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1. 发明授权

US08738226B2 Holonomic motion vehicle for travel on non-level surfaces 有权
标题翻译：用于在非水平表面上行驶的全身运动车辆
公开(公告)号：US08738226B2
公开(公告)日：2014-05-27
申请号：US13210899
申请日：2011-08-16
申请人： James J. Troy , Scott W. Lea , Gary E. Georgeson , Karl Edward Nelson , Charles M. Richards
发明人： James J. Troy , Scott W. Lea , Gary E. Georgeson , Karl Edward Nelson , Charles M. Richards
IPC分类号： G06F7/00 , G05D1/00
CPC分类号： B25J5/007 , B62D57/024 , B64F5/30 , F02K1/1207 , F02K1/763 , G05D1/0033
摘要： Holonomic-motion ground vehicles (i.e., mobile platforms) that are capable of controlled movement across non-level surfaces, while carrying one or more non-destructive inspection sensors or other tools. The mobile platform comprises a frame having four (or a multiple of four) Mecanum wheels, each wheel driven by a respective independently controlled motor, and further having a plurality (e.g., two) of independently controlled suction devices. The Mecanum wheels enable holonomic motion, while the suction devices facilitate sufficiently precise control of motion on non-level surfaces.
摘要翻译：在运送一个或多个非破坏性检查传感器或其他工具的同时，能够跨越非水平表面控制移动的全息运动地面车辆（即移动平台）。移动平台包括具有四个（或四个）四个（或四个）Mecanum轮的框架，每个轮由相应的独立控制的马达驱动，并且还具有多个（例如两个）独立控制的抽吸装置。 Mecanum轮子能够完整地运动，而吸入装置便于对非水平表面的运动进行足够精确的控制。

2. 发明申请

US20130024067A1 Holonomic Motion Vehicle for Travel on Non-Level Surfaces 有权
标题翻译：非水平表面行驶的全景运动车辆
公开(公告)号：US20130024067A1
公开(公告)日：2013-01-24
申请号：US13210899
申请日：2011-08-16
申请人： James J. Troy , Scott W. Lea , Gary E. Georgeson , Karl Edward Nelson , Charles M. Richards
发明人： James J. Troy , Scott W. Lea , Gary E. Georgeson , Karl Edward Nelson , Charles M. Richards
IPC分类号： B60W10/04 , B60W40/12 , B60W10/30 , B60K7/00 , B60W30/18
CPC分类号： B25J5/007 , B62D57/024 , B64F5/30 , F02K1/1207 , F02K1/763 , G05D1/0033
摘要： Holonomic-motion ground vehicles (i.e., mobile platforms) that are capable of controlled movement across non-level surfaces, while carrying one or more non-destructive inspection sensors or other tools. The mobile platform comprises a frame having four (or a multiple of four) Mecanum wheels, each wheel driven by a respective independently controlled motor, and further having a plurality (e.g., two) of independently controlled suction devices. The Mecanum wheels enable holonomic motion, while the suction devices facilitate sufficiently precise control of motion on non-level surfaces.
摘要翻译：在运送一个或多个非破坏性检查传感器或其他工具的同时，能够跨越非水平表面控制移动的全息运动地面车辆（即移动平台）。移动平台包括具有四个（或四个）四个（或四个）Mecanum轮的框架，每个轮由相应的独立控制的马达驱动，并且还具有多个（例如两个）独立控制的抽吸装置。 Mecanum轮子能够完整地运动，而吸入装置便于对非水平表面的运动进行足够精确的控制。

