公开(公告)号：US07194358B2

公开(公告)日：2007-03-20

申请号：US10786283

申请日：2004-02-25

申请人： Michael L. Callaghan ,  Jerry A. James ,  Shankar N. Swamy ,  James J. Troy ,  Steven C. Venema

发明人： Michael L. Callaghan ,  Jerry A. James ,  Shankar N. Swamy ,  James J. Troy ,  Steven C. Venema

IPC分类号： G06F17/10

CPC分类号： B66B5/0031 ,  B66F11/042 ,  B66F17/006

摘要： The present invention is directed to systems, devices and methods for avoiding collisions and detecting objects proximate to a surface. In one embodiment, a system for collision avoidance includes at least one sensor adapted to sense an object above a lift device and a controller linked to the at least one sensor and linked to the drive components of the device and adapted to interrupt operation of the lift drive when the lift device approaches or touches the object. In another aspect of the invention, at least one controller is linked between at least one hand control and at least one drive adapted to move a lift device, the controller being adapted to interrupt operation of the drive when the lift device approaches or touches an object.

摘要翻译： 本发明涉及用于避免碰撞和检测靠近表面的物体的系统，装置和方法。 在一个实施例中，用于碰撞避免的系统包括至少一个传感器，其适于感测升降装置上方的物体，以及链接到所述至少一个传感器并连接到所述装置的驱动部件的控制器，并适于中断升降机的操作 当升降装置接近或触及物体时，驱动。 在本发明的另一方面，至少一个控制器连接在至少一个手控制器和适于移动提升装置的至少一个驱动器之间，所述控制器适于在升降装置接近或接触物体时中断驱动器的操作 。

公开(公告)号：US07077318B2

公开(公告)日：2006-07-18

申请号：US10347754

申请日：2003-01-21

申请人： Steven C. Venema ,  James J. Troy ,  Michael L. Callaghan

发明人： Steven C. Venema ,  James J. Troy ,  Michael L. Callaghan

IPC分类号： G06K7/10

CPC分类号： G06Q10/087

摘要： An inventory management system and method for replenishing manufacturing kits includes a shelving system, a mobile pick station, a data server, and a network node proxy. The mobile pick station communicates with both the shelving system via the network node proxy, and to the data server via a communications interface. Manufacturing kit specification data is supplied to the system through the data server and is thus used to generate a map of the manufacturing kit onto a touchscreen display located on the mobile pick station. The map displays the type, quantity, and placement of parts within the manufacturing kit. System components are tracked using a barcode system that reduces the frequency of incorrectly selected and placed parts.

摘要翻译： 用于补充制造套件的库存管理系统和方法包括搁架系统，移动选台，数据服务器和网络节点代理。 移动选台通过网络节点代理与搁架系统通信，并经由通信接口与数据服务器通信。 制造套件规格数据通过数据服务器提供给系统，并且因此用于将制造套件的映射生成到位于移动拾取站上的触摸屏显示器上。 该图显示了制造套件中零件的类型，数量和位置。 系统组件使用条形码系统进行跟踪，从而降低了错误选择和放置的零件的频率。

公开(公告)号：US08038125B2

公开(公告)日：2011-10-18

申请号：US12368702

申请日：2009-02-10

申请人： James J. Troy ,  Burke R. Magee ,  Steven C. Venema

发明人： James J. Troy ,  Burke R. Magee ,  Steven C. Venema

IPC分类号： B66D1/36

CPC分类号： B66D1/60 ,  B66D1/28

摘要： A lifting and lowering apparatus may include: at least one cable, at least one pulley connected to the at least one cable, at least one drive member connected to the at least one cable for driving the at least one cable in at least one direction, a moveable payload attachment member for attaching to a payload to be at least one of lifted and lowered, an attachment member guide attached to the moveable payload attachment member, and an alignment guide for positioning at a position. The moveable payload attachment member may be at least one of lifted and lowered by the at least one cable. Both the attachment member guide and the alignment guide may be shaped to force the attachment member guide into a pre-determined mating position and orientation against the alignment guide at the position.

