometer, at least one magnetometer, at least one inertial measurement unit and at least one altitude sensor.

[0080] The positioning system can comprise an ultra-wideband robot antenna for positioning the mobile robot with respect to at least one fixed and known location. This way the robot may utilize ultra-wideband radio technology to measure a distance between the robot and at least one a fixed and known location. The ultra-wideband robot antenna can be configured to operate in a frequency spectrum of at least 400 MHz, preferably at least 450 MHz, more preferably at least 480 MHz.

[0081] The ultra-wideband robot antenna can be configured to communicate with at least one ultra- wideband stationary antenna, each provided on respective one of the at least one fixed and known location.

[0082] The mobile robot can comprise an illuminating system for illuminating the surroundings of the mobile robot. The illuminating system can increase the quality of the sensor data, in particular of the visual data, which can thus better represent the inner surface. The illuminating system can be particularly advantageous given that the mobile robot is configured to inspect inner cavity wherein light penetration from the outside may be low and / or other light sources may not be present.

[0083] The illuminating system can be configured to illuminate at least the field of view of the sensory system.

[0084] The illuminating system can be configured to generate visual light and to illuminate at least the field of view of the visual sensor.

[0085] The illuminating system can be configured to illuminate towards different directions.

[0086] The illuminating system can be configured to generate homogenous illumination. This way the sensor data, and in particular of the visual data, can better represent the inner surface. Moreover, a homogeneous illumination can reduce artefacts in the sensor data, that may otherwise appear as or be mistaken with defects on the inner surface.

[0087] The illuminating system can comprise a light diffuser. The light diffuser may facilitate having homogenous illumination.

[0088] The illuminating system can comprise a plurality of light sources, preferably a plurality of light-emitting diodes. This can increase illumination range and / or the directions along which illumination can be provided. The pose of each light source can be selected such that the illuminating system provides homogenous illumination. That is, the light sources can be arranged to optimize homogenous illumination.

[0089] The illuminating system can be configured such that the intensity of each light source can be individually controllable.

[0090] The mobile robot can be configured to automatically adjust the intensity of each light source using sensor data.

[0091] The mobile robot can be configured to adjust the intensity of each light source based on the range data. That is, an orientation of each light source and its light distribution can be known. Range data can be used to calculate a power of each light source in order to achieve even light distribution and brightness. Where the inner surface is further from the robot at a particular direction, the light source illuminating along that direction can be adjusted to emit more light and vice versa.

[0092] The mobile robot can comprise at least one light sensor and wherein the mobile robot can be configured to automatically adjust the intensity of each light source using an output of the at least one light sensor. The at least one light sensor can be used as a validation mechanism ensuring homogeneous illumination.

[0093] The mobile robot can comprise at least one electronic display, preferably two electronic displays, more preferably two front electronic display provided on a front facing side of the mobile robot.

[0094] Each electronic display can be provided within a field of view of the visual sensor.

[0095] The mobile robot can be configured to display on one of the at least one electronic display positional data indicative of a position of the mobile robot relative to the object under inspection.

[0096] The positional data displayed on one of the at least one electronic display can comprise a distance to be travelled by the mobile robot and / or a distance of the mobile robot from an origin location at the start of the inspection. The mobile robot can be configured to display on one of the at least one electronic display auxiliary data for facilitating the postprocessing of the sensor data.

[0097] The mobile robot can be configured to display on one of the at least one electronic display synchronization data for synchronizing the sensor data captured by the sensory system.

[0098] The mobile robot can be configured to display the synchronization data using a computer- readable code, preferably a two-dimensional computer readable code, such as a QR code.

[0099] The synchronization data can be configured to facilitate synchronizing the range data with the visual data.

[0100] The synchronization data can comprise a frame ID of the range sensor and / or of the visual sensor.

[0101] The synchronization data can be configured to facilitate synchronizing the sensor data with data obtained by other sensors of the mobile robot.

[0102] The mobile robot can comprise at least one operator camera.

[0103] The mobile robot can comprise a dedicated operator camera light source.

[0104] The robot can be configured to activate the dedicated operator camera light source(s) when the illuminating system can be inactive.

[0105] The mobile robot can be configured to activate and deactivate the at least one operator camera.

[0106] The mobile robot can be configured to selectively activate and deactivate the at least one operator camera based on the direction of motion of the mobile robot.

[0107] The mobile robot can comprise a front operator camera comprising a field of view towards the front of the mobile robot and a rear operator camera comprising a field of view towards the rear of the mobile robot. The mobile robot can be configured to allow manual activation and deactivation of the at least one operator camera based on user input.

[0108] Each operator camera can be configured to capture a video.

[0109] The mobile robot can be configured to stream the video captured by each operator camera to a remote display provided externally to and remote from the mobile robot.

[0110] The mobile robot can comprise a video transmitter, preferably a low latency video transmitter, configured to stream the video captured by each operator camera to the remote display.

[0111] The mobile robot and / or the video transmitter can be configured to further stream to the remote display robot related data associated, preferably overlayed, to the video captured by each operator camera.

[0112] In some embodiments, the sensor data may further comprise the video captured by the operator camera.

[0113] The mobile robot can comprise at least one clearance actuator configured to adjust the robot clearance from ground. The at least one clearance actuator may serve multiple purposes, including optimizing the positioning of the sensory system towards the inner surface. Moreover, increased clearance can facilitate traversal over obstacles that may be present on the inner surface, enhancing the robot's ability to navigate challenging terrain. In large spaces within the inner cavity, the clearance can be set higher, enabling the robot to drive at faster speeds.

[0114] The mobile robot can comprise a respective clearance actuator for each one of the wheels and wherein each wheel can be attached to a respective one of the clearance actuators.

[0115] Each clearance actuator can be configured to adjust a vertical distance between a center of each wheel and the robot base.

[0116] The mobile robot can be configured to control the clearance actuators to adjust the angle of view of the sensory system onto the inner surface. The mobile robot can be configured to detect an obstacle and based thereon to control the clearance actuators such that the robot can be able to pass the obstacle.

[0117] The mobile robot can be configured to control the clearance actuators based on a size of the inner cavity.

[0118] The mobile robot can be configured to receive user input indicative of a clearance from ground adjustment and based thereon control the at least one clearance actuator.

[0119] The mobile robot can comprise at least one support roller, preferably a plurality of support rollers, such as 4 support rollers.

[0120] Each roller can be provided on a side of the mobile robot.

[0121] The mobile robot can comprise a left support roller provided on a left side of the mobile robot and a right support roller provided on a right side of the mobile robot.

[0122] The mobile robot can comprise a front-left support roller provided on a front-left portion of the mobile robot, front-right support roller provided on a front-right portion of the mobile robot, rear-left support roller provided on a rear-left portion of the mobile robot and rearright support roller provided on a rear-right portion of the mobile robot.

[0123] Each support roller can be configured to protrude laterally from a respective side of the mobile robot such that it forms a lateral extremity of the mobile robot.

[0124] Each support roller can be configured to maintain a minimum distance between a side of the mobile robot wherein said support roller can be provided on and a surface or object facing said side of the mobile robot.

[0125] Each support roller can comprise a rotary element and a roller arm, wherein the roller arm protrudes laterally away from a robot central axis. Said central axis may be a rear to front central axis of the mobile robot. Said central axis may be referred to as a robot axis, robot central axis or central robot axis. Said axis can be parallel to the forward motion direction of the robot.

[0126] At least one of the roller arms can comprise an adjustable length.

[0127] At least one of the roller arms can comprise a flexible component allowing length adjustment of the respective roller arm.

[0128] At least one of the roller arms can comprise an arm actuator allowing length adjustment of the respective roller arm.

[0129] The mobile robot can be configured to process the sensor data to detect a defect on the inner surface.

[0130] The mobile robot can be configured to process the sensor data to further detect at least one inspection parameter associated with the detected defect on the inner surface.

[0131] The at least one inspection parameter can comprise a type, size, position within the inner surface, and / or severity of the detected defect.

[0132] The mobile robot can be configured to generate an inspection report indicative of one or more detected defects on the inner surface.

[0133] The inspection report can be indicative of the at least one inspection parameter for each detected defect.

[0134] The mobile robot can be configured to generate the inspection report immediately after the internal inspection can be completed, such as, upon receiving a user input indicative of the end of the internal inspection and / or upon detecting, e.g., based on the position of the mobile robot, an end of the internal inspection.

[0135] The mobile robot can be configured to execute artificial intelligence algorithm to detect the defect. The mobile robot can be configured to associate range data and visual data to measure a size and position of one or more defects.

[0136] The mobile robot can be configured to collect and output telemetry data.

[0137] The telemetry data can be indicative of a progress state of the internal inspection.

[0138] The telemetry data can comprise an ID of the object-under inspection and / or an indication of a portion under inspection of the object under inspection, and / or of a side of the inner surface wherein the robot can be driving and / or a distance travelled by the mobile robot and / or a distance to be travelled by the mobile robot, and / or a health status of the mobile robot.

[0139] The mobile robot can comprise a temperature control system configured to maintain components of the mobile robot within respective operating temperatures.

[0140] The temperature control system can comprise at least one cooling component configured to dissipate heat from a component of the mobile robot.

[0141] One of the at least one cooling component can be a passive cooling component.

[0142] One of the at least one cooling component can be an active cooling component.

[0143] The temperature control system can comprise at least one heating component configured to heat a component of the mobile robot.

[0144] The mobile robot can be configured to activate the heating component prior to operating the respective component that said heating component can be configured to heat.

[0145] The mobile robot can be configured to activate the heating component when the temperature of the respective component that said heating component can be configured to heat falls below its respective operating temperature.

[0146] The temperature control system can be configured to reduce operation and / or switch off one or more components of the mobile robot when a temperature of a component of the mobile robot can be outside its operating temperature. The mobile robot can be configured to drive autonomously.

[0147] The mobile robot can comprise an autopilot operation mode wherein the mobile robot can be configured to drive autonomously.

[0148] The mobile robot can be configured to enter autopilot operation mode upon receiving a user input indicative of initiating the autopilot operation mode.

[0149] The mobile robot can be configured to follow a predetermined trajectory during autonomous driving.

[0150] The mobile robot can be configured to maintain a fixed robot speed during autonomous driving.

[0151] The mobile robot can be configured to detect an obstacle obstructing a trajectory of the mobile robot.

[0152] The mobile robot can be configured to calculate and follow a new trajectory avoiding the obstacle upon detecting the obstacle.

[0153] The mobile robot can be configured to notify an operator upon detecting an obstacle and / or upon failing to calculate a new trajectory that avoids the obstacle.

[0154] The mobile robot can be configured to abandon autonomous driving, notify an operator and wait for operator input upon detecting a hazardous scenario, such as, a slope of the inner surface exceeding a predetermined range.

[0155] The robot can be configured to be releasably and securely fixed to a robot base provided within the object under inspection.

[0156] The mobile robot can be configured such that the battery component can be chargeable by the robot base. The mobile robot can be configured to upload the sensor data to a remote database, preferably after inspection, such as, immediately after inspection.

[0157] The mobile robot can be configured to upload the location data to a remote database, preferably after inspection, such as, immediately after inspection.

[0158] The mobile robot can be configured to upload the localized sensor data to a remote database, preferably after inspection, such as, immediately after inspection.

[0159] The mobile robot can be configured to upload the telemetry data to a remote database.

[0160] It will be understood that in the preceding 4 embodiments, the remote database may be the same database.

[0161] The mobile robot can comprise at least one rope attachment for securely attaching at least one rope on the mobile robot.

[0162] The robot attachment can be provided on a rear or front part of the mobile robot, preferably one a rear part of the mobile robot.

[0163] The rope attachment can be positioned in alignment with a central robot axis parallel that can be parallel to the forward and rearward direction of motion of the mobile robot.

[0164] The rope attachment can be part of a detachable coupling mechanism.

[0165] The mobile robot can comprise a length between 500 to 1500 mm, preferably between 800 to 1200 mm, more preferably between 900 to 1000 mm.

[0166] Said length can be measured along an axis extending from the rear to the front of the mobile robot. Again, said axis may be referred to as a robot axis, as a robot central axis or as a central robot axis. The robot axis may be parallel to a forward motion direction of the mobile robot.

[0167] The mobile robot can comprise a height between 90 to 300 mm, preferably between 150 to 230 mm, more preferably between 170 to 190 mm. The robot body can comprise a height between 80 to 250 mm, preferably between 130 to 200 mm, more preferably between 145 to 165 mm.

[0168] The mobile robot can comprise a minimum clearance from ground between 15 to 45 mm, preferably between 20 to 35 mm, more preferably between 25 to 28 mm.

[0169] The mobile robot can comprise a width between 120 to 630 mm, preferably between 190 to 500 mm more preferably between 200 to 420 mm.

[0170] Said width can be a varying width.

[0171] That is, the width may vary between said bounds.

[0172] Said width can be varied by utilizing the at least one support roller.

[0173] The robot body can comprise a maximum width between 120 to 360 mm, preferably between 190 to 290, more preferably between 210 and 240.

[0174] A maximum width of the mobile robot can be between 210 to 630 mm, preferably between 330 to 500 mm, more preferably between 380 to 420 mm.

[0175] A minimum width of the mobile robot can be between 120 to 360 mm, preferably between 190 to 290 mm, more preferably between 210 to 240 mm.

[0176] A middle portion of the robot body can comprise a width between 110 to 335 mm, preferably between 180 to 270 mm, more preferably between 200 to 220 mm.

[0177] It will be understood, that the width and the length are measured perpendicularly to the robot axis extending from the rear to the front of the mobile robot.

[0178] The mobile robot can comprise a weight between 5 to 20 kg, preferably between 6 to 15 kg, more preferably between 7 to 10 kg. The mobile robot can be configured to drive during inspection with a maximum speed between 5 to 15 cm / s, preferably 7 to 13 cm / s, more preferably between 8 to 12 cm / s, such as 10 cm / s.

[0179] The mobile robot can be configured to generate an inner surface map, wherein the map of the inner surface map can comprise a digital representation of the inner surface.

[0180] The mobile robot can be configured to generate the inner surface map based on the sensor data.

[0181] The mobile robot can be configured to detect at least some of the anchors to generate anchor data and to generate the inner surface map based on the anchor data.

[0182] The object under inspection can comprise the inner cavity surrounded at least in part by the inner surface of the object under inspection.

[0183] The object under inspection can comprise two object ends opposite to each other and arranged along an object axis.

[0184] The object axis may also be referred to as an object central axis.

[0185] At least one of the two object ends can be an open end and wherein the mobile robot can be configured to enter the inner cavity via the open end.

[0186] The mobile robot can be configured to drive substantially parallel to the object axis from one of the object ends to the other one of the object ends.

