Channel crawler and method of use

Abstract

To provide a mechanism and method for entering a confined space a structure and performing one or more operations therein.SOLUTION: A carriage 106 has wheels 130 configured to engage surfaces that define a channel through which the carriage is configured to move. A stabilizing mechanism 200 is configured to extend from the carriage 106 and engage a non-horizontal surface of the channel, restricting unintended movement of the carriage 106 in one or more directions. A deployment mechanism 300 is configured to fit within the carriage 106 when retracted, and selectively deploy an operational device 320 from a stowed position within the carriage 106 to a deployed position outside the channel, which is a position for performing an operation in relation to at least one of structure and hardware proximate to the channel.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] FIELD OF THE DISCLOSURE The present disclosure relates generally to mechanisms and methods for performing work inside confined spaces, such as inspecting the interior of an aircraft wing. [Background technology]

[0002] During aircraft manufacturing, inspections of the airframe structure and various systems are performed at each stage of production. Inspections are also performed during maintenance after the aircraft is manufactured. Some inspection tasks require entry into enclosed spaces to visually inspect the airframe structure and its components. For example, inspection of an aircraft's wing fuel tanks typically requires entry into the wing tank to visually inspect the fasteners, sealants, and various components (e.g., piping, wiring, etc.) inside the wing tank.

[0003] One method for visually inspecting an aircraft wing tank requires a human worker, such as a maintenance technician, to enter the wing tank through an access hole located in the aircraft's wing's lower skin panel. Once inside the wing tank, the maintenance technician must crawl to check for non-conformities. When a wing tank spans multiple rib bays, the maintenance technician must typically crawl through relatively small holes in the wing ribs to reach adjacent rib bays. Additionally, some aircraft have rib bays that do not have direct access holes to the exterior. To reach such rib bays, the maintenance technician must first enter one of the rib bays through an access hole in the lower skin panel and then move to the desired rib bay through a small hole in the wing rib.

[0004] As such, it can be appreciated that manual inspection of aircraft wing tanks can pose ergonomic challenges and problems. Additionally, for aircraft with relatively small wings, space and size constraints may prevent inspection technicians from accessing the interior of the wing tanks. In addition to ergonomic challenges, manual inspection of aircraft wing tanks is a time-consuming process that can impact production rates in aircraft production programs and increase downtime during annual inspections of in-service aircraft.

[0005] Thus, there is a need in the art for a mechanism and method for entering a confined space of a structure, such as the inspection of an aircraft wing tank, to perform one or more tasks therein, which mechanism and method complements inspections performed by a human operator or reduces or eliminates the need for a human operator to enter the confined space to perform the inspection. Preferably, such a mechanism and method is capable of traversing multiple sections that make up the confined space, such as the rib space of a wing tank. Summary of the Invention

[0006] The present disclosure addresses the aforementioned need for mechanisms and methods for accessing confined spaces in structures by providing a channel crawler including a carriage, a stabilizing mechanism, and a deployment mechanism. The carriage has wheels configured to engage surfaces defining a channel and is configured to move along the channel. The stabilizing mechanism extends from the carriage and engages non-horizontal surfaces of the channel to restrict unintended movement of the carriage in one or more directions. The deployment mechanism is configured to be stored within the carriage in a retracted state and to selectively deploy a work device from a stored position within the carriage to a deployed position outside the channel for performing work on at least one of a structure and hardware adjacent to the channel.

[0007] The present disclosure further provides an inspection system including an upper channel crawler and a lower channel crawler. The upper channel crawler includes an upper channel carriage and a crane mechanism. The upper channel carriage has a carriage lower end and wheels configured to engage with opposing sides of the upper channel and is configured to move along the upper channel. The crane mechanism is configured to lower an upper camera from the carriage lower end into a space between the upper channel and the lower channel. The lower channel crawler includes a lower channel carriage and a robot arm. The lower channel carriage has a carriage upper end and wheels configured to engage with a lower surface of the lower channel and is configured to move along the lower channel. The robot arm is configured to raise a lower camera from the carriage upper end to inspect an area of the space outside the field of view of the upper camera.

[0008] The present disclosure further discloses a method including moving a carriage along the channel via wheels that engage surfaces defining the channel. The method further includes extending a stabilizing mechanism from the carriage to engage non-horizontal surfaces of the channel to restrict unintended movement of the carriage in one or more directions. The method further includes deploying a working device from a stored position within the carriage to a deployed position outside the channel using a deployment mechanism configured to be housed within the carriage in a retracted state. The method further includes using the working device in the deployed position to perform an operation on at least one of a structure and hardware near the channel.

[0009] The above-described features, functions, and advantages can be achieved individually in various aspects of the present disclosure or can be combined in yet other aspects, details of which will become apparent with reference to the following description and drawings. [Brief explanation of the drawings]

[0010] The present disclosure will be better understood from the following detailed description of the embodiments of the invention in conjunction with the accompanying drawings, which illustrate preferred exemplary embodiments, but which are not necessarily to scale, and which are for illustrative purposes only and are not intended to limit the scope of the disclosure or claims.

[0011] [Figure 1] An example of an aircraft is shown below. [Figure 2] FIG. 2 is a perspective view showing an example of a wing of the aircraft shown in FIG. 1. [Figure 3] FIG. 3 is an enlarged view of a portion of the wing box of the wing shown in FIG. 2, showing a plurality of stringers extending from the upper and lower skin panels to define stringer channels within the wing box. [Figure 4] FIG. 4 is an end view of the wing box of FIG. 3 showing the upper channel crawler located in the stringer channel above the wing box and the lower channel crawler located in the stringer channel below the wing box. [Figure 5] FIG. 5 is a cross-sectional view of the interior of the wing box taken along line 5-5 of FIG. 4, showing a camera suspended from the upper channel crawler and a camera supported on a robotic arm extending from the lower channel crawler. [Figure 6] FIG. 6 is an enlarged end view of the portion of the wing box designated by numeral 6 in FIG. 4, illustrating an example of an upper channel crawler supported within an upper channel (e.g., stringer channel) of the wing box. [Figure 7] FIG. 7 is a view of the upper channel crawler positioned within the stringer channel of FIG. 6, viewed obliquely from below. [Figure 8] FIG. 10 is a view of the upper channel crawler as seen from diagonally below. [Figure 9] FIG. 11 illustrates the initial stage of deployment of the camera from a stowed position within the upper channel crawler. [Figure 10] 10 shows intermediate stages of deploying the camera from the upper channel crawler. [Figure 11] FIG. 10 shows a camera suspended from the upper channel crawler to a deployed position. [Figure 12] FIG. 1 is a top oblique view of the upper channel crawler showing vertical and horizontal wheels configured to engage the underside and first channel side of the stringer channel, respectively, and showing the angled wheels pressing against the second channel side to hold the upper channel crawler within the stringer channel. [Figure 13] FIG. 1 is a top oblique view of the upper channel crawler with the cover panel removed to show the vertical wheels, crane mechanism, and wheel drive motors that drive drive wheels that propel the upper channel crawler along the stringer channel. [Figure 14] FIG. 10 is a plan view of the upper channel crawler showing the horizontal wheels engaging a first channel side of the stringer channel and the diagonal wheels engaging a second channel side. [Figure 15] FIG. 10 is a side view of the upper channel crawler showing the vertical wheels engaging the underside of the stringer channel. [Figure 16] FIG. 1 is a perspective view of an example upper channel crawler having a carriage (i.e., frame) divided into three sections, including a section that supports the tilting members. [Figure 17] FIG. 10 shows an example in which the tilting member is configured as a wheel. [Figure 18] FIG. 10 is a diagram showing an example in which the tilting member is configured as a slider arm. [Figure 19] FIG. 5 is an enlarged end view of the portion of the wing box designated 19 in FIG. 4 showing an example of a lower channel crawler supported within a lower channel (e.g., stringer channel) of the wing box. [Figure 20] FIG. 20 is a top oblique view of the lower channel crawler of FIG. 19 positioned within the stringer channel. [Figure 21] FIG. 10 is a view of the lower channel crawler as seen obliquely from above. [Figure 22] FIG. 10 is a top oblique view of the lower channel crawler showing the robotic arm extending to support the camera in a deployed position. [Figure 23] FIG. 23 is an enlarged view of a portion of the lower channel crawler of FIG. 22, showing a right-angle connector for wiring the lower channel crawler to a device (e.g., a laptop) for manual control from outside the wing box. [Figure 24] FIG. 10 is a plan view of the lower channel crawler. [Figure 25] FIG. 10 is a side view of the lower channel crawler showing the vertical wheels engaging the underside of the stringer channel. [Figure 26] FIG. 10 is a cross-sectional view of the lower channel crawler showing a pair of extendable stop arms that engage non-horizontal surfaces of the stringer channel to constrain movement of the lower channel crawler relative to the stringer channel. [Figure 27] FIG. 10 is a perspective view of one end of a lower channel crawler showing an example where stop arms extend axially opposite one another to engage the stringer channels. [Figure 28] A flowchart showing the steps involved in a method of using a channel crawler movable along a stringer channel to deploy a work device (e.g., a camera) from the channel crawler and use it to perform work on structures and / or hardware located near the stringer channel. DETAILED DESCRIPTION OF THE INVENTION

