PL3974823T3 - Robot inspekcyjny - Google Patents

Robot inspekcyjny

Info

Publication number
PL3974823T3
PL3974823T3 PL21201397.3T PL21201397T PL3974823T3 PL 3974823 T3 PL3974823 T3 PL 3974823T3 PL 21201397 T PL21201397 T PL 21201397T PL 3974823 T3 PL3974823 T3 PL 3974823T3
Authority
PL
Poland
Prior art keywords
inspection robot
robot
inspection
Prior art date
Application number
PL21201397.3T
Other languages
English (en)
Inventor
Mark LOOSARARIAN
Joshua Moore
Yizhu GU
Kevin Low
Edward BRYNER
Logan MACKENZIE
Ian Miller
Alvin CHOU
Todd JOSLIN
Original Assignee
Gecko Robotics, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gecko Robotics, Inc. filed Critical Gecko Robotics, Inc.
Publication of PL3974823T3 publication Critical patent/PL3974823T3/pl

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Program controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/006—Magnetic wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/002—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces longitudinally
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/007—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces means for adjusting the wheel inclination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/10—Indicating wheel slip ; Correction of wheel slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
    • B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F22—STEAM GENERATION
    • F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
    • F22B37/00—Component parts or details of steam boilers
    • F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
    • F22B37/003—Maintenance, repairing or inspecting equipment positioned in or via the headers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G01B11/0616—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material of coating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
    • G01B11/303—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces using photoelectric detection means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
    • G01B17/025—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness for measuring thickness of coating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • G01B17/06—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • G01B17/08—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring roughness or irregularity of surfaces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
    • G01B7/06—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness
    • G01B7/10—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness using magnetic means, e.g. by measuring change of reluctance
    • G01B7/105—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness using magnetic means, e.g. by measuring change of reluctance for measuring thickness of coating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00—Tracing profiles
    • G01C7/02—Tracing profiles of land surfaces
    • G01C7/04—Tracing profiles of land surfaces involving a vehicle which moves along the profile to be traced
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
    • G01J3/46—Measurement of colour; Colour measuring devices, e.g. colorimeters
    • G01J3/50—Measurement of colour; Colour measuring devices, e.g. colorimeters using electric radiation detectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K13/00—Thermometers specially adapted for specific purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/041—Analysing solids on the surface of the material, e.g. using Lamb, Rayleigh or shear waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/043—Analysing solids in the interior, e.g. by shear waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/221—Arrangements for directing or focusing the acoustical waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/223—Supports, positioning or alignment in fixed situation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/225—Supports, positioning or alignment in moving situation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/24—Probes
    • G01N29/2468—Probes with delay lines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/28—Details, e.g. general constructional or apparatus details providing acoustic coupling, e.g. water
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/32—Arrangements for suppressing undesired influences, e.g. temperature or pressure variations, compensating for signal noise
    • G01N29/326—Arrangements for suppressing undesired influences, e.g. temperature or pressure variations, compensating for signal noise compensating for temperature variations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/44—Processing the detected response signal, e.g. electronic circuits specially adapted therefor
    • G01N29/46—Processing the detected response signal, e.g. electronic circuits specially adapted therefor by spectral analysis, e.g. Fourier analysis or wavelet analysis
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/222—Remote-control arrangements operated by humans
    • G05D1/223—Command input arrangements on the remote controller, e.g. joysticks or touch screens
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/227—Handing over between remote control and on-board control; Handing over between remote control arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/249—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons from positioning sensors located off-board the vehicle, e.g. from cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • G05D1/628—Obstacle avoidance following the obstacle profile, e.g. a wall or undulated terrain
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/689—Pointing payloads towards fixed or moving targets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/10—Treating the inside of pipes
    • F16L2101/12—Cleaning
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/10—Treating the inside of pipes
    • F16L2101/16—Coating by application of fluent materials, e.g. painting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M3/00—Investigating fluid-tightness of structures
    • G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
    • G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/01—Indexing codes associated with the measuring variable
    • G01N2291/011—Velocity or travel time
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/02—Indexing codes associated with the analysed material
    • G01N2291/023—Solids
    • G01N2291/0231—Composite or layered materials
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/02—Indexing codes associated with the analysed material
    • G01N2291/023—Solids
    • G01N2291/0237—Thin materials, e.g. paper, membranes, thin films
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/02—Indexing codes associated with the analysed material
    • G01N2291/025—Change of phase or condition
    • G01N2291/0258—Structural degradation, e.g. fatigue of composites, ageing of oils
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/02—Indexing codes associated with the analysed material
    • G01N2291/028—Material parameters
    • G01N2291/02854—Length, thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/02—Indexing codes associated with the analysed material
    • G01N2291/028—Material parameters
    • G01N2291/0289—Internal structure, e.g. defects, grain size, texture
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/04—Wave modes and trajectories
    • G01N2291/044—Internal reflections (echoes), e.g. on walls or defects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/04—Wave modes and trajectories
    • G01N2291/051—Perpendicular incidence, perpendicular propagation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/10—Number of transducers
    • G01N2291/106—Number of transducers one or more transducer arrays
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/26—Scanned objects
    • G01N2291/263—Surfaces
    • G01N2291/2634—Surfaces cylindrical from outside
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/26—Scanned objects
    • G01N2291/263—Surfaces
    • G01N2291/2636—Surfaces cylindrical from inside
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/26—Scanned objects
    • G01N2291/267—Welds
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/26—Scanned objects
    • G01N2291/269—Various geometry objects
    • G01N2291/2694—Wings or other aircraft parts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
    • G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/07—Analysing solids by measuring propagation velocity or propagation time of acoustic waves
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45066—Inspection robot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Immunology (AREA)
  • Biochemistry (AREA)
  • Analytical Chemistry (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Acoustics & Sound (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • General Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Mathematical Physics (AREA)
  • Signal Processing (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Computing Systems (AREA)
  • Human Computer Interaction (AREA)
  • Power Engineering (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Thermal Sciences (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Artificial Intelligence (AREA)
PL21201397.3T 2016-12-23 2017-12-22 Robot inspekcyjny PL3974823T3 (pl)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201662438788P 2016-12-23 2016-12-23
US201762596737P 2017-12-08 2017-12-08

Publications (1)

Publication Number Publication Date
PL3974823T3 true PL3974823T3 (pl) 2024-07-15

Family

ID=62627529

Family Applications (1)

Application Number Title Priority Date Filing Date
PL21201397.3T PL3974823T3 (pl) 2016-12-23 2017-12-22 Robot inspekcyjny

Country Status (7)

Country Link
US (20) US10698412B2 (pl)
EP (3) EP3974823B1 (pl)
CN (1) CN110300889A (pl)
CA (1) CA3046651A1 (pl)
ES (1) ES2901649T3 (pl)
PL (1) PL3974823T3 (pl)
WO (1) WO2018119450A1 (pl)

