METHODS AND SYSTEMS FOR AUTOMATICALLY INSPECTING AN OBJECT

• US 20160075020A1
• Filed: 09/15/2014
• Published: 03/17/2016
• Est. Priority Date: 09/15/2014
• Status: Active Application

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Szarski, Martin A., Bain, David Michael, Crothers, Phillip J.
• Granted Patent: US 10,286,553 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: G05B 2219/45066 Inspection robot
• CPC Class Codes: Y10S 901/44 inspection

Abstract

A system includes a robotic device for moving an inspection tool, a scanner coupleable to the robotic device such that the robotic device is configured to automatically move the scanner to collect data associated with a surface of the object, and a computer system configured to determine a surface profile associated with the surface of the object based on the data, and generate a tool path for inspecting the object using the inspection tool based on the surface profile.

Claims

1. A method for automatically inspecting an object, the method implemented using a computer system, the method comprising:

automatically moving, using a robotic device for moving an inspection tool, a scanner to collect data associated with a surface of the object;

determining a surface profile associated with the surface of the object based on the data; and

generating a tool path for inspecting the object using the inspection tool based on the surface profile.

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

coupling the scanner to the robotic device; and

decoupling the scanner from the robotic device.

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

coupling the inspection tool to the robotic device; and

automatically moving the inspection tool along the tool path to perform a non-destructive inspection of the object.

4. A method in accordance with claim 1, wherein automatically moving a scanner further comprises automatically moving the scanner in a plurality of passes to collect data associated the surface, wherein each pass of the plurality of passes is associated with a respective portion of the surface.

5. A method in accordance with claim 1, wherein automatically moving a scanner further comprises automatically moving the scanner within a predetermined coordinate system associated with the robotic device, and wherein generating a tool path further comprises generating the tool path within the predetermined coordinate system associated with the robotic device.

6. A method in accordance with claim 1, wherein determining a surface profile further comprises generating a three-dimensional map of the surface within a predetermined coordinate system associated with the robotic device.

7. A method in accordance with claim 1, wherein generating a tool path further comprises determining a plurality of points adjacent to the object, wherein the plurality of points define the tool path.

8. A system for automatically inspecting an object, the system comprising:

a robotic device for moving an inspection tool;

a scanner coupleable to the robotic device, such that the robotic device is configured to automatically move the scanner to collect data associated with a surface of the object; and

a computer device configured to determine a surface profile associated with the surface of the object based on the data, and generate a tool path for inspecting the object using the inspection tool based on the surface profile.

9. A system in accordance with claim 8 further comprising the inspection tool coupleable to the robotic device, such that the robotic device is configured to automatically move the inspection tool along the tool path to perform a non-destructive inspection of the object.

10. A system in accordance with claim 8, wherein the scanner is coupled to the robotic device, such that the robotic device is configured to automatically move the scanner in a plurality of passes to collect data associated the surface, wherein each pass of the plurality of passes is associated with a respective portion of the surface.

11. A system in accordance with claim 8, wherein the scanner is coupled to the robotic device, such that the robotic device is configured to automatically move the scanner within a predetermined coordinate system associated with the robotic device, and wherein the tool path is generated within the predetermined coordinate system associated with the robotic device.

12. A system in accordance with claim 8, wherein the computer device is further configured to generate a three-dimensional map of the surface within a predetermined coordinate system associated with the robotic device.

13. A system in accordance with claim 8, wherein the computer device is further configured to determine a plurality of points adjacent to the object, wherein the plurality of points define the tool path.

14. One or more computer-readable storage media having computer-executable instructions embodied thereon, wherein, when executed by at least one processor, the computer-executable instructions cause the processor to:

automatically move, using a robotic device for moving an inspection tool, a scanner to collect data associated with a surface of the object;

determine a surface profile associated with the surface of the object based on the data; and

generate a tool path for inspecting the object using the inspection tool based on the surface profile.

15. One or more computer-readable storage media in accordance with claim 14, wherein the computer-executable instructions further cause the processor to automatically move, using the robotic device, an inspection tool along the tool path to perform a non-destructive inspection of the object.

16. One or more computer-readable storage media in accordance with claim 14, wherein the computer-executable instructions further cause the processor to automatically move the scanner in a plurality of passes to collect data associated the surface, wherein each pass of the plurality of passes is associated with a respective portion of the surface.

17. One or more computer-readable storage media in accordance with claim 14, wherein the computer-executable instructions further cause the processor to:

automatically move the scanner within a predetermined coordinate system associated with the robotic device; and

generate the tool path within the predetermined coordinate system associated with the robotic device.

18. One or more computer-readable storage media in accordance with claim 14, wherein the computer-executable instructions further cause the processor to generate a three-dimensional map of the surface within a predetermined coordinate system associated with the robotic device.

19. One or more computer-readable storage media in accordance with claim 14, wherein the computer-executable instructions further cause the processor to determine a plurality of points adjacent to the object, wherein the plurality of points define the tool path.

20. One or more computer-readable storage media in accordance with claim 14, wherein the computer-executable instructions further cause the processor to:

automatically couple the scanner to the robotic device;

automatically decouple the scanner from the robotic device; and

automatically couple the inspection tool to the robotic device.