• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    SYSTEM AND METHOD FOR AUTOMATED INSPECTION AND CRACK REPAIR. The present invention relates to a system for the automated inspection of the surface; the system may include a self-propelled, steerable cart capable of traversing the surface, the cart having a camera positioned to see an object on the surface, and at least one sensor capable of detecting a defect on a surface, the tool for treating the defect, and a sensor to inspect a defect repair; and a connected computer controller to receive image data from the camera, communicate with and selectively trigger at least one sensor capable of detecting a defect in a surface, the tool to treat the defect, and a sensor to inspect a repair of the defect, and control the cart to move on the surface along one or more of a predetermined path and a path to one or more pre-selected locations.
    公开号:BR102014001605B1
    申请号:R102014001605-8
    申请日:2014-01-23
    公开日:2021-02-09
    发明作者:Gary E. Georgeson；Steven D. Blanchard；Joseph L. Hafenrichter；Karl E. Nelson；Thomas T. Mccleave
    申请人:The Boeing Company；
    IPC主号:
    专利说明:

    Field of the Invention
    [001] The system and method described refer to the inspection and repair of surface defects and, more particularly, to the systems and methods for the automated inspection and repair of cracks formed on a surface. Background
    [002] Inspection and repair of defects on a surface is often a costly and time-consuming procedure. For example, a single aircraft wing can include thousands of fasteners embedded in a carbon fiber panel. Each fastener can be covered with a dielectric top to prevent lightning from entering the fuel tank area. Each of the dielectric tops can be covered with a layer of paint.
    [003] Current inspection and repair are completely manual operations. It is necessary to visually inspect each dielectric top to determine if it is cracked. Cracks that are greater than 2.54 mm (0.1 inch) in length may require repair or replacement of the dielectric top. Once it is determined that a cracked dielectric top must be repaired, it is necessary to manually remove the top, clean and prepare the exposed fastener surface, apply fresh dielectric material, and paint the material when hardened.
    [004] These manual operations are time-consuming and uneconomic. The completely manual nature of the operation can result in repair quality items. The large amount of time required to inspect and repair dielectric tops on an aircraft in this way can result in an aircraft being out of service for extended periods of time.
    [005] Therefore, there is a need for a system and method to automate the inspection and repair of defects on a surface. Additionally, there is a need to automate the process of detecting and repairing cracks and dielectric tops on the surfaces of aircraft wings. summary
    [006] In one embodiment, a system for the automated inspection of a surface may include a self-propelled, steerable cart capable of traversing the surface, the cart having a camera positioned to see an object on the surface, and at least one a sensor capable of detecting a defect on a surface, a tool to treat the defect, and a sensor to inspect a repair for the defect; and a connected computer controller to receive image data from the camera, communicate with and selectively activate at least one of the sensor and the tool, and control the cart to move on the surface along one or more of a predetermined path and a route to one or more predetermined locations.
    [007] In another embodiment, a system for the automated inspection of an aircraft's wing surface may include a self-propelled, steerable cart capable of traversing the wing's surface, the cart having a camera positioned to see an object on the surface of the wing. wing, and at least one sensor capable of detecting a defect on the surface of the wing, a tool to treat the defect, and a sensor to inspect a repair of the defect; and a connected computer controller to receive image data from the camera, communicate with and selectively trigger at least one sensor capable of detecting a defect in the wing surface, a tool to treat the defect and the sensor to inspect a repair of the wing defect, and control the cart to move on the wing surface along one or more of a predetermined path and a path to one or more predetermined locations.
    [008] In yet another modality, a method for automated inspection of a surface includes having a steerable, self-propelled trolley on the surface, the trolley having a camera positioned to see an object on the surface, and at least one sensor capable of detecting a defect on a surface, a tool to treat the defect, and a sensor to inspect a repair for the defect; receiving image data from the camera; and communicate with and selectively trigger at least one of the sensor capable of detecting the defect on a surface, the tool for treating the defect, and the sensor for inspecting a repair of the defect, and controlling the cart to move on the surface along one or more of a predetermined route and a route to one or more predetermined locations.
    [009] In accordance with one aspect of the present description, a system is proposed for the automated inspection of a surface, the system comprising: a steerable, self-propelled trolley, capable of traversing the surface, the trolley having a camera positioned to see an object on the surface, and at least one sensor capable of detecting a defect on a surface, the tool for treating the defect, and a sensor for inspecting a repair of the defect; and a connected computer controller to receive image data from the camera, communicate with and selectively trigger at least one sensor capable of detecting a defect in a surface, the tool for treating the defect and the sensor for inspecting a defect repair , and control the cart to move on the surface along one or more of a predetermined path and a path to one or more predetermined locations.
