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1. 发明授权

US10788428B2 Positioning system for aerial non-destructive inspection 有权
公开(公告)号：US10788428B2
公开(公告)日：2020-09-29
申请号：US15714662
申请日：2017-09-25
申请人： The Boeing Company
发明人： James J. Troy , Gary E. Georgeson , Scott W. Lea
IPC分类号： G01N21/88 , G01S17/10 , B64C39/02 , B64D47/08 , G05D1/10 , G06K9/00 , G05D1/00 , G01M5/00 , G01S17/933 , G01C11/02 , G01S17/87
摘要： Systems and methods for measuring the distance to a target object and acquiring scale and point-to-point distance information for that target object in an environment using a remotely operated flying platform, such as an unmanned aerial vehicle (UAV). The system uses on-board sensors and processing techniques to provide discrete or continuous measurements of the distances between points on a target object or the scale of the target object. The addition of on-board three-dimensional measurement capabilities to UAVs (or other flying platforms) allows the collection of distance data. Having this capability enables these systems to acquire distances between points on a single object, such as determining the true scale factors of items in images captured by the UAV, in the course of performing metrology-related tasks.

2. 发明授权

US10710615B2 In-motion high-speed non-destructive evaluation for railcar axles 有权
公开(公告)号：US10710615B2
公开(公告)日：2020-07-14
申请号：US16000777
申请日：2018-06-05
申请人： The Boeing Company
发明人： Gary E. Georgeson , Morteza Safai , Tyler M. Holmes , Scott W. Lea , Jyani Vaddi
IPC分类号： G01N25/72 , G01J5/00 , B61K9/06 , G01J5/04
摘要： An example system for inspecting railcar axles includes a flash source, an infrared camera, and a trigger sensor. The flash source is configured to apply a thermal pulse toward a surface of a railcar axle of a railcar wheelset, while the railcar wheelset is on a track. The infrared camera is configured to capture infrared data indicative of a thermal response of the surface of the railcar axle to the thermal pulse. The trigger sensor is configured to trigger the flash source to apply the thermal pulse based on a position of the railcar wheelset on the track. The example system can also include a processor configured to determine whether the captured infrared data is indicative of a crack on the surface of the railcar axle, and a vision camera configured to capture an image of the surface of the railcar axle.

3. 发明申请

US20200207488A1 NON-DESTRUCTIVE INSPECTION USING UNMANNED AERIAL VEHICLE 审中-公开
公开(公告)号：US20200207488A1
公开(公告)日：2020-07-02
申请号：US16238376
申请日：2019-01-02
申请人： The Boeing Company
发明人： James J. Troy , Gary E. Georgeson , Joseph L. Hafenrichter , Scott W. Lea
IPC分类号： B64F5/60 , G05D1/00 , B64C39/02
摘要： Provided is a nondestructive inspection (“NDI”) system that includes an unmanned aerial vehicle (“UAV”) comprising a body structure and at least one support arm. The support arm includes a first arm portion having a first end coupled to the body structure and a second end coupled to a second arm portion. The second arm portion includes a first end coupled to the second end of the first arm portion and a second end coupled to an NDI scanning device. The support arm also includes a compliant member disposed between the first arm portion and the second arm portion. The NDI scanning device includes one or more NDI sensors.

4. 发明申请

US20200182739A1 Apparatus for Automated Maintenance of Aircraft Structural Elements 审中-公开
公开(公告)号：US20200182739A1
公开(公告)日：2020-06-11
申请号：US16738958
申请日：2020-01-09
申请人： The Boeing Company
发明人： Joseph L. Hafenrichter , Gary E. Georgeson , Scott W. Lea
IPC分类号： G01M5/00 , B64F5/60 , B25J5/00 , B25J9/02 , B25J11/00
摘要： Automated apparatus for performing maintenance functions on airfoil-shaped bodies having short chord lengths, the apparatus being movable in a spanwise direction along the airfoil-shaped body. In accordance with various embodiments, the apparatus comprises a blade crawler capable of supporting any one of a plurality of end effectors for performing a set of maintenance functions on an airfoil-shaped body, such as a blade component. Included in these functions are multiple options for nondestructive inspection, drilling, grinding, fastening, appliqué application, scarfing, ply mapping, depainting, cleaning, and painting devices that are attached as the end effector for the blade crawler. As a whole, the blade crawler reduces maintenance time, labor hours and human errors when robotic maintenance functions are performed on blade components.

