Method for performing a plurality of operations within a region of a part using an end effector of a robot and robot performing the method

Abstract

This document discloses a method for performing multiple operations within a region of a part using an end effector of a robot, and a robot performing the method. The method includes collecting a spatial representation of the part and aligning a predetermined raster scan pattern for movement of the end effector relative to the part with the spatial representation of the part. The method further includes defining multiple normal vectors for the part at multiple predetermined operating positions for end effector operations. The method also includes moving the end effector relative to the part and along the predetermined raster scan pattern. The method further includes orienting the end effector such that an operating device of the end effector faces each operating position along a corresponding normal vector and performing a corresponding operation among the multiple operations using the operating device.

Description

Technical Field

[0001] This disclosure generally relates to methods for performing multiple operations within a region of a part using the end effector of a robot and / or a robot performing said methods. Background Technology

[0002] Robots can be used to perform a variety of different operations on and / or on parts. For example, a robot can be used to assemble one or more parts of an aircraft. Historically, robots have been effective at performing operations on parts with well-defined and quantitatively known geometries. In these examples, a numerical description of the part can be provided to the robot, and the robot can use this information to control its movement, the location of operations, etc. Utilizing robots on parts or in environments where they are not well-defined and quantitatively known presents unique operational challenges and can significantly increase costs. For example, it may be necessary to manually train the robot to navigate to various locations on the part and / or perform the desired operations at these locations. Therefore, there is a need for improved methods and / or robots that perform multiple operations within the area of ​​a part using the robot's end effector. Summary of the Invention

[0003] This document discloses a method for performing multiple operations within a region of a part using an end effector of a robot, and a robot performing the method. The method includes collecting a spatial representation of the part. Collection may include using an imaging device that can be associated with the robot. The method also includes aligning a predetermined raster scan pattern used for movement of the end effector relative to the part with the spatial representation of the part. The method further includes defining multiple normal vectors for the part at multiple predetermined operating positions for end effector operation. The definition may be at least partially based on the spatial representation of the part, and each operating position may be defined along the predetermined raster scan pattern. The method also includes moving the end effector relative to the part and along the predetermined raster scan pattern. The method further includes orienting the end effector such that the operating means of the end effector faces each operating position along a corresponding normal vector. The method also includes using the operating means and performing corresponding operations of the multiple operations at each operating position. Attached Figure Description

[0004] Figure 1 This is a schematic diagram of an example of an aircraft that can be used with the robot and method according to this disclosure.

[0005] Figure 2 This is a schematic diagram of an example of the wing of an aircraft that can be used with the robot and method according to this disclosure.

[0006] Figure 3 This is a schematic diagram of an example of a robot capable of performing the methods according to this disclosure.

[0007] Figure 4 This is a flowchart illustrating an example of a method for performing multiple operations within a region of a part using the end effector of a robot, according to the present disclosure.

[0008] Figure 5 This is a schematic diagram of an example of a predetermined raster scanning pattern according to the present disclosure.

[0009] Figure 6 This is a schematic diagram illustrating an example of multiple predetermined event locations within a predetermined raster scan pattern according to this disclosure.

[0010] Figure 7 This is a schematic diagram of an example spatial representation of a part that can be used with the robot and method according to this disclosure.

[0011] Figure 8 This is a schematic diagram illustrating an example of the initial orientation between a predetermined raster scan pattern and a spatial representation of a part according to this disclosure.

[0012] Figure 9 Show Figure 8 The predetermined raster scan pattern and Figure 8 An example of the alignment between spatial representations of parts.

[0013] Figure 10 This is a schematic diagram of an example of an adjusted raster scanning pattern according to the present disclosure.

[0014] Figure 11 This is a schematic diagram illustrating examples of multiple normal vectors according to this disclosure.

[0015] Figure 12 This is a schematic diagram illustrating an example of the motion of a robot's end effector relative to a part while performing the method according to this disclosure. Detailed Implementation

[0016] Figures 1 to 12 Illustrative, non-exclusive examples of a robot 10 including an end effector 20 and / or a method 300 according to this disclosure are provided. Figures 1 to 12 Each element in the document used for similar or at least substantially similar purposes is labeled with a similar reference numeral, and these elements may not be referenced herein. Figures 1 to 12 Each of these is discussed in detail. Similarly, in Figures 1 to 12 Each element may not be labeled with all its components, but for consistency, the reference numerals associated with them may be used herein. Without departing from the scope of this disclosure, references are made herein. Figures 1 to 12 One or more of the discussed elements, components and / or features may be included in Figures 1 to 12 Use any of the options in the list and / or use it together.

[0017] Typically, elements that may be included in a given (i.e., a particular) embodiment are shown in solid lines, while elements that are optional in a given embodiment are shown in dashed lines. However, elements shown in solid lines are not essential to all embodiments, and elements shown in solid lines may be omitted from a particular embodiment without departing from the scope of this disclosure.

[0018] Figure 1 It is compatible with robots according to this disclosure (e.g., such as...) Figure 3 The robot 10 shown) and / or the method (e.g., such as...) Figure 3 A schematic diagram of an example of an aircraft 700 used in conjunction with method 300; and Figure 2 This is a schematic diagram of an example of the wing 740 of an aircraft 700 that can be used with the robot and method according to this disclosure. Figure 1 As shown, the aircraft 700 may include a fuselage 710, which includes a fuselage 720 that can be formed from multiple fuselage segments 730. Also as... Figure 1 As shown, the aircraft 700 may include a wing 740 and a stabilizer 750. The aircraft 700 may also include multiple skin segments 790 that can be supported by multiple longitudinal beams 770 and / or frames 780.

[0019] Turn Figure 2 The wing 740 may include a plurality of wing spars 742 and / or a plurality of ribs or spars 744, which may form and / or define its internal support structure 746. The wing 740 may also include a skin section 790, and the inner surface 748 of the skin section 790 may be attached to and / or supported by the internal support structure 746.

[0020] During the assembly, testing, and / or inspection of aircraft 700, it may be desirable to utilize a robot (e.g., robot 10, discussed in more detail herein) to perform one or more operations on the aircraft. As discussed, conventional robots require a detailed numerical description of the aircraft (e.g., computer-aided drawing) to perform these operations and / or rely on time-consuming teaching operations to instruct the robot on how to perform the operations. While effective, these conventional robots are also costly to implement. Compared to conventional robots, and as discussed in more detail herein, robot 10 and / or method 300 according to this disclosure can be used to perform one or more operations on an aircraft or another part without requiring such detailed numerical descriptions and / or teaching operations, thereby improving operational efficiency.

[0021] Figure 3 This is a schematic diagram of an example of a robot 10 capable of performing the method 300 according to this disclosure. For example... Figure 3As shown in solid lines, robot 10 includes an end effector 20, an imaging device 30, and a controller 40. The end effector 20 includes an actuation device 70, which can be configured to perform multiple operations within a region of part 100. The imaging device 30 can be configured to collect a spatial representation of part 100. The controller 40 can be configured to control the operation of at least one component of the robot according to method 300 discussed in more detail herein. This may include, for example, controlling the operation of robot 10, end effector 20, and / or imaging device 30 via one or more control signals 42.

