Auto-locating and locking movable gantry system

A system comprising:

• a robot having an end effector, an arm, and one or more propulsion mechanisms, the robot configured to use the end effector and the arm to execute a job for an airplane part associated with a jig, the jig configured to hold the airplane part;
• one or more light detection and ranging (LIDAR) systems, a LIDAR system of the LIDAR systems including one or more laser sensors;
• a computer system comprising one or more processors and one or more memories storing instructions that, upon execution by the one or more processors, configured to the computer system to:
• receive, from the one or more LIDAR systems, sensor input;
• determine a presence of one or more monuments associated with the jig, a location for each of the one or more monuments, and a number of the one or more monuments based at least in part on the sensor input;
• determine a plurality of potential templates based on determining the presence of the one or more monuments;
• present the determined plurality of potential templates;
• determine a particular template of the plurality of templates based at least in part on the presence of the one or more monuments, the number of the one or more monuments, the presenting of the determined plurality of potential templates, and the location for each of the one or more monuments, the particular template identifying the airplane part, a threshold distance to stop the robot from the jig, an angle to rotate the robot relative to a plane of the jig, and a feature map that corresponds to the jig and the airplane part;
• generate, iteratively, a three-dimensional map of an area within a certain distance of the robot using input from the one or more LIDAR systems;
• instruct movement of the robot via the one or more propulsion mechanisms until the robot is at the threshold distance based at least in part on continuously comparing the three-dimensional map of the area within the certain distance of the robot to the feature map that corresponds to the jig and the airplane part;
• and
• instruct modification of a current rotation of the robot to the angle identified in the particular template based at least in part on the input from the one or more LIDAR systems, wherein the angle to rotate the robot corresponds to an orientation of the robot allowing the arm and the end effector of the robot to reach all portions of the airplane part specified in a job.

A computer system comprising:

• one or more processors;
• and
• one or more memories storing instructions that, upon execution by the one or more processors, configure the computer system to:
• receive, from one or more light detection and ranging (LIDAR) systems of a robot, sensor input, a LIDAR system of the one or more LIDAR systems including one or more laser sensors;
• determine, a presence of one or more monuments associated with a jig, a location for each of the one or more monuments, and a number of the one or more monuments based at least in part on the sensor input, the jig configured to hold an airplane part;
• determine a plurality of potential templates based on determining the presence of the one or more monuments;
• present the determined plurality of potential templates;
• determine a particular template of the plurality of templates based at least in part on the presence of the one or more monuments, the number of the one or more monuments, the presenting of the determined plurality of potential templates, and the location for each of the one or more monuments, the particular template identifying the airplane part, a threshold distance to stop the robot from the jig, an angle to rotate the robot relative to a plane of the jig, and a feature map that corresponds to the jig and the airplane part;
• generate, iteratively, a three-dimensional map of an area within a certain distance of the robot using input from the one or more LIDAR systems;
• instruct (i) movement of the robot via one or more associated propulsion mechanisms until the robot is at the threshold distance and (ii) modification of a current rotation of the robot to the angle identified in the particular template based at least in part on continuously comparing the three-dimensional map of the area within the certain distance of the robot to the feature map that corresponds to the jig and the airplane part, wherein the angle to rotate the robot corresponds to an orientation of the robot allowing an arm and an end effector of the robot to reach all portions of the airplane part specified in a job.