Remotely operated mobile stand-off measurement and inspection system

• US 10,162,352 B2
• Filed: 10/30/2017
• Issued: 12/25/2018
• Est. Priority Date: 05/13/2013
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Troy, James J., Lea, Scott W., Georgeson, Gary E., Motzer, William P.
• Primary Examiner(s): Bailey, Frederick D
• Application Number:
  US15/796,880
• Publication Number:
  US 20180067484A1
• Time in Patent Office: 421 Days
• Field of Search: None
• CPC Class Codes: G01N 29/043 in the interior, e.g. by shear waves
• CPC Class Codes: G01N 29/0654 Imaging
• CPC Class Codes: G01N 29/4472 Mathematical theories or simulation
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control

Abstract

Self-contained, remotely operated, mobile measurement and inspection systems for stand-off inspection of large target objects located at sites distant from an operations center. The systems comprise a mobile platform with on-board instrumentation capable of making dimensional measurements in the local coordinate system of the target object. The systems comprise multiple hardware and software components networked to a control interface that enables the operator at the operations center to teleoperate the equipment. Various embodiments include rough-terrain and floatable mobile measurement and inspection systems.

Claims

1. A mobile system comprising:

a shipping container;

a multiplicity of compliant non-pneumatic tires mechanically coupled to the shipping container for movement between respective retracted positions in a shipping configuration and respective extended positions in a deployed configuration;

a local positioning system unit mechanically coupled to the shipping container for movement between a retracted position inside the shipping container in the shipping configuration and an extended position outside the shipping container in the deployed configuration, the local positioning system unit comprising a laser range meter and a video camera;

a computer system disposed inside the shipping container;

a transceiver communicatively coupled to the computer system and capable of receiving commands from an in-range wireless network access point and transmitting the commands to the computer system;

a drivetrain disposed inside the shipping container for driving at least one of the compliant non-pneumatic tires to rotate;

a wheel deployment actuator disposed inside the shipping container for actuating movement of a first compliant non-pneumatic tire of the multiplicity of compliant non-pneumatic tires between its retracted and extended positions; and

a local positioning system unit deployment actuator disposed inside the shipping container for actuating movement of the local positioning system unit between its retracted and extended positions,

wherein the computer system is configured to perform the following operations;

controlling the wheel and local positioning system unit deployment actuators in response to deployment commands received via the transceiver;

controlling the drivetrain to move the shipping container to a location near a target object in accordance with a platform location command received via the transceiver when the compliant non-pneumatic tires are in their extended positions; and

controlling the laser range meter to project wave energy toward a point on a surface of the target object.

2. The mobile system as recited in claim 1, wherein the computer system is further configured to control the local positioning system unit to calibrate its position and orientation relative to a coordinate system of the target object in response to a calibration command received via transceiver.

3. The mobile system as recited in claim 1, further comprising a lift mechanism pivotably coupled to the shipping container, coupled to the local positioning system unit deployment actuator, and having a stop position, wherein the local positioning system unit is mounted to the lift mechanism.

4. The mobile system as recited in claim 1, wherein the video camera has a focal axis, the laser range meter has an axis parallel to the focal axis of the video camera, and the video camera is mounted to a pan-tilt mechanism.

5. The mobile system as recited in claim 1, wherein each of the multiplicity of compliant non-pneumatic tires comprises a respective outer band made of elastomeric material.

6. The mobile system as recited in claim 1, further comprising an inertial measurement unit mounted inside the shipping container, wherein the computer system is configured to estimate a location of the mobile system based at least in part on signals received from the inertial measurement unit.

7. A method for teleoperation of a mobile system from a remote computer, comprising:

(a) configuring the mobile system comprising a shipping container so that a multiplicity of compliant non-pneumatic tires are in retracted positions and a local positioning system comprising a video camera and a laser range meter is in a retracted position in a shipping configuration;

(b) placing the mobile system in the shipping configuration on an uneven surface at a site;

(c) establishing a communication channel between a computer system inside the shipping container and the remote computer via a wireless connection while the mobile system is at the site; and

(d) via the wireless connection, remotely activating a transformation of the mobile system from the shipping configuration to a deployed configuration in which the compliant non-pneumatic tires and the local positioning system are in respective extended positions.

8. The method as recited in claim 7, further comprising checking the system for correct right-side-up orientation for safe deployment and correct position to make sure that the mobile system is at a correct site.

9. The method as recited in claim 7, further comprising:

remotely controlling rotation of at least one compliant non-pneumatic tire via the wireless connection to cause the mobile system in the deployed configuration to travel over the uneven surface to a location in proximity to a target object;

acquiring linear acceleration and rotational rate data using an inertial measurement system that is fixed relative to the shipping container as the mobile system travels over the uneven surface; and

using the linear acceleration and rotational rate data from the inertial measurement system and a dead reckoning algorithm to compute the position and orientation of the shipping container.

