US 12,228,550 B2
Robotic systems for ultrasonic surface inspection using shaped elements
Chase David, Montgomery, TX (US); Jose Aparicio, Katy, TX (US); Juan Roberto Mendoza Mora, Corpus Christi, TX (US); Kevin Y. Low, Pittsburgh, PA (US); Troy Demmer, Glenshaw, PA (US); Edward A. Bryner, Pittsburgh, PA (US); and Scott Ashley Corl, Pittsburgh, PA (US)
Assigned to Gecko Robotics, Inc., Pittsburgh, PA (US)
Filed by Gecko Robotics, Inc., Pittsburgh, PA (US)
Filed on May 25, 2022, as Appl. No. 17/824,534.
Application 17/824,534 is a continuation of application No. 17/726,336, filed on Apr. 21, 2022.
Claims priority of provisional application 63/178,497, filed on Apr. 22, 2021.
Claims priority of provisional application 63/254,833, filed on Oct. 12, 2021.
Prior Publication US 2022/0341890 A1, Oct. 27, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G01N 29/265 (2006.01); G01N 29/04 (2006.01)
CPC G01N 29/265 (2013.01) [G01N 29/04 (2013.01); G01N 2291/0289 (2013.01)] 25 Claims
OG exemplary drawing
 
1. A system, comprising:
an inspection robot structured to move in a direction of travel on an inspection surface, the inspection robot comprising:
a first payload comprising a first ultrasonic (UT) phased array and a second UT phased array;
a rastering device operatively coupled to the first payload, and structured to execute reciprocating motion of the first payload; and
an inspection controller, comprising:
a positioning circuit structured to provide an inspection position command; and
an inspection circuit structured to provide a rastering position command and an interrogation command,
wherein the inspection robot is responsive to the inspection position command to move to an inspection position,
wherein the rastering device is responsive to the rastering position command to move the first payload through at least a portion of a range of the reciprocating motion, and
wherein the first UT phased array and the second UT phased array are responsive to the interrogation command to perform a UT inspection of the inspection surface at the inspection position on three axes of inspection.