公开(公告)号：US20180329384A1

公开(公告)日：2018-11-15

申请号：US15593541

申请日：2017-05-12

Applicant: The Boeing Company

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

IPC: G05B19/048

CPC classification number: G05B19/048 ,  G05B9/02 ,  G05B2219/24015 ,  G05B2219/49141

Abstract: Situational-awareness controllers and methods to increase situational-awareness for an actor associated with a triggering event are described. An example method includes in response to receiving a notification of a triggering event generated by at least one sensor, a computing device accessing information that includes related to an actor associated with the triggering event. The computing device correlates the information to a compilation of historical information by (i) determining whether the actor's location is associated with one or more safety events stored as part of the compilation of historical information and (ii) determining a risk level of the actor based on whether the one or more associated safety events occurred within a predetermined range of time from the time associated with the triggering event. The computing device generates a command based on a result of the correlating and sends the command to at least one controllable device.

公开(公告)号：US20180104820A1

公开(公告)日：2018-04-19

申请号：US15294757

申请日：2016-10-16

Applicant: The Boeing Company

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

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  B25J17/0208 ,  B25J17/0233 ,  B25J17/0275 ,  G01B3/20 ,  G01B3/28 ,  G01B5/06

Abstract: A method and apparatus for performing an operation on a workpiece using a multi-axis compliant end-effector for attachment to a robotic device. The end-effector is positioned at a nominal location of a workpiece feature on which the operation is to be performed. The end-effector is passively aligned with the workpiece feature by contacting the end-effector with the workpiece feature. The operation is performed on the workpiece feature in response to aligning the end effector with the workpiece feature.

公开(公告)号：US20180025543A1

公开(公告)日：2018-01-25

申请号：US15213727

申请日：2016-07-19

Applicant: The Boeing Company

Inventor： James J. Troy ,  Christopher D. Esposito ,  Vladimir Karakusevic

IPC: G06T19/00 ,  G06T17/00

CPC classification number: G06T19/003 ,  G06T15/20 ,  G06T17/00 ,  G06T2219/004

Abstract: Systems and methods for constructing and saving files containing computer-generated image data with associated virtual camera location data during 3-D visualization of an object (e.g., an aircraft). The process tags computer-generated images with virtual camera location and settings information selected by the user while navigating a 3-D visualization of an object. The virtual camera location data in the saved image file can be used later as a way to return the viewpoint to the virtual camera location in the 3-D environment from where the image was taken. For example, these tagged images can later be drag-and-dropped onto the display screen while the 3-D visualization application is running to activate the process of retrieving and displaying a previously selected image. Multiple images can be loaded and then used to determine the relative viewpoint offset between images.

公开(公告)号：US09646187B2

公开(公告)日：2017-05-09

申请号：US14814647

申请日：2015-07-31

Applicant: The Boeing Company

Inventor： James J. Troy ,  Christopher Esposito ,  Vladimir Karakusevic

IPC: H04Q5/22 ,  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.

公开(公告)号：US20170072557A1

公开(公告)日：2017-03-16

申请号：US15358541

申请日：2016-11-22

Applicant: The Boeing Company

Inventor： James J. Troy ,  Gary E. Georgeson ,  Paul S. Rutherford ,  Nathan R. Smith

IPC: B25J1/02 ,  G06T19/00 ,  B23Q17/22 ,  G06T19/20 ,  B25J1/08 ,  B25J15/00

CPC classification number: B25J1/02 ,  B23Q17/2233 ,  B25J1/08 ,  B25J15/00 ,  G01N21/954 ,  G06T19/003 ,  G06T19/006 ,  G06T19/20 ,  G06T2219/2004

Abstract: An extended-reach tool system may include a gimbal positioned adjacent a surface opening; an extended-reach arm having a tool and engaging the gimbal; a sensor system for measuring a position of the arm relative to the gimbal and a position and spatial orientation of the tool relative to the opening; a computer control that converts one or both of the rotational and linear measurements from the sensor system into spatial location representations for virtual representations of 3-D models of the workpiece and tool, determines a position and orientation of the tool relative to the opening and workpiece, and adjusts the virtual representations of the 3-D models of the workpiece and tool as the arm and tool move relative to the workpiece, representing a real-time orientation of the tool relative to the workpiece; and a display for displaying the virtual representations of the 3-D models of the workpiece and tool.