[0022] like Figure 3 As shown by the dashed lines, robot 10 may include actuator 50, and / or end effector 20 may include actuator 60. When present, actuator 50 of robot 10 may be configured to move, operatively translate, and / or operatively rotate robot 10 relative to part 100 (e.g., during method 300). Similarly, when actuator 60 of end effector 20 is present, actuator 60 may be configured to move, operatively translate, and / or rotate at least a subset of end effectors 20 (e.g., imaging device 30 and / or manipulation device 70) relative to part 100. For example, actuators 50 / 60 may be configured to cause corresponding structures along... Figure 3 The actuator can translate on the X, Y, and / or Z axes and / or rotate the corresponding structure about the X, Y, and / or Z axes. Examples of actuators 50 / 60 include any suitable linear actuator, rotary actuator, mechanical actuator, electric actuator, pneumatic actuator, and / or hydraulic actuator.

[0023] like Figure 3 As shown by the dashed lines, in some examples, the operating device 70 may include an inspection device 72. Examples of inspection devices are disclosed herein. Additional examples of the operating device 70 and / or inspection device 72 include transducers, sensors, non-destructive testing instruments, non-contact inspection devices, painting devices, sandblasting devices, ultrasonic transmitters, ultrasonic receivers, infrared transmitters, infrared receivers, and / or optical imaging devices.

[0024] The imaging device 30 can be associated with the robot 10 in any suitable manner. As an example, and as... Figure 4 As shown by the solid lines, the imaging device 30 may be associated with and / or operatively attached to the body 12 and / or end effector 20 of the robot 10. In a particular example, the imaging device 30 may be operatively attached to the manipulator 70 and / or may form part of the manipulator 70. In another particular example, the actuator 60 may be configured to move the imaging device 30 with the manipulator 70. As another example, the imaging device 30 may be spaced apart from the rest of the robot 10 and also from the part 100, such as Figure 4The dotted lines in the diagram indicate this. Examples of imaging devices 30 include cameras, still cameras, video cameras, infrared imaging devices, laser-based imaging devices, 3D cameras, and / or acoustic imaging devices.

[0025] During operation of robot 10, as discussed in more detail herein with reference to method 300, imaging device 30 may collect one or more spatial representations of part 100 and / or region 110 of part. Robot 10 and / or its controller 40 may then utilize one or more spatial representations of part 100 to align a predetermined raster scan pattern of movement of end effector 20 with the spatial representations of part. Alternatively or additionally, robot 10 and / or controller 40 may define multiple normal vectors 120 for part. The multiple normal vectors may be at least partially based on the spatial representations of part. Robot 10 may then perform multiple operations on part using manipulator 70. The operations are operable such that manipulator 70 faces along the corresponding normal vector 120 at each position where the operation is performed.

[0026] The controller 40 may include and / or may be any suitable structure, apparatus, and / or device that is adapted, configured, designed, constructed, and / or programmed to perform the functions disclosed herein. As an example, the controller 40 may include one or more of an electronic controller, a dedicated controller, a personal computer, a special-purpose computer, a display device, a logic device, a memory device, and / or a memory device having a computer-readable storage medium 44.

[0027] When a computer-readable storage medium is present, it may also be referred to herein as a non-transitory computer-readable storage medium. Such a non-transitory computer-readable storage medium may include, define, contain, and / or store computer-executable instructions, programs, and / or code that can instruct robot 10 and / or its controller 40 to perform any suitable portion or subset of method 300. Examples of such non-transitory computer-readable storage media include CD-ROMs, disks, hard disk drives, flash memory, etc. As used herein, storage units or memories, devices, and / or media having computer-executable instructions according to this disclosure, as well as computer-implemented methods and other methods, are considered to be within the scope of patentable subject matter under Title 35, Section 101 of the United States Code.

[0028] Figure 4 This is a flowchart illustrating an example of a method 300 for performing multiple operations within a region of a part using the end effector of a robot, according to the present disclosure. Figures 5 to 12Various process steps according to this disclosure that can be performed by robot 10 and / or during method 300 are illustrated. Method 300 may include defining a predetermined grating scan pattern at 305, defining an operating position at 310, and / or overlapping a part with the predetermined grating scan pattern at 315. Method 300 may also include positioning the part within the field of view of an imaging device at 320, and collecting a spatial representation of the part at 325. Method 300 also includes aligning the predetermined grating scan pattern at 330, which may include adjusting the predetermined grating scan pattern at 335, defining a plurality of normal vectors at 340, and moving an end effector at 345. Method 300 also includes orienting the end effector at 350 and performing corresponding operations at 355, and may include triggering an inspection device at 360, displaying display information at 365, and / or identifying part characteristics at 370.

[0029] Defining a predetermined raster scan pattern at 305 can include defining any suitable predetermined raster scan pattern along which the end effector will move during movement at 345. In some examples, the definition at 305 can include defining a predetermined raster scan pattern without or independently of any dimensional information of the part. In other words, the definition at 305 can include defining a predetermined raster scan pattern without prior knowledge of the part and / or without prior knowledge of the part's dimensions. For example, this configuration may be advantageous when performing method 300 on an older part (e.g., an older aircraft) where detailed dimensional information may not be readily available.

[0030] In some examples, the definition at 305 may include defining a predetermined raster scan pattern based on a coarse measurement of the part and / or a coarse measurement of the desired size of the part region for which method 300 will be performed. As a more specific example, the definition at 305 may include defining a predetermined raster scan pattern based at least in part or solely on the length of the part region, the width of the part region, the length of the part, the width of the part, one or more internal dimensions of the part, and / or one or more external dimensions of the part.

[0031] In some examples, detailed dimensional information about the part may be readily available, even if not required. Examples of this detailed dimensional information include numerical descriptions of the part, such as computer-aided design (CAD) and / or computer-aided manufacturing (CAM) drawings of the part. In these examples, the definition at 305 may include defining a predetermined raster scan pattern based at least in part on the detailed dimensional information of the part.

[0032] An example of a predetermined raster scan pattern is shown in Figure 5 The information is indicated at 200. As shown, the predetermined raster scan pattern may include and / or may be defined by multiple point-to-point movements that advance between multiple points 204 in the raster scan pattern.

[0033] The definition at 305 may be performed during method 300 at any suitable timing and / or order. As an example, the definition at 305 may be performed before the definition at 310, before the overlap at 315, before the positioning at 320, before the collection at 325, before the alignment at 330, and / or before the adjustment at 335.

[0034] Defining the operating positions at 310 may include defining multiple predetermined operating positions for which multiple operations will be performed by the end effector and / or during execution at 355. In some examples, the definition at 310 may include defining multiple predetermined operating positions independently of any dimensional information of the part. In some examples, the definition at 310 may include defining multiple predetermined operating positions without or independently of any dimensional information of the part. In other words, the definition at 310 may include defining multiple predetermined operating positions without prior knowledge of the part and / or without prior knowledge of the part dimensions. Similar to the definition at 305, this configuration may be advantageous, for example, when performing method 300 on an older part (e.g., an older aircraft) where detailed dimensional information may not be readily available.

[0035] In some examples, the definition at 310 may include defining multiple predetermined operating positions based on coarse measurements of the part and / or coarse measurements of the desired dimensions of the part region for which method 300 will be performed. As a more specific example, the definition at 310 may include defining multiple predetermined operating positions based at least in part on or solely on the length of the part region, the width of the part region, the length of the part, the width of the part, one or more internal dimensions of the part, and / or one or more external dimensions of the part. When detailed dimensional information of the part is readily available, the definition at 310 may include defining multiple predetermined operating positions based at least in part on detailed dimensional information of the part.

