System, method, and apparatus for field support of inspection operations

Abstract

A device may include an inspection execution interface configured to interpret an inspection description and, in response to the inspection description, present to an operator step-by-step instructions for performing an inspection operation with an inspection robot, the interface further configured to receive at least one of operator input or inspection robot feedback confirming completion of each step. A device may include a director component configured to provide the inspection description to the inspection execution interface and to enforce a protocol for the inspection operation based on the received operator input.

Description

SYSTEM, METHOD, AND APPARATUS FOR FIELD SUPPORT OF INSPECTION OPERATIONSCROSS REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims the benefit of U.S. Provisional Application Ser. No. 63 / 665,936, filed on 28 JUN 2024, and entitled “FIELD SOFTWARE FOR DATA COLLECTION AND ANALYSIS” (GROB-0030-P01).

[0002] The foregoing provisional application is incorporated herein by reference in the entirety for all purposes.BACKGROUND

[0003] Previously known systems for inspection operations, such as inspection operations utilizing an inspection robot on industrial assets, suffer from a number of challenges. Inspection operators have a high activity burden at location to complete a complex inspection process, ensuring that configurations for an inspection robot, payloads, sensors, software and firmware for components, or the like are properly implemented. Additionally, inspection operators must ensure that all targeted areas of an inspection surface are properly inspected using the right configuration, and that valid data is collected. Additionally, inspection operators must ensure that operations are conducted safely, including operations related to the inspection itself, as well as managing any environmental hazards in the surrounding environment, which may typically be an active industrial environment. These resource burdens challenge inspection operators using previously known systems to properly execute inspection operations, ensure that inspections are correct and sufficient for the purpose, which may include safety certification of inspected assets, and to maintain situational awareness for risks from inspection operations and the environment.SUMMARY

[0004] Embodiments herein promote improved confidence in inspection operations, the ability to confirm inspection operational success during operations and / or before the operator leaves the inspection site, as well as reducing resource burdens to allow the operator to focus on critical functions and situational awareness. Embodiments herein additionally promote ease of corrective actions or follow-ups, including pre-configuring and pre-planning of operations for corrections or follow-ups, further reducing the resource burden on the operator and increasing the quality of inspection operations and the confidence in safe and successful inspection operations.

[0005] Example embodiments utilize an inspection execution interface and a director component to provide step-by-step instructions for performing an inspection operation within an inspection robot. In a further example, the director component ensures that proper inspection operations areperformed, and provides confirmation that inspection operations were properly performed. Operations of such embodiments significantly reduce the resource burden on operators, improves confidence that inspection operations are properly performed, and provides provable documentation that each aspect, or important aspects, of the inspection operation were properly configured and executed, and / or that a defined protocol for the inspection operation was performed with minimal input from the operator.

[0006] Example embodiments utilize an orchestrator component to provide executable services for the operator to enhance inspection operations and / or to facilitate operations of embodiments throughout the present disclosure. In certain embodiments, executable services may be visible to the operator and available for use, and / or executable services may be loaded and / or utilized without knowledge by the operator to facilitate various aspects of embodiments throughout the present disclosure. The operations of the orchestrator component enhance the capabilities of the system, and allow the inspection operations to seamlessly utilize services that may be local and / or provided by remote devices, without requiring input or consideration from the operator. These operations allow the operator to focus on inspection operations, and / or allow for operations to be performed by operators that have expertise in inspection operations (e.g., rather than requiring knowledge of the background computing devices and services supporting the operations, and / or having data analysis and / or validation expertise). The operations of the orchestrator component facilitate the inspection operational improvements of embodiments throughout, and improve the throughput capability of an inspection team to perform higher quality inspections on a greater number of assets, improving the safety of entire systems and industries as limited inspection capabilities can be utilized across a broader range of assets, and / or allow for more frequent inspections of given assets.

[0007] Example embodiments utilize an inspection execution interface and a director component to provide detailed inspection routing information and sequencing for an inspection operation. Such embodiments promote a greater confidence that the inspection operation will be successful in achieving the inspection goals, and that the inspection is complete and usable before the operator leaves the location. Further, such embodiments reduce the resource burden on the operator, allowing the operator to focus on safe operations and situational awareness.

[0008] Example embodiments utilize an inspection execution interface and a director component to provide detailed configuration information for an inspection operation. Such embodiments provide the operator with a convenient interface to ensure all aspects of, without limitation: the inspection robot, payloads, sensing elements, interfaces, drive modules, and / or processing routines, are properly configured, and in certain embodiments to automatically configure such aspects to avoid potential human errors causing an improper configuration. In certain embodiments, configurations mayreadily be supported that follow a trajectory, for example with various configurations each associated with a portion of the inspection operations (e.g., a stage of a multi-stage inspection operation, a routing segment of an overall inspection route, and / or adjusted in response to inspection conditions detected during inspection operations), and / or may be adjusted automatically during inspection operations (e.g., for configuration changes that can be implemented in software, such as calibration changes, processing changes, and / or control of actuators such as downforce actuators, sensor position actuators, drive module control adjustments, etc.).

[0009] Example embodiments utilize an inspection execution interface and a director component to provide detailed routing support for an inspection operation. Such embodiments provide the operator with a convenient interface to ensure the inspection robot covers the entire planned area of the inspection surface for inspection operations, and ensures that sensors are configured and operated to perform inspection operations properly, and / or assists to ensure that valid data is collected to cover the planned area of the inspection surface. Such embodiments allow the operator to track inspection coverage, to make adjustments during inspection operations, and to confirm that inspection operations are completed even with dynamic adjustment to the routing or in response to interruptions to inspection operations. Example embodiments utilize an inspection execution interface and a director component to support configuration changes and adjustments in real-time during inspection operations, including supporting automatic changes and / or confirmation of configurations during inspection operations.

[0010] Example embodiments utilize an inspection execution and a director component to provide the operator with a real time progression interface, allowing the operator to track completion of inspection operations, and / or may include visual indicators that valid data was collected over the inspection area, that individual routing steps and / or inspection stages were completed, and / or that inspection robot configurations were appropriately set during inspection operations. Such embodiments further allow the operator to adjust inspection operations in real time while maintaining visibility to the overall progress, and ensuring that all planned operations are completed even where the operation schedule and / or stages of the inspection are adjusted during inspection operations.

[0011] Example embodiments utilize a quality analytics component to provide the operator and / or other persons of interest with a report and / or an alert where inspection coverage of the asset is insufficient and / or where planned areas of the inspection surface are uninspected after traversal by the inspection robot. Such embodiments allow the operator to adjust inspection operations to ensure that the inspection is completed before the operator leaves the location, and can automatically prepare and implement a corrective action to ensure the coverage is completed, while reducing theresource burden on the operator, allowing the operator to remain focused on safe operations and situational awareness, which may further be challenged by the conditions that may have lead to the insufficient or missing data. In certain embodiments, progress information, data overlays, detected features, data validation views, or the like, may be mapped onto a spatial model of the asset, allowing the operator to correlate the detected conditions with the real world asset both conveniently and with high confidence. In certain embodiment, the quality analytics component presents a data quality visualization mapped onto a representation of the inspected asset, where the visualization identifies regions of low quality and / or anomalous inspection data.

[0012] Example embodiments utilize an inspection execution interface and a director component to generate and manage an inspection protocol for a multi-stage inspection operation. The inspection protocol may define the area of the inspection surface to be inspected, sensor types or other inspection criteria, data validation criteria, configuration settings for the inspection robot, or the like. The protocol may be configured to ensure that the inspection is sufficient for the purpose, such as inspecting for certain types of features (e.g., cracks, corrosion, wall thinning, etc.), certain conditions (e.g., wet surfaces, coated surfaces, obstacles, debris, etc.), and / or to meet defined criteria (e.g., according to a policy, industry standard, a particular certification, or the like). Such embodiments allow for convenient planning and execution of inspection operations for complex conditions, and / or to support challenging inspection criteria for critical assets, while ensuring the operator can complete the inspection in a single visit (or a minimum number of visits) even in response to dynamic conditions occurring at the site.BRIEF DESCRIPTION OF THE FIGURES

[0013] Fig. 1 schematically depicts an example SOP director component.

[0014] Fig. 2 schematically depicts an example data quality analytics component.

[0015] Fig. 3 schematically depicts an example of an orchestrator component.

[0016] Fig. 4 schematically depicts an example system.

[0017] Fig. 5 is a system diagram illustrating example interactions between an operator computing device, inspection execution interface, director component, orchestrator component, quality analytics component, inspection robot, operator, remote devices, and facility and support communications.

[0018] Fig. 6 is a system diagram depicting an example flow of inspection instructions, routing information, configuration information, collected inspection data, and the relationships among the director component, orchestrator component, quality analytics component, and operator interface.

[0019] Fig. 7 is a layout diagram of an example inspection execution interface, showing menus, inspection stages or instructions, inspection status description, and a progression interface.

[0020] Fig. 8 depicts an example inspection description.

[0021] Fig. 9 depicts an example inspection description.

[0022] Fig. 10 depicts an example procedure to enforce a protocol for an inspection operation.

[0023] Fig. 11 depicts example executable services.

[0024] Fig. 12 depicts an example procedure for configuring executable services to support monitoring and performance of an inspection operation.

[0025] Fig. 13 depicts an example procedure for providing inspection configuration information to an operator.

[0026] Fig. 14 depicts an example procedure to provide a progression interface to an operator for tracking routing steps.

[0027] Fig. 15 depicts an example inspection configuration.

[0028] Fig. 16 depicts an example procedure to provide a progression interface to an operator for tracking configuration steps.

[0029] Fig. 17 depicts an example procedure for generating a alert and / or report for inspection operations.

[0030] Fig. 18 is a system diagram illustrating example system to support inspection operations and show an operator regions of low or anomalous data quality.

[0031] Fig. 19 depicts example quality metrics.

[0032] Fig. 20 depicts an example procedure for presenting a visualization to an operator identifying regions of low and / or anomalous data quality.

[0033] Fig. 21 is a system diagram illustrating an example system to support a multi-stage inspection.

[0034] Fig. 22 depicts an example procedure to support a multi-stage inspection.DETAILED DESCRIPTION

[0035] For the purposes of promoting an understanding of the principles of the disclosure, reference will now be made to the embodiments illustrated in the drawings and described in the following written specification. It is understood that no limitation to the scope of the disclosure is thereby intended. It is further understood that the present disclosure includes any alterations and modifications to the illustrated embodiments and includes further applications of the principles disclosed herein as would normally occur to one skilled in the art to which this disclosure pertains.

[0036] Example embodiments herein relate to systems that include inspection robots. The robots may be highly configurable to support a broad range of inspection, surface visualization, surface marking, surface cleaning, and / or surface repair operations. Embodiments herein reference aninspection robot as a baseline term to describe a robot that can support any of these operations. The specific operations performed by the robot may not be “inspection” operations in certain configurations and / or while performing certain operations.

[0037] Deployment of an inspection robot may require determining a suitable robot configuration, initialization procedure, operating protocol, data validation methods, shutdown procedure, maintenance protocols, hazard mitigation, and the like. In many cases, deployment may require a highly skilled and experienced operator to configure, operate, and monitor an inspection robot for different applications. In many cases, even experienced operators may follow different protocols and / or miss or modify important steps, which may compromise the safety of inspection, quality of the data, reproducibility of the data, and the like. Specifically, variations in data quality caused by differing operator protocols can render inspection data from different operators unsuitable for comparison.

[0038] Fig. 5 illustrates an example general system architecture that may be utilized, in whole or in part, with any systems, procedures, or other embodiments described in the present disclosure. The system centers around an operator computing device 500, which hosts an inspection execution interface 502. The inspection execution interface 502 serves as the primary point of interaction for the operator 518, providing instructions, receiving operator interactions 512, and facilitating communication with other system components.

[0039] Within the operator computing device 500, several key components are integrated, including the director component 504, orchestrator component 506, and quality analytics component 508. The director component 504 is responsible for providing the inspection description 510 to the inspection execution interface 502 and enforcing protocols for inspection operations. The orchestrator component 506 manages the identification, configuration, and scheduling of executable services required for the inspection. The quality analytics component 508 monitors collected inspection data and provides feedback on data quality.

