US 12,092,615 B2
Non-destructive inspection of test objects on a workpiece
Mattias Allring, Torslanda (SE); Carl Henriksson, Gothenburg (SE); August Ramle, Gothenburg (SE); and Göran Bergström, Torslanda (SE)
Assigned to ABB Schweiz AG, Baden (CH)
Appl. No. 17/595,247
Filed by ABB Schweiz AG, Baden (CH)
PCT Filed May 13, 2019, PCT No. PCT/EP2019/062142
§ 371(c)(1), (2) Date Nov. 12, 2021,
PCT Pub. No. WO2020/228933, PCT Pub. Date Nov. 19, 2020.
Prior Publication US 2022/0268740 A1, Aug. 25, 2022
Int. Cl. G01N 29/265 (2006.01); B25J 9/16 (2006.01); B25J 15/00 (2006.01); G01N 29/04 (2006.01); G01N 29/06 (2006.01); G01N 29/22 (2006.01); G01N 29/28 (2006.01); G01N 29/44 (2006.01)
CPC G01N 29/265 (2013.01) [B25J 9/1679 (2013.01); B25J 15/0019 (2013.01); G01N 29/04 (2013.01); G01N 29/043 (2013.01); G01N 29/0654 (2013.01); G01N 29/225 (2013.01); G01N 29/28 (2013.01); G01N 29/4472 (2013.01); G01N 2291/267 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for non-destructive inspection of at least one test object on a workpiece, the method comprising the steps of:
obtaining a theoretical position of each test object in relation to a testing robot;
capturing an image of each test object on the basis of the respective theoretical position to obtain image data;
determining a real position of each test object in relation to the testing robot on the basis of the image data; and
bringing a sensor carried by the testing robot in contact with each test object on the basis of the respective real position to obtain a respective test measurement;
wherein for each test object, the real position is determined before bringing the sensor in contact object.