[0036] Examples of multiple predetermined operation positions are shown in Figure 6 The information is indicated at 210. As shown, the multiple predetermined operating positions may include and / or may be a subset of points 204 that define multiple point-to-point movements of the predetermined raster scan pattern 200.

[0037] The definition at 310 may be performed during method 300 at any suitable timing and / or order. As an example, the definition at 310 may be performed before the definition at 305, before the overlap at 315, before the positioning at 320, before the collection at 325, before the alignment at 330, and / or before the adjustment at 335.

[0038] In some examples, the predetermined raster scan pattern may be configured to be performed and / or implemented within a defined area in space, and / or configured to be performed and / or implemented based on one or more predetermined reference positions. Additionally or alternatively, the predetermined raster scan pattern may be configured to be performed and / or implemented in a predetermined direction relative to the robot's current or given position. In some such examples, method 300 may further include overlapping the part with the predetermined raster scan pattern at 315. In some examples, the overlap at 315 may include positioning the part such that the part is within the predetermined raster scan pattern. In some examples, the overlap at 315 may include positioning the robot and / or end effector such that the part is within the predetermined raster scan pattern.

[0039] The overlap at 315 can be performed during method 300 at any suitable timing and / or sequence. As an example, the overlap at 315 can be performed after the definition at 305, after the definition at 310, before the positioning at 320, after the positioning at 320, in response to the positioning at 320, before the collection at 325, before the alignment at 330, and / or before the adjustment at 335.

[0040] Positioning the part at 320 within the field of view of the imaging device may include moving the part, end effector, imaging device, and / or robot in any suitable manner to position the part and imaging device such that the part is within the field of view of the imaging device. In some examples, a predetermined raster scan pattern may extend within the field of view of the imaging device. In some such examples, positioning at 320 may be in response to overlap at 315 and / or as a result of overlap at 315.

[0041] The positioning at 320 can be performed during method 300 at any suitable timing and / or sequence. As an example, the positioning at 320 can be performed after the definition at 305, after the definition at 310, before the overlap at 315, after the overlap at 315, before the collection at 325, before the alignment at 330, and / or before the adjustment at 335.

[0042] The spatial representation of the collected part at 325 may include any suitable spatial representation of the collected part and may be performed using, via, and / or with an imaging device. In some examples, the spatial representation of the part may include and / or may be an image of the part. Examples of images of the part include optical images of the part and / or acoustic images of the part.

[0043] An example of the spatial representation that can be collected during the collection at location 325 is schematically shown in Figure 7 The information is indicated at position 102. As shown, spatial representation can include spatial information (three dimensions) about a part or the surface of a part.

[0044] The collection at 325 may be performed during method 300 at any suitable timing and / or sequence. As an example, the collection at 325 may be performed after the definition at 305, after the definition at 310, after the overlap at 315, after the positioning at 320, before the alignment at 330, before the adjustment at 335, before the definition at 340, before the movement at 345, before the orientation at 350, before the execution at 355, before the display at 365, and / or before the identification at 370.

[0045] Aligning the predetermined raster scan pattern at 330 may include aligning the predetermined raster scan pattern describing the movement of the end effector relative to the part with a spatial representation of the part. Alignment at 330 can be achieved in any suitable manner. As an example, alignment at 330 may include physically oriented the robot and the part relative to each other and / or causing the predetermined raster scan pattern to extend into and / or cover the part region. As another example, alignment at 330 may include utilizing the robot's actuators (e.g., Figure 3 The actuator 50) and / or the actuator of the end effector (e.g., Figure 3 The actuator 60) is used to align a predetermined raster scan pattern with a spatial representation of the part. As an additional example, alignment at 330 may include moving, translating, and / or rotating at least a portion of the robot relative to the part, moving, translating, and / or rotating at least a portion of the part relative to the robot, and / or adjusting a reference point of the predetermined raster scan pattern (e.g., Figure 8 The starting position 206 and / or the ending position 208 of the predetermined grating scan pattern are shown, such that the predetermined grating scan pattern covers the part area.

[0046] By from Figures 8 to 9 The change indicates alignment at 330. (As shown) Figure 8 As shown, prior to alignment at 330, the predetermined raster scan pattern 200 and / or its points 204 may not be aligned with the spatial representation 102. As an example, point 204, or all points 204, may not be positioned on and / or within the spatial representation 102 of the area 110 that can represent the part. However, as... Figure 9 As shown, after alignment at 330, the predetermined raster scan pattern 200 and / or its points 204 can be aligned with the spatial representation 102 and / or can extend within the region 110.

[0047] Alignment at 330 may be performed during method 300 at any suitable timing and / or sequence. As an example, alignment at 330 may be performed after definition at 305, after definition at 310, after overlap at 315, after positioning at 320, after collection at 325, after adjustment at 335, simultaneously with adjustment at 335, in response to adjustment at 335, as a result of adjustment at 335, before adjustment at 335, before definition at 340, before movement at 345, before orientation at 350, before execution at 355, before display at 365, and / or before identification at 370.

[0048] Adjusting the predetermined raster scan pattern at 335 may include adjusting the predetermined raster scan pattern to generate and / or produce an adjusted raster scan pattern 202 that may be at least partially based on a spatial representation of the part collected during collection at 325. In other words, adjustment at 335 may include adjusting the predetermined raster scan pattern such that the predetermined raster scan pattern conforms to the spatial representation of the part. In other words, adjustment at 335 may include adjusting the predetermined raster scan pattern such that the adjusted raster scan pattern extends entirely within the part region where multiple operations are to be performed. In other words, adjustment at 335 may include adjusting the predetermined raster scan pattern such that the predetermined raster scan pattern represents the spatial representation of the part or extends within a representative area of ​​the spatial representation of the part. When method 300 includes adjustment at 335, movement at 345 may include moving the end effector relative to the part along the adjusted raster scan pattern.

[0049] The adjustment at 335 may include adjusting the predetermined raster scan pattern in any suitable manner. As an example, the adjustment at 335 may include scaling at least a portion and / or region of the predetermined raster scan pattern to generate and / or produce an adjusted raster scan pattern. As another example, the adjustment at 335 may include truncating and / or reducing at least a portion and / or region of the predetermined raster scan pattern to generate and / or produce an adjusted raster scan pattern. As yet another example, the adjustment at 335 may include extending and / or stretching at least a portion and / or region of the predetermined raster scan pattern to generate and / or produce an adjusted raster scan pattern.

[0050] By from Figures 9 to 10 The change indicates adjustment at 335. Figure 9 In the middle, before adjustment at 335, the predetermined raster scan pattern 200 is smaller than and / or does not completely conform to the area 110 of the part. Figure 10 In the process, after adjustment at 335, the size of the adjusted raster scan pattern 202 is comparable to that of region 110, more completely covering region 110, and / or more completely filling region 110. From... Figures 9 to 10In the transformation, the adjustment at 335 includes scaling or expanding the predetermined raster scan pattern 200 along two axes to generate an adjusted raster scan pattern 202.

[0051] As from Figures 9 to 10 As shown in the transformation, the position of adjustment point 204 can also be changed and / or adjusted during adjustment at 335, such that the adjusted raster scan pattern 202 is still defined by multiple point-to-point movements between points 204. With this in mind, the adjustment at 335 may also be referred to herein as adjusting multiple points 204 and / or adjusting multiple predetermined operating positions 210 to, for example, generate and / or produce multiple predetermined operating positions 212 of adjustment.

