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    Stabilization of Tool-Carrying End of Extended-Reach Arm of Automated Apparatus
    1.
    发明申请
    Stabilization of Tool-Carrying End of Extended-Reach Arm of Automated Apparatus 审中-公开

    公开(公告)号：US20180361571A1

    公开(公告)日：2018-12-20

    申请号：US15878642

    申请日：2018-01-24

    Applicant: The Boeing Company

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

    IPC: B25J9/10 ,  B25J5/00 ,  F41A31/02 ,  B25J9/16

    Abstract: Apparatus and methods that can be used to stabilize the distal end of an arm (and an end effector attached thereto) of an automated extended-reach tool-equipped assembly. Stabilization is provided by three or more stabilizers, each comprising a stationary part and a movable part. Each stationary part has a fixed location relative to the end effector; each movable part is translatably coupled to a respective stationary part and comprises a contactor disposed at a distal end of the movable part. When the stabilizers are actuated, the contactors are translated toward and into contact with the surface of the workpiece and then locked in place to stabilize the distal end of the arm and the end effector. During tool operation, the stabilizers reduce oscillation of the end effector (and all structure fixedly coupled thereto).

    Method for Controlling Location of End Effector of Robot Using Location Alignment Feedback
    3.
    发明申请
    Method for Controlling Location of End Effector of Robot Using Location Alignment Feedback 审中-公开

    公开(公告)号：US20180361595A1

    公开(公告)日：2018-12-20

    申请号：US15623304

    申请日：2017-06-14

    Applicant: The Boeing Company

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

    IPC: B25J13/08 ,  B25J19/02 ,  B25J11/00 ,  G01B11/00 ,  G01C3/08 ,  G01N25/72 ,  G01J5/04

    Abstract: Systems and methods for automating robotic end effector alignment using real-time data from multiple distance sensors to control relative translational and rotational motion. In accordance with one embodiment, the alignment process involves computation of offset distance and rotational angles to guide a robotic end effector to a desired location relative to a target object. The relative alignment process enables the development of robotic motion path planning applications that minimize on-line and off-line motion path script creation, resulting in an easier-to-use robotic application. A relative alignment process with an independent (off-board) method for target object coordinate system registration can be used. One example implementation uses a finite-state machine configuration to control a holonomic motion robotic platform with rotational end effector used for grid-based scan acquisition for non-destructive inspection.

    Automated Mobile Boom System for Crawling Robots
    5.
    发明申请
    Automated Mobile Boom System for Crawling Robots 有权
    用于爬行机器人的自动移动臂系统

    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

    IPC: F16M11/18 ,  F16M11/24 ,  G05D1/02 ,  F16M11/42

    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。

    Systems and Methods for Tracking Location of Movable Target Object
    6.
    发明申请
    Systems and Methods for Tracking Location of Movable Target Object 有权
    跟踪可移动目标对象位置的系统和方法

    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

    IPC: H04N5/232 ,  H04N7/18 ,  G06F17/16

    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。

    Systems and Methods for Tracking Location of Movable Target Object
    7.
    发明申请
    Systems and Methods for Tracking Location of Movable Target Object 有权
    跟踪可移动目标对象位置的系统和方法

    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。

    Self-contained holonomic tracking method and apparatus for non-destructive inspection
    10.
    发明授权
    Self-contained holonomic tracking method and apparatus for non-destructive inspection 有权
    独立完整的跟踪方法和无损检测装置

    公开(公告)号：US09470658B2

    公开(公告)日：2016-10-18

    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: G01N29/04 ,  G01C22/02 ,  G01N29/22 ,  G05D1/02 ,  G01N27/90 ,  G01N29/265

    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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