Magnet sensing portable autonomous device and method of operation

• US 10,071,429 B2
• Filed: 09/20/2017
• Issued: 09/11/2018
• Est. Priority Date: 06/28/2013
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Spishak, Noel A., Richards, Charles M., Hansen, Jeffrey M., Moore, Stephen G., Day, Dan D.
• Primary Examiner(s): Howell, Daniel
• Assistant Examiner(s): Diab, Yasir
• Application Number:
  US15/710,410
• Publication Number:
  US 20180050395A1
• Time in Patent Office: 356 Days
• Field of Search: 408 76, 408 77, 408 88, 408234
• CPC Class Codes: B23B 2215/04 Aircraft components
• CPC Class Codes: B23B 2260/018 Brushes
• CPC Class Codes: B23B 2260/10 Magnets
• CPC Class Codes: B23B 2260/128 Sensors
• CPC Class Codes: B23B 35/00 Methods for boring or drilling, or for working essentially requiring the use of boring or drilling machines; Use of auxiliary equipment in connection with such methods
• CPC Class Codes: B23B 39/14 with special provision to enable the machine or the drilling or boring head to be moved into any desired position, e.g. with respect to immovable work
• CPC Class Codes: B23B 41/00 Boring or drilling machines or devices specially adapted for particular work surgical drilling machines A61B17/16; Accessories specially adapted therefor
• CPC Class Codes: B23B 49/00 Measuring or gauging equipment on boring machines for positioning or guiding the drill; Devices for indicating failure of drills during boring; Centering devices for holes to be bored marking-out equipment B25H7/00; measuring devices, gauges G01B
• CPC Class Codes: B23Q 9/0007 Portable machines comprising means for their guidance or support directly on the workpiece
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B60B 19/003 Multidirectional wheels
• CPC Class Codes: B60Y 2200/60 Industrial applications, e.g. pipe inspection vehicles
• CPC Class Codes: B60Y 2200/80 Other vehicles not covered by groups B60Y2200/10 - B60Y2200/60
• CPC Class Codes: G05B 19/182 characterised by the machine tool function, e.g. thread cutting, cam making, tool direction control G05B19/21 - G05B19/40 take precedence
• CPC Class Codes: G05B 2219/33099 Computer numerical control [CNC]; Software control [SWC]
• CPC Class Codes: G05B 2219/45129 Boring, drilling
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: Y10T 29/53983 Work-supported apparatus
• CPC Class Codes: Y10T 408/03 Processes
• CPC Class Codes: Y10T 408/554 : Magnetic or suction means
• CPC Class Codes: Y10T 408/556 : Tool supporting wheel
• CPC Class Codes: Y10T 408/5612 : Tool having shiftable tool-axis

Abstract

A magnet sensing portable autonomous device includes a platform. A plurality of wheel sets is coupled to the platform. A drive system is used for driving the plurality of wheels. An attachment mechanism is positioned on an underside of the platform for securing the device to a surface. A control board is used for controlling the operation of the device. In some embodiments, a drill spindle assembly is coupled to the platform. A drill feed assembly is coupled to the drill spindle assembly for raising and lowering the drill spindle assembly. A plurality of sensors are operable to sense one or more magnets disposed below the surface. A drive table is used for positioning the drill spindle assembly in an XY plane based on an output of said plurality of sensors.

Claims

1. A process for operating a portable autonomous device on a structure having a surface, the process comprising:

transmitting a signal to the portable autonomous device to move to an operation location on the surface;

receiving a location update from the portable autonomous device;

determining whether the updated location is the operation location;

activating an attachment mechanism of the portable autonomous device to fix a position of the portable autonomous device;

activating magnet sensors and a drive table to locate a freestanding magnet;

determining an angle between a platform of the portable autonomous device and the surface by measuring a pivot angle of a wheel set of the portable autonomous device relative to a wheel pivot assembly; and

adjusting the angle of the platform relative to the surface based on the pivot angle of the wheel set.

2. The process of claim 1, further comprising activating a set of sensors to find a precise position of the freestanding magnet located at the operation location.

3. The process of claim 1, further comprising adjusting the drive table of the portable autonomous device to center an operation assembly over the freestanding magnet based on readings from the set of sensors.

