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公开(公告)号：US12106433B2
公开(公告)日：2024-10-01
申请号：US17658159
申请日：2022-04-06
申请人： The Boeing Company
发明人： James J. Troy
摘要： An equirectangular image of a three-dimensional (3D) virtual environment is generated in a computer-automated fashion. In one example, a 3D virtual position of a virtual camera in a 3D virtual environment is specified. For each of a plurality of different yaw angles rotated about an axis extending through the 3D virtual position, the virtual camera is used to acquire an image strip of pixels parallel to the axis of rotation. Image strips of pixels of the 3D environment acquired at the different yaw angles are assembled to form an equirectangular image of the 3D virtual environment from the specified 3D virtual position.
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公开(公告)号：US20240169583A1
公开(公告)日：2024-05-23
申请号：US17991089
申请日：2022-11-21
申请人： The Boeing Company
CPC分类号： G06T7/74 , G01S5/16 , G06T7/75 , G06T17/05 , G01S2205/03 , G06T2207/10032 , H04N5/335
摘要： Methods and devices that determine a position on the ground of a laser that emits a laser beam that strikes an aircraft. The process includes determining a strike position from a camera that is located on the aircraft. A relative direction vector of the laser beam is computed with respect to the camera. The relative direction vector is converted into a global coordinate direction vector. The position on the ground of the laser is determined based on a point where the global coordinate direction vector intersects with the ground representation.
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公开(公告)号：US20240161329A1
公开(公告)日：2024-05-16
申请号：US18295439
申请日：2023-04-04
申请人： THE BOEING COMPANY
发明人： James J. Troy
CPC分类号： G06T7/70 , G01S17/89 , G05D1/0246
摘要： Examples of the present disclosure provide localization systems and methods that detect a plurality of landmarks in scan data acquired by a scanning sensor disposed onboard a mobile inspection platform. The localization systems and methods determine, via one or more processors, centers of the landmarks based on scan points in the scan data that impinge perimeter surfaces of the landmarks, and determine a location of the mobile inspection platform in relation to the centers of the landmarks.
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4.发明授权公开(公告)号：US11939081B2
公开(公告)日：2024-03-26
申请号：US17551049
申请日：2021-12-14
申请人： The Boeing Company
IPC分类号： B64F1/02
CPC分类号： B64F1/0299
摘要： End effectors and systems may capture, release, and/or create a mating engagement between the end effector and a target object. Said end effectors are tolerant of positional and rotational misalignment of the target object, and include a plurality of roller wheels, one or more of which is arranged in a non-parallel plane with respect to one or more other roller wheels. A first roller wheel configured to rotate in a first plane, a second roller wheel configured to rotate in a second plane, and a third roller wheel configured to rotate in a third plane may be arranged such that the end effector is configured to engage a passive receptacle of the target object, to capture the target object. Rotating the roller wheels in the opposite direction may cause the target object to be released or launched, by urging the passive receptacle off of or away from the roller wheels.
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公开(公告)号：US11921085B2
公开(公告)日：2024-03-05
申请号：US18121150
申请日：2023-03-14
申请人： The Boeing Company
CPC分类号： G01N29/043 , B64F5/60 , G01M5/0016 , G01M5/0033 , G01M5/0075 , G01N29/262 , G01N2291/0289 , G01N2291/263 , G01N2291/2694
摘要： Embodiments described herein utilize Non-Destructive Inspection (NDI) scan data obtained during a process performed on a surface of a structure to update a location of an NDI scanner on the surface. A subsurface feature within the structure is detected based on the NDI scan data, which are correlated with pre-defined position data for the subsurface feature. A measured location of the NDI scanner on the surface is corrected based on the pre-defined position data for the subsurface feature.
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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：US20230242279A1
公开(公告)日：2023-08-03
申请号：US17649898
申请日：2022-02-03
申请人： The Boeing Company
CPC分类号： B64F5/60 , G06T7/0002 , B64C39/024 , G05D1/0094 , B64C2201/123 , G05D1/104
摘要： A method, apparatus, system, and computer program product for inspecting an aircraft. A computer system receives captured data associated with a flight path flown by an unmanned aircraft system to acquire the captured data for the aircraft. The computer system compares the captured data with reference data for the aircraft to form a comparison. The computer system determines whether the captured data is within a set of tolerances for valid captured data using a result of the comparison. Prior to detecting anomalies for the aircraft using the captured data, the computer system determines a set of corrective actions in response to the captured data being outside of the set of tolerances for the valid captured data in which the set of corrective actions is performed.
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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：US20230221263A1
公开(公告)日：2023-07-13
申请号：US17571619
申请日：2022-01-10
申请人： THE BOEING COMPANY
发明人： James J. Troy , Gary E. Georgeson , Armando Xavier Membrila , Phillip Riste , Gregory James Sweers , Walter Joseph Jarecki
IPC分类号： G01N21/958 , B64C39/02
CPC分类号： G01N21/958 , B64C39/024 , G01N2201/0214 , B64C2201/123
摘要： A system and method for detecting an anomaly of an optically transparent or translucent object are disclosed. The system and method include a light source configured to emit light, a light transmission element having a textured surface, and an optical couplant configured to be disposed between the light transmission element and the object. At least a portion of the light emitted by the light source is configured to pass into the light transmission element through the textured surface and pass into the object through the optical couplant. At least a portion of the light that passes into the object internally reflects within the object and impinges on the anomaly to provide an illumination that indicates the location of the anomaly.
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公开(公告)号：US11635408B2
公开(公告)日：2023-04-25
申请号：US16580200
申请日：2019-09-24
申请人： The Boeing Company
IPC分类号： G06T7/33 , G01N29/06 , B64F5/60 , G01N22/02 , G01N29/04 , G01N29/28 , G06T7/73 , G06V30/142 , G06V10/26
摘要： Systems and methods for tracking the location of a non-destructive inspection (NDI) scanner using images of a target object acquired by the NDI scanner. The system includes a frame, an NDI scanner supported by the frame, a system configured to enable motorized movement of the frame, and a computer system communicatively coupled to receive sensor data from the NDI scanner and track the location of the NDI scanner. The NDI scanner includes a two-dimensional (2-D) array of sensors. Subsurface depth sensor data is repeatedly (recurrently, continually) acquired by and output from the 2-D sensor array while at different locations on a surface of the target object. The resulting 2-D scan image sequence is fed into an image processing and feature point comparison module that is configured to track the location of the scanner relative to the target object using virtual features visible in the acquired scan images.
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