System, method, and apparatus to operate an inspection robot on rugged surfaces

Abstract

A device may include a payload comprising: a touchless ultrasonic (UT) sensor mounted to a sensor holder; and the sensor holder comprising a bottom surface, and two rollers coupled to the sensor holder and extending, at rest, below the bottom surface. A device may include a rastering device configured to selectively move the payload along an inspection surface in an inspection direction. A device may include the inspection robot configured to move on the inspection surface in a traversal direction.

Description

SYSTEM, METHOD, AND APPARATUS TO OPERATE AN INSPECTION ROBOT ON RUGGED SURFACESCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of priority to U.S. Provisional Patent Application Serial No. 63 / 649,353, filed 18 MAY 2024, and entitled “SYSTEM, METHOD, AND APPARATUS TO OPERATE AN INSPECTION ROBOT ON ROUGH AND IRREGULAR SURFACES” (GROB- 0031-P01).

[0002] This application also claims the benefit of priority to U.S. Provisional Patent Application Serial. No. 63 / 646,396, filed May 13, 2024, and entitled “INSPECTION ROBOT” (GROB-0033- P01).

[0003] Each of the foregoing patent applications and patents are incorporated herein by reference in their entirety for all purposes.

[0004] The following patent applications and patents are incorporated herein by reference in their entirety for all purposes:

[0005] U.S. Utility Application No. 18 / 917,514, filed October 16, 2024, and entitled “SYSTEM, APPARATUS AND METHOD FOR IMPROVED LOCATION IDENTIFICATION WITH PRISM”, now Publication No. US 2025-0033212 (GROB-0017-U01-C01).

[0006] U.S. Utility Application No. 17 / 741,519, filed May 11, 2022, and entitled “HIGH TEMPERATURE COMPLIANT WHEELS FOR AN INSPECTION ROBOT”, now Publication No. US 2022-0331985 (GROB-OO 10-U01 -CIO).

[0007] US Utility Application No. 18 / 949,591, filed November 15, 2024, and entitled “SYSTEMS, METHODS, AND APPARATUS FOR PROVIDING INTERACTIVE INSPECTION MAP FOR INSPECTION ROBOT” (GROB-0007-U01-C01-C02).

[0008] US Utility Application No. 18 / 479,624, filed October 2, 2023, entitled “SYSTEM, METHOD, AND APPARATUS TO INTEGRATE INSPECTION DATA AND BUSINESS ANALYSIS”, now Publication No. US 2024-0112100 (GROB-0012-U01).

[0009] US Utility Application No. 18 / 753,090, filed June 25, 2024, entitled “SYSTEM, APPARATUS, AND METHOD FOR IMPROVED LOCATION IDENTIFICATION” (GROB- 0025 -U01).

[0010] U.S. Provisional Application No. 63 / 746,507, filed January 17, 2025, entitled “SYSTEMS, METHODS, AND APPARATUSES FOR POSITIVE PROGRESSION OF INSPECTION OPERATIONS” (GROB-0028-P01).BACKGROUND

[0011] Traditional inspection robots are capable of traversing ferrous surfaces to perform inspection operations on those surfaces, for example to inspect surfaces of industrial equipment, ship hulls, ship decks, or the like. Certain surfaces for inspection, referred to herein as “rugged inspection surfaces”, “rugged surfaces”, and / or “rough surfaces”, have coatings or other interfering layers between the surface to be inspected and the physical locations available for positioning of the inspection robot. Example and non- limiting rough surfaces include non-skid surfaces, which may be rolled on nonskid surfaces and / or peel and stick non-skid surfaces. Additionally or alternatively, rough surfaces may include foam coatings and / or spray on coatings. Some coatings on a surface degrade the capability of previously known inspection techniques to achieve an accurate and consistent inspection, including with some coatings rendering previously known inspection techniques entirely ineffective, for example preventing the effective utilization of inspection techniques such as traditional ultrasound, which require consistent acoustic coupling to the underlying metal surface. Additionally or alternatively, rough surfaces provide profound degradation of sensors, sleds, skids, or other contact surfaces of an inspection robot that engage the surface during inspection operations. Additionally or alternatively, many inspection surfaces having a rough surface are part of a mobile application, increasing the difficulty of aligning inspection data from the surface with other position based inspection data.SUMMARY

[0012] Example embodiments herein provide for an inspection robot capable of traversing a rough inspection surface with sufficient resistance to wear and degradation to perform an inspection on the rough surface while minimizing the need to replace contact surfaces of the inspection robot, for example and without limitation the utilization of rollers configured to traverse the inspection surface, a contact belt to minimize sliding wear on an inspection payload, belt guidance features to allow the belt to operate properly on the rough inspection surface, a skid plate to protect the inspection element from rough surface contact and / or damage, and / or an adjustable probe height for the payload allowing configuration of a contact belt for a contemplated rough surface. Example embodiments herein utilize a non-contact (or touchless) ultrasonic (UT) inspection sensor, such as a standoff electromagnetic sensor that induces a response in the surface that can be evaluated as an ultrasonic response for the surface. Such non-contact ultrasonic inspection sensors are sensitive to the distance to the underlying metal surface, where maintaining the distance to the surface is more difficult with a rough inspection surface, and embodiments herein provide for a consistent positioning of the touchless UT sensor in proximity to the surface, while managing the strong magnetic interactionswith the surface due to a powerful magnet utilized in the touchless UT sensor. For example, embodiments herein include a payload that is capable to position the touchless UT sensor consistently close to the rough surface without direct contact with the surface, to allow the payload to traverse in an inspection direction while maintaining contact, and to lift the payload to allow the inspection robot to progressively travel in a traverse direction to the next inspection position.

[0013] Particular embodiments may include any one or more, or all, of the foregoing aspects, thereby providing an inspection robot that can be configured to perform inspections on a wide variety of rough inspection surfaces, and to allow the touchless UT inspection data to be captured within position coordinates that allow the data to be overlaid with other inspection data from the surface, enabling deeper analysis and a more complete description of the condition of the inspection surface.BRIEF DESCRIPTION OF THE FIGURES

[0014] Fig. 1 is a schematic depiction of a rugged inspection surface, in accordance with certain embodiments of the current disclosure.

[0015] Fig. 2 is a schematic depiction of an inspection robot on a rugged inspection surface, in accordance with certain embodiments of the current disclosure.

[0016] Fig. 3 is a schematic depiction of a payload for an inspection robot, in accordance with certain embodiments of the current disclosure.

[0017] Fig. 4 is a schematic depiction of another payload for an inspection robot, in accordance with certain embodiments of the current disclosure.

[0018] Fig. 5 is a schematic depiction of another payload for an inspection robot, in accordance with certain embodiments of the current disclosure.

[0019] Fig. 6 is a schematic depiction of inspection data, in accordance with certain embodiments of the current disclosure.

[0020] Fig. 7 is a schematic depiction of a graphical user interface, in accordance with certain embodiments of the current disclosure.

[0021] Fig. 8 is another schematic depiction of a graphical user interface, in accordance with certain embodiments of the current disclosure.

[0022] Fig. 9 is another schematic depiction of inspection data, in accordance with certain embodiments of the current disclosure.

[0023] Fig. 10 is another schematic depiction of inspection data, in accordance with certain embodiments of the current disclosure.

[0024] Fig. 11 is a schematic depiction of a rail with a payload, in accordance with certain embodiments of the current disclosure.

[0025] Fig. 12 is a schematic depiction of a rail, in accordance with certain embodiments of the current disclosure.

[0026] Fig. 13 is a schematic depiction of a sled / sensor holder interface for a rail, in accordance with certain embodiments of the current disclosure.

[0027] Fig. 14 is a schematic depiction of a pay load with a contact belt, in accordance with certain embodiments of the current disclosure.

[0028] Fig. 15 is a schematic depiction of a rail with a payload having a contact belt, in accordance with certain embodiments of the current disclosure.

[0029] Fig. 16 is a schematic depiction of a payload with a contact belt, in accordance with certain embodiments of the current disclosure.

[0030] Fig. 17 is a schematic depiction of a payload with a contact belt, in accordance with certain embodiments of the current disclosure.

[0031] Fig. 18 is a schematic depiction of a payload having a belt path, in accordance with certain embodiments of the current disclosure.

[0032] Fig. 19 is a schematic depiction of a pay load, in accordance with certain embodiments of the current disclosure.

[0033] Fig. 20 is an exploded schematic depiction of a payload having a contact belt, in accordance with certain embodiments of the current disclosure.

[0034] Fig. 21 is a schematic depiction of a pay load having a contact belt and a central belt interference component, in accordance with certain embodiments of the current disclosure.

[0035] Fig. 22 is a schematic depiction of a rail having a payload with a contact belt, in accordance with certain embodiments of the current disclosure.

[0036] Fig. 23 a schematic depiction of a rail with a rastering device and a lift assembly, in accordance with certain embodiments of the current disclosure.

[0037] Fig. 24 is a schematic depiction of a rail having a payload with a contact belt, in accordance with certain embodiments of the current disclosure.

[0038] Fig. 25 is a schematic depiction of an inspection robot having a payload on an inspection surface, in accordance with certain embodiments of the current disclosure.

[0039] Fig. 26 is a schematic depiction of a payload with rollers, in accordance with certain embodiments of the current disclosure.

[0040] Fig. 27 is another schematic depiction of a payload with rollers, in accordance with certain embodiments of the current disclosure.

[0041] Fig. 28 is a schematic depiction of a payload with extension stoppers, in accordance with certain embodiments of the current disclosure.

[0042] Fig. 29 is a schematic depiction of a sensing element, in accordance with certain embodiments of the current disclosure.

[0043] Fig. 30 is another schematic depiction of a sensing element, in accordance with certain embodiments of the current disclosure.

[0044] Fig. 31 is a schematic depiction of a payload having an upper guide, in accordance with certain embodiments of the current disclosure.

[0045] Fig. 32 is another schematic depiction of a payload having an upper guide, in accordance with certain embodiments of the current disclosure.

[0046] Fig. 33 is a schematic depiction of a graphical user interface showing inspection data, in accordance with certain embodiments of the current disclosure.

[0047] Fig. 34 is a schematic depiction of a graphical user interface, in accordance with certain embodiments of the current disclosure.

[0048] Fig. 35 is another schematic depiction of a graphical user interface, in accordance with certain embodiments of the current disclosure.