Abstract translation: 延伸工具系统可以包括邻近表面开口定位的万向架; 具有工具并与万向节接合的延伸臂; 传感器系统，用于测量臂相对于万向架的位置以及工具相对于开口的位置和空间取向; 将来自传感器系统的一个或两个旋转和线性测量值转换成用于工件和工具的3-D模型的虚拟表示的空间位置表示的计算机控制器确定工具相对于开口和工件的位置和取向 并且当手臂和工具相对于工件移动时，调整工件和工具的三维模型的虚拟表示，表示工具相对于工件的实时取向; 以及用于显示工件和工具的3D模型的虚拟表示的显示器。

公开(公告)号：US09533724B2

公开(公告)日：2017-01-03

申请号：US14623888

申请日：2015-02-17

Applicant: The Boeing Company

Inventor： James J. Troy ,  Gary Ernest Georgeson ,  Scott W. Lea ,  Karl Edward Nelson ,  Daniel J. Wright

IPC: B62D57/024 ,  B62D55/265 ,  H01F7/02 ,  G05D1/00 ,  B64F5/00 ,  B25J5/00

CPC classification number: B62D57/024 ,  B25J5/007 ,  B62D55/265 ,  B64F5/60 ,  H01F7/0257 ,  H01F7/206 ,  H01F2007/208 ,  Y10S901/01

Abstract: An apparatus and method for attaching a crawler vehicle to the surface of an object. The crawler vehicle may comprise a frame, a number of moveable surface-engaging components attached to the frame, a number of actuators, and an electro-permanent magnet. The number of actuators is operable to move the frame with respect to the object when the number of moveable surface-engaging components is in contact with the surface of the object. The electro-permanent magnet is operable to hold the number of moveable surface-engaging components in contact with the surface of the object by a magnetic force between the electro-permanent magnet and the object when the electro-permanent magnet is activated and to remove the magnetic force when the electro-permanent magnet is deactivated to release the number of moveable surface-engaging components from the surface of the object.

Abstract translation: 一种用于将履带车附着到物体表面的装置和方法。 履带车辆可以包括框架，附接到框架的多个可移动表面接合部件，多个致动器和电永磁体。 当可移动表面接合部件的数量与物体的表面接触时，致动器的数量可操作以相对于物体移动框架。 电永磁体可操作以通过电永磁体和物体之间的磁力将活动表面接合部件的数量与物体的表面接触，当电永磁体被激活时， 当电永磁体被去激活以从物体的表面释放可移动的表面接合部件的数量时的磁力。

公开(公告)号：US20150371443A1

公开(公告)日：2015-12-24

申请号：US14308840

申请日：2014-06-19

Applicant: The Boeing Company

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

IPC: G06T19/00 ,  G06T15/50 ,  G06T15/20

CPC classification number: G06T19/006 ,  G06T15/20 ,  G06T15/50

Abstract: A method, system, and apparatus for visually presenting a virtual environment relative to a physical workspace. An output device visually presents a view of the virtual environment to guide a human operator in performing a number of operations within the physical workspace. A mounting structure holds the output device and is movable with at least one degree of freedom relative to the physical workspace. A sensor system measures movement of the output device relative to the physical workspace to generate sensor data. A controller computes a transformation matrix and the set of scale factors to align the virtual environment and the physical workspace. The controller changes the view of virtual environment based on the sensor data to thereby change the view of the virtual environment in correspondence with the movement of the output device relative to the physical workspace.