5. 发明授权

US10162352B2 Remotely operated mobile stand-off measurement and inspection system 有权
公开(公告)号：US10162352B2
公开(公告)日：2018-12-25
申请号：US15796880
申请日：2017-10-30
申请人： The Boeing Company
发明人： James J. Troy , Scott W. Lea , Gary E. Georgeson , William P. Motzer
IPC分类号： G05D1/00 , G01S17/08 , G01S17/88 , G01N29/04 , G01N29/06 , G01N29/44 , G05B15/02 , H04N7/18 , G01S17/02 , G01S17/06
摘要： Self-contained, remotely operated, mobile measurement and inspection systems for stand-off inspection of large target objects located at sites distant from an operations center. The systems comprise a mobile platform with on-board instrumentation capable of making dimensional measurements in the local coordinate system of the target object. The systems comprise multiple hardware and software components networked to a control interface that enables the operator at the operations center to teleoperate the equipment. Various embodiments include rough-terrain and floatable mobile measurement and inspection systems.

6. 发明申请

US20180361571A1 Stabilization of Tool-Carrying End of Extended-Reach Arm of Automated Apparatus 审中-公开
公开(公告)号：US20180361571A1
公开(公告)日：2018-12-20
申请号：US15878642
申请日：2018-01-24
申请人： The Boeing Company
发明人： Gary E. Georgeson , James J. Troy , Scott W. Lea , Daniel James Wright
IPC分类号： B25J9/10 , B25J5/00 , F41A31/02 , B25J9/16
摘要： Apparatus and methods that can be used to stabilize the distal end of an arm (and an end effector attached thereto) of an automated extended-reach tool-equipped assembly. Stabilization is provided by three or more stabilizers, each comprising a stationary part and a movable part. Each stationary part has a fixed location relative to the end effector; each movable part is translatably coupled to a respective stationary part and comprises a contactor disposed at a distal end of the movable part. When the stabilizers are actuated, the contactors are translated toward and into contact with the surface of the workpiece and then locked in place to stabilize the distal end of the arm and the end effector. During tool operation, the stabilizers reduce oscillation of the end effector (and all structure fixedly coupled thereto).

7. 发明申请

US20180329384A1 Modular Safety Monitoring and Warning System and Methods for Use Thereof 审中-公开
公开(公告)号：US20180329384A1
公开(公告)日：2018-11-15
申请号：US15593541
申请日：2017-05-12
申请人： The Boeing Company
发明人： Gary E. Georgeson , James J. Troy , Scott W. Lea , Daniel J. Wright
IPC分类号： G05B19/048
CPC分类号： G05B19/048 , G05B9/02 , G05B2219/24015 , G05B2219/49141
摘要： Situational-awareness controllers and methods to increase situational-awareness for an actor associated with a triggering event are described. An example method includes in response to receiving a notification of a triggering event generated by at least one sensor, a computing device accessing information that includes related to an actor associated with the triggering event. The computing device correlates the information to a compilation of historical information by (i) determining whether the actor's location is associated with one or more safety events stored as part of the compilation of historical information and (ii) determining a risk level of the actor based on whether the one or more associated safety events occurred within a predetermined range of time from the time associated with the triggering event. The computing device generates a command based on a result of the correlating and sends the command to at least one controllable device.

8. 发明申请

US20180104820A1 Method and Apparatus for Compliant Robotic End-Effector 审中-公开
公开(公告)号：US20180104820A1
公开(公告)日：2018-04-19
申请号：US15294757
申请日：2016-10-16
申请人： The Boeing Company
发明人： James J. Troy , Daniel J. Wright , Scott W. Lea
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J17/0208 , B25J17/0233 , B25J17/0275 , G01B3/20 , G01B3/28 , G01B5/06
摘要： A method and apparatus for performing an operation on a workpiece using a multi-axis compliant end-effector for attachment to a robotic device. The end-effector is positioned at a nominal location of a workpiece feature on which the operation is to be performed. The end-effector is passively aligned with the workpiece feature by contacting the end-effector with the workpiece feature. The operation is performed on the workpiece feature in response to aligning the end effector with the workpiece feature.