10. The method as recited in claim 9, further comprising:

activating remotely the laser range meter to measure a distance to a point on a surface of the target object; and

remotely activating the camera to capture an image of an area on the surface of the target object.

11. The method as recited in claim 7, further comprising transporting the mobile system in its shipping configuration from a remote site to the site after step (a) and before step (b).

12. A mobile system comprising:

a shipping container;

a multiplicity of ducted propeller units mechanically coupled to the shipping container for movement between respective retracted positions in a shipping configuration and respective extended positions in a deployed configuration;

a local positioning system unit mechanically coupled to the shipping container for movement between a retracted position inside the shipping container in the shipping configuration and an extended position outside the shipping container in the deployed configuration, the local positioning system unit comprising a laser range meter and a video camera;

a computer system disposed inside the shipping container;

a transceiver communicatively coupled to the computer system and capable of receiving commands from an in-range wireless network access point and transmitting the commands to the computer system;

a propeller deployment actuator disposed inside the shipping container for actuating movement of a first ducted propeller unit of the multiplicity of ducted propeller units between its retracted and extended positions; and

a local positioning system unit deployment actuator disposed inside the shipping container for actuating movement of the local positioning system unit between its retracted and extended positions,

wherein the computer system is configured to perform the following operations;

controlling the propeller and local positioning system unit deployment actuators in response to deployment commands received via the transceiver;

controlling the ducted propeller units to move the shipping container to a location near a target object in accordance with a platform location command received via the transceiver when the ducted propeller units are in their extended positions; and

controlling the laser range meter to project wave energy toward a point on a surface of the target object.

13. The mobile system as recited in claim 12, wherein the computer system is further configured to control the local positioning system unit to calibrate its position and orientation relative to a coordinate system of the target object in response to a calibration command received via the transceiver.

14. The mobile system as recited in claim 12, further comprising a lift mechanism pivotably coupled to the shipping container, coupled to the local positioning system unit deployment actuator, and having a stop position, wherein the local positioning system unit is mounted to the lift mechanism.

15. The mobile system as recited in claim 12, wherein the video camera has a focal axis, the laser range meter has an axis parallel to the focal axis of the video camera, and the video camera is mounted to a pan-tilt mechanism.

16. The mobile system as recited in claim 12, wherein each of the multiplicity of ducted propeller units comprises a propeller, a nozzle that surrounds the propeller, a propeller thrust motor supported by the nozzle and coupled to the propeller for driving it to rotate to generate thrust, and a propeller yaw control motor that drives rotation of the ducted propeller unit about a yaw axis, and wherein the computer system is further configured to control to propeller thrust motors and the propeller yaw control motors to provide independent thrust and yaw control for each ducted propeller unit.

17. The mobile system as recited in claim 12, further comprising an inertial measurement unit mounted inside the shipping container, wherein the computer system is configured to estimate a location of the mobile system based at least in part on signals received from the inertial measurement unit.

18. A method for teleoperation of a mobile system from a remote computer, comprising:

(a) configuring the mobile system comprising a shipping container so that a multiplicity of ducted propeller units are in retracted positions and a local positioning system comprising a video camera and a laser range meter is in a retracted position in a shipping configuration;

(b) establishing a communication channel between a computer system inside the shipping container and the remote computer via a wireless connection;

(c) floating the mobile system in the shipping configuration on a surface of a body of liquid; and

(d) via the wireless connection, remotely activating a transformation of the mobile system from the shipping configuration to a deployed configuration in which the ducted propeller units and the local positioning system are in respective extended positions.

19. The method as recited in claim 18, further comprising checking the system for correct right-side-up orientation for safe deployment and correct position to make sure that the mobile system is at a correct site.

20. The method as recited in claim 18, further comprising:

remotely controlling rotation of each ducted propeller unit via the wireless connection to cause the mobile system in the deployed configuration to float to a location in proximity to a target object;

acquiring linear acceleration and rotational rate data using an inertial measurement system that is fixed relative to the shipping container as the mobile system floats to the location; and

using the linear acceleration and rotational rate data from the inertial measurement system and a dead reckoning algorithm to compute the position and orientation of the shipping container.

21. The method as recited in claim 20, further comprising:

remotely activating the laser range meter to measure a distance to a point on a surface of the target object; and

remotely activating the video camera to capture an image of an area on the surface of the target object.

22. The method as recited in claim 18, further comprising transporting the mobile system in its shipping configuration from a remote site to a site near the body of liquid after step (a) and before step (b).