[0012] The drawings of the present disclosure show various aspects of the various embodiments; however, only the differences will be described in detail in the specification.

[0013]

[0023] Aspects of the present disclosure will now be described in more detail with reference to the accompanying drawings. The drawings illustrate some, but not all, of the disclosed aspects. Indeed, several different aspects are possible, and the present disclosure should not be construed as being limited to the aspects set forth herein. Rather, these aspects are presented to provide a sufficient disclosure for those skilled in the art to fully appreciate the scope of the present disclosure.

[0014] References herein to "one embodiment" or "an embodiment" may occur. Occurrences of "one embodiment" or "an embodiment" do not necessarily refer to the same embodiment. Similarly, references herein to "one example" or "an example" may occur. Occurrences of "one example" or "an example" do not necessarily refer to the same example. Furthermore, particular features, structures, or characteristics may be combined in any manner consistent with the description herein.

[0015] As used herein, "comprising" is open-ended and, when used in a claim, does not exclude the presence of additional features or steps.

[0016] As used herein, "configured to" describes or defines that various parts or components are "configured to perform a given task." In this context, "configured to" is used to define a configuration by indicating that the part or component includes a structure for performing a given task or tasks during operation. Thus, such a part or component may be configured to perform a given task even if it is not currently operational (e.g., not turned on).

[0017] As used herein, the singular reference to an element or step does not necessarily exclude a plurality of elements or steps. As used herein, the term "and / or" includes all combinations with one or more of the listed items. Also, as used herein, the term "combinations thereof" includes combinations with one of the listed items, which combinations may additionally include other items, such as unlisted items.

[0018] As used herein, the phrase "at least one," when used in conjunction with a list of items, means that one or more of the listed items can be used in different combinations, and that only one of each listed item may be required. In other words, "at least one" means that any number of the listed items can be used in any combination, and does not require the use of all the listed items. An item in this context may be, for example, a particular object, thing, or category.

[0019] Reference is now made to the drawings illustrating various examples of the present disclosure. The example aircraft 400 shown in FIG. 1 includes a fuselage 408, a horizontal stabilizer 410 (e.g., horizontal stabilizer and elevators), a vertical stabilizer 412, and a pair of wings 414. FIG. 2 shows one wing 414, which includes a wing box 416. As shown in FIGS. 2-4, the wing box 416 is comprised of an upper skin panel 422, a lower skin panel 424, a leading spar 418, a trailing spar 420, and a plurality of spaced-apart wing ribs 426. The wing ribs 426 divide the interior of the wing box 416 into a plurality of compartments called rib spaces 428. The upper skin panel 422 and the lower skin panel 424 are reinforced by stringers 430 extending across the span of the wing 414. In the illustrated example, the interior of the wing box 416 functions as a fuel tank integrated into the wing (i.e., a wing tank 432). Wing tanks typically span two or more rib spaces 428. As discussed above, visual inspection of the interior of wing tanks 432 is performed as part of routine inspection and maintenance during and after production of aircraft 400. Inspection of wing tanks 432 is performed as a means of verifying the integrity of fasteners, sealants, components (e.g., piping, wires, etc.), and / or other components or structures within wing tanks 432.

[0020] 3 to 5 show an example of a channel crawler 100 described in the present disclosure, where the illustrated channel crawler is disposed in a stringer channel 456 formed by stringers 430 protruding from an upper skin panel 422 and a lower skin panel 424 into the interior of a wing box 416. When viewed obliquely from above, the stringers 430 extend generally parallel to one another along the longitudinal direction of the stringers 430. The upper channel crawler 102 is disposed in an upper channel 452 (e.g., stringer channel 456) provided at the upper end of the wing box 416, and the lower channel crawler 104 is disposed in a lower channel 454 (e.g., stringer channel 456) provided at the lower end of the wing box 416.

[0021] As described below, each channel crawler 100 includes a deployment mechanism 300 configured to deploy a camera 326 to enable pre-programmed, tele-operated, and / or remotely controlled inspection of enclosed spaces, such as the wing tank 432. This can supplement inspections performed by a human operator or reduce or eliminate the need for a human worker to physically enter the wing tank 432 for visual inspection. As shown in FIG. 5 and described in more detail below, the continuous, unobstructed length of the stringer channel 456 allows the channel crawler 100 to freely move through the multiple rib spaces 428 that define the wing tank 432. In this regard, the cross-section of the channel crawler 100 of the present disclosure is configured to have a shape and / or size complementary to the cross-sectional shape and / or size of the channel 450. This allows the channel crawler 100 to fit within the channel 450 and travel almost unrestrictedly along the length of the channel 450 to move through multiple compartments (e.g., rib space 428) in an enclosed space such as a wing tank 432.

[0022] Although described herein in the context of an aircraft 400 ( FIG. 1 ), the channel crawler 100 of the present disclosure is not limited to being designed to travel along a stringer channel 456 ( FIG. 4 ) in a wing box 416 ( FIG. 4 ), but can be configured to travel along a stringer channel 456 in a variety of different aircraft structures, including, but not limited to, a fuselage 408 ( FIG. 1 ), a horizontal stabilizer 410 (e.g., horizontal stabilizer and / or elevator), and a vertical stabilizer 412 (e.g., fin and / or rudder). Furthermore, the channel crawler 100 of the present disclosure is not limited to traveling along a stringer channel 456. It can be configured to travel along any type of channel 450, as long as it has a top and / or bottom surface and a pair of spaced-apart side surfaces (e.g., non-horizontal surfaces 486).

