Tracking Unit for Contactless Surface Tracking

A tracking unit configured to connect to a robotic device and move across a surface of an object, the tracking unit comprising:

• distance sensors that face in a first direction and are configured to detect a distance from the object;
• peripheral sensors that face in a second direction and are configured to detect a distance from a peripheral feature;
• a controller comprising processing circuitry configured to receive signals from the distance sensors and the peripheral sensors;
• and
• wherein the signals enable the tracking unit to remain spaced away from the object and away from the peripheral feature.

A method of moving a tracking unit with a robotic device relative to an object, the method comprising:

• moving the tracking unit across the object with the robotic device while maintaining the tracking unit spaced away from the object;
• detecting a peripheral feature in a direction of movement of tracking unit;
• determining that the peripheral feature is less than a predetermined distance away from the tracking unit;
• and
• stopping the movement of the tracking unit by the robotic device.