[0052] When method 300 includes adjustment at 335, the definition at 340 may include defining multiple normal vectors at each of the multiple operating positions of the adjustment. Alternatively or additionally, the orientation at 350 may include oriented the end effector such that the operating device faces the respective operating position along a corresponding normal vector plane of the multiple normal vectors.

[0053] The adjustment at 335 may be performed during method 300 at any suitable timing and / or sequence. As an example, the adjustment at 335 may be performed after the definition at 305, after the definition at 310, after the overlap at 315, after the positioning at 320, after the collection at 325, after the alignment at 330, before the definition at 340, before the movement at 345, before the orientation at 350, before the execution at 355, before the display at 365, and / or before the identification at 370.

[0054] Defining multiple normal vectors at 340 may include defining multiple normal vectors for the part and / or at multiple predetermined operating positions. The definition at 340 may be based at least in part on the spatial representation of the part collected during collection at 325. As discussed, the respective operating positions may be defined along a predetermined raster scan pattern, and / or may be selected points among multiple points defining the predetermined raster scan pattern.

[0055] The definition at 340 can be implemented in any suitable manner. As an example, the definition at 340 may include quantifying the surface curvature of the part at various operating positions. In some such examples, quantifying the surface curvature may include fitting the surface to a spatial representation of the part at various operating positions. In some such examples, the definition at 340 may include calculating surface normal vectors at various operating positions based at least in part on the surface curvature and / or the fitted surface. As another example, the definition at 340 may include calculating the surface normal direction at various operating positions. The definition at 340 may utilize the robot's controller (e.g., Figure 3The controller 40) and / or a computing device that communicates with the robot are used to perform the operation.

[0056] Figure 3 , Figure 11 and Figure 12 The definition at point 340 is shown in the figure. Figure 3 and Figure 12 A side view showing the normal vector 120 at point 204 and / or the predetermined operating position 210 is shown. Figure 11 A top view showing normal vector 120 (shown as X).

[0057] The definition at 340 may be performed during method 300 at any suitable timing and / or sequence. As an example, the definition at 340 may be performed after the definition at 305, after the definition at 310, after the overlap at 315, after the positioning at 320, after the collection at 325, after the alignment at 330, after the adjustment at 335, before the movement at 345, before the orientation at 350, before the execution at 355, before the display at 365, and / or before the identification at 370.

[0058] Moving the end effector at 345 may include moving the end effector relative to the part and / or along a predetermined grating scan pattern. In some examples, movement at 345 may include performing multiple point-to-point movements using the end effector and / or along the predetermined grating scan pattern. In some examples, the length of each point-to-point movement may be relatively small. As an example, the length of each point-to-point movement may be at least 0.1 mm, at least 0.2 mm, at least 0.4 mm, at least 0.6 mm, at least 0.8 mm, at least 1 mm, at least 1.2 mm, at least 1.4 mm, at least 1.6 mm, at least 1.8 mm, at least 2 mm, at least 2.2 mm, at least 2.4 mm, at least 2.6 mm, at least 2.8 mm, at least 3 mm, at least 4 mm, at least 5 mm, at least 6 mm, at least 8 mm, at least 10 mm, at least 15 mm, at least 20 mm, at least 25 mm, up to 100 mm, up to 90 mm, up to 80 mm, up to 70 mm, up to 60 mm, up to 50 mm, up to 40 mm, up to 30 mm, up to 25 mm, up to 20 mm, up to 15 mm, up to 10 mm, up to 5 mm and / or up to 2.5 mm. This short distance between consecutive point-to-point movements can provide a large number of positions for multiple operations to be performed, and / or can provide high resolution for multiple operations within a part area.

[0059] In other words, when multiple operations involve multiple sampling events and / or measurements (examples of which are disclosed herein), short distances between successive point-to-point movements allow for and / or facilitate improved measurement resolution. In other words, when multiple operations involve multiple modifications to a part (examples of which are disclosed herein), short distances between successive point-to-point movements allow for and / or facilitate more uniform modifications to the part, providing more options regarding where modifications can be performed on the part, and / or providing more options regarding the spacing between adjacent modifications.

[0060] The movement at position 345 Figure 11 The movement at 345 is illustrated by arrows showing the path taken by the predetermined raster scan pattern 200. Figure 12 The transition from the configuration shown by solid lines to the configuration shown by dashed lines to the configuration shown by dotted lines is shown in the diagram, and the progression of these configurations occurs along the predetermined raster scan pattern 200.

[0061] The movement at 345 can be achieved in any suitable manner. As an example, the movement at 345 can be achieved using, via, and / or by actuators of the robot's actuators and / or end effectors, examples of which are disclosed herein.

[0062] In some examples of method 300, the movement at 345 may include moving the end effector continuously or at least substantially continuously along a predetermined raster scan pattern, at least until the end effector has traversed the entire predetermined raster scan pattern. In other words, after the movement is initiated at 345, method 300 may include moving the end effector continuously or at least substantially continuously along the predetermined raster scan pattern until the end effector has moved along the entire raster scan pattern.

[0063] In some examples of method 300, the movement at 345 may include intermittently moving the end effector along a predetermined grating scan pattern. As an example, the movement at 345 may include moving the end effector along the predetermined grating scan pattern until the end effector reaches a given operating position among a plurality of operating positions. Upon reaching the given operating position, the end effector may stop at the given operating position to, for example, allow the end effector to perform a corresponding operation at the given operating position.

[0064] The movement at 345 may be performed during method 300 at any suitable timing and / or sequence. As an example, the movement at 345 may be performed after the definition at 305, after the definition at 310, after the overlap at 315, after the positioning at 320, after the collection at 325, after the alignment at 330, after the adjustment at 335, after the definition at 340, before the orientation at 350, during the orientation at 350, at least partially simultaneous with the orientation at 350, before the execution at 355, before the display at 365, and / or before the identification at 370.

[0065] Orienting the end effector at 350 can be performed at various operating positions among a plurality of predetermined operating positions and / or along a predetermined grating scan pattern. Orientation at 350 may include oriented the end effector such that the actuation device of the end effector faces the respective operating position along a corresponding normal vector among a plurality of normal vectors. In other words, orientation at 350 includes aligning the actuation device along the corresponding normal vector at each operating position. As discussed in more detail herein, this configuration can improve the efficiency, effectiveness, reproducibility, and / or uniformity of the corresponding operations performed at each operating position.

[0066] The orientation at 350° can be performed in any suitable manner. As an example, the orientation at 350° may include operatively translating the operating device, for example, relative to the part, in at least one, at least two, or three orthogonal directions. As another example, the orientation at 350° may include operatively rotating the operating device, for example, relative to the part, about at least one, at least two, or three orthogonal axes.

[0067] In some examples, the orientation at 350 may include establishing a predetermined device-to-part distance between the operating device and the part. In some examples, establishing the predetermined device-to-part distance may include establishing a spaced relationship between the operating device and the part. In some examples, the predetermined device-to-part distance may be constant or at least substantially constant at each operating position. In some examples, a first predetermined device-to-part distance associated with a first operating position among a plurality of operating positions may differ from a second predetermined device-to-part distance associated with a second operating position among a plurality of operating positions.