3. 发明申请

US20120327187A1 ADVANCED REMOTE NONDESTRUCTIVE INSPECTION SYSTEM AND PROCESS 有权
标题翻译：高级远程非结构性检测系统和过程
公开(公告)号：US20120327187A1
公开(公告)日：2012-12-27
申请号：US13166613
申请日：2011-06-22
申请人： James J. Troy , Scott W. Lea , Gary E. Georgeson , William P. Motzer , Peter J. Hellenbrand , Kevin Puterbaugh
发明人： James J. Troy , Scott W. Lea , Gary E. Georgeson , William P. Motzer , Peter J. Hellenbrand , Kevin Puterbaugh
IPC分类号： H04N13/02
CPC分类号： G01N29/043 , G01N29/0654 , G01N29/262 , G01N29/30 , G01N29/4472 , G01S15/8938 , G01S17/88
摘要： A system for inspecting a test article incorporates a diagnostic imaging system for a test article. A command controller receives two dimensional (2D) images from the diagnostic imaging system. A three dimensional (3D) computer aided design (CAD) model visualization system and an alignment system for determining local 3D coordinates are connected to the command controller. Computer software modules incorporated in the command controller are employed, in aligning, the 2D images and 3D CAD model responsive to the local 3D coordinates. The 2D images and 3D CAD model are displayed with reciprocal registration. The alignment system is then directed to selected coordinates in the 2D images or 3D CAD model.
摘要翻译：用于检查测试物品的系统包括用于测试物品的诊断成像系统。命令控制器从诊断成像系统接收二维（2D）图像。三维（3D）计算机辅助设计（CAD）模型可视化系统和用于确定局部3D坐标的对准系统连接到命令控制器。采用命令控制器中包含的计算机软件模块，对准2D映像和3D CAD模型，以响应局部3D坐标。 2D图像和3D CAD模型以相互注册显示。然后将对准系统定向到2D图像或3D CAD模型中的选定坐标。

4. 发明申请

US20110295427A1 METHODS AND SYSTEMS FOR INSPECTION SENSOR PLACEMENT 有权
标题翻译：检查传感器放置的方法和系统
公开(公告)号：US20110295427A1
公开(公告)日：2011-12-01
申请号：US12787885
申请日：2010-05-26
申请人： William P. Motzer , Gary E. Georgeson , Scott W. Lea , Peter J. Hellenbrand , James J. Troy
发明人： William P. Motzer , Gary E. Georgeson , Scott W. Lea , Peter J. Hellenbrand , James J. Troy
IPC分类号： G05B15/00 , G01P21/00
CPC分类号： B25J9/162 , B25J9/06 , B25J9/065 , B25J9/1694 , G05B2219/39014 , G05B2219/39024 , G05B2219/40039 , G05B2219/40234 , G05B2219/45071
摘要： Methods and systems are provided for positioning a remote sensor within a target object. An articulated robotic system is coupled to the remote sensor. A positioning system determines a position of the target object to be inspected and determines a first position of the remote sensor. A control system calibrates a virtual representation of the target object with respect to the position of the target object, and tracks movement of the remote sensor relative to the target object.
摘要翻译：提供了用于将远程传感器定位在目标对象内的方法和系统。铰接机器人系统耦合到远程传感器。定位系统确定要检查的目标对象的位置并确定远程传感器的第一位置。控制系统相对于目标对象的位置校准目标对象的虚拟表示，并跟踪远程传感器相对于目标对象的移动。

5. 发明授权

US09310317B2 Automated system and method for tracking and detecting discrepancies on a target object 有权
标题翻译：用于跟踪和检测目标对象上的差异的自动化系统和方法
公开(公告)号：US09310317B2
公开(公告)日：2016-04-12
申请号：US13357768
申请日：2012-01-25
申请人： Gary E. Georgeson , James J. Troy , Scott W. Lea
发明人： Gary E. Georgeson , James J. Troy , Scott W. Lea
IPC分类号： H04N5/225 , G01N21/95 , G01N21/94 , G01S17/87 , G01N21/952 , G01B11/24
CPC分类号： G01N21/9515 , G01B11/24 , G01N21/94 , G01N21/952 , G01S17/875
摘要： A detection system including a target object having a target object coordinate system, a tracking unit configured to monitor a position and/or an orientation of the target object and generate a target object position signal indicative of the position and/or the orientation of the target object, a camera positioned to capture an image of the target object, an orienting mechanism connected to the camera to control an orientation of the camera relative to the target object, and a processor configured to analyze the image to detect a discrepancy in the image and, when the discrepancy is present in the image, determine a location of the discrepancy relative to the target object coordinate system based at least upon the target object position signal and the orientation of the camera, and then orient the camera and laser to aim at and point out the discrepancy.
摘要翻译：一种检测系统，包括具有目标对象坐标系的目标对象，跟踪单元，被配置为监视目标对象的位置和/或取向，并生成指示目标的位置和/或方向的目标对象位置信号物体，定位成捕获目标对象的图像的相机，连接到相机以控制相机相对于目标对象的取向的定向机构，以及被配置为分析图像以检测图像中的差异的处理器，以及当图像中存在差异时，至少基于目标对象位置信号和相机的取向来确定相对于目标对象坐标系的偏差的位置，然后使相机和激光器瞄准和指出差异。

