US 11,740,635 B2
System, method, and apparatus for acoustic inspection of a surface
Mark Loosararian, Pittsburgh, PA (US); Joshua Moore, Pittsburgh, PA (US); Yizhu Gu, Pittsburgh, PA (US); Kevin Low, Pittsburgh, PA (US); Edward Bryner, Pittsburgh, PA (US); Logan MacKenzie, Union City, PA (US); Ian Miller, Aspinwall, PA (US); Alvin Chou, Alpharetta, GA (US); and Todd Joslin, Wexford, PA (US)
Assigned to Gecko Robotics, Inc., Pittsburgh, PA (US)
Filed by Gecko Robotics, Inc., Pittsburgh, PA (US)
Filed on May 25, 2018, as Appl. No. 15/990,046.
Application 15/990,046 is a continuation of application No. 15/853,391, filed on Dec. 22, 2017, granted, now 10,698,412.
Claims priority of provisional application 62/596,737, filed on Dec. 8, 2017.
Claims priority of provisional application 62/596,737, filed on Dec. 8, 2017.
Claims priority of provisional application 62/438,788, filed on Dec. 23, 2016.
Prior Publication US 2018/0292838 A1, Oct. 11, 2018
Int. Cl. G01N 29/00 (2006.01); G01N 29/22 (2006.01); G01N 29/265 (2006.01); G01N 29/28 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 19/02 (2006.01); G01B 17/06 (2006.01); G01N 29/04 (2006.01); G05D 1/02 (2020.01); B62D 57/02 (2006.01); G05B 19/00 (2006.01); G01B 17/02 (2006.01); B25J 5/00 (2006.01); B60B 19/00 (2006.01); G01B 7/06 (2006.01); B25J 9/10 (2006.01); B25J 13/08 (2006.01); B25J 19/00 (2006.01); B60G 17/015 (2006.01); B60G 17/02 (2006.01); B60G 21/00 (2006.01); B62D 37/04 (2006.01); B62D 57/024 (2006.01); G01B 11/06 (2006.01); G01B 11/24 (2006.01); G01B 11/30 (2006.01); G01B 17/08 (2006.01); G01J 3/50 (2006.01); G01K 13/00 (2021.01); G05D 1/00 (2006.01); G01N 29/07 (2006.01); G01M 3/04 (2006.01); G01N 21/88 (2006.01); G01N 27/82 (2006.01); G05B 15/02 (2006.01)
CPC G05D 1/0227 (2013.01) [B25J 5/007 (2013.01); B25J 9/0009 (2013.01); B25J 9/0015 (2013.01); B25J 9/102 (2013.01); B25J 9/162 (2013.01); B25J 9/1602 (2013.01); B25J 9/1617 (2013.01); B25J 9/1633 (2013.01); B25J 9/1664 (2013.01); B25J 9/1666 (2013.01); B25J 9/1669 (2013.01); B25J 9/1679 (2013.01); B25J 9/1697 (2013.01); B25J 13/088 (2013.01); B25J 19/0029 (2013.01); B25J 19/02 (2013.01); B60B 19/006 (2013.01); B60G 17/015 (2013.01); B60G 17/02 (2013.01); B60G 21/002 (2013.01); B60G 21/007 (2013.01); B62D 37/04 (2013.01); B62D 57/02 (2013.01); B62D 57/024 (2013.01); G01B 7/105 (2013.01); G01B 11/0616 (2013.01); G01B 11/24 (2013.01); G01B 11/303 (2013.01); G01B 17/02 (2013.01); G01B 17/025 (2013.01); G01B 17/06 (2013.01); G01B 17/08 (2013.01); G01J 3/50 (2013.01); G01K 13/00 (2013.01); G01N 29/00 (2013.01); G01N 29/225 (2013.01); G01N 29/265 (2013.01); G01N 29/28 (2013.01); G05B 19/00 (2013.01); G05D 1/0016 (2013.01); G05D 1/0088 (2013.01); G05D 1/0094 (2013.01); G05D 1/0246 (2013.01); G05D 1/0272 (2013.01); G05D 1/0274 (2013.01); G01M 3/04 (2013.01); G01N 21/88 (2013.01); G01N 27/82 (2013.01); G01N 29/04 (2013.01); G01N 29/07 (2013.01); G01N 2291/011 (2013.01); G01N 2291/0231 (2013.01); G01N 2291/0258 (2013.01); G01N 2291/0289 (2013.01); G01N 2291/02854 (2013.01); G01N 2291/044 (2013.01); G01N 2291/051 (2013.01); G01N 2291/106 (2013.01); G01N 2291/2634 (2013.01); G01N 2291/2636 (2013.01); G05B 15/02 (2013.01); G05B 2219/45066 (2013.01); G05D 2201/0207 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A system, comprising:
an inspection robot comprising:
a plurality of sensor sleds,
wherein each of the plurality of sensor sleds is coupled to a respective one of a plurality of arms such that the plurality of sensor sleds are along the inspection robot in a linear positioning;
a plurality of inspection sled mounts each mounted with a first pivot connection that provides a first pivotal degree of freedom for each of the plurality of sensor sleds and the respective ones of the plurality of arms to rotate in an arc around respective axes each perpendicular to the linear positioning and in a direction of travel of the inspection robot,
wherein the plurality of arms are respectively coupled to the plurality of inspection sled mounts with a second pivot connection, and a second pivotal degree of freedom of each of the sensor sleds is about the second pivot connection;
a plurality of ultra-sonic (UT) sensors;
and a couplant chamber mounted to each of the plurality of sensor sleds.