Remotely operated mobile stand-off measurement and inspection system

• US 9,804,577 B1
• Filed: 05/13/2013
• Issued: 10/31/2017
• Est. Priority Date: 10/04/2010
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Troy, James J., Lea, Scott W., Georgeson, Gary E., Motzer, William P.
• Primary Examiner(s): Bailey, Frederick
• Application Number:
  US13/892,336
• Time in Patent Office: 1,632 Days
• Field of Search: None
• CPC Class Codes: G01N 2291/2694 Wings or other aircraft parts
• CPC Class Codes: G01N 29/043 in the interior, e.g. by shear waves
• CPC Class Codes: G01N 29/0654 Imaging
• CPC Class Codes: G01N 29/225 Supports, positioning or alignment in moving situation
• CPC Class Codes: G01N 29/262 by electronic orientation or focusing, e.g. with phased arrays phased arrays per se G10K11/34
• CPC Class Codes: G01N 29/265 by moving the sensor relative to a stationary material
• CPC Class Codes: G01N 29/30 Arrangements for calibrating or comparing, e.g. with standard objects
• CPC Class Codes: G01N 29/4472 Mathematical theories or simulation
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control

Abstract

A self-contained, remotely operated, mobile measurement system for stand-off inspection of large target objects located at sites distant from an operations center of a distributed inspection system. In accordance with one embodiment, the system comprises a mobile platform with on-board instrumentation capable of making dimensional measurements in the local coordinate system of the target object. The system comprises multiple hardware and software components networked to a control interface that enables the operator at the operations center to teleoperate the equipment, including driving the mobile platform to a region of interest, calibrating the on-board local positioning system, acquiring measurement and image data, and communicating with on-site personnel if needed.

Claims

1. A method for teleoperation of a self-powered mobile platform from a command workstation, comprising:

(a) mounting a local positioning system and a computer onboard the mobile platform;

(b) establishing a communication channel between the computer onboard the mobile platform and the command workstation via a wireless connection;

(c) via the wireless connection, remotely controlling the mobile platform to move to a first location near the target object;

(d) via the wireless connection and while the mobile platform is at said first location, remotely activating the local positioning system to generate a calibration transformation matrix representing the current position and orientation of the local positioning system relative to a coordinate system of a target object; and

(e) via the wireless connection and while the mobile platform is at said first location, remotely activating the mobile platform to move to a second location which is calculated based at least in part on the calibration transformation matrix.

2. The method as recited in claim 1, wherein said second location of the mobile platform is calculated based at least in part also on a calibration transformation matrix representing a previous position and orientation of the local positioning system relative to a coordinate system of a target object.

3. The method as recited in claim 1, further comprising:

via the wireless connection and while the mobile platform is at said first location, remotely activating the local positioning system to calculate a position of a point of interest on the target object relative to the coordinate system of a target object,

wherein said second location of the mobile platform is calculated based at least in part also on said calculated position of the point of interest.

4. The method as recited in claim 3, further comprising:

mounting a stand-off non-destructive inspection unit onboard the mobile platform such that a laser source of the local positioning system and the stand-off non-destructive inspection unit have a fixed positional relationship; and

via the wireless connection and while the mobile platform is at said second location, remotely activating the stand-off non-destructive inspection unit to acquire inspection data from a surface area of the target object without contacting that surface area.

6. The system as recited in claim 1, wherein said at least one actuator comprises a rotary actuator for extending and retracting said wheels by rotation.

7. The system as recited in claim 6, further comprising a multiplicity of pivotable arms coupled to said rotary actuator, wherein each of said wheels is rotatably coupled to an end of a respective one of said multiplicity of arms, and said rotary actuator comprises an electric motor and a plurality of gears which couple said pivotable arms to said electric motor.

8. The system as recited in claim 1, wherein said at least one actuator comprises a linear actuator for extending and retracting said local positioning system by translation.

9. The system as recited in claim 8, wherein said linear actuator comprising an electric motor and a lead screw which couples said local positioning system to said electric motor.

10. The system as recited in claim 1, further comprising a stand-off nondestructive inspection sensor affixed to said local positioning system.

11. The system as recited in claim 10, wherein said stand-off nondestructive inspection sensor employs one of the following inspection techniques:

near-infrared spectroscopy, terahertz imaging, microwave imaging, x-ray backscatter imaging, infrared thermography, laser shearography, laser ultrasonic testing and laser vibrometry.

