Abstract: A payload may perform inspection operations for an inspection surface. The payload may configure metadata for inspection data collected as a part of the inspection operations. The payload may upload inspection data in response to the inspection operations. The payload may perform at least one of analysis of the inspection data or validation of the inspection data utilizing the uploaded inspection data, where the performing at least one of analysis of the inspection data or validation of the inspection data comprises accessing a facility visualization and planning platform. The payload may provide a preliminary report in response to the analyzed and/or validated inspection data. The payload may review the preliminary report for data quality and/or data accuracy, and provide an approved report in response to the review. The payload may confirm the approved report for scope completion, and provide a confirmed final report.

Abstract: A calibration block may include an engagement surface having a selected vertical extent along a vertical axis and a selected horizontal extent along a horizontal axis. The block may include a block depth trajectory comprising a variable depth of the block along the vertical axis, the depth of the block at each position along the vertical axis comprising an effective distance between the engagement surface and an opposing surface. The block may include an end face defining at least one vertical feature hole, where the at least one vertical feature hole comprises a plurality of vertical feature holes. Each one of the plurality of vertical feature holes may comprise an angular offset orientation with a vertical axis of the block, where the angular offset orientation comprises an angle between zero degrees and 45 degrees, inclusive. The block may include a side face defining at least one horizontal feature hole.

Abstract: An inspection robot positioning system includes a first position sensor configured to provide a first position value, a second position sensor configured to provide a second position value, and a controller configured to determine a position description for an inspection robot in response to the first position value and the second position value, the position description including a robot position value of the inspection robot on an inspection surface.

Abstract: 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.

Abstract: A system for inspecting a flange member includes an inspection assembly support ring having an inner arc portion and an outer inspection assembly mount portion. The inner arc portion has an inner diameter structured to mount on the flange member, and the outer inspection assembly mount portion is rotationally coupled to the inner arc portion with a plurality of bearings interposed therebetween. The system further includes an inspection assembly mounted on the outer inspection assembly mount portion, and the inspection assembly includes an ultrasonic (UT) sensor on a pivot arm. The UT sensor is structured to interrogate a tapered surface of the flange member and to acquire UT interrogation data therefrom.

Abstract: A sled assembly for an inspection robot includes a first portion having a first sensor mount at a first horizontal position, and a second offset portion having a second sensor mount at a second horizontal position. The first horizontal position and the second horizontal position are horizontally displaced by a selected horizontal distance. The first portion includes a first plurality of sensor mounts, and the first plurality of sensor mounts include the first sensor mount. Also, the first plurality of sensor mounts include a first horizontal distribution profile providing a horizontal displacement between adjacent ones of the first plurality of sensor mounts that is not greater than a selected inspection resolution.

Abstract: A differential pivoting mechanism for a payload for an inspection robot. The mechanism includes a first rotational pivot joint that pivotally couples to a first sensor housing to pivot the first sensor housing in a first degree of freedom in a plane substantially perpendicular to a direction of travel of the inspection robot along an inspection surface plane defined, at least in part, by the surface. A second rotational pivot joint that pivotally couples to a second sensor housing to pivot the second sensor housing in the first degree of freedom in the plane substantially perpendicular to the direction of travel. A differential pivot joint that pivotally couples to a sensor frame of the inspection robot to pivot the first sensor housing with the second sensor housing in a second degree of freedom in the plane substantially perpendicular to the direction of travel.

Abstract: An inspection robot with a payload includes a first sled assembly including a first forward sensor mount group and a second rearward sensor mount group, the first forward sensor mount group at a first characteristic horizontal position and the second rearward sensor mount group at a second characteristic horizontal position. The inspection robot also includes a second sled assembly including a third forward sensor mount group and a fourth rearward sensor mount group, the third forward sensor mount group at a third characteristic horizontal position and the fourth rearward sensor mount group at a fourth characteristic horizontal position. The inspection robot also includes a payload mount and a means for inspecting an inspection surface at a selected inspection resolution. The first sled assembly is coupled to the payload mount at a first mounting position and the second sled assembly is coupled to the payload mount at a second mounting position.

Abstract: Inspection robots with flexible wheel/motor positioning are described. An example inspection robot may have a housing having a first connector positioned on a first side of the housing, and a second connector positioned on a second side of the housing. A first drive module may include a wheel and a motor and be operatively coupled to the first connector. A second drive module may include a wheel and a second motor and be operatively coupled to the second connector, where the wheel may be interposed between the second connector and the second motor.

