公开(公告)号：US20210086439A1

公开(公告)日：2021-03-25

申请号：US16578853

申请日：2019-09-23

申请人： The Boeing Company

发明人： Phillip J. Crothers ,  Philip L. Freeman

IPC分类号： B29C64/153 ,  B29C64/214 ,  B29C64/241 ,  B29C64/295 ,  B29C64/245 ,  B29C64/232

摘要： A method (1000) of additively manufacturing an object (200) from a powder material (202) comprises discharging the powder material (202) from a powder-deposition opening (126) in a hollow body (122) of a powder-supply arm (108) while rotating the powder-supply arm (108) and an energy-supply arm (112) about a vertical axis A1. Method (1000) also comprises, while rotating the powder-supply arm (108) and the energy-supply arm (112) about the vertical axis A1, distributing the powder material (202) within a powder-bed volume (204) using a powder-distribution blade (128) that is coupled to the hollow body (122) and extends along the powder-deposition opening (126). The method (1000) further comprises, while rotating the powder-supply arm (108) and the energy-supply arm (112) about vertical axis A1, consolidating at least a portion of the powder material (202) in the powder-bed volume (204) using the energy emitters (114), coupled to the energy-supply arm (112).

公开(公告)号：US10782670B2

公开(公告)日：2020-09-22

申请号：US15378623

申请日：2016-12-14

申请人： The Boeing Company

发明人： Michelle Crivella ,  Philip L. Freeman ,  Joshua D. Kalin ,  Robert Stephen Strong ,  Patrick Joel Michaels

IPC分类号： G05B19/402 ,  B25J9/16

摘要： A method for implementing machining tasks for an object. The method identifies location coordinates for a plurality of holes. A task file contains the machining tasks. The robotic devices use the task files to perform the machining tasks. A minimum number of positioning stations is determined where a portion of the machining tasks will be performed by the robotic devices. An ordered sequence for performing the machining tasks is calculated and path a path with the near-minimum distance is determined. Robotic control files are created that cause the robotic devices to perform the machining tasks. The robotic control files are output to the robotic devices to perform the machining tasks to form the plurality of holes.

公开(公告)号：US09880544B2

公开(公告)日：2018-01-30

申请号：US14701937

申请日：2015-05-01

申请人： The Boeing Company

发明人： Jerald A. Hull ,  Philip L. Freeman

IPC分类号： G05B19/18 ,  G05B19/402 ,  G05B19/401

CPC分类号： G05B19/402 ,  G05B19/401 ,  G05B2219/37207

摘要： A method of determining a pose of a workpiece includes receiving known positions of a plurality of reference features of a workpiece in a first pose in a first coordinate space, determining from the known positions an estimate of the first pose of the workpiece in a second coordinate space in which any pose of the workpiece is defined by six distinct components, and at least one of the six components are known. The method includes receiving a position of a second feature of the workpiece in the second coordinate space when the workpiece is disposed in a distinct, second pose in which the at least one known components remain constant between the first and second pose. The method includes determining the second pose of the workpiece from the first pose estimate and the position of the second feature of the workpiece in the second pose.

公开(公告)号：US20160378093A1

公开(公告)日：2016-12-29

申请号：US14753670

申请日：2015-06-29

申请人： The Boeing Company

发明人： Philip L. Freeman ,  Matthew John Miller ,  Shaun Condie

IPC分类号： G05B19/406

CPC分类号： G05B19/41805 ,  G05B2219/31031 ,  G05B2219/31068 ,  G05B2219/49175 ,  G05B2219/50126 ,  Y02P90/04

摘要： A method, a device, and a computer-readable storage medium is provided for performing the method for automating an assembling sequence operation for a workpiece using an one-up assembly process that uses adjacent hole clamping. The method can include obtaining an adjacency list from points for the workpiece to be assembled; controlling an assembly machine for assembling the workpiece using a sequence of assembly operations based on the adjacency list; identifying potential errors in the sequence of assembly operations; determining a revised sequence of assembly operations based on the potential errors that are identified; and controlling the assembly machine based on the revised sequence of assembly operations.