[0040] The inspection execution interface 502 communicates with the inspection robot 514, which performs the physical inspection tasks. Interactions between the inspection robot 514 and the system are represented as inspection robot (I.R.) interactions 516. The operator 518 interacts with the system through operator interactions 512, confirming steps, providing feedback, and managing the inspection process. In certain embodiments, inspection data is received from the inspection robot 514 as IR interactions 516, and / or other communications with the inspection robot, such as setting or confirming calibrations, firmware, interface settings, data processing settings (e.g., for data processing operations that are performed on the inspection robot), activation of cards, logic circuits, and / or programmable features, or the like are communicated as IR interactions 516.

[0041] The inspection robot 514 may be any type of inspection robot utilizing any type of sensor. Example and non- limiting inspection robots include a crawler having a number of sleds each having sensing elements, an inspection robot with a rastering payload, and inspection robot having a number of payloads, or the like. Without limitation to any other aspect of the present disclosure, inspection robots such as those described in: US patent application no. 18 / 731,490, filed on 3 JUN 2024, and entitled “SYSTEM, METHOD, AND APPARATUS FOR INSPECTING A SURFACE” (GROB- 0003-U01-C11-C01-C01); US patent application no. 19 / 229,878, filed on 5 JUN 2025, and entitled “SYSTEM, METHOD, AND APPARATUS FOR PROVIDING INTERACTIVE INSPECTION MAP FOR AN INSPECTION ROBOT” (GROB-0007-U01-C01-C01); US patent application no. 19 / 187,598, filed on 23 APR 2025, and entitled “SYSTEMS, METHODS AND APPARATUS FOR TEMPERATURE CONTROL AND ACTIVE COOLING OF AN INSPECTION ROBOT” (GROB- 0010-U01-C15-C01); US patent application no. 19 / 186,460, filed on 22 APR 2025, and entitled “ROBOTIC SYSTEMS FOR ULTRASONIC SURFACE INSPECTION USING SHAPED ELEMENTS” (GROB-0013-U01); US patent application no. 19 / 242,325, filed on 18 JUN 2025, and entitled “SYSTEMS, METHODS, AND APPARATUS FOR INSPECTION OF A SURFACE USING SENSOR HOLDER WITH DUAL LINEAR PHASED ARRAY OF ULTRA-SONIC ELEMENTS” (GROB-0014-U05); and / or US patent application no. 19 / 187,172, filed on 23 APR 2025, and entitled “INSPECTION ROBOT WITH PROFILE ADAPTING SLED, COUPLANT REDUCTION FILM AND TRANSDUCER POD FOR THICK ASSETS” (GROB-0015-U01), are suitable for use as an inspection robot as set forth herein. Additionally or alternatively, any payload, payload arrangements, sensors or sensor types, or the like as set forth in those applications are suitable for utilization with the present disclosure. The foregoing patent applications are incorporated herein by reference in the entirety for all purposes. The example inspection robots, payloads, sensors, and the like are non-limiting, and the present disclosure may be utilized with any inspection robot capable to provide IR interactions 516 as set forth throughout the present disclosure.

[0042] The system also supports communication with external entities. Facility communications 534 and support communications 528 represent communications between the operator computing device 500 and external devices, such as a facility computer 524 and / or a support computer 526 in the example of Fig. 5. In the example of Fig. 5, the facility computer 524 communicates with a facility operator 520 using facility interactions 532, for example provided on a facility user interface (not shown) implemented by the facility computer 524. In the example of Fig. 5, the support computer 526 communicates with support personnel 522 using support interactions 530, for example provided on a support user interface (not shown) implemented by the support computer 526. In certain embodiments, an external device may be any device at least selectively in communication with theoperator computing device 500, which communications may be implemented by any communication method, such as an internet connection, WiFi, LAN, WAN, cellular, or the like. In certain embodiments, remote devices 524, 526 may be different devices at different times and / or operating conditions, for example a desktop, laptop, mobile device, or the like, depending upon the communications being performed, the utilization of selected device by external personnel that are monitoring and / or assisting inspection operations, or the like. Remote devices 524 and 526 facilitate these interactions, enabling the operator computing device 500 to exchange information with remote support and facility systems and personnel. Support communications 528 and facility communications 534 provide channels for exchanging inspection descriptions, support requests, and operational data between the operator computing device 500, remote devices, and facility systems.

[0043] Inspection descriptions 510 may be received from or transmitted to remote devices 526, ensuring that the operator computing device 500 is always working with the most current and relevant inspection protocols. The system’s architecture allows for robust support communications 528 and facility communications 534, ensuring seamless integration with broader operational and support infrastructures.In summary, Fig. 5 depicts a comprehensive system in which the operator computing device 500, equipped with the inspection execution interface 502, director component 504, orchestrator component 506, and / or quality analytics component 508, interacts with the inspection robot 514, operator 518, remote devices 524, 526, and external facility and support systems to enable efficient, protocol -driven, and high-quality inspection operations. This system architecture is adaptable and may be implemented in whole or in part with any of the systems, procedures, or embodiments disclosed herein. In certain embodiments, any one or more of the computing devices 500, 524, 526 may be a distributed device, and / or different physical devices at different times and / or operating conditions.

[0044] In certain embodiments, the operator computing device 500 may include a base station computer (e.g., a computer dedicated to support and communication with the inspection robot, which may additionally or alternatively be combined with other functions, such as supplying couplant and / or power to the inspection robot), an operator laptop, an operator mobile phone, and / or any other device accessible to the operator and capable of performing operations as set forth herein. In certain embodiments, one or more aspects described herein as on the operator computing device 500, for example the director component 504, orchestrator component 506, and / or quality analytics component 508, may be positioned in whole or part on another computing device, for example with aspects of one or more of these, or the entirety of one or more of these, positioned on a cloud serverand / or the support computer 526, with appropriate communications to the operator computing device 500.

[0045] Referring to Figs. 5 and 6, a system is provided comprising an inspection execution interface 502 and a director component 504. The inspection execution interface 502 is implemented on an operator computing device 500 and is configured to interpret an inspection description 510. In response to the inspection description 510, the inspection execution interface 502 presents to an operator 518 step-by-step instructions for performing an inspection operation with an inspection robot 514. The inspection description 510 may be an outcome based description (e.g., perform a UT inspection of a defined area of the asset, with specified data quality and / or inspection density), and / or may be configuration based description (e.g., utilize a specified sensor with specified settings over a defined area of the asset), and / or may include configuration information for the inspection robot (e.g., specified payloads, payload positions, applied downforce to the payload, sensor elements, specified calibrations for the sensors, data processing settings, etc.), and / or the configuration information may be determined to achieve the specified outcome of the inspection description 510. In certain embodiments, the step-by-step instructions for performing the inspection operation may be determined in response to operations of the inspection robot, including available configurations of the inspection robot that achieve a specified outcome according to the inspection description 510.

[0046] The interface 502 is further configured to receive at least one of operator input 512 or inspection robot feedback 516 confirming completion of each step, and to transmit this input to the director component 504. For example, the operator may indicate, utilizing the operator input 512, each step and / or portion thereof of the inspection operations that are completed (e.g., confirming payload configurations, attached hardware versions, connectivity of couplant and / or power, etc.), where the display indicates completion of that operation for ease of tracking by the operator. In certain embodiments, aspects of the operations may be confirmed directly by the operator computing device 500, for example according to actuator positions, automated ID of components that are capable of publishing metadata about the component, confirming versions of calibrations and / or firmware of components, tracking the movement and / or sensing activity of the inspection robot 514, or the like. Operations that can be performed and / or confirmed automatically may be updated with a visual indicator for the operator to provide ease of tracking by the operator. In certain embodiments, the operations may be separated into stages, where completion of a stage can automatically bring up the next stage, and / or the operator can browse to a next stage when all aspects of a current stage are visually indicated as complete on the inspection execution interface 502. The director component 504 provides the inspection description 510 to the inspection execution interface 502 and enforces a protocol for the inspection operation based on the received operator input or feedback.

[0047] As shown in Fig. 6, the director component 504 coordinates the flow of operator instructions 602, inspection protocol 604, inspection routing information 606, individual routing steps 608, inspection configurations 610, and collected inspection data 612, ensuring that the inspection operation proceeds according to the defined protocol.

[0048] As illustrated in Fig. 8, the inspection description 510 may include at least one of the following: a payload selection 802 (e.g., selection of an identifiable payload, such as the “six sled UT pay load”), a payload configuration 804 (e.g., a number of sleds, position and / or arrangement of sleds, downforce element or spring selection, positioning of payloads on the inspection robot, etc.), a sensing element selection 806 (e.g., version number and / or part number of a sensing element, and / or specific description such as “48 element phased array”), a sensing element configuration 808 (e.g., settings for the sensing element, such as activation power and / or frequency, hardware filter settings, delay line settings, etc.), an inspection robot selection 810 (e.g., where more than one inspection robot may be available and / or utilized at different inspection stages), an asset coverage description 812 (e.g., a description of which aspects of the asset are to be inspected, including variations in inspection parameters at different asset positions, and / or which may include multiple inspection types for some areas), a feature description 814 for an asset including an inspection surface (e.g., the positions of obstacles, visual markers for localization, sensitive areas where the operator may adjust inspection robot operations, etc.), a sensor calibration value 816 (e.g., any values of the sensor that may be adjusted by calibration, which may overlap with aspects described as the sensing element configuration 808), a drive module configuration 818 (e.g., gear selections, speed settings, forward / reverse logic, positioning of the drive module where drive modules may be coupled to the inspection robot with options, magnet strength options, suspension settings, etc.), or an inspection processing description 820 (e.g., any processing setting depending upon the inspection type, but which may include cutoff times, amplitude evaluations, frequency evaluations, filter settings, virtual beam steering parameters, valid data determining parameters, etc.). These elements collectively define the parameters and requirements for the inspection operation, enabling the system to generate appropriate instructions and protocols for the operator and inspection robot.

[0049] With reference to Fig. 6, the director component 504 may be further configured to perform at least a portion of the inspection operation in response to a step of the instructions and a status of the inspection robot 514. For example, the director component 504 may apply a configuration, initiate a sensor calibration, or perform inspection data processing based on the inspection processing description, as indicated by director performed inspection operations 626. The director component 504 may also enforce the protocol for the inspection operation in response to a match quality 624 between the inspection description and the actual inspection operation, ensuring that the operation isexecuted in accordance with the defined requirements and that deviations are detected and managed. In certain embodiments, the match quality 624 may be determined in response to the inspection description, for example based on the success of data collection over the specified inspection areas of the asset, indications that calibrations, firmware, hardware installed, etc. are consistent with the inspection description, or the like). In certain embodiments, the match quality 624 may include an indication of aspects that did not match, for example “region C has insufficient inspection density”, and / or may be combined with a display indicating a deficiency mapped onto a representation and / or spatial model of the asset.

[0050] As shown in Fig. 9, the inspection description 510 may further include at least one of: a drive module calibration value 902, an inspection robot interface calibration value 908 (e.g., ensuring a flexible interface is configured to accept the hardware coupled to that interface, for example an interface that can accept either a camera or a UT sensor coupling, but may include adjustments to the I / O of the interface accordingly), a sensor calibration value 904, or a payload calibration value 910. These calibration values are used to ensure that the inspection robot and its components are properly configured and calibrated for the specific inspection task, thereby supporting accurate and reliable data collection.

[0051] Fig. 10 illustrates a method for enforcing an inspection protocol. The process begins with interpreting an inspection description (1002), followed by presenting instructions to an operator (1004). The system then receives operator inputs and / or inspection robot feedback (1006), provides the inspection description to an inspection execution interface (1008), and enforces a protocol for the inspection operation based on the received operator input and / or inspection robot feedback (1010).

[0052] The following examples are non-limiting optional operations that may be utilized with the example procedure set forth in the example of Fig. 10.• The inspection description may include at least one of: a payload selection, a payload configuration, a sensing element selection, a sensing element configuration, an inspection robot selection, an asset coverage description, a feature description for an asset including an inspection surface, a sensor calibration value, a drive module configuration, or an inspection processing description (see Fig. 8).• At least a portion of the inspection operation may be performed in response to a step of the instructions and a status of the inspection robot, such as applying a configuration, applying a sensor calibration value, or performing inspection data processing in response to an inspection processing description (see Fig. 6, 626).• The inspection description may include at least one of: a drive module calibration value, an inspection robot interface calibration value, a sensor calibration value, or a payload calibration value (see Fig. 9).• The protocol for the inspection operation may be enforced in response to a match quality between the inspection description and the inspection operation, ensuring compliance and quality control (see Fig. 6, 624).

