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51. 发明申请

US20150226369A1 Automated Mobile Boom System for Crawling Robots 有权
标题翻译：用于爬行机器人的自动移动臂系统
公开(公告)号：US20150226369A1
公开(公告)日：2015-08-13
申请号：US14176169
申请日：2014-02-10
申请人： The Boeing Company
发明人： James J. Troy , Scott W. Lea , Gary E. Georgeson , Karl Edward Nelson , Daniel James Wright
IPC分类号： F16M11/18 , F16M11/24 , G05D1/02 , F16M11/42
CPC分类号： F16M11/18 , B66C13/48 , B66C23/72 , F16M11/24 , F16M11/42 , G01N29/225 , G01N29/265 , G01N29/28 , G05D1/0276 , G05D2201/0207 , Y10S901/01
摘要： A system comprising a multi-functional boom subsystem integrated with a holonomic-motion boom base platform. The boom base platform may comprise: Mecanum wheels with independently controlled motors; a pair of sub-platforms coupled by a roll-axis pivot to maintain four-wheel contact with the ground surface; and twist reduction mechanisms to minimize any yaw-axis twisting torque exerted on the roll-axis pivot. A computer with motion control software may be embedded on the boom base platform. The motion control function can be integrated with a real-time tracking system. The motion control computer may have multiple platform motion control modes: (1) a path following mode in which the boom base platform matches the motion path of the surface crawler (i.e., integration with crawler control); (2) a reactive mode in which the boom base platform moves based on the pan and tilt angles of the boom arm; and (3) a collision avoidance mode using sensors distributed around the perimeter of the boom base platform to detect obstacles.
摘要翻译：一种系统，包括与整体运动动臂基座平台集成的多功能吊杆子系统。起重臂基座平台可包括：具有独立控制马达的Mecanum车轮; 一对子平台，通过辊轴枢轴连接，以保持与地面的四轮接触; 以及扭转减小机构以使施加在辊轴枢轴上的任何偏转轴扭转扭矩最小化。具有运动控制软件的计算机可以嵌入在基座平台上。运动控制功能可以与实时跟踪系统集成。运动控制计算机可以具有多个平台运动控制模式：（1）动臂基座平台与表面履带的运动路径匹配的路径跟随模式（即，与履带控制的集成）; （2）基于动臂臂的摇摄和倾斜角度的动臂基座平台移动的反作用模式; 和（3）使用分布在吊臂基座平台周边的传感器来检测障碍物的避碰模式。

52. 发明申请

US20150207987A1 Systems and Methods for Tracking Location of Movable Target Object 有权
标题翻译：跟踪可移动目标对象位置的系统和方法
公开(公告)号：US20150207987A1
公开(公告)日：2015-07-23
申请号：US14672952
申请日：2015-03-30
申请人： The Boeing Company
发明人： James J. Troy , Scott W. Lea , Daniel James Wright , Gary E. Georgeson , Karl Edward Nelson
IPC分类号： H04N5/232 , H04N7/18 , G06F17/16
CPC分类号： H04N5/23222 , G01S17/46 , G01S17/88 , G06F17/16 , G06K9/3216 , G06K9/3241 , G06K2009/3225 , H04N5/23296 , H04N7/183 , Y10S901/46
摘要： An automated process uses a local positioning system to acquire location (i.e., position and orientation) data for one or more movable target objects. In cases where the target objects have the capability to move under computer control, this automated process can use the measured location data to control the position and orientation of such target objects. The system leverages the measurement and image capture capability of the local positioning system, and integrates controllable marker lights, image processing, and coordinate transformation computation to provide tracking information for vehicle location control. The resulting system enables position and orientation tracking of objects in a reference coordinate system.
摘要翻译：自动化过程使用本地定位系统来获取一个或多个可移动目标对象的位置（即位置和方位）数据。在目标对象有能力在计算机控制下移动的情况下，该自动化过程可以使用测量的位置数据来控制这些目标对象的位置和方向。该系统利用本地定位系统的测量和图像捕获能力，集成可控标记灯，图像处理和坐标变换计算，为车辆位置控制提供跟踪信息。所得到的系统使得在参考坐标系中的对象的位置和方向跟踪。

53. 发明申请

US20140376768A1 Systems and Methods for Tracking Location of Movable Target Object 有权
标题翻译：跟踪可移动目标对象位置的系统和方法
公开(公告)号：US20140376768A1
公开(公告)日：2014-12-25
申请号：US13921246
申请日：2013-06-19
申请人： The Boeing Company
发明人： James J. Troy , Scott W. Lea , Daniel James Wright , Gary E. Georgeson , Karl Edward Nelson
IPC分类号： G06K9/32
CPC分类号： H04N5/23222 , G01S17/46 , G01S17/88 , G06F17/16 , G06K9/3216 , G06K9/3241 , G06K2009/3225 , H04N5/23296 , H04N7/183 , Y10S901/46
摘要： An automated process uses a local positioning system to acquire location (i.e., position and orientation) data for one or more movable target objects. In cases where the target objects have the capability to move under computer control, this automated process can use the measured location data to control the position and orientation of such target objects. The system leverages the measurement and image capture capability of the local positioning system, and integrates controllable marker lights, image processing, and coordinate transformation computation to provide tracking information for vehicle location control. The resulting system enables position and orientation tracking of objects in a reference coordinate system.
摘要翻译：自动化过程使用本地定位系统来获取一个或多个可移动目标对象的位置（即位置和方位）数据。在目标对象有能力在计算机控制下移动的情况下，该自动化过程可以使用测量的位置数据来控制这些目标对象的位置和方向。该系统利用本地定位系统的测量和图像捕获能力，集成可控标记灯，图像处理和坐标变换计算，为车辆位置控制提供跟踪信息。所得到的系统使得在参考坐标系中的对象的位置和方向跟踪。

