公开(公告)号：US12092615B2

公开(公告)日：2024-09-17

申请号：US17595247

申请日：2019-05-13

Applicant: ABB Schweiz AG

Inventor： Mattias Allring ,  Carl Henriksson ,  August Ramle ,  Göran Bergström

IPC: G01N29/265 ,  B25J9/16 ,  B25J15/00 ,  G01N29/04 ,  G01N29/06 ,  G01N29/22 ,  G01N29/28 ,  G01N29/44

CPC classification number: G01N29/265 ,  B25J9/1679 ,  B25J15/0019 ,  G01N29/04 ,  G01N29/043 ,  G01N29/0654 ,  G01N29/225 ,  G01N29/28 ,  G01N29/4472 ,  G01N2291/267

Abstract: A method for non-destructive inspection of at least one test object on a workpiece includes the steps of: obtaining a theoretical position of each test object in relation to a testing robot; capturing an image of each test object 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 to obtain a respective test measurement. Where the test instrument needs to be brought in physical contact with the test object, it is crucial to know the exact position of the test object. As soon as an approximate position of the test object is known an image of the test object can be captured, and the exact position of the test object can be extracted from the respective image data.

公开(公告)号：US20220268740A1

公开(公告)日：2022-08-25

申请号：US17595247

申请日：2019-05-13

Applicant: ABB Schweiz AG

Inventor： Mattias Allring ,  Carl Henriksson ,  August Ramle ,  Göran Bergström

IPC: G01N29/22 ,  G01N29/28 ,  G01N29/04

Abstract: A method for non-destructive inspection of at least one test object on a workpiece includes the steps of: obtaining a theoretical position of each test object in relation to a testing robot; capturing an image of each test object 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 to obtain a respective test measurement. For the certain type of inspection where the test instrument needs to be brought in physical contact with the test object to be inspected, it is crucial to know the exact position of the test object. As soon as the approximate position of the test object is known an image of the test object can be captured, and the exact position of the test object can be extracted from the respective image data.

公开(公告)号：US12181444B2

公开(公告)日：2024-12-31

申请号：US17594616

申请日：2020-04-17

Applicant: ABB Schweiz AG

Inventor： August Ramle ,  Göran Bergström ,  Johanna Hesslind

IPC: G01N29/265 ,  B25J9/16 ,  B25J15/00 ,  G01N29/04 ,  G01N29/06 ,  G01N29/22 ,  G01N29/28 ,  G01N29/44

Abstract: A method for detecting a position anomaly of a test object on a workpiece, the method including capturing an image of the test object to obtain image data; determining a real position of the test object in relation to the testing robot based on the image data; moving a testing sensor carried by the testing robot into contact with the test object based on the real position; acquiring test data of the test object by means of the testing sensor when the testing sensor is in contact with the test object; and detecting a position anomaly of the test object based on a comparison between a test object position and a reference position, the test object position being based on the real position, based on the test data and/or based on a position of the testing robot when the testing sensor is in contact with the test object.

公开(公告)号：US20220196611A1

公开(公告)日：2022-06-23

申请号：US17594616

申请日：2020-04-17

Applicant: ABB Schweiz AG

Inventor： August Ramle ,  Göran Bergström ,  Johanna Hesslind

IPC: G01N29/265 ,  G01N29/04 ,  G01N29/06 ,  G01N29/22 ,  G01N29/28 ,  G01N29/44 ,  B25J15/00 ,  B25J9/16

Abstract: A method for detecting a position anomaly of a test object on a workpiece, the method including capturing an image of the test object to obtain image data; determining a real position of the test object in relation to the testing robot based on the image data; moving a testing sensor carried by the testing robot into contact with the test object based on the real position; acquiring test data of the test object by means of the testing sensor when the testing sensor is in contact with the test object; and detecting a position anomaly of the test object based on a comparison between a test object position and a reference position, the test object position being based on the real position, based on the test data and/or based on a position of the testing robot when the testing sensor is in contact with the test object.