US 9,310,317 B2Granted

Automated system and method for tracking and detecting discrepancies on a target object

AssigneeThe Boeing Company

InventorsGary E. Georgeson, James J. Troy, Scott W. Lea

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Abstract

A detection system including a target object having a target object coordinate system, a tracking unit configured to monitor a position and/or an orientation of the target object and generate a target object position signal indicative of the position and/or the orientation of the target object, a camera positioned to capture an image of the target object, an orienting mechanism connected to the camera to control an orientation of the camera relative to the target object, and a processor configured to analyze the image to detect a discrepancy in the image and, when the discrepancy is present in the image, determine a location of the discrepancy relative to the target object coordinate system based at least upon the target object position signal and the orientation of the camera, and then orient the camera and laser to aim at and point out the discrepancy.

Claims20

Dependent claims

A detection system comprising:

a target object having a target object coordinate system;
a tracking unit configured to monitor at least one of a position and an orientation of said target object and generate a target object position signal indicative of said at least one of said position and said orientation of said target object, wherein said target object is movable to a first target object position or orientation and a second target object position or orientation;
a camera configured to scan said target object and capture images of said target object;
an orienting mechanism connected to said camera to control an orientation of said camera relative to said target object;
and
a processor configured to automatically:
adjust said orientation of said camera relative to said target object to scan, with said camera, one or more locations on said target object at said first target object position or orientation and said second target object position or orientation;
capture first images of first locations and second images of second locations on said target object at said first target object position or orientation and said second target object position or orientation, respectively;
select and retrieve first reference images of said target object associated with said first locations on said target object at said first target object position or orientation and second reference images of said target object associated with said second locations on said target object at said second target object position or orientation;
analyze each first image of said first images by comparing said first image to a corresponding first reference image of said first reference images and each second image of said second images by comparing said second image to a corresponding second reference image of said second reference images;
detect the presence, if any, of a first discrepancy in said first image as compared to said corresponding first reference image and a second discrepancy is said second image as compared to said corresponding second reference image;
and
determine, when detected, a three-dimensional location of said first discrepancy and said second discrepancy relative to said target object coordinate system based at least upon said target object position signal at said first target object position or orientation and said second target object position or orientation, respectively, a position and said orientation of said camera, a pixel location of said first discrepancy in said first image, and a pixel location of said second discrepancy in said second image.

10 more elements

A detection system comprising:

a target object having a target object coordinate system;
a motion actuator coupled to said target object to control at least one of a position and an orientation of said target object, wherein said target object is movable to a first target object position or orientation and a second target object position or orientation;
a tracking unit configured to monitor said at least one of said position and said orientation of said target object and generate a target object position signal indicative of said at least one of said position and said orientation of said target object;
a local positioning system instrument positioned relative to said target object, said local positioning system instrument comprising:
a camera configured to scan said target object and capture images of said target object;
and
an orienting mechanism connected to said camera to control an orientation of said camera;
and
a processor configured to automatically:
adjust said orientation of said camera relative to said target object to scan one or more portions of said target object with said camera, when said target object is moved to said first target object position or orientation;
capture said images at different locations on said target object;
select and retrieve reference images of said target object associated with said different locations on said target object;
analyze each image of said images by comparing said image to a corresponding reference image of said reference images;
detect the presence, if any, of a discrepancy in said image as compared to said corresponding reference image;
determine a three-dimensional location of said discrepancy relative to said target object coordinate system based at least upon said target object position signal at said first target object position or orientation, said orientation of said camera, and a pixel location of said discrepancy in said image, when said discrepancy is detected in said image;
adjust said orientation of said camera relative to said target object to scan one or more portions of said target object with said camera, when said target object is moved to said second target object position or orientation;
capture additional images at additional different locations on said target object;
select and retrieve additional reference images of said target object associated with said additional different locations on said target object;
analyze each additional image of said additional images by comparing said additional image to a corresponding additional reference image of said additional reference images;
detect the presence, if any, of an additional discrepancy in said additional image as compared to said corresponding additional reference image;
determine a three-dimensional location of said additional discrepancy relative to said target object coordinate system based at least upon said target object position signal at said second target object position or orientation, said orientation of said camera, and a pixel location of said discrepancy in said image, when said additional discrepancy is detected in said additional image.

18 more elements

A method for detecting a discrepancy on a target object, said target object having a target object coordinate system, said method comprising the steps of:

providing a local positioning system instrument comprising a camera, and an orienting mechanism for controlling an orientation of said camera relative to said target object;
providing a motion actuator configured to selectively move said target object;
providing a tracking unit configured to monitor at least one of a position and an orientation of said target object;
determining at least one of an initial position and an initial orientation of said local positioning system instrument relative to said target object;
moving said target object to a first target object position or orientation;
automatically adjusting said orientation of said camera relative to said target object at said first target object position or orientation to scan one or more portions of said target object with said camera;
automatically capturing images of said target object at different locations on said target object;
automatically selecting and retrieving reference images of said target object associated with said different locations on said target object;
automatically comparing each image of said images to a corresponding reference image of said reference images;
automatically detecting the presence, if any, of a discrepancy in said image as compared to said reference image;
and
automatically determining three-dimensional coordinates of said discrepancy in said target object coordinate system based at least upon said first target object position or orientation, said orientation of said camera corresponding to said image having said discrepancy, and a pixel location of said discrepancy in said image, when said discrepancy is present in said image;
moving said target object to a second target object position or orientation;
automatically adjusting said orientation of said camera relative to said target object at said second target object position or orientation to scan at least a portion of said target object with said camera;
automatically capturing additional images of said target object at additional different locations on said target object;
automatically selecting and retrieving additional reference images of said target object associated with said additional different locations on said target object;
automatically comparing each additional image of said additional images to a corresponding additional reference image of said additional reference images;
automatically detecting the presence, if any, of an additional discrepancy in said additional image as compared to said additional reference image;
and
automatically determining three-dimensional coordinates of said additional discrepancy in said target object coordinate system based at least upon said second target object position or orientation, said orientation of said camera corresponding to said additional image having said additional discrepancy, and a pixel location of said additional discrepancy in said additional image, when said additional discrepancy is present in said additional image.

17 more elements

Dependencies are inferred from the claim text.

Facts

Application: 13/357,768Filed 25 Jan 2012
Published: US 2013/0188059 A125 Jul 2013
Granted: 12 Apr 2016
Term ends: Not estimatedThe source records don’t support an estimate.

Classification10 codes

G01N 21/9515
Characterised by the material or shape of the object to be examined: objects of complex shape, e.g. examined with use of a surface follower device
G01B 11/002
Measuring arrangements characterised by the use of optical techniques: for measuring two or more coordinates
G01B 11/24
Measuring arrangements characterised by the use of optical techniques: for measuring contours or curvatures
G01N 21/94
Investigating the presence of flaws or contamination: investigating contamination, e.g. dust