# US 11,992,935 B2 · Methods and apparatus for verifiable inspection operations

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- Number: US 11,992,935 B2
- Document ID: US11992935B2
- Status: Granted
- Kind: B2
- Application number: 17/752,059
- Filed: 2022-05-24
- Published: 2022-10-20
- Granted: 2024-05-28
- Earliest claimed: 2021-04-20
- Assignees: Gecko Robotics, Inc.
- Applicants: Gecko Robotics, Inc.
- Inventors: Edward A. Bryner; Edwin H. Cho; Kevin Y. Low; Michael A. Binger
- Web page: https://patentgrep.com/patent/US11992935B2

## CPC

- B60B 19/12: Roller-type wheels (B60B19/06 takes precedence)
- B25J 5/007: {mounted on wheels}
- B25J 9/0009: {Constructional details, e.g. manipulator supports, bases}
- B25J 9/1617: {Cellular, reconfigurable manipulator, e.g. cebot}
- B25J 9/163: {learning, adaptive, model based, rule based expert control}
- B25J 9/1653: {parameters identification, estimation, stiffness, accuracy, error analysis}
- B25J 9/1664: {characterised by motion, path, trajectory planning}
- B25J 9/1674: {characterised by safety, monitoring, diagnostic}
- B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion}
- B25J 13/006: {by means of a wireless system for controlling one or several manipulators}
- B25J 13/087: {for sensing other physical parameters, e.g. electrical or chemical properties}
- B25J 19/0054: {Cooling means}
- B25J 19/021: {Optical sensing devices}
- B25J 19/027: {Electromagnetic sensing devices}
- B60B 19/006: {Magnetic wheels}
- B60K 1/02: comprising more than one electric motor
- B62D 53/02: comprising a uniaxle tractor unit and a uniaxle trailer unit {(see B60B11/00 - B60B11/08)}
- B62D 57/024: specially adapted for moving on inclined or vertical surfaces (endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02)
- G01N 29/04: Analysing solids (using acoustic emission techniques G01N29/14)
- G01N 29/043: {in the interior, e.g. by shear waves}
- G01N 29/225: {Supports, positioning or alignment in moving situation}
- G01N 29/226: {Handheld or portable devices}
- G01N 29/265: by moving the sensor relative to a stationary material
- G06F 1/206: {comprising thermal management}
- H05K 1/18: structurally associated with non-printed electric components (H05K1/16 takes precedence)
- B25J 9/1666: {Avoiding collision or forbidden zones}
- B25J 9/1692: {Calibration of manipulator}
- B60B 2360/102: Steel
- B60B 2360/104: Aluminum
- B60B 2360/109: Bronze
- B60B 2900/931: Magnetic effects
- B60K 7/00: Disposition of motor in, or adjacent to, traction wheel
- B60K 7/0007: {the motor being electric}
- G01N 2291/0237: Thin materials, e.g. paper, membranes, thin films
- G01N 2291/02854: Length, thickness
- G01N 2291/0289: Internal structure, e.g. defects, grain size, texture
- G01N 2291/2698: Other discrete objects, e.g. bricks
- G05B 2219/45066: Inspection robot
- G06F 2200/201: Cooling arrangements using cooling fluid
- H05K 2201/10151: Sensor
- B60B: VEHICLE WHEELS (making wheels or wheel parts by rolling B21H1/00, by forging, hammering or pressing B21K1/28); CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q)
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- H05K: PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

Methods and apparatus for verifiable inspection operations are described. An example apparatus may have an inspection description circuit to interpret an inspection definition value and a payload status circuit to provide a payload identification value in response to at least one of a payload specific configuration or signals from a payload. The example apparatus may also have an inspection integrity circuit to determine an inspection description value in response to the inspection definition value and the payload identification value and an inspection reporting circuit to communicate the inspection description value to an external device.

## Claims

### Claim 1

An apparatus, comprising:
an inspection description circuit structured to interpret an inspection definition value;
a payload status circuit structured to provide a payload identification value in response to at least one of a payload specific configuration or signals from a payload of an inspection robot;
an inspection integrity circuit structured to determine an inspection description value in response to the inspection definition value and the payload identification value; and
an inspection reporting circuit structured to communicate the inspection description value to an external device.