5. A portable measurement system comprising:

a shipping container;

a multiplicity of wheels mechanically coupled to said shipping container for movement between respective retracted positions inside said shipping container in a shipping configuration and respective extended positions outside said shipping container in a mobile platform configuration;

a local positioning system unit mechanically coupled to said shipping container for movement between a retracted positions inside said shipping container in said shipping configuration and an extended position outside said shipping container in said mobile platform configuration, said local positioning system comprising wave energy projecting means for projecting wave energy in a direction, directional control means for orienting said wave energy projecting means to project in a direction having a selected pan angle and a selected tilt angle; and

means for detecting wave energy returned from a target object after each projection of wave energy;

a computer disposed inside said shipping container,

a wireless adapter electrically coupled to said computer and capable of receiving commands from an in-range wireless network access point and transmitting said commands to said computer;

a drivetrain disposed inside said shipping container for driving at least one of said wheels to rotate; and

at least one deployment actuator disposed inside said shipping container for actuating movement of said multiplicity of wheels between said retracted and extended positions of said wheels and movement of said local positioning system between said retracted and extended positions of said local positioning system,

wherein said computer is configured to perform the following operations;

controlling said at least one actuator in response to a deployment command received via said wireless adapter;

controlling said drive train to move said mobile platform to a location near a target object in accordance with a platform location command received via said wireless adapter; and

controlling said local positioning system to calibrate its position and orientation relative to a coordinate system of a target object in response to a calibration command received via said wireless adapter.

12. A mobile non-destructive inspection system comprising:

a shipping container;

a multiplicity of wheels mechanically coupled to said shipping container for movement between respective retracted positions inside said shipping container in a shipping configuration and respective extended positions outside said shipping container in a mobile platform configuration;

a pan-tilt mechanism mechanically coupled to said shipping container for movement between a retracted positions inside said shipping container in said shipping configuration and an extended position outside said shipping container in said mobile platform configuration;

an assembly comprising a stand-off nondestructive inspection unit and a local positioning system, said assembly being mounted to said pan-tilt mechanism;

a computer disposed inside said shipping container,

a wireless adapter electrically coupled to said computer and capable of receiving commands from an in-range wireless network access point and transmitting said commands to said computer;

a drivetrain disposed inside said shipping container for driving at least one of said wheels to rotate;

at least one deployment actuator disposed inside said shipping container for actuating movement of said multiplicity of wheels between said retracted and extended positions of said wheels and movement of said assembly between said retracted and extended positions of said local positioning system,

wherein said computer is configured to perform the following operations;

controlling said at least one actuator in response to a deployment command received via said wireless adapter;

controlling said drive train to move said mobile platform to a location near a target object in accordance with motion commands received via said wireless adapter;

controlling said local positioning system to calibrate its position and orientation relative to a coordinate system of a target object in response to a calibration command received via said wireless adapter; and

controlling said stand-off nondestructive inspection unit to acquire inspection data from the target object in response to an inspection command received via said wireless adapter.

13. The system as recited in claim 12, wherein said stand-off nondestructive inspection sensor employs one of the following inspection techniques:

near-infrared spectroscopy, terahertz imaging, microwave imaging, x-ray backscatter imaging, infrared thermography, laser shearography, laser ultrasonic testing and laser vibrometry.

14. The system as recited in claim 12, wherein said at least one actuator comprises a rotary actuator for extending and retracting said wheels by rotation.

15. The system as recited in claim 14, further comprising a multiplicity of pivotable arms coupled to said rotary actuator, wherein each of said wheels is rotatably coupled to an end of a respective one of said multiplicity of arms, and said rotary actuator comprises an electric motor and a plurality of gears which couple said pivotable arms to said electric motor.

16. The system as recited in claim 12, wherein said at least one actuator comprises a linear actuator for extending and retracting said local positioning system by translation.

17. The system as recited in claim 16, wherein said linear actuator comprising an electric motor and a lead screw which couples said local positioning system to said electric motor.

18. A method for teleoperation of a self-powered mobile stand-off non-destructive inspection system from a command workstation, comprising:

(a) configuring the self-powered mobile stand-off non-destructive inspection system so that a multiplicity of wheels, a local positioning system and a nondestructive inspection sensor are contained inside a shipping container in a shipping configuration along with a computer;

(b) placing the shipping container in the shipping configuration at a remote inspection site where a target object is located;

(c) establishing a communication channel between the computer inside the shipping container and the command workstation via a wireless connection; and

(d) via the wireless connection, remotely activating a transformation of the self-powered mobile stand-off non-destructive inspection system from the shipping configuration to a deployed configuration in which the wheels, local positioning system and stand-off nondestructive inspection unit are extended outside the shipping container.

19. The method as recited in claim 18, further comprising:

(e) via the wireless connection, remotely controlling the deployed stand-off non-destructive inspection system to move to a location near the target object;

(f) via the wireless connection and while the stand-off non-destructive inspection system is at said location, remotely activating the local positioning system to calibrate its position and orientation relative to a coordinate system of a target object; and

(g) via the wireless connection and while the stand-off non-destructive inspection system is at said location, remotely activating the stand-off non-destructive inspection system to acquire inspection data from a surface area of the target object without contacting that surface area while the stand-off non-destructive inspection system is at said location by sending an inspection command from the command workstation to the computer via the communication channel.

20. The method as recited in claim 18, wherein the wheels are extended by rotation and the local positioning system and stand-off nondestructive inspection unit are extended by translation.