摘要翻译： 提升和降低装置可以包括：至少一个电缆，连接到所述至少一个电缆的至少一个滑轮，连接到所述至少一个电缆的至少一个驱动构件，用于在至少一个方向上驱动所述至少一个电缆， 可移动的有效负载附着构件，用于附接到有效载荷以至少是升高和降低的一个;附接到可移动的有效负载附接构件的附接构件引导件和用于定位在位置的对准引导件。 可移动的有效负载附着构件可以是由至少一个电缆提升和降低的至少一个。 附件构件引导件和对准引导件都可以成形为迫使附接构件引导件在该位置处抵抗对准引导件成预定的配合位置和取向。

公开(公告)号：US20100202868A1

公开(公告)日：2010-08-12

申请号：US12368702

申请日：2009-02-10

申请人： James J. Troy ,  Burke R. Magee ,  Steven C. Venema

发明人： James J. Troy ,  Burke R. Magee ,  Steven C. Venema

IPC分类号： B65G67/02 ,  B66D1/00

CPC分类号： B66D1/60 ,  B66D1/28

摘要： A lifting and lowering apparatus may include: at least one cable, at least one pulley connected to the at least one cable, at least one drive member connected to the at least one cable for driving the at least one cable in at least one direction, a moveable payload attachment member for attaching to a payload to be at least one of lifted and lowered, an attachment member guide attached to the moveable payload attachment member, and an alignment guide for positioning at a position. The moveable payload attachment member may be at least one of lifted and lowered by the at least one cable. Both the attachment member guide and the alignment guide may be shaped to force the attachment member guide into a pre-determined mating position and orientation against the alignment guide at the position.

摘要翻译： 提升和降低装置可以包括：至少一个电缆，连接到所述至少一个电缆的至少一个滑轮，连接到所述至少一个电缆的至少一个驱动构件，用于在至少一个方向上驱动所述至少一个电缆， 可移动的有效负载附着构件，用于附接到有效载荷以至少是升高和降低的一个;附接到可移动的有效负载附接构件的附接构件引导件和用于定位在位置的对准引导件。 可移动的有效负载附着构件可以是由至少一个电缆提升和降低的至少一个。 附件构件引导件和对准引导件都可以成形为迫使附接构件引导件在该位置处抵抗对准引导件成预定的配合位置和取向。

公开(公告)号：US09010684B2

公开(公告)日：2015-04-21

申请号：US13534014

申请日：2012-06-27

申请人： William P. Motzer ,  James C. Kennedy ,  Michael C. Hutchinson ,  Martin L. Freet ,  Ronald E. VonWahlde ,  Steven Ray Walton ,  Jeffry J. Garvey ,  Scott W. Lea ,  James J. Troy ,  Daniel James Wright ,  Hien T. Bui ,  Michael Joseph Duncan ,  Mark L. Little ,  William Joseph Tapia ,  Barry A. Fetzer ,  Richard C. Krotzer

发明人： William P. Motzer ,  James C. Kennedy ,  Michael C. Hutchinson ,  Martin L. Freet ,  Ronald E. VonWahlde ,  Steven Ray Walton ,  Jeffry J. Garvey ,  Scott W. Lea ,  James J. Troy ,  Daniel James Wright ,  Hien T. Bui ,  Michael Joseph Duncan ,  Mark L. Little ,  William Joseph Tapia ,  Barry A. Fetzer ,  Richard C. Krotzer

IPC分类号： B64C1/00 ,  B64C30/00 ,  G01N29/22 ,  G01N29/265 ,  G01N29/04

CPC分类号： G01N29/043 ,  G01N29/225 ,  G01N29/265 ,  G01N2291/0231 ,  G01N2291/2694

摘要： A system and method that allow inspection of hollow structures made of composite material, such as an integrally stiffened wing box of an aircraft. A wing box comprises top and bottom skins connected by a plurality of spaced spars. The system employs a plurality of scanners for inspecting different portions of each spar. The system uses dynamically controlled magnetic coupling to connect an external drive tractor to computer-controlled scanners that carry respective sensors, e.g., linear ultrasonic transducer arrays. A system operator can control the various components by means of a graphical user interface comprising multiple interaction regions that represent the individual scanner motion paths and are associated with respective motion script files.

