System, method, and apparatus to perform a surface inspection using real-time position information

Patent metadata

Field	Value
Publication number	US-10481608-B2
Application number	US-201815988975-A
Country	US
Kind code	B2
Filing date	May 24, 2018
Priority date	Dec 23, 2016
Publication date	Nov 19, 2019
Grant date	Nov 19, 2019

Abstract

A system includes an inspection robot for performing an inspection on an inspection surface with ultrasonic and magnetic induction sensors, the apparatus comprising a position definition circuit structured to determine an inspection robot position on the inspection surface; a data positioning circuit structured to interpret inspection data, and to correlate the inspection data to the inspection robot position on the inspection surface; and wherein the data positioning circuit is further structured to determine position informed inspection data in response to the correlating of the inspection data with the inspection robot position.

First claim

What is claimed is:

1. A system, comprising:
an inspection robot having a plurality of input sensors, the plurality of input sensors comprising a first plurality of horizontally distributed ultra-sonic (UT) sensors configured to determine UT data, and a second plurality of horizontally distributed magnetic induction sensors configured to determine electromagnetic (EM) induction data,
wherein at least a portion of an inspection surface comprises a ferrous substrate having a non-ferrous coating thereupon;
wherein the UT data and the EM induction data comprise inspection data;
wherein each of the plurality of horizontally distributed magnetic induction sensors is vertically aligned and forward to a corresponding one of the plurality of horizontally aligned UT sensors; and
a controller, comprising:
a position definition circuit structured to determine an inspection robot position of the inspection robot on the inspection surface;
a data positioning circuit structured to interpret the inspection data, and to correlate the inspection data to the inspection robot position on the inspection surface;
an EM data circuit structured to interpret the EM induction data, and to determine a substrate distance value in response to the EM induction data;
a thickness processing circuit structured to determine a thickness value in response to the UT data, wherein the thickness value comprises at least one of a thickness of the ferrous substrate, a total thickness of the ferrous substrate and the non-ferrous coating, or a thickness of the non-ferrous coating; and
wherein the data positioning circuit is further structured to determine position informed inspection data in response to the correlating of the inspection data with the inspection robot position.

2. The system of claim 1 , wherein the thickness processing circuit is further structured to determine the thickness value in response to the substrate distance value.

3. The system of claim 1 , further comprising a facility wear circuit structured to access a facility wear model, and to determine a facility wear value for the inspection surface in response to the thickness value.

4. The system of claim 3 , wherein the inspection surface comprises a surface at a first facility, and wherein the facility wear model includes data from an offset facility.

5. The system of claim 1 , wherein each of the plurality of UT sensors and magnetic induction sensors are positioned on one of a plurality of sleds, and wherein a plurality of the sleds are each positioned on an arm operationally coupled to the inspection robot, and wherein the system further includes a biasing member providing a down force on each of the arms.

6. The system of claim 1 , wherein the plurality of input UT sensors and magnetic induction sensors are horizontally distributed relative to the inspection surface at selected horizontal positions, wherein the selected horizontal positions comprise an inspection distance between two horizontally adjacent sensors of the plurality of input UT sensors and magnetic induction sensors that is not greater than a selected horizontal resolution.

7. The system of claim 1 , wherein the inspection robot position on the inspection surface comprises an absolute position of the inspection robot.

8. A method, comprising:
operating an inspection robot having a plurality of horizontally distributed magnetic induction sensors and a plurality of horizontally distributed ultra-sonic (UT) sensors, wherein each of the plurality of horizontally distributed magnetic induction sensors is vertically aligned with a corresponding one of the plurality of horizontally aligned UT sensors;
wherein operating the inspection robot comprises moving the robot vertically on an inspection surface, the method further comprising, during the moving:
interrogating the inspection surface with the plurality of horizontally distributed magnetic induction sensors to determine electromagnetic (EM) induction data;
determining a substrate distance value in response to the EM induction data;
interrogating the inspection surface with the plurality of UT sensors to determine UT data;
determining a thickness value in response to the UT data and the substrate distance value, wherein the thickness value comprises at least one of a thickness of a ferrous substrate, a total thickness of the ferrous substrate and a non-ferrous coating, or a thickness of the non-ferrous coating; and
interrogating a selected location of the inspection surface with the magnetic induction sensors before the interrogating the selected location of the inspection surface with the UT sensors.

9. The method of claim 8 , further comprising providing a horizontal distribution of the distributed magnetic induction sensors to provide a selected inspection resolution of the inspection surface.

10. The method of claim 9 , further comprising providing a down force to a plurality of sleds of the inspection robot, wherein each of the plurality of horizontally distributed magnetic induction sensors is mounted on one of the plurality of sleds.

11. The method of claim 8 , wherein the determining the thickness value comprises diagnosing a determination of the thickness value utilizing the substrate distance value.

12. The method of claim 8 , wherein determining the thickness value comprises adjusting UT modes utilized to determine the thickness value in response to the substrate distance value.

13. The method of claim 8 , wherein the thickness value comprises a thickness of the ferrous substrate, and the method further comprising determining a wear value in response to the thickness of the ferrous substrate.

14. The method of claim 8 , wherein the thickness value comprises a thickness of the non-ferrous coating, and the method further comprising determining a wear value in response to the thickness of the non-ferrous coating.

Assignees

• Gecko Robotics Inc

Inventors

• Loosararian Mark
• Moore Joshua
• Gu Yizhu
• Low Kevin
• Bryner Edward
• Mackenzie Logan
• Miller Ian
• Chou Alvin
• Joslin Todd

Classifications

• G01N2291/2636

  cylindrical from inside · CPC title

• G01N2291/2634

  cylindrical from outside · CPC title

• G01N2291/051

  Perpendicular incidence, perpendicular propagation · CPC title

• G01N2291/044

  Internal reflections (echoes), e.g. on walls or defects · CPC title

• G01N2291/0289

  Internal structure, e.g. defects, grain size, texture · CPC title