US 11,717,967 B2
System and method for scanning an object using an array of ultrasonic transducers
Nicolas Grimard, Boucherville (CA); Rene Sicard, Chambly (CA); and Sam H. Serhan, Brossard (CA)
Assigned to TECSCAN SYSTEMS INC., Saint-Bruno-de-Montarville (CA)
Filed by TECSCAN SYSTEMS INC., Sr-Bruno-de-Montarville (CA)
Filed on Nov. 11, 2021, as Appl. No. 17/524,529.
Claims priority of provisional application 63/156,692, filed on Mar. 4, 2021.
Prior Publication US 2022/0281107 A1, Sep. 8, 2022
Int. Cl. B25J 9/16 (2006.01); G01N 29/265 (2006.01); G01N 29/04 (2006.01); B25J 15/00 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 15/0019 (2013.01); G01N 29/04 (2013.01); G01N 29/043 (2013.01); G01N 29/265 (2013.01); G01N 2291/106 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method for preparing a scan plan for scanning an object using an array of ultrasonic transducers, comprising:
a) defining a plurality of grid positions on a surface of the object;
b) selecting a grid position;
c) identifying, for the selected grid position, (i) one or more enabled transducers of the array and (ii) a corresponding group of one or more grid positions, the identifying comprising, for each given transducer of the array:
evaluating a direction of incidence of a planned ultrasonic signal emitted by the given transducer on a respective grid position on the surface of the object when the array is planned to be positioned according to the selected grid position,
evaluating a difference between the direction of incidence and a surface normal vector defined on the surface of the object at the respective grid position, and
in response to the difference being less than a threshold, marking the given transducer as enabled at the selected grid position and including the respective grid position in the group of grid positions corresponding to the selected grid position;
d) repeating b) and c) by selecting a new grid position at each repetition of b) until all of the grid positions defined on the surface of the object are included in at least one of the groups of grid positions; and
e) defining the scan plan to include all of the selected grid positions.