NOVEL SYSTEMS AND METHODS THAT FACILITATE UNDERSIDE INSPECTION OF CRAFTS

• US 20150032387A1
• Filed: 01/06/2013
• Published: 01/29/2015
• Est. Priority Date: 01/06/2012
• Status: Abandoned Application

• Current Assignee: Aerobotics Incorporated
• Original Assignee: Aerobotics Incorporated
• Inventors: Manak, William T., Froom, Douglas A.
• Application Number:
  US14/370,780
• Publication Number:
  US 20150032387A1
• Time in Patent Office: Days
• US Class Current: 702/33
• CPC Class Codes: G01D 11/02 Bearings or suspensions for moving parts
• CPC Class Codes: G01D 11/30 Supports specially adapted for an instrument; Supports specially adapted for a set of instruments
• CPC Class Codes: G01M 17/00 Testing of vehicles testing fluid tightness G01M3/00; testing elastic properties of bodies or chassis, e.g. torsion-testing, G01M5/00; testing alignment of vehicle headlight devices G01M11/06; testing of engines G01M15/00
• CPC Class Codes: G01N 2291/2694 Wings or other aircraft parts
• CPC Class Codes: G01N 29/225 Supports, positioning or alignment in moving situation
• CPC Class Codes: G01N 29/265 by moving the sensor relative to a stationary material
• CPC Class Codes: G01N 35/00584 Control arrangements for automatic analysers
• CPC Class Codes: G01N 35/0099 comprising robots or similar manipulators robots per se B25J
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93

Abstract

A craft inspection process is described. The craft inspection process includes: (i) locating, using an overhead robot, a candidate craft in space within one or more robotic envelopes and identifying craft offset; (ii) locating, using the overhead robot and the craft offset, a component and/or sub-component of the candidate craft within one of one or more of the robotic envelopes and identifying a component offset and/or the sub-component offset; and (iii) inspecting the component and/or the sub-component using an underside robot and the component offset and/or the sub-component offset.

Claims

1. A craft inspection process comprising:

locating, using an overhead robot, a candidate craft in space within one or more robotic envelopes and identifying craft offset;

locating, using said overhead robot and said craft offset, a component and/or sub-component of said candidate craft within one of said one or more robotic envelopes and identifying a component offset and/or sub-component offset;

conveying from said overhead robot to one or more computer systems at least one information chosen from a group including a point of origin of said component and/or said sub-component, one or more boundary coordinates of said component and/or said sub-component, an overhead scan path, signal to commence underside inspection, component offset and sub-component offset; and

processing, using said one or more computer systems, said at least one information received from said overhead robot to develop underside information used during underside inspection.

2. The craft inspection process of claim 1, further comprising conveying said underside information from said one or more computer systems to an underside robot.

3. A process for developing a reference database, said process comprising:

teaching, using an overhead robot, location of a reference craft in space within one or more robotic envelopes;

teaching, using said overhead robot, location of a component and/or a sub-component of said craft within one of said one or more robotic envelopes;

identifying an overhead point of origin for said component and/or said sub-component; and

using said overhead point of origin for said component and/or said sub-component and arriving at an underside point of origin for an underside robot.

4. The process for developing a reference database of claim 3, wherein said reference craft is a craft chosen from a group comprising an aircraft, an airplane, a boat, a submarine, a bicycle, a car, a truck, a bus, a motorcycle, a train, a ship, a watercraft, a sailcraft, a hovercraft and a spacecraft.

5. The process for developing a reference database claim 3, wherein said teaching location of said referenced craft in space includes:

aligning a nose gear or a main landing gear tire to a center line and a line on a floor of one of said one or more robotic envelopes, respectively;

immobilizing said reference craft;

taking load off tires or actuators or loading tires and actuators of said reference craft; and

teaching said overhead robot, using machine vision, at least one reference coordinate defining a boundary of said reference craft.

6. The process for developing a reference database of claim 5, wherein said at least two edges defining said boundary of said reference craft include any two features chosen from a group comprising an edge of a wing, an edge of a vertical stabilizer, an edge of a horizontal stabilizer, a location on the nose, and a location and/or edge of a fuselage.

