公开(公告)号：US20240345580A1

公开(公告)日：2024-10-17

申请号：US18731490

申请日：2024-06-03

申请人： Gecko Robotics, Inc.

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

IPC分类号： 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 ,  G05D1/223 ,  G05D1/227 ,  G05D1/246 ,  G05D1/249 ,  G05D1/628 ,  G05D1/646 ,  G05D1/689 ,  G01M3/04 ,  G01N21/88 ,  G01N27/82 ,  G01N29/07 ,  G05B15/02

CPC分类号： 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 ,  G05D1/223 ,  G05D1/227 ,  G05D1/246 ,  G05D1/249 ,  G05D1/628 ,  G05D1/646 ,  G05D1/689 ,  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

摘要： A system includes an inspection robot comprising a main body and at least one payload; a plurality of arms, where each of the plurality of arms is pivotally mounted to the at least one payload to rotate around respective ones of a plurality of axes while the inspection robot traverses an inspection surface in a direction of travel, and where at least one of the plurality of axes is in the direction of travel; a plurality of sleds mounted to the plurality of arms; a plurality of inspection sensors coupled to the plurality of sleds such that each sensor is operationally couplable to the inspection surface; and where the plurality of sleds are distributed horizontally at adjustable positions spaced apart from each other across the at least one payload to inspect the inspection surface at a selected horizontal resolution.

公开(公告)号：US11307063B2

公开(公告)日：2022-04-19

申请号：US16387237

申请日：2019-04-17

申请人： Gecko Robotics, Inc.

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

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

摘要： An inspection apparatus for inspecting horizontal tubes in an industrial environment includes a drive module including a pair of wheels to engage a top tube of a vertically arranged layer of tubes, a telescoping pole, a sensor carriage assembly coupled to the telescoping pole, a lowering mechanism operationally coupled to the telescoping pole to selectively extend or retract the telescoping pole providing a selected vertical position of the sensor carriage assembly, and an encoder including a passive wheel, a spring, and a sliding coupler. The spring biases the passive wheel toward the top tube to ensure contact between the passive wheel and a surface of the top tube.

公开(公告)号：US11144063B2

公开(公告)日：2021-10-12

申请号：US15997569

申请日：2018-06-04

申请人： Gecko Robotics, Inc.

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

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

摘要： 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：US20180292838A1

公开(公告)日：2018-10-11

申请号：US15990046

申请日：2018-05-25

申请人： Gecko Robotics, Inc.

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

IPC分类号： G05D1/02 ,  B25J9/16 ,  G05D1/00

摘要： 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：US10895878B2

公开(公告)日：2021-01-19

申请号：US15988985

申请日：2018-05-24

申请人： Gecko Robotics, Inc.

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

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

摘要： A system includes an inspection robot, comprising a plurality of wheels that engage an inspection surface; a plurality of sensors positioned to interrogate the inspection surface; and wherein the plurality of wheels each comprise a first magnetic hub coupled to a second magnetic hub, and wherein the plurality of wheels further define a channel between the magnetic hubs.

公开(公告)号：US10739779B2

公开(公告)日：2020-08-11

申请号：US15988969

申请日：2018-05-24

申请人： Gecko Robotics, Inc.

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

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

摘要： 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, where the sleds comprise an upper portion coupled to a replaceable lower portion, the replaceable lower portion having a bottom surface shaped to accommodate an inspection surface; and an inspection sensor coupled to the upper portion of the one of the plurality of sleds such that the sensor is operationally couplable to the inspection surface.

公开(公告)号：US20180284797A1

公开(公告)日：2018-10-04

申请号：US16000732

申请日：2018-06-05

申请人： Gecko Robotics, Inc.

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

IPC分类号： G05D1/02 ,  B25J9/16 ,  G05D1/00

摘要： A system includes an inspection robot having mounted sleds, and a number of sensors each mounted to a sled. A couplant chamber is disposed within at least two of the sleds, each couplant chamber between a transducer of the sensor and an inspection surface. Each couplant chamber includes a cone, the cone having a cone tip portion at an inspection surface end, and a senor mounting end opposite the cone tip portion. A couplant entry for each couplant chamber is at a vertically upper side of the cone in the intended orientation of the inspection robot on the inspection surface.

公开(公告)号：US20180284796A1

公开(公告)日：2018-10-04

申请号：US15997569

申请日：2018-06-04

申请人： Gecko Robotics, Inc.

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

IPC分类号： G05D1/02 ,  B25J9/16 ,  G05D1/00

摘要： 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

申请人： Gecko Robotics, Inc.

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

IPC分类号： G05D1/02 ,  B25J9/16 ,  G05D1/00

摘要： 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

申请人： Gecko Robotics, Inc.

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

IPC分类号： G05D1/02 ,  B25J9/16 ,  G05D1/00

摘要： 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.