The Boeing Company

Theboeing Company

Anthony Wayne Baker

Luke Charles Ingram

Steven A Dorris

Brandon M Courter

Zachary R Smith

Christopher P Bellavia

Deepak Khosla

Shane Edward Arthur

Matthew H Mellin

Robert J Klein

Yang Chen

David J Huber

John Eric Miller

Mark S Bunker

Kjersta Larson-smith

Hugh L Taylor

Matt Christner

Ryan Petz

Jesse Castleberry

Chris A Cantrell

Kenneth Paul Bowers, Iii

Travis King

Jonathan Schwedhelm

Willaredt E Hardy

Kenny P Bowers

Ryan M Uhlenbrock

James A Grossnickle

Michael Brandon Schwiesow

Tobias Weber

Josiah Brubaker

Mark A Rivera

Andreas Bartl

Scott Rad

Jacob Moorman

Liam Antonio Wingert

Ryan Siok

Wendy Zaballos

Aroua Gharbi

Sildomar T Monteiro

David J Homolak

Brigette T Cochran

Willaredt Hardy

Kenneth Paul Iii Bowers

A method of creating custom datasets is provided. The method comprises capturing, with a camera, a sequence of images of a surface in a specified crawl direction over a number of sequential crawl steps that represent changes of camera position. For each crawl step, the method matches a first image and a second image captured at sequential camera positions. The method models each crawl step as a pairwise quadratic transformation between the first image and second image according to a number of respective anchor points in each image selected as best candidates to fit a regression model.

Crawl approach for creation and automatic annotation of custom datasets

An end effector and associated systems and methods for printing ink on a surface is disclosed. The end effector comprises a main block including a back plate. The end effector also includes a plurality of slice assemblies slidably coupled to the back plate. Each one of the plurality of slice assemblies includes a printhead and a y-actuator. The y-actuator is selectively operable to extend and retract the printhead, parallel to a y-axis in first directions, and relative to the back plate. The end effector further includes a plurality of z-actuators coupled to the back plate. Each one of the plurality of z-actuators is selectively operable to extend and retract a corresponding one of the plurality of slice assemblies, parallel to a z-axis in second directions, which is perpendicular to the y-axis and relative to the back plate.

Multi-printhead end effector and associated system and method

A computing system includes an input sensor, a processor, and a memory storing executable instructions that, in response to execution by the processor, cause the processor to collect input data related to at least a portion of an object from the input sensor, generate a UV coordinate map based on the input data, use a predetermined process ink density lookup table to produce an ink density bitmap corresponding to the UV coordinate map, the ink density bitmap including process ink densities for each bit in the ink density bitmap, produce and output a dithering of bits of the ink density bitmap to thereby generate dithered image pixel data, and compile and output a control plan, based on the dithered image pixel data, to control a printing array to print an image on a contoured surface of the object.

System and methods for controlling a printing array

An end effector for printing ink on a surface is disclosed. The end effector comprises a primary block comprises a primary-block body. A plurality of primary-printing modules are coupled to the primary-block body and translationally moveable, via a corresponding first actuator. Each one of the primary-printing modules includes at least one printhead which is adjustable, relative to the primary-block body. The printhead may be adjusted by at least one of a second actuator, configured to rotate the printhead about a first axis, or a third actuator, configured to rotate the printhead about a second axis. In some examples, a fourth actuator is configured to rotate at least one printhead, relative to at least one other printhead, about a third axis. Additionally, at least one trailing block can be coupled to the primary block so that the at least one trailing block is movable relative to the primary block.

A printing system is provided comprising a print head including a plurality of ink nozzles; an actuator configured to move the print head relative to a substrate; a print head position sensing system configured to detect an actual position of the print head relative to the substrate; and a controller. The controller is configured to: receive the actual position of the print head detected by the print head position sensing system corresponding to a target print head position; determine a positional offset between the actual position and the target print head position; generate a nozzle firing pattern based on the positional offset; and control the print head to print the nozzle firing pattern at the target print head position using the plurality of ink nozzles.

Printing system for generating nozzle firing patterns based on positional offsets

Apparatuses and methods train a model and then use the trained model to determine a global three dimensional (3D) position and orientation of a fiduciary marker. In the context of an apparatus for training a model, a wider field-of-view sensor is configured to acquire a static image of a space in which the fiducial marker is disposed and a narrower field-of-view sensor is configured to acquire a plurality of images of at least a portion of the fiducial marker. The apparatus also includes a pan-tilt unit configured to controllably alter pan and tilt angles of the narrower field-of-view sensor during image acquisition. The apparatus further includes a control system configured to determine a transformation of position and orientation information determined from the images acquired by the narrower field-of-view sensor to a coordinate system for the space for which the static image is acquired by the wider field-of-view sensor.

Method and apparatus for determining a three-dimensional position and pose of a fiducial marker

Methods for selecting a path of a multi-component end effector along a surface, robots that perform the methods, and storage media that directs robots to perform the methods. The multi-component end effector is attached to a robot, which is configured to move the multi-component end effector along the surface on a continuous tool centerpoint path (TCP). The multi-component end effector includes a plurality of end effector elements configured to move relative to one another. The method includes providing a discretized TCP that includes a plurality of spaced-apart waypoints along the continuous TCP. The method also includes determining a plurality of distance heuristics. The method further includes updating the plurality of distance heuristics to define a plurality of updated distance heuristics. The method also includes selecting the path of the multi-component end effector along the surface based upon the plurality of updated distance heuristics.

