System, method, and apparatus for rapid development of an inspection scheme for an inspection robot

Patent metadata

Field	Value
Publication number	US-11511426-B2
Application number	US-202016863594-A
Country	US
Kind code	B2
Filing date	Apr 30, 2020
Priority date	Dec 23, 2016
Publication date	Nov 29, 2022
Grant date	Nov 29, 2022

Abstract

Systems, methods and apparatus for rapid development of an inspection scheme for an inspection robot are disclosed. An apparatus may include an inspection definition circuit to interpret an inspection description value, and a robot configuration circuit to determine an inspection robot configuration description in response to the inspection description value. The apparatus may further include a configuration implementation circuit, communicatively coupled to a configuration interface of an inspection robot, to provide at least a portion of the inspection robot configuration description to the configuration interface.

First claim

What is claimed is:

1. An apparatus, comprising:
an inspection robot;
an inspection definition circuit structured to interpret an inspection description value;
a robot configuration circuit structured to determine an inspection robot configuration description in response to the inspection description value; and
a configuration implementation circuit communicatively coupled to a configuration interface of the inspection robot, and structured to provide at least a first portion of the inspection robot configuration description to the configuration interface,
wherein the inspection robot further comprises:
an inspection chassis;
at least two drive modules; and
a connector comprising:
a body having a first end for coupling with a corresponding one of the at least two drive modules and a second end for pivotally engaging the inspection chassis;
an electrical interface structured to couple an electrical power source from the inspection chassis to an electrical power load of the corresponding one of the at least two drive modules, and further structured to provide electrical communication between an inspection controller positioned on the inspection chassis and at least one of a sensor, an actuator, or a drive controller positioned on the corresponding one of the at least two drive modules; and
a mechanical component defined, at least in part, by the body and structured to selectively and releasably couple the body to the inspection chassis.

2. The apparatus of claim 1 , wherein the configuration implementation circuit is further communicatively coupled to an operator interface, and structured to provide at least a second portion of the inspection robot configuration description to the operator interface.

3. The apparatus of claim 1 , wherein the inspection definition circuit is communicatively coupled to a user interface, and wherein the inspection definition circuit is further structured to interpret the inspection description value in response to a user inspection request value provided through the user interface.

4. The apparatus of claim 3 , wherein the user inspection request value comprises an inspection type value.

5. The apparatus of claim 3 , wherein the user inspection request value comprises an inspection resolution value.

6. The apparatus of claim 3 , wherein the user inspection request value comprises an inspected condition value.

7. The apparatus of claim 3 , wherein the user inspection request value comprises an inspection ancillary capability value.

8. The apparatus of claim 3 , wherein the user inspection request value comprises an inspection constraint value.

9. The apparatus of claim 1 , wherein the inspection robot configuration description comprises at least one parameter selected from the parameters consisting of:
an inspection sensor type description;
an inspection sensor number description;
an inspection sensor distribution description;
an ancillary component description;
an inspection surface vertical extent description;
a couplant management component description; and
a base station capability description.

10. A system, comprising:
an inspection robot comprising:
an inspection controller structured to operate the inspection robot utilizing a first command set;
an inspection chassis;
at least two drive modules;
a connector comprising:
a body having a first end for coupling with a corresponding one of the at least two drive modules and a second end for pivotally engaging the inspection chassis;
an electrical interface structured to couple an electrical power source from the inspection chassis to an electrical power load of the corresponding one of the at least two drive modules, and further structured to provide electrical communication between the inspection controller positioned on the inspection chassis and at least one of a sensor, an actuator, or a drive controller positioned on the corresponding one of the at least two drive modules; and
a mechanical component defined, at least in part, by the body and structured to selectively and releasably couple the body to the inspection chassis;

a hardware component operatively couplable to the inspection controller;
a hardware controller structured to interface with the inspection controller in response to the first command set, and to command the hardware component in response to the first command set; and
a robot configuration controller, comprising:
an inspection definition circuit structured to interpret an inspection description value;
a robot configuration circuit structured to determine an inspection robot configuration description in response to the inspection description value; and
a configuration implementation circuit communicatively coupled to at least one of a configuration interface of the inspection robot or an operator interface, wherein the system further comprises at least one of:

the hardware controller communicatively coupled to the configuration interface of the inspection robot, and structured to determine a response map for the hardware component in response to at least a portion of the inspection robot configuration description, or
the operator interface, and wherein the configuration implementation circuit is structured to provide at least a portion of the inspection robot configuration description to the operator interface.

11. The system of claim 10 , further comprising:
wherein the inspection definition circuit is communicatively coupled to a user interface, and
wherein the inspection definition circuit is further structured to interpret the inspection description value in response to a user inspection request value provided through the user interface.

12. The system of claim 11 , wherein the user inspection request value comprises an inspection type value.

13. The system of claim 11 , wherein the user inspection request value comprises an inspection resolution value.

14. The system of claim 11 , wherein the user inspection request value comprises an inspected condition value.

15. The system of claim 11 , wherein the user inspection request value comprises an inspection ancillary capability value.

16. The system of claim 11 , wherein the user inspection request value comprises an inspection constraint value.

17. The system of claim 10 , wherein the inspection robot configuration description comprises an inspection sensor type description.

18. The system of claim 10 , wherein the inspection robot configuration description comprises an inspection sensor number description.

19. The system of claim 10 , wherein the inspection robot configuration description comprises an inspection sensor distribution description.

20. The system of claim 10 , wherein the inspection robot configuration description comprises an ancillary component description.

21. The system of claim 10 , wherein the inspection robot configuration description comprises an inspection surface vertical extent description.

22. The system of claim 10 , wherein the inspection robot configuration description comprises a couplant management component description.

23. The system of claim 10 , wherein the inspection robot configuration description comprises a base station capability description.

24. The system of claim 10 , wherein each of the at least two drive modules is independently rotatable.

25. A method, comprising:
interpreting an inspection description value;
determining an inspection robot configuration descr

Assignees

• Gecko Robotics Inc

Inventors

• Bryner Edward A
• Low Kevin Y
• Moore Joshua D
• Jourde Dillon R
• Trogu Francesco H
• Mrkonich Jeffrey J
• Pridgen William J
• Rodriguez Domenic P
• Watt Alexander C
• Auda Michael Stephen
• Mackenzie Logan A
• Miller Ian
• Westenberg Samuel Theodore
• Denner Katherine Virginia
• Guise Benjamin A
• Gu Yizhu
• Joslin Todd
• Loosararian Mark J
• Cho Mark
• Cho Edwin H

Classifications

• B25J9/0015

  Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion · CPC title

• G01N2291/044

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

• F16L55/32

  being self-contained · CPC title

• G01N2291/0258

  Structural degradation, e.g. fatigue of composites, ageing of oils · CPC title

• B25J9/1617

  Cellular, reconfigurable manipulator, e.g. cebot · CPC title