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1. 发明授权

US08713998B2 Autonomous non-destructive evaluation system for aircraft structures 有权
标题翻译：飞机结构自主性非破坏性评估系统
公开(公告)号：US08713998B2
公开(公告)日：2014-05-06
申请号：US13160238
申请日：2011-06-14
申请人： James J. Troy , Gary Ernest Georgeson , Karl Edward Nelson , Scott Wesley Lea
发明人： James J. Troy , Gary Ernest Georgeson , Karl Edward Nelson , Scott Wesley Lea
IPC分类号： G01M19/00
CPC分类号： G01N35/00584 , B64F5/60 , G01M17/00 , G01N21/00 , G01N21/9515 , G01N25/72 , G01N27/00 , G01N27/90 , G01N29/00 , G01N29/043 , G01N29/4481 , G01N2291/2694
摘要： An apparatus comprises an inspection vehicle, a sensor system, a positioning system, a controller, and a support system. The inspection vehicle is configured to move on a surface of an object. The sensor system is associated with the inspection vehicle and is configured to generate information about the object when the inspection vehicle is on the surface of the object. The positioning system is configured to determine a location of the inspection vehicle on the object. The controller is configured to control movement of the inspection vehicle using the positioning system and control operation of the sensor system. The support system is connected to the inspection vehicle and is configured to support the inspection vehicle in response to an undesired release of the inspection vehicle from the surface of the object.
摘要翻译：一种装置包括检查车辆，传感器系统，定位系统，控制器和支撑系统。检查车辆构造成在物体的表面上移动。传感器系统与检查车辆相关联，并被配置为当检测车辆在物体的表面上时生成关于物体的信息。定位系统被配置为确定检查车辆在物体上的位置。控制器被配置为使用定位系统来控制检查车辆的运动并且控制传感器系统的操作。支撑系统连接到检查车辆，并被构造成响应于检查车辆从物体表面的不期望的释放而支撑检查车辆。

2. 发明申请

US20130041544A1 Beam Directed Motion Control System 有权
标题翻译：光束定向运动控制系统
公开(公告)号：US20130041544A1
公开(公告)日：2013-02-14
申请号：US13206269
申请日：2011-08-09
申请人： James J. Troy , Scott Wesley Lea , Gary Ernest Georgeson , Karl Edward Nelson
发明人： James J. Troy , Scott Wesley Lea , Gary Ernest Georgeson , Karl Edward Nelson
IPC分类号： G05D1/00
CPC分类号： G05D1/0231 , G05D1/0212 , G05D1/0234 , G05D1/0246 , G05D1/0276 , G05D2201/0207 , Y10S901/01 , Y10S901/47
摘要： A method and apparatus comprising an energy source, a position system, and a movement system. The energy source is configured to generate a beam of energy directed at an area on a target for a vehicle. The position system is configured to identify a first position of the area on the target at which the beam of energy is directed. The movement system is configured to move the vehicle in a manner that reduces a difference between the first position of the area on the target at which the beam of energy is directed and a reference position on the target.
摘要翻译：一种包括能量源，位置系统和运动系统的方法和装置。能量源被配置为产生针对车辆的目标上的区域的能量束。位置系统被配置为识别能量束被定向在目标上的区域的第一位置。移动系统被配置为以减少能量束指向的目标上的区域的第一位置与目标上的参考位置之间的差异的方式移动车辆。

3. 发明授权

US08874371B2 Beam directed motion control system 有权
标题翻译：光束定向运动控制系统
公开(公告)号：US08874371B2
公开(公告)日：2014-10-28
申请号：US13206269
申请日：2011-08-09
申请人： James J. Troy , Scott Wesley Lea , Gary Ernest Georgeson , Karl Edward Nelson
发明人： James J. Troy , Scott Wesley Lea , Gary Ernest Georgeson , Karl Edward Nelson
IPC分类号： G05D1/02
CPC分类号： G05D1/0231 , G05D1/0212 , G05D1/0234 , G05D1/0246 , G05D1/0276 , G05D2201/0207 , Y10S901/01 , Y10S901/47
摘要： A method and apparatus comprising an energy source, a position system, and a movement system. The energy source is configured to generate a beam of energy directed at an area on a target for a vehicle. The position system is configured to identify a first position of the area on the target at which the beam of energy is directed. The movement system is configured to move the vehicle in a manner that reduces a difference between the first position of the area on the target at which the beam of energy is directed and a reference position on the target.
摘要翻译：一种包括能量源，位置系统和运动系统的方法和装置。能量源被配置为产生针对车辆的目标上的区域的能量束。位置系统被配置为识别能量束被定向在目标上的区域的第一位置。移动系统被配置为以减少能量束指向的目标上的区域的第一位置与目标上的参考位置之间的差异的方式移动车辆。

