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1. 发明授权

US09448758B2 Projecting airplane location specific maintenance history using optical reference points 有权
标题翻译：使用光学参考点投影飞机位置具体维护历史
公开(公告)号：US09448758B2
公开(公告)日：2016-09-20
申请号：US13552445
申请日：2012-07-18
申请人： Nathanael T. Georgeson , Gary E. Georgeson , James J. Troy
发明人： Nathanael T. Georgeson , Gary E. Georgeson , James J. Troy
IPC分类号： G06F3/14 , B64F5/00 , G06Q10/00
CPC分类号： G06F3/1454 , B64F5/60 , G06Q10/20 , G09G2354/00 , G09G2370/022 , G09G2380/12
摘要： A method for displaying location specific maintenance history for an object is implemented by operating a camera to locate at least one marker tag with fiducial marker-based tracking functionality on the object to provide a reference to a coordinate system associated with the object. An area of the object surrounding the coordinates defined by marker tag is determined from the coordinate system. A repair history for the determined area is then projected onto the object with the projection referenced to the coordinate system associated with the object.
摘要翻译：用于显示对象的位置特定维护历史的方法通过操作相机来实现，以在目标上找到具有基准标记的跟踪功能的至少一个标记标签，以提供与对象相关联的坐标系的参考。从坐标系确定围绕由标记标记定义的坐标的对象的区域。然后将确定区域的修复历史投影到对象上，其中投影参考与对象相关联的坐标系。

2. 发明申请

US20140022281A1 PROJECTING AIRPLANE LOCATION SPECIFIC MAINTENANCE HISTORY USING OPTICAL REFERENCE POINTS 有权
标题翻译：使用光学参考点投影飞机位置特定维护历史
公开(公告)号：US20140022281A1
公开(公告)日：2014-01-23
申请号：US13552445
申请日：2012-07-18
申请人： Nathanael T. Georgeson , Gary E. Georgeson , James J. Troy
发明人： Nathanael T. Georgeson , Gary E. Georgeson , James J. Troy
IPC分类号： G09G5/00
CPC分类号： G06F3/1454 , B64F5/60 , G06Q10/20 , G09G2354/00 , G09G2370/022 , G09G2380/12
摘要： A method for displaying location specific maintenance history for an object is implemented by operating a camera to locate at least one marker tag with fiducial marker-based tracking functionality on the object to provide a reference to a coordinate system associated with the object. An area of the object surrounding the coordinates defined by marker tag is determined from the coordinate system. A repair history for the determined area is then projected onto the object with the projection referenced to the coordinate system associated with the object.
摘要翻译：用于显示对象的位置特定维护历史的方法通过操作相机来实现，以在目标上找到具有基准标记的跟踪功能的至少一个标记标签，以提供与对象相关联的坐标系的参考。从坐标系确定围绕由标记标记定义的坐标的对象的区域。然后将确定区域的修复历史投影到对象上，其中投影参考与对象相关联的坐标系。

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

US09149929B2 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：US09149929B2
公开(公告)日：2015-10-06
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： B25J9/16 , B25J9/06
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。

7. 发明授权

US08198617B2 Locating a component underneath a surface of a target object and locating an access panel for accessing the component 有权
标题翻译：将组件定位在目标对象的表面下方，并定位访问面板以访问组件
公开(公告)号：US08198617B2
公开(公告)日：2012-06-12
申请号：US12335202
申请日：2008-12-15
申请人： Gary E. Georgeson , Gregory J. Sweers , Nathan P. Renaud , James J. Troy , Scott W. Lea
发明人： Gary E. Georgeson , Gregory J. Sweers , Nathan P. Renaud , James J. Troy , Scott W. Lea
IPC分类号： G01N21/86
CPC分类号： G01C15/002 , B64F5/60
摘要： A first method locates a component positioned underneath a surface of a target object using a pointing instrument, wherein a position of the component in the target object coordinate system is known. The first method includes calculating an orientation of the aim point axis of the instrument in the instrument coordinate system for the aim point axis of the instrument to be aligned with the component using at least an inverse calibration matrix, the position of the component in the target object coordinate system, and inverse kinematics of the instrument. The first method also includes rotating the aim point axis of the instrument to the calculated orientation. Second and third methods also are described for locating an access panel for accessing the component and/or maintenance zones in which the component resides.
摘要翻译：第一种方法使用定点仪器定位位于目标对象的表面下方的部件，其中该目标对象坐标系中的该部件的位置是已知的。第一种方法包括使用至少一个反向校准矩阵来计算器械坐标系中仪器的瞄准点轴线的方位，以使仪器的瞄准点轴与部件对齐，该部件在目标中的位置物体坐标系和反相运动学。第一种方法还包括将仪器的瞄准点轴线旋转到计算出的方位。还描述了第二和第三种方法，用于定位用于访问组件驻留的组件和/或维护区域的访问面板。

8. 发明申请

US20110149266A1 Position and Orientation Determination Using Movement Data 有权
标题翻译：使用移动数据的位置和方向确定
公开(公告)号：US20110149266A1
公开(公告)日：2011-06-23
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 , G01S5/02
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。

9. 发明申请

US20100153051A1 Locating A Component Underneath A Surface Of A Target Object And Locating An Access Panel For Accessing The Component 有权
标题翻译：在目标对象的表面下方找到一个组件，并找到用于访问组件的访问面板
公开(公告)号：US20100153051A1
公开(公告)日：2010-06-17
申请号：US12335202
申请日：2008-12-15
申请人： Gary E. Georgeson , Gregory J. Sweers , Nathan P. Renaud , James J. Troy , Scott W. Lea
发明人： Gary E. Georgeson , Gregory J. Sweers , Nathan P. Renaud , James J. Troy , Scott W. Lea
IPC分类号： G01P21/00
CPC分类号： G01C15/002 , B64F5/60
摘要： A first method locates a component positioned underneath a surface of a target object using a pointing instrument, wherein a position of the component in the target object coordinate system is known. The first method includes calculating an orientation of the aim point axis of the instrument in the instrument coordinate system for the aim point axis of the instrument to be aligned with the component using at least an inverse calibration matrix, the position of the component in the target object coordinate system, and inverse kinematics of the instrument. The first method also includes rotating the aim point axis of the instrument to the calculated orientation. Second and third methods also are described for locating an access panel for accessing the component and/or maintenance zones in which the component resides.
摘要翻译：第一种方法使用定点仪器定位位于目标对象的表面下方的部件，其中该目标对象坐标系中的该部件的位置是已知的。第一种方法包括使用至少一个反向校准矩阵来计算器械坐标系中仪器的瞄准点轴线的方位，以使仪器的瞄准点轴与部件对齐，该部件在目标中的位置物体坐标系和反相运动学。第一种方法还包括将仪器的瞄准点轴线旋转到计算出的方位。还描述了第二和第三种方法，用于定位用于访问组件驻留的组件和/或维护区域的访问面板。

10. 发明申请

US20100085437A1 METHOD AND SYSTEM INVOLVING CONTROLLING A VIDEO CAMERA TO TRACK A MOVABLE TARGET OBJECT 有权
标题翻译：涉及控制视频摄像机跟踪可移动目标对象的方法和系统
公开(公告)号：US20100085437A1
公开(公告)日：2010-04-08
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： H04N5/232
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。

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