# US 12,215,965 B2 · Automated non-contact thickness inspection and projection system

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- Number: US 12,215,965 B2
- Document ID: US12215965B2
- Status: Granted
- Kind: B2
- Application number: 18/602,774
- Filed: 2024-03-12
- Published: 2024-06-27
- Granted: 2025-02-04
- Earliest claimed: 2021-09-22
- Assignees: Lockheed Martin Corporation
- Applicants: Lockheed Martin Corporation
- Inventors: Shane Whitaker; Jeffrey Drewett; Anthony Mann
- Web page: https://patentgrep.com/patent/US12215965B2

## CPC

- B25J 9/1679: {characterised by the tasks executed}
- G01B 11/0616: {of coating}
- B05B 12/084: {responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern}
- B25J 9/1697: {Vision controlled systems}
- G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)}
- G05D 1/227: Handing over between remote control and on-board control; Handing over between remote control arrangements
- B05B 13/0431: {with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces}
- G05B 2219/40298: Manipulator on vehicle, wheels, mobile
- G05B 2219/40613: Camera, laser scanner on end effector, hand eye manipulator, local
- G05B 2219/45013: Spraying, coating, painting
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- B05B: SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES (spray-mixers with nozzles B01F25/72; processes for applying liquids or other fluent materials to surfaces by spraying B05D)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

In one embodiment, systems and methods include using an inspection and projection system to measure the thickness of a coating and provide visual guidance for secondary operations. The inspection and projection system comprises a robotic arm operable to rotate about a plurality of axes, wherein an end effector is disposed at a distal end of the robotic arm. The inspection and projection system further comprises a linear rail system, wherein the robotic arm is coupled to the linear rail system, and wherein the robotic arm is operable to translate along the linear rail system. The inspection and projection system further comprises a frame, wherein the linear rail system is disposed on top of the frame, and an information handling system coupled to the frame, wherein the information handling system is operable to actuate the robotic arm and the linear rail system.

## Claims

### Claim 1

A method for inspecting a coating disposed on an aircraft, comprising:
disposing an inspection and projection system proximate to the aircraft, wherein the inspection and projection system comprises:
a robotic arm configured to rotate about a plurality of axes, wherein an end effector is disposed at a distal end of the robotic arm and wherein the end effector comprises:
a terahertz sensor configured to transmit and receive signals to measure thickness of a coating;
a camera configured to identify a location of a surface, relative to the inspection and projection system, in order to perform an inspection; and
a projector configured to transmit a projection onto a surface of the coating;
a linear rail system, wherein the robotic arm is coupled to the linear rail system, wherein the robotic arm is configured to translate along the linear rail system;
a frame, wherein the linear rail system is disposed on top of the frame; and
an information handling system coupled to the frame having a processor and a memory storing instructions that when executed by the processor cause the information handling system to actuate the robotic arm and the linear rail system;
operating the end effector to transmit and receive signals to measure a thickness of the coating disposed on the aircraft;
configuring the projection to be transmitted onto a surface of the coating based on measurements of the thickness of the coating and an acceptable range of values, wherein the projection is color-coded based, at least in part, on a comparison between the measurements of thickness of the coating disposed on the aircraft and the acceptable range of values; and
transmitting the projection onto the surface of the coating.

### Claim 2 (depends on 1)

The method of claim 1, further comprising aligning the end effector with a portion of the surface of the aircraft comprising the coating.

### Claim 3 (depends on 2)

The method of claim 2, further comprising transmitting a pattern for verification that the end effector is aligned with the portion of the surface of the aircraft comprising the coating.

### Claim 4 (depends on 1)

The method of claim 1, further comprising displacing the end effector during operation of the end effector, wherein displacing the end effector comprises:
actuating the robotic arm to rotate; and
actuating the linear rail system to translate the robotic arm along the linear rail system.

### Claim 5 (depends on 1)

The method of claim 1, further comprising processing the received signals as the measurements of the thickness of the coating.

### Claim 6 (depends on 1)

The method of claim 1, wherein the projection comprises a display of values of the measurements of thickness.

### Claim 7 (depends on 1)

The method of claim 1, further comprising reducing the thickness of a portion of the coating at a location based on the projection.

### Claim 8

A non-transitory computer-readable medium comprising instructions that are configured, when executed by a processor, to:
align an end effector with a portion of a surface of an aircraft comprising a coating,
wherein the end effector comprises:
a terahertz sensor configured to transmit and receive signals to measure a thickness of a coating;
a camera configured to identify a location of a surface in order to perform an inspection; and
a projector configured to transmit a projection onto a surface of the coating;
transmit a pattern for verification that the end effector is aligned with the portion of the surface of the aircraft comprising the coating;
actuate the end effector to transmit and receive the signals to measure the thickness of the coating disposed on the aircraft;
determine the projection to be transmitted onto the surface of the coating based on measurements of the thickness of the coating and an acceptable range of values, wherein the projection is color-coded based, at least in part, on a comparison between the measurements of thickness of the coating disposed on the aircraft and the acceptable range of values; and
transmit the projection onto the surface of the coating.

### Claim 9 (depends on 8)

The non-transitory computer-readable medium of claim 8, wherein the instructions are further configured to:
process the received signals as the measurements of the thickness of the coating.

### Claim 10 (depends on 8)

The non-transitory computer-readable medium of claim 8, wherein the instructions are further configured to:
displace the end effector during actuation of the end effector, wherein displacing the end effector comprises:
actuating a robotic arm to rotate, wherein the end effector is disposed at a distal end of the robotic arm; and
actuating a linear rail system to translate the robotic arm along the linear rail system.