Families Citing this family (85)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12276420B2 (en) 2016-02-03 2025-04-15 Strong Force Iot Portfolio 2016, Llc Industrial internet of things smart heating systems and methods that produce and use hydrogen fuel
US11449064B1 (en) * 2017-03-02 2022-09-20 AI Incorporated Robotic fire extinguisher
US10744212B2 (en) 2016-03-14 2020-08-18 General Electric Company Topical application of nerve labeling dyes for image-guided surgery
EP3974823B1 (en) 2016-12-23 2024-03-06 Gecko Robotics, Inc. Inspection robot
US11673272B2 (en) 2016-12-23 2023-06-13 Gecko Robotics, Inc. Inspection robot with stability assist device
US12162160B2 (en) 2016-12-23 2024-12-10 Gecko Robotics, Inc. System, apparatus and method for improved location identification with prism
US11307063B2 (en) 2016-12-23 2022-04-19 Gtc Law Group Pc & Affiliates Inspection robot for horizontal tube inspection having vertically positionable sensor carriage
US12358141B2 (en) 2016-12-23 2025-07-15 Gecko Robotics, Inc. Systems, methods, and apparatus for providing interactive inspection map for inspection robot
US11085885B2 (en) * 2017-01-19 2021-08-10 Aegion Coating Services, Llc Pipe joint inspection
US10247657B2 (en) * 2017-05-04 2019-04-02 Allen Ventures, Llc Fire tube scanner and method of use
DE102017126916B4 (de) * 2017-11-15 2020-03-12 Samson Aktiengesellschaft Verfahren zum verschlüsselten Kommunizieren in einer prozesstechnischen Anlage, prozesstechnische Anlage, Feldgerät und Kontrollelektronik
US12353203B2 (en) 2018-05-07 2025-07-08 Strong Force Iot Portfolio 2016, Llc Methods and systems for data collection, learning, and streaming of machine signals for analytics and maintenance using the industrial Internet of Things
US11409306B2 (en) * 2018-08-14 2022-08-09 Chiba Institute Of Technology Movement robot
WO2020046874A1 (en) * 2018-08-27 2020-03-05 Ascend Robotics LLC Automated construction robot systems and methods
CN109050191A (zh) * 2018-08-31 2018-12-21 华南理工大学 一种利用双向丝杆的轮组升降装置
US11953883B2 (en) * 2018-09-03 2024-04-09 Gerhard Finkbeiner Lifting system and method for controlling the lifting system and control system for the lifting system
US11097796B2 (en) * 2018-11-29 2021-08-24 Saudi Arabian Oil Company Articulated magnet-bearing legs for UAV landing on curved surfaces
TWI718455B (zh) * 2018-12-20 2021-02-11 燕成祥 機器人偵測困住裝置
CN109613591A (zh) * 2018-12-29 2019-04-12 同方威视技术股份有限公司 移动探测装置
CA3126601A1 (en) 2019-01-13 2020-07-16 Strong Force Iot Portfolio 2016, Llc Methods, systems, kits and apparatuses for monitoring and managing industrial settings
US10801644B2 (en) * 2019-01-28 2020-10-13 Caterpillar Inc. Pipelaying guidance
CN113557713B (zh) 2019-02-12 2024-10-25 联邦科学与工业研究组织 情景感知监测
RU2707306C1 (ru) * 2019-02-26 2019-11-26 федеральное государственное бюджетное образовательное учреждение высшего образования "Пермский национальный исследовательский политехнический университет" Робот для технического контроля трубопроводов и сложных изгибных участков труб
CN109823434A (zh) * 2019-03-04 2019-05-31 温广胜 一种高灵活度的自走式机器人
EP3942330B1 (en) * 2019-03-12 2024-05-08 Yujin Robot Co., Ltd. Distance measurement sensor which detects error state in accordance with foreign substance and mobile robot
CN110171016A (zh) * 2019-05-22 2019-08-27 西安电子科技大学 一种基于高速串行通信的完全模块化柔性关节
CN110362100B (zh) * 2019-07-03 2022-02-01 武汉科技大学 一种基于四旋翼无人机的大型储罐自主巡检方法
CN110346429A (zh) * 2019-07-15 2019-10-18 北京海益同展信息科技有限公司 巡检设备和巡检方法
EP4290878A3 (en) * 2019-07-23 2024-03-06 R-Go Robotics Ltd Techniques for co-optimization of motion and sensory control
MX2022001012A (es) * 2019-07-24 2022-07-12 Marine Tech Llc Sistema y metodo para optimizar el uso de combustible de un buque marino.
WO2021028673A1 (en) * 2019-08-09 2021-02-18 Quantum Leap Technologies Limited Fabric maintenance sensor system
WO2021046607A1 (en) * 2019-09-12 2021-03-18 Commonwealth Scientific And Industrial Research Organisation Object moving system
US11579586B2 (en) * 2019-09-30 2023-02-14 Saudi Arabian Oil Company Robot dispatch and remediation of localized metal loss following estimation across piping structures
DE102019006804A1 (de) * 2019-09-30 2021-04-01 Man Truck & Bus Se Erfassungsvorrichtung für ein Kraftfahrzeug zum Erfassen von unter einer Wasseroberfläche liegenden Hindernissen
CN110764506B (zh) * 2019-11-05 2022-10-11 广东博智林机器人有限公司 移动机器人的航向角融合方法、装置和移动机器人
JP7260457B2 (ja) * 2019-11-12 2023-04-18 株式会社Soken 超音波探傷システム
US11809200B1 (en) * 2019-12-06 2023-11-07 Florida A&M University Machine learning based reconfigurable mobile agents using swarm system manufacturing
US12276574B2 (en) * 2020-01-30 2025-04-15 Quest Integrity Usa, Llc Gel pigging improvement
CN111562310A (zh) * 2020-05-11 2020-08-21 清华大学天津高端装备研究院 用于核电站大型储罐底板腐蚀检测的机器人
US12117974B2 (en) 2020-05-29 2024-10-15 Constellation Energy Generation, Llc Methods and systems for construct identification and analysis
CN111604878A (zh) * 2020-06-02 2020-09-01 北京史河科技有限公司 检测机器人
CN111890336B (zh) * 2020-06-15 2022-05-10 成都飞机工业（集团）有限责任公司 一种机器人多目标点示教方法、系统
CN111633662B (zh) * 2020-06-23 2024-10-15 国网安徽省电力有限公司电力科学研究院 一种电缆沟巡检机器人
KR20220010883A (ko) * 2020-07-20 2022-01-27 현대자동차주식회사 이동로봇 군집주행 시스템 및 그 제어 방법
US11553618B2 (en) * 2020-08-26 2023-01-10 PassiveLogic, Inc. Methods and systems of building automation state load and user preference via network systems activity
CN112147141B (zh) * 2020-09-22 2022-01-04 东北林业大学 一种加热线检测和断点衔接机器人系统
CN112254761B (zh) * 2020-09-25 2022-07-19 长沙杰立特自动化设备有限公司 蜗杆检测包装装置
CN112783054B (zh) * 2021-01-04 2022-03-08 海门市帕源路桥建设有限公司 一种电动遥控控制系统
CN112525995B (zh) * 2021-02-01 2022-04-01 山东沈潍幕墙装饰工程有限公司 玻璃幕墙防坠落的检测装置
RU205736U1 (ru) * 2021-02-11 2021-08-04 Публичное акционерное общество «Татнефть» имени В.Д. Шашина Устройство для определения наличия солеотложений на действующем трубопроводе дозиметрическим контролем
IT202100006170A1 (it) * 2021-03-16 2022-09-16 Antonio Gori Apparecchiatura e procedimento per il controllo automatico non distruttivo di prodotti
EP4060334B1 (en) * 2021-03-17 2025-11-12 Tenaris Connections B.V. A method for testing a pipe for an airbag system
CN113138231B (zh) * 2021-04-13 2021-12-07 武汉理工大学 一种航空发动机机匣环锻件超声相控阵检测装置及方法
US11865698B2 (en) 2021-04-20 2024-01-09 Gecko Robotics, Inc. Inspection robot with removeable interface plates and method for configuring payload interfaces
US12566158B2 (en) 2021-04-22 2026-03-03 Gecko Robotics, Inc. Robotic systems for ultrasonic surface inspection using shaped elements
WO2022226222A1 (en) 2021-04-22 2022-10-27 Gecko Robotics, Inc. Systems, methods, and apparatus for ultra-sonic inspection of a surface
CN113086044B (zh) * 2021-04-26 2024-08-20 彼合彼方机器人(天津)有限公司 一种用于锅炉水冷壁检测的磁轮式爬壁机器人
CN113134824B (zh) * 2021-05-20 2024-08-23 北京能工荟智机器人有限责任公司 适用于冷却塔的轨道机器人
JP7519955B2 (ja) * 2021-05-21 2024-07-22 アンリツ株式会社 Ｘ線検査装置
CN115482600B (zh) * 2021-07-06 2023-05-12 山东华宇工学院 一种电气自动化控制柜运维状态智能巡检装置
US11953309B2 (en) * 2021-09-22 2024-04-09 Lockheed Martin Corporation Automated non-contact thickness inspection and projection system using color-coded based patterns
CN115876279B (zh) * 2021-09-28 2025-12-09 金宝电子工业股份有限公司 储存槽液面的侦测方法
US12044657B2 (en) 2021-10-08 2024-07-23 Saudi Arabian Oil Company System and method for position tracking of a crawler on a structure
CN113960609B (zh) * 2021-10-20 2022-04-19 杭州艾科赛德电子科技有限公司 一种非接触式泥层界面仪
CN118369182A (zh) * 2021-12-08 2024-07-19 松下知识产权经营株式会社 离线示教设备和离线示教方法
CN116263432A (zh) * 2021-12-13 2023-06-16 中国科学院沈阳自动化研究所 一种自适应tofd检测机器人
CN114484147A (zh) * 2022-01-26 2022-05-13 青岛理工大学 一种基于前视摄像与多传感器的盐碱地暗管检测机器人
US20230359203A1 (en) * 2022-05-05 2023-11-09 Caterpillar Inc. Stability system for an articulated machine in a coasting mode
US20230359209A1 (en) * 2022-05-05 2023-11-09 Caterpillar Inc. Stability system for an articulated machine
US12447771B2 (en) 2022-05-09 2025-10-21 Saudi Arabian Oil Company System and method using rotating air gaps to control magnetic wheel adhesion
US20250314622A1 (en) * 2022-05-13 2025-10-09 Team Industrial Services, Inc. Monitored repair solutions
CN118871239A (zh) * 2022-06-27 2024-10-29 发那科株式会社 机器人控制装置和机器人系统
TWI816512B (zh) 2022-08-15 2023-09-21 國立陽明交通大學 曲面量測裝置、其向量感測器及製法
CN115909676B (zh) * 2022-10-31 2024-09-06 国网湖北省电力有限公司石首市供电公司 一种电力设备检测报警系统
WO2024097795A2 (en) * 2022-11-01 2024-05-10 Gecko Robotics, Inc. Inspection robot with profile adapting sled, couplant reduction film and transducer pod for thick assets
CN115765897B (zh) * 2022-11-14 2024-06-04 广西电网有限责任公司电力科学研究院 一种电力巡检机器人通信模块的检测方法
US20250389671A1 (en) * 2022-12-19 2025-12-25 Gecko Robotics, Inc. System, apparatus, and method for improved location identification
US20240198519A1 (en) * 2022-12-19 2024-06-20 Gecko Robotics, Inc. System, apparatus, and method for improved location identification
WO2024138219A2 (en) 2022-12-23 2024-06-27 Gecko Robotics, Inc. Systems, methods, and apparatus for inspection of a surface using sensor holder with dual linear phased array of ultra-sonic elements
CN116297878B (zh) * 2023-03-07 2026-01-09 昆明鑫辉检测有限公司 一种钢结构工程检测用耦合剂喷涂装置
WO2024254597A1 (en) * 2023-06-08 2024-12-12 Gecko Robotics, Inc. System, method, and apparatus to support on-site concrete inspection
CN116619417B (zh) * 2023-07-06 2023-12-08 邯郸鉴晨网络科技有限公司 一种互联网数据安全传输系统的更换节点设备
US12560269B2 (en) * 2023-11-28 2026-02-24 United States Of America As Represented By The Secretary Of The Navy 360-degree sensor body for in-pipe robot system
CN120057143B (zh) * 2025-04-29 2025-07-15 宁波市特种设备检验研究院 一种容器焊缝残余应力检测用磁吸附爬壁机器人
CN121149995A (zh) * 2025-08-28 2025-12-16 北京远界科技有限公司 一种基于多元数据的异常电压风险分析方法