[0068] The orientation at 350 can be achieved in any suitable manner. As an example, the orientation at 350 can be performed using the actuators of the robot and / or the actuators of the end effector.

[0069] The orientation at 350 is shown in Figure 12 As shown in this document, at each predetermined operating position 210, the operating device 70 is oriented relative to the part 100 such that the operating device faces the part along the corresponding normal vector 120. Figure 12It is also shown that in each predetermined operating position 210, the distance from the predetermined device to the part is constant or at least substantially constant.

[0070] The orientation at 350 may be performed during method 300 at any suitable timing and / or sequence. As an example, the orientation at 350 may be performed after the definition at 305, after the definition at 310, after the overlap at 315, after the positioning at 320, after the collection at 325, after the alignment at 330, after the adjustment at 335, after the definition at 340, after the movement at 345, during the movement at 345, at least partially simultaneous with the movement at 345, before the execution at 355, before the display at 365, and / or before the identification at 370.

[0071] Performing a corresponding operation at 355 can be performed at various operating positions among a plurality of predetermined operating positions and / or along a predetermined grating scan pattern. Execution at 355 may include performing a corresponding operation among a plurality of operations using, via, and / or with an operating device. The plurality of operations may include and / or may be any suitable operation that can be performed on a part and / or by an operating device. In some examples, the plurality of operations may include multiple measurements of a part. In these examples, the orientation at 350 may improve the measurement of the part and / or the reproducibility of the measurement. Examples of multiple measurements of a part include evaluating the part, performing non-destructive testing on the part, performing non-contact inspection of the part, performing ultrasonic evaluation of the part, performing infrared evaluation of the part, and / or performing optical evaluation of the part.

[0072] In some examples, multiple operations may include multiple modifications to a part. In these examples, the modifications to the part, the reproducibility of the modifications, and / or the uniformity of the modifications can be improved by orientation at 350. Examples of multiple modifications to a part include painting the part, sandblasting the part, machining the part, and / or drilling holes in the part.

[0073] In certain examples, the execution at 355 may include, for example, performing ultrasonic inspection of the part at various operating positions. In these examples, the operating device may include and / or may be an ultrasonic device. In some such examples, the execution at 355 may include initiating ultrasonic vibrations in the part at various operating positions and detecting emitted ultrasonic vibrations emitted from the part at various operating positions. Initiation may be performed in any suitable manner, such as using any suitable laser ultrasonic device and / or mechanical actuator.

[0074] In some such examples, initiating ultrasonic vibration may include using a laser from an operating device. In some such examples, the orientation at 350 may include focusing the laser within various operating positions and / or guiding the laser along a corresponding normal vector incident on the part. In some such examples, detecting the emitted ultrasonic vibration may include using an ultrasonic detector. In some such examples, the orientation at 350 may include positioning the ultrasonic detector along the corresponding normal vector and / or positioning the ultrasonic detector such that the emitted ultrasonic vibration is incident on the ultrasonic detector from the corresponding normal direction.

[0075] Multiple operating positions may include any suitable portion, scale, and / or subset of multiple points that define a predetermined raster scan pattern and involve point-to-point movement. Examples of subsets of multiple points include at least 1%, at least 5%, at least 10%, at least 20%, at least 30%, at least 40%, at least 50%, at least 60%, at least 70%, at least 80%, at least 90%, at least 95%, at least 99%, 100%, up to 100%, up to 90%, up to 80%, up to 70%, up to 60%, up to 50%, up to 40%, up to 30%, up to 20%, and / or up to 10%.

[0076] Triggering the inspection device at 360° can include triggering any suitable inspection device, examples of which are disclosed herein. Triggering at 360° can include generating a trigger event (e.g., instructing the event device to be in a corresponding predetermined operating position and / or oriented along a corresponding normal vector). Triggering at 360° can also include providing the trigger event to the inspection device (e.g., instructing the inspection device to perform an inspection). Triggering at 360° can also include performing the inspection using the inspection device (e.g., in response to receiving the trigger event).

[0077] Triggering at 360 may include triggering using, via, and / or employing any suitable triggering method and / or algorithm. This may include any suitable predetermined triggering algorithm that can be used to establish and / or determine multiple operating positions. When method 300 includes adjustment at 335, adjustment at 335 may also include adjusting the predetermined triggering algorithm. As an example, the predetermined triggering algorithm may indicate a fixed number of trigger events. In this example, adjustment may include scaling the positions of the trigger events in a manner similar to scaling a predetermined raster scan pattern. As another example, the predetermined triggering algorithm may indicate a fixed distance between trigger events. In this example, adjustment may include increasing the number of trigger events executed along a given axis in response to an increase in the size of the predetermined raster scan pattern along a given axis and / or decreasing the number of trigger events executed along a given axis in response to a decrease in the size of the predetermined raster scan pattern along a given axis.

[0078] The display at 365 may include any suitable information that can be obtained via method 300 and / or that can be generated as a result of method 300, to an operator of, for example, a robot. As an example, when the execution at 355 includes performing an ultrasonic inspection, the display at 365 may include display information that may be at least partially based on emitted ultrasonic vibrations emitted from the part at various operating locations. Examples of this display information include an A-scan at a location on the part, a B-scan along a line on the part, a C-scan of a region of the part, and / or a three-dimensional or voxel-based ultrasonic display, image, or volumetric image of the part.

[0079] Identifying part characteristics at 370 may include identifying any suitable part characteristics based at least in part on the display at 365. As an example, identification at 370 may include identifying defects in the part, damage to the part, deterioration of the part, physical dimensions of the part, and / or the coating thickness of the coating applied to the part.

[0080] The following paragraphs describe illustrative, non-exclusive examples of the inventive subject matter according to this disclosure:

[0081] A1. A method for performing multiple operations within a region of a part using an end effector of a robot, the method comprising the following steps:

[0082] Spatial representations of parts are collected using imaging devices associated with the robot;

[0083] Align a predetermined raster scan pattern used for the movement of the end effector relative to the part with the spatial representation of the part;

[0084] Multiple normal vectors are defined for a part at multiple predetermined operating positions for end effector operation, wherein the definition step is based at least in part on the spatial representation of the part, and wherein each of the multiple predetermined operating positions is defined along a predetermined grating scan pattern;

[0085] The end effector moves relative to the part and along a predetermined grating scan pattern; and

[0086] At each operating location:

[0087] (i) Orient the end effector such that the operating device of the end effector faces each operating position along the corresponding normal vector plane among the plurality of normal vectors; and

[0088] (ii) Perform the corresponding operation among the plurality of operations using the operating device.

[0089] A2. According to the method described in paragraph A1, the step of collecting the spatial representation of the part includes collecting an image of the part.

[0090] A3. According to the method described in paragraph A2, the image of the part includes at least one of the following:

[0091] (i) Optical images of the parts; and

[0092] (ii) Acoustic images of the parts.

[0093] A4. The method according to any one of paragraphs A1 to A3, wherein the imaging device comprises at least one of the following:

[0094] (i) Camera;

[0095] (ii) Still camera;

[0096] (iii) Video camera;

[0097] (iv) Infrared imaging device;

[0098] (v) Laser-based imaging devices;

[0099] (vi) 3D imaging device;

[0100] (vii) Acoustic imaging device.

