Supervised Autonomous Robotic System for Complex Surface Inspection and Processing

a robotic system and complex surface technology, applied in the direction of process control, process and machine control, program control, etc., can solve the problems that environmental and robotic constraints also significantly affect the types of algorithms used, and achieve the effect of accurately planning and modulating the surface process and efficiently generating high-quality results
US20170297198A1Inactive Publication Date: 2017-10-19CARNEGIE MELLON UNIV
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Patent Information

Authority / Receiving Office
US · United States
Patent Type
Applications(United States)
Current Assignee / Owner
CARNEGIE MELLON UNIV
Publication Date
2017-10-19
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention disclosed herein describes a supervised autonomy system designed to precisely model, inspect and process the surfaces of complex three-dimensional objects. The current application context for this system is laser coating removal of aircraft, but this invention is suitable for use in a wide variety of applications that require close, precise positioning and maneuvering of an inspection or processing tool over the entire surface of a physical object. For example, this system, in addition to laser coating removal, could also apply new coatings, perform fine-grained or gross inspection tasks, deliver and / or use manufacturing process tools or instruments, and / or verify the results of other manufacturing processes such as but not limited to welding, riveting, or the placement of various surface markings or fixtures.
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Description

RELATED APPLICATIONS

[0001] This application is a continuation of U.S. Patent Application No. 14 / 774,731, filed Sep. 11, 2015, which was a filing under 37 C.F.R. §371 of international application PCT / US14 / 30242, filed Mar. 17, 2014, which claimed the benefit of U.S. Provisional Application No. 61 / 852,310, filed Mar. 15, 2013.GOVERNMENT INTEREST

[0002] This invention was made partially with government support under the U.S. Air

[0003] Force number FA5320-09-D-5601 & U.S. Army W91ZLK-10-D-0005 Task 0793. The government has certain rights in this invention.FIELD OF THE INVENTION

[0004] This invention relates to the control of robotic manipulators to move a surface processing device over the surface of a three dimensional object. In particular, the present application has utility for removing paint from the surfaces of aircraft fuselage, wings and control surfaces.BACKGROUND OF THE INVENTION

[0005] Scenarios which require a robot to process, visit, or in some way perform an action over the entire...

Claims

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