6. 发明授权

US08983794B1 Methods and systems for non-destructive composite evaluation and repair verification 有权
标题翻译：非破坏性复合评估和修复验证方法和系统
公开(公告)号：US08983794B1
公开(公告)日：2015-03-17
申请号：US12897428
申请日：2010-10-04
申请人： William P. Motzer , Gary E. Georgeson , Scott W. Lea , James J. Troy
发明人： William P. Motzer , Gary E. Georgeson , Scott W. Lea , James J. Troy
IPC分类号： G01C9/00
CPC分类号： G01C15/00 , B64F5/60 , G01B17/06 , G01B21/04 , G01N27/90 , G01N29/07 , G01N29/11 , G01N29/226 , G01N29/262 , G01N2291/0231 , G01N2291/2694 , G01S15/025 , G01S15/8915 , G01S15/8936 , G01S15/899 , G01S15/8993
摘要： A non-destructive inspection system for a structure is described. The inspection system includes a local positioning system (LPS) configured for determining position and orientation of objects relative to a structure coordinate system, a six degree-of-freedom digitizer operable for at least one of temporary attachment to the structure and placement proximate the structure, a non-destructive sensor array, and a processing device.
摘要翻译：描述了一种用于结构的非破坏性检查系统。该检查系统包括被配置用于确定物体相对于结构坐标系的位置和取向的本地定位系统（LPS）;六自由度数字化仪，可操作用于至少一个临时附接到该结构并且靠近该结构的位置，非破坏性传感器阵列，以及处理装置。

7. 发明授权

US08279412B2 Position and orientation determination using movement data 有权
标题翻译：使用运动数据确定位置和方位
公开(公告)号：US08279412B2
公开(公告)日：2012-10-02
申请号：US12640211
申请日：2009-12-17
申请人： William P. Motzer , Gary E. Georgeson , Scott W. Lea , Peter J. Hellenbrand , James J. Troy
发明人： William P. Motzer , Gary E. Georgeson , Scott W. Lea , Peter J. Hellenbrand , James J. Troy
IPC分类号： G01C3/08
CPC分类号： G01S5/16 , B64F5/00 , G01C21/16 , G01C25/005
摘要： Position determining systems and methods are provided. A particular portable device includes a calibration component to communicate with a local positioning system to determine an initial position and orientation of the portable device within a local coordinate system associated with a target structure. The portable device also includes at least one movement sensor to detect movement of the portable device. The portable device further includes a processor to determine a measured position and orientation of the portable device based on the initial position and orientation of the portable device within the local coordinate system and based on the detected movement of the portable device.
摘要翻译：提供了位置确定系统和方法。特定便携式设备包括校准组件以与本地定位系统通信，以确定与目标结构相关联的局部坐标系统内的便携式设备的初始位置和取向。便携式设备还包括至少一个移动传感器以检测便携式设备的移动。便携式设备还包括处理器，用于基于便携式设备在本地坐标系中的初始位置和取向以及基于检测到的便携式设备的移动来确定便携式设备的测量位置和方位。

8. 发明授权

US08199194B2 Method and system involving controlling a video camera to track a movable target object 有权
标题翻译：涉及控制摄像机跟踪可移动目标物体的方法和系统
公开(公告)号：US08199194B2
公开(公告)日：2012-06-12
申请号：US12246727
申请日：2008-10-07
申请人： James J. Troy , Scott W. Lea , Gary E. Georgeson
发明人： James J. Troy , Scott W. Lea , Gary E. Georgeson
IPC分类号： G06K9/36
CPC分类号： G01S3/7864 , G01S5/163
摘要： Methods are described for controlling orientation of an aim point axis of a video camera having an instrument coordinate system to track a point of interest on a movable target object and calculating positions of the point of interest in a local coordinate system in which the target object is moving. The methods include measuring pan and tilt angles of the aim point axis and distance substantially along the aim point axis and calculating a calibration matrix which transforms a position defined in the instrument coordinate system to a position defined in the local coordinate system. A system is described including an instrument and at least one computer, wherein the instrument includes a video camera and a range finder, and wherein the video camera includes an aim point axis having an adjustable orientation. In one example, the target object is adapted to move on and inspect an airplane surface.
摘要翻译：描述了用于控制具有仪器坐标系的摄像机的瞄准点轴的取向以便跟踪可移动目标物体上的兴趣点的方法，并且计算目标物体是的局部坐标系中的兴趣点的位置移动。这些方法包括测量目标点轴的平移和倾斜角度以及基本上沿目标轴线的距离，并且计算将在仪器坐标系中定义的位置变换到局部坐标系中定义的位置的校准矩阵。描述了包括仪器和至少一个计算机的系统，其中所述仪器包括摄像机和测距仪，并且其中所述摄像机包括具有可调节取向的瞄准点轴。在一个示例中，目标对象适于移动并检查飞机表面。

