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公开(公告)号：US09740191B2
公开(公告)日：2017-08-22
申请号：US14620588
申请日：2015-02-12
Applicant: The Boeing Company
Inventor： James J. Troy , Barry A. Fetzer , Scott W. Lea , Gary E. Georgeson
IPC: G05B19/402 , G05B15/02 , B25J9/16
CPC classification number: G05B19/402 , B25J9/1607 , B25J9/1664 , B25J9/1692 , B25J9/1697 , G05B15/02 , G05B2219/31076 , Y10S901/09
Abstract: Systems and methods for calibrating the location of an end effector-carrying apparatus relative to successive workpieces before the start of a production manufacturing operation. The location calibration is performed using a positioning system. These disclosed methodologies allow an operator to program (or teach) the robot motion path once and reuse that path for subsequent structures by using relative location feedback from a measurement system to adjust the position and orientation offset of the robot relative to the workpiece. When each subsequent workpiece comes into the robotic workcell, its location (i.e., position and orientation) relative to the robot may be different than the first workpiece that was used when developing the initial program. The disclosed systems and methods can also be used to compensate for structural differences between workpieces intended to have identical structures.
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公开(公告)号：US20170032159A1
公开(公告)日：2017-02-02
申请号：US14814647
申请日：2015-07-31
Applicant: The Boeing Company
Inventor： James J. Troy , Christopher Esposito , Vladimir Karakusevic
IPC: G06K7/10
CPC classification number: G06K7/10366 , G01S5/02 , G06K7/10009 , G06K7/10099
Abstract: A system is provided that includes a scanner movable relative to seat units and controllable devices each having RFID tags, the scanner configured to obtain a continuum of received signals, a distance sensor configured to determine a relative position of the scanner, a filter configured to disregard outliers and smooth the continuum into respective sets of received signal data, wherein each set of received signal data includes data points having a unique ID and a received signal strength, and wherein a relative time and a relative position are determined for each data point, and a processor configured to determine a relative location of each RFID tag, based on the relative position associated with maximum received signal strength within the set of received signal data, and generate a data file including pairings of seat units and associated controllable devices based on similar relative positions of RFID tags.
Abstract translation: 提供了一种系统，其包括可相对于座椅单元移动的扫描仪和每个具有RFID标签的可控设备，扫描器被配置为获得接收信号的连续体;距离传感器，被配置为确定扫描仪的相对位置;被配置为忽略 异常值并将连续体平滑化成各组接收信号数据，其中每组接收信号数据包括具有唯一ID和接收信号强度的数据点，并且其中为每个数据点确定相对时间和相对位置，以及 处理器，其被配置为基于与所述接收信号数据集合内的最大接收信号强度相关联的相对位置来确定每个RFID标签的相对位置，并且基于相似的相对位置生成包括座位单元和相关联的可控设备的配对的数据文件 RFID标签的位置。
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公开(公告)号：US09464754B1
公开(公告)日：2016-10-11
申请号：US15181516
申请日：2016-06-14
Applicant: The Boeing Company
Inventor： James J. Troy , Scott W. Lea , Gary E. Georgeson , Karl Edward Nelson , Daniel James Wright
CPC classification number: F16M11/18 , B66C13/48 , B66C23/72 , F16M11/24 , F16M11/42 , G01N29/225 , G01N29/265 , G01N29/28 , G05D1/0276 , G05D2201/0207 , Y10S901/01
Abstract: 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.
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公开(公告)号：US20160239013A1
公开(公告)日：2016-08-18
申请号：US14620588
申请日：2015-02-12
Applicant: THE BOEING COMPANY
Inventor： James J. Troy , Barry A. Fetzer , Scott W. Lea , Gary E. Georgeson
IPC: G05B19/402 , B25J9/16 , G05B15/02
CPC classification number: G05B19/402 , B25J9/1607 , B25J9/1664 , B25J9/1692 , B25J9/1697 , G05B15/02 , G05B2219/31076 , Y10S901/09
Abstract: Systems and methods for calibrating the location of an end effector-carrying apparatus relative to successive workpieces before the start of a production manufacturing operation. The location calibration is performed using a positioning system. These disclosed methodologies allow an operator to program (or teach) the robot motion path once and reuse that path for subsequent structures by using relative location feedback from a measurement system to adjust the position and orientation offset of the robot relative to the workpiece. When each subsequent workpiece comes into the robotic workcell, its location (i.e., position and orientation) relative to the robot may be different than the first workpiece that was used when developing the initial program. The disclosed systems and methods can also be used to compensate for structural differences between workpieces intended to have identical structures.