[0101] A5. The method according to any one of paragraphs A1 to A4, wherein the alignment step includes physically oriented the robot and the part relative to each other such that a predetermined grating scan pattern covers an area of ​​the part.

[0102] A6. The method according to any one of paragraphs A1 to A5, wherein the alignment step comprises at least one of the following:

[0103] (i) to move at least a portion of the robot relative to the part; and

[0104] (ii) Move at least a portion of the part relative to the robot.

[0105] A7. The method according to any one of paragraphs A1 to A6, wherein the alignment step includes adjusting a reference point of a predetermined raster scan pattern such that the predetermined raster scan pattern covers an area of ​​the part.

[0106] A8. The method according to any one of paragraphs A1 to A7, wherein the alignment step is performed in at least one of the following ways:

[0107] (i) Utilizing the actuators of a robot; and

[0108] (ii) Actuators using end effectors.

[0109] A9. The method according to any one of paragraphs A1 to A8, wherein the step of defining multiple normal vectors includes quantizing the surface curvature of the part at each operating position.

[0110] A10. The method according to any one of paragraphs A1 to A9, wherein the step of defining multiple normal vectors includes calculating the surface normal direction at each operating position.

[0111] A11. The method according to any one of paragraphs A1 to A10, wherein the definition step is performed in at least one of the following ways:

[0112] (i) Utilizing the robot's controller; and

[0113] (ii) Using a computing device that communicates with the robot.

[0114] A12. The method according to any one of paragraphs A1 to A11, wherein the moving step includes using an end effector and performing multiple point-to-point movements along a predetermined grating scan pattern.

[0115] A13. According to the method described in paragraph A12, the length of the point-to-point movement is at least one of the following:

[0116] (i) at least 0.1 mm, at least 0.2 mm, at least 0.4 mm, at least 0.6 mm, at least 0.8 mm, at least 1 mm, at least 1.2 mm, at least 1.4 mm, at least 1.6 mm, at least 1.8 mm, at least 2 mm, at least 2.2 mm, at least 2.4 mm, at least 2.6 mm, at least 2.8 mm, at least 3 mm, at least 4 mm, at least 5 mm, at least 6 mm, at least 8 mm, at least 10 mm, at least 15 mm, at least 20 mm, or at least 25 mm; and

[0117] (ii) up to 100mm, up to 90mm, up to 80mm, up to 70mm, up to 60mm, up to 50mm, up to 40mm, up to 30mm, up to 25mm, up to 20mm, up to 15mm, up to 10mm, up to 5mm or up to 2.5mm.

[0118] A14. The method according to any one of paragraphs A1 to A13, wherein the moving step is performed in at least one of the following ways:

[0119] (i) Utilizing the actuators of a robot; and

[0120] (ii) Actuators using end effectors.

[0121] A15. The method according to any one of paragraphs A1 to A14, wherein the orientation step is performed during the moving step.

[0122] A15.1 The method according to any one of paragraphs A1 to A15, wherein the orientation step includes operatively translating the operating device in at least one direction, optionally in at least two orthogonal directions, and further optionally in three orthogonal directions.

[0123] A16. The method according to any one of paragraphs A1 to A15.1, wherein the orientation step includes operatively rotating the operating device about at least one axis, optionally at least two orthogonal axes, and further optionally three orthogonal axes.

[0124] A17. The method according to any one of paragraphs A1 to A16, wherein the orientation step includes establishing a predetermined device-to-part distance between the operating device and the part.

[0125] A18. The method according to paragraph A17, wherein, at each operating position, the distance from the predetermined device to the part is constant or at least substantially constant.

[0126] A19. The method according to any one of paragraphs A17 to A18, wherein the first predetermined device-to-part distance associated with a first operating position among a plurality of operating positions is different from the second predetermined device-to-part distance associated with a second operating position among a plurality of operating positions.

[0127] A20. The method according to any one of paragraphs A1 to A19, wherein the orientation step is performed by at least one of the following:

[0128] (i) Utilizing the actuators of a robot; and

[0129] (ii) Actuators using end effectors.

[0130] A21. The method according to any one of paragraphs A1 to A20, wherein the execution step is performed during the moving step.

[0131] A21.1 The method according to any one of paragraphs A1 to A21, wherein the plurality of operations include at least one of the following:

[0132] (i) Evaluate the parts;

[0133] (ii) Perform non-destructive testing on the parts;

[0134] (iii) Perform non-contact inspection of parts;

[0135] (iv) Paint the parts;

[0136] (v) Sandblasting the parts;

[0137] (vi) Perform ultrasonic evaluation of the parts;

[0138] (vii) Perform infrared evaluation of the parts; and

[0139] (viii) Perform an optical evaluation of the parts.

[0140] A22. The method according to any one of paragraphs A1 to A21.1, wherein the operating device comprises at least one of the following:

[0141] (i) Transducer;

[0142] (ii) Sensors;

[0143] (iii) Non-destructive testing equipment;

[0144] (iv) Non-contact inspection device;

[0145] (v) Painting apparatus;

[0146] (vi) Sandblasting equipment;

[0147] (vii) Ultrasonic transmitter;

[0148] (viii) Ultrasonic receiver;

[0149] (ix) Infrared transmitter;

[0150] (x) an infrared receiver; and

[0151] (xi) Optical imaging device.

[0152] A23. The method according to any one of paragraphs A1 to A22, wherein the step of performing the corresponding operation includes performing ultrasonic inspection of the part at each operating position, optionally wherein the operating device includes an ultrasonic device.

[0153] A24. According to the method described in paragraph A23, the steps of performing the operation further include:

[0154] (i) Initiating ultrasonic vibration in the part at each operating position; and

[0155] (ii) Detect the emitted ultrasonic vibrations from the part at each operating position.

[0156] A25. The method according to paragraph A24, wherein the step of initiating ultrasonic vibration includes initiating it using a laser of the operating device, and wherein the orientation step includes positioning the focus of the laser within various operating positions.

[0157] A26. The method according to any one of paragraphs A24 to A25, wherein the step of detecting emitted ultrasonic vibrations includes detecting them using an ultrasonic detector, and wherein the orientation step includes positioning the ultrasonic detector along a corresponding normal vector.

[0158] A27. The method according to any one of paragraphs A24 to A26, wherein the method further includes displaying display information based on emitted ultrasonic vibrations emitted from the part at various operating positions.

[0159] A28. The method described in paragraph A27, wherein the displayed information includes at least one of the following:

[0160] (i) A-scan of the part;

[0161] (ii) B-scan of the part;

[0162] (iii) C-scan of the part; and

[0163] (iv) Three-dimensional volumetric image of the part.

[0164] A29. The method according to any one of paragraphs A27 to A28, wherein, based at least in part on the display step, the method further includes identifying at least one of the following:

[0165] (i) Defects in the parts;

[0166] (ii) Damage to parts;

[0167] (iii) Deterioration of parts;

[0168] (iv) The physical dimensions of the parts; and

[0169] (v) Coating thickness of the coating on the part.

[0170] A29.1 The method according to any one of paragraphs A1 to A29, wherein, at each operational location, the method further includes generating a triggering event.

[0171] A29.2 The method according to paragraph A29.1, wherein the method further includes a checking device for providing a triggering event to an optional end effector.

[0172] A29.3 The method according to paragraph A29.2, wherein, in response to receiving a trigger event, the method further includes performing an inspection using an inspection device.

