公开(公告)号：US12061484B2

公开(公告)日：2024-08-13

申请号：US18303419

申请日：2023-04-19

Applicant: Gecko Robotics, Inc.

Inventor： Mark Loosararian ,  Joshua Moore ,  Yizhu Gu ,  Kevin Low ,  Edward Bryner ,  Logan MacKenzie ,  Ian Miller ,  Alvin Chou ,  Todd Joslin

IPC: G05D1/00 ,  B25J5/00 ,  B25J9/00 ,  B25J9/10 ,  B25J9/16 ,  B25J13/08 ,  B25J19/00 ,  B25J19/02 ,  B60B19/00 ,  B60G17/015 ,  B60G17/02 ,  B60G21/00 ,  B62D37/04 ,  B62D57/02 ,  B62D57/024 ,  G01B7/06 ,  G01B11/06 ,  G01B11/24 ,  G01B11/30 ,  G01B17/02 ,  G01B17/06 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00 ,  G01N29/00 ,  G01N29/04 ,  G01N29/22 ,  G01N29/265 ,  G01N29/28 ,  G05B19/00 ,  G01M3/04 ,  G01N21/88 ,  G01N27/82 ,  G01N29/07 ,  G05B15/02

CPC classification number: G05D1/0227 ,  B25J5/007 ,  B25J9/0009 ,  B25J9/0015 ,  B25J9/102 ,  B25J9/1602 ,  B25J9/1617 ,  B25J9/162 ,  B25J9/1633 ,  B25J9/1664 ,  B25J9/1666 ,  B25J9/1669 ,  B25J9/1679 ,  B25J9/1697 ,  B25J13/088 ,  B25J19/0029 ,  B25J19/02 ,  B60B19/006 ,  B60G17/015 ,  B60G17/02 ,  B60G21/002 ,  B60G21/007 ,  B62D37/04 ,  B62D57/02 ,  B62D57/024 ,  G01B7/105 ,  G01B11/0616 ,  G01B11/24 ,  G01B11/303 ,  G01B17/02 ,  G01B17/025 ,  G01B17/06 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00 ,  G01N29/00 ,  G01N29/041 ,  G01N29/043 ,  G01N29/225 ,  G01N29/265 ,  G01N29/28 ,  G05B19/00 ,  G05D1/0016 ,  G05D1/0088 ,  G05D1/0094 ,  G05D1/0246 ,  G05D1/0272 ,  G05D1/0274 ,  G01M3/04 ,  G01N21/88 ,  G01N27/82 ,  G01N29/04 ,  G01N29/07 ,  G01N2291/011 ,  G01N2291/0231 ,  G01N2291/0258 ,  G01N2291/02854 ,  G01N2291/0289 ,  G01N2291/044 ,  G01N2291/051 ,  G01N2291/106 ,  G01N2291/2634 ,  G01N2291/2636 ,  G05B15/02 ,  G05B2219/45066

Abstract: A system including an inspection robot having a plurality of sensors, a further sensor, and a controller. The controller having circuitry to receive inspection data with a first resolution from the plurality of sensors, determine a characteristic on the inspection surface based on the inspection data, and provide an inspection operation adjustment in response to the characteristic, wherein the inspection operation adjustment includes a change from the first resolution to a second resolution. The change from the first resolution to the second resolution includes enabling the further sensor where the further sensor is at least one of: horizontally distributed with or vertically displaced from the plurality of sensors relative to a travel path of the plurality of sensors, and at least one of: offset in alignment from the travel path of the plurality of sensors, or operated out of phase with the plurality of sensors.

公开(公告)号：US12061483B2

公开(公告)日：2024-08-13

申请号：US17484643

申请日：2021-09-24

Applicant: Gecko Robotics, Inc.

Inventor： Mark Loosararian ,  Joshua Moore ,  Yizhu Gu ,  Kevin Low ,  Edward Bryner ,  Logan MacKenzie ,  Ian Miller ,  Alvin Chou ,  Todd Joslin

IPC: G05D1/00 ,  B25J5/00 ,  B25J9/00 ,  B25J9/10 ,  B25J9/16 ,  B25J13/08 ,  B25J19/00 ,  B25J19/02 ,  B60B19/00 ,  B60G17/015 ,  B60G17/02 ,  B60G21/00 ,  B62D37/04 ,  B62D57/02 ,  B62D57/024 ,  G01B7/06 ,  G01B11/06 ,  G01B11/24 ,  G01B11/30 ,  G01B17/02 ,  G01B17/06 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00 ,  G01N29/00 ,  G01N29/04 ,  G01N29/22 ,  G01N29/265 ,  G01N29/28 ,  G05B19/00 ,  G01M3/04 ,  G01N21/88 ,  G01N27/82 ,  G01N29/07 ,  G05B15/02