9. 发明授权

US09533724B2 Electro-permanent magnetic attachment of a vehicle to an object 有权
标题翻译：车辆对物体的电永磁附接
公开(公告)号：US09533724B2
公开(公告)日：2017-01-03
申请号：US14623888
申请日：2015-02-17
申请人： The Boeing Company
发明人： James J. Troy , Gary Ernest Georgeson , Scott W. Lea , Karl Edward Nelson , Daniel J. Wright
IPC分类号： B62D57/024 , B62D55/265 , H01F7/02 , G05D1/00 , B64F5/00 , B25J5/00
CPC分类号： B62D57/024 , B25J5/007 , B62D55/265 , B64F5/60 , H01F7/0257 , H01F7/206 , H01F2007/208 , Y10S901/01
摘要： An apparatus and method for attaching a crawler vehicle to the surface of an object. The crawler vehicle may comprise a frame, a number of moveable surface-engaging components attached to the frame, a number of actuators, and an electro-permanent magnet. The number of actuators is operable to move the frame with respect to the object when the number of moveable surface-engaging components is in contact with the surface of the object. The electro-permanent magnet is operable to hold the number of moveable surface-engaging components in contact with the surface of the object by a magnetic force between the electro-permanent magnet and the object when the electro-permanent magnet is activated and to remove the magnetic force when the electro-permanent magnet is deactivated to release the number of moveable surface-engaging components from the surface of the object.
摘要翻译：一种用于将履带车附着到物体表面的装置和方法。履带车辆可以包括框架，附接到框架的多个可移动表面接合部件，多个致动器和电永磁体。当可移动表面接合部件的数量与物体的表面接触时，致动器的数量可操作以相对于物体移动框架。电永磁体可操作以通过电永磁体和物体之间的磁力将活动表面接合部件的数量与物体的表面接触，当电永磁体被激活时，当电永磁体被去激活以从物体的表面释放可移动的表面接合部件的数量时的磁力。

10. 发明申请

US20150371443A1 Viewpoint Control of a Display of a Virtual Product in a Virtual Environment 有权
标题翻译：虚拟环境中虚拟产品显示的视点控制
公开(公告)号：US20150371443A1
公开(公告)日：2015-12-24
申请号：US14308840
申请日：2014-06-19
申请人： The Boeing Company
发明人： James J. Troy , Scott W. Lea , Daniel J. Wright
IPC分类号： G06T19/00 , G06T15/50 , G06T15/20
CPC分类号： G06T19/006 , G06T15/20 , G06T15/50
摘要： A method, system, and apparatus for visually presenting a virtual environment relative to a physical workspace. An output device visually presents a view of the virtual environment to guide a human operator in performing a number of operations within the physical workspace. A mounting structure holds the output device and is movable with at least one degree of freedom relative to the physical workspace. A sensor system measures movement of the output device relative to the physical workspace to generate sensor data. A controller computes a transformation matrix and the set of scale factors to align the virtual environment and the physical workspace. The controller changes the view of virtual environment based on the sensor data to thereby change the view of the virtual environment in correspondence with the movement of the output device relative to the physical workspace.
摘要翻译：用于相对于物理工作空间可视地呈现虚拟环境的方法，系统和装置。输出设备可视地呈现虚拟环境的视图，以引导人类操作者在物理工作空间内执行多个操作。安装结构保持输出装置并且可相对于物理工作空间至少一个自由度移动。传感器系统测量输出设备相对于物理工作空间的运动，以产生传感器数据。控制器计算变换矩阵和一组比例因子以使虚拟环境和物理工作空间对齐。控制器基于传感器数据改变虚拟环境的视图，从而根据输出设备相对于物理工作空间的移动来改变虚拟环境的视图。

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