[0173] A30. The method according to any one of paragraphs A1 to A29.3, wherein, prior to the collection step, the method further includes defining a predetermined raster scan pattern.

[0174] A31. The method according to paragraph A30, wherein the step of defining a predetermined raster scan pattern includes defining the predetermined raster scan pattern independently of any dimensional information of the part.

[0175] A32. The method according to any one of paragraphs A30 to A31, wherein defining a predetermined raster scan pattern includes defining the predetermined raster scan pattern based at least in part on and optionally only on at least one of the length of the region and the width of the region.

[0176] A33. The method according to any one of paragraphs A30 to A32, wherein the step of defining a predetermined raster scan pattern includes defining the predetermined raster scan pattern based on detailed dimensional information of the part.

[0177] A34. The method according to any one of paragraphs A1 to A33, wherein the plurality of predetermined operating positions comprises a subset of a plurality of points defining a plurality of point-to-point movements of a predetermined raster scan pattern.

[0178] A35. The method according to paragraph A34, wherein the subset of the plurality of points includes at least one of the following:

[0179] (i) at least 1%, at least 5%, at least 10%, at least 20%, at least 30%, at least 40%, at least 50%, at least 60%, at least 70%, at least 80%, at least 90%, at least 95%, at least 99%, or 100% of the plurality of points; and

[0180] (ii) up to 100%, up to 90%, up to 80%, up to 70%, up to 60%, up to 50%, up to 40%, up to 30%, up to 20%, or up to 10% of the plurality of points.

[0181] A36. The method according to any one of paragraphs A1 to A29, wherein, prior to the collection step, the method further includes defining a plurality of predetermined operation locations.

[0182] A37. According to the method described in paragraph A36, the step of defining multiple predetermined operating positions includes defining multiple predetermined operating positions independently of any dimensional information of the part.

[0183] A38. The method according to any one of paragraphs A36 to A37, wherein the step of defining a plurality of predetermined operating positions includes defining a plurality of predetermined operating positions based at least in part on and optionally only on at least one of the length of the region and the width of the region.

[0184] A39. The method according to any one of paragraphs A36 to A38, wherein the step of defining a plurality of predetermined operating positions includes defining a plurality of predetermined operating positions based on detailed dimensional information of the part.

[0185] A40. The method according to any one of paragraphs A1 to A39, wherein, prior to the step of collecting the spatial representation of the part, the method further includes overlapping the part with a predetermined raster scan pattern.

[0186] A41. The method according to paragraph A40, wherein the overlapping step includes at least one of the following:

[0187] (i) Positioning the part such that it is within a predetermined grating scan pattern; and

[0188] (ii) Position the end effector so that the part is within a predetermined grating scan pattern.

[0189] A42. The method according to any one of paragraphs A1 to A41, wherein, prior to the step of collecting a spatial representation of the part, the method further includes positioning the part within the field of view of the imaging device.

[0190] A43. The method according to any one of paragraphs A1 to A42, wherein, after the step of collecting the spatial representation of the part and before the moving step, the method further includes adjusting a predetermined raster scan pattern to generate an adjusted raster scan pattern, wherein the adjusted raster scan pattern is at least partially based on the spatial representation of the part, and wherein the moving step includes moving the end effector relative to the part and along the adjusted raster scan pattern.

[0191] A44. The method according to paragraph A43, wherein the step of adjusting the predetermined grating scanning pattern includes at least one of the following:

[0192] (i) Scaling at least one portion of a predetermined raster scan pattern;

[0193] (ii) Truncate at least one portion of the predetermined raster scan pattern; and

[0194] (iii) Extend at least one portion of the predetermined grating scan pattern.

[0195] A45. The method according to any one of paragraphs A43 to A44, wherein the method further comprises adjusting a plurality of predetermined operating positions at least in part based on an adjusted raster scan pattern to generate the adjusted plurality of operating positions.

[0196] A46. The method according to paragraph A45, wherein the step of adjusting a plurality of predetermined operating positions includes adjusting such that the plurality of operating positions are defined along an adjusted grating scan pattern.

[0197] A47. The method described according to any one of paragraphs A45 to A46, wherein:

[0198] (i) The step of defining multiple normal vectors includes defining multiple normal vectors at each of the multiple operating positions of the adjustment; and

[0199] (ii) The orientation step includes orienting the end effector such that the operating device faces each adjusted operating position along the corresponding normal plane of a plurality of normal vectors.

[0200] A48. The method according to any one of paragraphs A1 to A47, wherein the part comprises at least a portion of at least one of the following:

[0201] (i) Aircraft;

[0202] (ii) The wings of an aircraft;

[0203] (iii) The fuselage of the aircraft; and

[0204] (iv) The tail of the aircraft.

[0205] B1. A robot configured to perform multiple operations within a region of a part, the robot comprising:

[0206] An end effector, wherein the end effector includes operating means configured to perform a plurality of operations;

[0207] Imaging devices; and

[0208] A controller, which is programmed to control the operation of the robot according to any one of the methods described in paragraphs A1 to A48.

[0209] C1. A non-transitory computer-readable storage medium comprising computer-executable instructions that, when executed, instruct a robot to perform the method described in any one of paragraphs A1 to A48.

[0210] D1. Using a robot including an end effector, imaging device, and manipulator to perform multiple operations within the area of ​​a part without needing detailed prior dimensional information about the part.

[0211] As used herein, when modifying the action, movement, configuration or other activity of one or more components or the characteristics of the equipment, the terms "selective" and "selectively" mean that a particular action, movement, configuration or other activity is a direct or indirect result of user manipulation of one or more aspects of the equipment or one or more components.

[0212] As used herein, the terms “suitable” and “configured” mean that an element, component, or other subject matter is designed and / or intended to perform a given function. Therefore, the use of the terms “suitable” and “configured” should not be construed as meaning that a given element, component, or other subject matter is merely “capable” of performing a given function, but rather that the element, component, and / or other subject matter is specifically selected, created, implemented, utilized, programmed, and / or designed for performing that function. Elements, components, and / or other stated subject matter that are stated as suitable for performing a particular function may also be described as configured to perform that function, which is also within the scope of this disclosure, and vice versa. Similarly, subject matter that is stated as configured to perform a particular function may also be described as operating to perform that function.

[0213] As used herein, the phrase "at least one" relating to a list of one or more entities should be understood to mean at least one entity selected from any one or more entities in the entity list, but does not necessarily include at least one of every entity explicitly listed in the entity list and does not exclude any combination of entities in the entity list. This definition also allows for the optional presence of entities other than those explicitly identified in the entity list referred to by the phrase "at least one," whether related to or unrelated to those explicitly identified entities. Thus, as a non-limiting example, "at least one of A and B" (or equivalently, "at least one of A or B," or equivalently, "at least one of A and / or B") in one embodiment may refer to at least one (optionally including more than one) A, with no B (optionally including entities other than B); in another embodiment, it may refer to at least one (optionally including more than one) B, with no A (optionally including entities other than A); in yet another embodiment, it may refer to at least one (optionally including more than one) A and at least one (optionally including more than one) B (optionally including other entities). In other words, the phrases "at least one," "one or more," and "and / or" are open expressions of conjunction and disjunction in operation. For example, each of the expressions “at least one of A, B and C”, “at least one of A, B or C”, “one or more of A, B and C”, “one or more of A, B or C” and “A, B and / or C” may mean only A, only B, only C, A and B together, A and C together, B and C together, A, B and C together, and optionally any of the above combined with at least one other entity.

