Location tracking and motion control of automated marking device

US9221506B1 · kind B1 · utility

Assignee

• The Boeing Company · US

Inventors

• Gary E. Georgeson · Tacoma, US
• John R. Linn · Winter Garden, US
• James J. Troy · Issaquah, US
• Karl Edward Nelson · Shoreline, US
• Daniel J. Wright · Mercer Island, US
• Scott W. Lea · Renton, US

Key dates

• Filing date: Jul 23, 2013
• Grant date: Dec 29, 2015
• Expiry date: Dec 31, 2033

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/01
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

A system in accordance with one embodiment comprises a marking device attached to a holonomic-motion crawler vehicle capable of movement on non-horizontal surfaces. Modular attachment and motion control interfaces on the platform allow attachment of various types of marking and non-destructive inspection (NDI) sensor modules. The crawling vehicle marks the location of sub-surface features on an aircraft skin or overlaid patch (doubler) using a pen or sticker or tape applicator that is guided based on either a 3-D CAD model or NDI data collected as the vehicle crawls. A second embodiment utilizes an automated NDI scanner to collect 2-D image data of the substructure to enable manual or automated feature/edge selection for marking. Location tracking of the marking device can be implemented using a local positioning system or a motion capture system.