[0187] That is, the mobile robot is configured to generally maintain the robot axis extending from the rear to the front of the mobile robot substantially parallel to the object axis.

[0188] A dimension of the object under inspection along the object axis can be the largest dimension of the object under inspection. A dimension of the object under inspection measured along the object axis can be between 10 to 200 meters, preferably between 20 to 150 meters, more preferably between 50 to 100 meters.

[0189] The mobile robot can be configured to travel inside the inner cavity until a clearance between the mobile robot and the inner cavity, measured perpendicularly to a robot axis extending from a rear to a front of the mobile robot, is at least 25%, preferably at least 15%, more preferably 10%.

[0190] The mobile robot can be configured to fit in a reachable portion of the inner cavity, said reachable portion extending along the object axis. Given the size of the mobile robot typically the reachable portion that the mobile robot can reach can be much larger than a portion of the inner cavity that a human inspector may fit and reach.

[0191] A dimension of the reachable portion of the inner cavity measured perpendicular to the object axis can be at least 25%, preferably at least 15%, more preferably at least 10% larger than a corresponding dimension of the mobile robot.

[0192] The reachable portion can comprise a minimum height between 100 to 320 mm, preferably between 160 to 250 mm, more preferably between 190 to 210 mmm, said height of the reachable portion measured perpendicularly to the object axis.

[0193] The reachable portion can comprise a minimum width between 130 to 700 mm, preferably between 210 to 550 mm, more preferably between 240 to 460 mm, said width of the reachable portion measured perpendicularly to the object axis.

[0194] It will be understood that the height and the width of the reachable portion are perpendicular to each other.

[0195] The reachable portion can comprise a length measured along the object axis between 30-90 %, preferably 40-80 %, more preferably 50-70% of a dimension of the object under inspection measured along the object axis.

[0196] The object under inspection can be a human-made or natural object. The object under inspection can be a rotor blade, preferably a rotor blade for a wind turbine generator.

[0197] The object under inspection can be a pipe.

[0198] The object under inspection can be a narrow passage, such as, a narrow passage in a cave.

[0199] The object under inspection can be a building or a component of a building.

[0200] The mobile robot can comprise a repair device, wherein the repair device can be configured to perform a repair operation to the object under inspection. In particular, the repair device can be configured to perform the repair operation in the inner cavity of the object under inspection. That is, in some embodiments the mobile robot may be configured to maintain and / or repair the object under inspection and in particular the inner cavity of the object under inspection.

[0201] The repair device can be an actuated robotic arm.

[0202] The repair device can comprise at least one power tool. The at least one power tool can be a device or machine powered by an energy source, such as, electricity, battery, pneumatic, or fuel, that can perform mechanical work. Typically, power tools can aid in completing tasks more efficiently than manual tools.

[0203] The repair device can comprise at least one repair device actuator. The repair device actuator can be configured to move parts of the repair device.

[0204] The at least one repair device actuator can be configured to be controlled independently from the rest of the mobile robot. Thus, movements of the repair device can be controlled independently from movements of the rest of the mobile robot. However, it will be understood that other actuators of the mobile robot may be used during the repair operation to reposition the mobile robot to thereby facilitate a better positioning of the repair device.

[0205] The repair device can comprise at least one repair device sensor. The at least one repair device sensor can be configured to capture data pertaining to the repair operation that the repair device is configured to perform. Moreover, the at least one repair device sensor can be positioned to more effectively capture data pertaining to the repair operation that the repair device is configured to perform. Thus, by equipping the repair device with its own sensors, more relevant data for the repair operation can be obtained. However, it will be understood, that during the repair operation, the sensory system of the mobile robot may alternatively or additionally be used.

[0206] The at least one repair device sensor can be configured to be controlled independently from the rest of the mobile robot.

[0207] The repair device can be mounted on an outer surface of the mobile robot, preferably on the front of the mobile robot. This can facilitate the repair device contacting the object under inspection for performing the repair operation.

[0208] The repair operation can be selected from: drilling, sanding, cutting, vacuuming, applying glue and applying a patch. However, it will be understood, that while the above are preferred examples, they are not exhaustive.

[0209] The repair device can be configured to be controlled remotely. This can be advantageous for allowing manual control of the repair device from a remote location. Moreover, this can alleviate the need of an operator being in the inner cavity of the object under inspection or even on the same location as the object under inspection.

[0210] The repair device can be configured to be operated in a manual mode, wherein the repair device can be controlled remotely by an operator. For example, the operator may utilize a controller for remotely controlling the repair device. The manual mode may be particularly advantageous for complex repairs. Moreover, in some instances the repair device may only be operated in the manual mode which can provide for a simplified repair device.

[0211] The repair device can be configured to be operated in a partially-autonomous mode, wherein the repair device can be configured to operate autonomously and can be configured to permit and / or request manual intervention during autonomous operation. In such embodiments, the repair device may switch between operating autonomously and being manually controlled. For example, while performing the repair operation, the repair device or the mobile robot may request assistance from an operator. The repair device can be configured to be operated in a fully-autonomous mode, wherein the repair device can be configured to operate autonomously without manual intervention. This can alleviate the need of an operator. The fully-autonomous mode can be particularly advantageous for simple repair operations (e.g., vacuuming).

[0212] The repair device can be operated, preferably autonomously, using the sensor data. That is, the sensory system of the mobile robot may be utilized for performing the repair operation.

[0213] The repair device can comprise a respective repair device power source and / or wherein the repair device can be powered using the same power source as the mobile robot.

[0214] The mobile robot can be configured to capture repair operation data during the repair operation. The repair operation data may preferably comprise visual data obtained before, during and / or after the repair operation. The repair operation data can be particularly advantageous for monitoring and / or validating the repair operation. Alternatively or additionally, the repair operation data (e.g., a vide stream) can be used to control the repair device during the repair operation.

[0215] The repair operation data can be captured using the sensory system.

[0216] The repair operation data can be captured using the at least one repair device sensor.

[0217] The mobile robot can be configured to process the repair operation data to monitor the repair operation, validate the repair operation, improve future repair operations and / or generate a repair report automatically after the repair.

[0218] The repair device can be removably mounted to the mobile robot. This can be advantageous for several reasons. Firstly, it can allow changing the repair device depending on the type of the repair operation needed. Thus, the mobile robot can be easily adapted for performing a particular type of repair. Secondly, it can allow removing the repair device if the inner cavity is small. Thus, the ability of the mobile robot to at least inspect narrow spaces can remain unhindered. The repair device can be selected from a set of repair devices, wherein each repair device in the set of repair devices can be configured to perform a respective repair operation to the object under test. Thus, the mobile robot can be used to perform different repair operations.

[0219] Each repair device in the set of repair devices can be configured to perform at least one respective repair operation selected from: drilling, sanding, cutting, vacuuming, applying glue and applying a patch. It will be understood that the above list is not exhaustive.

[0220] The present invention may also relate to a mobile robot for inspecting, maintaining and / or repairing an inner cavity of an object under inspection, wherein the mobile robot can be configured as discussed above and below. In particular, the mobile robot of the present invention in addition to or in alternative to inspecting an inner cavity of an object under inspection can be configured to maintain and / or repair the inner cavity of the object under inspection. Said object may also be referred to as the object under test or object under repair or object under maintenance.

[0221] The present invention may also relate to a system for inspecting an inner cavity of an object under inspection, wherein the system comprises a mobile robot and wherein the mobile robot comprises an actuating system for driving on an inner surface abutting the inner cavity of the object under inspection and a sensory system configured to capture sensor data related to the inner surface.

[0222] The mobile robot can comprise any of the features discussed above in relation thereto.

[0223] The object under inspection can comprise any of the features discussed above in relation thereto.

[0224] The system can comprise a data processing system.

[0225] The data processing system may comprise at least one processing unit. Each processing unit may be singular or plural. Each processing unit may comprise at least one of: a CPU (central processing unit), GPU (graphical processing unit), DSP (digital signal processor), APU (accelerator processing unit), ASIC (application-specific integrated circuit), ASIP (applicationspecific instruction-set processor) or FPGA (field programmable gate array). The data processing system can comprise a robot processing component provided internally to the mobile robot. The robot processing component may comprise at least one of: a CPU (central processing unit), GPU (graphical processing unit), DSP (digital signal processor), APU (accelerator processing unit), ASIC (application-specific integrated circuit), ASIP (applicationspecific instruction-set processor) or FPGA (field programmable gate array).

[0226] The data processing system can comprise a remote processing component provided externally from the mobile robot. The remote processing component may comprise a server. The remote processing component may comprise at least one of: a CPU (central processing unit), GPU (graphical processing unit), DSP (digital signal processor), APU (accelerator processing unit), ASIC (application-specific integrated circuit), ASIP (application-specific instruction-set processor) or FPGA (field programmable gate array).

[0227] The system can further comprise a remote controller configured to control the mobile robot.

[0228] The remote controller can comprise a steering unit configured to generate steering commands, upon being activated by an operator, to control the actuating system.

[0229] The mobile robot can be configured to receive the steering commands and to drive according to the steering commands.

[0230] The remote controller can comprise an illumination control unit configured to control the illuminating system.

[0231] The remote controller can comprise a sensor control unit configured to control the sensory system of the mobile robot.

[0232] The remote controller can comprise an operator camera control unit configured to control the at least one operator camera.

[0233] The remote controller can comprise a first-person view display.

[0234] The remote controller can be configured to receive an output of the at least one operator camera from the mobile robot and display said output preferably in real time on the first- person view display. The remote controller can be configured to selectively display on the first-person view display an output of the at least one operator camera based on the steering commands.

[0235] The remote controller can be configured to selectively generate operator camera activation and / or deactivation commands based on the steering commands.

[0236] The remote controller can be configured to receive the sensor data from the mobile robot and display the sensor data on the first-person view display.

[0237] The remote controller can be configured to receive the location data from the mobile robot and the location data, preferably in real time, on the first-person view display.

[0238] The remote controller can comprise a controller display.

[0239] The remote controller can be configured to display remote controller settings on the controller display.

[0240] The controller display can be separate from the first-person view display.

[0241] The remote controller can comprise a data input user interface configured to provide a user interface for data entry.

[0242] The data input user interface can be configured to provide a user interface for entering an ID of the object-under inspection and / or an indication of a portion to be inspected of the object under inspection, and / or of a side of the inner surface wherein the robot can be driving.

[0243] The remote controller can comprise a controller communication system configured to exchange data with the mobile robot.

[0244] The controller communication system can comprise a video receiver configured to receive an output of the operator camera.

[0245] The video receiver can comprise a video receiver antenna. The controller communication system can comprise a controller transmitter configured to send controller commands from the remote controller to the mobile robot.

[0246] The controller transmitter can comprise a controller transmitter antenna.

[0247] The system can further comprise a robot retrieving component configured to be attached with the mobile robot for dragging the mobile robot.

[0248] The robot retrieving component can comprise a reel and an elongated flexible component wound around the reel.

[0249] The elongated flexible component can comprise a rope.

[0250] The robot retrieving component can comprise a reel handle for manually rotating the reel.

[0251] The robot retrieving component can comprise a reeling actuator for rotating the reel.

[0252] The robot retrieving component can comprise a reel battery for powering the reeling actuator.

[0253] The robot retrieving component can comprise a reel frame wherein the reel, reeling actuator and reel battery can be mounted.

[0254] The robot retrieving component can comprise a reel robot attachment fixed at an end of the elongated flexible component.

[0255] The reel robot attachment can be configured to be attached, preferably in a releasable manner, to the rope attachment of the mobile robot.

[0256] The reel robot attachment can be a carabiner.

[0257] The controller communication component can be configured for wire-based data exchange with the mobile robot, and wherein the elongated flexible component can comprise at least one electrically conductive wire. The data processing system can be configured to generate an inner surface map, wherein the map of the inner surface map can comprise a digital representation of the inner surface.

[0258] The data processing system can be configured to generate the inner surface map based on the sensor data.

[0259] The system can comprise anchors configured to be sensed by the mobile robot and wherein the mobile robot can be configured to detect at least some of the anchors to generate anchor data.

[0260] Each of the anchors can be disposed in the inner cavity of the object under inspection, preferably at different positions within the inner cavity.

[0261] The anchors can be fixed on the inner surface.

[0262] The data processing system can be configured to generate the inner surface map based on the anchor data.

[0263] The inner surface map can be generated by the robot processing component.

[0264] The data processing system can be configured to generate an inner surface 3D model, wherein the inner surface 3D model can comprise a 3D digital representation of the inner surface.

[0265] The inner surface 3D model may for example comprise a point cloud which can comprise a set of data points in a three-dimensional coordinate system, where each point can represent a specific position in space and may contain additional information such as color, intensity, or reflectance. The visual data obtained by the visual sensor of the mobile robot can provide color information for each point, while range data obtained by the range sensor of the mobile robot can provides distance measurements. This may allow for the creation of a detailed and realistic representation of the inner surface.

[0266] It will be understood that 3D stands for three-dimensional.

[0267] The data processing system can be configured to generate the inner surface 3D model based on the sensor data. The data processing system can be configured to merge the visual images and based thereon to generate the inner surface 3D model.

[0268] The data processing system can be configured to generate the inner surface 3D model by combining the range data with the visual data.

[0269] The inner surface 3D model can be generated by the remote processing component.

[0270] The data processing system can be configured to process the sensor data to detect a defect on the inner surface.

[0271] The data processing system can be configured to process the sensor data to further detect at least one inspection parameter associated with the detected defect on the inner surface.

[0272] The at least one inspection parameter can comprise a type, size, position within the inner surface, and / or severity of the detected defect.

[0273] The data processing system can be configured to generate an inspection report indicative of one or more detected defects on the inner surface.

[0274] The inspection report can be indicative of the at least one inspection parameter for each detected defect.

[0275] The data processing system can be configured to generate the inspection report immediately after the internal inspection can be completed, such as, upon receiving a user input indicative of the end of the internal inspection and / or upon detecting, e.g., based on the position of the mobile robot, an end of the internal inspection.

[0276] The data processing system can be configured to execute an artificial intelligence algorithm to detect the defect.

[0277] The data processing system can be configured to associate range data and visual data to measure a size and position of one or more defects. The system can comprise an external visual sensor provided externally to the mobile robot.

[0278] The external visual sensor can be provided outside the inner cavity and / or in another inner cavity of the object under inspection adjacent to the inner cavity.

[0279] The external visual sensor can comprise a field of view including an outer surface of a wall abutting the inner cavity.

[0280] The external visual sensor can be oriented such that its optical axis can be substantially parallel with a forward motion of the mobile robot.

[0281] The external visual sensor can be oriented such that its optical axis can be substantially parallel with the object axis.