    [0010] Advantageously, the computer's controller system includes a database containing at least one predetermined path, the path to one or more predetermined locations and the location of the defect on a surface, and the computer controller controls the cart to move on the surface along at least one predetermined path and the path to one or more predetermined locations. Preferably, the surface is the wing surface of an aircraft, and one or more predetermined locations include one or more locations of tops produced from dielectric material covering fasteners on the surface of the wing. Preferably, the sensor capable of detecting a defect in a surface includes at least one crack depth sensor to find the crack in the tops, where the crack depth sensor includes a high resolution optical imaging with LED side lighting. alternating light (LED), a device for dripping and cleaning penetrating dye including an ultraviolet lamp and chromatic dye deposition, infrared or ultraviolet laser fluorescence, Raman spectroscopy; and a crack depth measurement sensor to measure the crack depth, wherein the crack depth measurement sensor includes a terahertz measurement device for transmitting terahertz radiation to measure and / or imagine the crack depth at the top , a narrow beam laser adapted to read the crack, and a forced diffusion thermography device to measure the amount of heat transferred from one side of the crack to the other, the forced diffusion thermography device including a heat source located to be positioned on one side of the crack and a non-cooled infrared mini camera for imaging, a high frequency ultrasound generator adapted to direct one of an angled pitch capture through the crack and a structural wave through the crack, a fiber optic laser ultrasound, a capacitance measurement sensor to measure capacitance through the crack, a generates near-field millimeter wave pain, a mini X-ray backscatter, a Fourier transform infrared (FTIR) generator, Raman spectroscopy using a laser, a laser for laser fluorescence. Preferably, the tool is configured to perform at least one repair of a dielectric top, remove the dielectric top, and mark the dielectric top for one of repair and removal. Preferably, the tool includes at least one semi-rigid and rotating plastic router adapted to remove the dielectric top from the surface, a pen marker, a label dispenser to mark the dielectric top for a repair and removal, a material dispenser dielectric, an ink dispenser to cover dielectric material, and an appliqué dispenser configured to lay an appliqué on the dielectric material.
    [0011] Advantageously, the sensor system to inspect the defect repair includes one or more of a thermal imaging camera that uses infrared thermography (IRT) to detect internal voids, a sensor using a microwave thickness gauge to determine if the thickness of the paint applied to the defect is sufficient, a sensor using an ultrasonic thickness gauge to determine if the thickness of the paint applied to the defect is sufficient, a high resolution camera for optical imaging to check the wide coverage of dielectric material applied to the defect, a magneto-optical imaging device used as a full-field imaging method of the loop surrounding the defect, and an eddy current arrangement.
    [0012] Advantageously, the system additionally comprises: at least a second steerable, self-propelled cart capable of traversing the surface, the cart having a second camera positioned to see an object on the surface, and at least a second sensor capable of detecting the defect on a surface, a second tool to treat the defect, and a second sensor to inspect a repair for the defect; where the computer controller is connected to receive image data from the second camera, to communicate with and selectively trigger at least a second sensor capable of detecting a defect in a surface, the second tool to treat the defect and the second sensor to inspect a defect repair, and to control the second cart to move on the surface along one or more of a predetermined path and a path to one or more predetermined locations, in a motion independent of and coordinated with the first cart.
    [0013] Advantageously, the system additionally comprises a stability assembly to fix the cart to the surface during tool operation, the stability assembly communicates with the computer control for the selective activation and deactivation in this way. Preferably, the stability assembly is a suction device.
    [0014] Advantageously, the sensor system that is capable of detecting a defect in a surface is a crack depth sensor. Preferably, the crack depth sensor uses at least one Fourier transform infrared (FTIR), Raman spectroscopy, infrared fluorescence, laser fluorescence, and forced diffusion thermography to determine the crack depth on a surface.
    [0015] Advantageously, the system tool is adapted to prepare the surface for repair of the defect. Preferably, the tool is configured to apply at least one of acetone and methyl ethyl ketone (MEK).
    [0016] Advantageously, the system additionally comprises a chain rod connected to the cart and configured to provide fall arrest in the event that the cart falls from the surface. Advantageously, the system additionally comprises a cable connecting at least one camera and at least one sensor and the tool to the computer controller; and the cable being supported at least partially by the chain rod.
    [0017] In accordance with an additional aspect of the present description, a system is provided for the automated inspection of the surface of an aircraft, the system comprising: a self-propelled steerable cart capable of crossing the surface of the wing, the cart having a camera positioned to view an object on the surface of the wing, and at least one of a sensor capable of detecting a defect on the surface of the wing, the tool to treat the defect, and a sensor to inspect a repair of the defect; and a connected computer controller to receive image data from the camera, communicate with and selectively trigger at least one of the sensor capable of detecting a defect in the wing surface, the tool to treat the defect, and the sensor to inspect one repair of the defect, and control the cart to move on the surface of the wing along one or more of a predetermined path and a path to one or more predetermined locations.