[0049] Fig. 36 is another schematic depiction of a graphical user interface, in accordance with certain embodiments of the current disclosure.

[0050] Fig. 37 is another schematic depiction of a graphical user interface, in accordance with certain embodiments of the current disclosure.

[0051] Fig. 38 is another schematic depiction of a graphical user interface, in accordance with certain embodiments of the current disclosure.

[0052] Fig. 39 is another schematic depiction of a graphical user interface, in accordance with certain embodiments of the current disclosure.

[0053] Fig. 40 is another schematic depiction of a graphical user interface, in accordance with certain embodiments of the current disclosure.

[0054] Fig. 41 is another schematic depiction of a graphical user interface, in accordance with certain embodiments of the current disclosure.

[0055] Fig. 42 is another schematic depiction of a graphical user interface, in accordance with certain embodiments of the current disclosure.

[0056] Fig. 43 is another schematic depiction of a graphical user interface, in accordance with certain embodiments of the current disclosure.

[0057] Fig. 44 is another schematic depiction of a graphical user interface, in accordance with certain embodiments of the current disclosure.

[0058] Fig. 45 is another schematic depiction of a graphical user interface, in accordance with certain embodiments of the current disclosure.

[0059] Fig. 46 is another schematic depiction of a graphical user interface, in accordance with certain embodiments of the current disclosure.

[0060] Fig. 47 is another schematic depiction of a graphical user interface, in accordance with certain embodiments of the current disclosure.

[0061] Fig. 48 is a schematic depiction of a system for inspecting an inspection surface, in accordance with embodiments of the current disclosure.

[0062] Fig. 49 is a flowchart depicting a method for inspecting an inspection surface, in accordance with embodiments of the current disclosure.

[0063] Fig. 50 is a flowchart depicting further aspects of the method of Fig. 49, in accordance with embodiments of the current disclosure.DETAILED DESCRIPTION

[0064] The present disclosure relates to systems and methods developed for inspecting rugged surfaces. Non- limiting examples of rough (or rugged) surfaces include surfaces having rough and / or irregular shapes, and / or features, e.g., a coating, that degrades the capability of a traditional inspection robot to inspect the surface. Example and non-limiting coatings include thermal coatings, insulation, abrasion coatings, wear coatings, corrosive protection coatings, friction or non-skid coatings, or the like. An example coating for a surface 100 is depicted in Fig. 1, with the coating being a non-skid wear coating, for example for a flight deck of a naval aircraft carrier. The surface 100 to be inspected is the ferrous surface underneath the coating shown in Fig. 1. In certain embodiments, inspection operations may additionally be performed to inspect the coating itself. Example coatings can be coarse, have macro variations that are disruptive to maintaining consistent acoustic contact with the surface (e.g., to perform traditional ultrasonic inspection) and / or smooth traversal of the surface, can include abrasive materials (e.g., aggregate, sand, etc.), and / or can be fairly thick (e.g., 4-6 mm, without limitation) with high variability in the thickness. Further, degradation and / or changes in the coating over time can make traditional inspection even more difficult, for example with flaking, bubbling, chunks breaking off, and other degradation mechanisms that exacerbate difficulties in maintaining acoustic contact with the surface and / or traversal of the surface.

[0065] Operations to inspect a surface, as disclosed herein, may include inspections performed via an inspection robot or inspection device, or other descriptions in the context of performing an inspection. Inspections, as utilized herein, should be understood broadly. Without limiting any other disclosures or embodiments herein, inspection operations herein include operating one or more sensors in relation to an inspected surface, electromagnetic radiation inspection of a surface (e.g.,operating a camera) whether in the visible spectrum or otherwise (e.g., infrared, UV, X-Ray, gamma ray, etc.), high-resolution inspection of the surface itself (e.g., a laser profiler, caliper, etc.), performing a repair operation on a surface, performing a cleaning operation on a surface, and / or marking a surface for a later operation (e.g., for further inspection, for repair, and / or for later analysis). Inspection operations include operations for a pay load carrying a sensor or an array of sensors (e.g. on sensor sleds) for measuring characteristics of a surface being traversed such as thickness of the surface, curvature of the surface, ultrasound (or ultra-sonic) measurements to test the integrity of the surface and / or the thickness of the material forming the surface, heat transfer, heat profile / mapping, profiles or mapping any other parameters, the presence of rust or other corrosion, surface defects or pitting, the presence of organic matter or mineral deposits on the surface, weld quality and the like. Sensors may include magnetic induction sensors, acoustic sensors, laser sensors, LIDAR, a variety of image sensors, and the like.

[0066] In certain embodiments, for clarity of description, a sensor is described in certain contexts throughout the present disclosure, but it is understood explicitly that one or more tools for repairing, cleaning, and / or applying a treatment or coating to the surface being treated are likewise contemplated herein wherever a sensor is referenced. In certain embodiments, where a sensor provides a detected value (e.g., inspection data or the like), a sensor rather than a tool may be contemplated, and / or a tool providing a feedback value (e.g., application pressure, application amount, nozzle open time, orientation, etc.) may be contemplated as a sensor in such contexts.

[0067] An example sensor includes an electromagnetic acoustic transducer (EMAT) that can be utilized, in combination with aspects of the present disclosure, to perform ultrasonic inspection of a ferrous surface under a coating, including a coating that is thick, having a non-homogenous composition, rough, abrasive, and / or having a highly variable thickness. Another example embodiment includes a pulsed eddy current (PEC) sensor.

[0068] Referring to Fig. 2, an example embodiment of an inspection robot 200 is schematically depicted on a coated 100 inspection surface. The example of Fig. 2 includes a rastering payload 202, which includes a touchless UT sensor in the example, with a sled configuration (shown in Fig 3) of the payload 202 configured to survive inspection operations as well as provide sufficiently consistent positioning of the payload 202 to the inspection surface to complete inspection operations thereon. In embodiments, the payload 202 may be coupled to an arm and / or directly to a rail 201 (also shown in Figs. 11 and 12) which, in turn, may be coupled to a body / chassis 203 of the inspection robot 200. The example inspection robot 200 includes modular hardpoints 204 for mounting various sensors, cameras, e.g., cameras 205, locating devices (e.g., Lidar, line-of-sight ranging, PRISM 207, and encoder 209 etc.), or the like thereon. The example of Fig. 2 utilizes a payload 202 having a singlesensor mounted on a sled 303 (shown in Fig. 3) that is rastered horizontally (or side-to-side as depicted by arrows 206) as the inspection robot 200 traverses vertically (or forward, as depicted by traversal directional arrow 208) to provide inspection coverage for the entire surface 100 at a selected resolution. In embodiments, rastering of the payload 202 may be facilitated by a rastering device 305 (best seen in Fig. 11). The rastering device 305 may be configured to selectively move the payload 202 along the rail 201. For example, as shown in Fig. 11, the rastering device 305 may include a motor 306 that drives a gear, chain, cable, and / or other device that moves the payload 202 along the rail in the direction of arrows 206. The motor 306 may be electric, hydraulic, pneumatic, and / or any other type of device and / or system configured to provide a force to move the payload 202 along the rail 201. In embodiments, the rastering device 305 may include a cable guard 307 structured to protect power and / or communication cables running between the payload 202 and chassis 203 of the inspection robot 200. In embodiments, the rail 201 may be oriented in an inspection direction, e.g., along the raster direction (arrows 206) and / or perpendicular to the traversal direction (arrow 208).

[0069] In certain embodiments, multiple payloads 202 and / or sensors may be provided, for example with a number of sleds horizontally distributed to provide a selected inspection resolution, and / or with a number of payloads that may be rastered, synchronously or asynchronously, to provide inspection coverage with a reduced inspection time relative to a single rastered sensor.

[0070] Referencing Fig. 3, an example payload 202 is depicted schematically. The example of Fig. 3 is for a touchless ultrasonic (UT) sensor 301, e.g., an electromagnetic acoustic transducer (EMAT) sensor, on a sled / sensor holder 303, which is rastered from side to side (left <--> right in the perspective of Fig. 3), e.g., along the direction of arrows 206 (also shown in Fig. 2). The example of Fig. 3 includes rollers 302 that operate to reduce the wear on the payload 202, while allowing the rastering payload 202 to traverse surface variations on the inspection surface 100. The sensor 301 may be mounted / coupled and / or otherwise secured to the sled 303. The sled rollers 302 may be coupled to the sled / sensor holder 303 such that they extend, at rest, below a bottom surface 301 (as best seen in Fig. 28) of the sled / sensor holder 303. While the embodiment depicted in Fig. 3 includes a touchless UT sensor, it is to be appreciated that other types of sensors may be incorporated, e.g., a touching ultrasonic, lidar, radar, radar, etc. Further, embodiments of the touchless UT sensor 301 may completely avoid touching the surface 100 during an inspection run, while other embodiments may touch the surface 100 occasionally, and / or in a manner that does not significantly impair the sensor’s ability to function and / or produce viable readings / data. In embodiments, the sensor 301 may include a high-powered magnetic element.

[0071] The example rollers 302 may be any material, typically with a hardness lower than the surface 100 hardness, but in certain embodiments the surface may be softer (e.g., a paint surface, foam layer, etc.), and / or considerations for a particular system may indicate that preserving the pay load material is desirable over preserving the coating of the inspection surface 100 (e.g., where the coating is sacrificial, not substantially affected by the disturbance of inspection operations, and / or where the coating condition is not a concern, for example immediately before a coating repair or resurfacing operation). In certain embodiments, the rollers 302 are a hard plastic material, for example a polyoxymethylene (or acetal) material (e.g., Delrin®). In certain embodiments, the rollers 302 may additionally or alternatively be aluminum or ceramic. In certain embodiments, the rollers 302 may include a covering over a substrate, for example a Delrin® (or other material) sleeve positioned over a hub. In certain embodiments, the rollers 302 are quickly replaceable, for example by disconnecting the roller 302 and connecting a replacement roller, replacing a sleeve of the roller 302, or the like.

[0072] The example payload 202 includes a skid plate 304 that allows the payload to position the touchless UT sensor 301 as close to the inspection surface (e.g., the underlying ferrous surface that is being inspected by the touchless UT sensor 301) as possible without damaging the touchless UT sensor 301 (e.g., a large permanent magnet with an actively controlled coil between the magnet and the inspection surface). In certain embodiments, the pay load 202 is configured with a downforce management component / biasing device 308, for example, one or more coil / control springs (best seen in Figs. 5 and 28) configured to urge the bottom surface 310 towards the inspection surface 100. The payload 202 may also be operated with a downforce on the skid plate 304 that helps maintain consistent and minimum distancing between the sensor 301 and the inspection surface 100, with the load being shared with the rollers 302 to reduce overall wear and allow the inspection robot 200 to complete a maximum inspection area between changes or service to any of the contact parts.

