Tracking-Enabled Extended Reach Tool System and Method

摘要

An extended-reach tool system may include a gimbal positioned adjacent a surface opening; an extended-reach arm having a tool and engaging the gimbal; a sensor system for measuring a position of the arm relative to the gimbal and a position and spatial orientation of the tool relative to the opening; a computer control that converts one or both of the rotational and linear measurements from the sensor system into spatial location representations for virtual representations of 3-D models of the workpiece and tool, determines a position and orientation of the tool relative to the opening and workpiece, and adjusts the virtual representations of the 3-D models of the workpiece and tool as the arm and tool move relative to the workpiece, representing a real-time orientation of the tool relative to the workpiece; and a display for displaying the virtual representations of the 3-D models of the workpiece and tool.

主权项

1. A tracking-enabled extended-reach tool system for acting upon a workpiece, the tool system comprising:
a gimbal adapted to be positioned adjacent an opening in a surface; an extended-reach arm having a first end and a second end, the extended-reach arm further including an end effector including a tool adjacent the first end, the extended-reach arm engaging the gimbal for relative rotational movement and relative slidable movement through the opening such that the end effector and the tool are positioned on a side of the surface opposite the second end; a sensor system for measuring gimbal and end effector rotations, measuring a linear position of the extended-reach arm relative to the gimbal, and measuring a position and spatial orientation of the tool relative to the opening; a computer control connected to receive rotational and linear measurements from the sensor system, convert the rotational and the linear measurements into spatial location representations for virtual representations of three-dimensional (3-D) models of the workpiece and the tool, determine one or both of a position and an orientation of the tool relative to the opening and to the workpiece, and adjust the virtual representations of the 3-D models of the workpiece and the tool as the extended-reach arm and the tool move relative to the workpiece, thereby representing a real-time orientation of the tool relative to the workpiece; and a display for displaying the virtual representations of 3-D models of the workpiece and the tool from the computer control in real time.