[0023] Furthermore, the channel crawler 100 is not limited to being configured to perform confined space inspections but may be configured to perform a variety of different tasks, including, but not limited to, detecting and removing foreign object (FOD) materials in confined spaces, reapplying sealants, inspecting the integrity of confined space structures 402 ( FIG. 4 ) and hardware 404 ( FIG. 4 ), and functioning as a shop aid to provide visual assistance to maintenance personnel performing various tasks within the tank. Note that while a confined space such as a wing tank 432 is described herein, the channel crawler 100 of the present disclosure may be used in any application or environment that includes a channel 450 and is not limited to use in confined spaces.

[0024] 8 and 21, each channel crawler 100 of the present disclosure includes a carriage 106, one or more stabilizing mechanisms 200, and a deployment mechanism 300. The carriage 106 is provided with wheels 130 that engage surfaces defining a channel 450 (e.g., stringer channel 456) and are configured to move the carriage 106 along the channel. Each stabilizing mechanism 200 is attached to the carriage 106 and extends from the carriage 106 to engage a non-horizontal surface 486 (FIGS. 6 and 19) of the channel 450, thereby restricting unwanted movement of the carriage 106 in one or more directions. The deployment mechanism 300 is configured to be housed within the carriage 106 in a retracted state and selectively deploys the working device 320 from a storage position 322 within the carriage 106 to a deployed position 324 (FIG. 5) outside the channel 450, a position for performing work on a structure 402 and / or hardware 404 located near the channel 450.

[0025] 6-18 show an example of an upper channel crawler 102 configured to move along an upper channel 452. As shown in FIG. 6, the upper channel 452 is a stringer channel 456 having a cross-sectional envelope bounded by a pair of stringers 430 and a portion of the upper skin panel 422 located between the stringers 430. Each stringer 430 has a stringer web 460 (i.e., a non-horizontal surface 486) extending downward from the upper skin panel 422. A stringer flange 458 extending laterally from the stringer web 460 is provided on the lower portion of each stringer 430. In another example (not shown), an additional stringer flange 458 may be provided on the upper portion of the stringer 430, and the stringer 430 may be connected (joined and / or fastened) to the upper skin panel 422 via this flange.

[0026] 6, the upper channel 452 has an upper channel portion 470 having an upper channel surface 472 formed by the upper skin panel 422. The upper channel 452 also has a lower channel portion 474 having a lower channel surface 476 formed by the stringer flange 458. A channel opening 488 extends longitudinally along the lower channel portion 474. The upper channel 452 has a channel first side surface 480 at a channel first side surface 478 and a channel second side surface 484 at a channel second side surface 482, both formed by the stringer webs 460 of the stringers 430 on opposite sides of the upper channel 452.

[0027] 6-7 and 19-20, the stringer webs 460 are arranged parallel to one another in the vertical direction. Note that in other examples not shown, the stringer webs 460 do not have to be parallel to one another in end view, and the stringer webs 460 do not have to be arranged in the vertical direction. Furthermore, the cross-sectional shape and size of the stringer 430 are not limited to the examples shown in the drawings, and any other shape and size may be used.

[0028] 6-17, the upper channel crawler 102 includes an upper channel carriage 108 having a carriage first end 122, a carriage second end 124, a carriage first side 126, a carriage second side 128, a carriage top end 118, and a carriage bottom end 120. The upper channel carriage 108 is provided with a plurality of wheels 130, including a pair of vertical wheels 132. Each vertical wheel 132 is rotatable about a horizontal axis. The vertical wheels 132 protrude from the carriage bottom end 120 near the carriage first end 122 and the carriage second end 124, respectively. The vertical wheels 132 are configured to engage a channel bottom surface 476 of the upper channel 452, i.e., the surface defined by the stringer flange 458 of one stringer 430, as shown in FIG. 6.

[0029] In addition to the vertical wheels 132, the upper channel carriage 108 is provided with wheels 130 configured to engage with opposing sides of the upper channel 452, and the upper channel carriage 108 is configured to move along the upper channel. For example, the upper channel carriage 108 is provided with a pair of horizontal wheels 138 ( FIG. 13 ) that are rotatable about vertical axes. The pair of horizontal wheels 138 protrude from the carriage first side 126 ( FIG. 13 ) near the carriage first end 122 ( FIG. 13 ) and the carriage second end 124 ( FIG. 13 ), respectively. The horizontal wheels 138 are configured to engage with a channel first side 480 of the upper channel 452, i.e., a surface formed by the stringer web 460 of one stringer 430, as shown in FIG. 6 .

[0030] In any of the channel crawler 100 configurations of the present disclosure, at least one of the wheels 130 described above is a drive wheel 140 ( FIG. 13 ) that propels the channel crawler 100 along the length of the channel 450. For example, in the upper channel crawler 102 of FIG. 13 , one of the vertical wheels 132 is the drive wheel 140, while the remaining vertical wheel 132 and a pair of horizontal wheels 138 are rotatable driven wheels. The drive wheel 140 is driven by a wheel drive motor 142 ( FIG. 13 ). In the illustrated example, the wheel drive motor 142 is a brushless direct current motor (BLDC motor), but other alternative configurations are possible and are not limited to BLDC motors.

[0031] In the illustrated example, the wheel drive motor 142 is powered by a battery 144 (FIG. 13). As described below, the battery 144 is also used to power other components and features of the channel crawler 100, such as the stabilization mechanism 200, the deployment mechanism 300, and / or the work device 320. In the illustrated example, the battery 144 is a lithium phosphate battery. It should be noted that other power sources, including various alternative battery configurations, may alternatively be used to power the wheel drive motor 142 and other components and features of the channel crawler 100. In some examples (not shown), the channel crawler 100 may be powered by a remote power source (not shown), with a power cord (not shown) connecting the channel crawler 100 to the remote power source.

[0032] 6-17 , the upper channel crawler 102 includes a diagonally-mounted element 208 as the stabilizing mechanism 200 described above. The diagonally-mounted element 208 is configured to engage with a second channel side surface 484 of the upper channel 452 and press the horizontal wheels 138 against a first channel side surface 480, thereby restricting vertical movement of the upper channel crawler 102 relative to the upper channel 452. In this regard, the diagonally-mounted element 208 presses against the second channel side surface 484, thereby retaining the upper channel crawler 102 within the upper channel 452 and preventing the upper channel crawler 102 from falling out of the upper channel 452 through a channel opening 488 in the lower upper channel portion 474.

[0033] 6, the ramp member 208 protrudes from the carriage second side 128 at an angle other than a right angle relative to the vertical wheel 132. The ramp member 208 contacts the channel second side 484 above the contact point between the horizontal wheel 138 and the channel underside 476. When viewed from above, as shown in FIG. 14, the ramp member 208 is located between the horizontal wheels 138, with the contact points positioned in a triangular arrangement that provides mechanical stability to hold the upper channel crawler 102 within the upper channel 452.

[0034] 6-17, the diagonal member 208 is an outwardly biased diagonal wheel 216 configured to rotate along the second channel side surface 484, as shown in FIG. 14. As shown in FIG. 17, the diagonal wheel 216 is movable diagonally along the guide rail 212 of the slide mechanism 210. The slide mechanism 210 includes a compression spring 214 that biases the diagonal wheel 216 against the second channel side surface 484. Because the diagonal member 208 is biased by the spring, it retracts when the upper channel crawler 102 is initially inserted into the upper channel 452, and then naturally extends to abut against the stringer web 460 once the upper channel crawler 102 is inserted into the upper channel 452.