    [0018] In accordance with a further aspect of the present description, a method is provided for the automated inspection of the surface, the method comprising: arranging a self-propelled steerable cart on the surface, the cart having a camera positioned to see an object on the surface, and at least one of a sensor capable of detecting a defect in a surface, the tool for treating the defect, and a sensor for inspecting a repair of the defect; receiving image data from the camera; and communicate with and selectively trigger at least one of the sensor capable of detecting a defect in a surface, the tool to treat the defect, and the sensor to inspect a repair of the defect, and to control the cart to move on the surface along one or more of a predetermined route and a route to one or more predetermined locations.
    [0019] Advantageously controlling the cart to move on the surface to one or more predetermined locations on it includes one or more of accessing a table containing one or more predetermined locations stored in a database, triggering the cart to follow a grid of sheet metal on the surface interconnecting one or more predetermined locations, and remotely guide the cart on the surface using the camera.
    [0020] Advantageously, selectively activate at least one of the sensor capable of detecting a defect in a surface, the tool for treating the defect, and the sensor for inspecting a defect repair includes selectively activating at least one semi-rigid plastic router and rotary adapted to remove a dielectric top from the surface; a pen marker and a label dispenser to mark a dielectric top for repair and removal; a dispenser for at least one of dielectric material, paint to cover the dielectric material, and an application configured to be disposed on the dielectric material; a computer control to record the location of the defect on a surface in a database; a suction device for fixing the cart to the surface; a crack depth sensor using at least one Fourier transform infrared, Raman spectroscopy, infrared fluorescence, laser fluorescence, and forced diffusion thermography to determine the depth of the crack on a surface; an applicator to apply at least one of acetone and methyl ethyl ketone (MEK) to prepare the surface for repair of the defect; a thermal imaging camera that uses infrared thermography (IRT) to detect internal voids; a sensor using a microwave thickness gauge to determine whether the thickness of the paint applied to the defect is sufficient; a sensor using an ultrasonic thickness gauge to determine whether the thickness of the paint applied to the defect is sufficient; a high resolution camera for optical imaging to check the wide coverage of dielectric material applied to the defect; a magneto-optical imaging device used as a full-field mesh imaging method surrounding the defect; and an eddy current arrangement.
    [0021] Other objectives and advantages of the method and system described will be apparent from the description below, the attached drawings and the attached claims. Brief Description of Drawings
    [0022] Figure 1 is a side elevation view, relatively schematic of the system described for automated inspection and crack repair; and
    [0023] Figure 2 is a detailed view showing the system cart shown in figure 1. Detailed Description
    [0024] As shown in figure 1, the system for automated inspection and crack repair, generally designated 10, may include a cart, generally designated 12, that is in communication with a computer controller, generally designated 14. Cart 12 can communicate with the controller of computer 14 by wireless communication, such as using Bluetooth communication protocol, or as shown, using a data communication cable 16 that extends between the computer controller and the cart. A power cable 18 can also extend between and connect the cart 12 with the computer controller 14.
    [0025] System 10 may also include a boom or tie rod 20. Tie rod 20 may consist of an elongated shaft 22 produced from a rigid material, such as polyvinyl chloride (PVC) or fiberglass, and may include a support 24 that is on the ground. The rod 20 can also carry and support the cables 16, 18 that interconnect the cart 12 with the computer control 14, and can include a support cable 24 for fall arrest; that is, to protect the cart 12 in the event that it inadvertently falls from the surface.
    [0026] As shown in figure 1, the cart 12 can be arranged on the surface, which in one embodiment can be the upper surface 26 of an aircraft wing 28. The upper surface 26 can be oriented substantially horizontally, so that the cart can be guided by computer control 14 on a predetermined horizontal path along the upper surface.
    [0027] Computer control 14 may include a display screen 30, and, optionally, may include a trolley steering device or controller 32 for manual trolley guidance 12.
    [0028] As shown in figure 2, the cart 12 may be a self-propelled, steerable cart that includes a chassis, generally designated 34, which may include pairs of wheels 36, 38 (four wheels in total) whose pair of wheels 36 and / or pair of wheels 38 can be steered by energized guidance link 40 driven by computer control 14. Wheel pairs 36, 38 can be driven by a motor or built-in electric motors 42, and may include friction material to prevent o slide on surface 26. The energized steering link 40 and motors 42 can be driven, energized and controlled by computer control 14 (figure 1) via cables 16, 18.