7. The process for developing a reference database of claim 3, wherein said teaching location of said component and/or said sub-component includes teaching said overhead robot, using machine vision, one or more reference coordinates defining a boundary of said component and/or said sub-component in reference to said facility unit.

8. The process for developing a reference database of claim 3, wherein said using includes conveying said point of origin of said component and/or sub-component from said overhead robot to said underside robot through one or more computer systems.

9. The process for developing a reference database of claim 8, where in said conveying includes:

conveying said point of origin from said overhead robot to an overhead robot system computer;

conveying said point of origin from said overhead robot system computer to one or more computer systems;

conveying said point of origin from said one or more computer systems to an underside robot system computer; and

conveying said point of origin from said underside robot system computer to said underside robot.

10. A process for developing a reference database, said process comprising:

teaching, using an overhead robot, location of a reference craft in space within one or more robotic envelopes within a facility unit;

teaching, using said overhead robot, location of a component and/or a sub-component of said craft within one of said one or more robotic envelopes;

identifying an overhead point of origin for said component and/or said sub-component and one or more boundary coordinates for said component and/or said sub-component;

using said overhead point of origin and one or more of said boundary coordinates of said component and/or said sub-components, generating an overhead scan path for said component and/or said sub-component;

arriving at an underside point of origin for an underside robot using said overhead point of origin; and

developing an underside scan path for said underside robot from said underside point of origin and said overhead scan path of said component and/or said sub-component or from said underside point of origin and said boundary coordinates of said component and/or said sub-component.

11. A craft inspection process comprising:

locating, using an overhead robot, a candidate craft in space within one or more robotic envelopes and identifying a craft offset;

locating, using said overhead robot and said craft offset, a component and/or sub-component of said candidate craft within one or more robotic envelopes and identifying a component offset and/or a sub-component offset;

obtaining, using said overhead robot, one or more boundary coordinates of said component and/or said sub-component, and said boundary coordinates providing overhead location information for said component and/or said sub-component;

arriving at one or more facility unit coordinates using said boundary coordinates and said component offset and/or said sub-component offset, and said facility unit coordinates being used by an underside robot during an underside inspection of said component and/or said sub-component, and said facility unit coordinates account for a distance between said robotic envelope and a home position of the underside robot; and

implementing said facility unit coordinates for underside inspection of said component and/or said sub-component using said underside robot.

12. The craft inspection process of claim 11, wherein said boundary coordinates are stored in any at least one of one or more computer systems, an overhead robot system computer and an underside robot system computer.

13. The craft inspection process of claim 11, further comprising arriving at a facility unit offset, which is a difference between a reference plane and a candidate plane, and said reference plane being defined by a point of origin of a production facility unit and a home position of an overhead robot inside said production facility unit, and said candidate plane being defined by a point of origin of a reference facility unit and a home position of said overhead robot inside said reference facility unit, and wherein said candidate craft undergoes inspection inside said production facility unit and said a reference craft is taught inspection parameters inside said reference facility unit.

14. The craft inspection process of claim 13, wherein said locating said candidate craft in space includes using said facility unit offset.

15. A process for developing a reference database, said process comprising:

teaching, using an overhead robot, location of a reference craft in space within one or more robotic envelopes;

teaching, using said overhead robot, location of a component and/or sub-component of said reference craft within said one of said one or more robotic envelopes; and

developing a scan path to be implemented by an underside robot during inspection of said component and/or said sub-component.

16. The process of developing a reference database of claim 15, wherein said developing a scan path includes teaching said underside robot a travel path between a reference point of location to a component point of location and/or a sub-component point of location, and wherein said reference point of location being located on said reference craft and said component point of location and/or said sub-component point of location being located on said component and/or said sub-component of said reference craft.

17. The process of developing a reference database of claim 15, further comprising developing a scan path for an overhead robot that operates in a corresponding manner to said underside robot during inspection of said component and/or said sub-component.