[0035] 18, the ramp member 208 is an outwardly biased angled slider arm 218 configured to slide along the second channel side 484. The outer end of the angled slider arm 218 is preferably constructed of or coated with a low-friction material to facilitate sliding of the angled slider arm 218 along the second channel side 484.

[0036] 16 shows an alternative configuration of the upper channel crawler 102, in which the upper channel carriage 108 is divided into three sections: a middle carriage section 112 and a pair of end carriage sections 114. Dividing the upper channel carriage 108 into three sections allows for easy replacement of the ramp members 208 (e.g., FIGS. 17 and 18) of the upper channel carriage 108 with those of different configurations.

[0037] Continuing to refer to FIGS. 6-18, the upper channel crawler 102 includes a crane mechanism 302 as the deployment mechanism 300 (FIG. 8) described above. The crane mechanism is configured to lower a work device 320 (FIG. 8) from the carriage lower end 120 (FIG. 8) and move it out through a channel opening 488 (FIG. 7) of the upper channel 452 (FIG. 7). In the illustrated example, the work device 320 is an upper camera 328 configured to capture images of the wing box 416, as described below. The crane mechanism 302 has a cable 308 (FIGS. 10-11) wound around a spool 306 (FIG. 8) attached inside the upper channel carriage 108. The upper camera 328 is connected to one end of the cable 308. Crane mechanism 302 has a crane motor 304 (FIG. 8) that rotates spool 306 in both directions, allowing upper camera 328 to be lowered and raised from upper channel crawler 102. In the example of FIG. 5, crane mechanism 302 lowers upper camera 328 from carriage lower end 120 and moves it into the space between upper channel 452 and lower channel 454 in wing box 416.

[0038] FIGS. 8-11 illustrate the process of lowering the upper camera 328 from the upper channel crawler 102. FIG. 8 illustrates the upper camera 328 in the stowed position 322, where the upper camera 328 is maintained in a horizontal position within the upper channel carriage 108. FIG. 9 illustrates the initial stage of deployment of the upper camera 328, where the upper camera 328 is pivoted downward by the rotation of the spool 306. FIG. 10 illustrates the intermediate stage of deployment of the upper camera 328 from the upper channel crawler 102, where the upper camera 328 is suspended by the cable 308. FIG. 11 illustrates the state in which the upper camera 328 has been further lowered to the deployed position 324, which is at the desired vertical position. To return the upper camera 328 from the deployed position 324 to the stowed position 322, the crane motor 304 rotates the spool 306 in the opposite direction, lifting the upper camera 328. A limit switch 309 (FIG. 13) is provided on the upper channel carriage 108 to detect when the upper camera 328 is in the stowed position 322. In this position, a signal from the limit switch 309 deactivates the crane motor 304, which stops the rotation of the spool 306.

[0039] In any of the described examples, the camera 326 of the channel crawler 100 is configured to capture images of the structure 402 ( FIG. 5 ) and / or hardware 404 ( FIG. 4 ) near the channel 450 or within the enclosed space. The camera 326 may have a relatively large field of view (e.g., 360 degrees). The camera 326 may also include lighting elements (not shown) to illuminate the imaging area. In one example, the lighting elements are light-emitting diode (LED) strips (not shown). Alternatively or additionally, the carriages (e.g., the upper channel carriage 108 and / or the lower channel carriage 110) may also be equipped with lighting elements, such as LED strips, to provide additional illumination.

[0040] The cameras 326 (e.g., upper camera 318, lower camera 332) can be configured to capture still and / or video images. In one example, the images captured by the cameras 326 can be used to inspect the interior of the wing 414, such as the wing tank 432 integrated into the wing box 416. For example, the cameras 326 can be configured to capture images of the structures 402 that make up the wing tank 432, such as the upper and lower skin panels 422, 424, stringers 430, wing rib 426, and leading and trailing spars 418, 420. Additionally, the cameras 326 can capture images of hardware 404 and elements 406 (e.g., piping 407, fittings, etc.), such as fasteners (not shown), within the wing tank 432, as well as images of sealants on joints, fasteners, and other components within the wing tank 432.

[0041] 19-27 show an example of a lower channel crawler 104 configured to move along a lower channel 454. In FIGS. 19-20, the lower channel 454 is a stringer channel 456 bounded by a pair of stringers 430 and a lower skin panel 424 extending between the stringers 430. The stringers 430 have a configuration similar to that shown in FIG. 6 and described above. Each stringer 430 has a stringer web 460 (i.e., a non-horizontal surface 486) extending upward from the lower skin panel 424. An upper portion of each stringer 430 includes a stringer flange 458 extending laterally from the stringer web 460. The lower channel 454 includes a lower channel portion 474 having a lower channel surface 476 defined by the lower skin panel 424. The lower channel 454 also has a channel upper portion 470 having a channel upper surface 472 formed by the stringer flange 458 of one of the stringers 430. The lower channel 454 has a channel opening 488 extending longitudinally along the channel upper portion 470. The lower channel 454 has a channel first side 480 and a channel second side 482 formed by a pair of stringer webs 460.

[0042] Similar to the upper channel crawler 102, the lower channel crawler 104 includes a lower channel carriage 110 having a carriage first end 122, a carriage second end 124, a carriage first side 126, a carriage second side 128, a carriage top end 118, and a carriage bottom end 120, as shown in FIG. 21. The lower channel carriage 110 includes at least three vertical wheels 132 (FIG. 19), each rotatable about a horizontal axis and projecting from the carriage bottom end 120. In the example of FIG. 24, two of the vertical wheels 132 are located near the carriage first end 122, and the third vertical wheel 132 is located near the carriage second end 124. The vertical wheels 132 are configured to engage a channel bottom surface 476 (FIG. 19) formed by the lower skin panel 424, as shown in FIG. 19. In an example in which the stringer 430 is attached to the lower skin panel 424 via a stringer flange (not shown), the vertical wheels 132 engage with the stringer flange that defines the channel lower surface 476. The vertical wheel 132 located on the carriage second end 124 is the drive wheel 140, and the remaining vertical wheels 132 are driven wheels. Like the upper channel crawler 102, the drive wheels 140 (FIG. 24) of the lower channel crawler 104 are driven by wheel drive motors 142 (FIG. 24).

[0043] In the example of FIG. 19 , vertical wheels 132 are omnidirectional wheels 134 configured to enable lateral movement of lower channel crawler 104 to accommodate changes in direction of channel 450. For example, as shown in FIG. 2 , stringer 430 is curved, so each stringer channel 456 also curves slightly in the spanwise direction. In FIG. 19 , each omnidirectional wheel 134 includes a plurality of circumferentially arranged disks or rollers 136. Each roller is oriented perpendicular to the direction of rotation of omnidirectional wheel 134, enabling lower channel carriage 110 to move laterally within lower channel 454. As described above, the circumferentially arranged rollers 136 enable the direction of movement of lower channel crawler 104 along lower channel 454 to be changed by a small angle (e.g., less than 10 degrees).