    [0029] Cart 12 can also include a high resolution camera 44 mounted on chassis 34. The high resolution camera 44 can be connected to the controller of computer 14 via cable 16 (figure 1) and can be configured to view and transmit a high-resolution image of the surface 26, and objects on the surface, which in modalities may include surface features, markings on or embedded in a surface, or dielectric tops covering fasteners, to computer control 14 and shown on screen 30. Additionally , computer control 14 can include data storage 46 containing image analysis software to process images of the surface 26 and objects on the surface transmitted from the camera 44. In embodiments, the camera 44 can be fixed with respect to the chassis 34, or be mounted for pivot movement with respect to it, the pivot movement being remotely triggered by the computer controller 14 or manually via the controller of the computer computer 32.
    [0030] In modalities, data storage 46 can include one or more predetermined routes and / or a table of one or more predetermined locations, which in modalities can be inspection and / or repair routes and inspection and / or locations repair, identified on the specified surface 26 of a particular aircraft model. Thus, the computer control can drive the cart to travel on the surface 26 along one or more of a predetermined path and a path to one or more predetermined locations on the surface.
    [0031] Cart 12 may also include a sensor capable of detecting a defect in a surface 26, which in one embodiment may be a crack depth sensor 48 mounted on chassis 34 and connected to computer control 14 by cable 16, or without wire. The crack depth sensor 48 may include instrumentation to find a defect in a surface 26, which in one embodiment may include a crack in a top 50 made of dielectric material that covers a fastener 52 on the aircraft's wing 28. The sensor 48 can include low resolution optical imaging with alternating light emitting diode (LED) side lighting to show the crack in a 50 dielectric top in any orientation. In other embodiments, sensor 48 may include a drip and wipe dye cleaning device that uses ultraviolet light to detect the crack, in which sensor 48 may include an ultraviolet lamp configured to direct ultraviolet light at the dielectric top and an image is produced from the illuminated area using paint with chromatic dyes deposited in the area by the sensor 48. In other modalities, the sensor 48 can use infrared or ultraviolet laser fluorescence, by fluorescing materials on the dielectric top, or by using Raman spectroscopy, or by others known methods and devices.
    [0032] In one embodiment, cart 12 may include a crack depth measurement sensor 54, mounted on chassis 34 and connected to computer control 14 by cable 16, or wireless. The crack depth measurement sensor 54 can be used to measure the crack depth detected at the dielectric top 50. The crack depth measurement sensor 54 can include a terahertz measurement device that transmits terahertz radiation over the dielectric top 50 to measure and / or imagine the depth of the crack at the dielectric top. In other embodiments, the crack depth measurement sensor 54 may include a narrow beam laser which is scanned for the crack at the dielectric top 50, and the difference in flight time between the crack surface and bottom can be measured for determine the depth of the crack. In another embodiment, the crack depth measurement sensor 54 may include a forced diffusion thermography device that measures the amount of heat transferred from one side of the crack at the dielectric top 50 to the other, and includes the heat source located applied to one side of the crack and the dielectric top is imaged with the uncooled infrared mini camera included in the crack depth measurement sensor 54.
    [0033] In still other modalities, the crack depth measurement sensor 54 can use a high frequency ultrasound generator. The ultrasound projector can direct an angled pitch capture through the crack or structural wave through the crack. In other embodiments, the crack depth measurement sensor 54 may include a fiber optic laser ultrasound generator. In other embodiments, the crack depth measurement sensor 54 may include one or more of the capacitance measurement through the crack at the dielectric top 50, a millimeter wave generator near the field, a mini X-ray backscatter device, a generator Fourier transform infrared (FTIR), Raman spectroscopy using a laser, and / or laser fluorescence (fluorescent at 792 nm). If the crack in the dielectric top 50 exceeds a predetermined depth, the dielectric top 50 can either be marked for later repair or can be repaired by the tool to address the defect, such as a device 56 mounted on the trolley chassis 34.
    [0034] In one embodiment, chassis 34 may include a tool to treat a defect in a surface 26, which in one embodiment may include device 56, driven and energized by computer controller 14, to mark the cracked dielectric top for subsequent repair or removal. In one embodiment, device 56 may include a pen marker using a trigger to mark the dielectric top 50 with ink. In other embodiments, device 56 may include a dispenser that dispenses sticky or appliqué labels, and in other embodiments, device 56 may include a digital marker that transmits a signal via cable 16 to computer control 14 (figure 1) that records the location (either by an assigned number or by coordinates) of the cracked dielectric top 50 on wing 28 in a database 46. The digital marker can include a local positioning system (LPS) program or motion capture program to determine the location of the dielectric top 50.
    [0035] In other embodiments, the tool for treating a defect in a surface 26 may include device 56 being adapted to function as a dielectric top repair device, driven and energized by the computer controller 14. In said embodiments, the device 56 may include a device for removing a dielectric top, which may include removal of the dielectric material which may be in the form of a plastic router powered via cable 18 from the controller of computer 14. In other embodiments, device 56 may consist of in or include an acetone or methyl ethyl ketone (MEK) and self-cleaning chemical dispenser with a green waste recovery system. Said dispenser could prepare the surface under the cracked dielectric top 50 (i.e., the top surface of the fastener 52) for application of the replacement of the dielectric top.
