Method and apparatus for moving a robotic vehicle

• US 9,580,120 B2
• Filed: 05/29/2015
• Issued: 02/28/2017
• Est. Priority Date: 05/29/2015
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Podnar, Gregg W.
• Primary Examiner(s): Cheung, Mary
• Application Number:
  US14/725,194
• Publication Number:
  US 20160347382A1
• Time in Patent Office: 641 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: B62D 55/06 with tracks without ground wheels
• CPC Class Codes: B62D 55/265 having magnetic or pneumatic adhesion
• CPC Class Codes: B64F 5/40 Maintaining or repairing aircraft
• CPC Class Codes: B64F 5/60 Testing or inspecting aircraft components or systems
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A method and apparatus for moving a robotic vehicle relative to a structure. A set of tracks associated with a base of the robotic vehicle may be deployed. A number of attachment units associated with the set of tracks may be aligned with a corresponding portion of a number of structural members of the structure in a forward sequence as the set of tracks is deployed. The number of attachment units may be secured to the corresponding portion of the number of structural members in the forward sequence.

Claims

1. A method for moving a robotic vehicle relative to a structure, the method comprising:

deploying a set of tracks associated with a base of the robotic vehicle in a forward direction;

moving a set of movement members associated with the base in the forward direction to move the base in the forward direction and to cause the set of tracks to be deployed in the forward direction;

aligning a number of attachment units associated with the set of tracks with a corresponding portion of a number of structural members of the structure in a forward sequence as the set of tracks is deployed; and

securing the number of attachment units to the corresponding portion of the number of structural members in the forward sequence.

2. The method of claim 1, wherein deploying the set of tracks comprises:

deploying the set of tracks from a track deployment unit in the forward direction in response to the set of movement members associated with the base moving in the forward direction.

3. The method of claim 2, wherein deploying the set of tracks from the track deployment unit comprises:

unwinding the set of tracks from a set of reels in the track deployment unit in response to the set of movement members moving in the forward direction.

4. The method of claim 1, further comprising:

controlling, by a controller, the set of movement members.

5. The method of claim 1, wherein aligning the number of attachment units comprises:

positioning an attachment unit relative to a structural member as the set of tracks is deployed in the forward direction over the structural member.

6. The method of claim 5, wherein securing the number of attachment units comprises:

securing the number of attachment units to the corresponding portion of the number of structural members in the forward sequence such that the robotic vehicle is stabilized relative to the structure.

7. The method of claim 5, wherein securing the number of attachment units comprises:

applying force to the attachment unit with the attachment unit positioned relative to the structural member as the set of tracks is deployed in the forward direction to secure the attachment unit to the structural member.

8. The method of claim 1 further comprising:

retracting the set of tracks while the base is moved in a reverse direction; and

detaching the number of attachment units associated with the set of tracks in a reverse sequence as the set of tracks is retracted.

9. The method of claim 8, wherein retracting the set of tracks comprises:

retracting the set of tracks into a track deployment unit in response to the set of movement members associated with the base moving in the reverse direction.

10. The method of claim 9, wherein detaching the number of attachment units comprises:

detaching the number of attachment units in response to a number of forces pulling the number of attachment units off of the corresponding portion of the number of structural members as the base is moved in the reverse direction.

11. The method of claim 8, wherein retracting the set of tracks comprises:

retracting the set of tracks using a biasing system in a track deployment unit.

12. The method of claim 1 further comprising:

moving the robotic vehicle to a selected position relative to the structure; and

performing a number of operations at the selected position using a number of tools associated with the robotic vehicle.

13. The method of claim 1 further comprising:

moving the robotic vehicle through an access opening in the structure until at least at least one of the number of attachment units engages with at least one of the number of structural members of the structure, wherein the structure is a wing box and the number of structural members is a number of stringers.

14. An apparatus comprising:

a base;

a set of movement members associated with the base;

a set of tracks associated with the set of movement members, wherein moving the base in a forward direction relative to a structure using the set of movement members causes the set of tracks to be deployed in the forward direction; and

a number of attachment units associated with the set of tracks.

15. The apparatus of claim 14, further comprising:

a controller that controls the set of movement members.

16. The apparatus of claim 14, wherein the number of attachment units is configured for aligning with and engaging a corresponding portion of a number of structural members of the structure in a forward sequence.

17. The apparatus of claim 14 further comprising:

a track deployment unit.

18. The apparatus of claim 17, wherein the track deployment unit houses at least a portion of the set of tracks and where the set of tracks is deployed from the track deployment unit.

19. The apparatus of claim 17, wherein a first movement of the set of movement members in a forward direction causes the set of tracks to be deployed from the track deployment unit in the forward direction.

20. The apparatus of claim 19, wherein a second movement of the set of movement members in a reverse direction causes the set of tracks to be retracted into the track deployment unit.

21. The apparatus of claim 17, wherein the track deployment unit comprises:

a biasing system that biases the set of tracks as the set of tracks is deployed and enables retraction of the set of tracks when the base is moved in a reverse direction.

22. The apparatus of claim 14 further comprising:

a number of tools associated with the base.

23. The apparatus of claim 14, wherein moving the base relative to a structure moves the base forward towards the structure to move a number of tools forward towards the structure.

24. The apparatus of claim 14, wherein the set of movement members comprises a set of wheels.

25. The apparatus of claim 14, wherein an attachment unit in the number of attachment units comprises:

a base element associated with at least one of the set of tracks; and

a set of securing elements associated with the base element and configured for securing the attachment unit to a corresponding structural member.

26. The apparatus of claim 25, wherein the set of securing elements comprises at least one of a suction cup, a vacuum attachment device, a clamping device, a layer of temporary adhesive, removable tape, a bladder, or an element comprised of an elastomeric material.

27. The apparatus of claim 25, wherein the base element has a shape selected based on a cross-sectional shape of a structural member.

28. The apparatus of claim 25, wherein the attachment unit further comprises:

a number of bearings associated with the base element.

29. The apparatus of claim 14 further comprising:

a guidance system associated with the base for guiding movement of the base.

30. The apparatus of claim 29, wherein the guidance system includes at least one of a laser device or an imaging system.

31. The apparatus of claim 30 further comprising:

a controller that controls the set of movement members based on information received from the guidance system.

32. The apparatus of claim 14, wherein the base, the set of movement members, and the set of tracks form a robotic vehicle that has a shape and a size configured for moving the robotic vehicle into a space within an interior of a structure.

33. The apparatus of claim 32, wherein the space is within an interior of a wing box of an aircraft and wherein the number of attachment units is configured to engage a number of stringers as the robotic vehicle moves through the space.

34. The apparatus of claim 14, wherein the number of attachment units is configured to engage a number of structural members of a structure.

35. A robotic vehicle comprising:

a base;

a number of tools associated with the base; and

a movement system associated with the base for moving the base and the number of tools within a space relative to a structure in which the movement system comprises;

a set of movement members associated with the base for moving the base in one of a forward direction and a reverse direction;

a set of tracks that is associated with the set of movement members and that is deployed when the base is moved in the forward direction and retracted when the base is moved in the reverse direction; and

a plurality of attachment units associated with the set of tracks, wherein a number of attachment units in the plurality of attachment units is configured to align with and engage a corresponding portion of a number of structural members as the set of tracks is deployed.