Family Cites Families (412)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2135307A (en) 1934-01-02 1938-11-01 Edward O Keator Vehicle wheel
GB548910A (en) * 1941-04-24 1942-10-29 Constant Speed Airscrews Ltd Securing means for locking two or more parts together or to another part
US2861700A (en) 1951-08-25 1958-11-25 Gen Mills Inc Remote control handling unit
US2694164A (en) 1952-02-07 1954-11-09 Walter A Geppelt Magnetic wheel
US3055210A (en) 1958-02-13 1962-09-25 Ivan L Joy Coupling liquid apparatus for ultrasonic testing
US3028753A (en) 1959-07-13 1962-04-10 Ivan L Joy Apparatus for wetting surfaces for ultrasonic testing
GB1052397A (pl) * 1963-03-14
GB1078192A (en) 1963-03-18 1967-08-02 Babcock & Wilcox Ltd Improvements in and relating to the ultrasonic examination of workpieces
US3280621A (en) 1963-10-28 1966-10-25 Louis C Cardinal Omni-directional ultrasonic search unit
US3279242A (en) 1963-12-30 1966-10-18 Richard W Megoloff Ultrasonic search unit
US3427866A (en) 1965-10-26 1969-02-18 Frederick Gordon Weighart Ultrasonic thickness gauge and flow detector
US3437786A (en) 1966-02-21 1969-04-08 Arcos Corp Magnetic crawler
US3486368A (en) 1967-03-22 1969-12-30 Branson Instr Ultrasonic inspection apparatus
US3483734A (en) 1967-11-03 1969-12-16 American Mach & Foundry Pipeline pigging apparatus
US3741003A (en) 1971-02-22 1973-06-26 W Gunkel Ultrasonic inspection apparatus
US3690393A (en) 1971-03-19 1972-09-12 Donna Kramer Magnetic wheel
US3895685A (en) 1971-04-19 1975-07-22 Combustion Eng Method and apparatus for ultrasonic inspection of weldments
US3762496A (en) 1971-09-01 1973-10-02 Martin Tracker Corp Delamination detector
GB1376538A (en) 1972-03-09 1974-12-04 British Steel Corp Rotary ultrasonic testing apparatus
US3789700A (en) 1972-04-04 1974-02-05 Usm Corp Positive drive roller planetary wave generator
US3952581A (en) 1974-11-29 1976-04-27 Alco Standard Corporation Ultrasonic flaw detecting apparatus for turbine rotors
GB1507272A (en) 1975-02-13 1978-04-12 Graenges Oxeloesunds Jaernverk Device for non-destructive testing of rolled steel plate and the like
US4055990A (en) * 1975-07-28 1977-11-01 Frederick Victor Topping Pipeline inspection apparatus
US4057294A (en) 1975-08-01 1977-11-08 The Cincinnati Mine Machinery Company Wedge arrangement for removably affixing a work tool or work tool holder to a base member on mining, road working or earth moving machinery, and the like
US4027528A (en) 1975-12-15 1977-06-07 Tyree Bill D Apparatus for ultrasonic inspection of ferromagnetic materials
GB1535252A (en) 1976-04-09 1978-12-13 British Gas Corp Pipeline inspection vehicles
US4033178A (en) 1976-04-23 1977-07-05 The Babcock & Wilcox Company Fluid coupled test probe
US4355536A (en) 1979-10-02 1982-10-26 Westinghouse Electric Corp. Sludge measuring apparatus and ultrasonic probe assembly therefor
AT368221B (de) 1980-02-27 1982-09-27 Plasser Bahnbaumasch Franz Schienenkopfoberflaechen-messeinrichtung
US4304134A (en) * 1980-05-08 1981-12-08 Westinghouse Electric Corp. Apparatus for ultrasonically inspecting circular bores
US4434660A (en) 1981-03-19 1984-03-06 The United States Of America As Represented By The United States Department Of Energy Ultrasonic inspection and deployment apparatus
US4368644A (en) 1981-05-26 1983-01-18 Combustion Engineering, Inc. Tool for inspecting defects in irregular weld bodies
US4495587A (en) 1981-12-08 1985-01-22 Bethlehem Steel Corporation Automatic nondestructive roll defect inspection system
EP0085504B1 (en) * 1982-02-02 1988-06-01 Subscan Systems Ltd Pipeline vehicle
US4437332A (en) 1982-09-30 1984-03-20 Krautkramer-Branson, Inc. Ultrasonic thickness measuring instrument
US4526037A (en) 1983-06-13 1985-07-02 Combustion Engineering, Inc. Nozzle inner radius inspection system
JPS6018640A (ja) 1983-07-08 1985-01-30 Toshiba Corp 駆動装置
US4573548A (en) 1983-07-23 1986-03-04 Cybermation, Inc. Mobile base for robots and the like
US4577494A (en) * 1983-08-19 1986-03-25 Jackson Jordan, Inc. Apparatus and method for measuring the wear of railroad rail
US4567514A (en) 1984-02-27 1986-01-28 Wag-Mor Corporation Camera carrying conduit inspection sled
US4558598A (en) 1984-06-07 1985-12-17 The Boeing Company Ultrasonic linear array water nozzle and method
CA1214858A (en) 1984-09-27 1986-12-02 Stanley Panton Acoustic ranging system
JPS6190052A (ja) * 1984-10-11 1986-05-08 Hitachi Ltd 管内走行の倣い装置
US4654702A (en) 1984-11-09 1987-03-31 Westinghouse Electric Corp. Portable and collapsible pipe crawler
JPS61144503A (ja) * 1984-12-18 1986-07-02 Kajima Corp 鉛直鋼管の肉厚計測装置
US4736826A (en) 1985-04-22 1988-04-12 Remote Technology Corporation Remotely controlled and/or powered mobile robot with cable management arrangement
US4706120A (en) 1985-08-30 1987-11-10 Texas Instruments Incorporated Modular, vision system for automation of inspection and process control
US4757258A (en) 1985-11-27 1988-07-12 Westinghouse Electric Corp. Probe carrier system for inspecting boiler tubes
FR2599150B1 (fr) 1986-05-21 1988-09-16 Exper Rech Etu Batimen Centre Procede et dispositif de controle mecanique de revetements d'ouvrages d'art
JPS63180751A (ja) 1987-01-19 1988-07-25 Mitsubishi Electric Corp 調和減速機
JPH086892B2 (ja) 1987-07-01 1996-01-29 関西電力株式会社 自動管周走査装置
JPS6450903A (en) 1987-08-21 1989-02-27 Nippon Kokan Kk Measuring apparatus of shape of inside of tube
US5097710A (en) 1987-09-22 1992-03-24 Alexander Palynchuk Ultrasonic flash gauge
US4893286A (en) 1987-11-04 1990-01-09 Standard Oil Company System and method for preprocessing and transmitting echo waveform information
US4954949A (en) 1988-02-05 1990-09-04 Commodore-Amiga, Inc. Universal connector device for bus networks in host computer/co-processor computer system
US4862748A (en) * 1988-07-20 1989-09-05 The Boeing Company Multiple ultrasonic transducer with remote selector
US5006799A (en) 1988-12-01 1991-04-09 Pfanstiehl John G Low cost magnetic coating thickness gauge with holding magnet, bias spring and holding force indicator
US5007291A (en) 1989-10-05 1991-04-16 Scan Systems, Inc. Ultrasonic inspection apparatus with centering means for tubular members
US4979392A (en) * 1989-11-08 1990-12-25 The Charles Stark Draper Laboratory, Inc. Railroad track fault detector
US5062298A (en) 1989-12-05 1991-11-05 E. I. Du Pont De Nemours And Company Non-contact wet or dry film thickness measuring device using eddy current and ultrasonic sensors
US4993912A (en) 1989-12-22 1991-02-19 Chamberlain Mrc, Division Of Duchossois Industries, Inc. Stair climbing robot
US5038615A (en) 1990-05-11 1991-08-13 General Motors Corporation Ultrasonic multilayer paint thickness measurement
US5175415A (en) 1990-11-27 1992-12-29 Eaton-Kenway, Inc. Combination drive-wheel mechanism and travel-sensor mechanism
JP2535503Y2 (ja) 1991-05-20 1997-05-14 株式会社ハーモニック・ドライブ・システムズ カップ型歯車式調和変速装置における外歯および内歯の噛み合わせ構造
US5285689A (en) * 1991-07-16 1994-02-15 The United States Of America As Represented By The United States Department Of Energy Piping inspection instrument carriage with precise and repeatable position control and location determination
US5271274A (en) 1991-08-14 1993-12-21 The Board Of Trustees Of The Leland Stanford Junior University Thin film process monitoring techniques using acoustic waves
US5782253A (en) 1991-12-24 1998-07-21 Mcdonnell Douglas Corporation System for removing a coating from a substrate
US5404755A (en) 1992-04-10 1995-04-11 Olson Engineering, Inc. Scanning apparatus and method for non-destructive materials evaluation and mapping through use of acoustic waves
DE9206011U1 (de) 1992-05-11 1992-07-09 Röhm GmbH, 6100 Darmstadt Vorrichtung zur gleitenden Wanddickenmessung an flächigen Werkstoffen mittels Ultraschallechomessung
JP3184849B2 (ja) 1992-07-03 2001-07-09 日本電子株式会社 核磁気共鳴検出器
US5374879A (en) 1992-11-04 1994-12-20 Martin Marietta Energy Systems, Inc. Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom
US5350033A (en) 1993-04-26 1994-09-27 Kraft Brett W Robotic inspection vehicle
US5429009A (en) 1993-05-20 1995-07-04 Carnegie Mellon University Robot with cruciform geometry
US5426980A (en) 1993-07-19 1995-06-27 General Electric Company Booted ultrasonic transducer
US5440929A (en) 1993-11-22 1995-08-15 Industrial Technology Research Institute Ultrasonic device for measuring thickness of a tank bottom flat plate
US5619423A (en) 1994-01-21 1997-04-08 Scrantz; Leonard System, method and apparatus for the ultrasonic inspection of liquid filled tubulars and vessels
US5559696A (en) 1994-02-14 1996-09-24 The Regents Of The University Of Michigan Mobile robot internal position error correction system
JPH0894344A (ja) * 1994-07-26 1996-04-12 Shinko Kensa Service Kk 超音波の横波を利用した層厚測定装置
US5663502A (en) 1994-10-18 1997-09-02 Hitachi, Ltd. Method and apparatus for measuring thickness of layer using acoustic waves
US5549004A (en) * 1995-02-28 1996-08-27 Nugent; Michael J. Hand held tube wall thickness ultrasonic measurement probe and system
US5764014A (en) 1996-02-01 1998-06-09 Mannesmann Dematic Rapistan Corp. Automated guided vehicle having ground track sensor
US5948985A (en) 1996-05-31 1999-09-07 Ormet Corporation Method and apparatus for ultrasonic testing of aluminum billet
KR100431721B1 (ko) 1996-06-14 2004-09-13 알. 브룩스 어소시에이츠, 인코포레이티드 검사장치
US6064428A (en) 1996-08-05 2000-05-16 National Railroad Passenger Corporation Automated track inspection vehicle and method
US6150809A (en) 1996-09-20 2000-11-21 Tpl, Inc. Giant magnetorestive sensors and sensor arrays for detection and imaging of anomalies in conductive materials