    [0036] In modalities, the device 56 may include a dispenser that deposits the dielectric material on the fastener 52 and / or applies paint on the reapplied dielectric material. In still other embodiments, the device 56 can apply an appliqué on the dielectric material 50 instead of paint. The dielectric material dispenser and applique dispenser 56 can also be connected to be activated and energized by the computer controller 14.
    [0037] In said modalities in which the device 56 can include a dielectric top repair device, the cart 12 can be configured so that one of the sensors 48, 54 can be a sensor for inspecting a repair of a defect on a surface 26, which in one embodiment may include a sensor to verify the integrity of a repair produced by device 56. In said embodiments, sensor 54, for example, may be a thermal imaging camera that uses infrared thermography (IRT) to detect internal voids in the replacement of dielectric top 50 applied to fastener 52. In other modalities, sensor 48 can be an ultrasonic thickness gauge or by microwave to measure the thickness of the paint applied to the top of fastener 52. In the referred modalities, imaging optical with the high resolution camera 44 can check all coverage of the dielectric.
    [0038] In other modalities, an electromagnetic method can be used, such as a capacitive method to check the charge capacitance of the material, or eddy current to check the mesh around the edge of the fastener 52. In that modality, the sensor 48 can be a magneto-optical imaging device, which can be used as a full-field imaging method of the surrounding mesh (such as eddy current, but providing a 2-D image), or sensor 48, 54 it may be an eddy current arrangement.
    [0039] In modalities, the cart 12 can include a stability assembly 58 that is selectively driven by the computer controller 14 (figure 1). The stability assembly 58 may, in some embodiments, include a suction device in the form of one or more suction cups to provide a vacuum aid to stabilize and secure the cart 12 during an inspection or repair operation. The stability assembly 58 can be powered by and selectively activated by the computer controller 14.
    [0040] In modalities, the system 10 can include one or more than one trolley 12. In modalities comprising multiple trolleys 12, each trolley can be configured to perform a different function, such as a different inspection, marking, repair and inspection of repair. In embodiments comprising multiple trolleys 12, the computer controller 14 can operate trolleys 12 in conjunction with each other, in which, for example, a first trolley 12 performs the crack detection, and a second trolley performs the marking and / or repair of the crack. In other embodiments, the second cart 12 can be operated by the computer controller 14 to operate independently of the first cart 12, in which, for example, both the first and second carts 12 can perform the same or different functions or functions. mentioned above.
    [0041] In modalities, the system 10 can be configured so that the computer control 14 guides the cart 12 over a predetermined pattern of locations from a fastener 52 to another fastener on the wing of the aircraft 28, in which the controller of the computer guides cart 12 along a path from a predetermined location of a fastener 52 on the wing to another predetermined location of a fastener 52. Data that comprises the path and locations of the fasteners for the wing 28 of a particular aircraft can be stored in storage 46 as part of the computer's controller 14, or called by the computer's controller from a remote location on the network (not shown). In other embodiments, the cart 12 can follow a grid of copper foil 60 mounted on or embedded in a surface 26 of the wing of the aircraft 28 that interconnects the fasteners 52. In modalities, the cart 34 can be guided to one or more predetermined locations (ie, from one fastener location to another) manually by a user using controller 32, entirely by computer control 14, or a combination not only manually, but also by computer control.
    [0042] The operation of system 10 for automated crack inspection and repair is as follows. The cart 12 can be arranged on the surface 26 of an aircraft wing 28, either manually or by a robotic arm (not shown). In embodiments, the cart 12 can be placed on other surfaces of an aircraft or other vehicles. One or more of the aircraft's specific wing type 28, the fastener pattern 50 on that wing and the path to be traveled by cart 12 can be stored locally in computer control database 46 or accessed from a remote location . Cart 12 can initially be guided by a user using controller 32 to an initial location, which can be a pre-selected fastener 52 and dielectric top 50. A high resolution camera 44 can be triggered and used at that time for the proper location of cart 12 with respect to progress and centering on fastener 52 and dielectric top 50. In embodiments, cart 12 can simply include a sensor (for example, sensor 54) configured to follow copper grid 60 to the appropriate starting location.
    [0043] The dielectric top 50 can be visually inspected through the high resolution camera 44 at that time. Alternatively, or in addition, a crack detection sensor 48 can be triggered by computer control 14. A crack detection sensor 48 can use one or more of the aforementioned crack detection methods to determine if there is a crack in the dielectric top 50. If the crack is detected and exceeds a predetermined minimum length, such as 2.54 mm (0.1 inch), computer control 14, or a human operator at the computer control, can trigger the depth measurement sensor crack depth 54. Alternatively, the crack depth measurement sensor 54 may be on a second cart 12 following a first cart. The crack depth measurement sensor 54 can use one or more of the methods mentioned above to measure the crack depth at the dielectric top 50.