[0073] The skid plate may 304 be constructed of similar materials to the rollers 302, and / or may further include a friction reduction coating, metastructure (e.g., surface configuration, material structure, surface treatments, etc., of the substrate material to reduce friction of the skid plate 304 sliding on the inspection surface / coating), and / or a low friction material which may be in a sacrificial replaceable layer. An example skid plate 304 includes a composite material, and / or a layered material (e.g., a ceramic skid surface with a stiff backing material, and / or a skid plate 304 with a coil of the touchless UT 301 sensor sandwiched into a layer of the skid plate). In embodiments, the skid plate 304 may include a non-magnetic material. In embodiments, the skid plate 304 may include aluminum, plastic, titanium, austenitic stainless steel, and / or a high molecular weight polymer.

[0074] In embodiments, the payload 202 may include two (2) or more biasing devices 308 structured to allow each side of the skid plate 304 to lift independently. In such embodiments, the biasing devices may be separate devices. Embodiments of the payload 202 may also include three (3) or more biasing devices 308 to increase the ability of the skid plate 304 to traverse obstacles, e.g., lift up.

[0075] In certain embodiments, the weight of the permanent magnet of the touchless UT sensor 301, where present, exceeds the typical desired downforce for proper operation of the touchless UT sensor 301. Accordingly, the downforce management component 308 is coupled to the skid plate 304 to lift the skid plate 304, or reduce the downforce, into the desired range, and to share the load with the rollers 302. The desired downforce will depend on the circumstances, for example the geometry of surface variations and the relationship of the downforce to managing these, the characteristics of the touchless UT sensor 301 and inspection surface response at the frequencies and / or other operating parameters of the touchless UT sensor 301, and / or the thickness, compressibility, variability, and the like, of the coating on the inspection surface 100.

[0076] In certain embodiments, the downforce management component 308 includes one or more springs (as shown in Fig. 28). An example downforce management component 308 includes a gas spring. In certain embodiments, the downforce management component 308 is configured to actively control the downforce (e.g., confining or releasing a spring, coupling or decoupling a spring, adding or releasing gas from a gas spring, utilizing an actuator that performs one or more of these operations, etc.). In certain embodiments, the downforce is adjusted specifically for an operation, for example selected by and / or adjusted by an operator on location before an inspection operation, and based on the conditions of the inspection surface / coating, the selected payload and / or payload weight, and / or the relative priorities between high accuracy of inspection results, operating costs, and capital costs. In certain embodiments, the payload configuration additionally or alternatively affects the desired downforce. For example, a multi-sled arrangement with horizontally distributed sleds may have a first selected downforce, for example based on inspection outcomes, type of wear management utilized (e.g., presence and / or material utilized for replaceable wear surfaces on the sleds), forces experienced by the sleds during operation (e.g., sliding force on the surface, and considering surface variation, sled ramp configuration, and the sliding direction for the sled - typically vertical). In another example, a rastering payload arrangement (e.g., as in Figs. 2 and 3) may have a second selected downforce, for example based on inspection outcomes, type of wear management utilized (e.g., material and friction for the rollers 302 and / or skid plate 304, and / or for replaceable wear surfaces of these), forces experienced by the skid plate 304 during operation (e.g.,sliding force on the surface 100, and considering surface variation, and the sliding direction for the skid plate 304 - typically horizontal).

[0077] Referencing Fig. 4, an example embodiment of a payload 202 having an additional optional degree of freedom for rotation (in the direction of arrows 401 about axis 402) is schematically depicted. The example embodiment allows for rotation in a plane that is parallel to the direction of rastering, e.g., arrows 206 (Figs. 2 and 3), which allows for traversal of obstacles, improved inspection efficiency (e.g., the sensor is in a proper inspection position more of the time, and recovers to a proper inspection position quickly), and reduced risk of inspection interruption (e.g., due to a stuck sensor or pay load, mechanical manipulation (e.g., “flipping”) of the payload into an unrecoverable position, etc.).

[0078] Referencing Fig. 5, an example payload having an alternate suspension arrangement is schematically depicted. The example of Fig. 5 includes touchless UT sensor stack (e.g., the magnet, coil, skid plate, etc.) suspended above a frame for the rollers using coil springs. The example payload includes the downforce management component 308 including coil springs that transfer some of the weight of the touchless UT sensor stack toward the surface, and to the rollers, but allows for independent motion of the rollers 302 and the sensor stack, providing an improved tendency for the touchless UT sensor stack to maintain correct orientation to the inspection surface, and even further reduced risk of inspection interruption.

[0079] In certain embodiments, the downforce management component 308 may provide a lift force to the entire sensor stack (e.g., as in the example of Fig. 2), or separately to each sled 303 (or payload). In certain embodiments, the skid plate 304 material is a low friction contact material, for example Teflon™. In certain embodiments, the payload 202 may include a lift for the whole payload, for example an actuator that rotates the payload up and away from the inspection surface. In certain embodiments, such a lift for the whole payload 202 may be utilized to eliminate contact of the rollers 302 and / or the skid plate 304 with the inspection surface 100 during certain operations, such as during movement that is not in the inspection direction 206 (e.g., the inspection robot 200 moving vertical / forward in a traverse direction to a next inspection slice, where the rollers 302 are oriented to accommodate the horizontal rastering motion in an inspection direction) and / or movement to traverse an obstacle. In certain embodiments, such a lift for the whole payload 202 may be utilized to reduce the normal force of rollers 302 and / or skid plate 304 on the inspection surface 100. In certain embodiments, the inspection robot 200 is configured to accommodate a high lift force on the payload 202, for example with active and / or enhanced magnetic coupling strength of the wheels 210 (Fig. 2) of the inspection robot 200, and / or shifting a ballast weight (e.g., to control potential pivoting due to lifting a significant weight in the payload 202).

[0080] Referencing Fig. 6, an example display of thickness data for a flight deck is depicted, with parameters for the display shown from an example interface in Figs. 7 and 8. The example of Fig. 7 depicts interface elements for the user to adjust which entity, facility, and / or asset is being depicted, a name of the specific inspection run being displayed (e.g., in Fig. 6), which services from the inspection run are to be displayed, and thresholds for the display scheme (e.g., allowing the user to set thickness values to highlight the regions of interest for different purposes). The example interface continues on Fig. 8, with the user having options to adjust how the information can be downloaded or accessed, and / or to select between various layers being shown (e.g., allowing to switch between different inspected features, and / or overlay more than one at the same time).

[0081] Referencing Figs. 9 and 10, an example Lidar inspection display for a flight deck is depicted (e.g., showing depressions and / or deformation in the overall surface relative to a nominal or original shape), with different thresholds selected for the depth of depression that is being displayed. In certain embodiments, Lidar inspection data, or other inspection data, may be overlaid on a display with touchless UT sensor data, providing for enhanced analysis of the inspection surface condition and / or providing insights into damage and / or damage mechanisms.

[0082] Referencing Fig. 11, an embodiment of a rail 201 may include an elongated body 1201 that serves as a track / guide for a sensor holder / sled 303 interface 1203 which couples and / or is otherwise connected to a sled / sensor holder 303 of a payload 202 (as shown in Fig. 11). The elongated body 1201 may be made of metal, carbon fiber, and / or any other material of sufficient strength to support the pay load 202. In embodiments, the elongated body 1201 may include a gear track and / or rails for the rastering device 305 to move along.

[0083] As further shown in Fig. 12, embodiments of the rail 201 may include one or more lift assemblies 1205 and 1206 at one or more selected positions. For example, in embodiments, a first lift assembly 1205 may be disposed at a first end 1207 of the rail 201 and / or a second lift assembly 1206 may be disposed at a second end 1209 of the rail 201. While Fig. 12 depicts the lift assemblies 1205 and 1206 at opposite ends 1207 and 1209 of the rail 201, it is to be understood that the list assemblies 1205 and 1206 may be disposed at any position along the body 1201 of the rail 201.

[0084] In embodiments, the lift assemblies 1205 and 1206 may each include a lifting ramp 1210, which may be linear. In embodiments, the angle 0 may be selected such that the pay load 202 lifts sufficiently off of the inspection surface, for example allowing the inspection robot 200 to move in the traverse direction, at a selected progression along the lifting ramp 1210. Example and nonlimiting angles 0 may include a value between about 5° and 45°. The linear ramp(s) may provide a movement lift at a selected rail position of the payload 202. The linear ramp(s) may provide a utility lift at a second selected rail position of the payload 202, for example allowing for inspection of thepayload 202, maintenance or servicing of the payload 202, and / or configuration operations on the pay load 202 (e.g., changing rollers, a contact belt, adjustment to springs and / or engagement limiters, etc.). As will be appreciated, the sled / sensor holder 303 may ride up along the lifting ramps 1210 as the sled / sensor holder 303 approaches the ends 1207 and / or 1209 of the rail 201 where the lifting ramps 1210 convert a portion of the horizontal force applied by the rastering device 305 into a lifting force on the sled / sensor holder 303, which, in turn, may decouple the sensor’s 301 magnet from the inspection surface 100. In embodiments, the sled / sensor holder 303 may be fully retracted by the end of a raster, and / or at a selected position of the raster, so that the sensor 301 can be moved forward, e.g., along arrow 208, to start the next raster.

[0085] In embodiments, the one or more lifting ramps 1210 may have parabolic ramps / shapes, elliptical arc ramps / shapes, cycloid ramps / shapes, and / or monotonically increasing lift profiles. For example, non-linear lifting ramps may allow for configuration of the lifting force profile, allow the payload 202 to remain within an inspection distance along a greater extent of the rastering region, provide a stable parking location for the pay load 202 (e.g., with a flat region and / or a local minimum region of the ramp provided near the end of the rastering region), or the like. In embodiments, the lift assemblies 1205 and 1206 may have symmetrical geometries while, in other embodiments, the lift assemblies 1205 and 1206 may have distinct geometries.

