公开(公告)号：WO2010042628A3

公开(公告)日：2010-04-15

申请号：PCT/US2009/059854

申请日：2009-10-07

Applicant: THE BOEING COMPANY ,  TROY, James J. ,  LEA, Scott W. ,  GEORGESON, Gary E.

Inventor： TROY, James J. ,  LEA, Scott W. ,  GEORGESON, Gary E.

IPC: G01S5/16 ,  G01S3/786 ,  G01S17/66 ,  G01S17/87

Abstract: 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.

公开(公告)号：WO2009045770A2

公开(公告)日：2009-04-09

申请号：PCT/US2008/077178

申请日：2008-09-22

Applicant: THE BOEING COMPANY ,  LEA, Scott W. ,  RICHARDS, Charles M. ,  MATSEN, Marc R. ,  GEORGESON, Gary E. ,  TROY, James J. ,  HANSEN, Jeffrey M. ,  SMITH, Matthew W.

Inventor： LEA, Scott W. ,  RICHARDS, Charles M. ,  MATSEN, Marc R. ,  GEORGESON, Gary E. ,  TROY, James J. ,  HANSEN, Jeffrey M. ,  SMITH, Matthew W.

IPC: H04N5/232

CPC classification number: G01C11/00 ,  G01C25/00 ,  G01S5/163 ,  G06T7/70 ,  G06T7/80 ,  G06T2207/30204 ,  G06T2207/30244 ,  H04N5/232

Abstract: A local positioning system which includes a video camera, a computer communicating with the video camera and a target object sighted by the video camera and having a target object coordinate system. The computer is adapted to define a relative position and orientation of the video camera with respect to the target object, determine a position and orientation of the video camera in the target object coordinate system, and determine the position of a point of interest in the target object coordinate system. The system can also be used to aim the camera at a previously recorded point of interest on the target object. Contact with, or close proximity to, the target object is not required. A local positioning method is also disclosed.

Abstract translation: 一种本地定位系统，包括摄像机，与视频摄像机通信的计算机和由摄像机瞄准的目标对象并具有目标对象坐标系。 计算机适于定义摄像机相对于目标对象的相对位置和取向，确定摄像机在目标对象坐标系中的位置和方向，并且确定目标中的兴趣点的位置 物体坐标系。 该系统还可用于将相机对准目标物体上先前记录的感兴趣点。 不需要与目标对象的接触或接近。 还公开了本地定位方法。

公开(公告)号：WO2011075251A1

公开(公告)日：2011-06-23

申请号：PCT/US2010/056564

申请日：2010-11-12

Applicant: THE BOEING COMPANY ,  MOTZER, William P. ,  GEORGESON, Gary E ,  LEA, Scott W. ,  HELLENBRAND, Peter J. ,  TROY, James J.

Inventor： MOTZER, William P. ,  GEORGESON, Gary E ,  LEA, Scott W. ,  HELLENBRAND, Peter J. ,  TROY, James J.

IPC: G01C21/16 ,  G01C21/20 ,  G01C25/00 ,  G06F3/033 ,  B64F5/00 ,  G01S5/16

CPC classification number: G01S5/16 ,  B64F5/00 ,  G01C21/16 ,  G01C25/005

Abstract: 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.

Abstract translation: 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方位。 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局部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：WO2010053809A1

公开(公告)日：2010-05-14

申请号：PCT/US2009/062441

申请日：2009-10-28

Applicant: THE BOEING COMPANY ,  TROY, James J. ,  ESPOSITO, Christopher D.

Inventor： TROY, James J. ,  ESPOSITO, Christopher D.

IPC: G01C15/00

CPC classification number: G01C15/00 ,  G05B19/042 ,  G05B2219/23406

Abstract: A system and method for determining the position and orientation of a handheld device relative to a known object is presented. The system comprises a handheld device having an inertial measurement unit and a sighting device, such as a laser pointer, that are used to determine the position of the handheld device relative to a target object, such as a structure, aircraft, or vehicle. The method comprises calibrating a handheld device to find the current location of the handheld device relative to a target object, tracking the movement of the handheld device using an inertial measurement unit, and presenting an updated position of the handheld device relative to a target object.

Abstract translation: 提出了一种用于确定手持设备相对于已知对象的位置和方向的系统和方法。 该系统包括具有惯性测量单元和诸如激光指示器的瞄准装置的手持装置，其用于确定手持装置相对于诸如结构，飞行器或车辆的目标对象的位置。 该方法包括校准手持设备以找到手持设备相对于目标对象的当前位置，使用惯性测量单元跟踪手持设备的移动，以及呈现手持设备相对于目标对象的更新位置。

公开(公告)号：WO2015119677A1

公开(公告)日：2015-08-13

申请号：PCT/US2014/062338

申请日：2014-10-27

Applicant: THE BOEING COMPANY

Inventor： TROY, James J. ,  LEA, Scott W. ,  GEORGESON, Gary E. ,  NELSON, Karl E. ,  WRIGHT, Daniel J.

