System, method, and apparatus for acoustic inspection of a surface

Patent metadata

Field	Value
Publication number	US-11740635-B2
Application number	US-201815990046-A
Country	US
Kind code	B2
Filing date	May 25, 2018
Priority date	Dec 23, 2016
Publication date	Aug 29, 2023
Grant date	Aug 29, 2023

Abstract

A system includes an inspection robot comprising a plurality of sensor sleds; a plurality of ultra-sonic (UT) sensors; a couplant chamber mounted to each of the plurality of sleds, each couplant chamber comprising: a cone, the cone comprising a cone tip portion at an inspection surface end of the cone; a sensor mounting end opposite the cone tip portion; a couplant entry fluidly coupled to the cone at a position between the cone tip portion and the sensor mounting end; and wherein each of the UT sensors is mounted to the sensor mounting end of one of the couplant chambers.

First claim

What is claimed is:

1. A system, comprising:
an inspection robot comprising:
a plurality of sensor sleds,
wherein each of the plurality of sensor sleds is coupled to a respective one of a plurality of arms such that the plurality of sensor sleds are along the inspection robot in a linear positioning;
a plurality of inspection sled mounts each mounted with a first pivot connection that provides a first pivotal degree of freedom for each of the plurality of sensor sleds and the respective ones of the plurality of arms to rotate in an arc around respective axes each perpendicular to the linear positioning and in a direction of travel of the inspection robot,
wherein the plurality of arms are respectively coupled to the plurality of inspection sled mounts with a second pivot connection, and a second pivotal degree of freedom of each of the sensor sleds is about the second pivot connection;
a plurality of ultra-sonic (UT) sensors;
and a couplant chamber mounted to each of the plurality of sensor sleds.

2. The system of claim 1 , each couplant chamber comprising:
a cone, the cone comprising a cone tip portion at an inspection surface end of the cone;
a sensor mounting end opposite the cone tip portion; and
a couplant entry fluidly coupled to the cone at a position between the cone tip portion and the sensor mounting end,
wherein each of the plurality of UT sensors is mounted to the sensor mounting end of one of the couplant chambers,
wherein the couplant entry is positioned at a vertically upper side of the cone in an intended orientation of the inspection robot on an inspection surface.

3. The system of claim 1 , wherein each of the plurality of sensor sleds comprises a bottom surface having a curvature matching a curvature of an inspection surface.

4. The system of claim 3 , wherein each of the plurality of sensor sleds is mounted on the respective one of the plurality of arms, the inspection robot further comprising a biasing member providing a down force on each of the plurality of arms.

5. The system of claim 4 , wherein the plurality of sensor sleds are horizontally distributed relative to the inspection surface at selected horizontal positions.

6. The system of claim 5 , wherein the selected horizontal positions comprise an inspection distance between two horizontally adjacent sensors of the plurality of UT sensors that is not greater than a selected horizontal resolution.

7. The system of claim 1 ,
wherein: the sensor sleds are each coupled to the respective arms at a third pivot connection; and
a third pivotal degree of freedom of each of the sensor sleds is about the third pivot connection.

8. The system of claim 1 , wherein the first pivot connection includes a gimbal mount.

9. The system of claim 1 , wherein:
the inspection robot further comprises a housing and a plurality of shafts;
the respective arms mount to a first of the plurality of shafts; and
a second and a third of the plurality of shafts mount to the housing.

10. The system of claim 1 , wherein the respective axes are parallel to each other.

11. A method, comprising:
mounting a couplant chamber to each one of a plurality of sensor sleds of an inspection robot, wherein each of the plurality of sensor sleds is coupled to a respective one of a plurality of arms such that the plurality of sensor sleds are along the inspection robot in a linear positioning,
wherein the inspection robot further includes a plurality of inspection sled mounts each mounted with a first pivot connection that provides a first pivotal degree of freedom for each of the plurality of sensor sleds and the respective ones of the plurality of arms to rotate in an arc around respective axes each perpendicular to the linear positioning and in a direction of travel of the inspection robot,
wherein the plurality of arms are respectively coupled to the plurality of inspection sled mounts with a second pivot connection, and a second pivotal degree of freedom of each of the sensor sleds is about the second pivot connection;
coupling an ultra-sonic (UT) sensor to a sensor mounting end of each of the couplant chambers;
providing couplant to a couplant entry of each of the couplant chambers, thereby acoustically coupling each of the UT sensors to an inspection surface;
acoustically interrogating the inspection surface with the UT sensors;
and pivoting at least one of the sensor sleds of the plurality in the first pivotal degree of freedom.

12. The method of claim 11 , further comprising attaching a couplant source to each couplant entry, and providing the couplant from the couplant source.

13. The method of claim 12 , further comprising replacing one of the UT sensors, wherein the replacing is performed without detaching the couplant source for the couplant entry corresponding to the replaced sensor.

14. The method of claim 13 , wherein the replacing is performed without unmounting the couplant chamber corresponding to the replaced sensor.

15. The method of claim 14 , further comprising moving the inspection robot over the inspection surface during the acoustically interrogating, wherein the moving the inspection robot further comprises aligning each of the plurality of sensor sleds with a feature of the inspection surface.

16. The method of claim 15 , wherein the moving further comprises traversing a surface anomaly of the inspection surface, wherein the traversing comprises engaging a sled ramp of one of the sleds with the surface anomaly.

17. The method of claim 15 , wherein the aligning comprises at least one operation selected from the operations consisting of: providing a curvature to a bottom surface of the sensor sleds; and providing a down force on each of the sensor sleds.

18. A system, comprising:
an inspection robot comprising:
a plurality of sensor sleds, wherein each of the plurality of sensor sleds is coupled to a respective one of a plurality of arms such that the plurality of sensor sleds are along the inspection robot in a linear positioning;
a plurality of inspection sled mounts each mounted with a first pivot connection that provides a first pivotal degree of freedom for each of the plurality of sensor sleds and the respective ones of the plurality of arms to rotate in an arc around respective axes each perpendicular to the linear positioning and in a direction of travel of the inspection robot,
wherein the plurality of arms are respectively coupled to the plurality of inspection sled mounts with a second pivot connection, and a second pivotal degree of freedom of each of the sensor sleds is about the second pivot connection;
a plurality of ultra-sonic (UT) sensors each coupled to one of the plurality of sensor sleds; and
a means for acoustically coupling the plurality of UT sensors to an inspection surface.

19. The system of claim 18 , further comprising:
a means for acoustically interrogating a horizontal inspection lane of the inspection surface; and
a means for self-aligning the plurality of sensor sleds during the acoustically interrogating.

20. The system of claim 19 , further comprising a means for replacing one of the plurality of UT sensors without disconnecting a couplant source from the sensor sled corresponding to the replaced sensor.

21. The system of claim 19 , wherein the means for acoustically interrogating further comprises a means for acoustically interrogating the horizontal inspection lane at a selected horizontal resolution.

22. The system of claim 21 , wherein the means

Assignees

• Gecko Robotics Inc

Inventors

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

Classifications

• G05D1/24

  Arrangements for determining position or orientation · CPC title

• G05D1/223

  Command input arrangements on the remote controller, e.g. joysticks or touch screens · CPC title

• G05D1/246

  using environment maps, e.g. simultaneous localisation and mapping [SLAM] · CPC title

• G05D1/646

  Following a predefined trajectory, e.g. a line marked on the floor or a flight path · CPC title

• G05D1/628

  following the obstacle profile, e.g. a wall or undulated terrain · CPC title