[0053] With reference to Figs. 6 and 9, an example system includes an orchestrator component 506 configured to interpret an inspection description 510 and, in response, identify, configure, and schedule a set of executable services 630 for an inspection operation at an inspection location. The orchestrator component 506 implements an inspection execution interface 502 that allows an operator to use the set of executable services 630 via interactions with the inspection execution interface 502. In certain embodiments, one or more executable services 630 may be utilized automatically, without selection by and / or knowledge of the operator. The set of executable services 630 are configured to support monitoring of the status and performance of the inspection operation according to the inspection description 510, and facilitate improved inspection success rates, reduce inspection completion time, reduce operator resource utilization (e.g., including attention and concentration resources of the operator), and reduce re-work and / or additional trips to the site to complete inspection operations. In certain embodiments, the inspection description 510 may comprise an asset inspection coverage description 906, which specifies the required coverage of the asset for the inspection operation, and which may be utilized to determine which executable services 630 will be helpful for the inspection operation. In certain embodiments, one or more executable services 630 may be positioned on the operator computing device 500 (e.g., where a selection of such a service results in the installation of and / or enabling of the service to be utilized for the inspection operation), and / or one or more executable services 630 may be positioned on a supporting computing device 526 (e.g., allowing for additional computing power to be utilized to enhance the operations of the operator computing device 500). One or more of the services may utilize an artificial intelligence (Al) model, for example a full capability trained model in the cloud (e.g., on the supporting computing device 526), and / or a simplified Al model operating on the operator computing device 500.

[0054] Referencing Fig. 11, an example executable service 630 includes a configuration planning service 1122, which enables planning and validation of system and component configurations, for example determined according to the available hardware, the type of inspection, characteristics of the inspection surface, and / or challenges expected on the inspection surface (e.g., traversal of obstacles, distance of the inspection robot to the base station, expected coatings and / or damage types to beencountered, etc.). Example configurations include selection and / or configuration of payloads and / or payload characteristics, drive modules, wheels, sled form factors, sensing elements, inspection speed criteria, etc. In certain embodiments, where options for a service are available, the operator and / or support personnel may select or adjust the options, and / or options may be specified as a part of the inspection description 510.

[0055] An example executable service 630 includes a pay load configuration service 1102, which supports the selection and setup of payloads for the inspection robot. Example configurations include down force selection, sled or rastering configurations, and / or support connections (e.g., power, data, couplant, etc.).

[0056] An example executable service 630 includes a drive module configuration service 1104, which manages the configuration of drive modules for robot mobility. Example configurations include drive module types and coupling arrangements, power capability, speed capability, wheel selections, surface engagement characteristics, cooling arrangements, or the like.

[0057] An example executable service 630 includes an asset visualization service 1106, which provides visual representations of the asset and inspection progress. In certain embodiments, the visual representation may be determined from an asset description (e.g., a part number for a standardized asset, according to engineering and / or manufacturing documentation, a geometric description, etc.) and / or from empirical data (e.g., a Lidar scan of the asset, localization information from previous inspection operations, according to operator measurements and / or observations, etc.). In certain embodiments, the inspection progress may be a stage indicator (e.g., a depiction of the stages, current stage, and / or progress overall and / or for the current stage). In certain embodiments, the inspection progress may be an asset depiction, showing which areas of the asset have been inspected, which areas remain, and / or showing a depiction of the inspection data on the asset (e.g., including a data validity indication and / or an indication of the values of the data).

[0058] An example executable service 630 includes a sensor calibration service 1108, which enables calibration of sensors to ensure accurate data collection. Example configurations include a representation and / or listing of sensors, combined with an indication of proper configuration and / or an indication of present configuration.

[0059] An example executable service 630 includes an inspection data processing service 1110, which processes raw inspection data according to defined schemas. Example configurations include a representation and / or listing of data processing algorithms, including for example named processing operations (e.g., standard A-scan processing) and / or a quantitative description of processing parameters (e.g., cutoff times, gains, filtering parameters, etc.). In certain embodiments, the processing operations may be labeled as compliant (e.g., a green highlight; for example toprovide the operator with a simple interface to check that the processing is correct), and / or the processing operations may depict the processing labeling and / or quantitative parameters to give the operator another indication that can be checked.

[0060] An example executable service 630 includes an inspection routing service 1112, which determines and manages the paths or sequences for the inspection robot. Example configurations include a listing of regions to be inspected, a pathing definition for the inspection robot, a display of inspection progress with a recommendation for the next movement of the inspection robot, or the like. In certain embodiments, the routing for the inspection robot may be sequenced, for example where the configuration settings for a first region are determined based on inspected data for the same or another region, and / or where a specified pathing on the asset is determined to be a more efficient path to complete the inspection operations. Additionally or alternatively, the sequencing for one or more, or all, of the steps may not be important, where the inspection routing service 1112 tracks that the entire planned portion of the surface is inspected, but the order may be varied.

[0061] An example executable service 630 includes an operator annotation service 1114, which allows operators to add notes or labels to inspection data. In certain embodiments, the operator annotation service 1114 may be utilized by support personnel 522 and / or facility personnel 520, for example to note areas of interest, assist the operator, and / or present questions or concerns to the operator. In certain embodiments, the operator annotation service 1114 allows the operator to provide a specific question positioned on the asset and / or utilizing a particular data overlay, for example facilitating sophisticated support from support personnel 522 during inspection operations. In certain embodiments, the operator annotation service 1114 can facilitate providing the operator with operational notes (e.g., noting obstacles, expected complications, things to watch for, etc.) that are available from support personnel 522, notes made during a previous inspection operation, and / or that may be provided in the inspection description 510 (e.g., to ensure that a particular aspect of the inspection at a particular location on the asset is considered). The annotations may be provided on any display of the inspection execution interface 502, allowing the annotation to appear in a particular menu or context (e.g., on an inspection progression interface, on a depiction of the asset, during a configuration check, etc.).

[0062] An example executable service 630 includes a data validation service 1116, which checks the integrity and quality of collected data. In certain embodiments, the data validity may be determined in response to expected outcomes of the data (e.g., detecting a first return, or an nthreturn, within a specified time window; and / or determining a relationship between different returns), and / or determined in response to known bad data modes (e.g., data indicating that the pay load has lifted,acoustic coupling has been lost, etc.), and / or in response to other criteria such as the presence of a fault in a sensor, couplant delivery device, data acquisition device, lost connectivity, etc.

[0063] An example executable service 630 includes an inspection coverage service 11 18, which monitors and reports on the extent of asset coverage. An example inspection coverage service 1118 depicts the asset, or selected portions thereof, with an indication of which aspects have been inspected and which aspects remain to be inspected. In certain embodiments, the inspection coverage service 1 118 may additionally or alternatively display data validity indicators, a sequencing of areas to be inspected (e.g., the next area to be inspected after the current area), and / or a sequencing of any other aspect (e.g., a next pay load to be utilized, a next inspection robot to be utilized, etc.). The inspection coverage service 1118 allows the operator to track and predict completion time, to make an early determination of any inspection completion issues, to confidently conclude inspection operations at the appropriate time, to plan follow-up activities, or the like.

[0064] An example executable service 630 includes an inspection scheduling service 1120, which manages the timing and sequencing of inspection tasks. An example inspection scheduling service 1 120 may list the stages and / or steps of an inspection operation, an indication of completed, inprogress, or subsequent stages, and / or provide an indication of any stages that are not successfully completed, should be reviewed, have a specific issue (e.g., bad data sections, indicated issues from the inspection, etc.).

[0065] Fig. 12 illustrates a method for supporting an inspection operation using the orchestrator component 506. The process begins with interpreting an inspection description (1202), followed by identifying, configuring, and scheduling a set of executable services (1204) required for the inspection operation. The orchestrator component 506 then implements an inspection execution interface (1206) that allows an operator to use the set of executable services via interactions with the interface. The services are configured to support monitoring and performance of the inspection operation according to the inspection description (1208).

[0066] The following examples are non-limiting optional operations that may be utilized with the example procedure set forth in the example of Fig. 12. Without limitation to any other aspect of the present disclosure, visualizations for these may include a representation of the asset and / or inspection robot, and / or a listing of the visualization target, including an indicator of proper configuration and / or operation, and / or an indicator of an improper and / or unverified configuration and / or operation.• The inspection description may comprise an asset inspection coverage description, and the method may further include determining inspection routing information, providing routinginformation to the inspection execution interface, or displaying an inspection progress indicator.• The set of executable services may include a configuration planning service, and the method may further include determining or confirming configurations, performing configuration operations, or providing configuration visualizations.• The set of executable services may include a payload configuration service, and the method may further include determining or confirming payload configurations, performing payload configuration operations, or providing payload configuration visualizations.• The set of executable services may include a drive module configuration service, and the method may further include determining or confirming drive module configurations, performing drive module configuration operations, or providing drive module configuration visualizations.• The set of executable services may include an asset visualization service, and the method may further include providing inspection coverage, data quality, or progress visualizations to the inspection execution interface.• The set of executable services may include a sensor calibration service, and the method may further include determining or confirming sensor calibrations, performing sensor calibration operations, or providing sensor calibration visualizations.• The set of executable services may include an inspection data processing service, and the method may further include determining data processing schemas, performing data processing, confirming application of schemas, or providing data processing visualizations.• The set of executable services may include an operator annotation service, and the method may further include interpreting, providing, or storing operator annotations in response to operator interactions.• The set of executable services may include a data validation service, and the method may further include determining data validation values, updating inspection coverage visualizations, or tagging inspection data for further analysis.

[0067] With reference to Fig. 6, the system includes a director component 504 configured to interpret an inspection description 510 and, in response to the inspection description, generate inspection routing information 606. The director component 504 provides the inspection routing information 606 to an operator via an inspection execution interface 502 implemented on an operator computing device 500. The inspection routing information 606 comprises a sequence of locations or paths for an inspection robot to follow during an inspection operation, and may be further broken down into individual routing steps 608. Where sequencing is utilized for the inspection routinginformation 606, the sequencing may be optional or declarative, for example where different aspects have dependencies, which may be indicated on the inspection execution interface 502.

[0068] In certain embodiments, the inspection description 510 includes an asset coverage description, which specifies the required extent or regions of the asset to be inspected. This asset coverage description informs the generation of the inspection routing information 606, ensuring that the planned paths or locations comprehensively address the inspection requirements for the asset.

[0069] In other embodiments, the inspection description 510 includes a feature description, which may identify specific features or areas of interest on the asset that indicate targeted inspection (e.g., inspection at a different resolution, utilizing a different sensor type, utilizing a different payload, utilizing an adjusted configuration, etc.). The director component 504 uses this feature description to tailor the inspection routing information 606, so that the inspection robot is directed to those specific features during the operation. In certain embodiments, the features or areas of interest, and / or changes in any configuration associated with the inspection robot, may be sequenced to minimize configuration changes, reducing the time of inspection and / or the number of configuration operations that may introduce an error into the inspection operations.

[0070] In further embodiments, the inspection description 510 includes an inspection type description, which may define the nature of the inspection to be performed (e.g., visual, ultrasonic, or other sensing modalities). The director component 504 incorporates this inspection type description when generating the inspection routing information 606, ensuring that the routing is appropriate for the type of inspection and the associated requirements.

[0071] Additionally, the inspection routing information 606 may further comprise a configuration value corresponding to at least a portion of an asset comprising an inspection surface. This configuration value may be used to specify particular settings, parameters, or operational constraints for the inspection robot as it traverses certain regions or features of the asset, thereby supporting precise and context-aware inspection operations.

[0072] Throughout the process, an example inspection execution interface 502 presents the generated routing information 606 and individual routing steps 608 to the operator, enabling the operator to monitor, confirm, and manage the progress of the inspection operation in accordance with the defined protocol.

[0073] With reference to Figs. 6 and 9, the system includes a director component 504 configured to interpret an inspection description 510 and, in response to the inspection description, generate inspection configuration information 610. The director component 504 provides the inspection configuration information 610 to an operator via an inspection execution interface 502 implemented on an operator computing device 500. The inspection configuration information 610 includes at leastone of: a hardware configuration, a sensor parameter, or a processing operation for raw sensor data for an inspection robot 514. This information is used to ensure that the inspection robot and its associated components are properly set up for the specific inspection operation.

[0074] In certain embodiments, the inspection description 510 includes an asset description 912. The asset description 912 provides detailed information about the asset to be inspected, which may influence the required configuration of the inspection robot and its sensors.