摘要翻译： 提供了一种方法，装置和计算机可读存储介质，用于执行使用使用相邻孔夹持的一体式组装过程来使工件的组装顺序操作自动化的方法。 该方法可以包括从要组装的工件的点获得邻接列表; 使用基于相邻列表的组合操作的顺序来控制用于组装工件的组装机; 识别组装操作顺序中的潜在错误; 基于识别的潜在错误确定修改的装配操作序列; 并根据修订的装配操作顺序控制装配机。

公开(公告)号：US09452616B1

公开(公告)日：2016-09-27

申请号：US14726387

申请日：2015-05-29

申请人： The Boeing Company

发明人： Dennis R. Mathis ,  Philip L. Freeman

IPC分类号： B41J3/407

CPC分类号： B41J3/4073 ,  B41J2/01 ,  B41J2/2132

摘要： A system for printing an image on a surface may include a robot having at least one arm. A printhead may be mounted to the arm and may be movable by the arm over a surface along a rastering path while printing an image slice on the surface. The image slice may have opposing side edges. The printhead may be configured to print the image slice with an image gradient band along at least one of opposing side edges wherein an image intensity within the image gradient band decreases from an inner portion of the image gradient band toward the side edge.

摘要翻译： 用于在表面上打印图像的系统可以包括具有至少一个臂的机器人。 打印头可以安装到臂上，并且可以通过臂在沿着扫描路径的表面上移动，同时在表面上打印图像切片。 图像切片可以具有相对的侧边缘。 打印头可以被配置为沿着图像梯度带中的图像强度从图像梯度带的内部朝向侧边缘减小的相对侧边缘中的至少一个以图像梯度带打印图像切片。

公开(公告)号：US08938315B2

公开(公告)日：2015-01-20

申请号：US14154164

申请日：2014-01-13

申请人： The Boeing Company

发明人： Philip L. Freeman ,  Thomas E. Shepherd ,  Christopher K. Zuver

IPC分类号： B25J5/00 ,  B25J9/22 ,  G05B19/19 ,  G06F15/00 ,  G06F19/00 ,  G06K9/00 ,  G05B19/402 ,  G06Q10/08

CPC分类号： G05B19/402 ,  G06Q10/08 ,  G06Q10/087 ,  Y10S901/30 ,  Y10S901/41 ,  Y10S901/42 ,  Y10S901/47

摘要： A method for verifying completion of a task is provided. In various embodiments, the method includes obtaining location coordinates of at least one location sensor within a work cell. The at least one sensor is affixed to a tool used to operate on a feature of a structure to be assembled, fabricated or inspected. The method additionally includes, generating a virtual object locus based on the location coordinates of the at least one location sensor. The virtual object locus corresponds to a computerized schematic of the structure to be assembled and represents of all possible locations of an object end of the tool within the work cell. The method further includes, identifying one of a plurality of candidate features as the most likely to be the feature operated on by the tool. The identification is based on a probability calculation for each of the candidate features that each respective candidate feature is the feature operated on by the tool.

摘要翻译： 提供了验证任务完成的方法。 在各种实施例中，该方法包括获得工作单元内的至少一个位置传感器的位置坐标。 所述至少一个传感器固定到用于对要组装，制造或检查的结构的特征进行操作的工具。 该方法还包括：基于至少一个位置传感器的位置坐标生成虚拟对象轨迹。 虚拟对象轨迹对应于要组装的结构的计算机化示意图，并且表示工具在工作单元内的物体端的所有可能位置。 该方法还包括：识别多个候选特征中的一个最可能是由该工具操作的特征。 该识别基于每个候选特征的概率计算，每个候选特征是由该工具操作的特征。

公开(公告)号：US11017559B2

公开(公告)日：2021-05-25

申请号：US16456091

申请日：2019-06-28

申请人： The Boeing Company

发明人： Jerald A. Hull ,  Philip L. Freeman

IPC分类号： G06T7/73 ,  G06K7/14 ,  G01B11/00 ,  G06K7/10

摘要： A hole location target includes a self-centering insert having a centerline and an optical target attached to the self-centering insert at a fixed position relative to the centerline of the self-centering insert. The optical target surface includes a two-dimensional pattern thereon.