[0086] In embodiments, the one or more lifting ramps 1210 may include local minimum at a second selected position of the payload 202, for example allowing the pay load 202 to be parked for inspection of the payload 202, maintenance or servicing of the payload 202, and / or configuration operations on the payload 202 (e.g., changing rollers, a contact belt, adjustment to springs and / or engagement limiters, etc.).

[0087] As will be appreciated, embodiments of the rail 201 may provide for one or more of the lift assemblies 1205 and / or 1206 to be selectively removed and / or swapped out with differing lift assemblies having one or more of the properties disclosed herein.

[0088] Illustrated in Fig. 13 is a non- limiting embodiment of the interface 1203 (also shown in Fig. 11). The interface 1203 may include a first body 1310 coupled to a second body 1312. The second body 1312 may have a dovetail profile, as shown in Fig. 13, and a shape 1314, e.g., a pocket, structured to facilitate a quick-release of a payload 202, as disclosed herein.

[0089] Figs. 14 and 15 depict an embodiment of a sensor holder / sled 303 having a quick-release interface 1203. As will be appreciated, embodiments of the quick release interface 1203 provides for the ability to change out payloads in an expedient manner, e.g., without having to screw / unscrew and / or cut / solder connections. As will be appreciated, swapping out payloads 202 in an expedient manner provides for the quick replacement of a contact belt 1610, skid plate 304, and / or othercomponents of the payload 202 that may wear out during an inspection run. As will be further appreciated, the quick replacement of the payload 202 may provide for an inspection run to be completed without having to remove the robot 200 from the inspection surface and / or from the inspection site.

[0090] Figs. 16 and 17 depict an embodiment of a pay load 202 having a contact belt 1610 configured to contact the inspection surface 100. As shown in Figs. 16 and 17, the contact belt 1610 may be interposed between one or more rollers 302 and the inspection surface 100 and configured to circulate on a contact belt path 1612 (also shown in Fig. 18). In embodiments, the contact belt 1610 may circulate on the path 1612 in response to a rastering movement of the payload 202, as disclosed herein. The belt path 1612 may have a path length structured to provide the contact belt 1610 with a selected total contact area. A longer belt provides for additional life of the belt during inspection operations by spreading the wear on the belt out, and for a given belt width (e.g., sufficient width to protect the otherwise contact area of the payload 202), the total contact area determines the length of the contact belt 1610. The minimum total contact area for the contact belt 1610 to function is twice the bottom contact area of the payload 202 (e.g., the exposed area, plus a matching area to allow circulation of the belt). Utilization of the vertical height of the pay load, such as depicted in Figs. 16- 17, provides about an additional 50% increase in the contact belt 1610 area. Providing for additional height adjustment to increase the belt length (and thus total contact area) can provide a selected additional belt area, can provide about an additional 25% total contact area, or greater, depending upon the resulting sled height which can be accommodated by the height adjustment and managed by the rastering device and overall arrangement of the inspection robot 200 and payload 202. Tn embodiments, the contact belt 1610 may be non-powered, e.g., the contact belt 1610 circulates under the frictional force from the inspection surface 100. In embodiments, the contact belt 1610 may be powered, e.g., the circulation of the contact belt 1610 may be wholly, or partially, accomplished via a motor. As will be appreciated, embodiments of the contact belt 1610 may reduce wear on the other components of the pay load 202 and / or protect the sensor 301.

[0091] Fig. 18 depicts a pay load 202 having a belt path 1612 where the belt 1610 has been removed. Fig. 19 depicts an embodiment of a pay load 202 having a quick-release interface 1203 for coupling the pay load 202 to the rail 201.

[0092] Fig. 20 shows an exploded view of a payload 202 having a contact belt 1610, as disclosed herein. In embodiments, the payload 202 may include a central belt interference component 2010 configured to prevent belt 1610 deflection contact with the sensing element 301, which may seize the belt and / or interfere with inspection readings. The central belt interference component 2010 may include a guide assembly having one or more belt guides 2012 and 2014, which may include or benext to and / or near a housing wall 2016. In embodiments, the belt guides 2012 and 2014 may include sliding surfaces that extend past, e.g., minimally past, the sensing element 301, preventing belt deflection during dynamic movement of the payload 202 to contact the sensing element.

[0093] As shown on Fig. 21, in embodiments, the central belt interference component 2010 may include a roller 2110. The roller 2110 may act as a local hard stop for the contact belt 1610 thereby preventing and / or mitigating the contact belt 1610 pushing the sensor coil into the sensor probe above the coil. The roller 2110 may also provide for a smoother traversal of the inspection surface 100, e.g., the roller 2110 may provide a low friction point of contact with the contact belt 1610 (where present) and / or with the rough inspection surface (for a beltless payload 202). As will be appreciated, in embodiments, the coil of the sensor 301 may extend toward the interior surface of the contact belt 1610, which, in turn may provide for the belt 1610 and / or sensor 301 to match the contour of the inspection surface 100 without pressing the coil of the sensor 301 itself into the coating of the surface 100. In embodiments, the roller 2110 may be hard mounted to a frame. In embodiments, the roller 2110 may be floating, which may provide for better coupling to the inspection surface 100.

[0094] Figs. 22 and 23 depict a non-limiting embodiment of a rail 201 and payload 202, where the pay load 202 includes a contact belt 1610 and the rail 201 includes two lift assemblies 1205 and 1206. Figs. 24 and 25 depict non-limiting examples of the rail 201 and payload 202 inspecting an inspection surface 100.

[0095] Referring to Figs. 26 and 27, embodiments of the downforce management component 308, e.g., control springs, may include one or more force adjustors 2610 (Fig. 26), e.g., spring spacers, configured to adjust a downward force applied / generated by the downforce management component 308. For example, spring spacers 2610 may be structured to adjust a pre-compression of the control springs. In such embodiments, the spring spacers 2610 may be about 0.2 inches. In such embodiments, the spring spacers 2610 may be between about 0.05 inches to about 0.5 inches.

[0096] Illustrated in Fig. 28 is an embodiment of a payload 202 having one or more extension stoppers / limiters 2810 configured to limit a maximum extension of the bottom surface 310 towards the inspection surface (represented by dashed line 100). The example extension limiters 2810 interfere with the sensor housing moveable portion as it moves toward the inspection surface, limiting the downward deflection of the sensing element toward the inspection surface. In embodiments, the one or more extension stoppers 2810 may limit extension of the bottom surface 301 to a more distant position 2812 from the inspection surface 100 than a position 2814 limited by the one or more rollers 302 (e.g., the sensing element is stopped at a position above the rollers 302). In embodiments, the one or more extension stoppers 2810 may limit the extension of the bottomsurface 301 to a closer position 2816 from the inspection surface 100 than the position 2814 limited by the one or more rollers 302 (e.g., the sensing element bottom surface is allowed to progress just below the level of the rollers 302). In embodiments, the one or more extension stoppers / limiters 2810 may be structured to restrict a selected orientation of the biased sensor 301 and a contact surface of the inspection robot 200, e.g., a roller 302. For surfaces having a relatively uniform rough surface, for example a peel and stick non-skid surface, the magnetic element of the sensing element can seize or otherwise interact with the inspection surface if the sensing element gets too close to the inspection surface, while a slight standoff will still provide acceptable readings for the touchless UT sensor. For surfaces having a profoundly non-uniform and heavy coating, for example a roll on nonskid surface, the magnetic element of the sensing element will not seize or otherwise interact with the inspection surface, and by contrast may not get acceptable readings with a standoff from the surface. Accordingly, the standoff and / or approach limit of the sensing element to the inspection surface may be adjusted to ensure that the readings will be acceptable, and that the magnetic element will not negatively interact with the inspection surface.

[0097] In embodiments, the downforce management component 308, force adjusters 2610, and / or extension stoppers 2810 may be structured to position the sensor 301 in proximity to the inspection surface 100 and / or to maintain a gap between the sensor 301 and the inspection surface. In embodiments, a polymer film interposed between the sensor 301 and the surface 100 may be used to maintain the gap between the sensor 301 and the surface 100 (and / or the contact belt 1610), and to ensure that debris on the surface is not attracted by the magnet into the sensing element - debris building up in the sensing element can cause degradation of the inspection readings, and / or ultimately can cause failure of inspection operations, requiring cleaning and / or replacing of the sensing element and / or payload.

[0098] Figs. 29 and 30 depict an embodiment of the sensing element 301 in a housing 2016 with a skid plate 304. The example skid plate 304 includes optional rollers (e.g., the rollers on the long side of the skid plate 304) that are configured to interact with the inspection surface during movement in the traversal direction. In certain embodiments, the payload 202 is lifted for travel in the traversal direction.