[0075] Further, the asset description 912 may include additional details, as shown in Fig. 9:• An inspection surface type description, specifying the type of surface (e.g., metal, composite, concrete, ferrous, coated, etc.) to be inspected, which may affect sensor selection and configuration.• An inspection surface thickness description, providing information about the thickness of the asset’s surface, which may be relevant for configuring sensing elements or processing parameters, selecting sensor orientation and / or processing parameters, and / or a configuration of a phased array.• An inspection surface shape description, describing the geometric shape or contour of the inspection surface, which may impact robot navigation and sensor alignment, wheel and / or drive module selection and / or positioning, and / or inspection robot selection (e.g., different base widths to accommodate a selected curvature of the inspection surface).• An inspection surface condition description, indicating the current state or quality of the surface (e.g., corroded, painted, rough, presence of obstacles), which may require specific sensor settings or data processing adjustments, and / or adjustments to the pay load (e.g., sled shapes, downforce configuration, active lift capability, etc.), drive modules (e.g., contact magnet strength, wheel contact type, obstacle capability, etc.).

[0076] In certain embodiments, the inspection description 510 includes a configuration value 914. This configuration value may specify particular operational parameters or settings for the inspection robot or its subsystems, ensuring that the robot operates within the required constraints for the inspection task. An example inspection description 510 may include a feature description 918, identifying specific features or areas of interest on the asset that require targeted inspection, specialized configuration, and / or traversal interactions from the operator. An example inspection description 510 may include a sensing element type 916, specifying the type of sensor or sensing technology to be used (e.g., ultrasonic, visual, infrared), which directly influences the configuration information generated and provided to the operator. An example inspection description 510 may include an inspected feature type, further detailing the nature of the features to be inspected (e.g., welds, joints, fasteners), which may indicate unique configuration or processing operations to ensureaccurate and reliable inspection results, and / or may indicate obstacles that could interfere with inspection robot movement and / or localization operations, and / or which may be utilized in positioning operations of the inspection robot (e.g., utilizing the feature as a known position, performing high resolution inspections in an area in proximity to the feature, etc.).

[0077] The director component 504, by generating and providing this comprehensive inspection configuration information 610, ensures that the inspection robot 514 is configured for the specific asset, surface, and inspection requirements, thereby supporting high-quality and consistent inspection operations.

[0078] Referring to Fig. 13, a method is provided for generating and providing inspection configuration information to an operator. The process begins with interpreting an inspection description (step 1302). In response to the inspection description, inspection configuration information is generated (step 1304). The inspection configuration information may include, for example, hardware configuration values, sensor parameters, or processing operations for raw sensor data for an inspection robot. The generated inspection configuration information is then provided to an operator via an inspection execution interface (step 1306). This process ensures that the operator receives configuration details to properly set up and execute the inspection operation, supporting accuracy and repeatability in the field.

[0079] Example and non- limiting optional variations of the procedure set forth in Fig. 13 are set forth following, which may be included additionally or alternatively, and which may be combined.

[0080] An example variation includes wherein the method further includes generating and providing inspection routing information in addition to, or as part of, the inspection configuration information. In this variation, after interpreting the inspection description (step 1302), the system generates inspection routing information that comprises a sequence of locations or paths for an inspection robot to follow during an inspection operation. This routing information is then provided to the operator via the inspection execution interface, enabling the operator to understand and manage the planned movement and coverage of the inspection robot.

[0081] In another example variation, the inspection description includes an asset coverage description, which specifies the required extent or regions of the asset to be inspected. This asset coverage description informs the generation of the inspection routing information, ensuring that the planned paths or locations comprehensively address the inspection requirements for the asset.

[0082] In another example variation, the inspection description includes a feature description, identifying specific features or areas of interest on the asset that require targeted inspection. The routing information is tailored to direct the inspection robot to those specific features.

[0083] In another example variation, the inspection description includes an inspection type description, which may define the nature of the inspection to be performed (e.g., visual, ultrasonic, or other sensing modalities). The routing information is generated to be appropriate for the type of inspection and its associated requirements. As a specific example, the inspection type description may comprise at least one of a sensing element type or an inspected feature type, further refining the routing and configuration for the inspection robot.

[0084] In another example variation, the inspection routing information may further comprise a configuration value corresponding to at least a portion of an asset comprising an inspection surface. This configuration value may specify particular settings, parameters, or operational constraints for the inspection robot as it traverses certain regions or features of the asset, thereby supporting precise and context-aware inspection operations.

[0085] The example variations enhance the procedure of Fig. 13 by integrating routing information with configuration information, providing the operator with a comprehensive set of instructions and parameters for both the setup and execution phases of the inspection operation.

[0086] With reference to Figs. 6 and 7, the system includes a director component 504 configured to present inspection routing information 606 to an operator via an inspection execution interface 502 implemented on an operator computing device 500. The inspection routing information 606 comprises a sequence of locations or paths for an inspection robot to follow during an inspection operation, and may be further broken down into individual routing steps 608.

[0087] An example director component 504 is further configured to confirm completion of each individual routing step 608 in response to operator input and / or direct feedback from the inspection robot 514. Operator input may be provided through the inspection execution interface 502, for example by the operator marking a step as complete. Direct feedback from the inspection robot 514 may include various types of data, such as:• Location values for the inspection robot, indicating that the robot has reached a specified location or completed a path segment.• Sensor execution values for the inspection robot, confirming that required sensor operations or data collection tasks have been performed at the designated step.• Inspection data for the inspection robot, providing evidence that the necessary inspection data has been collected for a given routing step.

[0088] Additionally or alternatively, the director component 504 may confirm completion of each individual routing step in response to validation values for inspection data, ensuring that the data collected at each step meets required quality or completeness thresholds.

[0089] The inspection execution interface 502, as illustrated in Fig. 7, includes a progression interface 706 that allows the operator to readily confirm which routing steps have been completed during the inspection operation. The interface may also display inspection stages or instructions 702, inspection status descriptions 704, and menus 708, providing the operator with a comprehensive and interactive view of the inspection process and progress. This approach ensures that both the operator and the system maintain accurate tracking of inspection routing, step completion, and overall protocol compliance throughout the operation.

[0090] Referring to Fig. 14, a method is provided for supporting an operator in tracking and confirming completion of inspection routing steps during an inspection operation. The process begins with presenting inspection routing information to an operator via an inspection execution interface (step 1402). Additionally or alternatively, the step 1402 may include presenting inspection configuration information to the operator via the inspection execution interface. The inspection routing information may include a sequence of locations or paths for an inspection robot to follow (and / or a sequence of configuration options for any aspect of the inspection robot). The method further includes confirming completion of each individual routing step (and / or configuration operation) in response to operator input and / or direct feedback from an inspection robot (step 1404). The system then provides the operator with a progression interface (step 1406) that allows the operator to readily confirm which routing steps (and / or configuration operations) have been completed during the inspection operation. This progression interface enhances operator awareness and protocol compliance by visually tracking the status of each routing step and / or configuration operation, throughout the inspection operations.

[0091] The following examples are non-limiting optional operations that may be utilized with the example method set forth in the example of Fig. 14, wherein the method further includes confirming completion of each individual routing step based on specific types of direct feedback from the inspection robot:• The method may further comprise confirming completion of each individual routing step in response to direct feedback from the inspection robot, where the direct feedback includes location values for the inspection robot. This ensures that the system can automatically verify that the robot has reached the required location or completed a path segment before marking the step as complete.• The method may further comprise confirming completion of each individual routing step in response to direct feedback from the inspection robot, where the direct feedback includes sensor execution values. This allows the system to verify that required sensor operations or data collection tasks have been performed at the designated step.• The method may further comprise confirming completion of each individual routing step in response to direct feedback from the inspection robot, where the direct feedback includes inspection data. This ensures that the necessary inspection data has been collected for a given routing step before allowing progression.• The method may further comprise confirming completion of each individual routing step in response to validation values for inspection data. This provides an additional layer of quality control, ensuring that the data collected at each step meets required quality or completeness thresholds before the step is confirmed as complete.

[0092] These optional variations enable the system to flexibly accommodate different levels of automation and data validation, supporting both manual and automated confirmation of routing step completion within the operator’ s progression interface.

[0093] With reference to Figs. 6 and 15, the system includes a director component 504 configured to present inspection configuration information 610 to an operator via an inspection execution interface 502 implemented on an operator computing device 500. The inspection configuration information 610 includes at least one inspection configuration, each corresponding to a respective individual routing step 608 for an inspection operation. This enables the operator to receive and apply the correct configuration at each stage of the inspection process, ensuring that the inspection robot 514 and its subsystems are properly set up for each segment of the operation.

[0094] As shown in Fig. 15, the inspection configuration information 610 may include a variety of configuration values, such as:• A pay load configuration value 1502, specifying the setup or selection of pay loads for the inspection robot.• A sensing element configuration 1504, defining the configuration of sensors or sensing elements to be used during the inspection.• A sensor calibration value 1506, providing calibration parameters to ensure accurate sensor operation.• An inspection data processing schema 1508, specifying how raw sensor data should be processed or interpreted.• An inspection robot configuration 1510, detailing operational parameters or settings for the robot itself, and / or components thereof (e.g., a flexible interface configuration, drive module configuration, lift-off protection device configuration, heat rejection capability, etc.).• An inspection robot interface calibration value 1514, ensuring that the interface between the robot and its subsystems (e.g., a pay load, drive module, peripheral device, data acquisition device, and / or camera) is properly calibrated.• A drive module calibration value 1512, providing calibration data for the robot’s drive modules to ensure precise movement and navigation, as well as correct movement logic, ability to traverse specific obstacles, match to a curvature of the inspection surface, etc.

[0095] The director component 504 is further configured to confirm completion of each individual configuration step in response to operator input and / or direct feedback from the inspection robot 514. This confirmation process ensures that each configuration is properly applied before the inspection operation proceeds to the next step. The inspection execution interface 502 provides the operator with a progression interface, allowing the operator to readily confirm which configuration steps have been completed during the inspection operation.

[0096] In certain embodiments, the director component 504 is further configured to perform at least a portion of at least one of the individual configuration steps. For example, the director component 504 may automatically apply a configuration, initiate a sensor calibration, or execute a data processing operation in response to the inspection processing description.

[0097] An example portion of the configuration step performed by the director component 504 may include at least one of: applying a configuration, applying a sensor calibration value, or performing inspection data processing in response to an inspection processing description. This automation supports efficiency, accuracy, and repeatability in the inspection setup and execution process, reducing the potential for operator error and ensuring that all required configurations are properly implemented at each stage of the inspection.

[0098] Referring to Fig. 16, a method is provided for supporting an operator in tracking and confirming completion of inspection configuration steps during an inspection operation. The process begins with presenting inspection configuration information to an operator via an inspection execution interface (step 1602). The inspection configuration information includes one or more configurations, each corresponding to one or more routing steps for the inspection operation. The method further includes confirming completion of individual configuration steps using operator input and / or direct feedback from the inspection robot (step 1604). The system then provides the operator with a progression interface (step 1606) that allows the operator to confirm which configuration steps have been completed during the inspection operation. This progression interface enhances operator awareness and protocol compliance by visually tracking the status of each configuration step.

[0099] Example and optional variations of the procedure set forth in Fig. 16 are set forth following. An example variation includes wherein the method further includes performing, with a director component, at least a portion of at least one of the individual configuration steps. For example, the director component may automatically apply a configuration, initiate a sensor calibration, or execute inspection data processing in response to an inspection processing description. A further examplevariation includes the portion of the configuration step performed by the director component may include at least one of: applying a configuration, applying a sensor calibration value, or performing inspection data processing in response to an inspection processing description. These optional variations enable the system to automate certain configuration steps, improving efficiency, accuracy, and repeatability in the inspection setup and execution process, and reducing the potential for operator error.

[0100] With reference to Figs. 5-7, the system includes a quality analytics component 508 configured to ensure inspection coverage and data quality for inspection operations. The quality analytics component 508 is implemented within the operator computing device 500 and is in communication with the inspection execution interface 502, the director component 504, and the orchestrator component 506.

[0101] The quality analytics component 508 is configured to receive collected inspection data from the inspection robot 514, which is transmitted through I.R. interactions 516 and processed by the operator computing device 500. The collected inspection data is mapped onto a spatial model of an asset, which may be defined by a geometric model, an asset description value, or an empirical asset model. This mapping allows the system to evaluate inspection coverage 614 by identifying uninspected or insufficiently inspected regions within the spatial model, and provides a convenient reference for the operator that is grounded in a similar spatial arrangement to the physical asset, facilitating a match for the operator between the indicated collection data and the asset.