9. 发明授权

US07859655B2 Method involving a pointing instrument and a target object 有权
标题翻译：涉及指示仪和目标物体的方法
公开(公告)号：US07859655B2
公开(公告)日：2010-12-28
申请号：US12235161
申请日：2008-09-22
申请人： James J. Troy , Scott W. Lea , Gary E. Georgeson , Jeffrey M. Hansen
发明人： James J. Troy , Scott W. Lea , Gary E. Georgeson , Jeffrey M. Hansen
IPC分类号： G01B11/26 , G01C1/00
CPC分类号： G01S17/89 , G01C1/04 , G01C3/00 , G01C25/00 , G01S7/497 , G01S17/88
摘要： A first method determines a position of a point of interest on a target object surface in a target object coordinate system using orientation and distance measurements of a pointing instrument in an instrument coordinate system. A second method determines an orientation of a pointing instrument in an instrument coordinate system for the instrument to be aligned with a point of interest on a target object surface having a target object coordinate system, wherein a position of the point of interest in the target object coordinate system is known. A third method controls orientation of a laser beam of a laser in an instrument coordinate system for the laser beam to trace an image on a target object surface having a target object coordinate system, wherein positions of points for the image on the surface of the target object in the target object coordinate system are known.
摘要翻译：第一种方法使用仪器坐标系中的指示仪器的取向和距离测量来确定目标物体坐标系中的目标物体表面上的感兴趣点的位置。第二种方法确定指示仪器在仪器坐标系中的方向，以使仪器与具有目标对象坐标系的目标物体表面上的感兴趣点对准，其中，目标物体中的感兴趣点的位置坐标系是已知的。第三种方法控制用于激光束的仪器坐标系中的激光束的激光束的取向，以跟踪具有目标对象坐标系的目标物体表面上的图像，其中在目标物体表面上的图像的点的位置目标对象坐标系中的对象是已知的。

10. 发明授权

US09182487B2 Advanced remote nondestructive inspection system and process 有权
标题翻译：先进的远程非破坏性检测系统和过程
公开(公告)号：US09182487B2
公开(公告)日：2015-11-10
申请号：US13166613
申请日：2011-06-22
申请人： James J. Troy , Scott W. Lea , Gary E. Georgeson , William P. Motzer , Peter J. Hellenbrand , Kevin Puterbaugh
发明人： James J. Troy , Scott W. Lea , Gary E. Georgeson , William P. Motzer , Peter J. Hellenbrand , Kevin Puterbaugh
IPC分类号： G01S15/89 , G01N29/06 , G01S17/88 , G01N29/04 , G01N29/26 , G01N29/30 , G01N29/44
CPC分类号： G01N29/043 , G01N29/0654 , G01N29/262 , G01N29/30 , G01N29/4472 , G01S15/8938 , G01S17/88
摘要： A system for inspecting a test article incorporates a diagnostic imaging system for a test article. A command controller receives two dimensional (2D) images from the diagnostic imaging system. A three dimensional (3D) computer aided design (CAD) model visualization system and an alignment system for determining local 3D coordinates are connected to the command controller. Computer software modules incorporated in the command controller are employed, in aligning, the 2D images and 3D CAD model responsive to the local 3D coordinates. The 2D images and 3D CAD model are displayed with reciprocal registration. The alignment system is then directed to selected coordinates in the 2D images or 3D CAD model.
摘要翻译：用于检查测试物品的系统包括用于测试物品的诊断成像系统。命令控制器从诊断成像系统接收二维（2D）图像。三维（3D）计算机辅助设计（CAD）模型可视化系统和用于确定局部3D坐标的对准系统连接到命令控制器。采用命令控制器中包含的计算机软件模块，对准2D映像和3D CAD模型，以响应局部3D坐标。 2D图像和3D CAD模型以相互注册显示。然后将对准系统定向到2D图像或3D CAD模型中的选定坐标。

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