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公开(公告)号：US11745872B2
公开(公告)日：2023-09-05
申请号：US16907056
申请日：2020-06-19
申请人： The Boeing Company
CPC分类号： B64C39/024 , B64F5/30 , B64F5/40 , B64D1/18 , B64U10/13 , B64U30/20 , B64U2101/00
摘要： Methods and apparatus for UAV-enabled marking of surfaces during manufacture, inspection, or repair of limited-access structures and objects. A UAV is equipped with a marking module that is configured to apply marking patterns (e.g., alignment features) of known dimensions to surfaces. The marking module may include a 2-D plotter that enables free-form drawing capability. The marking process may involve depositing material on the surface. The marking material may be either permanent or removable. A “clean-up” module may be attached to the UAV platform instead of the marking module, and may include solvents and oscillating or vibrating pads to remove the marks via scrubbing. The clean-up module can also be used for initial surface preparation.
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公开(公告)号：US20230229165A1
公开(公告)日：2023-07-20
申请号：US18119633
申请日：2023-03-09
申请人： The Boeing Company
CPC分类号： G05D1/0094 , B25J11/005 , B25J15/0616 , B64C39/024 , G08G5/003 , B64U30/20
摘要： Methods and apparatus for performing repair operations using an unmanned aerial vehicle (UAV). The methods are enabled by equipping the UAV with tools for rapidly repairing a large structure or object (e.g., an aircraft or a wind turbine blade) that is not easily accessible to maintenance personnel. A plurality of tools are available for robotic selection and placement at the repair site. The tools are designed to perform respective repair operations in sequence in accordance with a specified repair plan, which plan may take into account the results of a previously performed UAV-enabled inspection.
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公开(公告)号：US20210356255A1
公开(公告)日：2021-11-18
申请号：US15930261
申请日：2020-05-12
申请人： The Boeing Company
摘要： Systems, methods, and apparatus for acquiring surface profile information (e.g., depths at multiple points) from limited-access structures and objects using an autonomous or remotely operated flying platform (such as an unmanned aerial vehicle). The systems proposed herein use a profilometer to measure the profile of an area on a surface where visual inspection has indicated that the surface has a potential anomaly. After the system has gathered data representing the surface profile in the area containing the potential anomaly, a determination may be made whether the collected image data indicates that the structure or object should be repaired or may be used as is.
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4.发明授权公开(公告)号：US11961305B2
公开(公告)日：2024-04-16
申请号：US17469167
申请日：2021-09-08
申请人： The Boeing Company
发明人： Walter J. Jarecki , Gregory J. Sweers , Gary E. Georgeson , James J. Troy , Phillip R. Riste , Armando X. Membrila
IPC分类号： G06V20/56 , B64C39/02 , G06F18/2113 , G06V20/17 , G06V20/64 , B64U101/30
CPC分类号： G06V20/56 , B64C39/024 , G06F18/2113 , G06V20/17 , G06V20/64 , B64U2101/30
摘要： Systems and methods for tracking the location of a non-destructive inspection (NDI) scanner using scan data converted into images of a target object. Scan images are formed by aggregating successive scan strips acquired using one or two one-dimensional sensor arrays. An image processor computes a change in location of the NDI scanner relative to a previous location based on the respective positions of common features in partially overlapping scan images. The performance of the NDI scanner tracking system is enhanced by: (1) using depth and intensity filtering of the scan image data to differentiate features for improved landmark identification during real-time motion control; and (2) applying a loop-closure technique using scan image data to correct for drift in computed location. The enhancements are used to improve localization, which enables better motion control and coordinate accuracy for NDI scan data.
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5.发明申请公开(公告)号：US20230075574A1
公开(公告)日：2023-03-09
申请号：US17469167
申请日：2021-09-08
申请人： The Boeing Company
发明人： Walter J. Jarecki , Gregory J. Sweers , Gary E. Georgeson , James J. Troy , Phillip R. Riste , Armando X. Membrila
摘要： Systems and methods for tracking the location of a non-destructive inspection (NDI) scanner using scan data converted into images of a target object. Scan images are formed by aggregating successive scan strips acquired using one or two one-dimensional sensor arrays. An image processor computes a change in location of the NDI scanner relative to a previous location based on the respective positions of common features in partially overlapping scan images. The performance of the NDI scanner tracking system is enhanced by: (1) using depth and intensity filtering of the scan image data to differentiate features for improved landmark identification during real-time motion control; and (2) applying a loop-closure technique using scan image data to correct for drift in computed location. The enhancements are used to improve localization, which enables better motion control and coordinate accuracy for NDI scan data.
