公开(公告)号：US20170008173A1

公开(公告)日：2017-01-12

申请号：US15106809

申请日：2014-12-22

Applicant: AIRBUS GROUP SAS

Inventor： LOUIS LE PINRU ,  NICOLAS COLIN ,  GUILLAUME ITHURRALDE

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1694 ,  G05B2219/37014 ,  G05B2219/37269 ,  G05B2219/39022 ,  Y10S901/09

Abstract: A process for marking the real position and real orientation of a tool in relation to the manipulator arm of a robot. The process utilizes the amplitude measurements of acoustic signals and the flight time measurement of the acoustic waves emitted by an acoustic probe of the tool and reflected by the fixed reference elements. The position of the center of reference of the probe relative to the end of the manipulator arm is determined. The axes X and Y defining the plane of the probe along reference axes X′ and Y′ of known orientations are oriented so that the modification of the position and of the orientation of the probe in the reference frame can be defined. The displacements of the manipulator arm are managed by the controller based on the position of the probe in relation to the manipulator arm and the reference orientation of the probe.

Abstract translation: 用于标记相对于机器人的操纵臂的工具的实际位置和实际取向的过程。 该过程利用声学信号的幅度测量和由工具的声学探针发射并由固定参考元件反射的声波的飞行时间测量。 确定探头相对于机械手臂端部的参考点的位置。 沿着已知取向的参考轴X'和Y'限定探头的平面的轴线X和Y被定向成可以限定探针在参考系中的位置和取向的修改。 基于探针相对于操纵臂的位置和探针的参考方位，由控制器管理操纵臂的位移。

公开(公告)号：US20160264262A1

公开(公告)日：2016-09-15

申请号：US15030845

申请日：2014-10-23

Applicant: AIRBUS GROUP SAS

Inventor： NICOLAS COLIN ,  FRANK GUIBERT

IPC: B64F5/00 ,  B25J19/02 ,  G05D1/00 ,  B25J5/00

CPC classification number: G05D1/0038 ,  B25J5/007 ,  B25J19/023 ,  B64F5/60 ,  G01N29/04 ,  G01N29/226 ,  G01N2291/2694 ,  G05B2219/45066 ,  G05D2201/0207 ,  Y10S901/44

Abstract: A device for visually inspecting the external surfaces of an aircraft includes an inspection area to receive an aircraft, at least one visual inspection robot, and a control center. A movable platform of the robot supports a turret having an observation unit. The robot includes a processing unit which guides the movable platform and process the data received from the observation unit. The processing unit of the robot are configured to autonomously control the robot during the visual inspection of the external surfaces of the aircraft parked in the inspection area; to interrupt a visual inspection in the event of a detection of an anomaly on the external surface of the aircraft; to transmit a visual inspection data to the control center; and to receive instructions from the control center.

Abstract translation: 用于视觉检查飞行器的外表面的装置包括用于接收飞行器的检查区域，至少一个目视检查机器人和控制中心。 机器人的可移动平台支撑具有观察单元的转台。 机器人包括：引导可移动平台并处理从观察单元接收的数据的处理单元。 机器人的处理单元被构造成在停泊在检查区域的飞行器的外表面的目视检查期间自动地控制机器人; 在检测飞机外表面的异常情况下中断视觉检查; 将视觉检查数据传送到控制中心; 并从控制中心接收指令。