    [0044] If the depth of the crack exceeds a predicted mined depth, a decision can be made to repair the crack or mark the crack for repair at a later time, or for a second, cart that follows 12. If it is decided to mark the crack, a stability assembly 58 can be actuated to hold the trolley 34 in place on the surface 26 with respect to the crack at the dielectric top 50. The device-shaped tool 56 can be driven by computer control 14 to employ one or more of the above-mentioned methods for marking the crack with a pen, applying a label using a dispenser, or using digital marking when recording the location of the cracked 50 dielectric top in a database at 46, or at a remote database.
    [0045] Alternatively, or in addition, device 56 can be activated to repair the crack. This may involve triggering the removal of the dielectric material using one or more of the methods mentioned above, such as by a plastic router. Device 56 may also include a self-cleaning chemical device that applies acetone or MEK with a green waste recovery system. The cart 12 can be repositioned so that the camera 44 inspects the cavity of the excavated fastener head that has been cleaned, and the cavity shown on screen 30 for viewing by a user. It may be necessary at that time to verify that all material has been removed from the cavity previously filled with the now removed dielectric material, and that the fastener surface and the wing surface of the aircraft 26 are clean.
    [0046] The device 56 can be activated to reapply the dielectric material, repaint on the applied dielectric material, or alternatively apply an application on the dielectric material instead of paint. After said replacement process has been completed, the high resolution camera 44 can transmit an image of the completed repair on screen 30 so that a human operator can determine whether the quality of the repair is acceptable. In embodiments, the cart 12 may include one or more sensors 48 to inspect the repair, such as by using IRT to detect internal voids, and / or an ultrasonic or microwave thickness gauge to determine if the paint thickness is sufficient. After repairing the dielectric top 50, computer control 14 can drive cart 12 to move to the next successive dielectric top location 50 on the wing surface of the aircraft. This process can be repeated for each of the dielectric tops on the surface 26 of an aircraft wing 28. In modalities, the cart 34 can include an inspection device 56 that uses a capacitance check to verify the protection of the electromagnetic event (“ EME ”).
    [0047] System 10 above and method provides a consistent, repeatable and accurate inspection method that identifies cracks in dielectric tops on the surface before they become a problem. The method is extremely valuable from the point of view of cost, as well as security. In addition, the method and system described extend the time required between inspections with respect to a method that is limited to detecting major cracks, such as a simple visual method that is based solely on human eyes. More significant cost savings can be provided by the system and method described as a result of automation and inspection speed. Cart 12 can significantly reduce the hours of work and labor required to perform a dielectric top inspection on the surface 26 of an aircraft wing 28 that can include thousands of dielectric tops 50.
    [0048] Although the shapes of the apparatus and methods described herein constitute the preferred embodiments of the present invention, it should be understood that variations can be produced therein without deviating from the scope of the present invention.
    权利要求:
    Claims (18)
    [0001]
    1. System for the automated inspection (10) of a surface, the system (10) characterized by the fact that it comprises: a self-propelled airship cart (12) capable of traversing the surface, the cart (12) having a camera (44) positioned to see an object on the surface, a tool mounted on the cart (12) to treat a defect on the surface, and a sensor mounted on the cart (12), the sensor selected from a sensor that detects the defect and a sensor that inspects a defect repair; wherein the tool is selected from a device (56) that marks cracked dielectric tops (50) for later repair or removal, and a device (56) that repairs or removes dielectric tops (50); and a computer controller (32) connected to receive image data from the camera (44), communicate with and selectively activate the tool to treat the defect, at least one of the sensor capable of detecting the defect on the surface and the sensor to inspect a defect repair, and to control the cart (12) to move on the surface along one or more of a predetermined path and a path to one or more predetermined locations.
    [0002]
    2. System (10), according to claim 1, characterized by the fact that the computer controller (32) includes a database selected from the predetermined path, the path to one or more predetermined locations and a location of the surface defect; and the computer controller (32) controls the cart (12) to move on the surface along a predetermined path and the path to one or more predetermined locations.
    [0003]
    3. System (10) according to claim 2, characterized by the fact that the surface is a wing surface (26) of an aircraft, and one or more predetermined locations include one or more locations of tops (50) produced of dielectric material covering fasteners (52) on the wing surface (26).
    [0004]
    4. System (10), according to claim 1, characterized by the fact that the tool is selected from a semi-rigid plastic router that removes the dielectric top (50) from the surface, a pen marker, a label dispenser to mark the dielectric top (50) for one of repair and removal, a dielectric material dispenser, an ink dispenser to cover dielectric material, and an applique dispenser that applies an applique on the dielectric material.