CPC classification number: G05D1/0227 ,  B25J5/007 ,  B25J9/0009 ,  B25J9/0015 ,  B25J9/102 ,  B25J9/1602 ,  B25J9/1617 ,  B25J9/162 ,  B25J9/1633 ,  B25J9/1664 ,  B25J9/1666 ,  B25J9/1669 ,  B25J9/1679 ,  B25J9/1697 ,  B25J13/088 ,  B25J19/0029 ,  B25J19/02 ,  B60B19/006 ,  B60G17/015 ,  B60G17/02 ,  B60G21/002 ,  B60G21/007 ,  B62D37/04 ,  B62D57/02 ,  B62D57/024 ,  G01B7/105 ,  G01B11/0616 ,  G01B11/24 ,  G01B11/303 ,  G01B17/02 ,  G01B17/025 ,  G01B17/06 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00 ,  G01N29/00 ,  G01N29/041 ,  G01N29/043 ,  G01N29/225 ,  G01N29/265 ,  G01N29/28 ,  G05B19/00 ,  G05D1/0016 ,  G05D1/0088 ,  G05D1/0094 ,  G05D1/0246 ,  G05D1/0272 ,  G05D1/0274 ,  G01M3/04 ,  G01N21/88 ,  G01N27/82 ,  G01N29/04 ,  G01N29/07 ,  G01N2291/011 ,  G01N2291/0231 ,  G01N2291/0258 ,  G01N2291/02854 ,  G01N2291/0289 ,  G01N2291/044 ,  G01N2291/051 ,  G01N2291/106 ,  G01N2291/2634 ,  G01N2291/2636 ,  G05B15/02 ,  G05B2219/45066

Abstract: A system includes an inspection robot having a plurality of input sensors, the plurality of input sensors distributed horizontally relative to an inspection surface and configured to provide inspection data of the inspection surface at selected horizontal positions; a controller, comprising: a position definition circuit structured to determine an inspection robot position of the inspection robot on the inspection surface; a data positioning circuit structured to interpret the inspection data, and to correlate the inspection data to the inspection robot position on the inspection surface; and wherein the data positioning circuit is further structured to determine position informed inspection data in response to the correlating of the inspection data with the inspection robot position.

公开(公告)号：US11892322B2

公开(公告)日：2024-02-06

申请号：US17694897

申请日：2022-03-15

Applicant: Gecko Robotics, Inc.

Inventor： Kevin Low ,  Edward Bryner ,  Logan Mackenzie ,  Joshua Moore ,  Michael S. Auda ,  Mark Cho ,  Edwin H. Cho

IPC: G01D11/30 ,  G01B11/24 ,  B25J9/16 ,  B25J15/00 ,  G05D3/12

CPC classification number: G01D11/30 ,  B25J9/1679 ,  B25J15/0019 ,  G01B11/24 ,  G05D3/125

Abstract: An example inspection robot may include a drive module structured to engage a top tube of a vertically arranged layer of tubes, at least one telescoping pole, and a lowering mechanism operationally coupled to the at least one telescoping pole and structured to selectively extend or retract the at least one telescoping pole, thereby providing a selected vertical position of a sensor carriage assembly. The sensor carriage assembly may be coupled to the at least one telescoping pole, and structured to accept at least one of a plurality of sensors.

公开(公告)号：US11429109B2

公开(公告)日：2022-08-30

申请号：US16687094

申请日：2019-11-18

Applicant: Gecko Robotics, Inc.

Inventor： Mark Loosararian ,  Joshua Moore ,  Yizhu Gu ,  Kevin Low ,  Edward Bryner ,  Logan MacKenzie ,  Ian Miller ,  Alvin Chou ,  Todd Joslin

IPC: G05D1/02 ,  G05B19/00 ,  G05D1/00 ,  B25J9/16 ,  G01N29/00 ,  G01N29/22 ,  G01N29/265 ,  G01N29/28 ,  B62D57/02 ,  G01B17/02 ,  B25J5/00 ,  B60B19/00 ,  G01B7/06 ,  G01N29/07

Abstract: A system includes an inspection robot for performing an inspection on an inspection surface with an inspection robot, the apparatus comprising a position definition circuit structured to determine an inspection robot position on the inspection surface; a data positioning circuit structured to interpret inspection data, and to correlate the inspection data to the inspection robot position on the inspection surface; and wherein the data positioning circuit is further structured to determine position informed inspection data in response to the correlating of the inspection data with the inspection robot position, wherein the position informed inspection data comprises absolute position data.