US6000484A (en) 1996-09-25 1999-12-14 Aqua Dynamics, Inc. Articulating wheeled permanent magnet chassis with high pressure sprayer
US5853655A (en) 1996-11-07 1998-12-29 Baker; Ronald Glenn Magnetic wheel guided carriage with positioning arm
US5809099A (en) * 1997-05-05 1998-09-15 Korea Atomic Energy Research Institute Laser-guided underwater wall climbing robot for reactor pressure vessel inspection
US5857534A (en) 1997-06-05 1999-01-12 Kansas State University Research Foundation Robotic inspection apparatus and method
US6317387B1 (en) 1997-11-20 2001-11-13 D'amaddio Eugene R. Method and apparatus for inspecting a submerged structure
US6243657B1 (en) 1997-12-23 2001-06-05 Pii North America, Inc. Method and apparatus for determining location of characteristics of a pipeline
JPH11211707A (ja) 1998-01-29 1999-08-06 Ishikawajima Harima Heavy Ind Co Ltd 管検査装置
US6104970A (en) 1998-02-17 2000-08-15 Raytheon Company Crawler inspection vehicle with precise mapping capability
US6220099B1 (en) 1998-02-17 2001-04-24 Ce Nuclear Power Llc Apparatus and method for performing non-destructive inspections of large area aircraft structures
US5929338A (en) * 1998-04-17 1999-07-27 The United States Of America, As Represented By The Secretary Of The Army. Thickness measurement of in-ground culverts
JP4225602B2 (ja) 1998-04-22 2009-02-18 日本カーバイド工業株式会社 三角錐型キユーブコーナー再帰反射シート
US6076407A (en) * 1998-05-15 2000-06-20 Framatome Technologies, Inc. Pipe inspection probe
JP3592084B2 (ja) 1998-06-24 2004-11-24 ユニバーサル造船株式会社 管内走行ロボット
US6273521B1 (en) 1998-07-31 2001-08-14 Westinghouse Air Brake Technologies Corporation Electronic air brake control system for railcars
US6491127B1 (en) 1998-08-14 2002-12-10 3Com Corporation Powered caster wheel module for use on omnidirectional drive systems
GB2344888A (en) 1998-12-18 2000-06-21 Notetry Ltd Obstacle detection system
US6125955A (en) 1999-03-11 2000-10-03 Aqua Dynamics, Inc. Magnetic wheel
US6234025B1 (en) 1999-03-29 2001-05-22 Sandia Corporation Ultrasonic inspection apparatus and method using a focused wave device
US6392222B1 (en) 1999-09-21 2002-05-21 The Boeing Company Machine system having optical endpoint control and associated method
US6298727B1 (en) * 1999-10-18 2001-10-09 Sierra Matrix, Inc. Apparatus for acoustic inspection of a workpiece in arbitrary scanning orientations
US6548982B1 (en) 1999-11-19 2003-04-15 Regents Of The University Of Minnesota Miniature robotic vehicles and methods of controlling same
DE19959785C2 (de) 1999-12-07 2002-08-01 Siemens Ag Schaltungsanordnung zur Kurzschlussbremsung eines Gleichstrommotors
AU2001231076A1 (en) 2000-01-24 2001-07-31 Weirton Steel Corporation Polymeric coated metal strip and method for producing same
US6405141B1 (en) * 2000-03-02 2002-06-11 Ensco, Inc. Dynamic track stiffness measurement system and method
US6300893B1 (en) 2000-03-27 2001-10-09 The United States Of America As Represented By The Secretary Of The Navy Emergency passive radar locating device
US7296488B2 (en) 2000-04-20 2007-11-20 United States Of America As Represented By The Secretary Of The Army System and method for accessing ferrous surfaces normally accessible only with special effort
US6454036B1 (en) 2000-05-15 2002-09-24 ′Bots, Inc. Autonomous vehicle navigation system and method
US6718232B2 (en) 2000-10-13 2004-04-06 Sony Corporation Robot device and behavior control method for robot device
US6738748B2 (en) 2001-04-03 2004-05-18 Accenture Llp Performing predictive maintenance on equipment
US6671570B2 (en) 2000-10-17 2003-12-30 Brooks Automation, Inc. System and method for automated monitoring and assessment of fabrication facility
US6672413B2 (en) 2000-11-28 2004-01-06 Siemens Westinghouse Power Corporation Remote controlled inspection vehicle utilizing magnetic adhesion to traverse nonhorizontal, nonflat, ferromagnetic surfaces
US6634233B2 (en) 2001-01-23 2003-10-21 Wright State University Method for determining the wall thickness and the speed of sound in a tube from reflected and transmitted ultrasound pulses
US6883376B2 (en) 2001-01-23 2005-04-26 Wright State University Method for determining the wall thickness and the speed of sound in a tube from reflected and transmitted ultrasound pulses
US6813542B2 (en) 2001-02-12 2004-11-02 The Stanley Works Modules for use in an integrated intelligent assist system
ATE301264T1 (de) 2001-03-07 2005-08-15 Univ Carnegie Mellon Robotersystem zur inspektion von gasleitungen
DE10134696C1 (de) 2001-07-05 2003-02-27 Mannesmann Roehren Werke Ag Vorrichtung zum Ultraschall-Prüfen der Schweißnaht längsnahtgeschweißter Rohre auf Längs- und Querfehler
US6748808B2 (en) 2001-08-14 2004-06-15 Varco I/P, Inc. Flaw detection in tubular members
US7182025B2 (en) 2001-10-17 2007-02-27 William Marsh Rice University Autonomous robotic crawler for in-pipe inspection
CA2462816A1 (en) 2001-10-17 2003-04-24 William Marsh Rice University Autonomous robotic crawler for in-pipe inspection
US6821146B2 (en) 2002-01-07 2004-11-23 Bernard R. Tolmie Hybrid connector system and method
US6973734B2 (en) 2002-02-14 2005-12-13 Faro Technologies, Inc. Method for providing sensory feedback to the operator of a portable measurement machine
US7082822B2 (en) 2002-04-05 2006-08-01 Vetco Gray Inc. Internal riser inspection device and methods of using same
US6904818B2 (en) * 2002-04-05 2005-06-14 Vetco Gray Inc. Internal riser inspection device
US7107863B2 (en) 2002-04-05 2006-09-19 Vetco Gray Inc. Internal riser inspection system, apparatus and methods of using same
US6981417B1 (en) 2002-04-26 2006-01-03 Sonoscan, Inc. Scanning acoustic micro imaging method and apparatus for non-rectangular bounded files
US20130317676A1 (en) 2012-05-23 2013-11-28 Jared Klineman Cooper System and method for inspecting a route during movement of a vehicle system over the route
US10521960B2 (en) 2017-05-03 2019-12-31 General Electric Company System and method for generating three-dimensional robotic inspection plan
US10308265B2 (en) * 2006-03-20 2019-06-04 Ge Global Sourcing Llc Vehicle control system and method
US9205849B2 (en) * 2012-05-23 2015-12-08 General Electric Company System and method for inspecting a route during movement of a vehicle system over the route
JP4004503B2 (ja) 2002-10-25 2007-11-07 旭化成エンジニアリング株式会社 容器鋼板の板厚測定装置
US9950722B2 (en) * 2003-01-06 2018-04-24 General Electric Company System and method for vehicle control
DE10300383B4 (de) 2003-01-09 2005-05-12 Windhoff Bahn- Und Anlagentechnik Gmbh Rohrleitungsmolch
ES2219169B1 (es) 2003-02-19 2005-10-01 Soluziona Calidad Y Medio Ambiente, S.L. Rueda magnetica para vehiculos.
EP1636804A2 (en) 2003-06-02 2006-03-22 R. Brooks Associates, Inc. Method and apparatus for inspection of reactor head components
KR100507926B1 (ko) 2003-06-30 2005-08-17 삼성광주전자 주식회사 로봇청소기의 구동장치
US7769487B2 (en) 2003-07-24 2010-08-03 Northeastern University Process and architecture of robotic system to mimic animal behavior in the natural environment
JP2005140320A (ja) 2003-10-14 2005-06-02 Nsk Ltd 駆動輪用ハブユニット
FR2861457B1 (fr) 2003-10-28 2007-10-19 Marc Serge Brussieux Systeme de controle non destructif
US20050121971A1 (en) * 2003-12-05 2005-06-09 Ring Michael E. Serial train communication system
US7194908B2 (en) 2004-01-09 2007-03-27 Westinghouse Electric Co. Llc Device and method for ultrasonic inspection using profilometry data
JP2005229668A (ja) 2004-02-10 2005-08-25 Fanuc Ltd 機械制御装置
JP4446761B2 (ja) * 2004-02-25 2010-04-07 富士重工業株式会社 超音波非破壊検査装置の超音波センサヘッド
FR2870936B1 (fr) 2004-05-26 2006-09-01 Socomate Internat Sa Dispositif et procede de caracterisation dimensionnelle d'un objet cylindrique
US9956974B2 (en) * 2004-07-23 2018-05-01 General Electric Company Vehicle consist configuration control
US7309464B2 (en) 2004-08-03 2007-12-18 Marty Meissner Steerable magnetic wheel carriage
JP4685383B2 (ja) 2004-08-18 2011-05-18 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置
US7395714B2 (en) 2004-09-16 2008-07-08 The Boeing Company Magnetically attracted inspecting apparatus and method using a ball bearing
US7464596B2 (en) 2004-09-24 2008-12-16 The Boeing Company Integrated ultrasonic inspection probes, systems, and methods for inspection of composite assemblies
US7617732B2 (en) 2005-08-26 2009-11-17 The Boeing Company Integrated curved linear ultrasonic transducer inspection apparatus, systems, and methods
US7640810B2 (en) 2005-07-11 2010-01-05 The Boeing Company Ultrasonic inspection apparatus, system, and method
US7337673B2 (en) * 2005-07-11 2008-03-04 The Boeing Company Ultrasonic array probe apparatus, system, and method for traveling over holes and off edges of a structure
US7417722B2 (en) 2004-12-19 2008-08-26 Kla-Tencor Technologies Corporation System and method for controlling light scattered from a workpiece surface in a surface inspection system
GB0428127D0 (en) 2004-12-22 2005-01-26 Pll Ltd A sensor system for an in-line inspection tool
JP4455987B2 (ja) 2004-12-28 2010-04-21 トヨタ自動車株式会社 車両用スタビライザシステム
JP2006219048A (ja) 2005-02-14 2006-08-24 Toyota Motor Corp 車両用スタビライザシステム
US9963836B1 (en) 2005-02-23 2018-05-08 Gomaco Corporation Method for operating paving train machines
CA2605802A1 (fr) * 2005-04-28 2006-11-02 Roboplanet Outil, capteur et dispositif de controle non destructif de paroi
JP4297085B2 (ja) 2005-06-16 2009-07-15 トヨタ自動車株式会社 車両用スタビライザシステム
US7428842B2 (en) 2005-06-20 2008-09-30 Siemens Power Generation, Inc. Phased array ultrasonic testing system and methods of examination and modeling employing the same
