公开(公告)号：US20180284796A1

公开(公告)日：2018-10-04

申请号：US15997569

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 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：US20180284794A1

公开(公告)日：2018-10-04

申请号：US15997534

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 having a plurality of input sensors comprising a plurality of magnetic induction sensors and configured to provide inspection data of an inspection surface, wherein the inspection data comprises electromagnetic (EM) induction data, and wherein the plurality of input sensors are distributed horizontally relative to the inspection surface; wherein at least a portion of the inspection surface comprises a ferrous substrate having a non-ferrous coating thereupon; a controller, comprising: an EM data circuit structured to interpret the EM induction data, and to determine a substrate distance value in response to the EM induction data; and a thickness processing circuit structured to determine a thickness value in response to the EM induction data, the thickness value comprising a thickness of the non-ferrous coating.

公开(公告)号：US20180275674A1

公开(公告)日：2018-09-27

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 ,  B25J9/16 ,  G05D1/00

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：US20180275672A1

公开(公告)日：2018-09-27

申请号：US15988999

申请日：2018-05-24

Applicant: Gecko Robotics, Inc.

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

IPC: G05D1/02 ,  B25J9/16 ,  G05D1/00

CPC classification number: G05D1/0227 ,  B25J9/1697 ,  B62D57/02 ,  G01N29/00 ,  G01N29/225 ,  G01N29/265 ,  G01N29/28 ,  G01N2291/0258 ,  G01N2291/02854 ,  G01N2291/106 ,  G05B19/00 ,  G05B2219/45066 ,  G05D1/0088 ,  G05D1/0246 ,  G05D1/0272 ,  G05D1/0274

Abstract: A system includes an inspection robot having a plurality of acoustic sensors coupleable to an inspection surface through a couplant chamber defining a delay line therebetween; the plurality of acoustic sensors configured to provide raw acoustic data; a controller, comprising: an acoustic data circuit structured to interpret the raw acoustic data; a thickness processing circuit structured to determine a primary mode value and a primary mode score value in response to the raw acoustic data; and wherein the thickness processing circuit is further structured to determine a thickness value in response to the primary mode value and the primary mode score value.

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.

公开(公告)号：US20230333566A1

公开(公告)日：2023-10-19

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: G05D1/02 ,  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: 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：US11740635B2

公开(公告)日：2023-08-29

申请号：US15990046

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

CPC classification number: G05D1/0227 ,  B25J5/007 ,  B25J9/0009 ,  B25J9/0015 ,  B25J9/102 ,  B25J9/162 ,  B25J9/1602 ,  B25J9/1617 ,  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 ,  G01N29/225 ,  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 ,  G01N2291/0289 ,  G01N2291/02854 ,  G01N2291/044 ,  G01N2291/051 ,  G01N2291/106 ,  G01N2291/2634 ,  G01N2291/2636 ,  G05B15/02 ,  G05B2219/45066 ,  G05D2201/0207

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.

公开(公告)号：US11669100B2

公开(公告)日：2023-06-06

申请号：US15997545

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 ,  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 ,  G01N29/07 ,  G01M3/04 ,  G01N21/88 ,  G01N27/82 ,  G01N29/04 ,  G05B15/02

CPC classification number: G05D1/0227 ,  B25J5/007 ,  B25J9/0009 ,  B25J9/0015 ,  B25J9/102 ,  B25J9/162 ,  B25J9/1602 ,  B25J9/1617 ,  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 ,  G01N29/225 ,  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 ,  G01N2291/0289 ,  G01N2291/02854 ,  G01N2291/044 ,  G01N2291/051 ,  G01N2291/106 ,  G01N2291/2634 ,  G01N2291/2636 ,  G05B15/02 ,  G05B2219/45066 ,  G05D2201/0207

Abstract: A system includes an inspection robot having an input sensor comprising a laser profiler and a plurality of wheels structured to engage a curved portion of an inspection surface, wherein the laser profiler is configured to provide laser profiler data of the inspection surface; a controller, comprising: a profiler data circuit structured to interpret the laser profiler data; determine a feature of interest is present at a location of the inspection surface in response to the laser profiler data; and wherein the feature of interest comprises a shape description of the inspection surface at the location of the feature of interest.

公开(公告)号：US20230087654A1

公开(公告)日：2023-03-23

申请号：US18057544

申请日：2022-11-21

Applicant: Gecko Robotics, Inc.

Inventor： Edward A. Bryner ,  Kevin Y. Low ,  Ignacio J. Cordova ,  Francesco H. Trogu ,  Joshua D. Moore ,  Yizhu Gu ,  Ian Miller ,  Alvin Chou ,  Mark Jake Loosararian

IPC: B25J13/08 ,  B25J9/16 ,  B25J19/02 ,  B25J9/00 ,  G01N29/04 ,  G01N29/22 ,  G01N29/265 ,  G05D1/00 ,  B25J13/00 ,  B25J5/00 ,  B60K1/02 ,  B62D5/04 ,  B62D53/02

Abstract: Inspection robots and methods for inspection of curved surfaces with sensors at selected horizontal distances are described. An example of such an inspection robot includes a housing; a drive module with a wheel and a motor operatively linked to the housing, a plurality of sensor sleds, and a payload. The payload, which is coupled to the housing, may include a first and a second rail component, each with at least one connector, where the rail components are connectable at a first selected position of a plurality of discrete engagement positions. Each of the rail components may be structured to support at least one of the plurality of sleds where each of the plurality of sleds is coupled to the payload at a respective selected horizontal position such that the plurality of sleds are at selected horizontal distances from each other.

公开(公告)号：US11565417B2

公开(公告)日：2023-01-31

申请号：US16869691

申请日：2020-05-08

Applicant: Gecko Robotics, Inc.

Inventor： Edward A. Bryner ,  Kevin Y. Low ,  Joshua D. Moore ,  Dillon R. Jourde ,  Edwin H. Cho ,  Michael A. Binger ,  Mark Cho ,  Yizhu Gu ,  Jeffrey J. Mrkonich ,  Francesco H. Trogu ,  Domenic P. Rodriguez

IPC: B25J9/16 ,  B25J9/00 ,  B25J5/00 ,  G05D1/00 ,  G05D1/02 ,  B25J13/08 ,  B25J19/00 ,  B25J19/02 ,  B25J9/10 ,  G01B11/06 ,  G01B11/24 ,  G01B11/30 ,  G01B17/02 ,  G01B17/06 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00

Abstract: Systems and methods for configuring a robot for inspecting an inspection surface are disclosed. An example system may include an inspection robot having a payload coupled to at least two inspection sensors and a controller. The controller may include a route profile processing circuit to interpret route profile data for the inspection robot, a configuration determining circuit to determine one or more configurations for the inspection robot in response to the route profile data; and a configuration processing circuit to provide configuration data in response to the determined one or more configurations, the configuration data defining, at least in part, one or more inspection characteristics for the inspection robot.