公开(公告)号：US11385649B2

公开(公告)日：2022-07-12

申请号：US16687094

申请日：2019-11-18

Applicant: Gecko Robotics, Inc.

Inventor： Mark Loosararian ,  Joshua Moore ,  Yizhu Gu ,  Kevin Low ,  Edward Bryner ,  Logan MacKenzie ,  Ian Miller ,  Alvin Chou ,  Todd Joslin

IPC: G05D1/02 ,  G05B19/00 ,  G05D1/00 ,  B25J9/16 ,  G01N29/00 ,  G01N29/22 ,  G01N29/265 ,  G01N29/28 ,  B62D57/02 ,  G01B17/02 ,  B25J5/00 ,  B60B19/00 ,  G01B7/06 ,  G01N29/07

Abstract: A system includes an inspection robot for performing an inspection on an inspection surface with an inspection robot, the apparatus comprising a position definition circuit structured to determine an inspection robot position on the inspection surface; a data positioning circuit structured to interpret inspection data, and to correlate the inspection data to the inspection robot position on the inspection surface; and wherein the data positioning circuit is further structured to determine position informed inspection data in response to the correlating of the inspection data with the inspection robot position, wherein the position informed inspection data comprises absolute position data.

公开(公告)号：US20220196445A1

公开(公告)日：2022-06-23

申请号：US17694897

申请日：2022-03-15

Applicant: Gecko Robotics, Inc.

Inventor： Kevin Low ,  Edward Bryner ,  Logan MacKenzie ,  Joshua Moore ,  Michael S. Auda ,  Mark Cho ,  Edwin H. Cho

IPC: G01D11/30 ,  G01B11/24 ,  B25J9/16 ,  B25J15/00 ,  G05D3/12

Abstract: Inspection robots for horizontal tube inspection are described. An example inspection robot may include a drive module structured to engage a top tube of a vertically arranged layer of tubes, an encoder, at least one telescoping pole, and a lowering mechanism operationally coupled to the at least one telescoping pole and structured to selectively extend or retract the at least one telescoping pole, thereby providing a selected vertical position of a swappable sensor carriage assembly. The swappable sensor carriage assembly may be coupled to the at least one telescoping pole, and structured to accept at least one of a plurality of sensors, including at least one of an ultrasonic sensor, a laser profiler, or a camera and a light.

公开(公告)号：US10795373B2

公开(公告)日：2020-10-06

申请号：US15990021

申请日：2018-05-25

Applicant: Gecko Robotics, Inc.

Inventor： Mark Loosararian ,  Joshua Moore ,  Yizhu Gu ,  Kevin Low ,  Edward Bryner ,  Logan MacKenzie ,  Ian Miller ,  Alvin Chou ,  Todd Joslin

IPC: G05D1/02 ,  G01N29/00 ,  G01N29/22 ,  G01N29/265 ,  G01N29/28 ,  B62D57/02 ,  B25J5/00 ,  B60B19/00 ,  G05B19/00 ,  G01B17/02 ,  G01B7/06 ,  B25J9/16 ,  G05D1/00 ,  G01N29/07

Abstract: A system includes an inspection robot comprising 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; 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 an inspection surface; and 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 the corresponding payload.

公开(公告)号：US10698412B2

公开(公告)日：2020-06-30

申请号：US15853391

申请日：2017-12-22

Applicant: Gecko Robotics, Inc.

Inventor： Mark Loosararian ,  Joshua Moore ,  Yizhu Gu ,  Kevin Low ,  Edward Bryner ,  Logan MacKenzie ,  Ian Miller ,  Alvin Chou ,  Todd Joslin

IPC: G01N29/00 ,  G01N29/22 ,  G01N29/265 ,  G01N29/28 ,  G05D1/02 ,  B62D57/02 ,  G05B19/00 ,  G01B17/02 ,  B25J5/00 ,  B60B19/00 ,  G01B7/06 ,  B25J9/16 ,  G05D1/00 ,  G01N29/07

Abstract: A system includes an inspection robot having a number of payloads, a number of arms mounted to the payloads, and a number of sleds mounted to the arms. The system includes a number of sensors, each mounted to a corresponding sled, such that the sensor is operationally coupleable to an inspection surface in contact with a bottom surface of the corresponding sled. A couplant chamber is provided within at least two of the sleds, the couplant chamber between a transducer of a sensor and the inspection surface. The system includes a biasing member for each of the arms, where the biasing member provides a down force on the corresponding sled.