EP2148195A1 (en) 2005-07-07 2010-01-27 Kabushiki Kaisha Toshiba Laser-based apparatus for ultrasonic flaw detection
US7430913B2 (en) * 2005-08-26 2008-10-07 The Boeing Company Rapid prototype integrated matrix ultrasonic transducer array inspection apparatus, systems, and methods
US7862512B2 (en) 2005-08-29 2011-01-04 Unex Corporation Blood vessel endothelium function evaluating apparatus provided with an electronic control device
JP5049137B2 (ja) 2005-11-30 2012-10-17 日本カーバイド工業株式会社 再帰反射物品
KR100670202B1 (ko) 2005-12-02 2007-01-16 삼성전자주식회사 주행 로봇
US20070146480A1 (en) 2005-12-22 2007-06-28 Judge John J Jr Apparatus and method for inspecting areas surrounding nuclear boiling water reactor core and annulus regions
KR200410388Y1 (ko) 2005-12-22 2006-03-08 한전기공주식회사 증기발생기 전열관의 검사장치
US7681452B2 (en) 2006-01-04 2010-03-23 General Electric Company Junior ultrasonic miniature air gap inspection crawler
US20080087112A1 (en) 2006-01-04 2008-04-17 General Electric Company Senior Ultrasonic Miniature Air Gap Inspection Crawler
WO2007082594A2 (en) 2006-01-20 2007-07-26 Abb Ab Drive unit comprising an electric rotating actuator and a wave gear speed reducer
US8041517B2 (en) 2006-01-25 2011-10-18 Redzone Robotics, Inc. Spatio-temporal and context-based indexing and representation of subterranean networks and means for doing the same
US20090078484A1 (en) * 2006-03-13 2009-03-26 Matswitch Technology Worldwide Pty Ltd Magnetic wheel
EP3404505B1 (en) 2006-03-17 2023-12-06 iRobot Corporation Lawn care robot
US7689003B2 (en) 2006-03-20 2010-03-30 Siemens Energy, Inc. Combined 2D and 3D nondestructive examination
JP4655993B2 (ja) 2006-05-10 2011-03-23 トヨタ自動車株式会社 車両用スタビライザシステム
US9646415B2 (en) 2006-05-16 2017-05-09 Underground Imaging Technologies, Inc. System and method for visualizing multiple-sensor subsurface imaging data
US8230362B2 (en) 2006-05-31 2012-07-24 Manheim Investments, Inc. Computer-assisted and/or enabled systems, methods, techniques, services and user interfaces for conducting motor vehicle and other inspections
DE102006028269A1 (de) 2006-06-20 2008-01-10 Zf Lenksysteme Gmbh Überlagerungsgetriebe
US7733084B1 (en) 2006-07-19 2010-06-08 O'dell Tom Eddy current acquisition system
JP4258538B2 (ja) 2006-08-29 2009-04-30 トヨタ自動車株式会社 車両用サスペンションシステム
KR200431177Y1 (ko) 2006-09-07 2006-11-15 한전기공주식회사 증기발생기 전열관의 검사장치
JP4525651B2 (ja) 2006-09-15 2010-08-18 トヨタ自動車株式会社 車両用サスペンションシステム
US8025551B2 (en) 2006-09-20 2011-09-27 Mattel, Inc. Multi-mode three wheeled toy vehicle
AU2007347733B2 (en) 2006-10-06 2012-05-03 Irobot Corporation Robotic vehicle
US8069412B2 (en) 2006-10-17 2011-11-29 At&T Intellectual Property I, L.P. Methods, systems, and products for mapping facilities data
US7571649B2 (en) 2007-02-28 2009-08-11 The Boeing Company Probe for inspection of edges of a structure
US8056662B2 (en) 2007-03-23 2011-11-15 Fairfield Manufacturing Company, Inc. Lubrication system for right-angle drives used with utility vehicles
US7654143B2 (en) 2007-04-03 2010-02-02 General Electric Company Method and apparatus for in-situ inspection of rotary machine components
US8364312B2 (en) 2007-06-06 2013-01-29 Cycogs, Llc Modular rotary multi-sensor sensor ring
US7743660B2 (en) 2007-06-15 2010-06-29 The Boeing Company System and method for automated inspection of large-scale part
US7859655B2 (en) 2007-09-28 2010-12-28 The Boeing Company Method involving a pointing instrument and a target object
KR200438708Y1 (ko) 2007-10-10 2008-02-29 주식회사 디지로그 작업용 이동 캐리어
US9033087B2 (en) 2007-10-11 2015-05-19 Tecnomac S.R.L. Magnetic coupling mobile robot
ITBS20070154A1 (it) * 2007-10-11 2009-04-12 Tecnomac Srl Robot mobile ad ancoraggio magnetico
WO2009086495A2 (en) 2007-12-28 2009-07-09 Sam Stathis Robotic arm for accurate positioning in three-dimensional space, measurement of three-dimensional coordinates, and remote tooling operations in three-dimensional space
US10427290B2 (en) 2017-07-18 2019-10-01 General Electric Company Crawler robot for in situ gap inspection
US20090287450A1 (en) 2008-05-16 2009-11-19 Lockheed Martin Corporation Vision system for scan planning of ultrasonic inspection
RU2010153150A (ru) 2008-06-27 2012-08-10 ПиАйАй (КАНАДА) ЛИМИТЕД (CA) Интегрированный мультисенсорный неразрушающий контроль
US8418662B2 (en) 2008-07-18 2013-04-16 Korea Plant Service & Engineering Co., Ltd. Apparatus for visually inspecting and removing foreign substance from gap of heat tube bundle in upper part of tube sheet of second side of steam generator
CN101368932B (zh) 2008-09-19 2011-04-27 中国海洋石油总公司 适合多管径管道焊缝的全自动检测装置
US9440717B2 (en) 2008-11-21 2016-09-13 Raytheon Company Hull robot
BRPI0805432A2 (pt) 2008-12-18 2010-09-08 Flavio Spinola Barbosa sistema de medição de irregularidades de superfìcie
KR20100078898A (ko) 2008-12-30 2010-07-08 한국생산기술연구원 커플링 슬리브와 하모닉 드라이브를 이용한 로봇용 소형 내충격 구동장치의 설계
EP2401117B1 (en) 2009-02-27 2019-06-12 Rolls-Royce Nuclear Field Services Inc. Inspection system and inspection process utilizing magnetic inspection vehicle
US8347724B2 (en) * 2009-03-05 2013-01-08 Alstom Technology Ltd Low profile ultrasound inspection scanner
US9121817B1 (en) 2009-03-10 2015-09-01 Sandia Corporation Ultrasonic testing device having an adjustable water column
US8408065B2 (en) * 2009-03-18 2013-04-02 Bp Corporation North America Inc. Dry-coupled permanently installed ultrasonic sensor linear array
US9251921B2 (en) 2009-05-27 2016-02-02 R. Brooks Associates, Inc. Steam generator upper bundle inspection tools
KR101103805B1 (ko) 2009-08-06 2012-01-06 한전케이피에스 주식회사 착탈가능한 탐촉자를 구비한 검사장치
WO2011017668A2 (en) 2009-08-06 2011-02-10 The Regents Of The University Of California Multimodal dynamic robotic systems
US20110061197A1 (en) 2009-09-16 2011-03-17 Kabushiki Kaisha Strawberry Corporation Hinge device and electronic instrument using the hinge device
KR101104889B1 (ko) 2009-09-25 2012-01-12 한국수력원자력 주식회사 테이퍼와 곡률이 있는 초음파 보정 시험편
US20140230711A1 (en) 2009-11-23 2014-08-21 Searobotics Corporation Mobile Operations Chassis with Controlled Magnetic Attraction to Ferrous Surfaces
US8323143B2 (en) 2009-12-02 2012-12-04 Fairfield Manufacturing Company, Inc. Integrated spindle-carrier electric wheel drive
US8674830B2 (en) 2009-12-21 2014-03-18 Mcgard Llc Manhole security cover
US8428798B2 (en) * 2010-01-08 2013-04-23 Wabtec Holding Corp. Short headway communications based train control system
US8347746B2 (en) 2010-01-19 2013-01-08 The Boeing Company Crawling automated scanner for non-destructive inspection of aerospace structural elements
US9643313B2 (en) 2010-01-19 2017-05-09 The Boeing Company Apparatus for automated maintenance of aircraft structural elements
JP2011191175A (ja) 2010-03-15 2011-09-29 Mitsutoyo Corp レーザ反射体
US8269447B2 (en) 2010-03-17 2012-09-18 Disney Enterprises, Inc. Magnetic spherical balancing robot drive
US20160176452A1 (en) 2010-04-06 2016-06-23 Robotex Inc. Robotic system and methods of use
CH702955A1 (de) 2010-04-14 2011-10-14 Alstom Technology Ltd Antriebseinheit für ein in rohrsystemen, hohlräumen oder dergleichen nach art eines roboters einsetzbares fahrzeug sowie fahrzeug mit einer solchen antriebseinheit.
US8799812B2 (en) 2010-04-29 2014-08-05 Cheryl Parker System and method for geographic based data visualization and extraction
US10315715B2 (en) 2010-11-08 2019-06-11 James Beard Mobile, climbing endless track robotic system to perform remote inspections on structures
WO2012094298A1 (en) 2011-01-06 2012-07-12 The Lubrizol Corporation Ultrasonic measurement
FR2970199B1 (fr) * 2011-01-07 2014-01-31 Vlb Systemes Dispositif de mesure d'epaisseur pour machine-outil
US9181796B2 (en) 2011-01-21 2015-11-10 Schlumberger Technology Corporation Downhole sand control apparatus and method with tool position sensor
US8805579B2 (en) * 2011-02-19 2014-08-12 Richard Arthur Skrinde Submersible robotically operable vehicle system for infrastructure maintenance and inspection
US8806948B2 (en) 2011-02-28 2014-08-19 Herzog Services, Inc. Apparatus and method of detecting defects in a rail joint bar
US20120271673A1 (en) 2011-03-14 2012-10-25 Dennis Riley Systems and Methods for Facility Management and Maintenance Tracking
US8449424B2 (en) 2011-03-17 2013-05-28 Fairfield Manufacturing Company Inc. Integral electric motor with speed sensor, planetary gearbox and steering means
US8746070B2 (en) 2011-04-08 2014-06-10 Tejas Testing & Inspection, Inc. Phased array ultrasonic examination system and method
US20120257042A1 (en) 2011-04-08 2012-10-11 Fer-Pal Construction Ltd System for scanning, mapping and measuring conduits
US8496077B2 (en) 2011-04-28 2013-07-30 California Institute Of Technology Robotic two-wheeled vehicle
US9733219B2 (en) 2011-05-10 2017-08-15 Cumberland & Western Resources, Llc Automated weld inspection system with weld acceptability pass or fail indications
US9037419B2 (en) 2011-05-10 2015-05-19 Edison Welding Institute, Inc. Portable matrix phased array spot weld inspection system
EP2527709A1 (en) 2011-05-26 2012-11-28 Pii Limited Apparatus for pipeline inspection
US9221506B1 (en) 2011-07-18 2015-12-29 The Boeing Company Location tracking and motion control of automated marking device
US8738226B2 (en) 2011-07-18 2014-05-27 The Boeing Company Holonomic motion vehicle for travel on non-level surfaces
US8902302B2 (en) 2011-09-16 2014-12-02 Emerson Electric Co. Method and apparatus for surveying with a feature location
US8570629B2 (en) 2011-09-23 2013-10-29 Steve Spears Reciprocating laser scanning device