54. 发明授权

US08892252B1 Motion capture tracking for nondestructive inspection 有权
标题翻译：用于非破坏性检测的运动捕捉跟踪
公开(公告)号：US08892252B1
公开(公告)日：2014-11-18
申请号：US13744730
申请日：2013-01-18
申请人： The Boeing Company
发明人： James J. Troy , Gary E. Georgeson
IPC分类号： G06F19/00 , G01B11/14
CPC分类号： G01B11/14 , G01S3/784 , G01S17/06 , G05B19/401 , G05B2219/39391 , G05B2219/42338
摘要： A system that uses optical motion capture hardware for position and orientation tracking of non-destructive inspection (NDI) sensor units. This system can be used to track NDI sensor arrays attached to machine-actuated movement devices, as well as in applications where the NDI sensor array is hand-held. In order to achieve integration with NDI hardware, including proprietary systems commercially available, a data acquisition device and custom software are used to transmit the tracking data from the motion capture system to the NDI scanning system, without requiring modifications to the NDI scanning system.
摘要翻译：一种使用光学运动捕捉硬件进行非破坏性检测（NDI）传感器单元的位置和方向跟踪的系统。该系统可用于跟踪连接到机器驱动的移动设备的NDI传感器阵列，以及NDI传感器阵列是手持式的应用。为了实现与NDI硬件（包括商业上可用的专有系统）的集成，使用数据采集设备和定制软件将跟踪数据从运动捕捉系统传输到NDI扫描系统，而不需要修改NDI扫描系统。

55. 发明申请

US20140298227A1 Locator System For Three-Dimensional Visualization 有权
标题翻译：三维可视化定位系统
公开(公告)号：US20140298227A1
公开(公告)日：2014-10-02
申请号：US13855102
申请日：2013-04-02
申请人： THE BOEING COMPANY
发明人： John Carney Gass , James J. Troy , William E. Ward , Christopher Esposito , Kevin Puterbaugh , Nikoli E. Prazak , Bruce L. Nelson , William D. McGarry
IPC分类号： G06F3/0484
CPC分类号： G06F3/0484 , G06Q50/04 , Y02P90/30 , Y02T10/82
摘要： A method and apparatus for locating a part in an aircraft. A part is identified in the aircraft. A series of views is generated from a model of the aircraft with graphical indicators in the series of views configured to provide guidance to a position of the part in the aircraft. The series of views is displayed on a display device.
摘要翻译：一种用于在飞行器中定位零件的方法和装置。在飞机上确定了一部分。从飞机的型号产生一系列视图，其中一系列视图中的图形指示器被配置为向飞机中的部件的位置提供指导。一系列视图显示在显示设备上。

56. 发明申请

US20140210986A1 Tracking-Enabled Multi-Axis Tool for Limited Access Inspection 有权
标题翻译：具有跟踪功能的多轴工具，用于有限访问检查
公开(公告)号：US20140210986A1
公开(公告)日：2014-07-31
申请号：US13750565
申请日：2013-01-25
申请人： THE BOEING COMPANY
发明人： Nathan R. Smith , James J. Troy , Jeffrey R. Kollgaard , Gary E. Georgeson , Paul S. Rutherford
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , G01N21/954
摘要： A multi-axis tool may include, in some embodiments, a gimbal adapted to be positioned adjacent an opening in a wall; an extended-reach device having first and second ends and an end effector adjacent the first end, the extended-reach device engaging the gimbal for relative rotational movement and relative slidable movement through the opening such that the end effector is positioned on a side of the wall opposite the second end; a sensor system configured to measure a linear position of the extended-reach device relative to the gimbal, and a position and spatial orientation of the end effector relative to the opening; and a computer control connected to receive signals from the sensor system to determine at least one of a position and an orientation of the end effector relative to the opening.
摘要翻译：在一些实施例中，多轴工具可以包括适于邻近墙壁中的开口定位的万向架; 具有第一端和第二端的延伸到达装置和与第一端相邻的端部执行器，延伸到达装置接合万向架以进行相对旋转运动，并通过开口相对可滑动地移动，使得末端执行器位于第二端对面的墙; 传感器系统，被配置为测量所述延伸装置相对于所述万向架的线性位置，以及所述端部执行器相对于所述开口的位置和空间取向; 以及计算机控制器，其被连接以从所述传感器系统接收信号以确定所述端部执行器相对于所述开口的位置和取向中的至少一个。