Abstract: An example payload for an inspection robot having a mounting rail to inspect an inspection surface, the payload including a wedge element; and a probe holder, including: a mounting rail connection member structured to connect to the mounting rail; a wedge element holder structured to hold the wedge element; a spring-loaded member structured to connect to the mounting rail connection member and to provide a selected vertical force on the wedge element holder; and an extended member structured to connect to the spring-loaded member between a first end and a second end, and to connect to the wedge element holder at the second end.

Abstract: High temperature compliant wheels for an inspection robot are described.

Abstract: High temperature wheels for inspection robots are described. An example wheel may have a plurality of wheel enclosures with a plurality of inter-covers interposed between the plurality of wheel enclosures. The example wheel may have a magnetic hub including a high temperature magnet, the magnetic hub being interposed between a first wheel enclosure of the plurality of wheel enclosures and a second wheel enclosure of the plurality of wheel enclosures. Each of the plurality of inter-covers is structured to guide a magnetic field of the magnetic hub.

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.

Abstract: Systems, methods, and apparatus for ultra-sonic inspection of a surface are described. An example system may include an inspection robot structured to move in a direction of travel on an inspection surface. The inspection robot may include a payload including a first ultrasonic (UT) phased array and a second UT phased array, the first UT phased array and the second UT phased array being arranged in a parallel configuration. The inspection robot may include a rastering device structured to move the payload in a direction of inspection, the direction of inspection being distinct from the direction of travel and the direction of inspection being distinct from the parallel configuration of the first UT phased array and the second UT phased array.

Abstract: A system for providing an interactive inspection map of an inspection surface inspected by an inspection robot includes an inspection circuit structured to interpret inspection data of the inspection surface from the inspection robot and a user interaction circuit structured to interpret a user focus value from a user device. The user focus value includes an activation state value. The system further includes an inspection visualization circuit structured to provide the interactive inspection map to the user device in response to the user focus value. The interactive inspection map is based on the inspection data. Also, the system includes an inspection data validation circuit that determines an inspection data validity description of the inspection data. The inspection data validity description is provided as a display layer on the interactive inspection map to indicate whether the inspection data is valid.

Abstract: An example system may have a payload for an inspection robot structured to move in a direction of travel on an inspection surface. The payload may have a first sensor holder structured to support a first ultrasonic (UT) phased array at a first orientation, a second sensor holder structured to hold a second ultrasonic (UT) phased array at a second orientation, and a sensor holder linking component interposed between the first sensor holder and the second sensor holder. The sensor holder linking component may be structured to interact with the first and second sensor holders such that the first UT phased array and the second UT phased array are placed in a parallel configuration along a long edge of both the first and second UT phased array, and the first sensor holder and the second sensor holder are pivotably connected to the sensor holder linking component.

Abstract: Systems, methods, and apparatus for temperature control and active cooling of an inspection robot are disclosed. An example apparatus may include a temperature determination circuit to interpret an inspection temperature value, a temperature management circuit to determine a temperature management command in response to the inspection temperature value, and a temperature response circuit to provide the temperature management command to a temperature management device associated with an inspection robot.

Abstract: Methods and inspection robots with on body configuration are described. An example inspection robot may have a center body with a plurality of connected drive modules, each drive module having a sensing circuit to measure a drive module operating characteristic, and a visual indicator circuit to output a first visual indicator corresponding to the drive module operating characteristic. The visual indicator circuits of each of the plurality of drive modules are positioned to be simultaneously visible at a point of view.

Abstract: Robotic systems for ultrasonic surface inspection using shaped elements are described. An example system may have an inspection robot structured to move in a direction of travel on an inspection surface. The inspection robot may include: a payload having a first ultrasonic (UT) phased array and a second UT phased array, a rastering device operatively coupled to the payload, and structured to execute reciprocating motion of the payload, and a means for inspecting a weld affected region of the inspection surface on three (3) axes of inspection.

Abstract: Inspection robots with a payload engagement device are described. An example inspection robot may have a housing, a drive module, having at least one wheel and a motor, where the drive module is operatively coupled to the housing. The example inspection robot may also have a payload coupled to the drive module, where the payload includes a sensor mounted to the payload, and a payload engagement device operationally coupled to the drive module and the payload, where the payload engagement device applies a selected downward force on the payload.