Methods for selecting a path of a multi-component end effector along a surface, robots that perform the methods, and storage media that directs robots to perform the methods

One embodiment comprises a method of operating a robotic system. The method comprises defining a Tool Center Point (TCP) for an end effector of the robotic system, providing a primary control plan that defines a tool path for the end effector, where the tool path has a plurality of pre-defined TCP positions. The method further comprises providing a secondary control plan that defines operation of the end effector at the plurality of pre-defined TCP positions, and determining a deviation between a pre-defined TCP position of the end effector and an actual TCP position of the end effector during implementation of the primary control plan by the robotic system. The method further comprises modifying the secondary control plan for the end effector based on the deviation during the implementation of the primary control plan by the robotic system.

End effector compensation of a robotic system

Apparatuses and methods determine the three-dimensional position and orientation of a fiducial marker and tracking the three-dimensional position and orientation across different fields-of-view. Methods include: capturing an image of a first space in which the fiducial marker is disposed with a first sensor having a first field-of-view; determining the three-dimensional location and orientation of the fiducial marker within the first space based on the image of the first space in which the fiducial marker is disposed; capturing an image of a second space in which the fiducial marker is disposed with a second sensor having a second field-of-view; calculating pan and tilt information for the second sensor to move the second field-of-view of the second sensor to acquire an image of the fiducial marker; and determining the three-dimensional location and orientation of the fiducial marker within the second space based on the image of the second space.

Method and apparatus for hand-off and tracking for pose estimation of a fiducial marker

Methods of performing a rotational and translational calibrations of a print control system of an inkjet printer system having an inkjet printhead assembly with one or more inkjet printheads are disclosed. Rotational calibration is performed by printing a first rotational calibration pattern from a first standoff distance and a second rotational calibration pattern from a second standoff distance on a first calibration object. The print control system is calibrated until the rotational calibration patterns are within a direction difference tolerance of each other. Translational calibration is performed by printing a first translation calibration pattern on a second calibration object, rotating the inkjet printhead assembly 180&#xb0;, and printing a second translational calibration pattern on the second calibration object. The print control system is calibrated until the translational calibration patterns are within a direction difference tolerance of each other.

Robotic 3D geometry direct-to-surface inkjet printing calibration process

Systems and methods for assessing the calibration of an array of cameras. The method including inputting into a processor captured images from at least two cameras of the array of cameras, the captured images having features from an image. The method further including extracting one or more extracted features from the captured images, matching one or more extracted features between pairs of the at least two cameras to create a set of matched features, selecting matching points from the set of matched features, generating a three-dimensional reconstruction of objects in a field of view of the at least two cameras, and outputting the three-dimensional reconstruction wherein the three-dimensional reconstruction comprises indicators of calibration errors.

Systems and methods for automatic quality assessment of multiple-camera calibration

An apparatus includes a memory configured to store multiple sets of image data. Each of the sets corresponds to a respective portion of a surface of an object and a respective portion of a structured light pattern projected onto the surface. The apparatus includes a processor configured to perform structured light reconstruction of the sets, including matching a first group of image pixels that correspond to a projected pixel of the structured light pattern in a first set of image data with a second group of image pixels that correspond to the projected pixel in a second set of image data. The processor is configured to perform stereo reconstruction of the sets, including matching one or more features detected within the first group of image pixels with one or more features detected within the second group of image pixels, to generate three-dimensional point data of the surface.

Three-dimensional point data based on stereo reconstruction using structured light

Disclosed herein is an apparatus that comprises an instruction receiving module configured to receive, at a master device, a set of instructions for operating a plurality of peripheral devices. The apparatus also comprises an instruction identification module configured to identify at least one subset of the set of instructions that are associated with at least one slave device. The apparatus further comprises an instruction distribution module configured to send the at least one subset of instructions to the at least one slave device. The apparatus additionally comprises a trigger module configured to send a start signal, from the master device to the at least one slave device, that triggers the at least one slave device to begin executing the at least one subset of instructions such that each of the plurality of peripheral devices operates synchronously based on the executing instructions.

Synchronous operation of peripheral devices

In one or more embodiments, a system for calibration between a camera and a ranging sensor comprises a ranging sensor to obtain ranging measurements for a target located at N number of locations with an emitter at M number of rotation positions. The system further comprises a camera to image the target to generate imaging measurements corresponding to the ranging measurements. Further, the system comprises a processor(s) to determine replacement ranging measurements that all lie in the same plane; to sample the replacement ranging measurements to produce sampled replacement ranging measurements; to determine sampled replacement imaging measurements corresponding to the sampled replacement ranging measurements; and to calculate calibration parameters by using some of the sampled replacement ranging measurements and the sampled replacement imaging measurements corresponding to the sampled replacement ranging measurements that are used, where the calibration parameters estimate the relationship of the camera to the ranging sensor.

High accuracy extrinsic calibration procedure for cameras and range sensors

A camera vision system for creating 3D reconstructions of objects may include a camera, a distance sensor having a fixed spatial relationship with the camera, and a system controller. The system controller receives distance sensor signals from the distance sensor indicating a sensor-to-object distance, determines a camera-to-object distance and a corresponding camera focus state based on the sensor-to-object distance, and transmits camera focus state control signals to cause the camera to adjust to the camera focus state. The system controller retrieves camera intrinsic parameter values for the camera focus state, transmits image capture control signals to cause the camera to capture an object image of the object, receives object image data from the camera for the captured object image, and stores the object image data and the camera intrinsic parameter values in an image database for use in the 3D reconstruction.

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Gilbertsville, PA, United States of America

Anthony Wayne Baker