US9784599B1 (en) 2011-10-17 2017-10-10 Redzone Robotics, Inc. Modular infrastructure asset inspection robot
HK1200318A1 (en) 2011-10-24 2015-08-07 曼金德公司 Methods and compositions for treating pain
WO2013082460A2 (en) 2011-12-02 2013-06-06 Helical Robotics, Llc Mobile robot
US10014587B1 (en) 2011-12-08 2018-07-03 The United States Of America As Represented By The Secretary Of The Navy Retroreflecting chaff for laser defense
US8833169B2 (en) 2011-12-09 2014-09-16 General Electric Company System and method for inspection of a part with dual multi-axis robotic devices
US9513127B2 (en) 2011-12-22 2016-12-06 AppLabz, LLC Systems, methods, and apparatus for providing indoor navigation
CN104428197A (zh) 2012-01-13 2015-03-18 罗伯科技公司 机器人系统及其使用方法
US9310482B2 (en) 2012-02-10 2016-04-12 Ascent Ventures, Llc Methods for locating and sensing the position, orientation, and contour of a work object in a robotic system
US9110000B2 (en) 2012-02-17 2015-08-18 General Electric Company Method and system for determining the position of an ultrasonic wedge and a probe
US9463574B2 (en) 2012-03-01 2016-10-11 Irobot Corporation Mobile inspection robot
US8943892B2 (en) 2012-05-11 2015-02-03 The Boeing Company Automated inspection of spar web in hollow monolithic structure
CN102721746A (zh) 2012-07-04 2012-10-10 北京理工大学 一种双机械手超声透射检测装置
US9562878B2 (en) 2012-09-13 2017-02-07 Nordco Inc. Rail condition monitoring system with carriage
US10065280B2 (en) 2012-10-30 2018-09-04 The Boeing Company Multifunction legs for autonomous crawling assembly equipment
EP2727843B1 (en) 2012-10-30 2020-07-01 The Boeing Company Apparatus for automated maintenance of aircraft structural elements
US10672046B2 (en) 2012-12-31 2020-06-02 Baker Hughes, A Ge Company, Llc Systems and methods for non-destructive testing online stores
US9285296B2 (en) 2013-01-02 2016-03-15 The Boeing Company Systems and methods for stand-off inspection of aircraft structures
US9791565B2 (en) * 2013-01-31 2017-10-17 B-K Medical Aps Multi-faced ultrasound transducer element
US9470658B2 (en) 2013-03-12 2016-10-18 The Boeing Company Self-contained holonomic tracking method and apparatus for non-destructive inspection
CA2907188C (en) 2013-03-15 2021-11-02 Babcock & Wilcox Nuclear Energy, Inc. Non-destructive mapping of surface wear condition
SI2973074T1 (sl) 2013-03-15 2019-08-30 Carnegie Mellon University Nadzorovan avtonomen robotski sistem za kompleksno površinsko pregledovanje in procesiranje
GB2512835A (en) 2013-04-08 2014-10-15 Permasense Ltd Ultrasonic detection of a change in a surface of a wall
US9746445B2 (en) * 2013-04-16 2017-08-29 The Boeing Company Apparatus for automated non-destructive inspection of airfoil-shaped bodies
FR3005158B1 (fr) 2013-04-26 2015-11-20 Thales Sa Systeme optique de mesure d'orientation et de position a source ponctuelle et coins de cube a face d'entree polychrome
US10695876B2 (en) 2013-05-23 2020-06-30 Crc-Evans Pipeline International, Inc. Self-powered welding systems and methods
GB2516545B (en) 2013-05-23 2017-02-08 Q-Bot Ltd Method of covering surface of a building and robot therefor
JP5880498B2 (ja) 2013-08-09 2016-03-09 トヨタ自動車株式会社 自律移動体、障害物判別方法及び障害物回避方法
WO2015059916A1 (ja) * 2013-10-24 2015-04-30 積水化学工業株式会社 超音波検査装置および超音波検査方法
EP3832423A3 (en) 2013-11-30 2021-09-01 Saudi Arabian Oil Company System and method for calculating the orientation of a device
EP3077279B1 (en) * 2013-11-30 2018-07-18 Saudi Arabian Oil Company Hinged vehicle chassis
CN109249751A (zh) 2013-11-30 2019-01-22 沙特阿拉伯石油公司 磁性全向轮
JP6521971B2 (ja) 2013-11-30 2019-05-29 サウジ アラビアン オイル カンパニー モジュール式移動検査ビークル
US9410659B2 (en) 2014-02-10 2016-08-09 The Boeing Company Automated mobile boom system for crawling robots
US20150233786A1 (en) * 2014-02-14 2015-08-20 Caterpillar Inc. Ultrasonic measurement device
US9398198B2 (en) 2014-02-21 2016-07-19 Siemens Energy, Inc. Pipe crawler apparatus and method for internal pipe inspection
JP6512216B2 (ja) 2014-03-14 2019-05-15 ソニー株式会社 ロボットアーム装置、ロボットアーム制御方法及びプログラム
JP6399089B2 (ja) 2014-03-31 2018-10-03 コニカミノルタ株式会社 表面プラズモン共鳴蛍光分析方法、表面プラズモン共鳴蛍光分析装置および位置合わせ方法
US10179508B2 (en) 2014-03-31 2019-01-15 Paha Designs, Llc Low gravity all-surface vehicle
KR101669438B1 (ko) 2014-04-24 2016-11-17 대한민국(해양경찰청장) 등선로봇
GB2527904B (en) 2014-05-01 2021-03-24 Ulc Robotics Inc System and method for pipeline maintenance
US9834323B2 (en) 2014-05-16 2017-12-05 The Boeing Company Automated scanning systems for non-destructive inspection of curved cylinder-like workpieces
US9427874B1 (en) 2014-08-25 2016-08-30 Google Inc. Methods and systems for providing landmarks to facilitate robot localization and visual odometry
GB201415334D0 (en) 2014-08-29 2014-10-15 Reece Innovation Ct Ltd Improvement in or relating to crawlers
GB201417162D0 (en) 2014-09-29 2014-11-12 Renishaw Plc Inspection appartus
US9586636B1 (en) 2014-10-28 2017-03-07 The United States Of America As Represented By The Secretary Of The Navy Multi-segmented magnetic robot
US9664652B2 (en) 2014-10-30 2017-05-30 The Boeing Company Non-destructive ultrasonic inspection apparatus, systems, and methods
DK178276B1 (en) 2014-12-19 2015-10-26 Conpleks Innovation Aps Method for recording and predicting position data for a selfpropelled wheeled vehicle, and delivery or pick up system comprising a self-propelled, self-guided wheeled vehicle
US9804132B2 (en) 2015-02-10 2017-10-31 Philip M. Hoyt Linkage assembly for in-line inspection tool
US10012618B2 (en) 2015-02-18 2018-07-03 Saudi Arabian Oil Company Deployment mechanism for passive normalization of a probe relative to a surface
CN107580692B (zh) 2015-03-09 2021-03-16 沙特阿拉伯石油公司 用于移动机器人的场地可布置对接站
US10036680B2 (en) 2015-03-19 2018-07-31 General Electric Company Pipeline sensor carrier
US9796086B2 (en) 2015-05-01 2017-10-24 Kawasaki Jukogyo Kabushiki Kaisha Method of teaching robot and robot
US10209223B2 (en) 2015-05-26 2019-02-19 The Boeing Company Real-time fusion of ultrasound and eddy current data during non-destructive examination
DE102015010804A1 (de) 2015-08-21 2017-02-23 Fachhochschule Aachen Befahranlage für zylindrische und/oder konische Oberflächen
CN105150834B (zh) 2015-09-21 2017-07-07 中国矿业大学 可控的锥齿轮式差动平衡装置及具有其的移动平台
EP3156710B1 (en) 2015-10-14 2018-12-12 ULC Robotics, Inc. Method for measuring distance in a pipeline
GB2544529A (en) * 2015-11-20 2017-05-24 Nat Grid Gas Plc Pipeline inspection robot
US20170191966A1 (en) 2016-01-04 2017-07-06 General Electric Company Distributed circle method for guided wave based corrosion detection in plate-like structures
US10145670B2 (en) 2016-01-12 2018-12-04 The Boeing Company Systems and methods for projected grid-based location tracking
KR101775114B1 (ko) 2016-01-25 2017-09-05 충북대학교 산학협력단 이동 로봇의 위치 인식 및 지도 작성 시스템 및 방법
KR102441328B1 (ko) 2016-01-28 2022-09-08 삼성전자주식회사 이동 로봇이 전송한 화면을 표시하는 방법 및 그 전자장치
US9950813B2 (en) 2016-02-05 2018-04-24 The Boeing Company Non-destructive inspection of airfoil-shaped body using self-propelling articulated robot
JP6614988B2 (ja) 2016-02-08 2019-12-04 株式会社ハーモニック・ドライブ・システムズ カップ形状の可撓性外歯歯車および波動歯車装置
WO2017165010A2 (en) 2016-02-09 2017-09-28 Huggett Daniel J On-line phased array ultrasonic testing system for friction stir welding applications
US11399995B2 (en) 2016-02-23 2022-08-02 Deka Products Limited Partnership Mobility device
US11037320B1 (en) 2016-03-01 2021-06-15 AI Incorporated Method for estimating distance using point measurement and color depth
GB2548917B (en) 2016-04-01 2020-08-05 Provost Fellows Found Scholars & Other Members Board College Holy & Und Obstacle crossing robot
US20170321790A1 (en) 2016-05-09 2017-11-09 Genesis Robotics Llp Flex spline actuator
US10239347B2 (en) 2016-05-18 2019-03-26 Saudi Arabian Oil Company Magnetic omni-wheel with roller bracket
BR112018075848B1 (pt) 2016-06-13 2023-01-10 Elop Technology As Dispositivo e método para emissão e recepção de sinal ultrassônico, e, sistema para emissão de sinal ultrassônico e recepção de sinal ultrassônico
US10191463B2 (en) 2016-07-05 2019-01-29 The Boeing Company Machine system and associated method for optical endpoint control optimization
US10710245B2 (en) 2016-07-08 2020-07-14 The Boeing Company Quick-change clamp arms for robot end effectors, systems including the same, and related methods
US11216006B2 (en) 2016-07-20 2022-01-04 Singapore University Of Technology And Design Robot and method for localizing a robot
US10281912B2 (en) 2016-08-03 2019-05-07 Kevin Cole Hollister Autonomous inspection system
CN106092091B (zh) 2016-08-10 2019-07-02 京东方科技集团股份有限公司 电子机器设备
US20180059660A1 (en) 2016-08-23 2018-03-01 Group Care Technologies, LLC Intelligent event response with unmanned aerial system
DE102016117237A1 (de) 2016-09-13 2018-03-15 Jürgen Wagner Verfahren zum mechanischen Koppeln eines Anbaugerätes mit einem Zugfahrzeug oder einer Anhängevorrichtung
US10234375B2 (en) 2016-09-15 2019-03-19 Saudi Arabian Oil Company Integrated ultrasonic testing and cathodic protection measurement probe
US10131057B2 (en) 2016-09-20 2018-11-20 Saudi Arabian Oil Company Attachment mechanisms for stabilzation of subsea vehicles
US10805431B2 (en) 2016-09-30 2020-10-13 Toku Industry Inc. Method and apparatus for remote data monitoring
MX2016014532A (es) 2016-11-07 2018-05-07 Corporacion Mexicana De Investigacion En Mat S A De C V Vehículo para inspección externa de tuberías.
US10253855B2 (en) 2016-12-15 2019-04-09 Boston Dynamics, Inc. Screw actuator for a legged robot