    [0005]
    5. System (10), according to claim 1, characterized by the fact that the sensor to inspect the defect repair includes one or more of a thermal imaging camera (44) that uses infrared thermography (IRT) to detect internal voids, a sensor using a microwave thickness gauge to determine if a thickness of the paint applied to the defect is sufficient, a sensor using an ultrasonic thickness gauge to determine whether the thickness of the paint applied to the defect is sufficient, a camera (44) high resolution for optical imaging to verify the wide coverage of dielectric material applied to the defect, a magneto-optical imaging device (56) used as a full-field mesh imaging method surrounding the defect, and an array eddy current.
    [0006]
    6. System (10), according to claim 1, characterized by the fact that it additionally comprises: at least a second self-propelled airship cart (12) capable of traversing the surface, the second cart (12) having a second camera (44) ) positioned to see an object on the surface, and a second sensor capable of detecting the defect on the surface, a second tool, mounted on the second cart (12), to treat the defect, and a third sensor to inspect a repair of the defect; wherein the computer controller (32) is connected to receive image data from the second camera (44), communicate with and selectively activate the second sensor capable of detecting a defect on the surface, the second tool for treating the defect and the second sensor to inspect a defect repair, and to control the second cart (12) to move on the surface along one or more of a predetermined path and a path to one or more predetermined locations, in a motion independent of and coordinated with the first cart (12).
    [0007]
    7. System (10), according to claim 1, characterized by the fact that it additionally comprises a stability assembly to fix the trolley (12) to the surface during operation of the tool, the stability assembly (58) communicates with the computer control (14) for the selective activation and deactivation of the same.
    [0008]
    8. System (10) according to claim 7, characterized by the fact that the stability assembly (58) is a suction device.
    [0009]
    9. System (10), according to claim 1, characterized by the fact that the sensor capable of detecting a defect in the surface is a crack depth sensor (48).
    [0010]
    10. System (10), according to claim 9, characterized by the fact that the crack depth sensor (48) is selected from a Fourier transform infrared (FTIR) generator, Raman spectroscopy using a laser, ultraviolet fluorescence, laser fluorescence, and forced diffusion thermography to determine the depth of a crack in the surface.
    [0011]
    11. System (10), according to claim 1, characterized by the fact that the tool is a dispenser selected from a dispenser that uses acetone and a dispenser that uses methyl ethyl ketone (MEK).
    [0012]
    12. System (10), according to claim 1, characterized by the fact that it additionally comprises a chain rod connected to the cart (12) and configured to provide fall arrest in the event that the cart (12) falls from of the surface.
    [0013]
    13. System (10), according to claim 12, characterized by the fact that it additionally comprises a cable (16, 18) that connects at least one of the camera (44) and at least one of the sensor and the tool for the computer controller (32); and the cable (16, 18) is supported at least partially by the chain rod.
    [0014]
    14. Method for the automated inspection of a surface, the method characterized by the fact that it comprises: having a self-propelled steerable cart (12) on the surface, the cart (12) having a camera (44) positioned to see an object on the surface, a tool mounted on the cart (12) to treat a defect on the surface, and a sensor mounted on the cart (12), the sensor selected from a sensor that detects the defect on the surface and a sensor that inspects a repair of the defect ; receiving image data from the camera (44) by a computer controller (32); and communicate with and selectively activate the tool to treat the defect, in which the treatment of the defect by the tool is selected from the marking of cracked dielectric tops (50) for later repair or removal, and the repair or removal of dielectric tops (50), the sensor being able to detect a defect on the surface, and the sensor to inspect a repair of the defect, and to control the trolley (12) to move over the surface along both of them within a predetermined path and a path to one or more locations predetermined by the computer controller (32).
    [0015]
    15. Method according to claim 14, characterized by the fact that controlling the cart (12) to move on the surface to one or more predetermined locations on it includes one or more of accessing a table containing one or more predetermined stored locations in a database, activate the cart (12) to follow the grid of sheet metal on the surface interconnecting one or more predetermined locations, and remotely guide the cart (12) on the surface using the camera (44).
    [0016]
    16. Method, according to claim 14, characterized by the fact that selectively activate the tool to treat the defect and one selected from the sensor capable of detecting a defect on the surface, and the sensor to inspect a repair of the defect includes triggering a tool selected from a rotating semi-rigid plastic router adapted to remove a dielectric top (50) from the surface; a pen marker and a label dispenser for marking a dielectric top (50) for a repair and removal; a dispenser for at least one of dielectric material, paint to cover dielectric material, and an application configured to be disposed on the dielectric material; a crack depth sensor (48) selected from a Fourier transform infrared generator, Raman spectroscopy using a laser, ultraviolet fluorescence, a laser for laser fluorescence, and forced diffusion thermography to determine a depth of a crack in a surface; an applicator to apply at least one of acetone and methyl ethyl ketone (MEK) to prepare the surface for repair of the defect; a thermal imaging camera (44) that uses infrared thermography (IRT) to detect internal voids; a sensor using a microwave thickness gauge to determine if the thickness of the paint applied to the defect is sufficient; a sensor using an ultrasonic thickness gauge to determine whether the thickness of the paint applied to the defect is sufficient; a high resolution camera (44) for optical imaging to check the wide coverage of dielectric material applied to the defect; a magneto-optical imaging device (56) used as a full-field mesh imaging method surrounding the defect; and an eddy current arrangement.
