公开(公告)号：US20180067484A1

公开(公告)日：2018-03-08

申请号：US15796880

申请日：2017-10-30

Applicant: The Boeing Company

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

IPC: G05D1/00

CPC classification number: G05D1/0033 ,  G01N29/043 ,  G01N29/0654 ,  G01N29/4472 ,  G01S17/023 ,  G01S17/06 ,  G01S17/08 ,  G01S17/88 ,  G05B15/02 ,  G05D1/0022 ,  H04N7/185

Abstract: Self-contained, remotely operated, mobile measurement and inspection systems for stand-off inspection of large target objects located at sites distant from an operations center. The systems comprise a mobile platform with on-board instrumentation capable of making dimensional measurements in the local coordinate system of the target object. The systems comprise multiple hardware and software components networked to a control interface that enables the operator at the operations center to teleoperate the equipment. Various embodiments include rough-terrain and floatable mobile measurement and inspection systems.

公开(公告)号：US09892558B2

公开(公告)日：2018-02-13

申请号：US15047655

申请日：2016-02-19

Applicant: The Boeing Company

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

IPC: G06T19/00 ,  G06T7/00 ,  G06F17/30 ,  G01S19/13 ,  B64F5/00

CPC classification number: G06T19/003 ,  B64F5/0081 ,  B64F5/40 ,  G01S19/13 ,  G06F17/30268 ,  G06Q10/20 ,  G06T7/004 ,  G06T7/70 ,  G06T19/00 ,  G06T2219/2004

Abstract: Methods for identifying parts of a target object (e.g., an airplane) using geotagged photographs captured on site by a hand-held imaging device. The geotagged photographs contain GPS location data and camera setting information. The embedded image metadata from two or more photographs is used to estimate the location (i.e., position and orientation) of the imaging device relative to the target object, which location is defined in the coordinate system of the target object. Once the coordinates of the area of interest on the target object are known, the part number and other information associated with the part can be determined when the imaging device viewpoint information is provided to a three-dimensional visualization environment that has access to three-dimensional models of the target object.

公开(公告)号：US09881425B1

公开(公告)日：2018-01-30

申请号：US15261099

申请日：2016-09-09

Applicant: The Boeing Company

Inventor： Jeremiah K. Scott ,  James J. Troy ,  Katherine I. Meza

IPC: G06T17/00 ,  G06T19/00 ,  G06T15/00 ,  G06T1/60 ,  B64F5/00

CPC classification number: G06T19/006 ,  B64F5/0009 ,  G06T1/60 ,  G06T15/005 ,  G06T15/20 ,  G06T19/00 ,  G06T2200/24 ,  G06T2219/028

Abstract: Systems and methods that enable the synchronized display of both “as-built” and “as-designed” representations and automated data updates of a target object of interest (e.g., specific line number aircraft). More specifically, the process allows users to display a panoramic image captured for a reference environment, and then display a visualization of the corresponding 3-D model at the same viewpoint. Interprocess communication between a panoramic image viewer application and a 3-D model visualization application provides the ability to synchronize viewpoints, fields-of-view and other display features.

公开(公告)号：US20160318625A1

公开(公告)日：2016-11-03

申请号：US14699713

申请日：2015-04-29

Applicant: THE BOEING COMPANY

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

IPC: B64D47/00 ,  G06K7/14 ,  G06K7/10

CPC classification number: G06K7/1413 ,  G06Q10/00 ,  H04W4/00 ,  H04W4/80

Abstract: A method for electronically pairing a plurality of control units with a plurality of objects in an aircraft is provided. The method includes identifying a selected control unit from the plurality of control units that will control a selected object from the plurality of objects, placing a hand-held scanner in close proximity to a first machine-readable tag on the selected control unit to acquire a first unique ID for only the selected control unit, placing the hand-held scanner in close proximity to a second machine-readable tag on the selected object to acquire a second unique ID for only the selected object, and associating the first unique ID with the second unique ID to pair the selected control unit with the selected object.