Abstract translation: 用于相对于物理工作空间可视地呈现虚拟环境的方法，系统和装置。 输出设备可视地呈现虚拟环境的视图，以引导人类操作者在物理工作空间内执行多个操作。 安装结构保持输出装置并且可相对于物理工作空间至少一个自由度移动。 传感器系统测量输出设备相对于物理工作空间的运动，以产生传感器数据。 控制器计算变换矩阵和一组比例因子以使虚拟环境和物理工作空间对齐。 控制器基于传感器数据改变虚拟环境的视图，从而根据输出设备相对于物理工作空间的移动来改变虚拟环境的视图。

公开(公告)号：US20150329221A1

公开(公告)日：2015-11-19

申请号：US14279355

申请日：2014-05-16

Applicant: The Boeing Company

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

IPC: B64F5/00

CPC classification number: B64F5/60 ,  B64F5/0045 ,  G01N29/0654 ,  G01N29/265 ,  G01N29/44 ,  G01N2291/0231 ,  G01N2291/0258 ,  G01N2291/0289 ,  G01N2291/2634 ,  G01N2291/2694

Abstract: Systems and methods for high-speed non-destructive inspection of a half- or full-barrel-shaped workpiece, such as a barrel-shaped section of an aircraft fuselage. Such workpieces can be scanned externally using a mobile (e.g., translating) arch gantry system comprising a translatable arch frame disposed outside the fuselage section, a carriage that can travel along a curved track carried by the arch frame, a radially inward-extending telescopic arm having a proximal end fixedly coupled to the carriage, and an NDI sensor unit coupled to a distal end of the telescoping arm. The stiffeners of the fuselage sections can be scanned using a mobile scanner platform disposed inside the fuselage section, which platform comprises a radially outward-extending telescopic arm rotatably coupled to a mobile (e.g., holonomic or linear motion) platform and an NDI sensor unit coupled to a distal end of the telescoping arm. The scan data is matched with position data acquired using any one of a plurality of tracking systems to enable the display of NDI features/flaws on a three-dimensional representation of the workpiece.

Abstract translation: 用于高速无损检测半筒或全桶形工件的系统和方法，如飞机机身的桶形部分。 这样的工件可以使用移动（例如，平移）拱门架系统从外部扫描，该系统包括设置在机身部分外部的可平移的拱形框架，可沿着由拱形框架承载的弯曲轨道行进的滑架，径向向内延伸的伸缩臂 具有固定地联接到滑架的近端和耦合到伸缩臂的远端的NDI传感器单元。 可以使用设置在机身部分内部的移动扫描器平台来扫描机身部分的扶强材，该平台包括可旋转地联接到移动（例如，整体或线性运动）平台的径向向外延伸的伸缩臂，以及NDI传感器单元 到伸缩臂的远端。 扫描数据与使用多个跟踪系统中的任何一个获取的位置数据相匹配，以使得能够在工件的三维表示上显示NDI特征/缺陷。

公开(公告)号：US20140200832A1

公开(公告)日：2014-07-17

申请号：US14149887

申请日：2014-01-08

Applicant: The Boeing Company

Inventor： James J. Troy ,  Gary Ernest Georgeson ,  Karl Edward Nelson ,  Scott Wesley Lea

IPC: G01N35/00 ,  G01N27/00 ,  G01N21/00 ,  G01N29/00

CPC classification number: G01N35/00584 ,  B64F5/60 ,  G01M17/00 ,  G01N21/00 ,  G01N21/9515 ,  G01N25/72 ,  G01N27/00 ,  G01N27/90 ,  G01N29/00 ,  G01N29/043 ,  G01N29/4481 ,  G01N2291/2694

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US12297952B2

公开(公告)日：2025-05-13

申请号：US18317407

申请日：2023-05-15

Applicant: The Boeing Company

Inventor： James J. Troy ,  Daniel M. Simunovic

IPC: B64U70/99 ,  F16M11/04

Abstract: An apparatus may include: a support base; and two or more roller wheels, each adjustable in orientation, position, or orientation and position, mounted on the support base and configured to engage with an object in a passive locking configuration. The apparatus may be further configured to disengage from the object in the passive locking configuration. The apparatus may be further configured to lock the object to the apparatus in an active locking configuration. Orientations, positions, or the orientations and positions of the at least two of the two or more roller wheels may be adjustable.