Application of factory automation for an airline assembly and build process

• US 9,817,402 B1
• Filed: 07/12/2016
• Issued: 11/14/2017
• Est. Priority Date: 07/12/2016
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Ayyagari, Arun, Nguyen, Thi Q., Le, Ngoc S., Amirehteshami, David H., Ivers, Benjamin J.
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Greene, Daniel L
• Application Number:
  US15/208,437
• Time in Patent Office: 490 Days
• CPC Class Codes: B64F 5/10 Manufacturing or assembling aircraft, e.g. jigs therefor
• CPC Class Codes: G05B 19/41895 using automatic guided vehicles [AGV] control of position or course of AGV's G05D1/00
• CPC Class Codes: G05B 2219/31086 Communication of carriage, agv data, workpiece data at each station
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y02P 90/60 Electric or hybrid propulsion means for production processes

Abstract

Work cell and factory level automation require that an Automated Guided Vehicle (AGV) achieve demanding positional accuracy and repeatability relative to a cradle fixture or workstand within a work cell. The AGV makes distance measurements of objects within the work cell using laser scanner sensors. The distance measurements are filtered of objects that are not target features on the cradle fixture or workstand. Systematic or bias errors of the laser scanner sensor are removed from the filtered distance measurements, and a mathematical filter or estimator is applied to the filtered distance measurements using random errors of the laser scanner sensor to generate estimated distance measurements. A map of the target features is then constructed using the estimated distance measurements, wherein the map is used for path planning and navigation control of the AGV relative to the cradle fixture or workstand within the work cell.

Claims

1. A method for work cell and factory level automation, comprising:

making one or more distance measurements of one or more objects within a work cell using at least one laser scanner sensor on an automated guided vehicle (AGV);

filtering the distance measurements of the objects that are not target features on a cradle fixture or workstand within the work cell;

removing systematic or bias errors of the laser scanner sensor from the filtered distance measurements;

applying a mathematical filter or estimator to the filtered distance measurements using random errors of the laser scanner sensor to generate estimated distance measurements;

constructing a map of the target features on the cradle fixture or workstand within the work cell using the estimated distance measurements; and

using the constructed map for path planning and navigation control of the AGV relative to the cradle fixture or workstand within the work cell.

2. The method of claim 1, wherein the making step comprises using the laser scanner sensor on the AGV that is directly facing or adjacent to the cradle fixture or workstand within the work cell.

3. The method of claim 1, wherein the at least one laser scanner sensor comprises a plurality of laser scanner sensors and the making step comprises using more than one of the laser scanner sensors on the AGV across a Field of Regard (FoR) of the laser scanner sensors on the AGV.

4. The method of claim 1, wherein the making step comprises making the distance measurements to the objects in a Field of View (FoV) of the laser scanner sensor on the AGV at an angular index step across a Field of Regard (FoR) of the laser scanner sensor on the AGV.

5. The method of claim 1, wherein the constructing step comprises constructing the map of the target features in a two-dimensional (2-D) plane of view using the estimated distance measurements.

6. The method of claim 1, wherein the constructed map enables the AGV to accurately and repeatedly return to one or more taught node positions within the work cell.

7. The method of claim 6, wherein the work cell is a reference work cell and the constructed map enables the AGV or another AGV to accurately and repeatedly return to the taught node positions within one or more other work cells, when a cradle fixture or workstand within the other work cells is positioned the same as the cradle fixture or workstand within the reference work cell.

8. The method of claim 1, further comprising performing one or more calibrations of the laser scanner sensor on the AGV to determine the systematic or bias errors and random errors in the distance measurements made by the laser scanner sensor.

9. The method of claim 8, wherein the performing step comprises performing offline calibration of the laser scanner sensor on the AGV against target reference points to determine the systematic or bias errors in the distance measurements made by the laser scanner sensor.