[0044] Continuing with reference to FIGS. 19-27, the lower channel crawler 104 includes a stabilizing mechanism 200 in the form of selectively extendable stopper arms 202. The stopper arms 202 are configured to engage non-horizontal surfaces 486 of the lower channel 454, thereby restraining or preventing movement of the lower channel carriage 110 relative to the lower channel 454. As shown in FIGS. 26-27, the stopper arms 202 include a pair of linear actuators 204 horizontally mounted at the carriage first end 122 (FIG. 21) and a pair of linear actuators 204 horizontally mounted at the carriage second end 124 (FIG. 21). The pairs of linear actuators 204 located at each end of the carriage 106 are configured to simultaneously extend in opposite directions to abut against stringer webs 460 (FIG. 26) located on either side of the lower channel 454. The end of each stopper arm 202 may be fitted with an elastomeric pad 206 (eg, a rubber pad) to prevent scratches or other damage to the surface of the stringer web 460 .

[0045] The stopper arm 202 engages with the non-horizontal surface 486 of the lower channel 454 to stabilize the lower channel carriage 110 from moving relative to the lower channel 454. The stopper arm 202 may be configured to extend when the lower channel crawler 104 reaches any position on the lower channel 454 defined by an operator (e.g., a mechanic). Additionally or alternatively, the lower channel crawler 104 may stop at one or more predetermined positions on the lower channel 454. The stopper arm 202 may be configured to extend before the deployment mechanism 300 deploys the working device 320 (e.g., the lower camera 332) from the stowed position 322 within the carriage 106 to the deployed position 324 ( FIG. 5 ) outside the lower channel 454.

[0046] 19-27, the deployment mechanism 300 of the lower channel crawler 104 is a robotic arm 310 configured to raise a working device 320 (e.g., a lower camera 332) from the carriage upper end 118 and move it out of a channel opening 488 in the channel upper portion 470. The robotic arm 310 is comprised of one or more arm segments 312 connected in series by joints. One end of the robotic arm 310 is attached to the lower channel carriage 110, and the free end of the robotic arm 310 is configured to support the working device 320 (e.g., the lower camera 332). Similar to the upper camera 328 of the upper channel crawler 102 described above, the lower camera 332 of the lower channel crawler 104 may have a relatively large field of view (e.g., 360 degrees) and is configured to capture images of structures 402, hardware 404, and / or elements 406 located near the channel 450. Lighting elements (eg, LED strips, not shown) may be mounted on the lower camera 332 and / or lower channel crawler 104 to illuminate enclosed spaces (eg, wing tanks 432) during imaging.

[0047] The upper channel crawler 102 and the lower channel crawler 104 can operate to complement each other, and the robotic arm 310 of the lower channel crawler 104 can raise the lower camera 332 to a position to inspect portions of the enclosed space outside the field of view of the upper camera 328. For example, FIG. 5 shows the upper camera 328 lowered from the upper channel crawler 102 to a position approximately mid-height of the wing box 416. In this position, some areas of the wing box 416 are not within the upper camera field of view 330, such as areas of the wing box 416 hidden behind piping 407 that runs horizontally across the rib space 428. However, the robotic arm 310 of the lower channel crawler 104 can move the lower camera 332 to a position where areas not within the field of view of the upper camera 328 are within the lower camera field of view 334.

[0048] In any of the channel crawler 100 configurations of the present disclosure, the drive wheels 140, stabilization mechanism 200, deployment mechanism 300, and / or work devices 320 may be controlled remotely and / or by pre-programmed instructions. For example, in any of the channel crawlers 100 of the present disclosure, any one or more of the components and / or mechanisms described above may be remotely controlled (wirelessly controlled) by wireless signals. If the channel crawler 100 is to be wirelessly controlled, a circuit board (not shown) having a microcontroller and a Wi-Fi module may be mounted on the carriage 106 and configured to receive wireless commands for the wheel drive motors 142, stabilization mechanism 200 (e.g., stopper arm 202), deployment mechanism 300 (e.g., crane motor 304, robotic arm 310), and work devices 320 (e.g., camera 326).

[0049] Alternatively or additionally, any channel crawler 100 of the present disclosure may be controlled by pre-programmed instructions. For example, an on-board controller (not shown) mounted on the channel crawler 100 may be pre-programmed with instructions to control the wheel drive motors 142 to move the channel crawler 100 to one or more predetermined positions in the channel 450. The controller may also be pre-programmed with instructions to deploy the stabilization mechanism 200 (e.g., linear actuator 204) once the channel crawler 100 has stopped at a desired position in the channel and before the working device 320 (e.g., camera) is deployed from the stowed position 322. Additionally, the controller can be pre-programmed with instructions to operate the deployment mechanism 300 (e.g., crane motor 304, robotic arm 310) to move the work device 320 (e.g., camera 326) to a predetermined three-dimensional position in the enclosed space (e.g., wing tank 432), and then cause the camera 326 to capture an image based on pre-programmed instructions from the controller.

[0050] The preprogrammed instructions may include options for an operator (e.g., a technician) to manually pause the above-described components and mechanisms of the channel crawler 100 or to override preprogrammed operations and processes. For example, the technician can monitor the operation of the channel crawler via a display screen on a tablet or laptop computer (not shown) and override the preprogrammed operation of the wheel drive motors 142 to adjust the stopping position of the channel crawler 100 in the channel 450 or the deployed position of the work device 320. In another example, the technician can override the preprogrammed operation of the deployment mechanism 300 (e.g., the crane motor 304 or the robotic arm 310) to adjust the preprogrammed three-dimensional position of the deployed position of the camera 326.

[0051] In addition to, or instead of, wireless or pre-programmed control, one or more components or mechanisms of the channel crawler 100 may be remotely controlled via control wires 146 that run from the channel crawler 100 through the confined space and connect to a console (e.g., a tablet or laptop computer, not shown) located outside the confined space. For example, in the example of the lower channel crawler 104 shown in FIGS. 22-23 , the robotic arm 310 is remotely controllable via the control wires 146. The control wires 146 extend through a right-angle connector 148 mounted on the side of the upper channel carriage 108, through an opening (e.g., an access door, not shown) in the lower skin panel 424, to the exterior of the wing 414, and are connected to a console (e.g., a tablet, not shown) that a technician can operate to control the channel crawler 100.

[0052] Referring to FIG. 28 , a method 500 for performing work in confined spaces or difficult-to-access locations is illustrated. The method 500 first includes step 502 of placing one or more channel crawlers 100 in each channel 450 of the structure 402. In the example of a wing 414, the upper and lower channel crawlers 102, 104 are inserted into the interior of the wing, with the upper and lower channel crawlers 102, 104 being inserted separately, either manually through access holes (not shown) in the lower skin panel 424, or by using a pole (not shown). The pole may be a simple rod or may be telescoping, and may have a clamping jaw on one end to clamp the upper or lower channel crawler 102, 104 as it is inserted into the wing box 416 or placed in the stringer channel 456. The upper and lower cameras 328, 332 can be activated during insertion of the upper and lower channel crawlers 102, 104 into the wing box 416 to provide live images and video of the interior of the wing box 416. These images and video can be remotely viewed by an inspector on a console or display device (e.g., a tablet or laptop, not shown) to assist in positioning the upper and lower channel crawlers 102, 104 into the upper and lower channels 452, 454, respectively.