[0099] Figs. 31 and 32 depict an embodiment of a pay load 202 that includes an upper guide 3110 that operationally engages the belt path 1612. In embodiments, the upper guide 3110 is adjustable, e.g., raised and / or lowered to adjust a height as represented by arrow 3210, with respect to the sensor housing 2016. In embodiments, the belt path 1612 may be structured to have an adjustable length. In such embodiments, adjusting the upper guide 3110 may adjust the belt path 1612 length. In embodiments, the upper guide 3110 may have one or more contact rollers and / or a slide surface, e.g.,the surface of the upper guide 3110 may be rounded and / or smoothed to reduce friction between the contact belt 1610 and the upper guide 3110.[000100] Figs. 33-47 depict user interfaces that may be utilized for asset analysis and / or evaluation of inspection information. The example interfaces allow inspection data from the rough surface inspection to be overlaid with other inspection information of any type, including inspection events over time, to develop a more complete picture of the state of the asset, to evaluate and / or plan maintenance, cleaning, or repair operations, to estimate and display the estimated life of the asset, or the like. Fig. 33 depicts an asset selection and data layer interface 3310, an asset display region 3312, and an asset properties region 3314. Integration of the rough surface inspection data with other data related to the asset enhances the planning and analysis of the asset based on inspection information, but relies upon properly indexed position information for the rough surface inspection, which is challenging for typical conditions of an asset having a rough surface. Fig. 34 depicts an enhanced detail 3410 of an example asset and data layer selection menu. Fig. 35 depicts an enhanced detail 3510 of an example asset properties region. Fig. 36 depicts an enhanced detail 3610 of an asset and data layer selection menu, with a user highlighting a data source (e.g., data from a particular inspection operation in the example). Fig. 36 further depicts an enhanced detail 3612 of a portion of the asset display region. Fig. 37 depicts an enhanced detail 3710 of an example asset and data layer selection menu, with a user highlighting a different data source (e.g., depicting material losses on the inspection surface of the asset), with an enhanced detail 3712 of a portion of the asset display region. Fig. 38 depicts an enhanced detail 3812 of the asset properties region, in the example depicting properties of the asset at a selection position by the user on the enhanced detail 3810 of the asset display region. Fig. 39 depicts an example scenario builder selection 3912 and a portion 3910 of the asset display region. The scenario builder selection 3912 allows the user to project the performance of the asset over time and / or based on planned changes to inspection operations (e.g., inspection type and / or frequency), operational changes, maintenance schedules or operations, repair operations, and / or to account for uncertainty among these. The example of Fig. 40 is similar to the example of Fig. 39, with the user selecting a remaining life 4012 on the scenario builder, and the asset display detail 4010 depicted the remaining life on the asset within a life range filtered in the scenario builder. The example of Fig. 40 may be utilized to plan service, repair, and / or replacement of the asset, and / or to plan operational changes and / or future inspection operations to confirm and / or manage the future performance of the asset. Fig. 41 depicts a facility and / or asset planning interface, providing statistical information 4112 about a facility (e.g., having a number of assets) and / or an asset (e.g., with the statistics performed on regions of the asset). The example of Fig. 41 includes a scope selection menu 4110 (e.g., selecting facilities, assets, and / or portions thereof, as well as a typeof display for the statistical information 4112), and a display management interface 4114 allowing the user to filter various aspects of the data for display. Fig. 42 depicts another example consistent with the example of Fig. 41, with different selections on a scope selection menu 4210 and consequent statistical information 4212. Fig. 43 depicts another example consistent with the example of Fig. 41, with different selections on a scope selection menu 4310 and consequent statistical information 4312 and graphical display 4314. Fig. 44 depicts an interface allowing a user to build a view of an asset based on inspection information, operational information, or the like for an asset and / or a facility, with a display control interface 4410, and an asset display region 4412. Referencing Fig. 45, an example user interface depicts an inspection display 4512 positioned next to a matching pictorial display 4514 of an asset, with the pictorial display 4514 based on photogrammetric data, modeled depictions of the asset, or a combination of these. The example of Fig. 45 includes a measurement axis 4510 guiding the user about the size and location of aspects of the asset. Fig. 46 depicts an enhanced detail 4610 of a scope selection menu, and a portion of a resulting asset display region 4612. Fig. 47 depicts another enhanced detail 4710 of a scope selection menu, and a portion of a resulting asset display region 4712.[000101] Referencing Fig. 48, an example system for ingesting, processing, and utilizing inspection data, including ultrasonic inspection data collected from assets having a coating on a ferrous inspection surface, is schematically depicted. The example system includes a sensor (e.g., a touchless UT sensor, or any other sensor associated with an inspection robot) that provides raw sensor data to a rationality check component. In certain embodiments, the rationality check component may be positioned, in whole or in part, on the inspection robot, and / or on a local device such as a base station or laptop positioned at the inspection location during inspection operations. The rationality check performs basic function checks to ensure that collected inspection data is likely to be valid, for example a quick pulse check to ensure the sensor is reasonably responsive, ensuring that actuators are in the correct place, no fault codes inconsistent with proper data collection are active, or the like. The raw sensor data can include raw data readings, and / or processed data that is considered to be the earliest form of the data before processing (e.g., A / D processing, filtering, preliminary analysis such as A-scans, or the like, may be included in the “raw” data).[000102] The example system further includes a localization data stream, which may include information used to perform localization operations from any sensor(s) on the inspection robot and / or within the system, for example using encoder data, inertial measurement unit (IMU) and / or accelerometer, GPS positioning data, WiFi location data, line of sight measurement data (e.g., Lidar, and / or robotic tool station (RTS) data), camera inferred positioning data, or the like. The example system further include a standardization component that captures timestamps for the localizationdata, allowing the localization data to be utilized to synchronize the raw data stream, and associate times and locations with each data frame. The data is then provided to a strategically shared storage, which allows users to access the data according to permissions, authorizations, and / or otherwise secures the data. The strategically shared storage provides the data to an analysis and planning engine, which allows users to interface with the system and perform various planning and / or analysis tasks related to the inspection data. In certain embodiments, the strategically shared storage component is further configured to access supplemental data, which may include any information outside of the inspection data, including for example: cost data about the inspected asset, and / or a related entity (e.g., a group of assets including the inspected asset, a facility, a business unit, and / or a fleet); external information that may affect the asset and / or related entity (e.g., weather information, regulatory information, supplier information, service information, commodity cost information, etc.); information from a different inspection (e.g., from a prior inspection, a different type of inspection, etc., which may be performed by the same or a distinct inspection robot and / or inspection service provider); service, maintenance, and / or usage information about the asset (e.g., historical, normalized, actual, planned, etc.). The strategic shared storage allows the analysis and planning engine to utilize information about the asset to determine aspects such as: remaining service life; when the asset is likely to require service, maintenance, repair, and / or replacement; estimates of the service costs, material costs, and / or downtime requirements for service, maintenance, repair, and / or replacement; and / or determining total cost, NPV, and / or other fiscal comparison operations for various scenarios, such as different service, maintenance, repair, and / or replacement scenarios (and / or based on other cost-like parameters, such as facility capacity, downtime / uptime descriptions, effects on other assets associated with the asset, etc.).[000103] An example analysis and planning engine includes a main asset data store, for example to store information about the asset for analysis. The main asset data store may be separate from the strategically shared storage, and / or may be embodied as a communicative access (e.g., using an API and / or database query engine) to relevant portions of the strategically shared storage. The example analysis and planning engine includes a binned data sets component, for example providing binned data sets of inspection data, where the bins are selected geographically (e.g., binning data for each square foot, 3 inch square, 1 cm data, etc., although the bins may be associated with any size or shape on the asset, for example a tiling geometry such as a square, rectangle, hexagon, etc., and / or irregular portions such as a larger area binned together where the data is not likely to be of interest, and smaller areas for higher analysis resolution near damage, high wear areas, features or areas of interest, etc.). In certain embodiments, the binned data sets component further bins the data based onthe quantitative value of the data, for example providing a numbering or coloring scheme to represent different ranges of a value such as wall thickness, elevation, etc.[000104] The example analysis and planning engine includes a reports component that determines and provides selected reports about the asset and / or a related entity. Example reports include a summary of areas of interest (including, potentially, related data, summaries, statistical descriptions, a graphical and / or photographic depiction of the area of interest, etc.), a flag of any values that require attention (e.g., according to thresholds set by a user, according to regulations and / or certifications, etc.), and / or a summary of recommended repair, maintenance, service, and / or replacement, a cost description of any recommended actions (e.g., down time, required materials, required services, time limits, etc.). In certain embodiments, a report can include any information set up by a user and / or on behalf of the user. The example analysis and planning engine includes an inspection interface, for example allowing the user to access any relevant facilities and / or assets, and request display of any inspection results or related analysis. In certain embodiments, the user interacts with the inspection interface using an analysis user interface, which may include accessing the analysis and planning engine over the internet, on a web portal, on a mobile application, using a proprietary application installed at least in part directly on the user device, or the like. The example inspection interface allows the user to select assets, inspection events of interest, analysis types of interest, plan for recommended upcoming events, run scenarios (e.g., inspection scenarios, service scenarios, maintenance scenarios, etc.), select parameters for display (e.g., Lidar data such as in Fig. 47, or touchless UT sensor thickness data such as in Fig. 45), select thresholds for parameters, select which inspection events will contribute to the currently displayed parameters, perform forecasting for a future state of the asset including under different scenarios, etc.[000105] The example analysis and planning engine includes a rich asset model component, that develops an ongoing model of the asset that is utilized for planning and forecasting for the asset, synchronizing inspection data for the asset from various data streams, and / or validating inspection data for the asset (and / or for similar offset assets). In certain embodiments, the asset may be inspected in various ways over the life of the asset. For example, a flight deck coating of a naval vessel may be removed and replaced periodically, where an inspection operation may be available on the asset where the coating is removed and the inspection robot has direct access to the asset surface. An example includes inspecting the inspection surface without the coating (e.g., using a UT sensor with couplant acoustically coupling the UT sensor to the inspection surface), where the data from the UT inspection can be utilized to calibrate, verify, and / or improve the processing for a touchless UT based inspection on the same surface at a different time. The operations of the rich asset model component will improve over time, as data about the asset is developed over time, allowing forprocessing operations, including challenging processing using touchless UT based inspection data, to improve in both accuracy and confidence. Various types of inspection data, data from different inspection runs, and external data about the asset, can be combined and utilized to validate data, track the trajectory of asset features (e.g.., wear, thickness, locations of wear patterns, etc.), and / or improve the convergence time for processing operations to determine the actual values of interest (e.g., thickness values of the inspection surface).The example analysis and planning engine includes a data validation engine, that performs higher resolution and more sophisticated data validation for inspection data. In certain embodiments, the data validation engine can perform operations on any data in the strategically shared storage, and may perform validation on data as it comes in from inspections (e.g., to minimize the time until a problem is noticed), on resting data in the shared storage, and / or may re-validate data, for example in response to a number of inspection data operations being performed and the rich asset model has improved the overall processing of the asset, the example data validation engine may be performed to re-validate and / or improve the validation of data from an earlier inspection run. The data validation engine may utilize statistical techniques, rules based validation (e.g., created by an expert), cutoff thresholds, pattern recognition, presentation of a number of specific graphs and / or visualization (e.g., to present to an expert and / or include in a report), and / or any other validation techniques understood in the art or set forth throughout the present disclosure.[000106] Fig. 49 depicts a method 4900 for inspecting an inspection surface 100, in accordance with embodiments of the current disclosure. The method 4900 may be performed via an inspection robot 200 and / or any other type of device suitable for inspecting a surface 100 with a sensor 301 , as disclosed herein. The method 4900 includes positioning 4910 a reference indicator for a sensor 301, e.g., touchless UT sensor, inspection operation of a rough and / or rugged surface. The positioning 4910 of the reference indicator, for example where a line-of-sight laser or optical beam is configured to sight a prism on the inspection robot 200 (or the reverse), and / or a camera configured to observe the inspection robot 200 during operations and utilize deskewing and / or scaling operations to provide a position of the inspection robot 200 during operations (including, for example, comparing the inspection robot 200 position to fixed markers and / or features on the asset), allows the inspection operations to be placed in relative space for the asset even where the asset is mobile and cannot be fixed in absolute space (e.g., using GPS). The reference indicator is placed in a well confirmed position, and may further be imaged by a camera, Lidar, or other positioning device to definitively confirm the position of the reference indicator. The method 4900 further includes performing 4912 an inspection operation on the rough and / or rugged surface utilizing the reference indicator to determine inspection position information that can be correlated with specific inspection data fromthe inspection operations. The method 4900 further includes aligning 4914 touchless sensor inspection data with additional inspection surface data in response to the inspection position information.