Patent ID: 11892322
Assignee: GECKO ROBOTICS, INC.
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 9:
10. A method of inspecting horizontal tubes in an industrial environment, comprising:
selecting a sensor carriage assembly comprising a desired sensor for inspecting a plurality of vertically arranged layers of tubes, wherein the sensor carriage assembly comprises at least one guide arm structured to engage a tube of at least one of the vertically arranged layers of tubes or an adjacent vertically arranged layer of tubes;
coupling the selected sensor carriage assembly to an inspection robot;
positioning a drive module of the inspection robot on a top tube of the plurality of vertically arranged layers of tubes;
moving the sensor carriage assembly of the inspection robot vertically when the sensor carriage assembly is in a raising/lowering position to align with a selected tube of the plurality of vertically arranged layers of tubes;
rotating the sensor carriage assembly from the raising/lowering position to an inspection position, wherein the sensor carriage assembly has a narrower vertical profile in the raising/lowering position than in the inspection position; and
interrogating the selected tube with the desired sensor of the selected sensor carriage assembly as the inspection robot travels along a length of the top tube of the plurality of vertically arranged layers of tubes.