[0053] 28 , method 500 basically includes steps 502, 504, 506, 508, and 510. Method 500 includes, in step 502, placing a channel crawler 100 in a channel 450, and then, in step 504, moving a carriage 106 of channel crawler 100 along channel 450 via wheels 130 that engage with surfaces that define channel 450. In the illustrated example, step 504 includes moving the carriage 106 of channel crawler 100 along a stringer channel 456 in a wing 414 of the aircraft 400. As described above, stringer channel 456 is defined by a pair of parallel stringers 430 and a portion of the skin panel that extends between the stringers 430. Step 506 of method 500 includes extending stabilizing mechanism 200 from carriage 106 to engage non-horizontal surface 486 of channel 450, thereby restricting unintended movement of carriage 106 in one or more directions. Step 508 of method 500 includes deploying working device 320 using deployment mechanism 300 configured to be housed within carriage 106 in a retracted state to deploy working device 320 from a stowed position 322 within carriage 106 to a deployed position 324 outside channel 450. Step 510 of method 500 includes using working device 320 in deployed position 324 to perform an operation on at least one of structure 402 and hardware 404 near channel 450.

[0054] With respect to the upper channel crawler 102 shown in FIGS. 6-18 , step 502 of method 500 includes positioning the upper channel crawler 102 in the upper channel 452 either manually or using a pole (not shown). Step 504 includes engaging the vertical wheels 132 and the horizontal wheels 138 of the upper channel carriage 108 with the first side of the upper channel 452, respectively. For example, as described above, step 504 includes engaging the vertical wheels 132 and the horizontal wheels 138 with the lower channel surface 476 and the first channel side surface 480 of the upper channel 452, respectively. Step 504 also includes propelling the upper channel crawler 102 along the upper channel 452 using one of the wheels 130 configured as the drive wheel 140. As described above, one of the vertical wheels 132 of the upper channel crawler 102 is a wheel driven by the wheel drive motor 142, and the remaining wheels 130 are freely rotatable driven wheels.

[0055] For the upper channel crawler 102, extending 506 the stabilizing mechanism 200 includes engaging the ramp member 208 with the second side of the upper channel 452 to press the horizontal wheel 138 against the first side of the upper channel 452, thereby restricting vertical movement of the upper channel carriage 108 relative to the upper channel 452. In the example shown in FIGS. 6-17 , engaging the ramp member 208 with the second side of the upper channel 452 includes pressing the diagonal wheel 216 into rotational engagement with the second channel side 484. Alternatively, engaging the ramp member 208 includes pressing the diagonal slider arm 218, shown in FIG. 18 , into sliding engagement with the second channel side 484. As described above, the ramp member is pressed against the second channel side 484 by a compression spring.

[0056] For the upper channel crawler 102, step 508 of deploying working device 320 includes using deployment mechanism 300 to lower working device 320 from carriage lower end 120 and out of channel opening 488. In the example shown in FIGS. 8-11 , the process of lowering working device 320 from carriage lower end 120 is performed using crane mechanism 302. As described above, crane mechanism 302 has cable 308 wound around spool 306 attached to the interior of carriage 106, with working device 320 attached to one end of cable 308. When crane motor 304 rotates spool 306, working device 320 is raised or lowered from channel crawler 102 depending on the direction of rotation of spool 306.

[0057] For the upper channel crawler 102, step 510 of performing a task using the work device 320 in the deployed position 324 includes capturing images of the structure 402 and / or hardware 404 with the upper camera 328. As described above, the images captured by the upper camera 328 may be still and / or video, as appropriate for inspecting confined spaces. For example, the images captured by the upper camera 328 may be used to inspect the interior of a wing tank 432 of the aircraft 400. Specifically, the images may be used to inspect the structure 402 that makes up the wing tank 432 (e.g., stringer 430, wing rib 426, front and rear spars 418, 420, and upper and lower skin panels 422, 424, etc.). Additionally, the images may be used to inspect hardware 404, such as fasteners, elements 406 (e.g., piping 407, wiring, etc.) that extend through the wing tank 432, and sealants applied to these hardware and elements. However, as noted above, step 510 is not limited to performing an inspection using camera 326 and may include performing any of a variety of other tasks, including, but not limited to, removing FOD using a vacuum device (not shown), reapplying sealant using a sealant applicator (not shown), testing the integrity of structure 402 and / or hardware 404 using inspection equipment (not shown), and performing a variety of other tasks.

[0058] With respect to the lower channel crawler 104 shown in FIGS. 19-27 , step 502 of method 500 includes positioning the lower channel crawler 104 in the lower channel 454, either manually or using a pole (not shown). Step 504 of moving the carriage 106 of the channel crawler 100 along the channel 450 includes engaging the vertical wheels 132 of the lower channel carriage 110 of the lower channel crawler 104 with the channel underside 476 of the lower channel 454. As described above and shown in FIG. 19 , the lower channel carriage 110 has three vertical wheels 132 that engage with the channel underside 476 formed by the lower skin panel 424. One of the vertical wheels 132 is driven by a wheel drive motor to propel the lower channel crawler 104 back and forth along the lower channel 454. Step 504 optionally includes moving the lower channel carriage 110 laterally using vertical wheels 132 configured as omnidirectional wheels 134 (FIG. 19) to accommodate small directional changes in the lower channel 454.

[0059] With respect to the lower channel crawler 104, step 506 of extending the stabilizing mechanism 200 includes extending one or more stopper arms 202 to engage one or more non-horizontal surfaces 486 of the channel 450, thereby restricting movement of the carriage 106 relative to the channel 450. For example, step 506 may include extending a pair of linear actuators 204 horizontally from opposite ends of the lower channel carriage 110, as shown in FIGS. 26-27 . At each end of the lower channel carriage 110, the pair of linear actuators 204 may simultaneously extend in opposite directions to abut stringer webs 460 on either side of the lower channel 454, thereby stabilizing the lower channel crawler 104 against movement relative to the lower channel 454. Extending the stopper arms to stabilize the lower channel crawler 104 can be performed before and during deployment of the work device 320.

[0060] With respect to the lower channel crawler 104, step 508 of deploying the working device 320 includes using the deployment mechanism 300 to lift the working device 320 from the carriage upper end 118 and move it out of the lower channel 454. As shown in FIG. 22 , step 508 of deploying the working device 320 includes using a robotic arm 310 to lift the working device 320 from the carriage upper end 118, the robotic arm having one end coupled to the lower channel 454 and configured to be folded and housed in the lower channel carriage 110 in the storage position 322. The free end of the robotic arm 310 supports a lower camera 332, which can be configured similarly to the upper camera 328 described above. For example, each of the upper camera 328 and the lower camera 332 can be configured as a 360-degree camera capable of simultaneously capturing images of the surroundings in all directions.

[0061] 5 and described above, method 500 may involve the upper channel crawler 102 and the lower channel crawler 104 operating in a complementary manner. For example, in inspecting a wing box 416, method 500 may include using the crane mechanism 302 of the upper channel crawler 102 to lower the upper camera 328 within a rib space 428 of the wing box 416. Additionally, method 500 may include using the robotic arm 310 of the lower channel crawler 104 to raise the lower camera 332 and move it to a position where it can inspect components or areas of the wing box 416 that cannot be imaged by the upper camera 328.

[0062] The upper channel crawler 102 and the lower channel crawler 104 can be operated programmatically and / or remotely. More specifically, step 504 of moving the carriage 106 along the channel 450, step 506 of extending the stabilizing mechanism 200, step 508 of deploying the working device 320 using the deployment mechanism 300, and step 510 of performing a task using the working device 320 can all be performed according to preprogrammed instructions and / or remotely. For example, each channel crawler 100 can be preprogrammed to move to one or more predetermined positions on the channel 450 (e.g., stringer channel 456), and can also be preprogrammed to operate the deployment mechanism 300 to deploy the camera 326 from the carriage 106 to a predetermined three-dimensional position in the enclosed space for capturing images. As mentioned above, the pre-programmed instructions may also include an option to manually pause the movement and operation of the above-mentioned components and mechanisms, allowing an operator (e.g., a technician) to temporarily control the operation of the upper channel crawler 102 and / or lower channel crawler 104.