摘要翻译： 允许检查由复合材料制成的中空结构的系统和方法，例如飞机的整体加强的翼箱。 翼盒包括通过多个间隔的翼梁连接的顶部和底部皮肤。 该系统采用多个扫描器来检查每个翼梁的不同部分。 该系统使用动态控制的磁耦合将外部驱动拖拉机连接到携带相应传感器的计算机控制的扫描器，例如线性超声换能器阵列。 系统操作者可以通过图形用户界面来控制各种组件，所述图形用户界面包括表示各个扫描仪运动路径的多个交互区域，并且与相应的运动脚本文件相关联。

公开(公告)号：US08983794B1

公开(公告)日：2015-03-17

申请号：US12897428

申请日：2010-10-04

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

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

IPC分类号： G01C9/00

CPC分类号： G01C15/00 ,  B64F5/60 ,  G01B17/06 ,  G01B21/04 ,  G01N27/90 ,  G01N29/07 ,  G01N29/11 ,  G01N29/226 ,  G01N29/262 ,  G01N2291/0231 ,  G01N2291/2694 ,  G01S15/025 ,  G01S15/8915 ,  G01S15/8936 ,  G01S15/899 ,  G01S15/8993

摘要： A non-destructive inspection system for a structure is described. The inspection system includes a local positioning system (LPS) configured for determining position and orientation of objects relative to a structure coordinate system, a six degree-of-freedom digitizer operable for at least one of temporary attachment to the structure and placement proximate the structure, a non-destructive sensor array, and a processing device.

摘要翻译： 描述了一种用于结构的非破坏性检查系统。 该检查系统包括被配置用于确定物体相对于结构坐标系的位置和取向的本地定位系统（LPS）;六自由度数字化仪，可操作用于至少一个临时附接到该结构并且靠近该结构的位置 ，非破坏性传感器阵列，以及处理装置。

公开(公告)号：US08510039B1

公开(公告)日：2013-08-13

申请号：US12898412

申请日：2010-10-05

申请人： James J. Troy ,  Charles A. Erignac ,  Paul Murray

发明人： James J. Troy ,  Charles A. Erignac ,  Paul Murray

IPC分类号： G01S1/24

CPC分类号： G05D1/027 ,  G01C21/165 ,  G05D1/0251 ,  G05D1/0274

摘要： A system configured to enable three-dimensional localization and mapping is provided. The system includes a mobile device and a computing device. The mobile device includes an inertial measurement unit and a three-dimensional image capture device. The computing device includes a processor programmed to receive a first set of inertial measurement information from the inertial measurement unit, determine a first current position and orientation of the mobile device based on a defined position and orientation of the mobile device and the first set of inertial measurement information, receive three-dimensional image data of the environment from the three-dimensional image capture device, determine a second current position and orientation of the mobile device based on the received three-dimensional image data and the first current position and orientation of the mobile device, and generate a three-dimensional representation of an environment with respect to the second current position and orientation of the mobile device.

摘要翻译： 提供了一种配置成实现三维定位和映射的系统。 该系统包括移动设备和计算设备。 移动设备包括惯性测量单元和三维图像捕获设备。 计算设备包括被编程为从惯性测量单元接收第一组惯性测量信息的处理器，基于移动设备的定义的位置和取向以及第一组惯性来确定移动设备的第一当前位置和取向 测量信息，从三维图像捕获装置接收环境的三维图像数据，基于接收到的三维图像数据和第一当前位置和取向来确定移动装置的第二当前位置和取向 移动设备，并且相对于移动设备的第二当前位置和取向生成环境的三维表示。