公开(公告)号：US20180164775A1

公开(公告)日：2018-06-14

申请号：US15378623

申请日：2016-12-14

申请人： The Boeing Company

发明人： Michelle Crivella ,  Philip L. Freeman ,  Joshua D. Kalin ,  Robert Stephen Strong ,  Patrick Joel Michaels

IPC分类号： G05B19/402 ,  B25J9/16

摘要： A method for implementing machining tasks for an object. The method identifies location coordinates for a plurality of holes. A task file contains the machining tasks. The robotic devices use the task files to perform the machining tasks. A minimum number of positioning stations is determined where a portion of the machining tasks will be performed by the robotic devices. An ordered sequence for performing the machining tasks is calculated and path a path with the near-minimum distance is determined. Robotic control files are created that cause the robotic devices to perform the machining tasks. The robotic control files are output to the robotic devices to perform the machining tasks to form the plurality of holes.

公开(公告)号：US09278448B2

公开(公告)日：2016-03-08

申请号：US13751981

申请日：2013-01-28

申请人： The Boeing Company

发明人： Philip L. Freeman

IPC分类号： G06F19/00 ,  B25J9/16 ,  G05B19/29 ,  G05D3/00

CPC分类号： G05D3/00 ,  B25J9/1615 ,  G05B19/298 ,  G05B2219/40297

摘要： A method and apparatus for controlling a positioning mechanism comprising a smaller scale positioning mechanism for moving a tool within a smaller scale work space and a larger scale positioning mechanism for changing a position of the smaller scale work space within the larger scale work space. A commanded position for the tool is received by a processor unit. An error component is determined using a difference between the commanded position and a current position of the tool in the larger scale work space. A restoring component configured to move the tool toward a selected position in the smaller scale work space is determined. Control signals for controlling the smaller scale positioning mechanism and the larger scale positioning mechanism together to move the tool from the current position to the commanded position are generated using the error component and the restoring component.

摘要翻译： 一种用于控制定位机构的方法和装置，包括用于在较小规模工作空间内移动工具的较小尺度定位机构和用于改变较大规模工作空间内较小规模工作空间的位置的较大尺度定位机构。 处理器单元接收到该工具的指令位置。 使用命令位置与较大规模工作空间中的工具的当前位置之间的差异来确定误差分量。 确定被配置成将工具朝向较小规模工作空间中的选定位置移动的恢复部件。 使用误差分量和恢复分量产生用于控制较小刻度定位机构和较大刻度定位机构的控制信号，以将工具从当前位置移动到指令位置。

公开(公告)号：US20150199802A1

公开(公告)日：2015-07-16

申请号：US14156019

申请日：2014-01-15

申请人： THE BOEING COMPANY

发明人： Philip L. Freeman

IPC分类号： G06T7/00 ,  G06T17/20 ,  H04N5/232

CPC分类号： G06T7/001 ,  G06T2200/08 ,  G06T2207/10028 ,  G06T2207/30164 ,  H04N5/23229

摘要： A system for use in inspecting an object is provided. The system includes at least one array of visual imaging devices configured to capture a plurality of two-dimensional images of the object. The array is configured to capture a first set of two-dimensional images over a first predetermined interval and a second set of two-dimensional images over a second predetermined interval that is after the first predetermined interval. The system also includes a computing device coupled to the at least one array of visual imaging devices. The computing device is configured to extract point clouds of the object from the first and second sets of two-dimensional images, generate a three-dimensional model of the object from the extracted point clouds, determine variations in the extracted point clouds from the first and second sets of two-dimensional images, and utilize the determined variations to detect potential anomalies in the three-dimensional model.

摘要翻译： 提供了一种用于检查物体的系统。 该系统包括被配置为捕获对象的多个二维图像的至少一个视觉成像装置阵列。 阵列被配置为在第一预定间隔之后的第二预定间隔上捕获第一组二维图像，并且在第一预定间隔之后的第二预定间隔上捕获第二组二维图像。 该系统还包括耦合到至少一个视觉成像装置阵列的计算装置。 计算设备被配置为从第一和第二组二维图像提取对象的点云，从提取的点云生成对象的三维模型，确定从第一和第二组中提取的点云的变化， 第二组二维图像，并利用确定的变化来检测三维模型中的潜在异常。