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US 10,895,878 B2Granted
Inspection robot having self-aligning wheels
AssigneeGecko Robotics, Inc.
InventorsMark Loosararian, Joshua Moore, Yizhu Gu, Kevin Low, Edward Bryner, Logan MacKenzie, Ian Miller, Alvin Chou, Todd Joslin
Life of this patent
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Abstract
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.
Claims19
An inspection robot, comprising:
- a plurality of sensors positioned to interrogate an inspection surface;
- and
- a plurality of self-aligning wheels that engage the inspection surface, each of the plurality of self-aligning wheels comprising:
- a magnet;
- a first enclosure;
- and
- a second enclosure;
- wherein the first and the second enclosures are disposed at opposing ends of the magnet forming a channel, and wherein at least one of the first or second enclosure comprises a guiding feature on a side of the at least one of the first or second enclosure facing away from the magnet, wherein each guiding feature is configured to track along the inspection surface.
5 more elements
A system, comprising:
- an inspection robot having a plurality of magnetic wheels that engage an inspection surface;
- and
- a plurality of sensors positioned to interrogate the inspection surface;
- wherein:
- each of the plurality of magnetic wheels comprises:
- a magnet,
- a first enclosure, and
- a second enclosure;
- and
- the first and the second enclosures are disposed at opposing ends of the magnet forming a channel, and wherein at least one of the first or second enclosure comprises a guiding feature on a side of the at least one of the first or second enclosure facing away from the magnet, wherein each guiding feature is configured to track along the inspection surface, the channel further defining a means for self-aligning the inspection robot with a feature of the inspection surface.
7 more elements
An inspection robot, comprising:
- a plurality of magnetic wheels that engage an inspection surface having a ferrous substrate;
- and
- a plurality of sensors positioned to interrogate the inspection surface;
- wherein:
- each of the plurality of magnetic wheels comprises:
- a magnet,
- a first enclosure,
- a second enclosure, and
- a contact surface comprising a first curvature, the first curvature matching a second curvature of one of a pipe or a tube of the inspection surface;
- and
- the first and the second enclosures are disposed at opposing ends of the magnet forming a channel, and wherein at least one of the first or second enclosure comprises a guiding feature on a side of the at least one of the first or second enclosure facing away from the magnet, wherein each guiding feature is configured to track along the inspection surface.
8 more elements
Dependencies are inferred from the claim text.