[0214] Not all devices and methods according to this disclosure require all the various disclosed device elements and method steps disclosed herein. This disclosure includes all novel and non-obvious combinations and sub-combinations of the various elements and steps disclosed herein. Furthermore, one or more of the various elements and steps disclosed herein may define an independent inventive subject matter separate from the entire disclosed device or method. Therefore, it is not required that such inventive subject matter be associated with a specific device and method expressly disclosed herein, but such inventive subject matter may be used in devices and / or methods not expressly disclosed herein.

[0215] As used herein, the phrases “for example,” “as an example,” and / or simply the term “example” when used with respect to one or more components, features, details, structures, implementations, and / or methods according to this disclosure are intended to convey illustrative, non-exclusive examples of the described components, features, details, structures, implementations, and / or methods according to this disclosure. Therefore, the described components, features, details, structures, implementations, and / or methods are not intended to be limiting, essential, or exclusive / exhaustive; other components, features, details, structures, implementations, and / or methods, including those structurally and / or functionally similar and / or equivalent, are also within the scope of this disclosure.

[0216] As used herein, when modifying degree or relation, "at least substantially" may include not only the stated "substantial" degree or relation, but also the entire range of the stated degree or relation. The substantiality of the stated degree or relation may include at least 75% of the stated degree or relation. For example, an object formed at least substantially of a material includes an object in which at least 75% of the object is formed of the material, and also includes an object formed entirely of the material. As another example, a first length that is at least substantially as long as the second length includes a first length within 75% of the second length, and also includes a first length that is as long as the second length.

Claims

1. A method for performing multiple operations within a region of a part using an end effector of a robot, the method comprising the following steps: The spatial representation of the part is collected using an imaging device associated with the robot; A predetermined grating scan pattern used for the movement of the end effector relative to the part is aligned with the spatial representation of the part; Multiple normal vectors are defined for the part at multiple predetermined operating positions for operation of the end effector, wherein the steps of the definition are at least partially based on the spatial representation of the part, and wherein each of the multiple predetermined operating positions is defined along the predetermined grating scan pattern; The end effector is moved relative to the part and along the predetermined grating scan pattern; At each operating location: (i) Orienting the end effector such that the operating device of the end effector faces each operating position along the corresponding normal vector plane among the plurality of normal vectors; and (ii) Perform the corresponding operation among the plurality of operations using the operating device.

2. The method according to claim 1, wherein, The step of collecting the spatial representation of the part includes collecting images of the part.

3. The method according to claim 1 or 2, wherein, The alignment step includes at least one of the following: (i) Physically aligning the robot and the part relative to each other such that the predetermined grating scan pattern covers the area of ​​the part; and (ii) Adjust the reference point of the predetermined grating scan pattern so that the predetermined grating scan pattern covers the area of ​​the part.

4. The method according to claim 1 or 2, wherein, The steps of defining the plurality of normal vectors include at least one of the following: (i) Quantifying the surface curvature of the part at each operating position; and (ii) Calculate the surface normal direction at each operating position.

5. The method according to claim 1 or 2, wherein, The movement steps include using the end effector and performing multiple point-to-point movements along the predetermined grating scan pattern.

6. The method according to claim 5, wherein, The distance moved from point to point is at most 10mm.

7. The method according to claim 1 or 2, wherein, The orientation step includes at least one of the following: (i) to operatively translate the operating device in at least one direction; and (ii) Operationally, the operating device is rotated about at least one axis.

8. The method according to claim 1 or 2, wherein, The orientation step includes establishing a predetermined device-to-part distance between the operating device and the part, wherein at least one of the following is true: (i) In each operating position, the distance from the predetermined device to the part is constant or at least substantially constant; and (ii) The distance from the first predetermined device to the part associated with the first operating position among the plurality of predetermined operating positions is different from the distance from the second predetermined device to the part associated with the second operating position among the plurality of predetermined operating positions.

9. The method according to claim 1 or 2, wherein, The plurality of operations includes at least one of the following: (i) Evaluate the part; (ii) Perform non-destructive testing on the part; (iii) Perform non-contact inspection of the parts; (iv) Paint the parts; (v) Sandblasting the parts; (vi) Perform ultrasonic evaluation of the part; (vii) Perform infrared evaluation of the part; as well as (viii) Perform an optical evaluation of the part.

10. The method according to claim 1, wherein, The steps for performing the corresponding operation include performing ultrasonic inspection of the part at each operating position by the following steps: (i) Initiating ultrasonic vibration in the part at each operating position; as well as (ii) Detect the emitted ultrasonic vibrations from the component at each operating position.

11. The method according to claim 10, wherein, The step of initiating the ultrasonic vibration includes initiating it using a laser of the operating device, and wherein the orientation step includes positioning the focus of the laser within various operating positions.

12. The method according to claim 10 or 11, wherein, The step of detecting the emitted ultrasonic vibration includes detecting it using an ultrasonic detector, and the orientation step includes locating the ultrasonic detector along the corresponding normal vector.

13. The method according to claim 10 or 11, wherein, The method also includes displaying information based on the emitted ultrasonic vibrations emitted from the part at various operating positions.

14. The method according to claim 13, wherein, Based at least in part on the steps shown, the method further includes identifying at least one of the following: (i) Defects in the part; (ii) Damage to the said parts; (iii) Deterioration of the parts; (iv) The physical dimensions of the part; as well as (v) The coating thickness of the coating applied to the part.

15. The method according to claim 1 or 2, wherein, Prior to the collection step, the method further includes defining the predetermined raster scan pattern, wherein defining the predetermined raster scan pattern includes defining the predetermined raster scan pattern by at least one of the following methods: (i) Any dimensional information independent of the part; (ii) based at least in part on at least one of the length and width of the region; and (iii) Based on the detailed dimensional information of the part.

16. The method according to claim 1 or 2, wherein, The plurality of predetermined operating positions include a subset of a plurality of points that define a plurality of point-to-point movements of the predetermined grating scanning pattern.

17. The method according to claim 1 or 2, wherein, Prior to the collection step, the method further includes defining the plurality of predetermined operating positions, wherein defining the plurality of predetermined operating positions includes defining the plurality of predetermined operating positions by at least one of the following methods: (i) Any dimensional information independent of the part; (ii) based at least in part on at least one of the length and width of the region; and (iii) Based on the detailed dimensional information of the part.

18. The method according to claim 1 or 2, wherein, After the step of collecting the spatial representation of the part and before the step of moving, the method further includes adjusting the predetermined raster scan pattern to generate an adjusted raster scan pattern, wherein the adjusted raster scan pattern is at least partially based on the spatial representation of the part, and wherein the step of moving includes moving the end effector relative to the part and along the adjusted raster scan pattern.

19. The method according to claim 1 or 2, wherein, The part comprises at least a portion of at least one of the following: (i) Aircraft; (ii) The wings of the aircraft; (iii) the fuselage of the aircraft; and (iv) The tail of the aircraft.

20. A robot configured to perform multiple operations within a region of a part, the robot comprising: An end effector, wherein the end effector includes operating means configured to perform the plurality of operations; Imaging devices; and A controller, which is programmed to control the operation of the robot according to the method of claim 1 or 2.

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