Autonomous non-destructive evaluation system for aircraft structures

Patent metadata

Field	Value
Publication number	US-9234904-B2
Application number	US-201414149887-A
Country	US
Kind code	B2
Filing date	Jan 8, 2014
Priority date	Jun 14, 2011
Publication date	Jan 12, 2016
Grant date	Jan 12, 2016

Abstract

An apparatus comprises an inspection vehicle, a sensor system, a positioning system, a controller, and a support system. The inspection vehicle is configured to move on a surface of an object. The sensor system is associated with the inspection vehicle and is configured to generate information about the object when the inspection vehicle is on the surface of the object. The positioning system is configured to determine a location of the inspection vehicle on the object. The controller is configured to control movement of the inspection vehicle using the positioning system and control operation of the sensor system. The support system is connected to the inspection vehicle and is configured to support the inspection vehicle in response to an undesired release of the inspection vehicle from the surface of the object.

First claim

What is claimed is:

1. An apparatus comprising:
an inspection vehicle including a movement system configured to move the inspection vehicle on a surface of an object, the inspection vehicle configured to attach to the surface of the object by at least one of a suction cup system, a pressure differential system, and a magnetic system;
a sensor system associated with the inspection vehicle and configured to generate information about the object when the inspection vehicle is on the surface of the object;
a positioning system configured to determine at least one of coordinate information and orientation information about a location of the inspection vehicle on the surface of the object, wherein the positioning system is independent and outside of the inspection vehicle;
a controller system configured to control movement of the inspection vehicle using the positioning system and control operation of the sensor system; and
a support system connected to the inspection vehicle and configured to support the inspection vehicle in response to an undesired release of the inspection vehicle from the surface of the object.

2. The apparatus of claim 1 further comprising:
a marker system configured to provide information to the positioning system for use in determining the location of the inspection vehicle.

3. The apparatus of claim 2 , wherein the marker system comprises:
a number of optical targets connected to the inspection vehicle.

4. The apparatus of claim 1 , wherein the inspection vehicle, the sensor system, the positioning system, the controller system, and the support system are part of a non-destructive evaluation system.

5. The apparatus of claim 1 , wherein the sensor system comprises at least one of an ultrasonic sensor system, an imaging system, an eddy current sensor system, a laser shearography system, a thermography system, a magnetic and optical imaging system, a magnetic and resistive sensor system, and an optical system.

6. The apparatus of claim 1 , wherein the support system comprises:
an elongate member; and
a line system connected to the elongate member and to the inspection vehicle.

7. The apparatus of claim 6 , wherein the support system further comprises:
a reel, wherein the reel is configured to hold a line in the line system and supply a level of tension to the line; and
a brake unit configured to reduce rotation of the reel when tension is present in the line.

8. The apparatus of claim 6 , wherein the line system comprises at least one of a tether, a power line, a fluid transport line, and a data line.

9. The apparatus of claim 6 , wherein the support system further comprises a line controller configured to control a set of lines connected to the line controller to perform at least one of supporting the inspection vehicle in response to the undesired release of the inspection vehicle from the surface of the object, slowing the movement of the inspection vehicle, halting the movement of the inspection vehicle, supporting the inspection vehicle as the inspection vehicle moves on the surface of the object, and lifting the inspection vehicle.

10. The apparatus of claim 9 , wherein the line controller is configured to control the set of lines in response to a number of commands received from the controller system.

11. The apparatus of claim 1 , wherein the positioning system comprises at least one of a camera system, a camera tracking system, a laser range meter, a global positioning system receiver, a motion capture positioning system, a laser tracking system, an inertial navigation positioning system, and a radio frequency identification receiver system.

12. The apparatus of claim 1 , wherein the object is selected from one of a mobile platform, a stationary platform, a land-based structure, an aquatic-based structure, a space-based structure, an aircraft, a surface ship, a tank, a personnel carrier, a train, a spacecraft, a space station, a satellite, a submarine, an automobile, a power plant, a bridge, a dam, a manufacturing facility, a roadway, and a building.

13. A non-destructive evaluation inspection system for an aircraft comprising:
an inspection vehicle including a movement system configured to move the inspection vehicle on a surface of the aircraft, the inspection vehicle configured to attach to the surface of the aircraft by at least one of a suction cup system, a pressure differential system, and a magnetic system;
a sensor system connected to the inspection vehicle and configured to obtain information about the aircraft when the inspection vehicle is on the surface of the aircraft;
a support system comprising a reel, an elongate member, and a number of lines connected to the elongate member and the inspection vehicle, wherein the support system is configured to support the inspection vehicle in response to an undesired release of the inspection vehicle from the surface of the aircraft;
a positioning system configured to determine at least one of coordinate information and orientation information about a location of the inspection vehicle on the surface of the aircraft, wherein the positioning system is independent and outside of the inspection vehicle; and
a controller system configured to control movement of the inspection vehicle using the positioning system and control operation of the sensor system.

14. A method for inspecting an object, the method comprising:
determining at least one of coordinate information and orientation information about a location of an inspection vehicle on a surface of the object using a positioning system, wherein the positioning system is independent and outside of the inspection vehicle;
generating information about the object using a sensor system connected to the inspection vehicle while the inspection vehicle is on the surface of the object;
controlling movement of the inspection vehicle using a controller system, wherein the inspection vehicle includes a movement system configured to move the inspection vehicle on the surface of the object, the inspection vehicle attaching to the surface of the object by at least one of a suction cup system, a pressure differential system, and a magnetic system; and
supporting the inspection vehicle in response to an undesired release of the inspection vehicle from the surface of the object using a support system connected to the inspection vehicle.

15. The method of claim 14 further comprising:
storing the information generated about the object in a historical test database.

16. The method of claim 15 , wherein storing the information generated about the object in the historical test database comprises:
determining coordinates for the information using a coordinate system for a model of the object;
identifying a date of when the information was generated; and
storing the information generated about the object in the historical test database with the coordinates and the date.

17. The method of claim 14 , wherein supporting the inspection vehicle in response to the undesired release of the inspection vehicle from the surface of the object comprises:
limiting at least one of a type and range of motion of the inspection vehicle to reduce a possibility of the undesired release of the inspection vehicle causing undesired effects to at least one of the inspection vehicle and the object.

18. The method of claim 14 further comprising:
determining whether an inconsistency is present at a location on the object using the information generated by the sensor system at the location; and
responsive to a determination that the inconsistenc

Assignees

• Boeing Co

Inventors

• Troy James J
• Georgeson Gary Ernest
• Nelson Karl Edward
• Lea Scott Wesley

Classifications

• G01N29/4481

  Neural networks · CPC title

• G01N25/72

  Investigating presence of flaws · CPC title

• G01N27/90

  using eddy currents · CPC title

• G01N27/00

  Investigating or analysing materials by the use of electric, electrochemical, or magnetic means (G01N3/00 – G01N25/00 take precedence; measurement or testing of electric or magnetic variables or of electric or magnetic properties of materials G01R) · CPC title

• G01N29/043 Primary

  in the interior, e.g. by shear waves · CPC title