[0282] The external visual sensor can be stationary.

[0283] The external visual sensor can be configured to detect light leakage from the inner cavity outside the inner cavity.

[0284] Said light can be generated by the illuminating system of the mobile robot.

[0285] The data processing system can be configured to detect presence of a tear in a wall of the object under inspection based on an output of the external visual sensor.

[0286] The object under inspection can comprise an inner structural wall and wherein the mobile robot and the external visual camera can be provided on opposite sides of the inner structural wall.

[0287] The data processing system can be configured to detect presence of a tear between the inner structural wall and the rest of the object under inspection based on an output of the external visual sensor.

[0288] The inner structural wall can be configured to provide structural integrity of the object under inspection against shear forces. The data processing system can be configured to detect position of the light leakage based on the position of the mobile robot.

[0289] The system can further comprise a robot base configured to releasably and securely fix the mobile robot, such that the robot remains stationary with respect to the object under inspection irrespective of motion of the object under inspection.

[0290] The robot base can be configured to be fixedly attached inside the object under inspection, such as, in the inner cavity.

[0291] The robot base can be configured to charge the battery component of the mobile robot, while the mobile robot can be fixed to the robot base.

[0292] The robot base and / or the mobile robot can be configured to automatically separate from each other.

[0293] The system can comprise a user device for tracking the overall process of the internal inspection of the object under inspection based on user input.

[0294] The system can further comprise an external inspection device for external inspection of the object under inspection.

[0295] The external inspection device can be configured to inspect an external surface of the object under inspection.

[0296] The data processing system can be configured to combine data generated by the mobile robot with data generated by the external inspection device. For example, the data processing system can be configured to align the data generated by the mobile robot with the data generated by the external inspection device with respect to a common coordinate system.

[0297] The data processing system can be configured to determine a temporal and / or spatial correspondence between the data generated by the mobile robot with data generated by the external inspection device and to combine them based thereon. The system can comprise the at least one ultra-wideband stationary antenna, discussed above.

[0298] The system can further comprise a robot container configured to hold the mobile robot, wherein the robot container can comprise a robot space for accommodating the mobile robot.

[0299] The robot container can be configured to be releasably and securely fixed with at least one other robot container.

[0300] The robot container can comprise legs with adjustable lengths.

[0301] The robot container can be configured to support at least 70 kilograms, preferably at least 80 kilograms, more preferably at least 90 kilograms. Thus, the robot may support the weight of a person and may server a seating arrangement.

[0302] In embodiments wherein the robot can comprise a repair device, the system can comprise a set of repair devices and the repair device can be selected from a set of repair devices, wherein each repair device in the set of repair devices can be configured to perform a respective repair operation to the object under inspection. Thus, the mobile robot can be adapted for performing a particular type of repair, based on the selected repair device.

[0303] In such embodiments, each repair device in the set of repair devices can be configured to perform a at least one respective one of the following repair operations: drilling, sanding, cutting, vacuuming, applying glue and applying a patch. It will be understood that the list is not exhaustive.

[0304] In embodiments wherein the system can comprise a data processing device and wherein the mobile robot can be configured to capture repair operation data during the repair operation, the data processing system can be configured to process the repair operation data to monitor the repair operation, validate the repair operation, improve future repair operations and / or generate a repair report automatically after the repair. As explained, the data processing system may comprise the robot processing component provided internally to the mobile robot and / or a remote processing component provided externally from the mobile robot. That is, the processing of the repair operation data to monitor the repair operation, validate the repair operation, improve future repair operations and / or generate a repair report automatically after the repair can be performed by the mobile robot and / or by a remote processing component.

[0305] In embodiments wherein the system comprises a remote controller and the repair device is configured to be controlled remotely, the remote controller can be configured to control the repair device.

[0306] The present invention may relate to a use of the mobile robot and / or of the system to perform an internal inspection, maintenance and / or repair of an object under inspection.

[0307] Said object under inspection may be an object comprising an inner cavity surrounded at least in part by an inner surface of the object under inspection.

[0308] The present invention may relate to a use of the mobile robot and / or of the system to perform an internal inspection, maintenance and / or repair of a rotor blade, preferably of a rotor blade for a wind turbine generator.

[0309] The present invention may relate to a use of the mobile robot and / or of the system to perform an internal inspection, maintenance and / or repair of a pipe.

[0310] The present invention may relate to a use of the mobile robot and / or of the system to perform an internal inspection, maintenance and / or repair of a building.

[0311] The present invention may relate to a use of the mobile robot and / or of the system to perform an internal inspection, maintenance and / or repair of a vehicle.

[0312] The present invention may relate to a use of the mobile robot and / or of the system to perform an internal inspection, maintenance and / or repair of a narrow passage in a human-made or natural object.

[0313] Performing an internal inspection of an object under inspection may be used synonymously with inspecting an internal cavity of the object under inspection.

[0314] The present invention may also relate to a method for inspecting an inner cavity of an object under inspection, wherein the method comprises utilizing the mobile robot and / or the system. It will be understood that the method can comprise performing any of the processes that the mobile robot and / or the system can be configured to perform.

[0315] The mobile robot can comprise any of the features discussed above in relation thereto.

[0316] The system can comprise any of the features discussed above in relation thereto.

[0317] The object under inspection can comprise any of the features discussed above in relation thereto.

[0318] The method can comprise placing the mobile robot inside the inner cavity.

[0319] The object under inspection can comprise two object ends opposite to each other and arranged along an object axis and wherein the method can comprise placing the mobile robot at one of the object ends.

[0320] The method can comprise the mobile robot travelling from one of the objects ends to the other while capturing the sensor data.

[0321] In embodiments wherein the mobile robot comprises the repair device, the method can comprise performing, with the mobile robot, a repair operation to the object under inspection.

[0322] The repair operation can be selected from: drilling, sanding, cutting, vacuuming, applying glue and applying a patch.

[0323] The present invention is also defined by the following numbered embodiments.

[0324] Below, robot embodiments will be discussed. These embodiments are abbreviated by the letter "R" followed by a number. When reference is herein made to robot embodiments, these embodiments are meant.

[0325] Rl. A mobile robot for inspecting an inner cavity of an object under inspection, wherein the mobile robot comprises: an actuating system for driving on an inner surface abutting the inner cavity of the object under inspection and a sensory system configured to capture sensor data related to the inner surface.

[0326] R2. The robot according to any of the preceding embodiments, wherein the mobile robot comprises a robot base and a robot body mounted on the robot base.

[0327] R3. The robot according to the preceding embodiment, wherein the robot body is configured to cover at least in part internal components of the mobile robot.

[0328] R4. The robot according to any of the 2 preceding embodiments, wherein the robot body comprises one or more cover plates.

[0329] R5. The robot according to any of the 3 preceding embodiments, wherein the actuating system is mounted, at least in part, to the robot base.

[0330] R6. The robot according to any of the 4 preceding embodiments, wherein the mobile robot comprises a front attachment configured to facilitate attaching at least one front assembly to the robot.

[0331] R7. The robot according to the preceding embodiment, wherein the front attachment comprises an attachment frame with a plurality of pre-drilled holes.

[0332] R8. The robot according to any of the 2 preceding embodiments, wherein the front attachment comprises a female and / or a male part of at least one locking mechanism.

[0333] R9. The robot according to any of the 3 preceding embodiments, wherein the sensory system is configured to be mounted to the front attachment.

[0334] RIO. The robot according to any of the 4 preceding embodiments, wherein the sensory system is releasably mounted to the robot via the front attachment.

[0335] Rll. The robot according to any of the 9 preceding embodiments, wherein the sensory system is mounted on the robot body with a field of view towards the inner surface. R12. The robot according to any of the 10 preceding embodiments, wherein the robot body is shaped to reduce the likelihood of the robot getting stuck inside the object under inspection.

[0336] R13. The robot according to any of the preceding embodiments, wherein the mobile robot comprises a battery component for storing electrical energy.

[0337] R14. The robot according to the preceding embodiment and with the features of embodiment R.2, wherein the battery component is mounted to the robot frame.

[0338] R15. The robot according to any of the 2 preceding embodiments, wherein the battery component is provided on a middle portion of the robot frame between a rear portion and a front portion of the mobile robot.

[0339] R16. The robot according to any of the 3 preceding embodiments, wherein the battery component is mounted to the robot frame such that it is positioned on a lower portion, such as a lower half, of the mobile robot.

[0340] R17. The robot according to any of the 4 preceding embodiments, wherein the battery component is provided on a left and / or right side of the mobile robot.

[0341] R18. The robot according to any of the 5 preceding embodiments, wherein the battery component comprises a left battery part provided on a left side of the mobile robot and a right battery part provided on a right side of the mobile robot.

[0342] It will be understood that terms such as front, rear, left and right of the mobile robot can be defined with respect to the forward motion of the mobile robot.

[0343] R19. The robot according to any of the 6 preceding embodiments, wherein the battery component comprises a battery enclosure configured to enclose at least one battery of the battery component.

[0344] R20. The robot according to the preceding embodiment, wherein the battery enclosure is configured to dissipate heat away from the at least one battery of the battery component. R21. The robot according to any of the preceding embodiments, wherein the mobile robot is configured to be powered from an external electrical power source.

[0345] R22. The robot according to the preceding embodiment, wherein the mobile robot comprises a power input port configured to connect therein a power cable for providing electrical power to the mobile robot from the external power source.

[0346] R23. The robot according to any of the 2 preceding embodiments, wherein the electrical power source is an external battery component.

[0347] R24. The robot according to any of the preceding embodiments, wherein the actuating system comprises a plurality of wheels, preferably at least 3 wheels, more preferably 4 wheels, and at least one wheel actuator configured to rotate the plurality of wheels.

[0348] R25. The robot according to the preceding embodiment, wherein each of the at least one wheel actuator is an in-wheel motor integrated into a respective one of the plurality of wheels.

[0349] R26. The robot according to any of the 2 preceding embodiments, wherein each of the at least one wheel actuator uses electrical energy to produce mechanical force.

[0350] R27. The robot according to any of the 3 preceding embodiments, wherein the robot comprises a rear wheel and a front wheel.

[0351] R28. The robot according to the preceding embodiment and with the features of embodiment R13, wherein the battery component is provided between the rear wheel and the front wheel.

[0352] R29. The robot according to any of the 5 preceding embodiments, wherein the robot comprises a rear-left wheel, a rear-right wheel, a front-left wheel and a front-right wheel.

[0353] R30. The robot according to the preceding embodiment and with the features of embodiment R18, wherein the left battery part is provided between the rear-left wheel and the front-left wheel and the right battery part is provided between the rear-right wheel and the front-right wheel. R31. The robot according to any of the 7 preceding embodiments, wherein each one of the plurality of wheels is individually steerable.

[0354] R32. The robot according to any of the 8 preceding embodiments, wherein each one of the plurality of wheels comprises a high-traction outer surface.

[0355] R33. The robot according to any of the preceding embodiments, wherein the actuating system comprises a propeller configured to generated a thrust parallel to a moving direction, preferably forward moving direction, of the mobile robot via a rotary motion of the propeller.

[0356] R34. The robot according to the preceding embodiment, wherein the propeller comprises an electric duct fun.

[0357] R35. The robot according to any of the 2 preceding embodiments, wherein the mobile robot is configured to automatically activate the propeller when driving on a sloped surface, preferably when climbing an upwards slopped surface.

[0358] R36. The robot according to any of the 3 preceding embodiments, wherein the mobile robot is configured to detect a slope of the inner surface and to automatically activate the propeller when the slope is larger than a predetermine slope threshold.

[0359] R37. The robot according to any of the 4 preceding embodiments, wherein the mobile robot is configured for manual activation of the propeller, wherein the robot is configured to activate the propeller in response to receiving a user input indicative of thrust activation.

[0360] R38. The robot according to any of the 5 preceding embodiments, wherein the propeller is provided on a rear portion of the mobile robot.

[0361] R39. The robot according to any of the 6 preceding embodiments, wherein the propeller is configured such that the magnitude of the thrust generated by the propeller is adjustable.

[0362] R40. The robot according to the preceding embodiment, wherein the mobile robot is configured to automatically adjust the magnitude of the thrust based on data from internal sensors of the robot, such as, based on data from a gyroscope comprised by the mobile robot. R41. The robot according to any of the 2 preceding embodiments, wherein the mobile robot is configured for manual adjustment of the magnitude of the thrust generated by the propeller, wherein the robot is configured to adjust the magnitude of the thrust in response to receiving a user input indicative of a thrust magnitude.

[0363] R42. The robot according to any of the 9 preceding embodiments and with the features of embodiment R24, wherein the mobile robot comprises a wheel-propeller controller configured to control the at least one wheel actuator and the propeller in coordination to each other.

[0364] R43. The robot according to any of the preceding embodiments, wherein the sensory system comprises a range sensor configured to generate range data indicative of distances between the range sensor and the inner surface and wherein the sensor data comprise the range data.

[0365] R44. The robot according to the preceding embodiment, wherein the range sensor is configured to emit laser beams and receive reflected laser beams to generate point clouds representing the inner surface of the object under inspection.

[0366] R45. The robot according to any of the 2 preceding embodiments, wherein the range sensor comprises a light detection and ranging sensor.

[0367] R46. The robot according to any of the preceding embodiments, wherein the sensory system comprises a visual sensor configured to generate visual data of the inner surface, and wherein the sensor data comprise the visual data.

[0368] R47. The robot according to the preceding embodiment, wherein the visual sensor comprises a field of view with an angle of at least 100°, preferably at least 120°, more preferably at least 180°, even more preferably at least 270°, such as 360°.

[0369] R48. The robot according to the preceding embodiment, wherein the angle is a horizontal angle.

[0370] R49. The robot according to any of the 3 preceding embodiments, wherein the visual sensor comprises an omnidirectional field of view, preferably configured to substantially cover an entire sphere around the visual sensor. R50. The robot according to any of the 4 preceding embodiments, wherein the visual sensor comprises at least one camera, preferably a plurality of cameras.

[0371] R51. The robot according to any of the 5 preceding embodiments, wherein the visual data comprises a plurality of visual images of the inner surface, preferably a plurality of overlapping visual images of the inner surface.

[0372] R52. The robot according to any of the 6 preceding embodiments, wherein the visual data comprises at least one video of the inner surface.

[0373] R53. The robot according to any of the preceding embodiments, wherein the sensory system comprises at least one ultraviolet sensor configured to detect ultraviolet light, such as light with a wavelength between 10-400 nanometers and to generate ultraviolet intensity data, wherein the sensor data comprise the ultraviolet intensity data.

[0374] R54. The robot according to the preceding embodiment, wherein the mobile robot is configured to utilize the at least one ultraviolet sensor during daytime to detect presence of sunlight in the inner cavity.