Abstract translation: 用于在生产制造操作开始之前校准末端执行器承载装置相对于连续工件的位置的系统和方法。 位置校准使用定位系统进行。 这些公开的方法允许操作者编程（或教导）机器人运动路径一次，并通过使用来自测量系统的相对位置反馈重新使用该路径用于后续结构，以调整机器人相对于工件的位置和取向偏移。 当每个随后的工件进入机器人工作单元时，其相对于机器人的位置（即位置和方位）可以不同于在开发初始程序时使用的第一个工件。 所公开的系统和方法也可用于补偿旨在具有相同结构的工件之间的结构差异。
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公开(公告)号：US09316512B2
公开(公告)日：2016-04-19
申请号：US13915121
申请日：2013-06-11
Applicant: The Boeing Company
Inventor： Gary Ernest Georgeson , James J. Troy , Nathan Rylan Smith , Donald Duane Palmer, Jr.
IPC: G01D11/30 , G01N29/22 , G01N29/265 , G01N21/954 , G01N27/90
CPC classification number: G01D11/30 , G01N21/954 , G01N27/902 , G01N29/225 , G01N29/265 , G01N2291/2638 , G01N2291/2694
Abstract: A method for inspecting an object. A support structure physically associated with a first sensor and a second sensor is moved to an area for inspection. The support structure is in a first configuration and the first sensor and the second sensor are positioned about an axis extending through the support structure when the support structure is in the first configuration. The support structure is changed from the first configuration to a second configuration. The first sensor and the second sensor are configured to generate information when the support structure is in the second configuration.
Abstract translation: 检查物体的方法。 与第一传感器和第二传感器物理相关联的支撑结构移动到用于检查的区域。 支撑结构处于第一构型，并且当支撑结构处于第一构型时，第一传感器和第二传感器围绕延伸穿过支撑结构的轴线定位。 支撑结构从第一配置改变为第二配置。 第一传感器和第二传感器被配置为当支撑结构处于第二配置时产生信息。
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Patent Agency Ranking
96.发明申请Automated Non-Destructive Inspection of Surface Skins Using Transporter System 审中-公开使用运输系统对表面皮肤进行自动非破坏性检测公开(公告)号：US20160096637A1
公开(公告)日：2016-04-07
申请号：US14966516
申请日：2015-12-11
Applicant: The Boeing Company
Inventor： James J. Troy , William P. Motzer , Scott W. Lea , James C. Kennedy , Michael C. Hutchinson
CPC classification number: B62D49/0642 , B62D49/065 , B62D63/068 , B62D63/08 , B64F5/40 , B64F5/60 , G01N29/043 , G01N29/225 , G01N29/26 , G01N29/265 , G01N29/28 , G01N2291/0231 , G01N2291/26 , G01N2291/2694
Abstract: Systems and methods for automated maintenance of the top and bottom surfaces or skins of an integrally stiffened hollow structure (e.g., a horizontal stabilizer) using surface crawling vehicles. Each system uses dynamically controlled magnetic coupling to couple an external drive tractor to a pair of passive trailers disposed in the interior of the hollow structure on opposite sides of a vertical structural element. The external drive tractor is also coupled to an external maintenance tool, which the tractor pushes or pulls across the surface skin to perform a maintenance function. The systems allow maintenance operations to be performed on both surface skins without turning the hollow structure over. Each system is modular and can be transported to and easily set up in a building or factory.