公开(公告)号：US20180284795A1

公开(公告)日：2018-10-04

申请号：US15997566

申请日：2018-06-04

Applicant: Gecko Robotics, Inc.

Inventor： Mark Loosararian ,  Joshua Moore ,  Yizhu Gu ,  Kevin Low ,  Edward Bryner ,  Logan MacKenzie ,  Ian Miller ,  Alvin Chou ,  Todd Joslin

IPC: G05D1/02 ,  B25J9/16 ,  G05D1/00

Abstract: A system includes an inspection robot comprising a lead inspection sensor providing lead inspection data, and a trailing inspection sensor; a controller, comprising: an inspection data circuit structured to interpret the lead inspection data; a sensor configuration circuit structured to determine a trailing sensor configuration change for the trailing inspection sensor in response to the lead inspection data; and a sensor operation circuit structured to adjust a trailing sensor configuration for the trailing inspection sensor in response to the trailing sensor configuration change.

公开(公告)号：US20230341865A1

公开(公告)日：2023-10-26

申请号：US18341991

申请日：2023-06-27

Applicant: Gecko Robotics, Inc.

Inventor： Mark Loosararian ,  Joshua Moore ,  Yizhu Gu ,  Kevin Low ,  Edward Bryner ,  Logan MacKenzie ,  Ian Miller ,  Alvin Chou ,  Todd Joslin

IPC: G05D1/02 ,  G01N29/00 ,  G01N29/22 ,  G01N29/265 ,  G01N29/28 ,  B62D57/02 ,  G05B19/00 ,  G01B17/02 ,  B25J5/00 ,  B60B19/00 ,  G01B7/06 ,  B25J9/00 ,  B25J9/10 ,  B25J9/16 ,  B25J13/08 ,  B25J19/00 ,  B25J19/02 ,  B60G17/015 ,  B60G17/02 ,  B60G21/00 ,  B62D37/04 ,  B62D57/024 ,  G01B11/06 ,  G01B11/24 ,  G01B11/30 ,  G01B17/06 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00 ,  G05D1/00

CPC classification number: G05D1/0227 ,  G01N29/00 ,  G01N29/225 ,  G01N29/265 ,  G01N29/28 ,  B62D57/02 ,  G05B19/00 ,  G01B17/02 ,  G01B17/025 ,  B25J5/007 ,  B60B19/006 ,  G01B7/105 ,  B25J9/0009 ,  B25J9/0015 ,  B25J9/102 ,  B25J9/1602 ,  B25J9/1617 ,  B25J9/162 ,  B25J9/1633 ,  B25J9/1664 ,  B25J9/1666 ,  B25J9/1669 ,  B25J9/1679 ,  B25J13/088 ,  B25J19/0029 ,  B25J19/02 ,  B60G17/015 ,  B60G17/02 ,  B60G21/002 ,  B60G21/007 ,  B62D37/04 ,  B62D57/024 ,  G01B11/0616 ,  G01B11/24 ,  G01B11/303 ,  G01B17/06 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00 ,  G05D1/0016 ,  G05D1/0094 ,  B25J9/1697 ,  G05D1/0088 ,  G05D1/0246 ,  G05D1/0272 ,  G05D1/0274 ,  G01N2291/02854 ,  G01N2291/106 ,  G01N2291/0258 ,  G01N2291/2636 ,  G01N2291/2634 ,  G01N2291/051 ,  G01N2291/0289 ,  G01N2291/011 ,  G01N29/07

Abstract: Systems, methods, and apparatus for acoustic inspection of a surface are described. An example system may include an inspection robot structured to traverse an inspection surface in a direction of travel. The inspection robot may include a payload having a plurality of arms, connected to the inspection robot, to rotate around respective ones of a plurality of axes while the inspection robot traverses the inspection surface, where each of the plurality of axes is in the direction of travel. A plurality of sleds may be connected to the plurality of arms, and a plurality of inspection sensors connected to the plurality of sleds. The plurality of inspection sensors may be spaced apart from each other at adjustable positions to inspect the inspection surface at an adjustable resolution.