[000107] Fig. 50 depicts certain further aspects of the method 4900. In embodiments, the additional inspection surface data includes inspection data from a distinct inspection operation, such as visual scan data, Lidar data, data from other inspection robot operations (e.g., an inspection at a different time, for example when the rough surface is removed or being replaced). In embodiments, the additional inspection surface data includes a schematic view of the rough and / or rugged surface. In embodiments, the additional inspection surface data includes a pictorial view of the rough surface. In such embodiments, the pictorial view may be at least partially based on photogrammetric data. In embodiments, the additional inspection surface data includes a topographical view of the rough and / or rugged surface. In such embodiments, the topographical view may be at least partially based on Lidar data. In embodiments, the rough and / or rugged surface may include a surface of a mobile asset. In embodiments, the method 4900 further includes utilizing 5010 an encoder of an inspection robot performing the touchless sensor inspection operation to determine the inspection position information. In embodiments, the method 4900 further includes utilizing 5012 a proprioception operation of an inspection robot performing the touchless sensor inspection operation to determine the inspection position information - for example utilizing the position of the rastering device, payload, and / or any actuators on the inspection robot that can be utilized to determine a specific position of the sensing element on the inspection surface during inspection operations (e.g., the position of the reference indicator and inspection robot may provide a definitive position of the inspection robot, but the payload also moves during operations, so for very high precision operations it may be desirable to further determine where the inspection sensor relative to the inspection robot and / or inspection surface). In embodiments, the method 4900 further includes utilizing 5014 a prism (and / or other optically sightable feature of the inspection robot) mounted on an inspection robot performing the touchless sensor inspection operation with the reference indicator to determine the inspection position information (and / or the reverse, where the inspection robot includes a line-of- sight laser and / or optical beam to sight a prism or other optically sightable feature of the reference indicator).[000108] A number of example embodiments are set forth following. The example embodiments may include any aspects of any embodiment set forth preceding, and are non-limiting examples of an inspection robot for inspecting rough surfaces, and / or related procedures, systems, or devices.[000109] First example: An example inspection robot includes a payload having a touchless ultrasonic (UT) sensor mounted to a sensor holder, the sensor holder including a bottom surface, and1two rollers coupled to the sensor holder. The rollers extend, at rest, below the bottom surface. The inspection robot further includes a rastering device configured to selectively move the payload along an inspection surface in an inspection direction, and the inspection robot is configured to move on the inspection surface in a traversal direction.[000110] In certain embodiments, the example inspection robot includes one or more of the following aspects.[000111] An example inspection robot includes a control spring configured to urge the bottom surface toward the inspection surface. An example inspection robot further includes an extension stopper configured to limit a maximum extension of the bottom surface toward the inspection surface. An example extension stopper limits extension of the bottom surface to a more distant position from the inspection surface than the two rollers, and in a further example limits extension of the bottom surface to a position about 0.08 inches above a surface contact plane of the rollers. An example extension stopper limits extension of the bottom surface to a closer position from the inspection surface than the two rollers, and in a further example limits extension of the bottom surface to a position about 0.05 inches below a surface contact plane of the rollers. An example inspection robot includes a spring spacer configured to adjust a pre-compression of the control spring, and in a further example the spring spacer is a 0.2 inch spacer. In a further example, the spring spacer is a spacer between 0.05 inches and 0.5 inches.[000112] An example inspection robot includes a contact belt interposed between the two rollers and the inspection surface, and configured to circulate on a contact belt path in response to a rastering movement of the payload. An example inspection robot further includes the sensor holder having a central belt interference component that prevents belt deflection contact with a sensing element of the touchless UT sensor. In a further example, the central belt interference component configured to prevent belt deflection contact with a sensing element of the touchless UT sensor, including for example contact via pushing a coil of the sensor into the sensing element. An example central belt interference component includes a roller and / or a guide assembly.[000113] Second example: An example inspection robot includes a payload coupled to a rail, a touchless UT sensor mounted to a sensor holder of the payload, and a rastering device configured to selectively move the payload along the rail. The example inspection robot is configured to move on an inspection surface in a traversal direction, where the rail is oriented in an inspection direction, and where the rail includes a lift assembly at a selected position on the rail. An example lift assembly is positioned at one end of the rail and / or in proximity to one end of the rail. A further example includes a lift assembly positioned at each end of the rail, and / or one or more of the two lift assemblies positioned in proximity to the corresponding end of the rail. Example lift assembliesinclude a lifting ramp, whereby movement of the payload on the rail engages the lift assembly to lift the payload to a selected position and / or to lift the payload off of the inspection surface. In certain embodiments, the two lifting assemblies are symmetrical, but the two lifting assemblies may have distinct geometries - for example allowing inspection operations closer to one of the ends of the rail, and / or providing a utility lift on one side of the rail. An example lifting ramp includes a linear ramp, and in a further example the linear ramp provides a movement lift (e.g., lifting the payload sufficiently for the inspection robot to move in the traversal direction (typically forward)) at a selected rail position of the payload. An example lifting ramp provides a utility lift at a selected rail position of the payload, where the utility lift positions the payload for service, maintenance, inspection (of the payload), configuration, storage, or the like for the payload. In certain embodiments, the progression of the payload along the rail moves the payload to the movement lift first, and further progression of the payload along the rail moves the payload to the utility lift. In certain embodiments, one or more lifting ramps may include a parabolic ramp, an elliptical arc ramp, a cycloid ramp, or combinations of these, and / or one or more of these combined with a linear ramp portion. An example lifting ramp includes a monotonically increasing lift profile (e.g., movement of the payload toward the ramp end either raises the payload or leaves the payload at a same height). An example lifting ramp includes a local minimum at a second selected position of the pay load (e.g., at a utility lift position).[000114] Third example: An example inspection robot includes a payload having a touchless ultrasonic (UT) sensor mounted to a sensor holder, where the sensor holder includes a skid plate interposed between a sensing element of the UT sensor and an inspection surface. The example inspection robot includes a rastering device that selectively moves the payload along an inspection surface in an inspection direction, where the inspection robot is configured to move on the inspection surface in a traversal direction. An example sensor holder further includes a biasing device urging the sensing element (e.g., a coil of the touchless UT sensor) toward the skid plate. An example skid plate includes a non-magnetic material. Example and non-limiting non-magnetic materials for the skid plate include one or more materials selected from: aluminum, plastic, titanium, austenitic stainless steel, or a high molecular weight polymer. An example inspection robot includes a biasing device urging the skid plate toward the inspection surface. In certain embodiments, the biasing device includes two separate biasing devices, allowing each side of the skid plate to lift independently.[000115] Fourth example: An example inspection robot includes a payload having a touchless ultrasonic (UT) sensor mounted to a sensor holder, the UT sensor having a high powered magnetic element; and a means for positioning the UT sensor in proximity to a rough inspection surface andfor maintaining a gap between the UT sensor and the rough inspection surface. The example inspection robot includes a rastering device configured to selectively move the payload along the rough inspection surface in an inspection direction, where the inspection robot is configured to move on the rough inspection surface in a traversal direction. Without limitation to any other aspect of the present disclosure, example and non- limiting means for positioning and maintaining the gap include one or more aspects such as: a skid plate interposed between the UT sensor and the rough inspection surface; an extension limiter that limits a biasing of the UT sensor toward the rough inspection surface; a contact belt interposed between the UT sensor and the rough inspection surface; a central belt interference component configured to prevent belt deflection contact with a sensing element of the UT sensor; one or more lift assemblies; and / or a polymer film interposed between the UT sensor and the rough inspection surface. An example extension limiter is configured to restrict a selected orientation of the biased UT sensor and a contact surface of the inspection robot (e.g., a contact belt, skid plate, and / or roller).[000116] Fifth example: An example procedure includes an operation to position a reference indicator for a touchless UT inspection operation of a rough surface, and to perform an inspection operation on the rough surface utilizing the reference indicator to determine inspection position information. The example procedure further includes aligning touchless UT inspection data with additional inspection surface data in response to the inspection position information, for example by providing the inspection data as a data layer on an analysis and / or planning user interface. An example procedure further includes the additional inspection surface data including inspection data from a distinct inspection operation (e.g., a different type of inspection, and / or a separate touchless UT inspection operation). An example procedure further includes the additional inspection surface data as a pictorial view of the rough surface, which may be at least partially based on photogrammetric data. An example procedure further includes the additional inspection surface data including a schematic view of the rough surface. An example procedure further includes the additional inspection surface data including a topographical view of the rough surface, which may be at least partially based on Lidar data. An example rough surface includes a mobile asset, which may be a portion of a ship and / or a deck of a ship.[000117] An example procedure includes an operation to utilize an encoder of an inspection robot performing the touchless UT inspection operation to determine the inspection position information. An example procedure includes utilizing a proprioception operation of an inspection robot performing the touchless UT inspection operation to determine the inspection position information. In a further example, the proprioception operation includes determining a position of components of the inspection robot, for example the payload and / or a sensing element of the payload, for exampleutilizing actuator position information, photogrammetric data, and / or a rastering index (e.g., time during a rastering operation, a position sensor of the rastering device, and / or any other information that can be utilized to determine and / or estimate the current rastering position as inspection data is collected - for example where a motor current value can be correlated to rastering device position). An example procedure includes utilizing a prism mounted on one of the inspection robot or the reference indicator, to determine the inspection position information.[000118] Sixth example: An example inspection robot includes a payload having a touchless ultrasonic (UT) sensor mounted to a sensor holder, a rastering device configured to selectively move the payload along an inspection surface in an inspection direction, and a contact belt configured to circulate on a contact belt path in response to the rastering movement of the payload, the contact belt interposed between the UT sensor and the inspection surface. An example contact belt path includes a configurable length path. An example contact belt path operationally engages an upper guide having an adjustable height. The example upper guide includes at least one of a sliding surface (e.g., a low friction guide that engages the contact belt and allows it to slide thereover) or a roller (e.g., a roller that engages the contact belt and allows it to traverse past the roller). An example contact belt path includes a selectable path length, and / or a path length configured to provide the contact belt with a selected total contact area.[000119] The methods and systems described herein may be deployed in part or in whole through a machine having a computer, computing device, processor, circuit, and / or server that executes computer readable instructions, program codes, instructions, and / or includes hardware configured to functionally execute one or more operations of the methods and systems herein. The terms computer, computing device, processor, circuit, engine, and / or server, (“computing device”) as utilized herein, should be understood broadly.[000120] An example computing device includes a computer of any type, capable to access instructions stored in communication thereto such as upon a non-transient computer readable medium, whereupon the computer performs operations of the computing device upon executing the instructions. In certain embodiments, such instructions themselves comprise a computing device. Additionally or alternatively, a computing device may be a separate hardware device, one or more computing resources distributed across hardware devices, and / or may include such aspects as logical circuits, embedded circuits, sensors, actuators, input and / or output devices, network and / or communication resources, memory resources of any type, processing resources of any type, and / or hardware devices configured to be responsive to determined conditions to functionally execute one or more operations of systems and methods herein.