Systems, methods, and apparatus for tracking location of an inspection robot

Patent metadata

Field	Value
Publication number	US-11648671-B2
Application number	US-202016869656-A
Country	US
Kind code	B2
Filing date	May 8, 2020
Priority date	Dec 23, 2016
Publication date	May 16, 2023
Grant date	May 16, 2023

Abstract

Systems, methods, and apparatus for tracking location of an inspection robot are disclosed. An example apparatus for tracking inspection data may include an inspection chassis having a plurality of inspection sensors configured to interrogate an inspection surface, a first drive module and a second drive module, both coupled to the inspection chassis. The first and second drive module may each include a passive encoder wheel and a non-contact sensor positioned in proximity to the passive encoder wheel, wherein the non-contact sensor provides a movement value corresponding to the first passive encoder wheel. An inspection position circuit may determine a relative position of the inspection chassis in response to the movement values from the first and second drive modules.

First claim

What is claimed is:

1. An apparatus for tracking inspection data, comprising:
an inspection chassis comprising a plurality of inspection sensors configured to interrogate an inspection surface;
a first drive module coupled to the inspection chassis, the first drive module comprising a first passive encoder wheel and a first sensor positioned in proximity to the first passive encoder wheel, wherein the first sensor provides a first movement value corresponding to the first passive encoder wheel;
a second drive module coupled to the inspection chassis, the second drive module comprising a second passive encoder wheel and a second sensor positioned in proximity to the second passive encoder wheel, wherein the second sensor provides a second movement value corresponding to the second passive encoder wheel; and
an inspection position circuit structured to determine a relative position of the inspection chassis in response to the first movement value and the second movement value,
wherein the inspection position circuit is further structured to determine the relative position of the inspection chassis in response to a first circumference value of the first passive encoder wheel and a second circumference value of the second passive encoder wheel, and
wherein the first and second drive modules provide the first and second circumference values respectively to the inspection position circuit.

2. The apparatus of claim 1 , wherein the first and second movement values are in response to a rotation of the first and second passive encoder wheels respectively.

3. The apparatus of claim 1 , wherein the first and second sensors are selected from a list consisting of a visual sensor, an electro-mechanical sensor, and a mechanical sensor.

4. The apparatus of claim 1 , further comprising a processed data circuit structured to:
receive the relative position of the inspection chassis and inspection data from the plurality of inspection sensors; and
determine relative position-based inspection data in response to the relative position and the inspection data.

5. The apparatus of claim 1 , wherein the inspection position circuit is further structured to determine the relative position of the inspection chassis in response to a reference position.

6. The apparatus of claim 5 , wherein the reference position is selected from a list of positions consisting of: a global positioning system location, a specified latitude and longitude, a plant location reference, an inspection surface location reference, and an equipment location reference.

7. The apparatus of claim 1 , wherein the first movement value comprises a measured rotation of the first passive encoder wheel.

8. The apparatus of claim 1 , wherein the inspection position circuit is further structured to provide a position of the inspection chassis relative to a reference position to a user display device.

9. The apparatus of claim 1 , wherein the first sensor is a non-contact sensor and the second sensor is a non-contact sensor.

10. The apparatus of claim 1 , wherein:
the first passive encoder wheel is part of a first encoder assembly that is separate from a first drive wheel, and the second passive encoder wheel is part of a second encoder assembly that is separate from a second drive wheel.

11. The apparatus of claim 1 , wherein:
the first passive encoder wheel is not structured to be driven; and
the second passive encoder wheel is not structured to be driven.

12. A system for viewing inspection data, comprising:
an inspection robot comprising:
an inspection chassis comprising a plurality of inspection sensors configured to interrogate an inspection surface;
a first drive module coupled to the inspection chassis, the first drive module comprising a first passive encoder wheel and a first non-contact sensor positioned in proximity to the first passive encoder wheel, wherein the first non-contact sensor provides a first movement value corresponding to the first passive encoder wheel;
a second drive module coupled to the inspection chassis, the second drive module comprising a second passive encoder wheel and a second non-contact sensor positioned in proximity to the second passive encoder wheel, wherein the second non-contact sensor provides a second movement value corresponding to the second passive encoder wheel; and
an inspection position circuit structured to determine a relative position of the inspection robot in response to the first movement value, the second movement value, and a reference position, and further structured to provide a position of the inspection robot relative to the reference position to a user display device,
wherein the inspection robot further comprises:
at least two connectors, each connector comprising:
a connector body having a first end for coupling with a corresponding one of the 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 positioned on the inspection chassis 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.

13. The system of claim 12 , further comprising a processed data circuit structured to:
receive the relative position of the inspection chassis and inspection data from a subset of the plurality of inspection sensors; and
determine relative position-based inspection data in response to the position and the inspection data.

14. The system of claim 13 , wherein the user display device is further structured to display the relative position-based inspection data.

15. The system of claim 14 , wherein the relative position-based inspection data is displayed as an overlay of a map of the inspection surface.

16. The system of claim 12 , wherein the inspection position circuit is further structured to determine the relative position of the inspection robot in response to the reference position.

17. The system of claim 16 , wherein the reference position is selected from a list of positions consisting of: a global positioning system location, a specified latitude and longitude, a plant location reference, an inspection surface location reference, and an equipment location reference.

18. The system of claim 12 , wherein the inspection position circuit is further structured to determine the relative position of the inspection chassis in response to a first circumference value of the first passive encoder wheel and a second circumference value of the second passive encoder wheel.

19. The system of claim 12 , wherein the corresponding drive modules are independently rotatable.

20. A method for tracking inspection data, comprising:
providing, by a first sensor, a first movement value corresponding to a first passive encoder wheel of a first drive module,
wherein the first drive module is coupled to an inspection chassis comprising a plurality of inspection sensors configured to interrogate an inspection surface, and the first drive module comprises the first passive encoder wheel and the first sensor positioned in proximity to the first passive encoder wheel;
providing, by a second sensor, a second movement value corresponding to a second passive

Assignees

• Gecko Robotics Inc

Inventors

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

Classifications

• G01S7/52079

  Constructional features (constructional features of transducers B06B; mounting transducers G10K11/00; constructional features of ultrasonic medical diagnostic devices A61B8/44) · CPC title

• G01N29/223

  Supports, positioning or alignment in fixed situation (mounting transducers per se G10K11/004) · CPC title

• G01N29/28

  providing acoustic coupling {, e.g. water (impedance matching G10K11/02)} · CPC title

• G01J3/50

  using electric radiation detectors · CPC title

• G01N2291/267

  Welds · CPC title