US 11,880,904 B2
System and method for robotic inspection
Alan Matthew Finn, Chapel Hill, NC (US); Jose Miguel Pasini, Avon, CT (US); Richard W. Osborne, III, Stafford Springs, CT (US); Edgar A. Bernal, Webster, NY (US); Ozgur Erdinc, Mansfield, CT (US); Olusegun Oshin, Middletown, CT (US); Ziyou Xiong, Wethersfield, CT (US); Catalin G. Fotache, West Hartford, CT (US); Gene B. Donskoy, Farmington, CT (US); Sergio S. Frutuoso, Avon, CT (US); and Joseph A. Sylvestro, Avon, CT (US)
Assigned to RTX Corporation, Farmington, CT (US)
Filed by Raytheon Technologies Corporation, Farmington, CT (US)
Filed on Mar. 8, 2021, as Appl. No. 17/194,646.
Application 17/194,646 is a continuation of application No. 15/970,944, filed on May 4, 2018, granted, now 10,943,320.
Prior Publication US 2021/0192670 A1, Jun. 24, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 1/00 (2006.01); B25J 9/16 (2006.01); H04N 23/67 (2023.01); H04N 23/74 (2023.01)
CPC G06T 1/0014 (2013.01) [B25J 9/1664 (2013.01); B25J 9/1679 (2013.01); B25J 9/1694 (2013.01); B25J 9/1697 (2013.01); H04N 23/67 (2023.01); H04N 23/74 (2023.01); Y10S 901/44 (2013.01); Y10S 901/46 (2013.01); Y10S 901/47 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for robotic inspection of a part, comprising the steps of:
supporting the part with a robot mechanism;
obtaining part-related sensor input with a sensor positioned to inspect the part supported by the robot mechanism to produce an initial inspection result;
controlling movement of the robot mechanism relative to the sensor, wherein the controlling is done by a feedback control unit which receives the sensor input, and the feedback control unit is configured to control the robot mechanism based upon the initial inspection result produced from the part-related sensor input to position the robot mechanism at an adjusted position relative to the sensor;
illuminating the part with an illumination mechanism, and wherein the feedback control unit is configured to control the illumination mechanism based on the initial inspection result produced from the part-related sensor input to provide an adjusted lighting of the part; and
obtaining further part-related sensor input with the sensor at the adjusted position and the adjusted lighting to produce an adjusted inspection result.