[0375] R55. The robot according to any of the preceding embodiments, wherein the sensory system comprises a plurality of different sensor types, each generating respective sensor type data.

[0376] R56. The robot according to the preceding embodiment, wherein the mobile robot is configured to associate the different sensor type data based on a temporal and / or spatial correspondence between the different sensor type data.

[0377] R57. The robot according to the preceding embodiment, wherein the sensor data comprise the different sensor type data associated to each other.

[0378] R58. The robot according to any of the preceding embodiments, wherein the mobile robot comprises a robot positioning system configured to generate location data indicative of the location of the mobile robot.

[0379] R59. The robot according to the preceding embodiment, wherein the location data is indicative of a location of the mobile robot relative to the object under inspection. R60. The robot according to any of the 2 preceding embodiments, wherein the location data is indicative of a location of the mobile robot at multiple instances during the internal inspection.

[0380] R61. The robot according to any of the 3 preceding embodiments, wherein the mobile robot is configured to operate the sensory system and the robot positioning system substantially synchronized with each other.

[0381] R62. The robot according to any of the 4 preceding embodiments, wherein the mobile robot is configured to associate the sensor data with the location data to thereby generate localized sensor data.

[0382] R63. The robot according to the preceding embodiment, wherein the mobile robot is configured to associate the sensor data with the location data based on a temporal correspondence between the sensor data and the location data.

[0383] R64. The robot according to any of the 6 preceding embodiments, wherein the positioning system comprises an internal pose sensor configured to measure a position, orientation and / or acceleration of the mobile robot.

[0384] R65. The robot according to the preceding embodiment, wherein the internal pose sensor comprises one or more sensors selected from a set oof sensors comprising: at least one GPS sensor, at least one dead-reckoning sensor, at least one accelerometer, at least one gyroscope, at least one odometer, at least one magnetometer, at least one inertial measurement unit and at least one altitude sensor.

[0385] R66. The robot according to any of the 8 preceding embodiments, wherein the positioning system comprises an ultra-wideband robot antenna for positioning the mobile robot with respect to at least one fixed and known location.

[0386] R67. The robot according to the preceding embodiment, wherein the ultra-wideband robot antenna is configured to operate in a frequency spectrum of at least 400 MHz, preferably at least 450 MHz, more preferably at least 480 MHz. R68. The robot according to any of the 2 preceding embodiments, wherein the ultra- wideband robot antenna is configured to communicate with at least one ultra-wideband stationary antenna, each provided on respective one of the at least one fixed and known location.

[0387] R69. The robot according to any of the preceding embodiments, wherein the mobile robot comprises an illuminating system for illuminating the surroundings of the mobile robot.

[0388] R70. The robot according to the preceding embodiment, wherein the illuminating system is configured to illuminate at least the field of view of the sensory system.

[0389] R71. The robot according to any of the 2 preceding embodiments and with the features of embodiment R46, wherein the illuminating system is configured to generate visual light and to illuminate at least the field of view of the visual sensor.

[0390] R72. The robot according to any of the 3 preceding embodiments, wherein the illuminating system is configured to illuminate towards different directions.

[0391] R73. The robot according to any of the 4 preceding embodiments, wherein the illuminating system is configured to generate homogenous illumination.

[0392] R74. The robot according to any of the 5 preceding embodiments, wherein the illuminating system comprises a light diffuser.

[0393] R75. The robot according to any of the 6 preceding embodiments, wherein the illuminating system comprises a plurality of light sources, preferably a plurality of light-emitting diodes.

[0394] R76. The robot according to the preceding embodiment, wherein the pose of each light source is selected such that the illuminating system provides homogenous illumination.

[0395] R77. The robot according to any of the 2 preceding embodiments, wherein the illuminating system is configured such that the intensity of each light source is individually controllable.

[0396] R78. The robot according to any of the 3 preceding embodiments, wherein the mobile robot is configured to automatically adjust the intensity of each light source using the sensor data. R79. The robot according to the preceding embodiment and with the features of embodiment R43, wherein the mobile robot is configured to adjust the intensity of each light source based on the range data.

[0397] R80. The robot according to any of the 5 preceding embodiments, wherein the mobile robot comprises at least one light sensor and wherein the mobile robot is configured to automatically adjust the intensity of each light source using an output of the at least one light sensor.

[0398] R81. The robot according to any of the preceding embodiments, wherein the mobile robot comprises at least one electronic display, preferably two electronic displays, more preferably two front electronic display provided on a front facing side of the mobile robot.

[0399] R82. The robot according to the preceding embodiment and with the features of embodiment R46, wherein each electronic display is provided within a field of view of the visual sensor.

[0400] R83. The robot according to any of the 2 preceding embodiments, wherein the mobile robot is configured to display on one of the at least one electronic display positional data indicative of a position of the mobile robot relative to the object under inspection.

[0401] R84. The robot according to the preceding embodiment, wherein the positional data displayed on one of the at least one electronic display comprises a distance to be travelled by the mobile robot and / or a distance of the mobile robot from an origin location at the start of the inspection.

[0402] R85. The robot according to any of the 4 preceding embodiments, wherein the mobile robot is configured to display on one of the at least one electronic display auxiliary data for facilitating the postprocessing of the sensor data.

[0403] R86. The robot according to any of the 5 preceding embodiments, wherein the mobile robot is configured to display on one of the at least one electronic display synchronization data for synchronizing the sensor data captured by the sensory system. R87. The robot according to the preceding embodiment, wherein the mobile robot is configured to display the synchronization data using a computer-readable code, preferably a two-dimensional computer readable code, such as a QR code.

[0404] R88. The robot according to any of the 2 preceding embodiments and with the features of embodiment R43 and R46, wherein the synchronization data is configured to facilitate synchronizing the range data with the visual data.

[0405] R89. The robot according to the preceding embodiment, wherein the synchronization data comprises a frame ID of the range sensor and / or of the visual sensor.

[0406] R90. The robot according to any of the 4 preceding embodiments, wherein the synchronization data is configured to facilitate synchronizing the sensor data with data obtained by other sensors of the mobile robot.

[0407] R91. The robot according to any of the preceding embodiments, wherein the mobile robot comprises at least one operator camera.

[0408] R92. The robot according to the preceding embodiment, wherein the mobile robot comprises a dedicated operator camera light source.

[0409] R93. The robot according to the preceding embodiment and with the features of embodiment R69, wherein the robot is configured to activate the dedicated operator camera light source(s) when the illuminating system is inactive.

[0410] R94. The robot according to any of the 3 preceding embodiments, wherein the mobile robot is configured to activate and deactivate the at least one operator camera.

[0411] R95. The robot according to the preceding embodiment, wherein the mobile robot is configured to selectively activate and deactivate the at least one operator camera based on the direction of motion of the mobile robot.

[0412] R96. The robot according to any of the 5 preceding embodiments, wherein the mobile robot comprises a front operator camera comprising a field of view towards the front of the mobile robot and a rear operator camera comprising a field of view towards the rear of the mobile robot.

[0413] R97. The robot according to any of the 6 preceding embodiments, wherein the mobile robot is configured to allow manual activation and deactivation of the at least one operator camera based on user input.

[0414] R98. The robot according to any of the 7 preceding embodiments, wherein each operator camera is configured to capture a video.

[0415] R99. The robot according to the preceding embodiment, wherein the mobile robot is configured to stream the video captured by each operator camera to a remote display provided externally to and remote from the mobile robot.

[0416] R100. The robot according to the preceding embodiment, wherein the mobile robot comprises a video transmitter, preferably a low latency video transmitter, configured to stream the video captured by each operator camera to the remote display.

[0417] R101. The robot according to any of the 2 preceding embodiments, wherein the mobile robot and / or the video transmitter is configured to further stream to the remote display robot related data associated, preferably overlayed, to the video captured by each operator camera.

[0418] R102. The robot according to any of the preceding embodiments, wherein the mobile robot comprises at least one clearance actuator configured to adjust the robot clearance from ground.

[0419] R103. The robot according to the preceding embodiment and with the features of embodiment R24, wherein the mobile robot comprises a respective clearance actuator for each one of the wheels and wherein each wheel is attached to a respective one of the clearance actuators.

[0420] R104. The robot according to the preceding embodiment and with the features of embodiment R.2, wherein each clearance actuator is configured to adjust a vertical distance between a center of each wheel and the robot base. R105. The robot according to any of the 2 preceding embodiments, wherein the mobile robot is configured to control the clearance actuators to adjust the angle of view of the sensory system onto the inner surface.

[0421] R106. The robot according to any of the 3 preceding embodiments, wherein the mobile robot is configured to detect an obstacle and based thereon to control the clearance actuators such that the robot is able to pass the obstacle.

[0422] R107. The robot according to any of the 4 preceding embodiments, wherein the mobile robot is configured to control the clearance actuators based on a size of the inner cavity.

[0423] R108. The robot according to any of the 5 preceding embodiments, wherein the mobile robot is configured to receive user input indicative of a clearance from ground adjustment and based thereon control the at least one clearance actuator.

[0424] R109. The robot according to any of the preceding embodiments, wherein the mobile robot comprises at least one support roller, preferably a plurality of support rollers, such as 4 support rollers.

[0425] R110. The robot according to the preceding embodiment, wherein each roller is provided on a side of the mobile robot.

[0426] Rill. The robot according to any of the 2 preceding embodiments, wherein the mobile robot comprises a left support roller provided on a left side of the mobile robot and a right support roller provided on a right side of the mobile robot.

[0427] R112. The robot according to any of the 3 preceding embodiments, wherein the mobile robot comprises a front-left support roller provided on a front-left portion of the mobile robot, frontright support roller provided on a front-right portion of the mobile robot, rear-left support roller provided on a rear-left portion of the mobile robot and rear-right support roller provided on a rear-right portion of the mobile robot.

[0428] R113. The robot according to any of the 4 preceding embodiments, wherein each support roller is configured to protrude laterally from a respective side of the mobile robot such that it forms a lateral extremity of the mobile robot. R114. The robot according to any of the 5 preceding embodiments, wherein each support roller is configured to maintain a minimum distance between a side of the mobile robot wherein said support roller is provided on and a surface or object facing said side of the mobile robot.

[0429] R115. The robot according to any of the 6 preceding embodiments, wherein each support roller comprises a rotary element and a roller arm, wherein the roller arm protrudes laterally away from a robot central axis.

[0430] Said robot central axis may be a rear to front central axis of the mobile robot.

[0431] R116. The robot according to the preceding embodiment, wherein at least one of the roller arms comprises an adjustable length.

[0432] R117. The robot according to any of the 2 preceding embodiments, wherein at least one of the roller arms comprise a flexible component allowing length adjustment of the respective roller arm.

[0433] R118. The robot according to any of the 3 preceding embodiments, wherein at least one of the roller arms comprise an arm actuator allowing length adjustment of the respective roller arm.

[0434] R119. The robot according to any of the preceding embodiments, wherein the mobile robot is configured to process the sensor data to detect a defect on the inner surface.

[0435] R120. The robot according to the preceding embodiment, wherein the mobile robot is configured to process the sensor data to further detect at least one inspection parameter associated with the detected defect on the inner surface.

[0436] R121. The robot according to the preceding embodiment, wherein the at least one inspection parameter comprises a type, size, position within the inner surface, and / or severity of the detected defect. R122. The robot according to any of the 3 preceding embodiments, wherein the mobile robot is configured to generate an inspection report indicative of one or more detected defects on the inner surface.

[0437] R123. The robot according to the 2 preceding embodiments, wherein the inspection report is indicative of the at least one inspection parameter for each detected defect.

[0438] R124. The robot according to any of the 2 preceding embodiments, wherein the mobile robot is configured to generate the inspection report immediately after the internal inspection is completed, such as, upon receiving a user input indicative of the end of the internal inspection and / or upon detecting, e.g., based on the position of the mobile robot, an end of the internal inspection.

[0439] R125. The robot according to any of the 6 preceding embodiments, wherein the mobile robot is configured to execute artificial intelligence algorithm to detect the defect.

[0440] R126. The robot according to any of the 7 preceding embodiments and with the features of embodiments R43 and R46, wherein the mobile robot is configured to associate range data and visual data to measure a size and position of one or more defects.

[0441] R127. The robot according to any of the preceding embodiments, wherein the mobile robot is configured to collect and output telemetry data.

[0442] R128. The robot according to the preceding embodiment, wherein the telemetry data is indicative of a progress state of the internal inspection.

[0443] R129. The robot according to any of the 2 preceding embodiments, wherein the telemetry data comprises an ID of the object-under inspection and / or an indication of a portion under inspection of the object under inspection, and / or of a side of the inner surface wherein the robot is driving and / or a distance travelled by the mobile robot and / or a distance to be travelled by the mobile robot, and / or a health status of the mobile robot.

[0444] R130. The robot according to any of the preceding embodiments, wherein the mobile robot comprises a temperature control system configured to maintain components of the mobile robot within respective operating temperatures. R131. The robot according to the preceding embodiment, wherein the temperature control system comprises at least one cooling component configured to dissipate heat from a component of the mobile robot.

[0445] R132. The robot according to the preceding embodiment, wherein one of the at least one cooling component is a passive cooling component.

[0446] R133. The robot according to any of the 2 preceding embodiments, wherein one of the at least one cooling component is an active cooling component.

[0447] R134. The robot according to any of the 4 preceding embodiments, wherein the temperature control system comprises at least one heating component configured to heat a component of the mobile robot.

[0448] R135. The robot according to the preceding embodiment, wherein the mobile robot is configured to activate the heating component prior to operating the respective component that said heating component is configured to heat.

[0449] R136. The robot according to any of the 2 preceding embodiments, wherein the mobile robot is configured to activate the heating component when the temperature of the respective component that said heating component is configured to heat falls below its respective operating temperature.

[0450] R137. The robot according to any of the 7 preceding embodiments, wherein the temperature control system is configured to reduce operation and / or switch off one or more components of the mobile robot when a temperature of a component of the mobile robot is outside its operating temperature.

[0451] R138. The robot according to any of the preceding embodiments, wherein the mobile robot is configured to drive autonomously.

[0452] R139. The robot according to any of the preceding embodiments, wherein the mobile robot comprises an autopilot operation mode wherein the mobile robot is configured to drive autonomously. R140. The robot according to the preceding embodiment, wherein the mobile robot is configured to enter autopilot operation mode upon receiving a user input indicative of initiating the autopilot operation mode.

[0453] R141. The robot according to any of the 3 preceding embodiments, wherein the mobile robot is configured to follow a predetermined trajectory during autonomous driving.

[0454] R142. The robot according to any of the 4 preceding embodiments, wherein the mobile robot is configured to maintain a fixed robot speed during autonomous driving.

