Robot system and method of operating a robot system

A method of operating a robot system, the robot system comprising:

• a first robot adapted to be positioned in proximity of a fuselage of an aircraft or spacecraft and comprising:
• a base portion;
• a movable robot arm connected at one end to the base portion and having at an opposite end a first coupling portion;
• and
• a first control means adapted to control the robot arm;
• and
• a plurality of second robots, each being smaller than the first robot and comprising:
• movement means allowing the respective second robot to be supported on a ground surface and allowing translational movement of the second robot along the ground surface and rotary motion about an axis perpendicular to the ground surface;
• a drive portion operable to drive the movement means to effect at least the translational movement of the respective second robot;
• a tool portion comprising a tool adapted to carry out a specific operation of the plurality of operations;
• a second coupling portion adapted to be selectively and releasably coupled with the first coupling portion in a predetermined positional relationship;
• and
• a second control means adapted to control the respective second robot,
• wherein for each operation of the plurality of operations the plurality of second robots includes at least one second robot the tool of which is adapted to carry out the respective operation, and
• wherein the first and second control means are adapted to control
• the drive portion of one of the second robots and the robot arm to couple the first coupling portion and the respective second coupling portion in the predetermined positional relationship,
• subsequently the robot arm to move the tool portion together with the second robot held by the robot arm to a selected location at which the specific operation, for which the tool portion of the respective second robot is adapted, is to be carried out, and
• then the second robot to carry out the specific operation at the selected location,
• at least one third robot of identical construction as the first robot and located in a remote storage region, in which a plurality items are stored in compartments of a storage rack,
• the plurality of second robots comprises at least one second robot of a first category adapted to carry out a specific operation involving a modification of the aircraft or spacecraft, at least one second robot of a second category adapted to carry out a specific operation involving observing, measuring or analyzing the result of the specific operation carried out by one of the second robots of the first category, and at least one second robot of a third category adapted to carry out a specific operation involving transporting a specific type of item for use by a technician to rework or correct the result of the specific operation carried out by one of the second robot of the first category and observed, measured or analyzed by one of the second robots of the second category,
• wherein the method comprises:
• a) positioning the first robot in proximity of a fuselage of an aircraft or spacecraft in a working environment, such that the tool of each second robot is able to reach a portion of the fuselage when held by the robot arm;
• b) operating the first robot and one of the second robots of the first category to couple the second robot to the robot arm, to carry out the respective specific operation involving a modification of the aircraft or spacecraft, and to subsequently decouple the second robot from the robot arm,
• c) operating the first robot and one of the second robots of the second category to couple the second robot to the robot arm, to carry out the respective specific operation involving observing, measuring or analyzing the result of the specific operation carried out by the second robot of the first category in step a),
• d) analyzing the result of the observation, measurement or analysis carried out by the second robot of the second category in step b) to determine whether one of the items is needed by a technician to rework or correct the result of the specific operation carried out by the second robot of the first category in step a), and, when one of the items is needed, operating, on the basis of the analysis of the results, one of the at least one third robot and one of the second robots of the third category to
• couple the second robot to the robot arm of the third robot, lift the second robot with the robot arm to the determined item, operate the second robot to move the item onto the tool of the second robot, and decouple the first and second robots, or move the determined item with the robot arm onto the tool of the second robot, and
• transport the determined item by the second robot to a technician in the working environment.