METHODS AND SYSTEMS FOR INSPECTION SENSOR PLACEMENT

• US 20110295427A1
• Filed: 05/26/2010
• Published: 12/01/2011
• Est. Priority Date: 05/26/2010
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Troy, James J., Georgeson, Gary E., Lea, Scott W., Motzer, William P., Hellenbrand, Peter J.
• Granted Patent: US 9,149,929 B2
• Time in Patent Office: Days
• US Class Current: 700/258
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms
• CPC Class Codes: B25J 9/065 Snake robots
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05B 2219/39014 Match virtual world with real world
• CPC Class Codes: G05B 2219/39024 Calibration of manipulator
• CPC Class Codes: G05B 2219/40039 Robot mounted or sliding inside vehicle, on assembly line or for test, service
• CPC Class Codes: G05B 2219/40234 Snake arm, flexi-digit robotic manipulator, a hand at each end
• CPC Class Codes: G05B 2219/45071 Aircraft, airplane, ship cleaning manipulator, paint stripping

Abstract

Methods and systems are provided for positioning a remote sensor within a target object. An articulated robotic system is coupled to the remote sensor. A positioning system determines a position of the target object to be inspected and determines a first position of the remote sensor. A control system calibrates a virtual representation of the target object with respect to the position of the target object, and tracks movement of the remote sensor relative to the target object.

Claims

1. A method for positioning a remote sensor within a target object, said method comprising:

determining a position of the target object using a first sensor;

calibrating a virtual representation of the target object with respect to the position of the target object;

determining a first position of the remote sensor; and

tracking movement of the remote sensor relative to the target object.

2. A method in accordance with claim 1, wherein calibrating a virtual representation of the target object further comprises retrieving the virtual representation of the target object.

3. A method in accordance with claim 1 further comprising providing a virtual representation of the remote sensor based on the first position of the remote sensor.

4. A method in accordance with claim 3 further comprising determining a second position of the remote sensor relative to the first position of the remote sensor;

and

calibrating the virtual representation of the remote sensor with respect to at least the first position and the second position of the remote sensor.

5. A method in accordance with claim 4, wherein tracking movement of the remote sensor is based on at least the first position and the second position of the remote sensor.

6. A method in accordance with claim 1 further comprising:

coupling the remote sensor to an articulated robotic system;

providing a virtual representation of the articulated robotic system based on the first position of the remote sensor.

7. A control system for positioning a remote sensor within a target object, said control system configured to:

determine a position of the target object using a first sensor;

calibrate a virtual representation of the target object with respect to the position of the target object;

determine a first position of the remote sensor; and

track movement of the remote sensor relative to the target object.

8. A control system in accordance with claim 7, wherein said control system is further configured to retrieve the virtual representation of the target object.

9. A control system in accordance with claim 7, wherein said control system is further configured to provide a virtual representation of the remote sensor based on the first position of the remote sensor.

10. A control system in accordance with claim 9, wherein said control system is further configured to:

determine a second position of the remote sensor relative to the first position of the remote sensor; and

calibrate the virtual representation of the remote sensor with respect to at least the first position and the second position of the remote sensor.

11. A control system in accordance with claim 10, wherein said control system is further configured to track movement of the remote sensor based on at least the first position and the second position of the remote sensor.

12. A control system in accordance with claim 7, wherein said control system is further configured to provide a virtual representation of an articulated robotic system based on the first position of the remote sensor, wherein the remote sensor is coupled to the articulated robotic system.

13. A control system in accordance with claim 12, wherein said control system is further configured to move the articulated robotic system.

14. A system for positioning a remote sensor within a target object, said system comprising:

an articulated robotic system coupled to the remote sensor;

a positioning system that determines a position of the target object and determines a first position of the remote sensor; and

a control system that calibrates a virtual representation of the target object with respect to the position of the target object, and tracks movement of the remote sensor relative to the target object.

15. A system in accordance with claim 14, wherein said articulated robotic system is coupled to at least one inspection sensor.

16. A system in accordance with claim 14, wherein said control system retrieves the virtual representation of the target object

17. A system in accordance with claim 14, wherein said control system provides a virtual representation of the remote sensor based on the first position of the remote sensor.

18. A system in accordance with claim 17, wherein said control system determines a second position of the remote sensor relative to the first position of the remote sensor and calibrates the virtual representation of the remote sensor with respect to at least the first position and the second position of the remote sensor.

19. A system in accordance with claim 18, wherein said control system tracks movement of the remote sensor based on at least the first position and the second position of the remote sensor.

20. A system in accordance with claim 14, wherein said control system provides a virtual representation of said articulated robotic system based on the first position of the remote sensor, and moves said articulated robotic system.