Holonomic Tracking for NDI Inspection
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Solution Overview
Problem
Current hand-held non-destructive inspection (NDI) systems face challenges in accurately tracking holonomic motion, leading to inaccuracies in position measurement and orientation, which result in poor data representation and increased inspection time due to operator error and the limitations of one-dimensional tracking.
Innovation Solution
The implementation of a self-contained device using omni wheels with rotational encoders to enable real-time tracking of position and orientation, allowing for precise registration of scan imaging data and conversion of tracking data into encoder pulse signals for processing, facilitating accurate two-dimensional image creation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If one-dimensional tracking using a wheeled rotational encoder is used, then the tracking system is simple, but the position measurement accuracy deteriorates due to inability to track holonomic motion
Solution Approach 1:
The patent transitions from one-dimensional tracking (single axis) to two-dimensional holonomic tracking by adding omnidirectional wheels with encoders on multiple axes. This dimensional expansion enables accurate capture of free-form hand motion in both X and Y directions, resolving the contradiction between system simplicity and measurement accuracy.
Solution Approach 2:
The patent introduces an intermediary computational layer that processes encoder data from multiple omnidirectional wheels to calculate precise position and orientation. This intermediary processing layer enables accurate holonomic motion tracking without requiring complex mechanical guidance structures, maintaining relative system simplicity while achieving high measurement precision.
2Ease of operation
If free-form hand motion is used for scanning, then the ease of operation is improved, but the position measurement accuracy deteriorates due to operator inability to maintain straight line motion
Solution Approach 1:
The patent implements feedback by providing real-time visual display of the scan path and position information to the operator. This feedback loop enables the operator to maintain free-form hand motion while consciously correcting for deviations from the intended scan path, thereby maintaining both ease of operation and scan path accuracy.
Solution Approach 2:
The patent replaces mechanical guidance constraints (which would restrict hand motion) with computational tracking and software-based scan path correction. The holonomic encoder system and image processing algorithms compensate for hand motion irregularities, allowing free-form operation while maintaining measurement accuracy through digital rather than mechanical means.
3Ease of manufacture
If hand-held sensors are used for inspection, then the cost is reduced, but the damage detectability deteriorates due to operator error and fatigue
Solution Approach 1:
The patent implements self-service by enabling the system to automatically track position, correlate sensor data with location, and generate inspection images without requiring expert operator interpretation. The automated holonomic tracking and image correlation systems perform functions that would otherwise require skilled human operators, thereby maintaining low cost while improving detection reliability.
Solution Approach 2:
The patent replaces human expert interpretation with automated image processing and correlation algorithms. The system automatically processes sensor signals, correlates them with holonomic position data, and generates interpretable images, eliminating operator error and fatigue while maintaining the cost advantages of hand-held sensor operation.
4Ease of manufacture
If point-by-point measurement is performed by hand, then the equipment cost is reduced, but the inspection time increases due to time-consuming manual process
Solution Approach 1:
The patent implements continuous useful action by enabling continuous sensor data acquisition and continuous position tracking simultaneously through the holonomic encoder system. Unlike discrete point-by-point measurement, the system continuously correlates sensor readings with position data, allowing faster inspection speeds while maintaining equipment simplicity and low cost.
Solution Approach 2:
The patent adds the time dimension to the measurement process by enabling rapid sequential measurements across the inspection area through free-form hand motion tracking. The holonomic tracking system captures position data at high rates, transforming slow discrete point measurement into fast continuous area inspection while keeping equipment costs low.
Data Source
AI summary
A self-contained, holonomic motion tracking solution for supplementing the acquisition of inspection information on the surface of a structure, thereby enabling the real-time production of two-dimensional images from hand-held and automated scanning by holonomic-motion of non-destructive inspection (NDI) sensor units (e.g., NDI probes). The systems and methods disclosed enable precise tracking of the position and orientation of a holonomic-motion NDI sensor unit (hand-held or automated) and conversion of the acquired tracking data into encoder pulse signals for processing by a NDI scanning system.