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

Patent metadata

Field	Value
Publication number	US-11429109-B2
Application number	US-201916687094-A
Country	US
Kind code	B2
Filing date	Nov 18, 2019
Priority date	Dec 23, 2016
Publication date	Aug 30, 2022
Grant date	Aug 30, 2022

Abstract

A system includes an inspection robot for performing an inspection on an inspection surface with an inspection robot, 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, wherein the position informed inspection data comprises absolute position data.

First claim

What is claimed is:

1. A system comprising:
an inspection robot comprising a plurality of payloads;
a plurality of arms, wherein each of the plurality of arms is pivotally mounted to one of the plurality of payloads;
a plurality of sleds, wherein each sled is mounted to one of the plurality of arms;
a plurality of inspection sensors, each of the inspection sensors coupled to one of the plurality of sleds such that each sensor is operationally couplable to an inspection surface, wherein the plurality of sleds is horizontally distributed on the inspection surface at selected horizontal positions, and wherein each of the arms is horizontally moveable relative to a corresponding payload; and
a controller comprising:
a position definition circuit structured to determine an inspection robot position of the inspection robot on the inspection surface, and
a data positioning circuit structured to interpret inspection data, to correlate the inspection data to the inspection robot position on the inspection surface, and 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 position definition circuit is further structured to determine the inspection robot position in response to a plant position definition.

3. The system of claim 1 , wherein the position definition circuit is further structured to interpret a plant shape value, and to determine the inspection robot position in response to the plant shape value.

4. The system of claim 1 , further comprising an inspection visualization circuit structured to determine an inspection map in response to the position informed inspection data.

5. The system of claim 4 , wherein the inspection map comprises a visual depiction of the inspection data positioned on a visual representation of the inspection surface.

6. The system of claim 5 , further comprising a virtual mark positioned at a location of interest on the inspection map.

7. The system of claim 5 , wherein the inspection visualization circuit is further structured to interpret a user focus value, and to generate focus data in response to the user focus value.

8. The system of claim 7 , wherein the focus data comprises at least one value selected from values consisting of: a date of an inspection operation, a time of an inspection operation, calibration values for sensors used in an inspection operation, a repair time for a location of the inspection surface determined in response to the user focus value, and an image of a location of the inspection surface determined in response to the user focus value.

9. The system of claim 1 , wherein the position informed inspection data comprises absolute position data.

10. A method, comprising:
operating an inspection robot comprising:
a plurality of payloads,
a plurality of arms, wherein each of the plurality of arms is pivotally mounted to one of the plurality of payloads,
a plurality of sleds, wherein each sled is mounted to one of the plurality of arms, and
a plurality of inspection sensors, each of the inspection sensors coupled to one of the plurality of sleds such that each sensor is operationally couplable to an inspection surface, wherein the plurality of sleds is horizontally distributed on the inspection surface at selected horizontal positions, and wherein each of the arms is horizontally moveable relative to a corresponding payload;
determining an inspection robot position of the inspection robot on the inspection surface;
interpreting inspection data;
correlating the inspection data to the inspection robot position on the inspection surface; and
determining position informed inspection data in response to the correlating of the inspection data with the inspection robot position.

11. The method of claim 10 , wherein determining the inspection robot position is in response to a plant position definition.

12. The method of claim 10 , further comprising interpreting a plant shape value, wherein determining the inspection robot position is in response to the plant shape value.

13. The method of claim 10 , further comprising determining an inspection map in response to the position informed inspection data.

14. The method of claim 13 , wherein the inspection map comprises a visual depiction of the inspection data positioned on a visual representation of the inspection surface.

15. The method of claim 14 , further comprising a virtual mark positioned at a location of interest on the inspection map.

16. The method of claim 14 , further comprising:
interpreting a user focus value; and
generating focus data in response to the user focus value.

17. The method of claim 16 , wherein the focus data comprises at least one value selected from values consisting of: a date of an inspection operation, a time of an inspection operation, calibration values for sensors used in an inspection operation, a repair time for a location of the inspection surface determined in response to the user focus value, and an image of a location of the inspection surface determined in response to the user focus value.

18. The method of claim 10 , wherein the position informed inspection data comprises absolute position data.

19. An inspection robot, comprising:
a plurality of payloads;
a plurality of arms, wherein each of the plurality of arms is pivotally mounted to one of the plurality of payloads;
a plurality of sleds, wherein each sled is mounted to one of the plurality of arms;
a plurality of inspection sensors, each of the inspection sensors coupled to one of the plurality of sleds such that each sensor is operationally couplable to an inspection surface, wherein the plurality of sleds is horizontally distributed on the inspection surface at selected horizontal positions, and wherein each of the arms is horizontally moveable relative to a corresponding payload; and
a controller comprising:
a position definition circuit structured to determine an inspection robot position of the inspection robot on the inspection surface, and
a data positioning circuit structured to interpret inspection data, to correlate the inspection data to the inspection robot position on the inspection surface, and to determine position informed inspection data in response to the correlating of the inspection data with the inspection robot position.

20. The inspection robot of claim 19 , wherein the position definition circuit is further structured to determine the inspection robot position in response to a plant position definition.

21. The inspection robot of claim 19 , wherein the position definition circuit is further structured to interpret a plant shape value, and to determine the inspection robot position in response to the plant shape value.

22. The inspection robot of claim 19 , further comprising an inspection visualization circuit structured to determine an inspection map in response to the position informed inspection data, wherein the inspection map comprises a visual depiction of the inspection data positioned on a visual representation of the inspection surface.

23. The inspection robot of claim 22 , further comprising a virtual mark positioned at a location of interest on the inspection map.

24. The inspection robot of claim 23 , wherein the inspection visualization circuit is further structured to interpret a user focus value, and to generate focus data in response to the user focus value.

Assignees

• Gecko Robotics Inc

Inventors

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

Classifications

• G05B15/02

  electric · CPC title

• G01N29/04

  Analysing solids (using acoustic emission techniques G01N29/14) · CPC title

• G01N27/82

  for investigating the presence of flaws · CPC title

• G01N21/88

  Investigating the presence of flaws or contamination · CPC title

• G01M3/04

  by detecting the presence of fluid at the leakage point · CPC title