[0102] The quality analytics component 508 may further interpret an inspection description 510, received from the director component 504, and evaluate inspection coverage 614 of the asset in response to the requirements specified in the inspection description. This ensures that the evaluation of coverage is context-aware and tailored to the specific inspection protocol.

[0103] In response to the quality analytics component 508 determining that inspection coverage 614 does not meet a predetermined threshold 616, it generates an alert or report. This alert or report can be provided directly to the inspection execution interface 502, allowing the operator 518 to receive real-time feedback on inspection completeness and quality. Alternatively, or additionally, the alert or report may be provided to an external device, such as a remote device 524 or 526, for further action or escalation, for example notifying support personnel 522 and / or facility personnel 520 of the invalid data indication. In certain embodiments, support personnel 522 can perform additional analysis and / or make a recommendation to complete the inspection to the operator (e.g., via direct communication and / or utilizing the annotation service 1114). In certain embodiments, the inspection coverage 614 may be depicted on a representation of the asset, for example as an inspection map 620, which may further depicted identified inspection regions 622 of interest (e.g., regions that havelow quality and / or anomalous data, and / or regions that are completed with high quality inspection data).

[0104] An example quality analytics component 508 is also configured to provide an inspection status description to the inspection execution interface 502. As shown in Fig. 7, the inspection execution interface 502 includes a dedicated area for the inspection status description 704, where the operator can view current inspection progress 628, coverage metrics, and any alerts or reports generated by the quality analytics component 508. This integration ensures that the operator is continuously informed about the quality and completeness of the inspection operation, supporting timely intervention and corrective actions if necessary.

[0105] In summary, the example embodiments provide a system in which the quality analytics component 508, in conjunction with the inspection execution interface 502 and other system components, provides comprehensive monitoring, evaluation, and reporting of inspection coverage and data quality, leveraging spatial models, inspection descriptions, and real-time operator feedback to ensure high-quality inspection outcomes.

[0106] Referring to Fig. 17, a method is provided for analyzing inspection coverage and generating alerts or reports based on the results. The process begins with receiving collected inspection data (step 1702). The collected data is then mapped onto a spatial model of an asset (step 1704), allowing the system to associate inspection data with specific locations or regions of the asset. The method continues by evaluating inspection coverage of the asset by identifying uninspected or insufficiently inspected regions within the spatial model (step 1706). If the inspection coverage does not meet a predetermined threshold, the system generates an alert or report (step 1708). Finally, the alert or report is provided to an inspection execution interface and / or an external device (step 1710), enabling timely operator awareness and potential corrective action.

[0107] Example optional variations and enhancements to the procedure set forth in Fig. 17 are set forth following:• The spatial model of the asset may comprise at least one of a geometric model of the asset, an asset description value, or an empirical asset model. This allows the mapping and evaluation process to be tailored to the available asset information and the specific requirements of the inspection.• The method may further include interpreting an inspection description and evaluating inspection coverage of the asset in response to the inspection description. This ensures that the coverage analysis is context-aware and aligned with the specific inspection protocol or requirements.• The method may further include providing the alert or report to an inspection execution interface. This enables the operator to receive real-time feedback on inspection completeness and quality directly within the operational interface.• The method may further include providing the alert or report to an external device. This supports escalation, remote monitoring, or integration with facility or support systems for further action.• The method may further include providing an inspection status description to an inspection execution interface. This allows the operator to view current inspection progress, coverage metrics, and any alerts or reports generated by the system, supporting continuous awareness and protocol compliance.

[0108] These optional variations enable the method to flexibly accommodate different asset models, inspection requirements, and communication needs, supporting both local and remote monitoring of inspection coverage and quality.

[0109] With reference to Figs. 18 and 19, the system includes a quality analytics component 508 configured to analyze collected inspection data 612 for quality metrics 1814. The quality analytics component 508 receives collected inspection data 612 from the inspection robot and maps the data onto an asset spatial model 618. The quality analytics component 508 then generates a visualization 1820 of data quality mapped onto a representation of the inspected asset, which is presented to an operator via the inspection execution interface 502. The visualization 1820 identifies regions of low (e.g., data quality indicates a bad reading) or anomalous (e.g., the data is an outlier compared to similar data, such as data from similar areas of the inspection surface) data quality 1822, enabling the operator to quickly assess the quality and completeness of the inspection operation.

[0110] Example and non-limiting quality metrics 1814, as shown in Fig. 19, may include several types of data quality indicators such as:• A fraction of inspection data exceeding a validation threshold 1902, which quantifies the proportion of data that meets or surpasses a predefined quality standard. For example, data of sufficient quality in a region may include over 50% of the data values indicating good readings, over 90%, over 95%, and / or over 98%. In certain embodiments, other statistical determinations (e.g., statistical description 1906) such as an average or standard deviation of data quality, a lowest quartile value of data quality, and / or a moving average of data quality (e.g., where an extended sequence of bad readings may result in a low quality indicator, even where the overall percentage of readings would be otherwise acceptable).An inspection data density description 1904, which characterizes the spatial distribution and density of collected inspection data across the asset. For example, a mathematical densityfunction may be utilized to ensure that bad readings have not accumulated in a specific region to the extent that detected features may be obscured by the readings (e.g., geometrically accumulated bad readings may provide insufficient inspection coverage in a particular area, even where the overall percentage of readings would otherwise be acceptable).• A largest unobserved feature description 1908, which identifies the largest region or feature of the asset that has not been sufficiently observed or inspected. For example, utilizing the shape and / or orientation of expected detected features (e.g., a crack that might be present due to weld stresses and / or hydrogenation in a particular area may have an expected size and / or orientation profile), a mathematical analysis of a largest unobserved feature that could be positioned between valid data points may be utilized to indicate low quality data in the region, which may result in a follow-up inspection, and / or an annotation for future analysis or operations to check the specified region. In certain embodiments, highlighting these regions in a report of the inspection, including potentially physically identifying the location of the regions, may be an output of the inspection operations.

[0111] An example representation of the inspected asset may comprise a spatial model of the asset, such as the asset spatial model 618, which provides a geometric or empirical framework for mapping and visualizing data quality.

[0112] An example system further includes a director component 504 configured to determine or update an inspection description 510 in response to the quality metrics 1814 and the collected inspection data 612. This enables the system to adapt inspection protocols or recommend additional inspection actions based on real-time or post-inspection data quality analysis. In certain embodiments, the additional inspection actions may be added to the inspection routing information before the operator leaves the site, and / or before inspection operations are completed, allowing for the corrective inspection operations to be performed as a part of the active inspection operation. In certain embodiments, the additional inspection actions may be added to the inspection execution interface 502, for example as an additional stage of the inspection operations, and / or utilizing the operator annotation service 1114.

[0113] Overall, Figs. 18 and 19 illustrate how the quality analytics component 508, in conjunction with the inspection execution interface 502 and director component 504, provides comprehensive data quality analysis, visualization, and feedback to the operator, supporting high-quality, reliable, and actionable inspection operations.

[0114] With reference to Fig. 20, a method is provided for analyzing inspection data quality and presenting actionable visualizations to an operator. The process begins with analyzing collected inspection data for quality metrics (step 2002). This analysis may include evaluating the data forcompleteness, consistency, and adherence to predefined quality thresholds. Next, a visualization of data quality is generated, mapped onto a representation of the inspected asset (step 2004). This visualization provides a spatial or graphical depiction of where high-quality and low-quality data have been collected, allowing for intuitive assessment of inspection results. The visualization is then presented to an operator via an inspection execution interface (step 2006). The visualization specifically identifies regions of low and / or anomalous data quality, enabling the operator to quickly recognize areas that may require additional attention, re-inspection, or corrective action.

[0115] Example optional variations and enhancements to the procedure set forth in Fig. 20 are set forth following:• The quality metrics used in the analysis may comprise a fraction of inspection data that exceeds a validation threshold. This allows the system to quantify and highlight the proportion of data that meets or surpasses required quality standards, and / or determine whether a region of the asset includes sufficiently acceptable inspection data.• The quality metrics may include an inspection data density description, which characterizes the spatial distribution and density of collected inspection data across the asset, helping to identify sparse or over-sampled regions, and / or regions where a feature of interest may be missed.• The quality metrics may further comprise a largest unobserved feature description, identifying the largest region or feature of the asset that has not been sufficiently observed or inspected, thus guiding targeted follow-up actions.• The representation of the inspected asset onto which the data quality is mapped may comprise a spatial model of the asset, providing a geometric or empirical framework for accurate visualization and analysis.• The method may further include determining an inspection description in response to the quality metrics and the collected inspection data (step 2008). This enables the system to prepare and implement a follow up inspection or other action, adapt inspection protocols, recommend additional inspection actions, or update inspection requirements based on realtime or post-inspection data quality analysis.

[0116] Overall, Fig. 20 illustrates a comprehensive approach for real-time or post-inspection data quality analysis, visualization, and protocol adaptation, supporting high-quality, reliable, and actionable inspection operations.

[0117] With reference to Fig. 21, the system includes a director component 504 configured to generate and manage a multi-stage inspection protocol 2108. The multi-stage inspection protocol 2108 may comprise at least one of: a plurality of inspection robots, a plurality of inspection robotconfigurations, or a plurality of route segments. The director component 504 is further configured to guide an operator through each stage of an inspection according to the multi-stage inspection protocol 2108 via an inspection execution interface 502 implemented on an operator computing device 500.

[0118] The director component 504 presents stage-specific instructions to the operator, receives operator input and / or direct inspection robot feedback, and coordinates transitions between stages. The system supports sequencing 2112 of the stages, and may include a dependency description 21 14, which defines dependencies or prerequisites among the various stages of the inspection. This ensures that the inspection proceeds in the correct order and that all necessary conditions are met before advancing to subsequent stages, while allowing the operator the flexibility to perform stages in any order where a dependency is not present.

[0119] Direct inspection robot feedback may include location values 2116, sensor execution values 2118, and inspection data 612, which are used by the director component 504 to monitor progress and confirm completion of each stage. The director component 504 may determine a stage completion value 2110 for each stage, which may be based on quality metrics 1814 derived from the collected inspection data 612. This enables the system to objectively assess whether each stage has been satisfactorily completed before transitioning to the next.

[0120] The director component 504 is also configured to provide the operator with various visualizations to support the inspection process, including an inspection coverage visualization 2102 (e.g., a depiction of the asset including regions that have been inspected, have not been inspected, and / or that will be inspected in the current inspection operation), an inspection data quality visualization 2104 (e.g., a depiction of valid and / or invalid data on the asset, and / or a depiction of an inspected parameter, such as wall thickness, on the asset), and an inspection progress visualization 2106 (e.g., showing stages and / or steps of the inspection process, including progress confirmation and / or indicators). These visualizations are presented via the inspection execution interface 502 and provide the operator with real-time feedback on inspection status, data quality, and overall progress.

[0121] In summary, Fig. 21 illustrates a comprehensive system for managing and executing multistage inspection operations. The director component 504, in conjunction with the inspection execution interface 502, orchestrator component 506, and quality analytics component 508, enables the operator to efficiently navigate complex inspection protocols involving multiple robots, configurations, and route segments, while ensuring protocol compliance, data quality, and thorough coverage of the inspection asset.

[0122] With reference to Fig. 22, a method is provided for managing and executing a multi-stage inspection protocol. The process begins with generating and managing a multi-stage inspectionprotocol (step 2202), where the protocol may include a plurality of inspection robots, a plurality of inspection robot configurations, or a plurality of route segments. The protocol is structured to address complex inspection requirements by dividing the overall operation into discrete, manageable stages.

[0123] The method continues by guiding an operator through each stage of the inspection via an inspection execution interface (step 2204). At each stage, the system presents stage-specific instructions to the operator, ensuring that the operator is aware of the tasks, configurations, and objectives required for that particular stage.

[0124] During the execution of each stage, the system receives operator input and / or direct inspection robot feedback (step 2206). This feedback may include confirmation of task completion, sensor data, location values, or other operational parameters, allowing the system to monitor progress and verify that each stage is performed according to the defined protocol.

[0125] Transitions between stages of the multi-stage inspection protocol are coordinated by the system (step 2208). The system may enforce sequencing of the stages and manage dependencies between them, ensuring that prerequisite conditions are satisfied before advancing to subsequent stages. This coordination supports orderly progression through the inspection process and helps maintain protocol compliance.

[0126] Optionally, the system may provide visualization to the inspection execution interface (step 2210). These visualizations can include inspection coverage, data quality, and inspection progress, offering the operator real-time feedback and situational awareness throughout the multi-stage inspection. By integrating these visual tools, the system enhances the operator’s ability to monitor, assess, and respond to the status of the inspection operation at every stage.

