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: A payload for an inspection robot to inspect an inspection surface may include a concrete sensing assembly and a payload mount. The concrete sensing assembly may include a first impactor at a first end, a first near transducer at a first distance from the first impactor, and a second far transducer at a second distance from the first impactor. The second distance may be greater than the first distance. The payload mount may be structured to couple the concrete sensing assembly to the inspection robot and to move the concrete sensing assembly between at least a first lowered position and a second raised position.

Abstract: A device may include a motive power module comprising a motive power device and a magnetic engagement device, coupled to a core module comprising a tether connection, a peripheral module interface, a power management component, and a data acquisition (DAQ) module interface. A device may include a peripheral module coupled to the peripheral module interface, the peripheral module comprising power coupling and communications coupling, and for a selected payload. A device may include a DAQ module coupled to the DAQ module interface, the DAQ module comprising a data acquisition circuit configured to collect, store, and/or transmit data from the selected payload to an external device.

Abstract: A device may include an inspection robot comprising a payload configured to interrogate an inspection surface in response to the inspection robot moving on the inspection surface, the payload comprising an ultrasonic (UT) sensor. A device may include a data verification controller, comprising: a verification data circuit structured to interpret verification data from the payload, an inspection status circuit structured to determine an inspection data quality value in response to the verification data; and a data verification circuit structured to perform a data verification operation in response to the inspection data quality value.

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 sled assembly for an inspection robot includes a first portion having a first ultrasonic (UT) sensor structured to interrogate an inspection surface and a second portion having a second UT sensor structured to interrogate the inspection surface. The first portion includes a first UT sensor housing that includes a first plurality of UT sensors structured to interrogate the inspection surface, the first plurality of UT sensors including the first UT sensor, and the second portion includes a second UT sensor housing that includes a second plurality of UT sensors structured to interrogate the inspection surface, the second plurality of UT sensors including the second UT sensor. The first portion and the second portion move independently of each other.

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: 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: 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 method for inspecting an inspection surface using an inspection robot includes operating a first group of ultrasonic sensors with a first calibration set and operating a second group of ultrasonic sensors with a second calibration set. The first group of ultrasonic sensors is included in a first sled assembly of a payload, and the second group of ultrasonic sensors is included in a second sled assembly of the payload. The first group of ultrasonic sensors is at a first characteristic vertical position on the first sled assembly, and the second group of ultrasonic sensors is at a second characteristic vertical position on the second sled assembly. The first calibration set includes a same calibration as the second calibration set, and the second group of ultrasonic sensors provides inspection data that is redundant with inspection data provided by the first group of ultrasonic sensors.

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 is positioned at a first characteristic horizontal position, and the second rearward sensor mount group is positioned at a second characteristic horizontal position. The inspection robot with the payload also includes a second sled assembly comprising a third forward sensor mount group and a fourth rearward sensor mount group. The third forward sensor mount group is positioned at a third characteristic horizontal position, and the fourth rearward sensor mount group is positioned at a fourth characteristic horizontal position. The inspection robot with the payload also includes a payload mount. The first sled assembly is coupled to the payload mount at a first mounting position.

Abstract: A method for inspecting an inspection surface using an inspection robot includes inspecting the inspection surface with a first sled assembly, the first sled assembly including a first forward sensor mount group and a second rearward sensor mount group. The method also includes inspecting the inspection surface with a second sled assembly, the second sled assembly including a third forward sensor mount group and a fourth rearward sensor mount group, and interpreting a first calibration value for a plurality of sensors of the first forward sensor mount group and a plurality of sensors of the third forward sensor mount group. Furthermore, the method includes performing inspection operations based on the first calibration value and capturing inspection data based on the inspection operations.

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: 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 method may collect inspection surface data at a first location proximate to an inspection surface of an asset. The method may transmit the inspection surface data to a second location distinct from the first location. The method may receive an inspection control parameter from the second location. The method may perform an inspection operation with an inspection robot having a phased array sensor, in response to the inspection control parameter, where the inspection control parameter comprises an inspection trajectory value.

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 inspection robot, including, a multi-sensor sled carriage including a plurality of sleds arranged on the multi-sensor sled carriage, each one of the plurality of sleds including a sensor opening, an acoustic inspection sensor coupled to the corresponding sensor opening; where a width of the multi-sensor sled carriage and a radial position of the plurality of sleds are configured to accommodate an inspection surface including a pipe outer diameter; a plurality of acoustic inspection sensors coupled to the sensor opening of the plurality of sleds.

Abstract: An inspection robot with a payload includes a first sled assembly comprising a first forward sensor mount group and a second rearward sensor mount group, a second sled assembly comprising a third forward sensor mount group and a fourth rearward sensor mount group, and a payload mount. The first sled assembly is coupled to the payload mount at a first mounting position. The inspection robot with the payload also includes a controller configured to interpret a first processing value for a plurality of sensors of the first forward sensor mount group, interpret a second processing value for a plurality of sensors of the second rearward sensor mount group, perform inspection operations based on the first processing value and the second processing value, and capture inspection data based on inspection operations.