IPC: B66C13/48 ,  B66C23/72 ,  G01N29/00

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

公开(公告)号：WO2013036541A2

公开(公告)日：2013-03-14

申请号：PCT/US2012/053810

申请日：2012-09-05

Applicant: THE BOEING COMPANY ,  TROY, James J. ,  LEA, Scott W.

Inventor： TROY, James J. ,  LEA, Scott W.

IPC: G01S19/21

CPC classification number: G01S19/215 ,  G01S19/09 ,  H04W12/08 ,  H04W12/10 ,  H04W12/12

Abstract: A system and methods for location authentication are presented. A subset of demodulated server received navigation signals are selected synchronized to client bit frames to provide synchronized server bit frames. A function of the synchronized server bit frames is computed to provide a server signature set. A client signature set and the server signature set are compared to provide a comparison result, and a location of a client device is authenticated based on the comparison result.

Abstract translation: 介绍了一种用于位置认证的系统和方法。 选择与客户端位帧同步的解调服务器接收到的导航信号的子集以提供同步的服务器位帧。 计算同步服务器位帧的功能以提供服务器签名集。 将客户签名集和服务器签名集进行比较以提供比较结果，并且基于比较结果认证客户端设备的位置。

公开(公告)号：WO2011149582A1

公开(公告)日：2011-12-01

申请号：PCT/US2011/029717

申请日：2011-03-24

Applicant: THE BOEING COMPANY ,  MOTZER, William P. ,  GEORGESON, Gary E. ,  LEA, Scott W. ,  HELLENBRAND, Peter J. ,  TROY, James J.

Inventor： MOTZER, William P. ,  GEORGESON, Gary E. ,  LEA, Scott W. ,  HELLENBRAND, Peter J. ,  TROY, James J.

IPC: B25J9/16

CPC classification number: B25J9/162 ,  B25J9/06 ,  B25J9/065 ,  B25J9/1694 ,  G05B2219/39014 ,  G05B2219/39024 ,  G05B2219/40039 ,  G05B2219/40234 ,  G05B2219/45071

Abstract: Methods and systems are provided for positioning a remote sensor within a target object. An articulated robotic system is coupled to the remote sensor. A positioning system determines a position of the target object to be inspected and determines a first position of the remote sensor. A control system calibrates a virtual representation of the target object with respect to the position of the target object, and tracks movement of the remote sensor relative to the target object.

Abstract translation: 提供了用于将远程传感器定位在目标对象内的方法和系统。 铰接机器人系统耦合到远程传感器。 定位系统确定要检查的目标对象的位置并确定远程传感器的第一位置。 控制系统相对于目标对象的位置校准目标对象的虚拟表示，并跟踪远程传感器相对于目标对象的移动。

公开(公告)号：WO2014143315A1

公开(公告)日：2014-09-18

申请号：PCT/US2013/076729

申请日：2013-12-19

Applicant: THE BOEING COMPANY

Inventor： TROY, James J. ,  LEA, Scott W. ,  GEORGESON, Gary E. ,  NELSON, Karl E. ,  WRIGHT, Daniel James

IPC: G05D1/02 ,  G01N29/22 ,  G01C22/02

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。

公开(公告)号：WO2014003864A1

公开(公告)日：2014-01-03

申请号：PCT/US2013/034482

申请日：2013-03-28

Applicant: THE BOEING COMPANY

Inventor： MOTZER, William, P. ,  KENNEDY, James, C. ,  HUTCHINSON, Michael, C. ,  FREET, Martin, L. ,  VONWAHLDE, Ronald E. ,  WALTON, Steven Ray ,  GARVEY, Jeffry J. ,  LEA, Scott W. ,  TROY, James J. ,  WRIGHT, Daniel James ,  BUI, Hien T. ,  DUNCAN, Michael Joseph ,  LITTLE, Mark L. ,  TAPIA, William Joseph ,  FETZER, Barry A.

IPC: G01N29/04 ,  G01N29/22 ,  G01N29/265

CPC classification number: G01N29/043 ,  G01N29/225 ,  G01N29/265 ,  G01N2291/0231 ,  G01N2291/2694

Abstract: 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.

Abstract translation: 允许检查由复合材料制成的中空结构的系统和方法，例如飞行器的整体加固翼箱。 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：WO2013022520A1

公开(公告)日：2013-02-14

申请号：PCT/US2012/042761

申请日：2012-06-15

Applicant: THE BOEING COMPANY ,  TROY, James J. ,  LEA, Scott Wesley ,  GEORGESON, Gary Ernest ,  NELSON, Karl Edward

Inventor： TROY, James J. ,  LEA, Scott Wesley ,  GEORGESON, Gary Ernest ,  NELSON, Karl Edward

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能量束被定向在目标上的区域的第一位置。 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。