18. A craft inspection process comprising:

locating, using an overhead robot, a candidate craft in space within one or more robotic envelopes and identifying craft offset;

locating, using said overhead robot and said craft offset, a component and/or sub-component of said candidate craft within one of said one or more robotic envelopes and identifying a component offset and/or sub-component offset; and

inspecting said component and/or said sub-component using an underside robot and said component offset and/or said sub-component offset.

19. The craft inspection process of claim 18, further comprising:

conveying from said overhead robot to one or more computer systems at least one information chosen from a group including a point of origin of said component and/or said sub-component, one or more boundary coordinates of said component and/or said sub-component, an overhead scan path, signal to commence underside inspection, component offset and sub-component offset; and

processing, using said one or more computer systems, said at least one information received from said overhead robot to develop underside information used during underside inspection.

20. The craft inspection process of claim 18, wherein said inspecting includes:

instructing said underside robot to travel a travel path between a reference point of location to a component point of location and/or a sub-component point of location, and wherein said reference point of location being located on said reference craft and said component point of location and/or said sub-component point of location being located on said component and/or said sub-component; and

instructing said underside robot to implement a predetermined scan path.

21. The craft inspection of claim 20, wherein said predetermined scan path is based on a scan path associated with said overhead robot and/or boundary coordinates obtained from said overhead robots.

22. A craft inspection facility unit comprising:

a robot associated with a non-destructive inspection (“

NDI”

) system and capable of inspecting an underside of a craft;

one or more rails extending along a dimension and disposed on a floor surface of the inspection facility unit;

a rail drive subsystem proximate said one or more rails and capable of mobilizing said robot on said one or more rails; and

wherein during an operational state of said robot, said rail drive subsystem mobilizes said robot to a predetermined location on the rail.

23. The craft inspection facility unit of claim 22, wherein said NDI system is at least one inspection system chosen from a group comprising x-ray, ultrasonics, thermography, holography, shearography and neutron radiography.

24. The craft inspection facility unit of claim 22, wherein said rail drive subsystem includes one member chosen from a group comprising a motor, a rack and pinion drive mechanism, an encoder and a resolver.

25. The craft inspection facility unit of claim 22, wherein said rail drive subsystem mobilizes said robot according to a predetermined scan path associated with said NDI system and with a component or a sub-component of said craft.

26. A craft inspection facility unit comprising:

a robot associated with a non-destructive inspection (“

NDI”

) system and capable of inspecting an underside of a craft;

one or more rails extending along a dimension of the inspection facility unit; and

wherein each of said one or more rails capable of supporting thereon said robot, and during an operational state of said robot, said robot functions as an image receiver for an overhead robot functioning as an energy source that is disposed above said craft or said robot functions as said energy source for said overhead robot functioning as said image receiver that is disposed above said craft.

27. The inspection facility unit of claim 26, wherein said NDI system is a real-time x-ray system.

28. The inspection facility unit of claim 26, wherein during an operational state of said robot, said robot receives signals generated from said imaging source.

29. The inspection facility unit of claim 26, wherein said one or more rails are disposed on a floor surface of said inspection facility unit.

30. The inspection facility unit of claim 26, wherein said robot has an underside scan path implemented during inspection of a component and/or a sub-component of said craft and said overhead robot has an overhead scan path implemented during inspection of said component and/or said sub-component, and wherein said underside scan path corresponds to said overhead scan path such that an image of at least a portion of said component and/or said sub-component is obtained during inspection.

31. An underside craft inspection system comprising:

one or more rails capable of supporting a robot associated with a non-destructive inspection (“

NDI”

) system;

one or more beds proximate said one or more rails and capable of supporting said robot;

one or more bed drive subsystems proximate said one or more beds and capable of mobilizing said robot on said one or more beds to a predetermined location on said one or more beds; and

wherein during an operational state of said robot, said one or more bed drive subsystems mobilizes said robot to a predetermined location on said one or more beds and allowing selection of one or more rails for inspection of a component and/or sub-component of said craft.

32. The underside craft inspection system of claim 31, wherein one or more of said bed drive subsystems is one member chosen from a group comprising a motor-driven ball screw, a rack and pinion drive system and a motor-driven cable system.

