公开(公告)号：US12191619B2

公开(公告)日：2025-01-07

申请号：US17660320

申请日：2022-04-22

Applicant: THE BOEING COMPANY

Inventor： Lars E. Blacken ,  Heiko Hoffmann ,  Damien O. Martin ,  Jeffrey McCaskey ,  Bradley J. Mitchell

IPC: H01R43/20 ,  B25J9/16 ,  G05B19/4155

Abstract: A method, system and computer program product are provided for automated insertion of a wire contact into an insertion hole of a connector. Methods include: controlling a robot having an end-effector to position a wire contact proximate to a connector using a wire gripper and a separator device of the end-effector; controlling the robot to advance the separator device between two or more wires previously connected to the connector; controlling the robot to align the wire contact with a insertion hole of the connector; controlling the robot to advance the wire contact toward the insertion hole of the connector and at least partially insert the wire contact into the insertion hole; controlling the robot to release the wire contact from the wire gripper; and controlling the robot to withdraw the wire gripper and the separator device from between the two or more wires previously connected to the connector.

公开(公告)号：US20240261974A1

公开(公告)日：2024-08-08

申请号：US18164229

申请日：2023-02-03

Applicant: The Boeing Company

Inventor： Darren Michael Chan ,  Wyatt Spalding McAllister ,  Heiko Hoffmann

IPC: B25J9/16 ,  B25J11/00

CPC classification number: B25J9/1697 ,  B25J9/1664 ,  B25J11/005

Abstract: A method, apparatus, system, and computer program product for positions a wire contact. A sequence of images of a wire contact is generated while the wire contact moves from a first position to a second position. The sequence of images is generated by the camera system connected to the end effector and the wire contact is held by the end effector. Edges are detected in the sequence of images to form edge images. Background edges are removed from the edges in the edge images leaving contact edges in the edges for the wire contact to form a contact edge image. The wire contact is identified using the contact edges in the contact edge image. A pose of the wire contact is determined from the wire contact identified in the contact edge image.

公开(公告)号：US20200211293A1

公开(公告)日：2020-07-02

申请号：US16238002

申请日：2019-01-02

Applicant: THE BOEING COMPANY

Inventor： Kyungnam Kim ,  Heiko Hoffmann

IPC: G06T19/20 ,  G06T17/00 ,  G01S17/42 ,  G01S17/89 ,  G05D1/08

Abstract: An apparatus to generate a model of a surface of an object includes a data set pre-aligner configured to receive multiple sets of surface data that correspond to respective portions of a surface of an object and that include three-dimensional (3D) points. The data set pre-aligner is also configured to perform a pre-alignment of overlapping sets to generate pre-aligned sets, including performing a rotation operation on a second set of the surface data, relative to a first set of the surface data that overlaps the second set, to apply a rotation amount that is selected from among multiple discrete rotation amounts and based on a similarity metric. The apparatus includes a data set aligner configured to perform an iterative alignment of the pre-aligned sets to generate aligned sets. The apparatus also includes a 3D model generator configured to combine the aligned sets to generate a 3D model of the object.

公开(公告)号：US20180276793A1

公开(公告)日：2018-09-27

申请号：US15467615

申请日：2017-03-23

Applicant: The Boeing Company

Inventor： Hyukseong Kwon ,  Kyungnam Kim ,  Heiko Hoffmann

IPC: G06T3/40 ,  H04N13/02 ,  H04N13/00 ,  G06T17/00 ,  G06T7/00

CPC classification number: H04N13/204 ,  G06T7/579 ,  G06T17/00 ,  G06T2200/04 ,  G06T2207/10016 ,  G06T2207/10028 ,  H04N13/122 ,  H04N13/156 ,  H04N13/221 ,  H04N2013/0081

Abstract: A method for performing an operation on an object includes capturing a plurality of images of the object. Each image is a different view of the object. The method also includes generating a sparse 3D point cloud from the plurality of images. The sparse 3D point cloud defines a 3D model of the object. The sparse 3D point cloud includes a multiplicity of missing points that each correspond to a hole in the 3D model that renders the 3D model unusable for performing the operation on the object. The method additionally includes performing curvature-based upsampling to generate a denser 3D point cloud. The denser 3D point cloud includes a plurality of filled missing points. The missing points are filled from performance of the curvature-based upsampling. The denser 3D point cloud defines a dense 3D model that is useable for performing the operation on the object.