[0127] Certain example embodiments are described following. The example embodiments may be utilized, in whole or part, with any systems, procedures, components, or other embodiments as set forth throughout the present disclosure.

[0128] Example embodiments herein relate to systems and methods of a standard operating procedures (SOP) director. An SOP director component may be configured to generate, execute, and monitor the operating procedures (e.g., configuration, deployment, operating protocols, and the like) associated with inspection robot deployment.

[0129] Referencing Fig. 1, schematically depicted is an example SOP director component 104. The SOP director 104, may include a plurality of components for generating, managing, and executing an operating protocol. The components of the SOP director 104 may be contained in one device or may be contained in separate devices that may be connected via a communication channel 110 (e.g., bus, network, cloud) that may be wired or wireless.

[0130] In some implementations, the SOP director 104 may include a protocol generator 114. In embodiments, a protocol generator 114 may be used to generate an operating protocol. In one implementation, the protocol generator 114 may receive a project specification 116. The project specification 116 may include lists of project assets, goals, locations, and the like. The protocol generator 114 may ingest the project specification 116 and generate an operating protocol. The protocol generator 114 may query the protocol library 108 for protocol templates and / or previous operating protocols to define the new operating protocol based on the project specification 116. The protocol generator 114 may generate an operating protocol that includes a protocol for all phases of a scanning project. In some cases, the protocol generator 114 may generate a partial operating protocol for one or more phases of a scanning project (e.g., initialization, operation, data validation, etc.). Generated operating protocols may include one or more specification files that can be loaded and interpreted by operator interface 106.

[0131] In some implementations, the SOP director 104 may include a site intelligence 112 component that may facilitate the use of site data with the operating protocols. Site intelligence 112 may include data regarding operational sites and may include weather models, geospatial models of structures, and the like. The data may be provided to the protocol generator 114 to generate protocols that are based on the site intelligence data.

[0132] In embodiments, an operator interface 106 may provide an operator with instructions for configuring and operating an inspection robot 102 during deployment. The director user interface may include elements for receiving user input for verifying user actions, modifying protocols, receiving feedback, and the like. The interface may provide a graphical interface that provides instructions via different modalities (e.g., audio, textual, graphical). The interface may include operator tracking capabilities to track the execution of the protocols and / or record operator activity during operation.

[0133] In one example, the SOP director 104 may be configured to enforce a pre-deployment operating protocol. In some cases, an operating protocol may be initiated before a robot is deployed and may include a procedure for packing of robots (e.g., for shipping to jobsite), preparing robot implements / accessories, lubricating components, preloading software modules, and the like. The operator interface 106 may display a procedure for safe packing for the operator. In some cases, the interface may provide a connection to external scanners such as a barcode scanner and require an operator to scan elements as they are prepared for deployment. The operator interface 106 may include a procedure where the operator may not be able to proceed to further steps until confirmation of deployment is confirmed (e.g., barcode scan of element) and / or request to bypass of a step (e.g., request approval from an authorized person). In some cases, an operator may be required to providefeedback for a step, wherein feedback may indicate successful completion, speed of completion, problems faced in completing the task, and the like.

[0134] In one example, the SOP director 104 may be configured to enforce an initialization protocol. Inspection robots 102 may utilize modular components that allow for rapid configuration and / or on-site configuration for a particular operation(s). An inspection robot may be configured in a wide range of various aspects to support operations, such as: generated and / or collected data rates; data types; required power for operation; provision of supporting fluids cleaning fluids, marking fluids, and / or fluids utilized in repair operations; surface motive engagement assemblies; locating assemblies (e.g., to determine where the inspection robot is on a surface, determination of absolute position, direction, and / or speed of the inspection robot, and / or associating any of these with inspection data and / or supporting data such as pictures, identified obstacles, or the like); power and / or actuating control of supporting assemblies to position the inspection robot and / or portions thereof in a controllable and confirmable manner on the inspection surface. In embodiments, the configuration of a robot 102 for an operation may require initialization of the associated components, sensors, software modules, and the like. The SOP director 104 may be configured to generate and / or enforce operating protocols for initialization of components, sensors, software, and the like.

[0135] An initialization operating protocol may be generated from a project specification 116 that includes a description of the required hardware, types of objectives, types of activities, and the like. The project specification 116 may be used by the protocol generator 114 to identify relevant protocol templates, protocol snippets, and the like that relate to the specification. The protocol generator 1 14 may assemble the protocol parts into an initialization protocol. The initialization protocol may be provided to an operator via the operator interface 106. The interface may indicate a series of steps for initializing the hardware and may include instructions for manual steps to be performed by the operator and selections to initiate automated steps. In one example, manual steps may include steps to connect or assemble peripheral hardware for the inspection robot 102 and may include steps of methods of fastening, torque specifications, lubrication requirements, and the like. An operator may be required to document the steps by taking photos, entering values, and the like. In one example, automated steps may include loading or initiating loading of required software modules on the robot for the peripherals, testing of sensors, and the like.

[0136] In another example, the SOP director 104 may be configured to enforce and / or orchestrate a scanning protocol. Inspection operations may include scanning / sensing of structures. Some operations of scanning may include specific requirements for scanning speed, distance between scanning passes, communication reporting, routing path, detection threshold, and the like. Requirements may be influenced by the structure dimensions, type of structure, age of structure,budget for scanning, time constraints, and the like. In embodiments, the project specification 116 may include specifications that may define or influence the scanning protocol generated by the protocol generator 114. In embodiments, the protocol generator 114 may receive data from the site intelligence 112 component and generate a protocol based on the physical properties of a structure to be scanned, site conditions (e.g., temperature, time of day), and the like. The scanning protocol may be provided to an operator via the operator interface 106. The interface may indicate a series of steps for following scanning procedures. The operator interface 106 may receive data from the inspection robot 102 to verify that procedures are implemented. In one example, the operator interface 106 may verify correct procedure implementation from the geospatial position data of the robot 102, sensor readings, and the like.

[0137] In another example, the SOP director 104 may be configured to enforce and / or orchestrate a hazard mitigation protocol. In some deployments, a robot may encounter hazards or errors during operation. In one example, hazards may include dangerous obstacles (e.g., holes in structures, caustic substances, high temperatures) that may be detected by the operator and / or sensors from the robot. In embodiments, the operator interface 106 may be configured to identify related mitigation protocols for the hazard. The mitigation protocol may be automatically identified and provided to the operator. The mitigation protocol may be identified based on the location of the robot, robot sensor readings, operator input, and the like.

[0138] Example embodiments herein relate to systems and methods for data quality analytics. A data analytics component may be configured to monitor collected data (from robot, operator, and / or related systems) and evaluate the quality of the data. The data analytics component may be configured to contextualize the data (e.g., based on timing, location, values of other data, etc.) and determine quality based on threshold values related to the context of the data. The quality analytics component may be configured to surface bad data to an operator to allow an operator to generate labels for the data which may be used to train data quality analysis models.

[0139] Referencing Fig. 2, schematically depicted is an example data quality analytics 204 component. The data quality analytics 204 component, may include a plurality of components for monitoring, analyzing, and reporting of data and data quality metrics. The components of the data quality analytics 204 component may be contained in one device or may be contained in separate devices that may be connected via a communication channel 210 (e.g., bus, network, cloud) that may be wired or wireless.

[0140] In some operating environments, data is gathered from a robot (e.g., sensor data, position data), environment data (e.g., temperature, weather), external sensors (e.g., cameras monitoring robot activity), and the like. In some implementations, the gathered data may be monitored to determinedata quality. As used herein, data quality may include identification of data outside of expected norms / thresholds, identification of data scans that do not meet data collection protocols (e.g., scans do not cover the required percentage of structure, data was gathered when environmental conditions were outside of the required range), identification of sensor errors, identification of unexpected structures, and the like.

[0141] Data quality may be monitored in various modes depending on the settings provided by the operator, protocol requirements, contextual data, and the like. In one example, data quality may be monitored in real-time as it is collected. In another example, data quality may be analyzed after collection or after a collection threshold (e.g., after 1 hour of collection, after scanning 10 square meters of structure). A status of the collected may be provided to an operator, and when data quality falls below a threshold, an alert may be provided to an operator, which may identify data elements with low quality.

[0142] An example data quality analytics 204 component may include a data contextualizer 214.The data contextualizer 214 may identify the context of received data from a robot 202. This process may include analyzing data within the specific environment or conditions under which it was generated to understand underlying patterns, relationships, causative factors, data quality thresholds, and the like. For instance, contextualizing temperature data from a sensor might involve considering the time of day, weather conditions, and location to accurately interpret temperature variations or if robot temperature is beyond operating thresholds (e.g., bad data quality for temperature may be defined as 20C above ambient temperature).

[0143] Contextualization includes integrating data from multiple sensors and incorporating other data to provide a comprehensive view of the collected data and identify bad-quality data. In on example, the data contextualizer 214 may receive site data 212. Site data 212 may include geospatial data of the scanning structures and / or environments and may include 3D models and representations. The data contextualizer 214 component may map or associate data from robot 202 with the site data 212. In one example, the data contextualizer 214 may map scan data to 3D structure models from the site data 212 by mapping geospatial data captured from the robot (e.g., GPS data, inertial navigation data) and map position of sensor data from the robot to corresponding locations on the 3D models. Data may be mapped to grid cells of a spatial model.

[0144] In one example, the data quality analytics 204 component may include a data monitor 208 configured to monitor the contextualized data from the data contextualizer 214 component. The data monitor may include heuristics, machine learning (ML) models, deterministic rules (e.g., predefined threshold values), and the like to identify data errors or low-quality data. In one example, the contextualized data from the data contextualizer 214 that includes site data 212 may be analyzed bythe data monitor 208 to identify scan coverage. The data monitor 208 may identify aspects such as distance between data scan paths, percentage of coverage of the structure, unscanned areas, voids in scanned areas and evaluate the aspects to determine if they meet a threshold for identification as being indicative of bad quality data. In another example, differences between the model geometries of a structure and the scanned geometries may be identified by the data monitor 208 as being associated with bad-quality data. Data quality may be based on the spatial relationships of the data in the cells (e.g., coverage of the cells, number of blank cells, span of blank cells).

[0145] In embodiments, the data monitor 208 may include trained ML models. The trained ML models may be trained to classify captured scan data (which may or may not be contextualized) and identify data that may be associated with bad-quality data.

[0146] An example data quality analytics 204 component may include an operator interface 206 for notifying an operator of data that may be identified as low or bad quality data. The operator interface 206 may provide an indication, such as a graphical display of the location, timing, quantities, and the like of the bad-quality data. The operator interface 206 may include identification of the bad-quality data along with a request for a label of the data. The operator interface 206 may request a description from the operator for bad quality (e.g., natural language text description, selection of choices). In embodiments, the provided description may identify the reasons for the bad quality (e.g., unfavorable environmental conditions, errors in site data), a description of what makes the data bad-quality (e.g., data scans paths too far apart), and the like. The descriptions may be associated with bad-quality data and used as labels for training ML models of the data monitor 208.

[0147] Example embodiments herein relate to systems and methods for an orchestrator component 304. An orchestrator component 304 may be configured to configure, manage, and adapt software modules used in a robot 302 and / or other parts of a scanning system. In embodiments, an orchestrator component 304 may be configured for systematic coordination and management of various software modules to work together as a unified application / system. The orchestrator component 304 may be configured to define, configure, and integrate individual software components, each designed to perform a specific function. The orchestrator component 304 may configure modules such that they communicate, share data, and execute tasks in the correct sequence with required security, speed, quality, and the like.

[0148] In embodiments, the orchestrator component 304 may be used to generate and manage module-based software. Module-based software offers several advantages over monolithic software architecture in scalability (each module can be scaled independently based on its demand), flexibility and maintainability (allowing individual modules to be updated, replaced, or maintained without affecting the entire system), faster development time, and improving reliability through faultisolation (failures in one module do not necessarily affect others). The modular approach supports technology diversity and allows the integration of new technologies without requiring a complete system overhaul.

[0149] Module-based software provides improved modularity and configurability for different scanning applications. A scanning system may be configured for an appropriate application by loading modules for monitoring specific sensors, supporting specific hardware resources, performing scan-specific data analysis tasks, and the like.

[0150] Referencing Fig. 3, schematically depicted is an example orchestrator component 304. The orchestrator component 304, may include a plurality of components for selecting, configuring, and monitoring software modules and / or services (e.g., executable services, remote or local services). Elements of the orchestrator component 304 may be contained in one device or may be contained in separate devices that may be connected via a communication channel 310 (e.g., bus, network, cloud) that may be wired or wireless.