[0063] In addition to being used for inspection purposes, camera 326 can be activated at any time during operation of channel crawler 100, if desired, to provide an understanding of the surrounding environment to an operator monitoring or controlling channel crawler 100. For example, camera 326 can be activated at any time while channel crawler 100 moves along channel 450, while stabilizing mechanism 200 is being deployed from carriage 106, and / or while deployment mechanism 300 is operating to move camera 326 to a desired three-dimensional position.

[0064] The method 500 optionally includes determining a set of minimal camera deployment positions required to visually inspect the entire enclosed space with the upper camera 328 and the lower camera 332. For example, in the case of a wing tank 432 on a wing 414 of the aircraft 400, the method 500 may include determining a set of minimal camera deployment positions in each rib space 428 required to cover the entire wing tank 432, including all elements 406 within the wing tank 432. To determine the set of minimal camera deployment positions, first position the upper camera 328 and the lower camera 332 at each location on the wing tank 432 and collect scans from each camera 326. The method 500 further includes iteratively identifying camera positions that best encompass unobserved locations or areas of the wing tank 432 within the camera's field of view. The method 500 may further include determining optimal trajectories for the upper and lower cameras 328, 332 as a means of robotic trajectory planning for the movement of the crawler 100 and its components and features for the upper and lower channels.

[0065] Many variations and other aspects and examples of the present disclosure will be apparent to those skilled in the art from the teachings of the present disclosure, the foregoing description, and the accompanying drawings. The aspects and examples described herein are illustrative only and are not intended to be limiting or exhaustive. Although specific terms are used herein, they are used in a generic and descriptive sense only and are not intended to be limiting. Functionally equivalent methods and apparatuses within the scope of the present disclosure, in addition to those recited herein, may be realized from the description of the present disclosure. Such variations and modifications are intended to be encompassed within the scope of the appended claims. The present disclosure is limited only by the terms of the appended claims, along with the full scope of equivalents to which such claims are entitled.

[0066] The present disclosure further includes the following notes:

[0067] Clause 1. A carriage (106) having wheels (130) configured to engage surfaces defining a channel (450) and configured to move along said channel; a stabilizing mechanism (200) configured to extend from the carriage (106) and engage a non-horizontal surface (486) of the channel (450) to restrict unintended movement of the carriage (106) in one or more directions; A channel crawler (100) configured to be stored within the carriage (106) in a retracted state, and a deployment mechanism (300) configured to selectively deploy a work device (320) from a stored position (322) within the carriage (106) to a deployed position (324) outside the channel (450), which is a position for performing work on at least one of a structure (402) and hardware (404) near the channel (450).

[0068] Note 2: The carriage (106) has a carriage upper end (118); The wheel (130) includes a vertical wheel (132) configured to engage a channel lower surface (476); the stabilizing mechanism (200) includes one or more stopper arms (202) selectively extendable to engage one or more non-horizontal surfaces (486) of the channel (450) to restrict movement of the carriage (106) relative to the channel (450); 2. The channel crawler (100) of claim 1, wherein the deployment mechanism (300) is configured to lift the working device (320) from the carriage upper end (118).

[0069] Appendix 3. The channel crawler (100) described in Appendix 2, wherein the vertical wheel (132) is an omnidirectional wheel (134) configured to enable lateral movement of the carriage (106) to accommodate changes in direction of the channel (450).

[0070] Note 4: The carriage (106) has a carriage lower end (120); the wheels (130) include a vertical wheel (132) and a horizontal wheel (138) configured to engage a lower channel surface (476) and a first channel side surface (480) of the channel (450), respectively; the stabilizing mechanism (200) includes a ramp member (208) configured to engage a channel second side (484) to press the horizontal wheel (138) against the channel first side (480) and limit vertical movement of the carriage (106) relative to the channel (450); 2. The channel crawler (100) of claim 1, wherein the deployment mechanism (300) is configured to lower the working device (320) from the carriage lower end (120).

[0071] Supplementary Note 5: The inclined member (208) a diagonal wheel (216) urged outward to rotate along the second side (484) of the channel; and a diagonal slider arm (218) biased outward to slide along the second channel side (484).

[0072] Appendix 6. The channel crawler (100) of Appendix 1, wherein one of the wheels (130) is a drive wheel (140) configured to propel the channel crawler (100) along the channel (450).

[0073] Appendix 7. The channel crawler (100) of Appendix 6, wherein at least one of the drive wheel (140), the stabilization mechanism (200), the deployment mechanism (300), and the working device (320) is operated by at least one of pre-programmed instructions and remote control.

[0074] Appendix 8. The channel crawler (100) of Appendix 1, wherein the working device (320) includes a camera (326) configured to capture images of at least one of structures (402) and hardware (404) near the channel (450).

[0075] Supplementary Note 9: The deployment mechanism (300) a crane mechanism (302) having a cable (308) configured to lower the work device (320) from the carriage (106); and a robotic arm configured to lift the work device from the carriage.

[0076] Appendix 10. An upper channel crawler (102); a lower channel crawler (100), The upper channel crawler is an upper channel carriage (108) having a carriage lower end (120) and wheels (130) configured to engage opposing sides of the upper channel (452), the upper channel carriage (108) being configured to move along the upper channel; and a crane mechanism (302) configured to lower an upper camera (328) from the carriage lower end (120) into a space between the upper channel (452) and the lower channel (450); The lower channel crawler is a lower channel carriage (110) having a carriage upper end (118) and wheels (130) configured to engage the underside of the lower channel (450), the lower channel carriage (110) being configured to move along the lower channel; and a robotic arm (310) configured to raise a lower camera (332) from the carriage upper end (118) to inspect areas of the space outside the field of view (330) of the upper camera (328).

[0077] Clause 11. Moving a carriage (106) along a channel (450) via wheels (130) that engage surfaces defining said channel (450); a stabilizing mechanism (200) extending from the carriage (106) and engaging a non-horizontal surface (486) of the channel (450) to restrict unintended movement of the carriage (106) in one or more directions; deploying a working device (320) from a stored position (322) within the carriage (106) to a deployed position (324) outside the channel (450) using a deployment mechanism (300) configured to be housed within the carriage (106) in a retracted state; and using the working device (320) in the deployed position (324) to perform an operation on at least one of a structure (402) and hardware (404) near the channel (450).

[0078] Clause 12. Moving the carriage (106) along the channel (450), extending the stabilizing mechanism (200), and deploying the working device (320) from the stowed position (322) each include: engaging a vertical wheel (132) of said carriage (106) with a channel underside (476) of said channel (450); extending one or more stopper arms (202) to engage one or more non-horizontal surfaces (486) of the channel (450) to constrain movement of the carriage (106) relative to the channel (450); and 12. The method (500) of claim 11, comprising using the deployment mechanism (300) to lift the working device (320) from the carriage upper end (118) and out of the channel (450).