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6.发明授权公开(公告)号：US11502729B1
公开(公告)日：2022-11-15
申请号：US17398892
申请日：2021-08-10
申请人： The Boeing Company
发明人： Gary E. Georgeson , Joseph L. Hafenrichter , James J. Troy , Gregory J. Sweers , Jeong-Beom Ihn
摘要： A method for wirelessly coupling respective transducers of an automated motion platform and a sub-surface sensor node through a skin of a limited-access structure for the purpose of wireless power and data transfer. Coordinates of an as-designed position of the transducer of the sensor node in a local coordinate system of the limited-access structure are retrieved from a non-transitory tangible computer-readable storage medium. Then coordinates of a target position on an external surface of the skin of the limited-access structure are estimated. The target position is calculated to be aligned with the as-designed position of the transducer of the sensor node. The motion platform is moved under computer control so that the transducer onboard the motion platform moves toward the target position. Movement ceases when the transducer onboard the motion platform is at the target position. Then wave energy is transferred between the aligned transducers.
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公开(公告)号：US20210394902A1
公开(公告)日：2021-12-23
申请号：US16907056
申请日：2020-06-19
申请人： The Boeing Company
摘要： Methods and apparatus for UAV-enabled marking of surfaces during manufacture, inspection, or repair of limited-access structures and objects. A UAV is equipped with a marking module that is configured to apply marking patterns (e.g., alignment features) of known dimensions to surfaces. The marking module may include a 2-D plotter that enables free-form drawing capability. The marking process may involve depositing material on the surface. The marking material may be either permanent or removable. A “clean-up” module may be attached to the UAV platform instead of the marking module, and may include solvents and oscillating or vibrating pads to remove the marks via scrubbing. The clean-up module can also be used for initial surface preparation.
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公开(公告)号：US20210237381A1
公开(公告)日：2021-08-05
申请号：US16782331
申请日：2020-02-05
申请人： The Boeing Company
摘要： Methods and apparatus for performing repair operations using an unmanned aerial vehicle (UAV). A UAV carries a repair patch ensemble containing all repair materials (including a repair patch, a heating blanket and other ensemble materials) in a prepackaged form to the repair area. During flight of the UAV, the repair patch is vacuum adhered to the heating blanket. Vacuum pressure is also used to hold the repair patch ensemble in position on the composite surface of the structure. Then the hot bond process is enacted to bond the repair patch to the repair area. In accordance with one embodiment, the hot bond process involves heating the repair patch to adhesively bond the repair patch while applying vacuum pressure to consolidate the composite material. Then the repair patch is released from the ensemble and residual ensemble materials (heating blanket, bleeder material, and release films) are removed by the UAV.
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9.发明公开公开(公告)号：US20240221385A1
公开(公告)日：2024-07-04
申请号：US18601595
申请日：2024-03-11
申请人： The Boeing Company
发明人： Walter J. Jarecki , Gregory J. Sweers , Gary E. Georgeson , James J. Troy , Phillip R. Riste , Armando X. Membrila
IPC分类号： G06V20/56 , B64C39/02 , G06F18/2113 , G06V20/17 , G06V20/64 , B64U101/30
CPC分类号： G06V20/56 , B64C39/024 , G06F18/2113 , G06V20/17 , G06V20/64 , B64U2101/30
摘要： Systems and methods for tracking the location of a non-destructive inspection (NDI) scanner using scan data converted into images of a target object. Scan images are formed by aggregating successive scan strips acquired using one or two one-dimensional sensor arrays. An image processor computes a change in location of the NDI scanner relative to a previous location based on the respective positions of common features in partially overlapping scan images. The performance of the NDI scanner tracking system is enhanced by: (1) using depth and intensity filtering of the scan image data to differentiate features for improved landmark identification during real-time motion control; and (2) applying a loop-closure technique using scan image data to correct for drift in computed location. The enhancements are used to improve localization, which enables better motion control and coordinate accuracy for NDI scan data.
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公开(公告)号：US20240083577A1
公开(公告)日：2024-03-14
申请号：US18389374
申请日：2023-11-14
申请人： The Boeing Company
摘要： Methods and apparatus for performing repair operations using an unmanned aerial vehicle. The methods are enabled by equipping the UAV with tools for rapidly repairing a large structure or object (e.g., an aircraft or a wind turbine blade) that is not easily accessible to maintenance personnel. In accordance with various embodiments disclosed below, the unmanned aerial vehicle may be equipped with an easily attachable/removable module that includes an additive repair tool. The additive repair tool is configured to add material to a body of material. For example, the additive repair tool may be configured to apply a sealant or other coating material in liquid form to a damage site on a surface of a structure or object (e.g., by spraying liquid or launching liquid-filled capsules onto the surface). In alternative embodiments, the additive repair tool is configured to adhere a tape to the damage site.
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