33. The underside craft inspection system of claim 31, wherein said one or more bed drive subsystems includes at least one component chosen from a group comprising a motor, an encoder, and a resolver.

34. The underside craft inspection system of claim 31, wherein one or more of said bed drive subsystems extend along a dimension of robotic envelope, inside which said craft undergoes inspection.

35. The underside craft inspection system of claim 31, wherein one or more of said bed drive subsystems is capable of having mobilized thereon multiple index positioners one at a time or simultaneously.

36. The underside craft inspection system of claim 35, further comprising a controller for mobilizing at least one of said index positioners on said one or more beds.

37. The underside craft inspection system of claim 31, further comprising an index positioner capable of supporting thereon one or more underside robots, at least some of which are associated with an NDI system, and one or more of said bed rails mobilize said index positioner along said one or more beds and facilitate selection of one or more of said rails.

38. The underside craft inspection system of claim 37, wherein one or more of said beds comprise a bearing surface upon which said index positioner is positioned during mobilization of said index positioner.

39. The underside craft inspection system of claim 38, wherein said bearing surface facilitates continuous mobilization of said index positioner inside one of said one or more beds.

40. The underside craft inspection system of claim 38, wherein said bearing surface includes linear roller bearings.

41. The underside craft inspection system of claim 38, wherein said bearing surface is secured to a bottom or a side of each of said one or more beds.

42. The underside craft inspection system of claim 38, wherein said bearing surface prevents side-to-side movements of said index positioner, said side-to-side movements being movements in a direction that is perpendicular to a mobilization direction of said index positioner.

43. The underside craft inspection system of claim 35, wherein each of said one or more beds have space defined therein to house multiple said bed drive subsystems to mobilize said multiple index positioners.

44. The underside craft inspection system of claim 37, further comprising:

one or more index positioner rails disposed on said index positioner and capable of supporting thereon said robot and when one or more rails are selected for inspection of said component and/or said sub-component, one or more of said index positioner rails align to one or more of selected rails; and

one or more index positioner drive subassembly proximate one or more of said index positioner rails and designed to mobilize a cart on said index positioner rails.

45. The underside craft inspection system of claim 44, wherein said index positioner drive subassembly includes a rack and pinion mechanism proximate at least one of said one or more rails and said cart, and said rack and pinion facilitates mobilization of said cart from said index positioner rails to said rails.

46. The underside craft inspection system of claim 31, wherein said one or more beds is any one of raised, recessed and even relative to a floor surface of an inspection facility unit.

47. The underside craft inspection system of claim 31, wherein said system includes two or more beds separated by a distance, and said system further comprising a plurality of bed connectors extending between said two or more beds to allow movement of a cart from a location on one bed to another location on another bed.

48. The underside craft inspection system of claim 37, further comprising a cart disposed on said index positioner, said cart designed to be mobile on said rails, and said cart capable of supporting thereon one or more of said robots.

49. The underside craft inspection system of claim 48, further comprising a rail drive sub-system proximate one or more of the rails, said rail drive subsystem facilitates mobilizing said cart on said rails and includes one member chosen from a group comprising a rack and pinion drive system, a motor-driven cable and chain system.

50. The underside craft inspection system of claim 49, further comprising one or more cart rails disposed on said cart and capable of supporting thereon said robot.

51. The underside craft inspection system of claim 50, further comprising a lower carriage secured on a cart and capable of movement in a direction that is perpendicular or parallel to a movement direction of said one or more rails.

52. The underside craft inspection system of claim 50, further comprising one or more cart drive subsystems proximate said one or more cart rails and designed to mobilize said lower carriage on said cart rails.

53. The underside craft inspection system of claim 52, wherein said at least one of said one or more cart drive subsystems include at least one member selected from a group consisting of a rack and pinion drive system, a motor-driven cable and chain system.

54. The system of claim 53, wherein said robot system includes a pedestal robot or a platform robot mounted on said lower carriage for inspecting locations on said craft that cannot be reached from said lower carriage in the absence of said pedestal robot or said platform robot.