### Claim 2 (depends on 1)

The apparatus of claim 1, wherein the inspection definition value comprises at least one value selected from the values consisting of:
a sensor type value;
a sensor identifier;
a sensor calibration value;
a sensor processing description;
an inspection resolution value; and
a sensor diagnostic value.

### Claim 3 (depends on 1)

The apparatus of claim 1, further comprising a drive module status circuit structured to provide a drive module status value in response to communications with a drive module of the inspection robot,
wherein the inspection integrity circuit is further structured to determine the inspection description value in response to the drive module status value, and
wherein the inspection definition value comprises at least one of an inspection surface coverage value or an inspection execution value.

### Claim 4 (depends on 1)

The apparatus of claim 1, further comprising an encoder status circuit structured to provide an inspection position value in response to communications with an encoder of the inspection robot,
wherein the inspection integrity circuit is further structured to determine the inspection description value in response to the inspection position value, and
wherein the inspection definition value comprises at least one of an inspection surface coverage value or an inspection execution value.

### Claim 5 (depends on 1)

The apparatus of claim 1, wherein the inspection definition value comprises at least one value selected from the values consisting of:
an inspection certification value;
an inspection data integrity value;
a sensor diagnostic value;
a drive module diagnostic value; and
an encoder diagnostic value.

### Claim 6 (depends on 1)

The apparatus of claim 1, wherein the inspection definition value comprises at least one value selected from the values consisting of:
a calibration version value;
a processing algorithm version value;
a diagnostic version value; and
a control algorithm version value.

### Claim 7 (depends on 1)

The apparatus of claim 1, wherein the inspection description value comprises at least one value selected from the values consisting of:
a sensing execution description;
a motive operation execution description;
a diagnostic execution description;
a data communication execution description; and
a couplant delivery execution description.

### Claim 8 (depends on 1)

The apparatus of claim 1, wherein the external device at least one device selected from the devices consisting of:
a base station computing device;
a facility computing device;
a computing device communicatively coupled to the inspection robot;
a data acquisition circuit positioned within a housing of the inspection robot, wherein the data acquisition circuit is communicatively coupled to the inspection robot; and
a cloud based computing device communicatively coupled to the inspection robot.

### Claim 9 (depends on 1)

The apparatus of claim 1, wherein the inspection definition value comprises at least one value selected from the values consisting of:
a sensor calibration value,
a sensor identifier,
a sensor type value,
a drive module identifier,
a drive module calibration value,
a drive module type value,
a control board identifier, and
a control board type value.

### Claim 10 (depends on 1)

The apparatus of claim 1, wherein the apparatus receives an identification verification value in response to communicating the inspection description value to the external device.

### Claim 11 (depends on 1)

The apparatus of claim 1, wherein the apparatus receives a calibration verification value in response to communicating the inspection description value to the external device.

### Claim 12 (depends on 1)

The apparatus of claim 1, wherein the apparatus receives a type value verification value in response to communicating the inspection description value to the external device.

### Claim 13 (depends on 1)

The apparatus of claim 1, wherein the inspection description value comprises at least one value selected from the values consisting of:
a sensor usage value,
a control board usage value, and
a drive module usage value.

### Claim 14

A method, comprising:
interpreting an inspection definition value, wherein interpreting the inspection definition value further comprises determining at least one of an inspection surface coverage value or an inspection execution value;
providing a payload identification value in response to at least one of a payload specific configuration or signals from a payload of an inspection robot;
determining an inspection description value in response to the inspection definition value and the payload identification value;
determining a drive module status value in response to the at least one of the inspection surface coverage value or the inspection execution value;
determining the inspection description value further in response to the drive module status value; and
communicating the inspection description value to an external device.

### Claim 15 (depends on 14)

The method of claim 14, wherein interpreting the inspection definition value further comprises determining at least one of:
a sensor type value;
a sensor identifier;
a sensor calibration value;
a sensor processing description;
an inspection resolution value; or
a sensor diagnostic value.

### Claim 16 (depends on 14)

The method of claim 14, further comprising:
determining an encoder status value in response to the at least one of the inspection surface coverage value or the inspection execution value; and
determining the inspection description value further in response to the encoder status value.