[0455] R143. The robot according to any of the 5 preceding embodiments, wherein the mobile robot is configured to detect an obstacle obstructing a trajectory of the mobile robot.

[0456] R144. The robot according to the preceding embodiment, wherein the mobile robot is configured to calculate and follow a new trajectory avoiding the obstacle upon detecting the obstacle.

[0457] R145. The robot according to any of the 2 preceding embodiments, wherein the mobile robot is configured to notify an operator upon detecting an obstacle and / or upon failing to calculate a new trajectory that avoids the obstacle.

[0458] R146. The robot according to any of the 8 preceding embodiments, wherein the mobile robot is configured to abandon autonomous driving, notify an operator and wait for operator input upon detecting a hazardous scenario, such as, a slope of the inner surface exceeding a predetermined range.

[0459] R147. The robot according to any of the preceding embodiments, wherein the robot is configured to be releasably and securely fixed to a robot base provided within the object under inspection.

[0460] R148. The robot according to the preceding embodiment and with the features of embodiment R13, wherein the mobile robot is configured such that the battery component is chargeable by the robot base. R149. The robot according to any of the preceding embodiments, wherein the mobile robot is configured to upload the sensor data to a remote database, preferably after inspection, such as, immediately after inspection.

[0461] R150. The robot according to any of the preceding embodiments and with the features of embodiment R58, wherein the mobile robot is configured to upload the location data to a remote database, preferably after inspection, such as, immediately after inspection.

[0462] R151. The robot according to any of the preceding embodiments and with the features of embodiment R62, wherein the mobile robot is configured to upload the localized sensor data to a remote database, preferably after inspection, such as, immediately after inspection.

[0463] R152. The robot according to any of the preceding embodiments and with the features of embodiment R127, wherein the mobile robot is configured to upload the telemetry data to a remote database.

[0464] It will be understood that in the preceding 4 embodiments, the remote database may be the same database.

[0465] R153. The robot according to any of the preceding embodiments, wherein the mobile robot comprises at least one rope attachment for securely attaching at least one rope on the mobile robot.

[0466] R154. The robot according to the preceding embodiment, wherein the robot attachment is provided on a rear or front part of the mobile robot, preferably one a rear part of the mobile robot.

[0467] R155. The robot according to any of the 2 preceding embodiments, wherein the rope attachment is positioned in alignment with a central robot axis parallel that is parallel to the forward and rearward direction of motion of the mobile robot.

[0468] R156. The robot according to any of the 3 preceding embodiments, wherein the rope attachment is part of a detachable coupling mechanism. R157. The robot according to any of the preceding embodiments, wherein the mobile robot comprises a length between 500 to 1500 mm, preferably between 800 to 1200 mm, more preferably between 900 to 1000 mm.

[0469] Said length can be measured along the robot axis extending from the rear to the front of the mobile robot.

[0470] R158. The robot according to any of the preceding embodiments, wherein the mobile robot comprises a height between 90 to 300 mm, preferably between 150 to 230 mm, more preferably between 170 to 190 mm.

[0471] R159. The robot according to any of the preceding embodiments and with the features of embodiment R.2, wherein the robot body comprises a height between 80 to 250 mm, preferably between 130 to 200 mm, more preferably between 145 to 165 mm.

[0472] R160. The robot according to any of the preceding embodiments, wherein the mobile robot comprises a minimum clearance from ground between 15 to 45 mm, preferably between 20 to 35 mm, more preferably between 25 to 28 mm.

[0473] R161. The robot according to any of the preceding embodiments, wherein the mobile robot comprises a width between 120 to 630 mm, preferably between 190 to 500 mm more preferably between 200 to 420 mm.

[0474] R162. The robot according to the preceding embodiment, wherein said width is a varying width.

[0475] That is, the width may vary between said bounds.

[0476] R163. The robot according to the preceding embodiment and with the features of embodiment R.109, wherein said width is varied by utilizing the at least one support roller.

[0477] R164. The robot according to any of the preceding embodiments and with the features of embodiment R.2, wherein the robot body comprises a maximum width between 120 to 360 mm, preferably between 190 to 290, more preferably between 210 and 240. R165. The robot according to the preceding embodiment, wherein a maximum width of the mobile robot is between 210 to 630 mm, preferably between 330 to 500 mm, more preferably between 380 to 420 mm.

[0478] R166. The robot according to the preceding embodiment, wherein a minimum width of the mobile robot is between 120 to 360 mm, preferably between 190 to 290 mm, more preferably between 210 to 240 mm.

[0479] R167. The robot according to any of the preceding embodiments and with the features of embodiment R.2, wherein a middle portion of the robot body comprises a width between 110 to 335 mm, preferably between 180 to 270 mm, more preferably between 200 to 220 mm.

[0480] It will be understood, that the width and the length are measured perpendicularly to the robot axis extending from the rear to the front of the mobile robot.

[0481] R168. The robot according to any of the preceding embodiments, wherein the mobile robot comprises a weight between 5 to 20 kg, preferably between 6 to 15 kg, more preferably between 7 to 10 kg.

[0482] R169. The robot according to any of the preceding embodiments, wherein the mobile robot is configured to drive during inspection with a maximum speed between 5 to 15 cm / s, preferably 7 to 13 cm / s, more preferably between 8 to 12 cm / s, such as 10 cm / s.

[0483] R170. The robot according to any of the preceding embodiments, wherein the mobile robot is configured to generate an inner surface map, wherein the map of the inner surface map comprises a digital representation of the inner surface.

[0484] R171. The robot according to the preceding embodiment, wherein the mobile robot is configured to generate the inner surface map based on the sensor data.

[0485] R172. The robot according to any of the 2 preceding embodiments, wherein the mobile robot is configured to detect at least some of the anchors to generate anchor data and to generate the inner surface map based on the anchor data. R173. The robot according to any of the preceding embodiments, wherein the object under inspection comprises the inner cavity surrounded at least in part by the inner surface of the object under inspection.

[0486] R174. The robot according to any of the preceding embodiments, wherein the object under inspection comprises two object ends opposite to each other and arranged along an object axis.

[0487] The object axis may also be referred to as an object central axis.

[0488] R175. The robot according to the preceding embodiment, wherein at least one of the two object ends is an open end and wherein the mobile robot is configured to enter the inner cavity via the open end.

[0489] R176. The robot according to any of the 2 preceding embodiments, wherein the mobile robot is configured to drive substantially parallel to the object axis from one of the object ends to the other one of the object ends.

[0490] That is, the mobile robot is configured to generally maintain the robot axis extending from the rear to the front of the mobile robot substantially parallel to the object axis.

[0491] R177. The robot according to any of the 3 preceding embodiments, wherein a dimension of the object under inspection along the object axis is the largest dimension of the object under inspection.

[0492] R178. The robot according to any of the 3 preceding embodiments, wherein a dimension of the object under inspection measured along the object axis is between 10 to 200 meters, preferably between 20 to 150 meters, more preferably between 50 to 100 meters.

[0493] R179. The robot according to any of the preceding embodiments, wherein the mobile robot is configured to travel inside the inner cavity until a clearance between the mobile robot and the inner cavity, measured perpendicularly to a robot axis extending from a rear to a front of the mobile robot, is at least 25%, preferably at least 15%, more preferably 10%. R180. The robot according to any of the preceding embodiments, wherein the mobile robot is configured to fit in a reachable portion of the inner cavity, said reachable portion extending along the object axis.

[0494] R181. The robot according to the preceding embodiment, wherein a dimension of the reachable portion of the inner cavity measured perpendicular to the object axis is at least 25%, preferably at least 15%, more preferably at least 10% larger than a corresponding dimension of the mobile robot.

[0495] R182. The robot according to any of the 2 preceding embodiments, wherein the reachable portion comprises a minimum height between 100 to 320 mm, preferably between 160 to 250 mm, more preferably between 190 to 210 mmm, said height of the reachable portion measured perpendicularly to the object axis.

[0496] R183. The robot according to any of the 3 preceding embodiments, wherein the reachable portion comprises a minimum width between 130 to 700 mm, preferably between 210 to 550 mm, more preferably between 240 to 460 mm, said width of the reachable portion measured perpendicularly to the object axis.

[0497] It will be understood that the height and the width of the reachable portion are perpendicular to each other.

[0498] R184. The robot according to any of the 4 preceding embodiments, wherein the reachable portion comprises a length measured along the object axis between 30-90 %, preferably 40- 80 %, more preferably 50-70% of a dimension of the object under inspection measured along the object axis.

[0499] R185. The robot according to any of the preceding embodiments, wherein the object under inspection is a human-made or natural object.

[0500] R186. The robot according to any of the preceding embodiments, wherein the object under inspection is a rotor blade, preferably a rotor blade for a wind turbine generator.

[0501] R187. The robot according to any of the preceding embodiments, wherein the object under inspection is a pipe. R188. The robot according to any of the preceding embodiments, wherein the object under inspection is a narrow passage, such as, a narrow passage in a cave.

[0502] R189. The robot according to any of the preceding embodiments, wherein the object under inspection is a building or a component of a building.

[0503] R190. The robot according to any of the preceding embodiments, wherein the mobile robot comprises a repair device, wherein the repair device is configured to perform a repair operation to the object under inspection.

[0504] R191. The robot according to the preceding embodiment, wherein the repair device is an actuated robotic arm.

[0505] R192. The robot according to any of the 2 preceding embodiments, wherein the repair device comprises at least one power tool.

[0506] R193. The robot according to any of the 3 preceding embodiments, wherein the repair device comprises at least one repair device actuator.

[0507] R194. The robot according to the preceding embodiment, wherein the at least one repair device actuator is configured to be controlled independently from the rest of the mobile robot.

[0508] R195. The robot according to any of the 5 preceding embodiments, wherein the repair device comprises at least one repair device sensor.

[0509] R196. The robot according to the preceding embodiment, wherein the at least one repair device sensor is configured to be controlled independently from the rest of the mobile robot.

[0510] R197. The robot according to any of the 7 preceding embodiments, wherein the repair device is mounted on an outer surface of the mobile robot, preferably on the front of the mobile robot. R198. The robot according to any of the 8 preceding embodiments, wherein the repair operation is selected from: drilling, sanding, cutting, vacuuming, applying glue and applying a patch.

[0511] R199. The robot according to any of the 9 preceding embodiments, wherein the repair device is configured to be controlled remotely.

[0512] R200. The robot according to any of the 10 preceding embodiments, wherein the repair device is configured to be operated in a manual mode, wherein the repair device is controlled remotely by an operator.

[0513] R201. The robot according to any of the 11 preceding embodiments, wherein the repair device is configured to be operated in a partially-autonomous mode, wherein the repair device is configured to operate autonomously and is configured to permit and / or request manual intervention during autonomous operation.

[0514] R202. The robot according to any of the 12 preceding embodiments, wherein the repair device is configured to be operated in a fully-autonomous mode, wherein the repair device is configured to operate autonomously without manual intervention.

[0515] R203. The robot according to any of the 13 preceding embodiments, wherein the repair device is operated, preferably autonomously, using the sensor data.

[0516] R204. The robot according to any of the 14 preceding embodiments, wherein the repair device comprises a respective repair device power source and / or wherein the repair device is powered using the same power source as the mobile robot.

[0517] R205. The robot according to any of the 15 preceding embodiments, wherein the mobile robot is configured to capture repair operation data during the repair operation.

[0518] R206. The robot according to the preceding embodiment, wherein the repair operation data are captured using the sensory system. R207. The robot according to any of the 2 preceding embodiments and with the features of embodiment R.195, wherein the repair operation data are captured using the at least one repair device sensor.

[0519] R208. The robot according to any of the 3 preceding embodiments, wherein the mobile robot is configured to process the repair operation data to monitor the repair operation, validate the repair operation, improve future repair operations and / or generate a repair report automatically after the repair.

[0520] R209. The robot according to any of the preceding embodiments and with the features of embodiment R.190, wherein the repair device is removably mounted to the mobile robot.

[0521] R210. The robot according to the preceding embodiment, wherein the repair device is selected from a set of repair devices, wherein each repair device in the set of repair devices is configured to perform a respective repair operation to the object under inspection.

[0522] R211. The robot according to the preceding embodiment, wherein each repair device in the set of repair devices is configured to perform at least one respective repair operation selected from: drilling, sanding, cutting, vacuuming, applying glue and applying a patch.

[0523] R212. A mobile robot for inspecting, maintaining and / or repairing an inner cavity of an object under inspection, wherein the mobile robot is configured according to any of the preceding embodiments.

[0524] Below, system embodiments will be discussed. These embodiments are abbreviated by the letter "S" followed by a number. When reference is herein made to system embodiments, these embodiments are meant.

[0525] SI. A system for inspecting an inner cavity of an object under inspection, wherein the system comprises a mobile robot and wherein the mobile robot comprises: an actuating system for driving on an inner surface abutting the inner cavity of the object under inspection and a sensory system configured to capture sensor data related to the inner surface. 52. The system according to any of the preceding system embodiments, wherein the mobile robot is configured according to any of the preceding robot embodiments.

[0526] 53. The system according to any of the preceding system embodiments, wherein the object under inspection comprises any of the features of embodiments R.173 to R189.

[0527] 54. The system according to any of the preceding system embodiments, wherein the system comprises a data processing system.

[0528] 55. The system according to the preceding embodiment, wherein the data processing system comprises a robot processing component provided internally to the mobile robot.

[0529] 56. The system according to any of the 2 preceding embodiments, wherein the data processing system comprises a remote processing component provided externally from the mobile robot.

[0530] 57. The system according to any of the preceding system embodiments, wherein the system further comprises a remote controller configured to control the mobile robot.

[0531] 58. The system according to the preceding embodiment, wherein the remote controller comprises a steering unit configured to generate steering commands, upon being activated by an operator, to control the actuating system.

[0532] 59. The system according to the preceding embodiment, wherein the mobile robot is configured to receive the steering commands and to drive according to the steering commands.

[0533] 510. The system according to any of the preceding system embodiments and with the features of embodiment S7, wherein the mobile robot comprises the features of embodiment R69 and wherein the remote controller comprises an illumination control unit configured to control the illuminating system.

[0534] 511. The system according to any of the preceding system embodiments and with the features of embodiment S7, wherein the remote controller comprises a sensor control unit configured to control the sensory system of the mobile robot. 512. The system according to any of the preceding system embodiments wherein the mobile robot comprises the features of embodiment R91 and wherein the remote controller comprises an operator camera control unit configured to control the at least one operator camera.

[0535] 513. The system according to any of the preceding system embodiments and with the features of embodiment S7, wherein the remote controller comprises a first-person view display.

