INSPECTING COMPONENTS USING MOBILE ROBOTIC INSPECTION SYSTEMS

• US 20160195390A1
• Filed: 01/05/2015
• Published: 07/07/2016
• Est. Priority Date: 01/05/2015
• Status: Active Grant

• Current Assignee: Bell Helicopter Textron Incorporated (Textron Inc)
• Original Assignee: Bell Helicopter Textron Incorporated (Textron Inc)
• Inventors: Cupples, Brian, Nissen, Jeffrey P.
• Granted Patent: US 11,185,985 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 11/00 Manipulators not otherwise provided for
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64F 5/60 Testing or inspecting aircraft components or systems
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/44 inspection

Abstract

A method for mobile robotic based inspection includes delivery of inspection requirements identifying a part and one or more inspection mode types. A three-dimensional model of the part and one or more physical attributes or specifications of the aeronautical part are received. A plurality of different motion sequences for the robot inspection system are determined to evaluate a plurality of predefined points on the component using one or more sensors for the one or more inspection types. Data acquisition parameters are determined for inspection sequence to allow for collection of inspection data for one or more inspection modes. A motion sequence from the plurality of different motion sequences is selected based on one or more parameters. An optimized inspection program configured to update operating parameters of the robot inspection system to perform the selected motion sequence and capture data using the one or more sensors is generated.

Claims

1. A method for robotic based inspection, comprising:

receiving inspection requirements identifying a component and one or more inspection mode types;

receiving a three-dimensional model of the part and one or more physical attributes of the component;

determining a plurality of different motion sequences for the robot inspection system to a evaluate a plurality of predefined points on the component using one or more sensors for the one or more inspection types;

determining data acquisition parameters for inspection sequence to allow for collection of inspection data for one or more inspection modes;

selecting a motion sequence from the plurality of different motion sequences based on one or more parameters; and

generating an inspection program configured to update operating parameters of the robot inspection system to perform the selected motion sequence and capture data using the one or more sensors.

2. The method of claim 1, further comprising determining robotic system input and output parameters during inspection data acquisition.

3. The method of claim 1, further comprising generating a validation result of the inspection program using input sensors onboard robotic inspection system to ensure safe operation.

4. The method of claim 1, wherein the inspection requirements identify at least one of a part number, a class, or a location.

5. The method of claim 1, further comprising determining a location of the part relative to the robotic inspection system, wherein the program is further configured to update operating parameters to navigate the robot inspection system to a location proximate the aeronautical part.

6. The method of claim 1, further comprising:

receiving data from the robotic inspection system captured using the one or more sensors; and

evaluating the captured data based on the one or more physical attributes of the part.

7. The method of claim 1, further comprising:

determining a violation of the one or more physical attributes; and

in response to the violation, generating a notification.

8. The method of claim 1, wherein the one or more sensors utilizes at least one of machine vision, optical metrology, laser based inspection, ultrasonic, radiographic, shearographic, thermographic, or spectrographic methods.

9. The method of claim 1, further comprising:

determining each of a first subset of the plurality of different motion sequences results in a physical or human collisions; and

discarding the first subset from the plurality of different motion sequences to generate a second subset, wherein the motion sequence is selected from the second subset.

10. The method of claim 1, wherein the three-dimensional model comprises a computer-aided design (CAD) drawing of the part.

11. A non-transitory computer readable medium storing instructions to cause a processor to perform operations comprising:

receiving inspection requirements identifying a part and one or more inspection mode types;

receiving a three-dimensional model of the part and one or more physical attributes of the aeronautical part;

determining a plurality of different motion sequences for the robot inspection system to a evaluate a plurality of predefined points on the part using one or more sensors for the one or more inspection types;

determining data acquisition parameters for inspection sequence to allow for collection of inspection data for one or more inspection modes;

selecting a motion sequence from the plurality of different motion sequences based on one or more parameters; and

generating an inspection program configured to update operating parameters of the robot inspection system to perform the selected motion sequence and capture data using the one or more sensors.

12. The computer readable medium of claim 11, the instructions further comprising determining robotic system input and output parameters during inspection data acquisition.

13. The computer readable medium of claim 11, the instructions further comprising generating a validation result of the inspection program using input sensors onboard robotic inspection system to ensure safe operation.

14. The computer readable medium of claim 11, wherein the inspection requirements identify at least one of a part number, a class, or a location.

15. The computer readable medium of claim 11, the instructions further comprising determining a location of the part relative to the robotic inspection system, wherein the program is further configured to update operating parameters to navigate the robot inspection system to a location proximate the aeronautical part.

16. The computer readable medium of claim 11, the instructions further comprising:

receiving data from the robotic inspection system captured using the one or more sensors; and

evaluating the captured data based on the one or more physical attributes of the part.

17. The computer readable medium of claim 11, the instructions further comprising:

determining a violation of the one or more physical attributes; and

in response to the violation, generating a notification.

18. The computer readable medium of claim 11, wherein the one or more sensors utilizes at least one of machine vision, optical metrology, laser based inspection, ultrasonic, radiographic, shearographic, thermographic, or spectrographic methods.

19. The computer readable medium of claim 11, the instructions further comprising:

determining each of a first subset of the plurality of different motion sequences results in a physical or human collisions; and

discarding the first subset from the plurality of different motion sequences to generate a second subset, wherein the motion sequence is selected from the second subset.

20. The computer readable medium of claim 11, wherein the three-dimensional model comprises a computer-aided design (CAD) drawing of the part.