Abstract translation: 提供了一种用于在飞行器中电子地配对多个控制单元与多个物体的方法。 该方法包括从多个控制单元识别所选择的控制单元，该多个控制单元将从多个对象控制所选择的对象，将手持式扫描仪放置在所选择的控制单元上的第一机器可读标签附近以获取 第一唯一ID，用于仅选择的控制单元，将手持扫描仪放置在所选对象上的第二机器可读标签附近，以仅获取所选对象的第二唯一ID，并将第一唯一ID与 第二个唯一ID，用于将所选择的控制单元与所选对象配对。

公开(公告)号：US20160300354A1

公开(公告)日：2016-10-13

申请号：US14682870

申请日：2015-04-09

Applicant: The Boeing Company

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

IPC: G06T7/00 ,  G06K9/62 ,  H04N5/225 ,  G06K9/52 ,  H04N5/232 ,  G01B11/14 ,  G06T7/60

CPC classification number: H04N5/23296 ,  G01B11/14 ,  G06K9/00664 ,  G06K2009/3225 ,  G06T7/174 ,  G06T7/73 ,  G06T2207/10152 ,  G06T2207/20224 ,  G06T2207/30204

Abstract: An improved mechanism for calibrating a local positioning system through the use of passive or retro-reflective markers is described herein. A plurality of imaging targets with the passive or retro-reflective markers may be attached or affixed on a surface of an object. The local positioning system may then capture a first image of the imaging targets in a non-illuminated state and further capture a second image of the imaging targets in an illuminated state. A difference image between the first and second captured images may be computed and then segmented. The local positioning system may then identify the plurality of imaging targets based on the segmented difference image and position itself to extract information. The extracted information may then be used to help calibrate the local positioning system.

Abstract translation: 本文描述了通过使用被动或反射式标记来校准局部定位系统的改进机构。 具有被动或反射反射标记的多个成像目标可附接或固定在物体的表面上。 然后，本地定位系统可以以非照明状态捕获成像目标的第一图像，并且进一步在照明状态下捕获成像目标的第二图像。 可以计算第一和第二捕获图像之间的差分图像，然后分割。 然后，本地定位系统可以基于分割的差异图像来识别多个成像目标，并且自己定位以提取信息。 所提取的信息可以用于帮助校准本地定位系统。

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

IPC: F16M11/18 ,  G01N29/28 ,  G01N29/22 ,  G01N29/265 ,  F16M11/42 ,  G05D1/02

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.

公开(公告)号：US20160274066A1

公开(公告)日：2016-09-22

申请号：US14869170

申请日：2015-09-29

Applicant: The Boeing Company

Inventor： William P. Motzer ,  James C. Kennedy ,  Steven Ray Walton ,  James J. Troy

IPC: G01N29/265 ,  G01N29/22

CPC classification number: G01N29/265 ,  G01N29/221 ,  G01N29/225 ,  G01N2291/0231 ,  G01N2291/2638

Abstract: Method and apparatus for enabling ultrasonic inspection of a changing, insufficiently defined or unknown shape (e.g., a variable radius or a noncircular radius caused by the use of soft tooling) at a rate that meets production requirements. The apparatus comprises a linear ultrasonic array (i.e., sensor) incorporated in a toppler, which in turn is slidably supported by an oscillating sensor mechanism carried by a traveling trailer vehicle. As a result of this arrangement, the sensor can undergo a back-and-forth sweeping motion coupled with motion along the spar radius. The sensor is further able to displace radially relative to a sweep pivot axis and rotate (hereinafter “topple”) about a topple pivot axis. In this manner, the orientation of the sensor can adjust to the contour of the inspected surface as the sensor scans.

Abstract translation: 能够以满足生产要求的速率超声波检查改变的，不充分限定的或未知的形状（例如，由使用软工具引起的可变半径或非圆形半径）的方法和装置。 该装置包括结合在倾倒机中的线性超声波阵列（即，传感器），其又由由行驶的拖车车辆承载的振动传感器机构可滑动地支撑。 作为这种布置的结果，传感器可以经受与沿着翼梁半径的运动耦合的往复扫掠运动。 传感器还能够相对于扫掠枢转轴线径向移位，并且围绕俯仰枢转轴线旋转（以下称为“倾倒”）。 以这种方式，当传感器扫描时，传感器的方向可以调整到被检查表面的轮廓。

公开(公告)号：US20160240298A1

公开(公告)日：2016-08-18

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: H01F7/02 ,  G05D1/00

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：US09195235B2

公开(公告)日：2015-11-24

申请号：US14467049

申请日：2014-08-25

Applicant: The Boeing Company

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

IPC: G05D1/02

CPC classification number: G05D1/0231 ,  G05D1/0212 ,  G05D1/0234 ,  G05D1/0246 ,  G05D1/0276 ,  G05D2201/0207 ,  Y10S901/01 ,  Y10S901/47

Abstract: 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.

Abstract translation: 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目标上的能量束指向的区域的第一位置。 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。

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。