57. 发明申请

US20140184786A1 Systems and Methods for Stand-Off Inspection of Aircraft Structures 有权
标题翻译：飞机结构检查系统与方法
公开(公告)号：US20140184786A1
公开(公告)日：2014-07-03
申请号：US13732789
申请日：2013-01-02
申请人： The Boeing Company
发明人： Gary E. Georgeson , James J. Troy , Scott W. Lea
IPC分类号： G01B11/14 , G01M99/00
CPC分类号： G01M99/00 , G01N21/8422 , G01N21/8851 , G01N2021/8867
摘要： A system for stand-off inspection comprising local positioning system hardware and a nondestructive evaluation instrument supported by a pan-tilt mechanism. The system further comprises a computer system that is programmed to perform the following operations: (a) directing the local positioning system hardware toward an area of a surface on a target object by control of the pan-tilt mechanism; (b) activating the local positioning system hardware to acquire an image; (c) processing the image to determine whether an anomaly is present in the area; (d) if an anomaly is present, determining coordinates of a position of the anomaly in a coordinate system of the target object; and (e) directing the nondestructive evaluation instrument toward a position corresponding to the coordinates. Optionally, the computer system is further programmed to measure one or more characteristics of the anomaly.
摘要翻译：一种用于对接检查的系统，包括本地定位系统硬件和由俯仰机构支撑的非破坏性评估仪器。所述系统还包括被编程为执行以下操作的计算机系统：（a）通过所述俯仰机构的控制将所述本地定位系统硬件引导到目标物体上的表面的区域; （b）激活本地定位系统硬件以获取图像; （c）处理图像以确定区域中是否存在异常; （d）如果存在异常，确定目标对象的坐标系中异常位置的坐标; 和（e）将非破坏性评估仪引导到与坐标相对应的位置。可选地，计算机系统还被编程为测量异常的一个或多个特征。

58. 发明公开

US20230186489A1 System and Method for Continual Localization of Scanner Using Non-Destructive Inspection Data 审中-公开
公开(公告)号：US20230186489A1
公开(公告)日：2023-06-15
申请号：US17745691
申请日：2022-05-16
申请人： The Boeing Company
发明人： James J. Troy , Gary E. Georgeson , Joseph L. Hafenrichter
IPC分类号： G06T7/246 , G01D5/00
CPC分类号： G06T7/248 , G01D5/00
摘要： Systems and methods for tracking the location of a non-destructive inspection (NDI) scanner using scan data converted into images of a target object. Scan images are formed by aggregating successive scan strips acquired using one or two one-dimensional sensor arrays. An image processor constructs and then compares successive partially overlapping scan images that include common features corresponding to respective structural features of the target object. The image processor is further configured to compute a change in location of the NDI scanner relative to a previous location based on the respective positions of those common features in the partially overlapping scan images. This relative physical distance is then added to the previous (old) absolute location estimate to obtain the current (new) absolute location of the NDI scanner.

59. 发明公开

US20230182922A1 END EFFECTORS WITH MULTI-AXIS ROLLER WHEELS, SYSTEMS INCLUDING THE SAME, AND RELATED METHODS 审中-公开
公开(公告)号：US20230182922A1
公开(公告)日：2023-06-15
申请号：US17551049
申请日：2021-12-14
申请人： The Boeing Company
发明人： James J. Troy , Daniel M De Oliveira , Gary E. Georgeson , Joseph Lawrence Hafenrichter
IPC分类号： B64F1/02
CPC分类号： B64F1/0299
摘要： End effectors and systems may capture, release, and/or create a mating engagement between the end effector and a target object. Said end effectors are tolerant of positional and rotational misalignment of the target object, and include a plurality of roller wheels, one or more of which is arranged in a non-parallel plane with respect to one or more other roller wheels. A first roller wheel configured to rotate in a first plane, a second roller wheel configured to rotate in a second plane, and a third roller wheel configured to rotate in a third plane may be arranged such that the end effector is configured to engage a passive receptacle of the target object, to capture the target object. Rotating the roller wheels in the opposite direction may cause the target object to be released or launched, by urging the passive receptacle off of or away from the roller wheels.

60. 发明授权

US11630459B2 Repair of structures using unmanned aerial vehicles 有权
公开(公告)号：US11630459B2
公开(公告)日：2023-04-18
申请号：US16776177
申请日：2020-01-29
申请人： The Boeing Company
发明人： Gary E. Georgeson , Joseph L. Hafenrichter , James J. Troy , Gregory J. Sweers
IPC分类号： G05D1/00 , B25J11/00 , B25J15/06 , B64C39/02 , G08G5/00
摘要： Methods and apparatus for performing repair operations using an unmanned aerial vehicle (UAV). The methods are enabled by equipping the UAV with tools for rapidly repairing a large structure or object (e.g., an aircraft or a wind turbine blade) that is not easily accessible to maintenance personnel. A plurality of tools are available for robotic selection and placement at the repair site. The tools are designed to perform respective repair operations in sequence in accordance with a specified repair plan, which plan may take into account the results of a previously performed UAV-enabled inspection.

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