[0536] 514. The system according to the preceding embodiment, wherein the mobile robot comprises the features of embodiment R91 and wherein the remote controller is configured to receive an output of the at least one operator camera from the mobile robot and display said output preferably in real time on the first-person view display.

[0537] 515. The system according to the preceding embodiment and with the features of embodiment S8, wherein the mobile robot comprises the features of embodiment R91 and wherein the remote controller is configured to selectively display on the first-person view display an output of the at least one operator camera based on the steering commands.

[0538] 516. The system according to the preceding embodiment and with the features of embodiment S8, wherein the mobile robot comprises the features of embodiment R91 and wherein the remote controller is configured to selectively generate operator camera activation and / or deactivation commands based on the steering commands.

[0539] 517. The system according to any of the 4 preceding embodiments, wherein the remote controller is configured to receive the sensor data from the mobile robot and display the sensor data on the first-person view display.

[0540] 518. The system according to any of the 5 preceding embodiments, wherein the mobile robot comprises the features of embodiment R58 and wherein the remote controller is configured to receive the location data from the mobile robot and the location data, preferably in real time, on the first-person view display.

[0541] 519. The system according to any of the preceding system embodiments and with the features of embodiment S7, wherein the remote controller comprises a controller display. 520. The system according to the preceding embodiment, wherein the remote controller is configured to display remote controller settings on the controller display.

[0542] 521. The system according to any of the 2 preceding embodiments and with the features of embodiment S13, wherein the controller display is separate from the first-person view display.

[0543] 522. The system according to any of the preceding system embodiments and with the features of embodiment S7, wherein the remote controller comprises a data input user interface configured to provide a user interface for data entry.

[0544] 523. The system according to the preceding embodiment, wherein the data input user interface is configured to provide a user interface for entering an ID of the object-under inspection and / or an indication of a portion to be inspected of the object under inspection, and / or of a side of the inner surface wherein the robot is driving.

[0545] 524. The system according to any of the preceding system embodiments and with the features of embodiment S7, wherein the remote controller comprises a controller communication system configured to exchange data with the mobile robot.

[0546] 525. The system according to the preceding embodiment, wherein the controller communication system comprises a video receiver configured to receive an output of the operator camera.

[0547] 526. The system according to the preceding embodiment, wherein the video receiver comprises a video receiver antenna.

[0548] 527. The system according to any of the 3 preceding embodiments, wherein the controller communication system comprises a controller transmitter configured to send controller commands from the remote controller to the mobile robot.

[0549] 528. The system according to the preceding embodiment, wherein the controller transmitter comprises a controller transmitter antenna. 529. The system according to any of the preceding system embodiments, wherein the system further comprises a robot retrieving component configured to be attached with the mobile robot for dragging the mobile robot.

[0550] 530. The system according to the preceding embodiment, wherein the robot retrieving component comprises a reel and an elongated flexible component wound around the reel.

[0551] 531. The system according to the preceding embodiment, wherein the elongated flexible component comprises a rope.

[0552] 532. The system according to any of the 2 preceding embodiments, wherein the robot retrieving component comprises a reel handle for manually rotating the reel.

[0553] 533. The system according to any of the 3 preceding embodiments, wherein the robot retrieving component comprises a reeling actuator for rotating the reel.

[0554] 534. The system according to the preceding embodiment, wherein the robot retrieving component comprises a reel battery for powering the reeling actuator.

[0555] 535. The system according to the preceding embodiment, wherein the robot retrieving component comprises a reel frame wherein the reel, reeling actuator and reel battery are mounted.

[0556] 536. The system according to any of the 6 preceding embodiments, wherein the robot retrieving component comprises a reel robot attachment fixed at an end of the elongated flexible component.

[0557] 537. The system according to the preceding embodiment, wherein the mobile robot comprises the features of embodiment R.153, wherein the reel robot attachment is configured to be attached, preferably in a releasable manner, to the rope attachment of the mobile robot.

[0558] 538. The system according to any of the 2 preceding embodiments, wherein the reel robot attachment is a carabiner. 539. The system according to any of the 9 preceding embodiments and with the features of embodiment S24, wherein the controller communication component is configured for wirebased data exchange with the mobile robot, and wherein the elongated flexible component comprises at least one electrically conductive wire.

[0559] 540. The system according to any of the preceding system embodiments and with the features of embodiment S4, wherein the data processing system is configured to generate an inner surface map, wherein the map of the inner surface map comprises a digital representation of the inner surface.

[0560] 541. The system according to the preceding embodiment, wherein the data processing system is configured to generate the inner surface map based on the sensor data.

[0561] 542. The system according to any of the preceding system embodiments, wherein the system comprises anchors configured to be sensed by the mobile robot and wherein the mobile robot is configured to detect at least some of the anchors to generate anchor data.

[0562] 543. The system according to the preceding embodiment, wherein each of the anchors is disposed in the inner cavity of the object under inspection, preferably at different positions within the inner cavity.

[0563] 544. The system according to the preceding embodiment, wherein the anchors are fixed on the inner surface.

[0564] 545. The system according to any of the 3 preceding embodiments and with the features of embodiment S40, wherein the data processing system is configured to generate the inner surface map based on the anchor data.

[0565] 546. The system according to any of the 6 preceding embodiments and with the features of embodiment S5, wherein the inner surface map is generated by the robot processing component.

[0566] 547. The system according to any of the preceding system embodiments and with the features of embodiment S4, wherein the data processing system is configured to generate an inner surface 3D model, wherein the inner surface 3D model comprises a 3D digital representation of the inner surface.

[0567] It will be understood that 3D stands for three-dimensional.

[0568] 548. The system according to the preceding embodiment, wherein the data processing system is configured to generate the inner surface 3D model based on the sensor data.

[0569] 549. The system according to any of the 2 preceding embodiments, wherein the mobile robot comprises the features of embodiment R51, wherein the data processing system is configured to merge the visual images and based thereon to generate the inner surface 3D model.

[0570] 550. The system according to any of the 3 preceding embodiments, wherein the mobile robot comprises the features of embodiment R43 and R46, wherein the data processing system is configured to generate the inner surface 3D model by combining the range data with the visual data.

[0571] 551. The system according to any of the 4 preceding embodiments and with the features of embodiment S6, wherein the inner surface 3D model is generated by the remote processing component.

[0572] 552. The system according to any of the preceding system embodiments and with the features of embodiment S4, wherein the data processing system is configured to process the sensor data to detect a defect on the inner surface.

[0573] 553. The system according to the preceding embodiment, wherein the data processing system is configured to process the sensor data to further detect at least one inspection parameter associated with the detected defect on the inner surface.

[0574] 554. The system according to the preceding embodiment, wherein the at least one inspection parameter comprises a type, size, position within the inner surface, and / or severity of the detected defect. 555. The system according to any of the 3 preceding embodiments, wherein the data processing system is configured to generate an inspection report indicative of one or more detected defects on the inner surface.

[0575] 556. The system according to the 2 preceding embodiments, wherein the inspection report is indicative of the at least one inspection parameter for each detected defect.

[0576] 557. The system according to any of the 2 preceding embodiments, wherein the data processing system is configured to generate the inspection report immediately after the internal inspection is completed, such as, upon receiving a user input indicative of the end of the internal inspection and / or upon detecting, e.g., based on the position of the mobile robot, an end of the internal inspection.

[0577] 558. The system according to any of the 6 preceding embodiments, wherein the data processing system is configured to execute an artificial intelligence algorithm to detect the defect.

[0578] 559. The system according to any of the 7 preceding embodiments and with the features of embodiments R43 and R46, wherein the data processing system is configured to associate range data and visual data to measure a size and position of one or more defects.

[0579] 560. The system according to any of the preceding system embodiments, wherein the system comprises an external visual sensor provided externally to the mobile robot.

[0580] 561. The system according to the preceding embodiment, wherein the external visual sensor is provided outside the inner cavity and / or in another inner cavity of the object under inspection adjacent to the inner cavity.

[0581] 562. The system according to any of the 2 preceding embodiments, wherein the external visual sensor comprises a field of view including an outer surface of a wall abutting the inner cavity.

[0582] 563. The system according to any of the 3 preceding embodiments, wherein the external visual sensor is oriented such that its optical axis is substantially parallel with a forward motion of the mobile robot. 564. The system according to any of the 4 preceding embodiments and with the features of embodiment R.174, wherein the external visual sensor is oriented such that its optical axis is substantially parallel with the object axis.

[0583] 565. The system according to any of the 5 preceding embodiments, wherein the external visual sensor is stationary.

[0584] 566. The system according to any of the 6 preceding embodiments, wherein the external visual sensor is configured to detect light leakage from the inner cavity outside the inner cavity.

[0585] 567. The system according to the preceding embodiment wherein the mobile robot comprises the features of embodiment R69, wherein said light is generated by the illuminating system of the mobile robot.

[0586] 568. The system according to any of the 2 preceding embodiments and with the features of embodiment S4, wherein the data processing system is configured to detect presence of a tear in a wall of the object under inspection based on an output of the external visual sensor.

[0587] 569. The system according to any of the 9 preceding embodiments, wherein the object under inspection comprises an inner structural wall and wherein the mobile robot and the external visual camera are provided on opposite sides of the inner structural wall.

[0588] 570. The system according to the preceding embodiment and with the features of embodiment S4 and S68, wherein the data processing system is configured to detect presence of a tear between the inner structural wall and the rest of the object under inspection based on an output of the external visual sensor.

[0589] 571. The system according to any of the 2 preceding embodiments, wherein the inner structural wall is configured to provide structural integrity of the object under inspection against shear forces. 572. The system according to any of the 5 preceding embodiments and with the features of embodiment S4, wherein the data processing system is configured to detect position of the light leakage based on the position of the mobile robot.

[0590] 573. The system according to any of the preceding system embodiments, wherein the system further comprises a robot base configured to releasably and securely fix the mobile robot, such that the robot remains stationary with respect to the object under inspection irrespective of motion of the object under inspection.

[0591] 574. The system according to any of the preceding system embodiments, wherein the robot base is configured to be fixedly attached inside the object under inspection, such as, in the inner cavity.

[0592] 575. The system according to any of the 2 preceding embodiments, wherein the mobile robot comprises the features of embodiment R13, wherein the robot base is configured to charge the battery component of the mobile robot, while the mobile robot is fixed to the robot base.

[0593] 576. The system according to any of the 3 preceding embodiments, wherein the robot base and / or the mobile robot are configured to automatically separate from each other.

[0594] 577. The system according to any of the preceding system embodiments, wherein the system comprises a user device for tracking the overall process of the internal inspection of the object under inspection based on user input.

[0595] 578. The system according to any of the preceding system embodiments, wherein the system further comprises an external inspection device for external inspection of the object under inspection.

[0596] 579. The system according to the preceding embodiment, wherein the external inspection device is configured to inspect an external surface of the object under inspection.

[0597] 580. The system according to any of the 2 preceding embodiments and with the features of embodiment S4, wherein the data processing system is configured to combine data generated by the mobile robot with data generated by the external inspection device. 581. The system according to the preceding embodiment, wherein the data processing system is configured to determine a temporal and / or spatial correspondence between the data generated by the mobile robot with data generated by the external inspection device and to combine them based thereon.

[0598] 582. The system according to any of the preceding system embodiments, wherein the mobile robot comprises the features of embodiment R68, wherein the system comprises the at least one ultra-wideband stationary antenna.

[0599] 583. The system according to any of the preceding system embodiments, further comprising a robot container configured to hold the mobile robot, wherein the robot container comprises a robot space for accommodating the mobile robot.

[0600] 584. The system according to the preceding embodiment, wherein the robot container is configured to be releasably and securely fixed with at least one other robot container.

[0601] 585. The system according to any of the 2 preceding embodiments, wherein the robot container comprises legs with adjustable lengths.

[0602] 586. The system according to any of the 3 preceding embodiments, wherein the robot container is configured to support at least 70 kilograms, preferably at least 80 kilograms, more preferably at least 90 kilograms.

[0603] 587. The system according to any of the preceding system embodiments, wherein the robot comprises the features of embodiment R.190; wherein the system comprises a set of repair devices; and wherein the repair device is selected from a set of repair devices, wherein each repair device in the set of repair devices is configured to perform a respective repair operation to the object under inspection.

[0604] 588. The system according to the preceding embodiment, wherein each repair device in the set of repair devices is configured to perform a at least one respective one of the following repair operations: drilling, sanding, cutting, vacuuming, applying glue and applying a patch. 589. The system according to any of the preceding embodiments and with the features of embodiment S4, wherein the mobile robot comprises the features of embodiment R.205; and wherein the data processing system is configured to process the repair operation data to monitor the repair operation, validate the repair operation, improve future repair operations and / or generate a repair report automatically after the repair.

[0605] 590. The system according to any of the preceding embodiments and with the features of embodiment S7, wherein the mobile robot comprises the features of embodiment R.199; and wherein the remote controller is configured to control the repair device.

[0606] Below, use embodiments will be discussed. These embodiments are abbreviated by the letter "U" followed by a number. When reference is herein made to use embodiments, these embodiments are meant.

[0607] Ul. Use of the mobile robot according to any of the preceding embodiments and / or of the system according to any of the preceding system embodiments to perform an internal inspection, maintenance and / or repair of an object under inspection.

[0608] U2. Use according to the preceding embodiments, wherein the object under inspection is an object comprising an inner cavity surrounded at least in part by an inner surface of the object under inspection.

[0609] U3. Use of the mobile robot according to any of the preceding embodiments and / or of the system according to any of the preceding system embodiments to perform an internal inspection, maintenance and / or repair of a rotor blade, preferably of a rotor blade for a wind turbine generator.

[0610] U4. Use of the mobile robot according to any of the preceding embodiments and / or of the system according to any of the preceding system embodiments to perform an internal inspection, maintenance and / or repair of a pipe. U5. Use of the mobile robot according to any of the preceding embodiments and / or of the system according to any of the preceding system embodiments to perform an internal inspection, maintenance and / or repair of a building.

[0611] U6. Use of the mobile robot according to any of the preceding embodiments and / or of the system according to any of the preceding system embodiments to perform an internal inspection, maintenance and / or repair of a vehicle.

[0612] U7. Use of the mobile robot according to any of the preceding embodiments and / or of the system according to any of the preceding system embodiments to perform an internal inspection, maintenance and / or repair of a narrow passage in a human-made or natural object.

[0613] Performing an internal inspection of an object under inspection may be used synonymously with inspecting an internal cavity of the object under inspection.

[0614] Below, method embodiments will be discussed. These embodiments are abbreviated by the letter "M" followed by a number. When reference is herein made to method embodiments, these embodiments are meant.

[0615] Ml. A method for inspecting an inner cavity of an object under inspection, wherein the method comprises: utilizing the mobile robot according to any of the preceding robot embodiments and / or the system according to any of the preceding system embodiments.