55. A craft inspection facility unit comprising:

one or more beds;

an index positioner capable of supporting thereon one or more underside robots, each of which is associated with said NDI system and is capable of inspecting an underside of a craft; and

wherein said one or more beds facilitate mobilization of said index positioner to facilitate underside inspection of said craft using said one or more underside robots.

56. The craft inspection facility unit of claim 55, further comprising one or more rails disposed perpendicular to said one or more beds such that one or more beds are designed to align said index positioner to one or more predetermined rails.

57. The craft inspection facility unit of claim 55, further comprising one or more overhead robots associated with a non-destructive inspection (“

NDI”

) system and capable of inspecting at least an overhead portion of a craft, and wherein underside inspection of said craft using one or more underside robots is carried out in a corresponding manner to overhead inspection of said craft using said one or more overhead robots.

58. The craft inspection facility unit of claim 55, further comprising a cart secured on said index positioner, said cart capable of holding one or more robots, each of which is associated with a single NDI system.

59. The craft inspection facility unit of claim 58, wherein said cart is capable of being displaced by a drive sub-system that includes at least one member chosen from a group comprising of a rack and pinion drive system, a motor-driven cable system and a chain system.

60. The craft inspection facility unit of claim 59, further comprising a lower carriage secured on a cart and capable of movement in a direction that is perpendicular or parallel to said one or more beds.

61. The non-destructive inspection facility unit of claim 60, further comprising a pedestal robot or a platform robot mounted on said lower carriage for inspecting locations on said craft that cannot be reached by said lower carriage in the absence of said pedestal robot or said platform robot.

62. An inspection control system comprising:

one or more overhead robots designed to inspect an upper portion of a craft;

one or more overhead control subsystems, at least some of which are designed to control one of said one or more overhead robots;

one or more underside robots designed to inspect an underside portion of said craft;

one or more underside control subsystems, at least some of which are designed to control one of said one or more underside robots;

one or more computers capable of being communicatively coupled to said one or more overhead control subsystems and said one or more underside control subsystems; and

wherein during operation of said inspection control system, information from one control subsystem is conveyed to another control subsystem using said one or more computer systems.

63. The inspection control system of claim 62, further comprising:

an overhead robot workstation;

an underside robot workstation; and

wherein said overhead robot workstation and said underside robot workstation are designed to interact with said one or more computer systems, such that during operation of said inspection control system, information from one control subsystem is conveyed to another control subsystem through said overhead robot workstation and said underside robot workstation.

64. The inspection control system of claim 62, wherein said one or more overhead control subsystems further include:

a controller for transferring location information of said one of said one or more overhead robots during inspection; and

an integrating controller for integrating location information of two of said one or more overhead robots or for integrating scan paths, manual control points of said one of said one or more overhead robots and new points taught to said one of said one or more overhead robots during development of a reference database.

65. The inspection control system of claim 62, further comprises:

a collision detection avoidance subsystem for said one of said one or more overhead robots for avoiding collision between said one of said one or more overhead robots and said another of said one or more overhead robots or with a component and/or a sub-component of said craft; and

a collision detection avoidance subsystem for said one of said one or more underside robots for avoiding collision between said one of said one or more underside robots and said another of said one or more underside robots or with a component and/or a sub-component of a craft undergoing inspection.

66. The inspection control system of claim 62, wherein said one or more overhead control subsystems provides to said one or more computer systems any one information chosen from a group comprising a point of origin of said component and/or said sub-component, one or more boundary coordinates of said component and/or said sub-component, an overhead scan path, signal to commence underside inspection, component offset and sub-component offset.

67. A craft inspection system comprising:

one or more overhead robots designed to inspect an upper portion of a craft;

one or more underside robots designed to inspect an underside portion of said craft;

one or more computer systems capable of being communicatively coupled to said one or more overhead robots and to said one or more underside robots; and

wherein during operation of said inspection control system, said one or computer systems facilitate overhead robot and underside robot to inspect said craft in a corresponding manner.

68. The craft inspection system of claim 67, wherein said one or more computer systems use Boolean logic rules to facilitate overhead robot and underside robot to inspect said craft in a corresponding manner.