    [0017]
    17. System for automated inspection (10) of a surface, the system (10) characterized by the fact that it comprises: a self-propelled steerable cart (12) capable of traversing the surface, the cart (12) having a camera (44) positioned to see an object on the surface, and at least one of a sensor capable of detecting a defect on the surface, a tool to treat the defect, and a sensor to inspect a repair of the defect; and a computer controller (32) connected to receive image data from the camera (44), to communicate with and selectively activate at least one of the sensor capable of detecting a defect on the surface, the tool for treating the defect, and the sensor to inspect a defect repair, and to control the cart (12) to move on the surface along one or both of a predetermined path and a path to one or more predetermined locations, where the computer controller (32) includes a database selected from the predetermined path, the path to one or more predetermined locations and a location of the defect on the surface; and the computer controller (32) controls the cart (12) to move on the surface along a selected one from the predetermined path and the path to one or more predetermined locations; wherein the surface is a wing surface (26) of an aircraft, and the one or more predetermined locations include one or more locations of tops (50) produced from dielectric material covering fasteners (52) on the surface of the wing (26); and where the sensor is able to detect a defect in a surface includes at least one of a crack depth sensor (48) to find a crack in the tops (50), where the crack depth sensor (48) includes a high resolution optical imaging with alternating light emitting diode (LED) side lighting, a device (56) for dripping and cleaning penetration dye including an ultraviolet lamp and chromatic dye deposition, fluorescence an infrared or ultraviolet laser, Raman spectroscopy; and a crack depth measurement sensor (54) for measuring a crack depth, wherein the crack depth measurement sensor (54) includes a terahertz measuring device (56) for transmitting terahertz radiation to measure and / or imagining a crack depth at the top (50), a narrow beam laser adapted to read the crack, and a forced diffusion thermography device (56) to measure an amount of heat transferred from one side of the crack to the other, the forced diffusion thermography device (56) including a heat source located to be positioned on one side of the crack and an uncooled infrared mini camera (44) for imaging, a high frequency ultrasound generator adapted to target an angled pitch capture through the crack and a structural wave through the crack, a fiber optic laser ultrasound generator, a capacitance measurement sensor for measuring capacitance through the crack, a millimeter wave generator near field, a mini X-ray backscatter device, a Fourier transform infrared (FTIR) generator, Raman spectroscopy using a laser, and a laser for laser fluorescence.
    [0018]
    18. System for automated inspection (10) of a surface, the system (10) characterized by the fact that it comprises: a self-propelled steerable cart (12) capable of traversing the surface, the cart (12) having a camera (44) positioned to see an object on the surface, and at least one of a sensor capable of detecting a defect on the surface, a tool to treat the defect, and a sensor to inspect a repair of the defect; and a computer controller (32) connected to receive image data from the camera (44), to communicate with and selectively activate at least one of the sensor capable of detecting a defect on the surface, the tool for treating the defect, and the sensor to inspect a defect repair, and to control the cart (12) to move on the surface along one or both of a predetermined path and a path to one or more predetermined locations; and where the sensor to inspect the defect repair is selected from a thermal imaging camera (44) that uses infrared thermography (IRT) to detect internal voids, a sensor using a microwave thickness gauge to determine whether a the thickness of the paint applied to the defect is sufficient, a sensor using an ultrasonic thickness gauge to determine whether the thickness of the paint applied to the defect is sufficient, a high resolution camera (44) for optical imaging to check the wide coverage of dielectric material applied to the defect, a magneto-optical imaging device (56) used as a full-field imaging method of the loop surrounding the defect, and an eddy current arrangement.
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    法律状态:
    2014-12-02| B03A| Publication of an application: publication of a patent application or of a certificate of addition of invention|
    2018-11-13| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|
    2020-03-31| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|
    2020-08-04| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application according art. 36 industrial patent law|
    2020-12-15| B09A| Decision: intention to grant|
    2021-02-09| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 23/01/2014, OBSERVADAS AS CONDICOES LEGAIS. |
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    US13/749,843|2013-01-25|
    US13/749,843|US9414026B2|2013-01-25|2013-01-25|System and method for automated crack inspection and repair|
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