System, apparatus and method for providing an inspection map

Patent metadata

Field	Value
Publication number	US-11511427-B2
Application number	US-202016869636-A
Country	US
Kind code	B2
Filing date	May 8, 2020
Priority date	Dec 23, 2016
Publication date	Nov 29, 2022
Grant date	Nov 29, 2022

Abstract

Systems, apparatus and methods for providing an inspection map are disclosed. An apparatus for performing an inspection may include an inspection data circuit to interpret inspection data, a robot positioning circuit to interpret position data, and a processed data circuit to link the inspection data with the position data to determine position-based inspection data. The apparatus may further include a user interaction circuit to interpret an inspection visualization request for an inspection map and an inspection visualization circuit to determine the inspection map based on the position-based inspection data, and a provisioning circuit structured to provide the inspection map to a user device.

First claim

What is claimed is:

1. An apparatus for performing an inspection on an inspection surface, the apparatus comprising:
an inspection robot comprising:
a controller comprising:
an inspection data circuit structured to interpret inspection data of the inspection surface;
a robot positioning circuit structured to interpret position data of the inspection robot;
a user interaction circuit structured to interpret an inspection visualization request for an inspection map;
a processed data circuit structured to link the inspection data with the position data to determine position-based inspection data;
an inspection visualization circuit structured to determine the inspection map in response to the inspection visualization request based on the position-based inspection data; and
a provisioning circuit structured to provide the inspection map to a user device;

an inspection chassis;
a plurality of inspection sensors, each sensor is operationally couplable to the inspection surface and structured to provide the inspection data;
at least two drive modules; and
at least two connectors, each connector comprising:
a connector 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 a power load of the corresponding drive module, and further structured to provide electrical communication between the controller and at least one of a sensor, an actuator, or a drive controller positioned on the corresponding drive module; and
a mechanical component defined, at least in part, by the connector body and structured to selectively and releasably couple the connector body to the inspection chassis.

2. The apparatus of claim 1 , wherein the inspection map includes a layout of the inspection surface based on the position-based inspection data.

3. The apparatus of claim 2 , wherein the layout is in real space.

4. The apparatus of claim 2 , wherein the layout is in virtual space.

5. The apparatus of claim 1 , wherein the inspection map includes at least two features of the inspection surface and corresponding locations on the inspection surface, each of the at least two features selected from a list consisting of:
an obstacle;
a surface build up;
a weld line;
a gouge; and
a repaired section.

6. The apparatus of claim 1 , wherein the inspection data comprises an inspection dimension selected from a list consisting of:
a temperature of the inspection surface;
a coating type of the inspection surface;
a color of the inspection surface;
a smoothness of the inspection surface;
an obstacle density of the inspection surface;
a radius of curvature of the inspection surface; and
a thickness of the inspection surface.

7. The apparatus of claim 6 , wherein the inspection map includes a visualization property for the inspection dimension, the visualization property comprising a property selected from a list of properties consisting of:
numeric values;
shading values;
transparency;
a tool-tip indicator;
color values; and
hatching values.

8. The apparatus of claim 1 , wherein the position data comprises an azimuthal indicator and a height indicator, and wherein the inspection map includes visualization properties for the azimuthal indicator or the height indicator.

9. A method for performing an inspection on an inspection surface with an inspection robot, the method comprising:
interpreting inspection data of the inspection surface;
interpreting position data of the inspection robot;
interpreting an inspection visualization request for an inspection map;
linking the inspection data with the position data to determine position-based inspection data;
in response to the inspection visualization request, determining the inspection map based on the position-based inspection data; and
providing the inspection map via a provisioning circuit,

wherein the inspection robot comprises:
an inspection chassis;
at least two drive modules; and
at least two connectors, each connector comprising:
a connector 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 a power load of the corresponding drive module, and further structured to provide electrical communication between a controller and at least one of a sensor, an actuator, or a drive controller positioned on the corresponding drive module; and
a mechanical component defined, at least in part, by the connector body and structured to selectively and releasably couple the connector body to the inspection chassis.

10. The method of claim 9 , wherein the inspection map includes a layout of the inspection surface, and wherein the layout is in real space or virtual space.

11. The method of claim 9 , wherein determining the inspection map based on the position-based inspection data comprises labeling each inspection dimension of the inspection data, wherein each inspection dimension comprise an attribute selected from a list of attributes consisting of:
a temperature of the inspection surface;
a coating type of the inspection surface;
a color of the inspection surface;
a smoothness of the inspection surface;
an obstacle density of the inspection surface;
a radius of curvature of the inspection surface; and
a thickness of the inspection surface.

12. The method of claim 11 , wherein each inspection dimension is labeled with at least one of:
numeric values;
shading values;
transparency;
a tool-tip indicator;
color values; or
hatching values.

13. A system comprising:
an inspection robot comprising:
at least one payload;
at least two arms, wherein each arm is pivotally mounted to a payload;
at least two sleds, wherein each sled is mounted to one of the arms;
a plurality of inspection sensors, each inspection sensor coupled to one of the sleds such that each sensor is operationally couplable to an inspection surface, wherein the sleds are 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:
an inspection data circuit structured to interpret inspection data of the inspection surface;
a robot positioning circuit structured to interpret position data of the inspection robot;
a user interaction circuit structured to interpret an inspection visualization request for an inspection map;
a processed data circuit structured to link the inspection data with the position data to determine position-based inspection data, and
wherein the controller is further structured to: determine the inspection map in response to the inspection visualization request based on the position-based inspection data; and
provide the inspection map.

14. The system of claim 13 , wherein the inspection map includes a layout of the inspection surface based on the position-based inspection data, and wherein the layout is in at least one of: real space; and virtual space.

15. The system of claim 13 , wherein the inspection data circuit is further structured to identify a feature of the inspection surface and a corresponding locations on the inspection surface, wherein the feature is selected from a list consisting of: an obstacle; surface build up; a weld line; a gouge; and a repaired sec

Assignees

• Gecko Robotics Inc

Inventors

• Bryner Edward A
• Low Kevin Y
• Moore Joshua D
• Jourde Dillon R
• Guise Benjamin A
• Watt Alexander C
• Mackenzie Logan A
• Miller Ian
• Joslin Todd
• Gu Yizhu
• Cho Mark
• Trogu Francesco H
• Cho Edwin H
• Rodriguez Domenic P
• Loosararian Mark J

Classifications

• G01N2291/0258

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

• G01B11/0616

  of coating · CPC title

• G01B7/105

  for measuring thickness of coating · CPC title

• B25J9/0009

  Constructional details, e.g. manipulator supports, bases · CPC title

• G01N27/82

  for investigating the presence of flaws · CPC title