[0616] It will be understood that the method may comprise performing any of the processes that the mobile robot and / or the system is configured to perform.

[0617] M2. The method according to the preceding embodiment, wherein the object under inspection comprises any of the features of embodiments R.173 to R189.

[0618] M3. The method according to any of the preceding method embodiments, wherein the method comprises placing the mobile robot inside the inner cavity. M4. The method according to any of the preceding method embodiments, wherein the object under inspection comprises two object ends opposite to each other and arranged along an object axis and wherein the method comprises placing the mobile robot at one of the object ends.

[0619] M5. The method according to the preceding embodiment, wherein the method comprises the mobile robot travelling from one of the objects ends to the other while capturing the sensor data.

[0620] M6. The method according to any of the preceding method embodiments, wherein the mobile robot comprises the features of embodiment R.190, wherein the method comprises performing, with the mobile robot, a repair operation to the object under inspection.

[0621] M7. The method according to the preceding embodiment, wherein the repair operation is selected from: drilling, sanding, cutting, vacuuming, applying glue and applying a patch.

[0622] Brief description of the drawings

[0623] Fig. 1 depicts a front perspective view of a mobile robot;

[0624] Fig. 2 depicts a rear perspective view of the mobile robot;

[0625] Fig. 3 depicts a remote controller for controlling the mobile robot;

[0626] Fig. 4 depicts a robot retrieving component;

[0627] Fig. 5 depicts a robot positioning system;

[0628] Fig. 6 depicts the mobile robot and an external visual sensor;

[0629] Fig. 7 depicts a robot container;

[0630] Fig. 8 depicts a mobile robot comprising a repair device.

[0631] Detailed description of the drawings

[0632] In the following, exemplary embodiments of the invention will be described, referring to the figures. These examples are provided to provide further understanding of the invention, without limiting its scope.

[0633] In the following description, a series of features and / or steps are described. The skilled person will appreciate that unless required by the context, the order of features and steps is not critical for the resulting configuration and its effect. Further, it will be apparent to the skilled person that irrespective of the order of features and steps, the presence or absence of time delay between steps, can be present between some or all of the described steps.

[0634] The description of the figures first provides an overview of embodiments of the present invention, before providing further details of more specific embodiments, features and steps of the exemplary embodiments of the present invention.

[0635] The invention relates to a robotic vehicle 10 (see Figs. 1 and 2) for internal inspection of a wind turbine generator rotor blade and potentially other hard-to-access structures. It can be controlled remotely, and it can map and inspect the internal surfaces of the rotor blade by using a LIDAR and camera (or a set of cameras). This may allow to obtain high quality images of the inside surfaces of the rotor blade. Moreover, combining the images with LIDAR data, a precise size of the defects and location within the rotor blade can be determined. LIDAR data may be an example of range data.

[0636] The terms vehicle, robot, mobile robot and robotic vehicle can be used interchangeably.

[0637] The mobile robot 10 may comprise of a base in which battery-powered wheels 1 can be mounted. Powering the robot from an external power source via a cable may be possible. Typically, external power source is available in the turbine tower, via an external battery, or when the inspection is done with the blade placed on the ground - for example in a factory.

[0638] An additional way of propelling the vehicle 10 can be achieved via an electric duct fan (EDF) 4. It can create a thrust parallel to a moving direction of the vehicle 10 and can be used when the robot 10 climbs on a tilted surface. The body of the robot can be covered by LED lighting directed at different angles for a more homogenous illumination of the surfaces that need to be imaged and / or captured as video. With the help of an embedded robot software, individual spots (e.g., anchor points) at the rotor blade can be recognized and the whole surface can be mapped. With the help of external software, the images can be merged to form a 3D model of the internal surface of the rotor blade or other similar objects, enabling an in-depth analysis of the structure after the photographs have been taken. Artificial intelligence (Al) algorithms in the robot (internal) and / or in a computer outside of it (e.g., cloud computing) may be used to detect defects and their type, size, position, severity level and determine other inspection related parameters. The mobile robot 10 may comprise support rollers 1, wheels 2, camera 3, electric duct fan 4, a vehicle base including battery 5, a LIDAR sensor 6 and LCD screen 7.

[0639] A system for internal inspection may typically comprise the mobile robot 10, a remote controller 30 with display, a stationary antenna for distance measurement, a rope reel, specialized bags and safety equipment. It will be understood that not all components are essential.

[0640] The remote controller 30 (see Fig. 3) may be configured to provide any of the following functionality:

[0641] • control robot movement,

[0642] • control robot lights,

[0643] • control robot cameras,

[0644] • show low latency camera video,

[0645] • show robot sensor data such as distance from robot to blade root,

[0646] • provide user interface to enter data, such as, blade ID, bulkhead distance, blade number (a, b, c or 1, 2, 3), blade section, blade side where robot is placed (suction side or pressure side).

[0647] The rope reel 40 (see Fig. 4) may be a battery powered motorized rope reel with automatic rope arrange system. In case of failure, the reel can be operated by hand. A carabiner can be attached at the end of the rope. Said carabiner can be connected to the robot 10 when the robot drives into the blade.

[0648] In some embodiments, the robot 10 may comprise four wheels 1 and all of them can be steered. Thus, while the robot maintains forward or backward speed it can move sideways at the same time while maintaining the overall direction of the robot and its camera. This can improve the quality of the inspection data capture.

[0649] The robot 10 can be equipped with many light sources. Their positions and angles can be optimized to achieve the best and most even light distribution. Each light source intensity can be controlled separately. Automatic adjustment of each light intensity using LIDAR and / or other sensor data may be possible using software algorithms. Robot can be equipped with two displays 7 in front. The camera 7 may capture both displays 7. One display 7 may show a QR code, which can be used to synchronize camera video data with data from robot sensors. Second display may show distance measurement from blade root. It is possible to show any data on the displays.

[0650] The robot may comprise two operator cameras. They can be placed one on the front of the robot and the other on the back of the robot. Both cameras may have dedicated light sources which can be used when inspection is not active and main lights are off (i.e., the lights used for inspection). Video feed can be transmitted to a remote display (e.g., the first-person view display 31 of the remote controller 30) using a low latency video transmitter. Operator cameras can be switched manually or automatically. When the robot drives forward, the remote display may show video from the front operator camera and when it drives in reverse, remote display may show video from the rear operator camera. Video feed can be modified and robot data can be added to the video as an overlay. This way the operator can be informed about the data from the robot and / or other process parameters.

[0651] Distance from the blade root can be measured using ultra-wideband (UWB) radio technology. Stationary antenna system can be fixed on the blade root, and another antenna can be built into the robot. Also, additional sensors and software algorithms can be used to improve accuracy.

[0652] The electric duct fan 4 may create a thrust parallel to the moving direction of the robot 10 and can be used when the robot climbs a tilted surface. Thrust can be set manually or automatically adjusted by software using input from the sensors of the robot 10.

[0653] The robot 10 can be equipped with additional actuators that can adjust robot clearance from the ground. Purpose of this can be to get a better field of view of the camera 3 towards the inner surface and speed up the inspection process. Higher clearance may also allow the robot 10 to drive over obstacles such as lightning protection cables that may be present inside the rotor blade. When the robot is in a large space, e.g., closer to the blade root, clearance can be set higher. This can allow the robot to drive faster without losing captured image quality (image optical flow on camera sensors 3) and camera position can be further from the walls which may result in better object angle in the field of view of the camera which improves inspection quality. In narrow places, e.g., close to blade tip, robot clearance can be set lower allowing the robot to reach deeper areas in the blade. This feature can be used together with actuated support rollers. The robot 10 may be equipped with four support rollers 1. The support rollers 1 may allow to keep a minimum distance from walls or obstacles. These may also prevent the robot from getting stuck. Support roller arms 14 can be equipped with actuators which may allow distance adjustment while performing the inspection. Maintaining at least a minimum distance between the robot 10 and the wall can be advantageous to capture high quality video and / or images. Adjusting the support rollers 1 may also help to avoid obstacles such as bolts.

[0654] The robot shape can be configured to minimize the risk of getting stuck. For example, the robot can comprise a V shaped tail (i.e., rear portion) where the rope can be attached. In case of emergency, the robot can be pulled out using the rope.

[0655] The robot 10 can comprise a front attachment. The front camera assembly 3 (i.e., visual sensor 3) can be replaced with different purpose attachments. This may allow use of existing robots for specific tasks, for example, bringing out unnecessary objects from the blade, performing repair operations, etc. Robot hardware can be designed to support other attachments.

[0656] The mobile robot 10 can be configured for onboard defect detection. A built-in computer (e.g., robot processing component) can process video feeds from cameras 3. Artificial intelligence (Al) algorithms can be used to find defects and their type, size, position, severity level and determine other inspection related parameters. A preliminary report can be sent to the customer immediately after the blade inspection is done.

[0657] In order to monitor the inspection process, the robot can send telemetry data to a cloud database. Telemetry data can be used for fleet management, e.g., to manage technician work order, plan the robot maintenance and repair.

[0658] The robots may have components which generate heat during use. The robot may thus comprise a cooling system. The cooling system may be advantageous for successful robot operation in a wide temperature range, typically up to 40°C. The cooling system may monitor component temperatures of the mobile robot and may ensure safe operating conditions. In case of poor cooling or high temperature, power or functionality may be limited or even turned off to prevent risks of damaging the robot 10 and objects around it, including operator health. Some components, such as cameras, may have a higher operating temperature usually starting from 0°C. In this case the robot may comprise additional heating elements, which may preferably be provided near components requiring higher operating temperature usually starting from 0°C, to heat up said components before operating the robot. This may allow the robot to operate in a wide temperature range, typically from -25°C.

[0659] The robot may comprise UV sensors configured for UV light sensing. The UV sensor can be used to detect blade defects during day time. UV sensors can thus allow detecting sunlight. UV light can be harmful to blade fiberglass material. UV light intensity and position in the blade can be registered by the robot together with other sensor data.

[0660] The robot 10 may be configured to comprise an autopilot functionality. Autopilot functionality may allow automatic control and may maintain robot speed and steering. This may allow the robot to be positioned optimally in the blade (typically but not always in the center). This may improve the quality of the captured images. The autopilot functionality may be configured to detect obstacles and to perform automatic path planning to avoid obstacles. In case dangerous circumstances (for example, slope too large) are detected, the robot may automatically stop the autopilot functionality and the operator may be alerted to take over.

[0661] The robot with an additional external camera may be configured for shear web disbond detection. This type of defect may occur when a shear web wall joint comprises a defect and / or the shear web is not properly attached to the shell surface. In order to detect shear web disbond and determine its position in the blade, an additional stationary camera can be used for this. Inspection robot 10 may emit the light during internal inspection in the inner cavity. Stationary camera can be placed in an adjacent section and oriented to blade-tip direction. When the stationary camera detects light which comes from the robot, shear web disbond defect can be detected and registered.

[0662] In case internal blade inspection is needed very often, for example once every day, additional fixture can be installed into the blade. Said fixture can be referred to as a robot base. Said fixture (i.e., robot base) can safely hold the robot while the wind turbine rotates (i.e., is in operating state). At inspection time the turbine can be stopped and the robot can perform the inspection automatically. The fixture may charge the batteries of the robot using energy harvesting from movement as the wind turbine rotates. Data transmission can be done using a wireless link, for example cellular communications. Field technicians can use an app, e.g., a smartphone app, for the inspection process. It may allow tracking the overall progress and validate work safety. Inspection process can be determined and every step of it can be registered into the app by a field technician. This way the correct work process can be guaranteed. For critical steps, validation picture(s) may be taken using the smartphone device. Data from the app can be sent to the cloud for further processing.

[0663] After inspection, all captured data (including video files) can be transferred to a remote storage. Upload software may validate the data and may provide a stable upload process to cloud storage. Upload statistics such as upload speed also is captured and sent together with the robot data.

[0664] Data obtained by the internal inspection robot 10 and / or other tools can be combined with data from external inspection performed by drone or other means in a single data platform. The advantages of this approach may include the ability to view a precise location of a rotor blade from both inside and outside, combining data for a more detailed analysis (e.g. how a defective site inside of rotor blade appears from the outside and vice versa) and improved data archiving and searchability. The coordinate systems of internal and external inspections may be interoperable, thus facilitating the compatibility of data obtained from both internal and external inspections.

[0665] The robot 10 and other equipment can be moved into the turbine hub section or inside the blade using specially designed oval shaped bags 70. Bags 70 can be equipped with heavy duty handles, where carabiner can be attached to ensure safety. External bag material can be selected for easy cleaning from oil and other liquids or dirt. The bag can be configured to increase safety and handling. Bags can be joined together to create one larger bag. This may allow safer, faster and easier handling between two operators and also speeds up the setup process and dismantling of the setup when leaving the hub. Bags can also be equipped with retractable and adjustable legs, which can be advantageous given that the wind turbine inside may comprise very minimal or in specific areas no horizontal flat surfaces. The bags can used for sitting.

[0666] The process of operation of the robot may be as follows:

[0667] 1. The operator may bring the robot and necessary accessories to the nacelle.

[0668] 2. The robot can be assembled, set up and placed inside the root of the rotor blade. 3. The robot can be remotely controlled and / or may operate semi-autonomously, driving towards the tip of the rotor blade (or advancing from the tip to the root after being driven towards the tip), illuminating and imaging the inside of the rotor blade while simultaneously mapping its surface with LIDAR or other comparable technologies for surface and / or distance mapping.

[0669] 4. The procedure can be repeated until all necessary sections are inspected and spatial data and images are taken in sufficient quality.

[0670] 5. The robot can be placed back in its container (i.e., bag).

[0671] 6. Data can be transferred to the server.

[0672] 7. The data can be processed on the server, if necessary and possible, forming a 3D model of the inner surface.

[0673] The present invention may thus include any of the following features:

[0674] • combination of LIDAR data and camera data to obtain precise measurements of the defects and precise position of the defects within the rotor blade;

[0675] • LED lighting within the body of the robot, directed at several angles, ensuring a more homogenous illumination;

[0676] • Al algorithms to detect the defect type, dimension and precise location in the blade;

[0677] • ability to make a 3D model of the rotor blade once the data is loaded from the robot into a software system;

[0678] • mechanical design of the robot and its accessories may be optimized for a safe and fast inspection process;

[0679] • distance measurement system;

[0680] • displays on the robot positioned such that camera can capture video together with data shown on the displays;

[0681] • steering system for blade inspection.

[0682] While the primary field of the invention is in wind industry, the skilled person could envisage similar problems in other fields, such as tight or difficult to access spaces in buildings, vehicles and other human-made or natural objects. For instance, inspecting drainage or ventilation pipes and other spaces in buildings, narrow passages in caves and other structures would pose a very similar set of challenges.

