公开(公告)号：US09193573B1

公开(公告)日：2015-11-24

申请号：US13765426

申请日：2013-02-12

Applicant: The Boeing Company

Inventor： James J. Troy

IPC: B25J9/00 ,  B66F11/04

CPC classification number: B66F11/042 ,  B66F7/065

Abstract: A process for measuring and controlling the position and velocity of one moving part of a scissor lift device through the measurement of another moving part of the scissor lift device. The position and velocity of the moving part (e.g., a platform of the scissor lift device) are computed using kinematics and Jacobian functions that define the position and velocity in terms of the measured degree of freedom. The process provides continuous, closed-form computation of the position and velocity of a platform carried by a scissor linkage mechanism during the latter's extension, which enables applications for motion sensing and control of linkage extension types of systems.

Abstract translation: 一种用于通过测量剪刀提升装置的另一移动部分来测量和控制剪刀提升装置的一个移动部件的位置和速度的过程。 使用运动学和雅可比函数来计算移动部件（例如，剪刀提升装置的平台）的位置和速度，其根据测量的自由度来定义位置和速度。 该过程提供了在后者的延伸期间由剪刀连杆机构承载的平台的位置和速度的连续的闭合计算，这使得能够应用于运动感测和控制连动延伸系统的类型。

公开(公告)号：US20150268033A1

公开(公告)日：2015-09-24

申请号：US14222368

申请日：2014-03-21

Applicant: THE BOEING COMPANY

Inventor： James J. Troy ,  Scott W. Lea ,  Gary E. Georgeson

IPC: G01B11/00

CPC classification number: G01S5/16

Abstract: Systems and methods for performing relative object localization using a local positioning system. The process in accordance with one embodiment solves the problem of determining the location (i.e., the position and orientation) of an object relative to a previous location of the object, or relative to another object, without the need for known 3-D data point positions in the environment. The process in accordance with another embodiment solves the problem of determining the location of the measurement instrument relative to a previous location of the measurement instrument using visible feature points on a target object as a reference, again without the need for known 3-D data point positions. The process in accordance with a further embodiment is capable of determining the locations of multiple objects relative to each other.

Abstract translation: 使用本地定位系统执行相对对象定位的系统和方法。 根据一个实施例的处理解决了确定对象相对于对象的先前位置或相对于另一对象的位置（即，位置和方向）的问题，而不需要已知的3-D数据点 在环境中的位置。 根据另一实施例的处理解决了使用目标物体上的可见特征点作为参考来确定测量仪器相对于测量仪器的先前位置的位置的问题，而不需要已知的3-D数据点 职位 根据另一实施例的处理能够确定多个对象相对于彼此的位置。

公开(公告)号：US20140137673A1

公开(公告)日：2014-05-22

申请号：US14166150

申请日：2014-01-28

Applicant: The Boeing Company

Inventor： James J. Troy ,  Scott W. Lea ,  Daniel James Wright

IPC: B60D1/42 ,  B62D63/04 ,  G01D11/30 ,  H01F7/02

CPC classification number: B60D1/42 ,  B25J5/007 ,  B62D57/024 ,  B62D63/04 ,  B64F5/60 ,  G01D11/30 ,  G01N29/225 ,  G01N29/2493 ,  G01N29/265 ,  G01N2291/2634 ,  G01N2291/2636 ,  H01F7/0242

Abstract: A system is disclosed comprising a tractor vehicle, at least one trailer vehicle and a skin between and in contact with the tractor and trailer vehicles. One of the tractor and trailer vehicles is disposed in a non-inverted position above the skin and the other is disposed in an inverted position below the skin. The trailer vehicle comprises one or more magnets, while the tractor vehicle comprises one or more magnets magnetically coupled to each opposing magnet on the trailer vehicle. For example, the tractor and trailer vehicles may have mutually opposing permanent magnets in one-to-one relationship. Alternatively, each permanent magnet on the trailer vehicle could be opposed by one or more electro-permanent magnets on the tractor vehicle. The magnetic coupling between the magnets on the tractor and trailer vehicles produces an attraction force. The system further comprises means for maintaining the attraction force within a range as the tractor and trailer vehicles move along a portion of the skin having a varying thickness.

Abstract translation: 公开了一种系统，其包括拖拉机车辆，至少一个拖车车辆以及与拖拉机和拖车之间接触的皮肤。 拖拉机和拖车中的一个被布置在皮肤上方的非倒置位置，另一个设置在皮肤下方的倒置位置。 拖车车辆包括一个或多个磁体，而拖拉机车辆包括一个或多个磁铁地耦合到拖车上的每个相对的磁体的磁体。 例如，拖拉机和拖车可以具有一对一关系的相互相对的永磁体。 或者，拖车上的每个永磁体可以与牵引车上的一个或多个电永磁体相对。 拖拉机和拖车车辆上的磁铁之间的磁耦合产生吸引力。 该系统还包括用于在拖拉机和拖车车辆沿着具有变化的厚度的皮肤的一部分移动的范围内将吸引力保持在一定范围内的装置。