Probe guiding
AssigneeROLLS-ROYCE plc
InventorDavid I Palmer
Life of this patent
Estimating the term…
Abstract
A techniques for improved guiding of hyper-redundant manipulator probes into a constrained space which make use of the known characteristics of the space into which the probe is being inserted to increase the efficiency of the computation of the path of the probe. Embodiments of the invention achieve this through an optimisation function which determined a new orientation which minimises the deviation between each of: a) the point on the probe where the probe starts to follow a defined curve within the constrained space and a predetermined initial point, and b) the distal end of the probe and said defined curve.
Claims11
A method for guiding a probe inside a constrained space (16), wherein the probe is a hyper-redundant manipulator (30) comprising a plurality of independently-orientable connected segments (33) extendable between a proximal end and a distal end inside the constrained space, the method including the steps of:
- determining:
- an initial point (pi) where the probe intersects a predetermined curve (C) which defines a circle or part circle within said constrained space;
- and an initial bend for the probe between an entry point (40) on a surface of the constrained space and the initial point;
- and, repeatedly:
- determining a new orientation of said segments which results in an advancement of the distal end to a new position which is on said curve, the new orientation being determined so as to minimise a deviation between each of:
- a) a point on the probe where the probe starts to follow said curve and the initial point, and b) a point (p2) on the probe closer to the distal end than the point where the probe starts to follow said curve;
- and
- adjusting an orientation of said segments to said new orientation and advancing the probe so that the distal end is located at the new position.
A probe system for accessing a constrained space (16), the probe system comprising:
- a hyper-redundant manipulator (30) having a plurality of independently-orientable connected segments (33) extendable between a proximal end and a distal end;
- and
- a controller,
- wherein the controller is arranged to control the orientation of said segments so as to position the distal end in a desired position by:
- determining:
- an initial point (pi) where the probe intersects a predetermined curve (C) which defines a circle or part circle within said constrained space, and an initial bend for the probe between an entry point (40) on a surface of the constrained space and the initial point;
- and, repeatedly:
- determining a new orientation of said segments which results in an advancement of the distal end to a new position which is on said curve, the new orientation being determined so as to minimise a deviation between each of:
- a) a point on the probe where the probe starts to follow said curve and the initial point, and b) a point (p2) on the probe closer to the distal end than the point where the probe starts to follow said curve;
- and
- sending actuation signals to the manipulator so to as to cause adjustment of an orientation of said segments to said new orientation and advance the probe so that the distal end is located at the new position.
Dependencies are inferred from the claim text.