Abstract translation: 使用表面爬行车辆自动维护整体加固的中空结构（例如水平稳定器）的顶面和底面或表皮的系统和方法。 每个系统使用动态控制的磁耦合将外部驱动拖拉机耦合到设置在垂直结构元件的相对侧上的中空结构内部的一对被动拖车。 外部驱动拖拉机还耦合到外部维护工具，拖拉机推动或拉动穿过表面皮肤以执行维护功能。 这些系统允许在两个表面皮肤上执行维护操作，而不使中空结构转动。 每个系统都是模块化的，可以运输到建筑物或工厂容易地设置。
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公开(公告)号：US09221506B1
公开(公告)日：2015-12-29
申请号：US13948195
申请日：2013-07-23
Applicant: The Boeing Company
Inventor： Gary E. Georgeson , John R. Linn , James J. Troy , Karl Edward Nelson , Daniel J. Wright , Scott W. Lea
IPC: B25J5/00 , B62D57/024 , G05D1/02 , B05C1/00 , B05D7/00 , G05D1/00 , B64F5/00 , F41J2/00 , B62D55/265 , B60B19/00
CPC classification number: B62D57/024 , B05C1/00 , B05D7/00 , B25J5/007 , B60B19/003 , B64F5/40 , B64F5/60 , F02K1/1207 , F02K1/763 , G05D1/00 , G05D1/0236 , G05D1/0282 , Y10S901/01
Abstract: A system in accordance with one embodiment comprises a marking device attached to a holonomic-motion crawler vehicle capable of movement on non-horizontal surfaces. Modular attachment and motion control interfaces on the platform allow attachment of various types of marking and non-destructive inspection (NDI) sensor modules. The crawling vehicle marks the location of sub-surface features on an aircraft skin or overlaid patch (doubler) using a pen or sticker or tape applicator that is guided based on either a 3-D CAD model or NDI data collected as the vehicle crawls. A second embodiment utilizes an automated NDI scanner to collect 2-D image data of the substructure to enable manual or automated feature/edge selection for marking. Location tracking of the marking device can be implemented using a local positioning system or a motion capture system.
Abstract translation: 根据一个实施例的系统包括连接到能够在非水平表面上移动的整体式履带式车辆的标记装置。 平台上的模块化附件和运动控制界面允许连接各种类型的标记和非破坏性检测（NDI）传感器模块。 爬行车辆使用笔或贴纸或胶带施加器来标记飞机皮肤上的子表面特征的位置或覆盖的贴片（双倍），该笔或贴纸或胶带施加器基于车辆爬行时收集的3-D CAD模型或NDI数据而被引导。 第二实施例利用自动NDI扫描器来收集子结构的二维图像数据，以使得能够进行标记的手动或自动特征/边缘选择。 标记装置的位置跟踪可以使用本地定位系统或运动捕捉系统来实现。
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公开(公告)号：US20150226369A1
公开(公告)日：2015-08-13
申请号：US14176169
申请日：2014-02-10
Applicant: The Boeing Company
Inventor： James J. Troy , Scott W. Lea , Gary E. Georgeson , Karl Edward Nelson , Daniel James Wright
CPC classification number: F16M11/18 , B66C13/48 , B66C23/72 , F16M11/24 , F16M11/42 , G01N29/225 , G01N29/265 , G01N29/28 , G05D1/0276 , G05D2201/0207 , Y10S901/01
Abstract: 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.
Abstract translation: 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。
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公开(公告)号：US20150207987A1
公开(公告)日：2015-07-23
申请号：US14672952
申请日：2015-03-30
Applicant: The Boeing Company
Inventor： James J. Troy , Scott W. Lea , Daniel James Wright , Gary E. Georgeson , Karl Edward Nelson
CPC classification number: H04N5/23222 , G01S17/46 , G01S17/88 , G06F17/16 , G06K9/3216 , G06K9/3241 , G06K2009/3225 , H04N5/23296 , H04N7/183 , Y10S901/46
Abstract: 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.
Abstract translation: 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。
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公开(公告)号：US20140376768A1
公开(公告)日：2014-12-25
申请号：US13921246
申请日：2013-06-19
Applicant: The Boeing Company
Inventor： James J. Troy , Scott W. Lea , Daniel James Wright , Gary E. Georgeson , Karl Edward Nelson
IPC: G06K9/32
CPC classification number: H04N5/23222 , G01S17/46 , G01S17/88 , G06F17/16 , G06K9/3216 , G06K9/3241 , G06K2009/3225 , H04N5/23296 , H04N7/183 , Y10S901/46
Abstract: 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.
Abstract translation: 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。
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