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公开(公告)号：US09410659B2
公开(公告)日：2016-08-09
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
IPC: G06F19/00 , F16M11/18 , F16M11/24 , F16M11/42 , G05D1/02 , B66C13/48 , B66C23/72 , G01N29/22 , G01N29/265 , G01N29/28
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：US09197810B2
公开(公告)日：2015-11-24
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：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
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。
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Patent Agency Ranking
14.发明申请公开(公告)号：US20190331620A1
公开(公告)日：2019-10-31
申请号：US15962832
申请日：2018-04-25
Applicant: The Boeing Company
Inventor： James J. Troy , Scott W. Lea , Gary E. Georgeson , Daniel James Wright
Abstract: Systems and methods for non-destructive inspection (NDI) of target objects having non-planar surfaces (such as aircraft components having internal stiffeners). A robotic NDI platform is equipped with an NDI sensor and a laser-based alignment system. The laser-based alignment system is operated in a manner to acquire surface profile information in an area of interest on a non-planar surface of the target object. Then the acquired surface profile data is processed by a computer to generate a motion plan for automatically guiding the robotic NDI platform and the NDI sensor to the correct locations, where images of the area of interest may be captured.
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公开(公告)号：US20160281910A1
公开(公告)日：2016-09-29
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：US09156321B2
公开(公告)日：2015-10-13
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: B60K17/30 , B60D1/42 , B25J5/00 , B62D57/024 , B64F5/00 , G01N29/22 , G01N29/24 , G01N29/265 , 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。
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公开(公告)号：US09043146B2
公开(公告)日：2015-05-26
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
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.
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18.发明申请Self-Contained Holonomic Tracking Method and Apparatus for Non-Destructive Inspection 有权自包含全自动跟踪方法和非破坏性检测装置公开(公告)号：US20140278221A1
公开(公告)日：2014-09-18
申请号：US13796584
申请日：2013-03-12
Applicant: THE BOEING COMPANY
Inventor： James J. Troy , Scott W. Lea , Gary E. Georgeson , Karl E. Nelson , Daniel James Wright
IPC: G01C1/00
CPC classification number: G01N29/04 , G01C22/02 , G01N27/9013 , G01N29/225 , G01N29/265 , G01N2291/106 , G05D1/0272
Abstract: A self-contained, holonomic motion tracking solution for supplementing the acquisition of inspection information on the surface of a structure, thereby enabling the real-time production of two-dimensional images from hand-held and automated scanning by holonomic-motion of non-destructive inspection (NDI) sensor units (e.g., NDI probes). The systems and methods disclosed enable precise tracking of the position and orientation of a holonomic-motion NDI sensor unit (hand-held or automated) and conversion of the acquired tracking data into encoder pulse signals for processing by a NDI scanning system.
Abstract translation: 一个独立的，完整的运动跟踪解决方案，用于补充在结构表面上获取检查信息，从而通过非破坏性的全身运动实现手持和自动扫描的二维图像的实时生成 检测（NDI）传感器单元（例如，NDI探针）。 所公开的系统和方法能够精确地跟踪整体运动的NDI传感器单元（手持式或自动化）的位置和方向，并将获取的跟踪数据转换成编码器脉冲信号，以供NDI扫描系统处理。
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