WO2024163341A3 - Auto-locating and locking movable gantry system - Google Patents

Auto-locating and locking movable gantry system Download PDF

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Publication number
WO2024163341A3
WO2024163341A3 PCT/US2024/013339 US2024013339W WO2024163341A3 WO 2024163341 A3 WO2024163341 A3 WO 2024163341A3 US 2024013339 W US2024013339 W US 2024013339W WO 2024163341 A3 WO2024163341 A3 WO 2024163341A3
Authority
WO
WIPO (PCT)
Prior art keywords
jig
robot
airplane part
auto
locating
Prior art date
Application number
PCT/US2024/013339
Other languages
French (fr)
Other versions
WO2024163341A2 (en
Inventor
William Wilder
Eugene Won KIM
Original Assignee
Wilder Systems Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US18/338,253 external-priority patent/US20230415347A1/en
Application filed by Wilder Systems Inc. filed Critical Wilder Systems Inc.
Publication of WO2024163341A2 publication Critical patent/WO2024163341A2/en
Publication of WO2024163341A3 publication Critical patent/WO2024163341A3/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/225—Remote-control arrangements operated by off-board computers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/242—Means based on the reflection of waves generated by the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/661—Docking at a base station
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/698—Control allocation
    • G05D1/6987—Control allocation by centralised control off-board any of the vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/45—Specific applications of the controlled vehicles for manufacturing, maintenance or repairing
    • G05D2105/47—Specific applications of the controlled vehicles for manufacturing, maintenance or repairing for maintenance or repairing, e.g. fuelling or battery replacement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G05D2111/17—Coherent light, e.g. laser signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Business, Economics & Management (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Resources & Organizations (AREA)
  • Economics (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Strategic Management (AREA)
  • Educational Administration (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Game Theory and Decision Science (AREA)
  • Development Economics (AREA)
  • Marketing (AREA)
  • Operations Research (AREA)
  • Quality & Reliability (AREA)
  • Tourism & Hospitality (AREA)
  • General Business, Economics & Management (AREA)
  • Theoretical Computer Science (AREA)
  • Manipulator (AREA)

Abstract

The present disclosure relates to system for auto-docking a robot to jig holding an airplane part to execute a job. In an example, a robot is tasked with performing an operation associated with an airplane part held by or affixed to a jig. To do so, the robot may utilize sensor input from associated sensors to identify the jig, the airplane part, and determine a particular template associated with the jig and airplane part. The particular template may specify a threshold distance which the robot needs to move towards the jig and dock itself near the jig in order to execute the job associated with the airplane part. Once a particular template is identified, the robot may be instructed to move towards the jig using the input from the associated sensors until it reaches the threshold distance.
PCT/US2024/013339 2023-01-31 2024-01-29 Auto-locating and locking movable gantry system WO2024163341A2 (en)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
US202363482491P 2023-01-31 2023-01-31
US63/482,491 2023-01-31
US18/338,253 2023-06-20
US18/338,253 US20230415347A1 (en) 2022-06-21 2023-06-20 Auto-locating and locking movable gantry system
US18/339,184 US11880995B2 (en) 2022-06-21 2023-06-21 Auto-locating and positioning relative to an aircraft
US18/339,184 2023-06-21
US18/530,741 2023-12-06
US18/530,741 US20240104758A1 (en) 2022-06-21 2023-12-06 Auto-locating and positioning relative to an aircraft

Publications (2)

Publication Number Publication Date
WO2024163341A2 WO2024163341A2 (en) 2024-08-08
WO2024163341A3 true WO2024163341A3 (en) 2024-09-26

Family

ID=92147457

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2024/013339 WO2024163341A2 (en) 2023-01-31 2024-01-29 Auto-locating and locking movable gantry system

Country Status (1)

Country Link
WO (1) WO2024163341A2 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6587752B1 (en) * 2001-12-25 2003-07-01 National Institute Of Advanced Industrial Science And Technology Robot operation teaching method and apparatus
US20220100177A1 (en) * 2020-09-25 2022-03-31 Rockwell Automation Technologies, Inc. Automation control based on a reference array
WO2022170279A1 (en) * 2021-02-08 2022-08-11 Diligent Robotics, Inc. Systems, apparatuses, and methods for robotic learning and execution of skills including navigation and manipulation functions
US20220276629A1 (en) * 2016-06-03 2022-09-01 Wilder Systems, Llc Movable gantry system configured to interface with jigs of different sizes

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6587752B1 (en) * 2001-12-25 2003-07-01 National Institute Of Advanced Industrial Science And Technology Robot operation teaching method and apparatus
US20220276629A1 (en) * 2016-06-03 2022-09-01 Wilder Systems, Llc Movable gantry system configured to interface with jigs of different sizes
US20220100177A1 (en) * 2020-09-25 2022-03-31 Rockwell Automation Technologies, Inc. Automation control based on a reference array
WO2022170279A1 (en) * 2021-02-08 2022-08-11 Diligent Robotics, Inc. Systems, apparatuses, and methods for robotic learning and execution of skills including navigation and manipulation functions

Also Published As

Publication number Publication date
WO2024163341A2 (en) 2024-08-08

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