[000121] Network and / or communication resources include, without limitation, local area network, wide area network, wireless, internet, or any other known communication resources and protocols. Example and non- limiting hardware and / or computing devices include, without limitation, a general- purpose computer, a server, an embedded computer, a mobile device, a virtual machine, and / or an emulated computing device. A computing device may be a distributed resource included as an aspect of several devices, included as an interoperable set of resources to perform described functions of the computing device, such that the distributed resources function together to perform the operations of the computing device. In certain embodiments, each computing device may be on separate hardware, and / or one or more hardware devices may include aspects of more than one computing device, for example as separately executable instructions stored on the device, and / or as logically partitioned aspects of a set of executable instructions, with some aspects comprising a part of one of a first computing device, and some aspects comprising a part of another of the computing devices.[000122] A computing device may be part of a server, client, network infrastructure, mobile computing platform, stationary computing platform, or other computing platform. A processor may be any kind of computational or processing device capable of executing program instructions, codes, binary instructions and the like. The processor may be or include a signal processor, digital processor, embedded processor, microprocessor or any variant such as a co-processor (math coprocessor, graphic co-processor, communication co-processor and the like) and the like that may directly or indirectly facilitate execution of program code or program instructions stored thereon. In addition, the processor may enable execution of multiple programs, threads, and codes. The threads may be executed simultaneously to enhance the performance of the processor and to facilitate simultaneous operations of the application. By way of implementation, methods, program codes, program instructions and the like described herein may be implemented in one or more threads. The thread may spawn other threads that may have assigned priorities associated with them; the processor may execute these threads based on priority or any other order based on instructions provided in the program code. The processor may include memory that stores methods, codes, instructions and programs as described herein and elsewhere. The processor may access a storage medium through an interface that may store methods, codes, and instructions as described herein and elsewhere. The storage medium associated with the processor for storing methods, programs, codes, program instructions or other type of instructions capable of being executed by the computing or processing device may include but may not be limited to one or more of a CD-ROM, DVD, memory, hard disk, flash drive, RAM, ROM, cache and the like.[000123] A processor may include one or more cores that may enhance speed and performance of a multiprocessor. In embodiments, the process may be a dual core processor, quad core processors, other chip-level multiprocessor and the like that combine two or more independent cores (called a die).[000124] The methods and systems described herein may be deployed in part or in whole through a machine that executes computer readable instructions on a server, client, firewall, gateway, hub, router, or other such computer and / or networking hardware. The computer readable instructions may be associated with a server that may include a file server, print server, domain server, internet server, intranet server and other variants such as secondary server, host server, distributed server and the like. The server may include one or more of memories, processors, computer readable transitory and / or non- transitory media, storage media, ports (physical and virtual), communication devices, and interfaces capable of accessing other servers, clients, machines, and devices through a wired or a wireless medium, and the like. The methods, programs, or codes as described herein and elsewhere may be executed by the server. In addition, other devices required for execution of methods as described in this application may be considered as a part of the infrastructure associated with the server.[000125] The server may provide an interface to other devices including, without limitation, clients, other servers, printers, database servers, print servers, file servers, communication servers, distributed servers, and the like. Additionally, this coupling and / or connection may facilitate remote execution of instructions across the network. The networking of some or all of these devices may facilitate parallel processing of program code, instructions, and / or programs at one or more locations without deviating from the scope of the disclosure. In addition, all the devices attached to the server through an interface may include at least one storage medium capable of storing methods, program code, instructions, and / or programs. A central repository may provide program instructions to be executed on different devices. In this implementation, the remote repository may act as a storage medium for methods, program code, instructions, and / or programs.[000126] The methods, program code, instructions, and / or programs may be associated with a client that may include a file client, print client, domain client, internet client, intranet client and other variants such as secondary client, host client, distributed client and the like. The client may include one or more of memories, processors, computer readable transitory and / or non-transitory media, storage media, ports (physical and virtual), communication devices, and interfaces capable of accessing other clients, servers, machines, and devices through a wired or a wireless medium, and the like. The methods, program code, instructions, and / or programs as described herein and elsewhere may be executed by the client. In addition, other devices required for execution ofmethods as described in this application may be considered as a part of the infrastructure associated with the client.[000127] The client may provide an interface to other devices including, without limitation, servers, other clients, printers, database servers, print servers, file servers, communication servers, distributed servers, and the like. Additionally, this coupling and / or connection may facilitate remote execution of methods, program code, instructions, and / or programs across the network. The networking of some or all of these devices may facilitate parallel processing of methods, program code, instructions, and / or programs at one or more locations without deviating from the scope of the disclosure. In addition, all the devices attached to the client through an interface may include at least one storage medium capable of storing methods, program code, instructions, and / or programs. A central repository may provide program instructions to be executed on different devices. In this implementation, the remote repository may act as a storage medium for methods, program code, instructions, and / or programs.[000128] The methods and systems described herein may be deployed in part or in whole through network infrastructures. The network infrastructure may include elements such as computing devices, servers, routers, hubs, firewalls, clients, personal computers, communication devices, routing devices and other active and passive devices, modules, and / or components as known in the art. The computing and / or non-computing device(s) associated with the network infrastructure may include, apart from other components, a storage medium such as flash memory, buffer, stack, RAM, ROM and the like. The methods, program code, instructions, and / or programs described herein and elsewhere may be executed by one or more of the network infrastructural elements.[000129] The methods, program code, instructions, and / or programs described herein and elsewhere may be implemented on a cellular network having multiple cells. The cellular network may either be frequency division multiple access (FDMA) network or code division multiple access (CDMA) network. The cellular network may include mobile devices, cell sites, base stations, repeaters, antennas, towers, and the like.[000130] The methods, program code, instructions, and / or programs described herein and elsewhere may be implemented on or through mobile devices. The mobile devices may include navigation devices, cell phones, mobile phones, mobile personal digital assistants, laptops, palmtops, netbooks, pagers, electronic books readers, music players and the like. These devices may include, apart from other components, a storage medium such as a flash memory, buffer, RAM, ROM and one or more computing devices. The computing devices associated with mobile devices may be enabled to execute methods, program code, instructions, and / or programs stored thereon. Alternatively, the mobile devices may be configured to execute instructions in collaboration with other devices. Themobile devices may communicate with base stations interfaced with servers and configured to execute methods, program code, instructions, and / or programs. The mobile devices may communicate on a peer-to-peer network, mesh network, or other communications network. The methods, program code, instructions, and / or programs may be stored on the storage medium associated with the server and executed by a computing device embedded within the server. The base station may include a computing device and a storage medium. The storage device may store methods, program code, instructions, and / or programs executed by the computing devices associated with the base station.[000131] The methods, program code, instructions, and / or programs may be stored and / or accessed on machine readable transitory and / or non-transitory media that may include: computer components, devices, and recording media that retain digital data used for computing for some interval of time; semiconductor storage known as random access memory (RAM); mass storage typically for more permanent storage, such as optical discs, forms of magnetic storage like hard disks, tapes, drums, cards and other types; processor registers, cache memory, volatile memory, non-volatile memory; optical storage such as CD, DVD; removable media such as flash memory (e.g. USB sticks or keys), floppy disks, magnetic tape, paper tape, punch cards, standalone RAM disks, Zip drives, removable mass storage, off-line, and the like; other computer memory such as dynamic memory, static memory, read / write storage, mutable storage, read only, random access, sequential access, location addressable, file addressable, content addressable, network attached storage, storage area network, bar codes, magnetic ink, and the like.[000132] Certain operations described herein include interpreting, receiving, and / or determining one or more values, parameters, inputs, data, or other information (“receiving data”). Operations to receive data include, without limitation: receiving data via a user input; receiving data over a network of any type; reading a data value from a memory location in communication with the receiving device; utilizing a default value as a received data value; estimating, calculating, or deriving a data value based on other information available to the receiving device; and / or updating any of these in response to a later received data value. In certain embodiments, a data value may be received by a first operation, and later updated by a second operation, as part of the receiving a data value. For example, when communications are down, intermittent, or interrupted, a first receiving operation may be performed, and when communications are restored an updated receiving operation may be performed.[000133] Certain logical groupings of operations herein, for example methods or procedures of the current disclosure, are provided to illustrate aspects of the present disclosure. Operations described herein are schematically described and / or depicted, and operations may be combined, divided, re-ordered, added, or removed in a manner consistent with the disclosure herein. It is understood that the context of an operational description may require an ordering for one or more operations, and / or an order for one or more operations may be explicitly disclosed, but the order of operations should be understood broadly, where any equivalent grouping of operations to provide an equivalent outcome of operations is specifically contemplated herein. For example, if a value is used in one operational step, the determining of the value may be required before that operational step in certain contexts (e.g., where the time delay of data for an operation to achieve a certain effect is important), but may not be required before that operation step in other contexts (e.g. where usage of the value from a previous execution cycle of the operations would be sufficient for those purposes). Accordingly, in certain embodiments an order of operations and grouping of operations as described is explicitly contemplated herein, and in certain embodiments re-ordering, subdivision, and / or different grouping of operations is explicitly contemplated herein.[000134] The methods and systems described herein may transform physical and / or or intangible items from one state to another. The methods and systems described herein may also transform data representing physical and / or intangible items from one state to another.[000135] The methods and / or processes described above, and steps thereof, may be realized in hardware, program code, instructions, and / or programs or any combination of hardware and methods, program code, instructions, and / or programs suitable for a particular application. The hardware may include a dedicated computing device or specific computing device, a particular aspect or component of a specific computing device, and / or an arrangement of hardware components and / or logical circuits to perform one or more of the operations of a method and / or system. The processes may be realized in one or more microprocessors, microcontrollers, embedded microcontrollers, programmable digital signal processors or other programmable device, along with internal and / or external memory. The processes may also, or instead, be embodied in an application specific integrated circuit, a programmable gate array, programmable array logic, or any other device or combination of devices that may be configured to process electronic signals. It will further be appreciated that one or more of the processes may be realized as a computer executable code capable of being executed on a machine readable medium.[000136] The computer executable code may be created using a structured programming language such as C, an object oriented programming language such as C++, or any other high-level or low- level programming language (including assembly languages, hardware description languages, and database programming languages and technologies) that may be stored, compiled or interpreted to run on one of the above devices, as well as heterogeneous combinations of processors, processorarchitectures, or combinations of different hardware and computer readable instructions, or any other machine capable of executing program instructions.[000137] Thus, in one aspect, each method described above, and combinations thereof, may be embodied in computer executable code that, when executing on one or more computing devices, performs the steps thereof. In another aspect, the methods may be embodied in systems that perform the steps thereof, and may be distributed across devices in a number of ways, or all of the functionality may be integrated into a dedicated, standalone device or other hardware. In another aspect, the means for performing the steps associated with the processes described above may include any of the hardware and / or computer readable instructions described above. All such permutations and combinations are intended to fall within the scope of the present disclosure.[000138] While the disclosure has been disclosed in connection with certain embodiments shown and described in detail, various modifications and improvements thereon will become readily apparent to those skilled in the art. Accordingly, the spirit and scope of the present disclosure is not to be limited by the foregoing examples but is to be understood in the broadest sense allowable by law.