WO2024073767A1 (en) 2022-09-30 2024-04-04 Gecko Robotics, Inc. System, apparatus and method for improved location identification
EP3974823B1 (en) 2016-12-23 2024-03-06 Gecko Robotics, Inc. Inspection robot
US12162160B2 (en) 2016-12-23 2024-12-10 Gecko Robotics, Inc. System, apparatus and method for improved location identification with prism
US11307063B2 (en) 2016-12-23 2022-04-19 Gtc Law Group Pc & Affiliates Inspection robot for horizontal tube inspection having vertically positionable sensor carriage
US11673272B2 (en) 2016-12-23 2023-06-13 Gecko Robotics, Inc. Inspection robot with stability assist device
US12358141B2 (en) 2016-12-23 2025-07-15 Gecko Robotics, Inc. Systems, methods, and apparatus for providing interactive inspection map for inspection robot
EP3361235A1 (en) 2017-02-10 2018-08-15 VoxelGrid GmbH Device and method for analysing objects
US20180232874A1 (en) 2017-02-10 2018-08-16 Ecosubsea As Inspection vehicle
US20180239313A1 (en) 2017-02-22 2018-08-23 Stellar Vdc Residential, Llc Building model with virtual capture of as built features and objective performance tracking
US10594054B2 (en) 2017-05-09 2020-03-17 Tyco Electronics Canada Ulc Wedge connector assemblies and methods and connections including same
WO2019005951A1 (en) 2017-06-29 2019-01-03 Walmart Apollo, Llc SYSTEMS AND METHODS FOR REALIZING AND MONITORING ASSET INSPECTIONS
US10343276B2 (en) 2017-07-12 2019-07-09 Saudi Arabian Oil Company Compact magnetic crawler vehicle with anti-rocking supports
US10451222B2 (en) 2017-07-12 2019-10-22 Saudi Arabian Oil Company Magnetic crawler vehicle with passive rear-facing apparatus
US10261138B2 (en) 2017-07-12 2019-04-16 Nxp B.V. Magnetic field sensor with magnetic field shield structure and systems incorporating same
US10427734B2 (en) 2017-07-18 2019-10-01 General Electric Company Omnidirectional traction module for a robot
US10434641B2 (en) 2017-07-18 2019-10-08 General Electric Company In situ gap inspection robot system and method
US10596713B2 (en) 2017-07-18 2020-03-24 General Electric Company Actuated sensor module and method for in situ gap inspection robots
US10353399B2 (en) 2017-07-21 2019-07-16 AI Incorporated Polymorphic path planning for robotic devices
US10317905B2 (en) 2017-08-10 2019-06-11 RavenOPS, Inc. Autonomous robotic technologies for industrial inspection
US20190056541A1 (en) 2017-08-17 2019-02-21 Cedar Ridge Research Llc System and Method for Efficient Reflection
US11365068B2 (en) 2017-09-05 2022-06-21 Abb Schweiz Ag Robotic systems and methods for operating a robot
MX384735B (es) 2017-09-19 2025-03-14 Arix Tech Inc Aparatos y métodos de recorrido de tuberías.
US11274929B1 (en) 2017-10-17 2022-03-15 AI Incorporated Method for constructing a map while performing work
US11035829B2 (en) 2017-10-27 2021-06-15 Olympus America Inc. Dual ultrasonic probe with variable roof angle
US11549918B2 (en) 2017-10-27 2023-01-10 Olympus America Inc. Ultrasonic scanner with interchangeable wedge and flexible probe
US11577794B2 (en) 2017-11-22 2023-02-14 Sector Industries, Inc. Apparatus and related method for coating an irregular surface
US10689113B2 (en) 2017-12-21 2020-06-23 Wing Aviation Llc Active position control of tethered hook
US11417111B2 (en) 2017-12-22 2022-08-16 Terra Scientia, Llc Method, system and material for detecting objects of high interest with laser scanning systems
US11035669B2 (en) 2018-02-06 2021-06-15 Saudi Arabian Oil Company Tilt and distance profiling vehicle
JP7029309B2 (ja) 2018-02-13 2022-03-03 株式会社トプコン 反射プリズムおよび測量用ターゲット
US20210001484A1 (en) 2018-03-27 2021-01-07 Productive Robotics, Inc. Collaborative Robot System Incorporating Enhanced Human Interface
WO2019204504A1 (en) 2018-04-17 2019-10-24 Gecko Robotics, Inc. Inspection robot for horizontal tube inspection
KR102569473B1 (ko) 2018-05-07 2023-08-22 가부시키가이샤 쇼난 고세이쥬시 세이사쿠쇼 관내 로봇
JP2019199893A (ja) 2018-05-14 2019-11-21 セイコーエプソン株式会社 ロボット、歯車装置および歯車装置ユニット
US10545121B2 (en) 2018-05-23 2020-01-28 Pii Pipetronix Gmbh Pipeline inspection systems and methods
JP7127367B2 (ja) 2018-06-05 2022-08-30 セイコーエプソン株式会社 ロボット、歯車装置および歯車装置の製造方法
US10823709B2 (en) 2018-07-06 2020-11-03 The Boeing Company Methods and apparatus for realigning and re-adhering a hanging crawler vehicle on a non-level surface
CN111114292A (zh) 2018-10-31 2020-05-08 深圳市优必选科技有限公司 一种静音机器的底盘结构
US11097796B2 (en) 2018-11-29 2021-08-24 Saudi Arabian Oil Company Articulated magnet-bearing legs for UAV landing on curved surfaces
US10890505B2 (en) 2018-12-03 2021-01-12 Mistras Group, Inc. Systems and methods for inspecting pipelines using a robotic imaging system
US10783623B2 (en) 2018-12-03 2020-09-22 Mistras Group, Inc. Systems and methods for inspecting pipelines using a robotic imaging system
US10969367B2 (en) 2019-06-11 2021-04-06 The Boeing Company Automated ultrasonic inspection of elongated composite members using single-pass robotic system
US11415553B2 (en) 2019-07-23 2022-08-16 The United States Of America, As Represented By The Secretary Of The Navy Mobile automated non-destructive inspection system
DE102019211479A1 (de) 2019-07-31 2021-02-04 Institut Dr. Foerster Gmbh & Co. Kg Prüfkopfanordnung für eine Prüfanlage sowie Prüfanlage
US11327052B2 (en) 2019-08-28 2022-05-10 The Boeing Company Ultrasonic inspection probe, system, and method
EP4062092A4 (en) 2019-11-20 2023-12-20 Square Robot, Inc. SYSTEMS, METHODS AND APPARATUS FOR IN-OPERATION TANK INSPECTION
KR102886178B1 (ko) 2019-11-28 2025-11-14 엘지전자 주식회사 로봇 제어 장치 및 이를 포함하는 로봇
US11975585B2 (en) 2019-12-05 2024-05-07 Lockheed Martin Corporation Systems and methods for detecting characteristics of a multi-oriented surface
KR102200583B1 (ko) 2020-01-28 2021-01-11 한국로봇융합연구원 Mfl 배관 검사장치
JP7380326B2 (ja) 2020-02-28 2023-11-15 セイコーエプソン株式会社 歯車装置およびロボット
JP2021174192A (ja) 2020-04-23 2021-11-01 株式会社リコー 機器管理装置、機器管理システム、機器管理方法及びプログラム
CN112539749B (zh) 2020-06-30 2023-09-08 深圳优地科技有限公司 机器人导航方法、机器人、终端设备及存储介质
US20220019190A1 (en) 2020-07-14 2022-01-20 Saudi Arabian Oil Company Machine learning-based methods and systems for deffect detection and analysis using ultrasound scans
CN111844109A (zh) 2020-08-24 2020-10-30 广西利拓智能科技有限公司 一种工业机器人智能手腕装备系统及其操作方法
WO2022056435A1 (en) 2020-09-14 2022-03-17 EKTO VR, Inc. System and method of robotic virtual reality footwear
JP7614768B2 (ja) 2020-09-16 2025-01-16 株式会社東芝 測定装置及び測定方法
CN112419400A (zh) 2020-09-28 2021-02-26 广东博智林机器人有限公司 机器人的位置检测方法、检测装置、处理器和电子设备
KR102263706B1 (ko) 2020-11-23 2021-06-11 앤스코 주식회사 통합 자동 비파괴 검사 스캐너
KR102263144B1 (ko) 2020-11-27 2021-06-10 앤스코 주식회사 초음파 탐상을 위한 웨지 결합부
US11584158B2 (en) 2020-11-30 2023-02-21 Saudi Arabian Oil Company Magnetic crawler with 3 articulated wheels for navigation on pipes
US11906470B2 (en) 2021-01-04 2024-02-20 The Boeing Company Probe, system, and method for non-destructive ultrasonic inspection
CN114765667B (zh) 2021-01-13 2025-09-09 安霸国际有限合伙企业 用于多视图拼接的固定图案校准
CN112917483B (zh) 2021-01-19 2022-04-01 山东大学 用于涵闸隐蔽缺陷快速无损检测的爬壁机器人系统及方法
CN117043814A (zh) 2021-03-22 2023-11-10 松下知识产权经营株式会社 检查辅助系统、检查辅助方法和程序
US11965620B2 (en) 2021-03-24 2024-04-23 Southeast University Pipeline patrol inspection robot having variable tracks and control method therefor
US11364943B1 (en) 2021-04-09 2022-06-21 Bnsf Railway Company System and method for strategic track and maintenance planning inspection
US11865698B2 (en) 2021-04-20 2024-01-09 Gecko Robotics, Inc. Inspection robot with removeable interface plates and method for configuring payload interfaces
WO2022226222A1 (en) 2021-04-22 2022-10-27 Gecko Robotics, Inc. Systems, methods, and apparatus for ultra-sonic inspection of a surface
WO2024092081A1 (en) 2022-10-26 2024-05-02 Gecko Robotics, Inc. Robotic systems for ultrasonic surface inspection using shaped elements
JP7591459B2 (ja) 2021-04-23 2024-11-28 川崎重工業株式会社 走行車
US12391475B2 (en) 2021-09-08 2025-08-19 Symbotic Llc Autonomous transport vehicle
KR102381365B1 (ko) 2021-09-09 2022-04-01 나우 주식회사 초음파 탐상 검사장치
US20230128262A1 (en) 2021-10-26 2023-04-27 Lockheed Martin Corporation Modular Robotic Inspection System
US12505532B2 (en) 2021-11-17 2025-12-23 Sonix, Inc. Method and apparatus for automated defect detection
CA3240186A1 (en) 2021-12-06 2023-06-15 Joshua K. PICKARD Interactive visualizations for industrial inspections
CN114738598A (zh) 2022-04-15 2022-07-12 哈工大机器人（合肥）国际创新研究院 管道检测机器人
CN115314996B (zh) 2022-08-09 2024-08-30 合肥拉塞特机器人科技有限公司 基于轨道巡检机器人快速获取wifi无线信号覆盖的方法
US20240112100A1 (en) 2022-09-30 2024-04-04 Gecko Robotics, Inc. System, method, and apparatus to integrate inspection data and business analysis
WO2024097795A2 (en) 2022-11-01 2024-05-10 Gecko Robotics, Inc. Inspection robot with profile adapting sled, couplant reduction film and transducer pod for thick assets
US20240198519A1 (en) 2022-12-19 2024-06-20 Gecko Robotics, Inc. System, apparatus, and method for improved location identification
WO2024138219A2 (en) 2022-12-23 2024-06-27 Gecko Robotics, Inc. Systems, methods, and apparatus for inspection of a surface using sensor holder with dual linear phased array of ultra-sonic elements
WO2024254593A2 (en) 2023-06-08 2024-12-12 Gecko Robotics, Inc. Inspection robot with modular components and high configurability
WO2024254597A1 (en) 2023-06-08 2024-12-12 Gecko Robotics, Inc. System, method, and apparatus to support on-site concrete inspection
WO2024259133A2 (en) 2023-06-13 2024-12-19 Gecko Robotics, Inc. Systems, methods, and apparatus for concrete quality inspection
CN222801863U (zh) 2024-03-19 2025-04-25 湖北亿纬动力有限公司 信息采集装置及电池包