[0151] An example orchestrator component 304 may include a configurator 312 component. The configurator 312 component may access system requirements and module specification data and identify necessary modules for the system requirements. The configurator 312 may access a module specification library that includes interface specifications for the modules, functions, API’s, and the like. The configurator 312 may generate an inventory of modules for a specification. An example orchestrator component 304 may include an operator interface 306, which may be used to generate or modify aspects of the system requirements. The operator interface 306 may be used to select features or properties for the system.

[0152] An example orchestrator component 304 may include a module staging component 314. The module staging component 314 may be configured to assemble and package modules for deployment. The module staging component 314 may determine module dependencies to identify necessary additional modules. In some implementations, the module staging component 314 may identify additional modules that may be used for fallback procedures, alternative methods, fault tolerance, and the like. For example, in the case of modules for performing sensor calibration, two or more alternative methods may be selected which have different calibration methods. One of the modules may be defined for use as the primary method of calibration and other modules may be defined as alternative methods.

[0153] In embodiments, orchestrator component 304 may be configured to generate one or more different software configurations for calibration, scan processing, data recording, location services, and the like.

[0154] In some implementations, deployment of modules may include setting parameters of the modules, selecting an API, selecting threshold values, and the like. In some implementations, modules may include broad interfaces that facilitate high configurability, enabling other modules or users to customize their behavior.

[0155] An example orchestrator component 304 may include a configuration monitor 308. The configuration monitor 308 may track various metrics during the operation of the modules (e.g., operation on the robot 302). The configuration monitor 308 may track response time, throughput, error rates, and resource utilization (CPU, memory, disk I / O), utilization (e.g., which modules are used). The configuration monitor 308 can provide insights and generate alerts for anomalies or performance degradation of the modules for the operator interface 306. The configuration monitor 308 may provide signals or initiate changes in module operations. In one example, the configuration monitor 308 may cause change between active modules / services and substitute modules / services in the robot.

[0156] Referencing Fig. 4, schematically depicted is an example system that may include elements of the orchestrator component 304, SOP director 104, and data quality analytics 204 component that may be used in robot 402 scanning applications, and may be connected via a communication channel 404 (e.g., bus, network, cloud) that may be wired or wireless. An example system includes the SOP director 104 component that may be configured to receive an indication of a scanning application. The SOP director 104 may identify one or more operating procedures or operating procedure specifications for the scanning application. As described with respect to Fig. 1 , the SOP director 104 may generate operating protocol(s) that may be executed to enforce the procedures. An example system may further include orchestrator component 304. The orchestrator component 304 may be configured to identify a set of executable services and / or modules for the scanning application based on operating protocol(s) and / or execution instructions generated from the operating protocol(s). The orchestrator component 304 may be configured to configure and / or schedule the execution of the set of services and / or modules such that they are in compliance with the operating protocol(s). An example system may further include a data quality analytics 204 component that is configured to determine data quality metrics for the collected data by robot 402. The data quality analytics 204 component may monitor collected data from one or more of the set of executables services and / or modules and identify anomalies in the collected data; anomalies in the collected data may indicate bad quality data. The data quality analytics 204 may cause an interface (e.g., graphical user or operator interface) to identify the anomaly and provide a label for the cause of the anomaly and / or a description. In embodiments, anomalies, and data quality may be identified using a spatial model of the scan. Scan data may be mapped into data grid cells using the spatial model. Bad-quality dataareas may be identified according to the data associated with each grid (e.g., no data in a threshold number of adjacent grid cells may indicate bad-quality data).

[0157] In embodiments, the SOP director 104 of the system may cause an operator interface to generate tasks for the user based on the identified operating procedures. In some cases, the tasks may gate or control the execution of services and / or modules. In one example, completion of a task and / or feedback related to a task may be required to initiate a service and / or module.

[0158] A circuit, computing device, and / or a component, as utilized herein, includes one or more hardware aspects configured to perform the operations of the circuit and / or component, for example a logic circuit, a hardware element configured to be responsive to perform operations of the circuit, executable code stored on a computer-readable medium and configured to cause a processor to perform one or more operations of the circuit and / or component when executed, and / or combinations of these. A circuit and / or component should be understood broadly to describe a configuration of hardware and / or executable instructions, including elements that are cooperative directly and / or logically, to perform the operations of the circuit and / or component.

[0159] 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, component, and / or server, (“computing device”) as utilized herein, should be understood broadly.

[0160] 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.

[0161] 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 anemulated 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.

[0162] 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 co-processor, 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.

[0163] 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).

[0164] 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.

[0165] 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.

[0166] 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 of methods as described in this application may be considered as a part of the infrastructure associated with the client.

[0167] The client may provide an interface to other devices including, without limitation, servers, other clients, printers, database servers, print servers, file servers, communication servers, distributedservers, 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.

[0168] 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.

[0169] 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.

[0170] 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. The mobile 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 mediumassociated 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.

[0171] 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.

[0172] 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.

[0173] 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, reordered, 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 outcomeof 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.

[0174] 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.

[0175] 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.

[0176] 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, processor architectures, or combinations of different hardware and computer readable instructions, or any other machine capable of executing program instructions.

[0177] 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 performthe 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.

[0178] 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 present disclosure is not to be limited by the specific examples described and depicted, but is to be understood in the broadest sense allowable by law.

Claims

What is claimed is:

1. A system comprising: an inspection execution interface configured to interpret an inspection description and, in response to the inspection description, present to an operator step-by-step instructions for performing an inspection operation with an inspection robot, the interface further configured to receive at least one of operator input or inspection robot feedback confirming completion of each step; and a director component configured to provide the inspection description to the inspection execution interface and to enforce a protocol for the inspection operation based on the received operator input.

2. The system of claim 1 , wherein the inspection description includes at least one of: a payload selection, a payload configuration, a sensing element selection, a sensing element configuration, an inspection robot selection, an asset coverage description, a feature description for an asset including an inspection surface, a sensor calibration value, a drive module configuration, or an inspection processing description.

3. The system of claim 1, wherein the director component is further configured to perform at least a portion of the inspection operation in response to a step of the instructions and a status of the inspection robot.

4. The system of claim 3, wherein the at least a portion of the inspection operation comprises at least one of: applying a configuration, applying a sensor calibration value, or performing inspection data processing in response to an inspection processing description.

5. The system of claim 1, wherein the inspection description includes at least one of: a drive module calibration value, an inspection robot interface calibration value, a sensor calibration value, or a payload calibration value.

6. The system of claim 1, wherein the director component is further configured to enforce the protocol for the inspection operation in response to a match quality between the inspection description and the inspection operation.

7. A method comprising: interpreting an inspection description; in response to the inspection description, presenting to an operator step-by-step instructions for performing an inspection operation with an inspection robot; receiving at least one of operator input or inspection robot feedback confirming completion of each step; providing the inspection description to an inspection execution interface; andenforcing a protocol for the inspection operation based on the received operator input.

8. The method of claim 7, wherein the inspection description includes at least one of: a payload selection, a payload configuration, a sensing element selection, a sensing element configuration, an inspection robot selection, an asset coverage description, a feature description for an asset including an inspection surface, a sensor calibration value, a drive module configuration, or an inspection processing description.

9. The method of claim 7, further comprising performing at least a portion of the inspection operation in response to a step of the instructions and a status of the inspection robot.

10. The method of claim 9, wherein the at least a portion of the inspection operation comprises at least one of: applying a configuration, applying a sensor calibration value, or performing inspection data processing in response to an inspection processing description.

11. The method of claim 7, wherein the inspection description includes at least one of: a drive module calibration value, an inspection robot interface calibration value, a sensor calibration value, or a payload calibration value.

12. The method of claim 7, further comprising enforcing the protocol for the inspection operation in response to a match quality between the inspection description and the inspection operation.

13. A system comprising: an orchestrator component configured to interpret an inspection description and, in response, identify, configure, and schedule a set of executable services required for an inspection operation at an inspection location, the orchestrator component further configured to implement an inspection execution interface that allows an operator to use the set of executable services via interactions with the inspection execution interface, wherein the set of executable services are configured to support monitoring of the status and performance of the inspection operation according to the inspection description.

14. The system of claim 13, wherein the inspection description comprises an asset inspection coverage description.

15. The system of claim 13, wherein the set of executable services includes a configuration planning service.

16. The system of claim 13, wherein the set of executable services includes a payload configuration service.

17. The system of claim 13, wherein the set of executable services includes a drive module configuration service.

18. The system of claim 13, wherein the set of executable services includes an asset visualization service.

19. The system of claim 13, wherein the set of executable services includes a sensor calibration service.

20. The system of claim 13, wherein the set of executable services includes an inspection data processing service.

21. The system of claim 13, wherein the set of executable services includes an inspection routing service.

22. The system of claim 13, wherein the set of executable services includes an operator annotation service.

23. The system of claim 13, wherein the set of executable services includes a data validation service.

24. The system of claim 13, wherein the set of executable services includes an inspection coverage service.

25. The system of claim 13, wherein the set of executable services includes an inspection scheduling service.

26. A method comprising: interpreting an inspection description; in response to the inspection description, identifying, configuring, and scheduling a set of executable services required for an inspection operation at an inspection location; implementing an inspection execution interface that allows an operator to use the set of executable services via interactions with the inspection execution interface; and configuring the set of executable services to support monitoring of the status and performance of the inspection operation according to the inspection description.

27. The method of claim 26, wherein the inspection description comprises an asset inspection coverage description, the method further comprising at least one of: determining inspection routing information; providing inspection routing information to the inspection execution interface; or displaying an inspection progress indicator to the inspection execution interface.

28. The method of claim 26, wherein the set of executable services includes a configuration planning service, the method further comprising at least one of: determining at least one configuration selected from an inspection robot configuration or a sensing element configuration; confirming that at least one configuration has been applied to the inspection robot; performing at least one configuration operation; or providing a configuration visualization to the inspection execution interface.

29. The method of claim 26, wherein the set of executable services includes a payload configuration service, the method further comprising at least one of: determining a pay load configuration; confirming that the payload configuration has been applied to an inspection robot; or performing at least a portion of the pay load configuration; or providing a payload configuration visualization to the inspection execution interface.

30. The method of claim 26, wherein the set of executable services includes a drive module configuration service, the method further comprising at least one of: determining a drive module configuration; confirming that a drive module configuration has been applied to an inspection robot; performing at least a portion of a drive module configuration; or providing a drive module configuration visualization to the inspection execution interface.

31. The method of claim 26, wherein the set of executable services includes an asset visualization service, the method further comprising: providing an inspection coverage visualization to the inspection execution interface; providing an inspection data quality visualization to the inspection execution interface; or providing an inspection progress visualization to the inspection execution interface.

32. The method of claim 26, wherein the set of executable services includes a sensor calibration service, the method further comprising at least one of: determining a sensor calibration; confirming that a sensor calibration has been applied to an inspection robot; performing at least a portion of a sensor calibration; or providing a sensor calibration visualization to the inspection execution interface.

33. The method of claim 26, wherein the set of executable services includes an inspection data processing service, the method further comprising at least one of: determining a data processing schema; performing data processing on inspection data in response to a data processing schema; confirming that a data processing schema has been applied; or providing a data processing visualization to the inspection execution interface.

34. The method of claim 26, wherein the set of executable services includes an operator annotation service, the method further comprising: interpreting an operator annotation in response to operator interactions with the inspection execution interface; providing a stored operator annotation to the inspection execution interface; orstoring an operator annotation in response to operator interactions with the inspection execution interface.

35. The method of claim 26, wherein the set of executable services includes a data validation service, the method further comprising: determining a data validation value for at least a portion of inspection data; updating an inspection coverage visualization in response to data validation values for at least a portion of inspection data; or tagging at least a portion of inspection data for further analysis in response to data validation values for the at least a portion of inspection data.

36. A system comprising: a director component configured to interpret an inspection description and, in response to the inspection description, generate inspection routing information, and to provide the inspection routing information to an operator via an inspection execution interface, wherein the inspection routing information comprises a sequence of locations or paths for an inspection robot to follow during an inspection operation.

37. The system of claim 36, wherein the inspection description includes an asset coverage description.

38. The system of claim 36, wherein the inspection description includes a feature description.

39. The system of claim 36, wherein the inspection description includes an inspection type description.

40. The system of claim 36, wherein the inspection routing information further comprises a configuration value corresponding to at least a portion of an asset comprising an inspection surface.