Claims

What is claimed is:

1. An inspection robot, comprising: a pay load comprising: a touchless ultrasonic (UT) sensor mounted to a sensor holder; and the sensor holder comprising a bottom surface, and two rollers coupled to the sensor holder and extending, at rest, below the bottom surface; a rastering device configured to selectively move the payload along an inspection surface in an inspection direction; and the inspection robot configured to move on the inspection surface in a traversal direction.

2. The inspection robot of claim 1 , further comprising a control spring configured to urge the bottom surface toward the inspection surface.

3. The inspection robot of claim 2, further comprising an extension stopper configured to limit a maximum extension of the bottom surface toward the inspection surface.

4. The inspection robot of claim 3, wherein the extension stopper limits extension of the bottom surface to a more distant position from the inspection surface than the two rollers.

5. The inspection robot of claim 3, wherein the extension stopper limits extension of the bottom surface to a closer position from the inspection surface than the two rollers.

6. The inspection robot of claim 2, further comprising a spring spacer configured to adjust a precompression of the control spring.

7. The inspection robot of claim 6, wherein the spring spacer comprises a 0.2 inch spacer.

8. The inspection robot of claim 6, wherein the spring spacer comprises a spacer between 0.05 inches and 0.5 inches.

9. The inspection robot of claim 1 , wherein the pay load further comprises a contact belt interposed between the two rollers and the inspection surface, and configured to circulate on a contact belt path in response to a rastering movement of the payload.

10. The inspection robot of claim 9, wherein the sensor holder further comprises a central belt interference component configured to prevent belt deflection contact with a sensing element of the touchless UT sensor.

11. The inspection robot of claim 10, wherein the central belt interference component comprises a roller.

12. The inspection robot of claim 10, wherein the central belt interference component comprises a guide assembly.

13. An inspection robot, comprising: a payload coupled to a rail, the payload comprising a touchless ultrasonic (UT) sensor mounted to a sensor holder; a rastering device configured to selectively move the pay load along the rail; the inspection robot configured to move on an inspection surface in a traversal direction; and wherein the rail is oriented in an inspection direction, and wherein the rail comprises a lift assembly at a selected position on the rail.

14. The inspection robot of claim 13, wherein the lift assembly is positioned at one end of the rail.

15. The inspection robot of claim 14, wherein the rail further comprises a second lift assembly at a second end of the rail.

16. The inspection robot of claim 15, wherein the lift assembly and the second lift assembly each comprise a lifting ramp.

17. The inspection robot of claim 16, wherein the lifting ramp of each of the lift assembly and the second lift assembly have a symmetrical geometry.

18. The inspection robot of claim 16, wherein the lifting ramp of each of the lift assembly and the second lift assembly have distinct geometries.

19. The inspection robot of claim 13, wherein the lift assembly comprises a lifting ramp.

20. The inspection robot of claim 19, wherein the lifting ramp comprises a linear ramp.

21. The inspection robot of claim 20, wherein the linear ramp provides a movement lift at a selected rail position of the payload.

22. The inspection robot of claim 21 , wherein the linear ramp provides a utility lift at a second selected rail position of the payload.

23. The inspection robot of claim 19, wherein the lifting ramp comprises a parabolic ramp.

24. The inspection robot of claim 19, wherein the lifting ramp comprises an elliptical arc ramp.

25. The inspection robot of claim 19, wherein the lifting ramp comprise a cycloid ramp.

26. The inspection robot of claim 19, wherein the lifting ramp comprises a monotonically increasing lift profile.

27. The inspection robot of claim 21, wherein the linear ramp further comprises a local minimum at a second selected position of the payload.

28. An inspection robot, comprising: a pay load comprising: a touchless ultrasonic (UT) sensor mounted to a sensor holder; and the sensor holder comprising a skid plate interposed between a sensing element of the UT sensor and an inspection surface;a rastering device configured to selectively move the payload along an inspection surface in an inspection direction; and the inspection robot configured to move on the inspection surface in a traversal direction.

29. The inspection robot of claim 28, wherein the sensor holder further comprises a biasing device urging the sensing element of the UT sensor toward the skid plate.

30. The inspection robot of claim 28, wherein the skid plate comprises a non-magnetic material.

31. The inspection robot of claim 30, wherein the skid plate comprises at least one material selected from the materials consisting of: aluminum, plastic, titanium, austenitic stainless steel, or a high molecular weight polymer.

32. The inspection robot of claim 28, wherein the sensor holder further comprises a biasing device urging the skid plate toward the inspection surface.

33. The inspection robot of claim 32, wherein the biasing device comprises two separate biasing devices, allowing each side of the skid plate to lift independently.

34. An inspection robot, comprising: a pay load comprising: a touchless ultrasonic (UT) sensor mounted to a sensor holder, the UT sensor having a high powered magnetic element; and a means for positioning the UT sensor in proximity to a rough inspection surface and for maintaining a gap between the UT sensor and the rough inspection surface; a rastering device configured to selectively move the payload along the rough inspection surface in an inspection direction; and the inspection robot configured to move on the rough inspection surface in a traversal direction.

35. The inspection robot of claim 34, wherein the means for positioning and maintaining the gap comprises a skid plate interposed between the UT sensor and the rough inspection surface.

36. The inspection robot of claim 34, wherein the means for positioning and maintaining the gap comprises an extension limiter that limits a biasing of the UT sensor toward the rough inspection surface.

37. The inspection robot of claim 36, wherein the extension limiter is configured to restrict a selected orientation of the biased UT sensor and a contact surface of the inspection robot.

38. The inspection robot of claim 37, wherein the contact surface comprises at least one roller of the sensor holder.

39. The inspection robot of claim 34, wherein the means for positioning and maintaining the gap comprises a contact belt interposed between the UT sensor and the rough inspection surface.

40. The inspection robot of claim 39, wherein the means for positioning and maintaining the gap further comprises a central belt interference component configured to prevent belt deflection contact with a sensing element of the UT sensor.

41. The inspection robot of claim 34, wherein the means for positioning and maintaining the gap comprises a lift assembly.

42. The inspection robot of claim 34, wherein the means for positioning and maintaining the gap comprises a polymer film interposed between the UT sensor and the rough inspection surface.

43. A method, comprising: positioning a reference indicator for a touchless ultrasonic (UT) inspection operation of a rough surface; performing an inspection operation on the rough surface utilizing the reference indicator to determine inspection position information; and aligning touchless UT inspection data with additional inspection surface data in response to the inspection position information.

44. The method of claim 43, wherein the additional inspection surface data comprises inspection data from a distinct inspection operation.

45. The method of claim 43, wherein the additional inspection surface data comprises a schematic view of the rough surface.

46. The method of claim 43, wherein the additional inspection surface data comprises a pictorial view of the rough surface.

47. The method of claim 46, wherein the pictorial view is at least partially based on photogrammetric data.

48. The method of claim 43, wherein the additional inspection surface data comprises a topographical view of the rough surface.

49. The method of claim 48, wherein the topographical view is at least partially based on Lidar data.

50. The method of claim 43, wherein the rough surface comprises a surface of a mobile asset.

51. The method of claim 43, further comprising utilizing an encoder of an inspection robot performing the touchless UT inspection operation to determine the inspection position information.

52. The method of claim 43, further comprising utilizing a proprioception operation of an inspection robot performing the touchless UT inspection operation to determine the inspection position information.

53. The method of claim 43, further comprising utilizing a prism mounted on an inspection robot performing the touchless UT inspection operation with the reference indicator to determine the inspection position information.

54. An inspection robot, comprising: a pay load comprising: a touchless ultrasonic (UT) sensor mounted to a sensor holder; a rastering device configured to selectively move the payload along an inspection surface in an inspection direction; and a contact belt configured to circulate on a contact belt path in response to the rastering movement of the payload, the contact belt interposed between the UT sensor and the inspection surface.

55. The inspection robot of claim 54, wherein the contact belt path comprises a configurable length path.

56. The inspection robot of claim 55, wherein the contact belt path operationally engages an upper guide, and wherein a height of the upper guide is adjustable.

57. The inspection robot of claim 56, wherein the upper guide comprises a slide surface.

58. The inspection robot of claim 56, wherein the upper guide comprises at least one contact roller.

59. The inspection robot of claim 54, wherein the contact belt path comprises a path length configured to provide the contact belt with a selected total contact area.

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