US 11,904,456 B2
Inspection robots with center encoders
Dillon R. Jourde, Pittsburgh, PA (US); Edwin H. Cho, Pittsburgh, PA (US); Mark Cho, Pittsburgh, PA (US); and Kevin Y. Low, Pittsburgh, PA (US)
Assigned to Gecko Robotics, Inc., Pittsburgh, PA (US)
Filed by Gecko Robotics, Inc., Pittsburgh, PA (US)
Filed on Apr. 26, 2022, as Appl. No. 17/729,070.
Application 17/729,070 is a continuation of application No. 17/716,249, filed on Apr. 8, 2022.
Claims priority of provisional application 63/255,880, filed on Oct. 14, 2021.
Claims priority of provisional application 63/177,141, filed on Apr. 20, 2021.
Prior Publication US 2022/0331979 A1, Oct. 20, 2022
Int. Cl. B25J 9/00 (2006.01); B25J 13/08 (2006.01); B25J 9/16 (2006.01); B25J 19/02 (2006.01); G01N 29/04 (2006.01); G01N 29/22 (2006.01); G01N 29/265 (2006.01); B25J 13/00 (2006.01); B25J 5/00 (2006.01); B60K 1/02 (2006.01); B62D 53/02 (2006.01); B62D 57/024 (2006.01); B60B 19/00 (2006.01); B60B 19/12 (2006.01); G06F 1/20 (2006.01); H05K 1/18 (2006.01)
CPC B25J 13/087 (2013.01) [B25J 5/007 (2013.01); B25J 9/0009 (2013.01); B25J 9/163 (2013.01); B25J 9/1617 (2013.01); B25J 9/1653 (2013.01); B25J 9/1664 (2013.01); B25J 9/1674 (2013.01); B25J 9/1694 (2013.01); B25J 13/006 (2013.01); B25J 19/021 (2013.01); B25J 19/027 (2013.01); B60B 19/006 (2013.01); B60B 19/12 (2013.01); B60K 1/02 (2013.01); B62D 53/02 (2013.01); B62D 57/024 (2013.01); G01N 29/04 (2013.01); G01N 29/226 (2013.01); G01N 29/265 (2013.01); G06F 1/206 (2013.01); H05K 1/18 (2013.01); B60B 2360/102 (2013.01); B60B 2360/104 (2013.01); B60B 2360/109 (2013.01); B60B 2900/931 (2013.01); G01N 2291/0289 (2013.01); G01N 2291/2698 (2013.01); G06F 2200/201 (2013.01); H05K 2201/10151 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An inspection robot, the robot comprising:
a housing;
at least one drive module comprising at least one wheel and a motor, wherein the at least one drive module is operatively coupled to the housing;
an encoder structured to provide a movement value, wherein the encoder is positioned within a footprint of the housing; and
a controller comprising:
an encoder conversion circuit structured to calculate a distance value in response to the movement value;
a location circuit structured to determine at least one of a robot location value or a robot speed value in response to the movement value; and
a position command circuit structured to provide a position action command in response to the at least one of the robot location value or the robot speed value,
wherein the at least one drive module is responsive to the position action command to move the inspection robot.