41. A method comprising : interpreting an inspection description; in response to the inspection description, generating inspection routing information; providing the inspection routing information to an operator via an inspection execution interface; and wherein the inspection routing information comprises a sequence of locations or paths for an inspection robot to follow during an inspection operation.

42. The method of claim 41, wherein the inspection description includes an asset coverage description.

43. The method of claim 41 , wherein the inspection description includes a feature description.

44. The method of claim 41 , wherein the inspection description includes an inspection type description.

45. The method of claim 44, wherein the inspection type description comprises at least one of a sensing element type or an inspected feature type.

46. The method of claim 41, wherein the inspection routing information further comprises a configuration value corresponding to at least a portion of an asset comprising an inspection surface.

47. A system comprising: a director component configured to interpret an inspection description and, in response to the inspection description, generate inspection configuration information, and to provide the inspection configuration information to an operator via an inspection execution interface, wherein the inspection configuration information includes at least one of: a hardware configuration, a sensor parameter, or a processing operation for raw sensor data for an inspection robot.

48. The system of claim 47, wherein the inspection description includes an asset description.

49. The system of claim 48, wherein the asset description includes an inspection surface type description.

50. The system of claim 48, wherein the asset description includes an inspection surface thickness description.

51. The system of claim 48, wherein the asset description includes an inspection surface shape description.

52. The system of claim 48, wherein the asset description includes an inspection surface condition description.

53. The system of claim 47, wherein the inspection description includes a configuration value.

54. The system of claim 47, wherein the inspection description includes a feature description.

55. The system of claim 47, wherein the inspection description includes a sensing element type.

56. The system of claim 47, wherein the inspection description includes an inspected feature type-57. A method comprising: interpreting an inspection description; in response to the inspection description, generating inspection configuration information; providing the inspection configuration information to an operator via an inspection execution interface; andwherein the inspection configuration information includes at least one of: a hardware configuration, a sensor parameter, or a processing operation for raw sensor data for an inspection robot.

58. A system comprising: a director component configured to present inspection routing information to an operator via an inspection execution interface, to confirm completion of each individual routing step in response to operator input and / or direct feedback from an inspection robot, and to provide the operator with a progression interface that allows the operator to readily confirm which routing steps have been completed during the inspection operation.

59. The system of claim 58, wherein the director component is further configured to confirm completion of each individual routing step in response to direct feedback from the inspection robot, the direct feedback including location values for the inspection robot.

60. The system of claim 58, wherein the director component is further configured to confirm completion of each individual routing step in response to direct feedback from the inspection robot, the direct feedback including sensor execution values for the inspection robot.

61. The system of claim 58, wherein the director component is further configured to confirm completion of each individual routing step in response to direct feedback from the inspection robot, the direct feedback including inspection data for the inspection robot.

62. The system of claim 58, wherein the director component is further configured to confirm completion of each individual routing step in response to validation values for inspection data.

63. A method comprising: presenting inspection routing information to an operator via an inspection execution interface; confirming completion of each individual routing step in response to operator input and / or direct feedback from an inspection robot; and providing the operator with a progression interface that allows the operator to readily confirm which routing steps have been completed during the inspection operation.

64. The method of claim 63, further comprising confirming completion of each individual routing step in response to direct feedback from the inspection robot, the direct feedback including location values for the inspection robot.

65. The method of claim 63, further comprising confirming completion of each individual routing step in response to direct feedback from the inspection robot, the direct feedback including sensor execution values for the inspection robot.

66. The method of claim 63, further comprising confirming completion of each individual routing step in response to direct feedback from the inspection robot, the direct feedback including inspection data for the inspection robot.

67. The method of claim 63, further comprising confirming completion of each individual routing step in response to validation values for inspection data.

68. A system comprising: a director component configured to present inspection configuration information to an operator via an inspection execution interface, wherein the inspection configuration information includes at least one inspection configuration, each corresponding to a respective individual routing step for an inspection operation, the director component further configured to confirm completion of each individual configuration step in response to operator input and / or direct feedback from an inspection robot, and to provide the operator with a progression interface that allows the operator to readily confirm which configuration steps have been completed during the inspection operation.

69. The system of claim 68, wherein the at least one inspection configuration comprises a payload configuration value.

70. The system of claim 68, wherein the at least one inspection configuration comprises a sensing element configuration.

71. The system of claim 68, wherein the at least one inspection configuration comprises a sensor calibration value.

72. The system of claim 68, wherein the at least one inspection configuration comprises an inspection data processing schema.

73. The system of claim 68, wherein the at least one inspection configuration comprises an inspection robot configuration.

74. The system of claim 68, wherein the at least one inspection configuration comprises an inspection robot interface calibration value.

75. The system of claim 68, wherein the at least one inspection configuration comprises a drive module calibration value.

76. The system of claim 68, wherein the director component is further configured to perform at least a portion of at least one of the individual configuration steps.

77. The system of claim 75, wherein the at least a portion of the at least one of the individual configuration steps comprises at least one of: applying a configuration, applying a sensor calibration value, or performing inspection data processing in response to an inspection processing description.

78. A method comprising:presenting inspection configuration information to an operator via an inspection execution interface, wherein the inspection configuration information includes at least one inspection configuration, each corresponding to a respective individual routing step for an inspection operation; confirming completion of each individual configuration step in response to operator input and / or direct feedback from an inspection robot; and providing the operator with a progression interface that allows the operator to readily confirm which configuration steps have been completed during the inspection operation.

79. The method of claim 78, further comprising performing, with a director component, at least a portion of at least one of the individual configuration steps.

80. The method of claim 79, wherein the at least a portion of the at least one of the individual configuration steps comprises at least one of: applying a configuration, applying a sensor calibration value, or performing inspection data processing in response to an inspection processing description.

81. A system comprising: a quality analytics component configured to receive collected inspection data, map the collected data onto a spatial model of an asset, evaluate inspection coverage of the asset by identifying uninspected or insufficiently inspected regions within the spatial model, and generate an alert or report in response to determining the inspection coverage does not meet a predetermined threshold.

82. The system of claim 81 , wherein the spatial model of the asset comprises at least one of a geometric model of the asset, an asset description value, or an empirical asset model.

83. The system of claim 81, wherein the quality analytics component is further configured to interpret an inspection description, and to evaluate inspection coverage of the asset in response to the inspection description.

84. The system of claim 81 , wherein the quality analytics component is further configured to provide the alert or report to an inspection execution interface.

85. The system of claim 81, wherein the quality analytics component is further configured to provide the alert or report to an external device.

86. The system of claim 81, wherein the quality analytics component is further configured to provide an inspection status description to an inspection execution interface.

87. A method comprising: receiving collected inspection data; mapping the collected data onto a spatial model of an asset; evaluating inspection coverage of the asset by identifying uninspected or insufficiently inspected regions within the spatial model; andgenerating an alert or report in response to determining the inspection coverage does not meet a predetermined threshold.

88. The method of claim 87, wherein the spatial model of the asset comprises at least one of a geometric model of the asset, an asset description value, or an empirical asset model.

89. The method of claim 87, further comprising interpreting an inspection description and evaluating inspection coverage of the asset in response to the inspection description.

90. The method of claim 87, further comprising providing the alert or report to an inspection execution interface.

91. The method of claim 87, further comprising providing the alert or report to an external device.

92. The method of claim 87, further comprising providing an inspection status description to an inspection execution interface.

93. A system comprising: a quality analytics component configured to analyze collected inspection data for quality metrics, to generate a visualization of data quality mapped onto a representation of an inspected asset, and to present the visualization to an operator via an inspection execution interface, wherein the visualization identifies regions of low or anomalous data quality.

94. The system of claim 93, wherein the quality metrics comprise a fraction of inspection data that exceeds a validation threshold.

95. The system of claim 93, wherein the quality metrics comprise an inspection data density description.

96. The system of claim 93, wherein the quality metrics comprise a largest unobserved feature description.

97. The system of claim 93, wherein the representation of the inspected asset comprises a spatial model of the asset.

98. The system of claim 93, further comprising a director component configured to determine an inspection description in response to the quality metrics and the collected inspection data.

99. A method comprising: analyzing collected inspection data for quality metrics; generating a visualization of data quality mapped onto a representation of an inspected asset; and presenting the visualization to an operator via an inspection execution interface, wherein the visualization identifies regions of low or anomalous data quality.

100. The method of claim 99, wherein the quality metrics comprise a fraction of inspection data that exceeds a validation threshold.

101. The method of claim 99, wherein the quality metrics comprise an inspection data density description.

102. The method of claim 99, wherein the quality metrics comprise a largest unobserved feature description.

103. The method of claim 99, wherein the representation of the inspected asset comprises a spatial model of the asset.

104. The method of claim 99, further comprising determining an inspection description in response to the quality metrics and the collected inspection data.

105. A system comprising: a director component configured to generate and manage a multi-stage inspection protocol comprising at least one of: a plurality of inspection robots, a plurality of inspection robot configurations, or a plurality of route segments, the director component further configured to guide an operator through each stage of an inspection according to the multi-stage inspection protocol via an inspection execution interface by presenting stage- specific instructions, receiving operator input and / or direct inspection robot feedback, and coordinating transitions between stages.

106. The system of claim 105, wherein the multi-stage inspection protocol includes a sequencing of the stages of the inspection.

107. The system of claim 106, wherein the multi-stage inspection protocol includes a dependency description of at least a portion of the stages.

108. The system of claim 105, wherein the direct inspection robot feedback comprises location values for the inspection robot.

109. The system of claim 105, wherein the direct inspection robot feedback comprises sensor execution values for the inspection robot.

110. The system of claim 105, wherein the direct inspection robot feedback comprises inspection data for the inspection robot.

111. The system of claim 110, wherein the director component is further configured to determine a completion value of a stage of the inspection in response to quality metrics for the stage determined in response to the inspection data.

112. The system of claim 105, wherein the director component is further configured to guide the operator by providing an inspection coverage visualization to the inspection execution interface.

113. The system of claim 105, wherein the director component is further configured to guide the operator by providing an inspection data quality visualization to the inspection execution interface.

114. The system of claim 105, wherein the director component is further configured to guide the operator by providing an inspection progress visualization to the inspection execution interface.

115. A method comprising: generating and managing a multi-stage inspection protocol comprising at least one of: a plurality of inspection robots, a plurality of inspection robot configurations, or a plurality of route segments; guiding an operator through each stage of an inspection according to the multi-stage inspection protocol via an inspection execution interface by presenting stage-specific instructions; receiving operator input and / or direct inspection robot feedback; and coordinating transitions between stages.

116. The method of claim 115, further comprising determining a completion value of a stage of the inspection in response to quality metrics for the stage determined in response to collected inspection data.

117. The method of claim 115, further comprising guiding the operator by providing an inspection coverage visualization to the inspection execution interface.

118. The method of claim 115, further comprising guiding the operator by providing an inspection data quality visualization to the inspection execution interface.

119. The method of claim 115, further comprising guiding the operator by providing an inspection progress visualization to the inspection execution interface.

120. A system comprising: a director component configured to: receive an indication of a scanning application, identify an operating procedure specification for the scanning application, and execute instructions of the operating procedure specification; an orchestrator component configured to: receive execution instructions from the director component, identify a set of executable services for the scanning application, and schedule execution of the set of executable services in compliance with the operating procedure specification; and a quality analytics component configured to: monitor collected data from one or more of the set of executable services, andin response to identifying anomalies in the collected data, prompt a user to provide a label for the anomalies.

121. The system of claim 120, wherein the director component is further configured to present a task to a user.

122. The system of claim 120, wherein the orchestrator component is further configured to set at least one parameter of an interface of a service based on the identified set of executable services.

123. The system of claim 121, wherein the director component is further configured to signal the orchestrator component to adjust the execution of services until feedback for the task is received from the user.

124. The system of claim 120, wherein the quality analytics component is further configured to: identify a model of a target of the collected data; map the collected data onto the model; and evaluate a spatial relationship of anomalous data using the model.

125. The system of claim 124, wherein the quality analytics component is further configured to: map the collected data into grid cells of the model; and identify cells with anomalous data.

126. The system of claim 120, wherein the orchestrator component is further configured to route data between the set of executable services.

127. The system of claim 120, wherein the orchestrator component is configured to selectively schedule the execution of services based on user input received from the director component.

128. The system of claim 120, wherein the director component is further configured to: identify a specification of hardware components for the scanning application; and modify the operating procedure specification based on the specification of hardware components.

Images