System and computer implemented method for controlling a flexible device whilst inspecting or repairing a component
AssigneeROLLS-ROYCE plc
InventorsSamuel P. WILD, Xin DONG
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Abstract
A system for controlling a flexible device whilst inspecting or repairing a component includes a first sensor coupled to the flexible device that generates an information related to a current curvature of the first sensor and a controller including memories and processors. The processors receive, from the first sensor, information related to the current curvature of the first sensor, determine a predicted pose and a current shape of the first sensor, determine a current shape of the flexible device, and adjust the current shape of the flexible device.
Claims20
A system for controlling a flexible device whilst inspecting or repairing a component, the system comprising:
- a first sensor coupled to the flexible device and extending along a central axis of the flexible device, the first sensor being configured to generate an information related to a current curvature of the first sensor relative to a reference point of the flexible device;
- and
- a controller including one or more memories and one or more processors communicably coupled with the one or more memories and the first sensor, the one or more memories being configured to store an information related to a ground truth shape of the flexible device, wherein the one or more processors are configured to:
- receive, from the first sensor, the information related to the current curvature of the first sensor;
- receive a set of simulated data related to the current curvature of the first sensor;
- retrieve, from the one or more memories, the information related to the ground truth shape of the flexible device;
- determine a predicted pose of the first sensor based on at least the information related to the current curvature of the first sensor and/or the set of simulated data related to the current curvature of the first sensor, and the information related to the ground truth shape of the flexible device;
- determine a current shape of the first sensor based on at least the predicted pose of the first sensor;
- determine a current shape of the flexible device based on at least the current shape of the first sensor;
- and
- adjust the current shape of the flexible device so that the current shape corresponds to a desired shape of the flexible device based at least on the current shape of the flexible device.
A computer implemented method for controlling a flexible device whilst inspecting or repairing a component, the computer implemented method comprising the steps of:
- generating, by a first sensor coupled to the flexible device, an information related to a current curvature of the first sensor relative to a reference point of the flexible device, the first sensor extending along a central axis of the flexible device;
- receiving, by one or more processors of a controller, the information related to the current curvature of the first sensor from the first sensor;
- receiving, by the one or more processors, a set of simulated data related to the current curvature of the first sensor;
- retrieving, from one or more memories of the controller, an information related to a ground truth shape of the flexible device;
- determining, by the one or more processors, a predicted pose of the first sensor based on at least the information related to the current curvature of the first sensor and/or the set of simulated data related to the current curvature of the first sensor, and the information related to the ground truth shape of the flexible device;
- determining, by the one or more processors, a current shape of the first sensor based on at least the predicted pose of the first sensor;
- determining, by the one or more processors, a current shape of the flexible device based on at least the current shape of the first sensor;
- and
- adjusting, by the one or more processors, the current shape of the flexible device so that the current shape corresponds to a desired shape of the flexible device based at least on the current shape of the flexible device.
Dependencies are inferred from the claim text.