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Method for inspection of objects using surface adhering robot

  • US 7,076,335 B2
  • Filed: 10/22/2004
  • Issued: 07/11/2006
  • Est. Priority Date: 09/09/2001
  • Status: Expired due to Fees
First Claim
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1. A method for non-destructive inspection of an aircraft having an outer surface, comprising the steps of(a) providing a robot comprising:

  • (1) a base, said base having a bottom side and an upper side;

    (2) a plurality of vacuum cups, each of said vacuum cups comprising;

    (i) a foot, said foot having a low friction wear surface coating,(ii) a sidewall comprising one or more resilient accordion pleats (34),(iii) an outlet port, said outlet port having an inlet portion,(iv) a fluid limiting valve, said fluid limiting valve located in fluid communication with and adapted to at least partially close said outlet port when said vacuum cup experiences loss of vacuum;

    (3) at least three points of support for said base, said at least three points of support for said base, spacing said base apart from yet located close to the workpiece surface being traversed, so as to limit compression of said vacuum cups between said bottom side of said base and the surface being traversed, and(i) providing at least two contact points having driving traction relative to said workpiece surface being traversed,(ii) providing at least one pivotable contact point adapted to allow said robotic device to turn along a direction of travel;

    (b) mounting a surface sensor on said robot;

    (c) positioning said robot on said outer surface, and positioning said surface sensor in contact with said outer surface of the aircraft;

    (d) maintaining the interior of the aircraft at a first pressure;

    (e) moving said robot in a selected path of travel over said outer surface with said sensor riding on said robot;

    (f) tracking the movement of said robot and thus said surface sensor, to provide a first measurement of the spatial coordinates of said surface sensor;

    (g) pressurizing the interior of the aircraft to a pressure greater than said first pressure;

    (h) repeating the steps of moving the robot and tracking the movement of said surface sensor to provide a second measurement of the spatial coordinates of the sensor;

    (i) and comparing the first measurement with the second measurement to determine whether the spatial coordinates at any selected location on said aircraft outer surface are outside of a given tolerance.

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