Also Published As

Publication number Publication date
US20180292838A1 (en) 2018-10-11
US10942522B2 (en) 2021-03-09
US10698412B2 (en) 2020-06-30
US10739779B2 (en) 2020-08-11
US20240345580A1 (en) 2024-10-17
EP3974823A3 (en) 2022-06-08
US20180284794A1 (en) 2018-10-04
EP3974823B1 (en) 2024-03-06
US12061483B2 (en) 2024-08-13
US20180275671A1 (en) 2018-09-27
US20180275670A1 (en) 2018-09-27
US11669100B2 (en) 2023-06-06
US20180275672A1 (en) 2018-09-27
US20180181136A1 (en) 2018-06-28
EP3559654A1 (en) 2019-10-30
US20180284797A1 (en) 2018-10-04
US20230333566A1 (en) 2023-10-19
US20200159237A1 (en) 2020-05-21
US20220011777A1 (en) 2022-01-13
US20180275674A1 (en) 2018-09-27
US11429109B2 (en) 2022-08-30
US20180275675A1 (en) 2018-09-27
US20230341865A1 (en) 2023-10-26
US20200310456A1 (en) 2020-10-01
US20180284795A1 (en) 2018-10-04
US11157012B2 (en) 2021-10-26
US20180267554A1 (en) 2018-09-20
US11740635B2 (en) 2023-08-29
US10534365B2 (en) 2020-01-14
US20200264615A1 (en) 2020-08-20
US10895878B2 (en) 2021-01-19
CN110300889A (zh) 2019-10-01
US11518030B2 (en) 2022-12-06
EP4404183A3 (en) 2024-09-25
US10481608B2 (en) 2019-11-19
EP3974823C0 (en) 2024-03-06
CA3046651A1 (en) 2018-06-28
US11157013B2 (en) 2021-10-26
EP3559654B1 (en) 2021-10-27
EP3974823A2 (en) 2022-03-30
US12591239B2 (en) 2026-03-31
US20180275673A1 (en) 2018-09-27
US12013705B2 (en) 2024-06-18
EP3559654A4 (en) 2020-07-29
US20180284796A1 (en) 2018-10-04
US10795373B2 (en) 2020-10-06
WO2018119450A1 (en) 2018-06-28
US11385650B2 (en) 2022-07-12
US11144063B2 (en) 2021-10-12
EP4404183A2 (en) 2024-07-24
ES2901649T3 (es) 2022-03-23
US10884423B2 (en) 2021-01-05
US12061484B2 (en) 2024-08-13

Similar Documents

Publication Publication Date Title
GB201820152D0 (en) Autonomous-behaviour-type robot
PT3377799T (pt) Robô para inspeção de condutas
AU201810090S (en) Robot
AU201615901S (en) Robot
GB201713277D0 (en) Hyper-redundant manipulators
GB2547182B (en) Measuring robot performance
EP3383599A4 (en) ROBOT GRAB
PL3445661T3 (pl) Robot pakujący
DE102015104550A8 (de) Schweißüberprüfungsrobotersystem
SG11201802315SA (en) Assisting robot
SG11201703889XA (en) Robot
GB201508902D0 (en) Robot Leg
AU201711357S (en) An automated hand
IL258334B (en) A snake-like robot
GB2551446B (en) Robot hand
GB201607804D0 (en) Inspection method
GB2542865B (en) Inspection assembly
SG11201802364XA (en) Robot arm
GB201519001D0 (en) Robotic seat-cleaning apparatus
GB201419955D0 (en) Security inspection robot
GB2557337B (en) Workbench
GB201807034D0 (en) Pipe inspection tool
GB201612519D0 (en) Single rail robot
IL266102A (en) Sample manipulator
GB201614090D0 (en) Robot