[0079] Note 13. Moving the carriage (106) along the channel (450) further comprises: 13. The method (500) of claim 12, comprising moving the carriage (106) laterally using the vertical wheel (132) configured as an omnidirectional wheel (134) to accommodate changes in direction of the channel (450).

[0080] Note 14. Moving the carriage (106) along the channel (450), extending the stabilizing mechanism (200), and deploying the working device (320) from the stowed position (322) each comprise: engaging a vertical wheel (132) and a horizontal wheel (138) with a first side of said channel (450); engaging a ramp member (208) with a second side of the channel (450) to press the horizontal wheel (138) against the first side, thereby restricting vertical movement of the carriage (106) relative to the channel (450); and 12. The method (500) of claim 11, comprising using the deployment mechanism (300) to lower the working device (320) from the carriage lower end (120) and out of the channel (450).

[0081] Clause 15. Engaging the ramp member (208) with the second side of the channel (450) comprises: pressing a wheel (216) into rotational engagement with the second side; and pressing a slider arm (218) into sliding engagement with the second side.

[0082] Clause 16. Moving the carriage (106) along the channel (450) comprises: 12. The method (500) of claim 11, comprising propelling the carriage (106) along the channel (450) using one of the wheels (130) configured as a drive wheel (140).

[0083] Appendix 17. The method (500) of Appendix 11, wherein at least one of moving the carriage (106) along the channel (450), extending the stabilizing mechanism (200), deploying the working device (320), and performing the task is performed by at least one of preprogrammed instructions and remote control.

[0084] Appendix 18. Performing the work using the work device (320) includes: 12. The method (500) of claim 11, comprising capturing an image of at least one of the structure (402) and the hardware (404) using a camera (326).

[0085] Appendix 19. Deploying the working device (320) from the storage position (322) includes: using a robotic arm (310) to lift the working device (320) from the carriage upper end (118) and out of the channel (450); and lowering the work device (320) from the carriage lower end (120) out of the channel (450) using a crane mechanism (302).

[0086] Clause 20. Moving the carriage (106) along the channel (450) comprises: 12. The method of claim 11, comprising moving the carriage along a stringer channel in a structure of an aircraft, the stringer channel comprising a pair of stringers and an outer panel portion extending between the pair of stringers.

Claims

1. a carriage having wheels configured to engage surfaces defining the channel and configured to move along the channel; a stabilizing mechanism extending from the carriage and configured to engage a non-horizontal surface of the channel to restrict unintended movement of the carriage in one or more directions; A channel crawler configured to be stored within the carriage in a retracted state, and comprising: a deployment mechanism configured to selectively deploy a work device from the stored position within the carriage to a deployed position outside the channel, where the work device is positioned to perform work on at least one of structures and hardware near the channel.

2. the carriage has a carriage upper end; the wheels include vertical wheels configured to engage a lower surface of the channel; the stabilizing mechanism includes one or more stop arms selectively extendable to engage one or more non-horizontal surfaces of the channel to constrain movement of the carriage relative to the channel; The channel crawler of claim 1 , wherein the deployment mechanism is configured to raise the work device from the upper end of the carriage.

3. The channel crawler of claim 2 , wherein the vertical wheels are omnidirectional wheels configured to allow lateral movement of the carriage to accommodate changes in direction of the channel.

4. the carriage has a carriage lower end; the wheels include a vertical wheel and a horizontal wheel configured to engage a lower channel surface and a first channel side surface of the channel, respectively; the stabilizing mechanism includes an inclined member configured to engage a second side of the channel to press the horizontal wheel against the first side of the channel and restrict vertical movement of the carriage relative to the channel; The channel crawler of claim 1 , wherein the deployment mechanism is configured to lower the work device from the lower end of the carriage.

5. The inclined member is a diagonal wheel urged outward to roll along the second side of the channel; a diagonal slider arm biased outwardly to slide along the second side of the channel.

6. The channel crawler of claim 1 , wherein one of the wheels is a drive wheel configured to propel the channel crawler along the channel.

7. 7. The channel crawler of claim 6, wherein at least one of the drive wheel, the stabilizing mechanism, the deployment mechanism, and the working device are operated by at least one of preprogrammed commands and remote control.

8. The channel crawler of claim 1 , wherein the work device includes a camera configured to capture images of at least one of structures and hardware near the channel.

9. The deployment mechanism includes: a crane mechanism having a cable configured to lower the work device from the carriage; a robotic arm configured to lift the work device from the carriage.

10. an upper channel crawler; a lower channel crawler, The upper channel crawler is an upper channel carriage configured to move along the upper channel, the upper channel carriage having a carriage lower end and wheels configured to engage opposing sides of the upper channel; and a crane mechanism configured to lower an upper camera from a lower end of the carriage into a space between the upper channel and the lower channel; The lower channel crawler is a lower channel carriage configured to move along the lower channel, the lower channel carriage having a carriage upper end and a wheel configured to engage a lower surface of the lower channel; and a robotic arm configured to raise a lower camera from an upper end of the carriage to inspect areas of the space outside the field of view of the upper camera.

11. moving a carriage along the channel via wheels engaging surfaces defining the channel; a stabilizing mechanism extending from the carriage and engaging a non-horizontal surface of the channel to restrict unintended movement of the carriage in one or more directions; deploying a working device from a stored position within the carriage to a deployed position outside the channel using a deployment mechanism configured to be stored within the carriage in a retracted state; and performing an operation on at least one of structure and hardware near the channel with the working device in the deployed position.

12. Moving the carriage along the channel, extending the stabilizing mechanism, and deploying the working device from the stowed position each include: engaging a vertical wheel of the carriage with a lower channel surface of the channel; extending one or more stop arms to engage one or more non-horizontal surfaces of the channel to constrain movement of the carriage relative to the channel; and The method of claim 11 , including using the deployment mechanism to lift the working device off of a carriage top end and out of the channel.

13. Moving the carriage along the channel further comprises:

13. The method of claim 12, including moving the carriage laterally with the vertical wheel configured as an omni-directional wheel to accommodate changes in direction of the channel.

14. Moving the carriage along the channel, extending the stabilizing mechanism, and deploying the working device from the stowed position each include: engaging a vertical wheel and a horizontal wheel with a first side of the channel; engaging a ramp member on a second side of the channel to press the horizontal wheel against the first side, thereby restricting vertical movement of the carriage relative to the channel; and The method of claim 11 , including using the deployment mechanism to lower the working device from a lower end of a carriage and out of the channel.

15. Engaging the angled member with the second side of the channel comprises: pressing a wheel into rotational engagement with the second side; and pressing a slider arm into sliding engagement with the second side.

16. Moving the carriage along the channel comprises: The method of claim 11 , including propelling the carriage along the channel with one of the wheels configured as a drive wheel.

17. 12. The method of claim 11, wherein at least one of moving the carriage along the channel, extending the stabilizing mechanism, deploying the working device, and performing the task is performed by at least one of preprogrammed instructions and remote control.

18. Performing the task using the task device includes: The method of claim 11 , comprising capturing an image of at least one of the structure and hardware with a camera.

19. Deploying the working device from the stowed position includes: using a robotic arm to lift the working device off the top end of a carriage and out of the channel; and lowering the work device from a lower end of a carriage and out of the channel using a crane mechanism.

20. Moving the carriage along the channel comprises:

20. The method of claim 11, comprising moving the carriage along a stringer channel in an aircraft structure, the stringer channel being defined by a pair of stringers and a skin portion extending between the pair of stringers.

Images