4. The process of claim 3, wherein adjusting the drive table of the portable autonomous device to center the operation assembly over the freestanding magnet comprises activating independent motor-driven wheels responsive to transmitting the signal to the portable autonomous device.

5. The process of claim 3, further comprising activating a feed assembly of the portable autonomous device to lower the operation assembly.

6. The process of claim 5, in which the operation assembly comprises a drill spindle assembly and the feed assembly comprises a drill feed assembly.

7. The process of claim 6, further comprising:

drilling, via the drill feed assembly, a hole at a precise position of the freestanding magnet; and

retracting the drill feed assembly.

8. The process of claim 7, further comprising inserting a fastener into the hole.

9. The process of claim 1, wherein activating magnet sensors comprises activating a magneto-resistive sensor that senses the freestanding magnet located below the surface.

10. The process of claim 1, wherein transmitting the signal to the portable autonomous device comprises transmitting the signal from a cell controller to a control board on the portable autonomous device.

11. The process of claim 1, wherein activating the attachment mechanism comprises applying a vacuum to each of a plurality of suction cups in contact with the surface.

12. A portable autonomous device for performing an operation on a surface of a structure, the portable autonomous device comprising:

a receiver that is part of a control board coupled to an antenna, the receiver configured to receive from a controller a signal containing coordinates of an operation location;

a drive system that moves the portable autonomous device to the operation location, the drive system including at least one wheel set pivotable about a wheel pivot assembly;

an attachment mechanism that fixes the portable autonomous device to the surface at the operation location;

magnet sensors that locate a freestanding magnet below the surface; and

a normality system configured to;

determine an angle of the platform relative to the surface by measuring a pivot angle of the wheel set about the wheel pivot assembly; and

adjust the angle of the platform relative to the surface based on the pivot angle of the wheel set to achieve a desired angle between the platform and the surface.

13. The portable autonomous device of claim 12, wherein the drive system comprises independently activated wheels coupled to a platform that holds the attachment mechanism.

14. The portable autonomous device of claim 12, wherein the normality system includes a normality motor to and a swing arm, and wherein the normality system adjusts the angle of the platform relative to the surface by operating the normality motor to adjust the swing arm.

15. The portable autonomous device of claim 12, wherein the attachment mechanism comprises vacuum-activated suction cups.

16. The portable autonomous device of claim 12, wherein the magnet sensors comprise a plurality of magneto-resistive sensors that sense the freestanding magnet below the surface.

17. The portable autonomous device of claim 16, wherein the plurality of magneto-resistive sensors are used to determine a center of the freestanding magnet, a depth of the freestanding magnet, and a polar alignment of the freestanding magnet.

18. The portable autonomous device of claim 17, further comprising a feed assembly coupled to a drive table that moves the feed assembly over the freestanding magnet located via the magnet sensors.

19. The portable autonomous device of claim 18, wherein the drive table moves over the freestanding magnet responsive to respective signals generated by each of the plurality of magneto-resistive sensors.

20. The portable autonomous device of claim 18, wherein the feed assembly includes a drill spindle that drills a hole in the surface at the freestanding magnet.

21. A method of performing an operation on a surface of a structure using a portable autonomous device having a platform and a drive mechanism coupled to the platform, the method comprising:

moving, via the drive mechanism, the portable autonomous device to an operation location received via a wireless signal from a cell controller;

fixing a position of the portable autonomous device at the operation location with an attachment mechanism;

moving a drive table over a freestanding magnet located under the surface at the operation location;

determining an angle of the platform relative to the surface using a normality system, wherein the drive mechanism comprises at least one wheel set pivotable about a wheel pivot assembly, and wherein determining the angle of the platform relative to the surface comprises measuring a pivot angle of the wheel set about the wheel pivot assembly; and

adjusting the angle of the platform using the normality system to achieve a desired angle between the platform and the surface.

22. The method of claim 21, wherein adjusting the angle of the platform using the normality system comprises:

sensing, via the normality system, the angle of the platform relative to the surface;

setting, via the normality system, a swing arm via a normality motor to raise the platform to the desired angle relative to the surface.

23. The method of claim 21, further comprising:

placing the freestanding magnet below the surface at the drill location.

24. The method of claim 21, wherein adjusting the angle of the platform is based, at least in part, on the pivot angle of the wheel set.

25. The method of claim 21, further comprising drilling a hole at the freestanding magnet using a drill feed assembly coupled to the drive table.