公开(公告)号：US08279412B2

公开(公告)日：2012-10-02

申请号：US12640211

申请日：2009-12-17

申请人： William P. Motzer ,  Gary E. Georgeson ,  Scott W. Lea ,  Peter J. Hellenbrand ,  James J. Troy

发明人： William P. Motzer ,  Gary E. Georgeson ,  Scott W. Lea ,  Peter J. Hellenbrand ,  James J. Troy

IPC分类号： G01C3/08

CPC分类号： G01S5/16 ,  B64F5/00 ,  G01C21/16 ,  G01C25/005

摘要： Position determining systems and methods are provided. A particular portable device includes a calibration component to communicate with a local positioning system to determine an initial position and orientation of the portable device within a local coordinate system associated with a target structure. The portable device also includes at least one movement sensor to detect movement of the portable device. The portable device further includes a processor to determine a measured position and orientation of the portable device based on the initial position and orientation of the portable device within the local coordinate system and based on the detected movement of the portable device.

摘要翻译： 提供了位置确定系统和方法。 特定便携式设备包括校准组件以与本地定位系统通信，以确定与目标结构相关联的局部坐标系统内的便携式设备的初始位置和取向。 便携式设备还包括至少一个移动传感器以检测便携式设备的移动。 便携式设备还包括处理器，用于基于便携式设备在本地坐标系中的初始位置和取向以及基于检测到的便携式设备的移动来确定便携式设备的测量位置和方位。

公开(公告)号：US08199194B2

公开(公告)日：2012-06-12

申请号：US12246727

申请日：2008-10-07

申请人： James J. Troy ,  Scott W. Lea ,  Gary E. Georgeson

发明人： James J. Troy ,  Scott W. Lea ,  Gary E. Georgeson

IPC分类号： G06K9/36

CPC分类号： G01S3/7864 ,  G01S5/163

摘要： Methods are described for controlling orientation of an aim point axis of a video camera having an instrument coordinate system to track a point of interest on a movable target object and calculating positions of the point of interest in a local coordinate system in which the target object is moving. The methods include measuring pan and tilt angles of the aim point axis and distance substantially along the aim point axis and calculating a calibration matrix which transforms a position defined in the instrument coordinate system to a position defined in the local coordinate system. A system is described including an instrument and at least one computer, wherein the instrument includes a video camera and a range finder, and wherein the video camera includes an aim point axis having an adjustable orientation. In one example, the target object is adapted to move on and inspect an airplane surface.

摘要翻译： 描述了用于控制具有仪器坐标系的摄像机的瞄准点轴的取向以便跟踪可移动目标物体上的兴趣点的方法，并且计算目标物体是的局部坐标系中的兴趣点的位置 移动。 这些方法包括测量目标点轴的平移和倾斜角度以及基本上沿目标轴线的距离，并且计算将在仪器坐标系中定义的位置变换到局部坐标系中定义的位置的校准矩阵。 描述了包括仪器和至少一个计算机的系统，其中所述仪器包括摄像机和测距仪，并且其中所述摄像机包括具有可调节取向的瞄准点轴。 在一个示例中，目标对象适于移动并检查飞机表面。

公开(公告)号：US07963351B2

公开(公告)日：2011-06-21

申请号：US12328105

申请日：2008-12-04

申请人： James J. Troy

发明人： James J. Troy

IPC分类号： B25J5/00

CPC分类号： B62D57/02 ,  B62D57/00 ,  B62D57/022 ,  Y10T29/49826

摘要： A method for forming a robotic vehicle. The method may involve forming a body and arranging a plurality of movable legs to project from the body for propelling the body over a surface. An actuator may be carried by the body to selectively engage and disengage different ones of the movable legs to cause a motion of the body, and thus the robotic vehicle, to travel over the surface.

摘要翻译： 一种形成机器人车辆的方法。 该方法可以包括形成主体并布置多个可移动的腿以从身体突出以将身体推动在表面上。 致动器可以由主体承载以选择性地接合和分离可移动的腿中的不同的腿，从而引起身体的运动，并且因此机器人车辆在表面上行进。