4. 发明申请

US20120320372A1 Autonomous Non-Destructive Evaluation System for Aircraft Structures 有权
标题翻译：飞机结构自主性非破坏性评估系统
公开(公告)号：US20120320372A1
公开(公告)日：2012-12-20
申请号：US13160238
申请日：2011-06-14
申请人： James J. Troy , Gary Ernest Georgeson , Karl Edward Nelson , Scott Wesley Lea
发明人： James J. Troy , Gary Ernest Georgeson , Karl Edward Nelson , Scott Wesley Lea
IPC分类号： G01N21/88
CPC分类号： G01N35/00584 , B64F5/60 , G01M17/00 , G01N21/00 , G01N21/9515 , G01N25/72 , G01N27/00 , G01N27/90 , G01N29/00 , G01N29/043 , G01N29/4481 , G01N2291/2694
摘要： An apparatus comprises an inspection vehicle, a sensor system, a positioning system, a controller, and a support system. The inspection vehicle is configured to move on a surface of an object. The sensor system is associated with the inspection vehicle and is configured to generate information about the object when the inspection vehicle is on the surface of the object. The positioning system is configured to determine a location of the inspection vehicle on the object. The controller is configured to control movement of the inspection vehicle using the positioning system and control operation of the sensor system. The support system is connected to the inspection vehicle and is configured to support the inspection vehicle in response to an undesired release of the inspection vehicle from the surface of the object.
摘要翻译：一种装置包括检查车辆，传感器系统，定位系统，控制器和支撑系统。检查车辆构造成在物体的表面上移动。传感器系统与检查车辆相关联，并被配置为当检测车辆在物体的表面上时生成关于物体的信息。定位系统被配置为确定检查车辆在物体上的位置。控制器被配置为使用定位系统来控制检查车辆的运动并且控制传感器系统的操作。支撑系统连接到检查车辆，并被构造成响应于检查车辆从物体表面的不期望的释放而支撑检查车辆。

5. 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。

6. 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。

7. 发明授权

US09010684B2 Automated inspection of soft-tooled hollow structure 有权
标题翻译：软工具中空结构自动检测
公开(公告)号：US09010684B2
公开(公告)日：2015-04-21
申请号：US13534014
申请日：2012-06-27
申请人： William P. Motzer , James C. Kennedy , Michael C. Hutchinson , Martin L. Freet , Ronald E. VonWahlde , Steven Ray Walton , Jeffry J. Garvey , Scott W. Lea , James J. Troy , Daniel James Wright , Hien T. Bui , Michael Joseph Duncan , Mark L. Little , William Joseph Tapia , Barry A. Fetzer , Richard C. Krotzer
发明人： William P. Motzer , James C. Kennedy , Michael C. Hutchinson , Martin L. Freet , Ronald E. VonWahlde , Steven Ray Walton , Jeffry J. Garvey , Scott W. Lea , James J. Troy , Daniel James Wright , Hien T. Bui , Michael Joseph Duncan , Mark L. Little , William Joseph Tapia , Barry A. Fetzer , Richard C. Krotzer
IPC分类号： B64C1/00 , B64C30/00 , G01N29/22 , G01N29/265 , G01N29/04
CPC分类号： G01N29/043 , G01N29/225 , G01N29/265 , G01N2291/0231 , G01N2291/2694
摘要： A system and method that allow inspection of hollow structures made of composite material, such as an integrally stiffened wing box of an aircraft. A wing box comprises top and bottom skins connected by a plurality of spaced spars. The system employs a plurality of scanners for inspecting different portions of each spar. The system uses dynamically controlled magnetic coupling to connect an external drive tractor to computer-controlled scanners that carry respective sensors, e.g., linear ultrasonic transducer arrays. A system operator can control the various components by means of a graphical user interface comprising multiple interaction regions that represent the individual scanner motion paths and are associated with respective motion script files.
摘要翻译：允许检查由复合材料制成的中空结构的系统和方法，例如飞机的整体加强的翼箱。翼盒包括通过多个间隔的翼梁连接的顶部和底部皮肤。该系统采用多个扫描器来检查每个翼梁的不同部分。该系统使用动态控制的磁耦合将外部驱动拖拉机连接到携带相应传感器的计算机控制的扫描器，例如线性超声换能器阵列。系统操作者可以通过图形用户界面来控制各种组件，所述图形用户界面包括表示各个扫描仪运动路径的多个交互区域，并且与相应的运动脚本文件相关联。

8. 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。

9. 发明授权

US08510039B1 Methods and apparatus for three-dimensional localization and mapping 有权
标题翻译：三维定位和绘图的方法和装置
公开(公告)号：US08510039B1
公开(公告)日：2013-08-13
申请号：US12898412
申请日：2010-10-05
申请人： James J. Troy , Charles A. Erignac , Paul Murray
发明人： James J. Troy , Charles A. Erignac , Paul Murray
IPC分类号： G01S1/24
CPC分类号： G05D1/027 , G01C21/165 , G05D1/0251 , G05D1/0274
摘要： A system configured to enable three-dimensional localization and mapping is provided. The system includes a mobile device and a computing device. The mobile device includes an inertial measurement unit and a three-dimensional image capture device. The computing device includes a processor programmed to receive a first set of inertial measurement information from the inertial measurement unit, determine a first current position and orientation of the mobile device based on a defined position and orientation of the mobile device and the first set of inertial measurement information, receive three-dimensional image data of the environment from the three-dimensional image capture device, determine a second current position and orientation of the mobile device based on the received three-dimensional image data and the first current position and orientation of the mobile device, and generate a three-dimensional representation of an environment with respect to the second current position and orientation of the mobile device.
摘要翻译：提供了一种配置成实现三维定位和映射的系统。该系统包括移动设备和计算设备。移动设备包括惯性测量单元和三维图像捕获设备。计算设备包括被编程为从惯性测量单元接收第一组惯性测量信息的处理器，基于移动设备的定义的位置和取向以及第一组惯性来确定移动设备的第一当前位置和取向测量信息，从三维图像捕获装置接收环境的三维图像数据，基于接收到的三维图像数据和第一当前位置和取向来确定移动装置的第二当前位置和取向移动设备，并且相对于移动设备的第二当前位置和取向生成环境的三维表示。

10. 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。

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