10. The method of claim 8, wherein the performing step comprises performing offline calibration of the laser scanner sensor on the AGV against target reference points process to determine a distribution and standard deviation of the random errors in the distance measurements made by the laser scanner sensor on the AGV.

11. The method of claim 10, wherein the distribution comprises a Gaussian distribution.

12. The method of claim 10, wherein the distribution is stored in a table when the distribution does not comprise a Gaussian distribution.

13. The method of claim 1, wherein the filtering step comprises defining a convex zone around at least one of the target features to exclude the objects that are not the target features.

14. The method of claim 13, wherein the filtering step comprises filtering the distance measurements that are outside a threshold bounds of the convex zones defined around the target features, yielding the filtered distance measurements for each of the objects in a Field of Regard (FoR) of the laser scanner sensor on the AGV.

15. The method of claim 13, wherein a distance margin between a perimeter of the target features and a perimeter of the defined convex zone is sufficiently small, such that no other static or dynamic objects occupy an annulus space formed between the perimeter of the target features and the perimeter of the defined convex zone.

16. An apparatus for work cell and factory level automation, comprising:

an automated guided vehicle (AGV) including at least one laser scanner sensor and a controller, wherein the controller is operable for;

making one or more distance measurements of one or more objects within a work cell using the laser scanner sensor on the AGV;

filtering the distance measurements of the objects that are not target features on a cradle fixture or workstand within the work cell;

removing systematic or bias errors of the laser scanner sensor from the filtered distance measurements;

applying a mathematical filter or estimator to the filtered distance measurements using random errors of the laser scanner sensor to generate estimated distance measurements;

constructing a map of the target features on the cradle fixture or workstand within the work cell using the estimated distance measurements; and

using the constructed map for path planning and navigation control of the AGV relative to the cradle fixture or workstand within the work cell.

17. A method for work cell and factory level automation, comprising:

filtering one or more distance measurements of one or more objects that are not target features on a cradle fixture or workstand within a work cell;

removing systematic or bias errors of one or more laser scanner sensors on an automated guided vehicle (AGV) from the filtered distance measurements;

applying a mathematical filter or estimator to the filtered distance measurements using random errors of the laser scanner sensors to generate estimated distance measurements;

constructing a map of the target features on the cradle fixture or workstand within the work cell using the estimated distance measurements; and

using the constructed map to enable the AGV to accurately and repeatedly return to one or more taught node positions within the work cell.

18. The method of claim 17, wherein the constructed map enables the AGV to accurately and repeatedly return to one or more taught node positions within one or more other work cells.

19. The method of claim 17, wherein the constructing step comprises constructing the map of the target features in a two-dimensional (2-D) plane of view using the estimated distance measurements.

20. The method of claim 17, further comprising making the distance measurements of the objects within the work cell using the laser scanner sensors on the AGV.

21. The method of claim 20, further comprising performing one or more calibrations of the laser scanner sensors on the AGV to determine the systematic, bias, or random errors in the distance measurements made by the laser scanner sensor.

22. The method of claim 20, wherein the making step comprises using the laser scanner sensors on the AGV across a Field of Regard (FoR) of the laser scanner sensors on the AGV.

23. The method of claim 20, wherein the making step comprises making the distance measurements to the objects in a Field of View (FoV) of the laser scanner sensors on the AGV at an angular index step across a Field of Regard (FoR) of the laser scanner sensors on the AGV.

24. The method of claim 17, wherein the filtering step comprises defining a convex zone around at least one of the target features to exclude the objects that are not the target features.

25. The method of claim 24, wherein a distance margin between a perimeter of the target features and a perimeter of the defined convex zone is sufficiently small, such that no other static or dynamic objects occupy an annulus space formed between the perimeter of the target features and the perimeter of the defined convex zone.

26. The method of claim 24, wherein the filtering step comprises filtering the distance measurements that are outside a threshold bounds of the convex zones defined around the target features, yielding the filtered distance measurements for each of the objects in a Field of Regard (FoR) of the laser scanner sensors on the AGV.