[0683] Fig. 1 depicts a perspective view of a mobile 10 as seen from a front of the mobile robot 10. The mobile robot 10 may interchangeably be referred to as a robot 10 for the sake of brevity. The mobile robot 10 is configured for internal inspection of an object. Said object may also be referred to as an object under inspection, object under test, object to be inspected or object to be tested.

[0684] The object under inspection (not shown) may typically be any object comprising an inner cavity surrounded at least in part by an inner surface of the object under inspection. That is, the object under inspection may be hollow. It may comprise an inner cavity surrounded by a wall. The wall may comprise an inner surface, which may be the surface facing and abutting the inner cavity. The wall may also comprise an outer surface facing away from the inner cavity. The outer surface may be opposite to the inner surface.

[0685] An example of an object the inner cavity of which can be inspected by the mobile robot 10 is a wind turbine generator rotor blade. The present invention is primarily configured for internal inspection of wind turbine generator rotor blades. However, it will be understood that the present invention may similarly be used for internal inspection of other objects such as tight or difficult to access spaces in: buildings, vehicles and other human-made or natural objects. For instance, the present invention may be used for inspecting pipes and other spaces in buildings, narrow passages in caves and other similar structures.

[0686] The mobile robot 10 may be configured to fit and move inside the object under inspection, i.e., in the inner cavity. In particular, the mobile robot 10 may be configured to drive on the inner surface of the object under inspection.

[0687] The mobile robot 10 comprises an actuating system for driving on the inner surface. The actuating system may comprise wheels 2. That is, the mobile robot 10 may preferably be a wheeled robot 10. In the depicted example, the mobile robot 10 comprises four wheels 2. Generally, the mobile robot 10 may preferably comprise at least three wheels 2. The actuating system may further comprise at least one actuator (not shown) for driving the wheels 2.

[0688] The mobile robot 10 may comprise a propeller 4 configured to generated a thrust parallel to a moving direction, preferably forward moving direction, of the mobile robot via a rotary motion of the propeller 4. In the depicted example, the propeller 4 is provided on a rear portion of the mobile robot 10. The propeller 4 may be particularly utilized when the robot 10 drives inclined surfaces, wherein the thrust of the propeller 4 may be used to counteract a gravity force acting on the robot 10. This may reduce slippage of the robot 10. The mobile robot 10 further comprises a sensory system configured to capture sensor data related to the inner surface. Sadi sensory system may also be referred to as inner surface sensory system and said sensor data may also be referred to as inner surface data. The sensory system may comprise a visual sensor 3. In the depicted example, the visual sensor 3 is provided in a front portion of the mobile robot 10. The visual sensor 3 may be a 360° camera system 3. The sensory system may further comprise a range sensor 6. In the depicted example, the range sensor 6 is provided in a front portion of the mobile robot 10. Thus, the mobile robot 10 may utilize the sensory system to obtain visual data and / or range data of the inner surface.

[0689] The mobile robot 10 may further comprise at least one electronic display 7. In the depicted example, the mobile robot 10 comprises two electronic displays 7 provided in a front portion of the mobile robot 10. Preferably, the at least one electronic display 7 can be provided within a field of view of the visual sensor 3. The mobile robot 10 can be configured to display on one of the at least one electronic display 7 positional data indicative of a position of the mobile robot relative to the object under inspection. This may include a distance to be travelled by the mobile robot 10 or an indication thereof for the internal inspection to be completed. The mobile robot 10 can be configured to display on one of the at least one electronic display 7 synchronization data for synchronizing the sensor data captured by the sensory system. For example, the synchronization data can be used to determine a temporal and / or spatial correspondence between the range data and the visual data. This can facilitate matching range data and visual data that correspond to the same portion of the inner surface.

[0690] The mobile robot 10 may further comprise at least one support roller 1, preferably a plurality of support rollers 1, such as four support rollers 1. The at least one support roller 1 may preferably protrude from a side surface of the mobile robot 10, thus facilitating the maintenance of a minimum distance between a side of the mobile robot wherein said support roller is provided on and a surface or object facing said side of the mobile robot 10. At least one support roller 1 of the mobile robot 10 may be configured to comprise a varying protrusion from the side of the mobile robot 10.

[0691] Each support roller 1 may comprises a rotary element 12 and a roller arm 14, wherein the roller arm protrudes laterally away from a robot central axis. Said central axis may be a rear to front central axis. The roller arm 14 may comprise a varying length. For example, the roller arm 14 may comprise two pivoting arm portions as depicted in Fig. 1. This may allow folding or extending the roller arm 14, thus correspondingly adjusting its length. The rotary element 12 may rotate around an axle. This may reduce friction with the inner surface, particularly given that the rotary element 12 may contact the inner surface. At the same time, rotation of the rotary element 12 and the varying length of the roller arm may reduce the risk of the mobile robot 10 getting stuck while moving in the inner cavity, e.g., if the support rollers 1 contact a protrusion on the inner surface.

[0692] The mobile robot 10 may further comprise a battery component 5. The battery component may comprise a battery (not shown), preferably a rechargeable battery. Further preferably, the mobile robot 10 can be configured to allow charging the battery of the robot 10 while the battery is installed in the robot 10. The battery component 5 may further comprise a battery enclosure 52. The battery may be provided inside the battery enclosure 52.

[0693] The mobile robot 10 may further comprise a robot processing component (not shown) that may be provided internally to the mobile robot 10.

[0694] Fig. 2 depicts a perspective view of the mobile robot 10 from the rear of the mobile robot 10.

[0695] Fig. 3 depicts a remote controller 30 for controlling the mobile robot 10. The remote controller 30 may comprise a steering unit 33 for steering the mobile robot 10. The remote controller 30 may also comprise other input interfaces, e.g., buttons, for providing commands other then steering commands to the mobile robot 10. The remote controller 30 may comprise a controller transmitter 37 configured to send controller commands from the remote controller 30 to the mobile robot 10.

[0696] The remote controller 30 may comprise a first-person view display 31. The remote controller can be configured to receive an output of at least one operator camera of the mobile robot and display said output preferably in real time on the first-person view display. The remote controller may comprise a video receiver 35 configured to receive the output of the operator camera.

[0697] The remote controller 30 may comprise a controller display 34. The remote controller 30 can be configured to display remote controller settings on the controller display 34. For example, the remote controller 30 may display an option menu. This can allow customizing the remote controller 30, e.g., customizing the button functionalities.

[0698] Fig. 4 depicts a robot retrieving component 40 configured to facilitate retrieving the mobile robot 10. The robot retrieving component 40 comprises of a reel 45 and an elongated flexible component 41, typically a rope 41, wound around the reel 45. The reel 45 may be operated by a reeling actuator (not shown), which may be powered by a dedicated reel battery (not shown). The reel, reeling actuator and the reel battery may be mounted on a reel frame 43. The reeling actuator may allow for controlled unwinding and winding of the rope as needed, without manual labor. Moreover, a manual reel handle 42 may be provided as an alternative means of operation. At one end of the elongated flexible component 41, a reel robot attachment (not shown) may be securely affixed. The reel robot attachment may configure to be compatible with a mobile robot's rope attachment. The reel robot attachment can take the form of a carabiner for ease of use.

[0699] Fig. 5 depicts ultra-wideband robot antenna module 50. It may comprise an ultra-wideband robot antenna 51, attachment component 54 and an antenna housing 52. The antenna housing 52 may enclose the electronic components of the ultra-wideband robot antenna module 50. The ultra-wideband robot antenna module 50 may further comprise a dedicated antenna battery (not shown).

[0700] Fig. 6 depicts a system comprising the mobile robot 10 and an external visual sensor 60. The external visual sensor 60 can be a visual sensor external to the mobile robot 10. That is, the external visual sensor 60 may be separate from the mobile robot 10.

[0701] As depicted the mobile robot 10 may be provided inside the inner cavity, i.e., between walls 63 and the external visual sensor 60 can be provided outside the inner cavity. The field of view of the external visual sensor 60 may comprise the outer surface of one of the walls 63. The optical axis of the external visual sensor 60 may be parallel to the mobile robot's forward motion. The external visual sensor 60 can be configured to detect light leakage from the inner cavity. This can allow detecting presence of tears in the object's wall 63, providing insights into structural integrity. Fig. 7 depicts a robot container 70 configured to contain the mobile robot 10. The robot container 70 may comprise a container frame 71, container cover panels 72 and adjustable container feet 73.

[0702] Fig. 8 depicts a mobile robot 10 comprising a repair device 80. The mobile robot 10 can be configured as discussed above, e.g., with reference to Figs. 1 and 2. The repair device 80 can be configured to perform a repair operation to the object under inspection. The repair device 80 can be an actuated robotic arm, as illustrated. The repair device 80 can comprise at least one power tool 84. The repair device 80 can also comprise at least one actuator 82. The actuator 82 can be configured to facilitate positioning of the repair device 80 and in particular of the at least one power tool 84. The mobile robot 10 may further comprise at least one repair device sensor 86.

[0703] That is the mobile robot 10 can be configured to Perform repair operations. The mobile robot 10 can be equipped with a repair device 80, that may also be referred to as a repair type attachment 80 or repair attachment 80, such as an actuated robotic arm 80 with power tools 84 and sensory systems 86. Location of the repair type attachment 80 can be on the robot's outer surface, preferably on the robot front. Using power tools 84, the mobile robot 10 with the repair attachment 80 can perform repair operations such as drilling, sanding, cutting, vacuum, applying glue, applying patch and others. The repair device 80, which can be an actuated robotic arm 80, can be controlled remotely using manual control, semi-automatic and / or automatic. Robot and attachment sensory systems can be configured to assist and / or automatically control actuated arm and tools. Actuators on the robot, such as, wheels, clearance actuators and / or support roller actuators can be used for repair tasks. The repair attachment 80 can be powered from the robot and / or contain its own power source, such as, battery.

[0704] Data in the repair process gathered by robot sensory systems can be processed onboard and / or in a computer outside it (e.g. cloud computing) may be used to monitor repair process, validate repair and improve future repairs. Preliminary report can be generated immediately after repair.

[0705] While the present invention has been described with reference to particular embodiments, it is to be understood that these embodiments do not limit the scope of the invention, but merely serve to illustrate the invention. Whenever a relative term, such as "about", "substantially" or "approximately" is used in this specification, such a term should also be construed to also include the exact term. That is, e.g., "substantially straight" should be construed to also include "(exactly) straight".

[0706] Whenever steps were recited in the above or also in the appended claims, it should be noted that the order in which the steps are recited in this text may be accidental. That is, unless otherwise specified or unless clear to the skilled person, the order in which steps are recited may be accidental. That is, when the present document states, e.g., that a method comprises steps (A) and (B), this does not necessarily mean that step (A) precedes step (B), but it is also possible that step (A) is performed (at least partly) simultaneously with step (B) or that step (B) precedes step (A). Furthermore, when a step (X) is said to precede another step (Z), this does not imply that there is no step between steps (X) and (Z). That is, step (X) preceding step (Z) encompasses the situation that step (X) is performed directly before step (Z), but also the situation that (X) is performed before one or more steps (Yl), ..., followed by step (Z). Corresponding considerations apply when terms like "after" or "before" are used.

[0707] While in the above, preferred embodiments have been described with reference to the accompanying drawings, the skilled person will understand that these embodiments were provided for illustrative purpose only and should by no means be construed to limit the scope of the present invention, which is defined by the claims.

Claims

Claims1. A mobile robot for inspecting an inner cavity of an object under inspection, wherein the mobile robot comprises: an actuating system for driving on an inner surface abutting the inner cavity of the object under inspection and a sensory system configured to capture sensor data related to the inner surface.

2. The robot according to the preceding claim, wherein the sensory system comprises a range sensor configured to generate range data indicative of distances between the range sensor and the inner surface and wherein the sensor data comprise the range data.

3. The robot according to any of the preceding claims, wherein the sensory system comprises a visual sensor configured to generate visual data of the inner surface, and wherein the sensor data comprise the visual data.

4. The robot according to any of the preceding claims, wherein the sensory system comprises a plurality of different sensor types, each generating respective sensor type data, wherein the mobile robot is configured to associate the different sensor type data based on a temporal and / or spatial correspondence between the different sensor type data and wherein the sensor data comprise the different sensor type data associated to each other.

5. The robot according to any of the preceding claims, wherein the mobile robot comprises a robot positioning system configured to generate location data indicative of the location of the mobile robot; wherein the location data is indicative of a location of the mobile robot relative to the object under inspection.

6. The robot according to any of the preceding claims, wherein the mobile robot comprises an illuminating system for illuminating the surroundings of the mobile robot and wherein the illuminating system comprises a plurality of light sources,wherein the illuminating system is configured such that the intensity of each light source is individually controllable and wherein the mobile robot is configured to automatically adjust the intensity of each light source using the sensor data.

7. The robot according to any of the preceding claims, wherein the mobile robot comprises at least one electronic display and wherein each electronic display is provided within a field of view of the visual sensor, wherein the mobile robot is configured to display on one of the at least one electronic display synchronization data for synchronizing the sensor data captured by the sensory system.

8. The robot according to any of the preceding claims, wherein the mobile robot comprises at least one clearance actuator configured to adjust the robot clearance from ground.

9. The robot according to any of the preceding claims, wherein the mobile robot comprises at least one support roller, preferably a plurality of support rollers, such as 4 support rollers; wherein each support roller is configured to maintain a minimum distance between a side of the mobile robot wherein said support roller is provided on and a surface or object facing said side of the mobile robot.

10. The robot according to any of the preceding claims, wherein the mobile robot is configured to process the sensor data to detect a defect on the inner surface.

11. The robot according to any of the preceding claims, wherein the mobile robot is configured to generate an inner surface map, wherein the map of the inner surface map comprises a digital representation of the inner surface.

12. A system for inspecting an inner cavity of an object under inspection, wherein the system comprises a mobile robot and wherein the mobile robot comprises: an actuating system for driving on an inner surface abutting the inner cavity of the object under inspection and a sensory system configured to capture sensor data related to the inner surface.

13. The system according to the preceding claim, wherein the system comprises a data processing system and wherein the data processing system is configured to process the sensor data to detect a defect on the inner surface.

14. Use of the mobile robot according to any of the preceding claims 1 to 11 and / or of the system according to any of the preceding claims 12 to 13 to perform an internal inspection of a rotor blade for a wind turbine generator.

15. A method for inspecting an inner cavity of an object under inspection, wherein the method comprises: utilizing the mobile robot according to any of the preceding claims 1 to 11 and / or of the system according to any of the preceding claims 12 to 13.

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