System, apparatus and method for providing an interactive inspection map

Patent metadata

Field	Value
Publication number	US-11518030-B2
Application number	US-202016869640-A
Country	US
Kind code	B2
Filing date	May 8, 2020
Priority date	Dec 23, 2016
Publication date	Dec 6, 2022
Grant date	Dec 6, 2022

Abstract

Systems, apparatus and methods for providing an interactive inspection map are disclosed. An example apparatus for providing an interactive inspection map of an inspection surface may include an inspection visualization circuit to provide an inspection map to a user device in response to inspection data provided by a plurality of sensors operationally coupled to an inspection robot traversing the inspection surface, wherein the inspection map corresponds to at least a portion of the inspection surface. The apparatus may further include a user interaction circuit to interpret a user focus value from the user device, and an action request circuit to determine an action in response to the user focus value. The inspection visualization circuit may further update the inspection map in response to the determined action.

First claim

What is claimed is:

1. A system for providing an interactive inspection map of an inspection surface inspected by an inspection robot, the system comprising:
an inspection robot;
an inspection visualization circuit structured to provide an inspection map to a user device in response to inspection data provided by a plurality of sensors operationally coupled to the inspection robot operating on an inspection surface, wherein the inspection map corresponds to at least a portion of the inspection surface;
a user interaction circuit structured to interpret a user focus value from the user device;
an action request circuit structured to determine an action in response to the user focus value; and
wherein the inspection visualization circuit is further structured to update the inspection map in response to the determined action,
wherein the inspection robot further 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.

2. The system of claim 1 , wherein the inspection map further comprises position-based inspection data corresponding to the at least a portion of the inspection surface.

3. The system of claim 1 , wherein the inspection map further comprises a distinct visualization property for each of at least two inspection dimensions.

4. The system of claim 3 , wherein each of the at least two inspection dimensions includes at least two 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.

5. The system of claim 3 ,
wherein each distinct visualization property includes at least one of:
numeric values;
shading values;
transparency values;
pattern values;
a tool-tip value;
color values; and
hatching values.

6. The system of claim 1 , wherein:
the user focus value further comprises a time value; and
wherein the inspection visualization circuit is further structured to update the inspection map in response to the time value.

7. The system of claim 6 , wherein the
time value is selected from a list of time values consisting of:
a specified time value;
a specified time range;
a specified inspection event identifier;
a trajectory of an inspection dimension over time; and
a specified inspection identifier.

8. The system of claim 6 , wherein the time value is a trajectory of an inspection dimension over time, and wherein the inspection dimension over time is representative of at least one of: a previous inspection run, a predicted inspection run, or an interpolation between two inspection runs.

9. The system of claim 6 , wherein the inspection visualization circuit is further structured to update the inspection map by providing a plurality of display frames of the inspection map, each of the plurality of display frames corresponding to at least one period of the time value.

10. The system of claim 1 , wherein:
the inspection map includes a plurality of display layers; and
wherein the inspection visualization circuit is further structured to update the inspection map by setting an activation state value of at least one of the plurality of display layers in response to the user focus value.

11. The system of claim 10 , wherein each of the plurality of display layers is selected from a list of layers consisting of:
an inspection dimension layer;
a coating layer;
a part overlay layer;
a remaining life layer;
a scheduled maintenance layer; and
a planned downtime layer.

12. The system of claim 10 , wherein at least one of the plurality of display layers comprises a planned downtime layer, and wherein the planned downtime layer comprises a time based depiction of downtime values.

13. The system of claim 10 , wherein at least one of the plurality of display layers comprises a planned downtime layer, and wherein the planned downtime layer comprises a spatial depiction of downtime values.

14. A method for providing an interactive inspection map of an inspection surface inspected by an inspection robot, the method comprising:
providing an inspection map of the inspection surface inspected by the inspection robot to a user device;
interpreting a user focus value;
determining an action in response to the user focus value;
updating the inspection map in response to the determined action, the inspection map including positioned-based inspection data of the inspection surface; and
providing the updated inspection map,
wherein the inspection robot comprises:
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 the inspection surface, wherein the plurality of 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.

15. The method of claim 14 , wherein updating the inspection map comprises:
linking at least two inspection dimensions of the positioned-based inspection data to at least two visualization properties of the inspection map.

16. The method of claim 15 , wherein at least one of the at least two inspection dimensions are selected from a list of dimensions consisting of:
a temperature of the inspection surface;
and
a wall thickness of the inspection surface.

17. The method of claim 14 , wherein updating the inspection map comprises linking time data to the position-based inspection data.

18. The method of claim 17 , wherein the time data is for at least one of:
a past inspection of the inspection surface; or
a future inspection of the inspection surface, and wherein the inspection robot further 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 coup

Assignees

• Gecko Robotics Inc

Inventors

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

Classifications

• G01B17/025

  for measuring thickness of coating · CPC title

• G01N29/00

  Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object (G01N3/00 - G01N27/00 take precedence) · CPC title

• G01C21/12

  executed aboard the object being navigated; Dead reckoning · CPC title

• B25J9/0009

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

• F16L2101/16

  Coating by application of fluent materials, e.g. painting · CPC title