The Boeing Company

Theboeing Company

Scott Wesley Lea

Gary E Georgeson

James J Troy

Daniel James Wright

Karl Edward Nelson

William Paul Motzer

Jeffrey M Hansen

Barry Allen Fetzer

James C Kennedy

Charles Michael Richards

Daniel J Wright

Lawrence Stimson Lindgren

Morteza Safai

Joseph Lawrence Hafenrichter

Jeffry J Garvey

Michael C Hutchinson

Peter J Hellenbrand

Alan Frank Stewart

Steven Kenneth Brady

Michael D Fogarty

Michael Walter Evens

William Joseph Tapia

Jill Paisley Bingham

James H Lee

Marc Rollo Matsen

Jeffrey Reyner Kollgaard

Tyler M Holmes

Brad Lee Kirkwood

Gregory James Sweers

Hien T Bui

Steven Ray Walton

Michael J Duncan

Martin L Freet

Karl Einar Nelson

John Robert Linn

Mark L Little

Kevin Puterbaugh

John Michael Costello

Matthew W Smith

Ronald E VonWahlde

Richard C Krotzer

Kim Marie Larson

Stephen Thomas Johnson

Jyani S Vaddi

Andrea C Saunders

Dennis Coffey

Nathan P Renaud

Keven I Furiya

J Robert Bopp

Susan H Young

Jyani Vaddi

Michael Joseph Duncan

Ronald E Vonwahlde

A method for navigating a sensor-equipped mobile platform through an through an environment to a destination, the method including: capturing a first image in a first state of illumination; capturing a second image in a second state of illumination; generating a difference image from said first image and said second image; locating an imaging target based on said difference image, said imaging target including a machine-readable code embedded therein, said machine-readable code including navigation vector data; extracting said navigation vector data from said machine-readable code; and using said extracted navigation vector data to direct the navigation of the mobile platform through the environment to a destination.

System and method for navigating a sensor-equipped mobile platform through an environment to a destination

A non-destructive inspection system is presented. The non-destructive inspection system comprises a robotic end effector having an extendable actuator and a flange-mounted roller containing an ultrasonic sensor, the flange-mounted roller connected to the extendable actuator by a pivot connection, the extendable actuator configured to extend the flange-mounted roller until the flange-mounted roller contacts an inspection surface.

Robotic end effector system with surface tracking and methods for use

Automated apparatus for performing maintenance functions on airfoil-shaped bodies having short chord lengths, the apparatus being movable in a spanwise direction along the airfoil-shaped body. In accordance with various embodiments, the apparatus comprises a blade crawler capable of supporting any one of a plurality of end effectors for performing a set of maintenance functions on an airfoil-shaped body, such as a blade component. Included in these functions are multiple options for nondestructive inspection, drilling, grinding, fastening, appliqu&#xe9; application, scarfing, ply mapping, depainting, cleaning, and painting devices that are attached as the end effector for the blade crawler. As a whole, the blade crawler reduces maintenance time, labor hours and human errors when robotic maintenance functions are performed on blade components.

Apparatus for automated maintenance of aircraft structural elements

A ground-based visual-inspection system includes a ground-based visual-inspection apparatus and a control system. The ground-based visual-inspection apparatus includes a mobile base, an actuatable arm coupled to the mobile base, and an effector coupled to the actuatable arm. The actuatable arm is locatable in a three dimensional space. The end effector includes a camera configured to capture images of a structure, such as an aircraft. The control system is configured to determine location information of the camera relative to a reference location and associate the location information with the images.

Mobile visual-inspection system

Provided is a nondestructive inspection ('NDI') system that includes an unmanned aerial vehicle ('UAV') comprising a body structure and at least one support arm. The support arm includes a first arm portion having a first end coupled to the body structure and a second end coupled to a second arm portion. The second arm portion includes a first end coupled to the second end of the first arm portion and a second end coupled to an NDI scanning device. The support arm also includes a compliant member disposed between the first arm portion and the second arm portion. The NDI scanning device includes one or more NDI sensors.

Non-destructive inspection using unmanned aerial vehicle

Systems and methods for high-speed non-destructive inspection of a half- or full-barrel-shaped workpiece, such as a barrel-shaped section of an aircraft fuselage. Such workpieces can be scanned externally using a mobile (e.g., translating) arch gantry system comprising a translatable arch frame disposed outside the fuselage section, a carriage that can travel along a curved track carried by the arch frame, a radially inward-extending telescopic arm having a proximal end fixedly coupled to the carriage, and an NDI sensor unit coupled to a distal end of the telescoping arm. The stiffeners of the fuselage sections can be scanned using a mobile scanner platform disposed inside the fuselage section, which platform comprises a radially outward-extending telescopic arm rotatably coupled to a mobile (e.g., holonomic or linear motion) platform and an NDI sensor unit coupled to a distal end of the telescoping arm. The scan data is matched with position data acquired using any one of a plurality of tracking systems to enable the display of NDI features/flaws on a three-dimensional representation of the workpiece.

Automated scanning systems for non-destructive inspection of curved cylinder-like workpieces

Apparatus and methods for providing gravity compensation to a cable-suspended, vacuum-adhered, tool-equipped crawler vehicle traveling along and following the contour of a non-level surface during the execution of an automated maintenance operation. One technical feature shared by multiple embodiments of the gravity-compensating systems is that a cable spool is operated to wind a portion of the cable from which the vacuum-adhered crawler vehicle is suspended to generate a tensile force that counteracts a gravitational force being exerted on the crawler vehicle during movement. Rotation of the cable spool may be driven by a motor or by a tensioning spring.

Gravity compensation for self-propelled robotic vehicles crawling on non-level surfaces

Described herein is an apparatus, for shielding light generated by a laser during non-destructive inspection of an object. The apparatus includes a light shield at least partially enveloping the laser and defining a first opening through which light generated by the laser passes from the laser to the object. The light shield is opaque and includes at least one first biasing mechanism. The apparatus also includes at least one first light seal coupled to the light shield about the first opening of the light shield. The at least one first biasing mechanism is configured to urge resilient deformation of the at least one first light seal against the object. When the at least one first light seal is resiliently deformed against the object, light generated by the laser is constrained within a light containment space defined between the light shield, the at least one first light seal, and the object.

Apparatus, systems, and methods for inspecting a part

Situational-awareness controllers and methods to increase situational-awareness for an actor associated with a triggering event are described. An example method includes in response to receiving a notification of a triggering event generated by at least one sensor, a computing device accessing information that includes related to an actor associated with the triggering event. The computing device correlates the information to a compilation of historical information by (i) determining whether the actor's location is associated with one or more safety events stored as part of the compilation of historical information and (ii) determining a risk level of the actor based on whether the one or more associated safety events occurred within a predetermined range of time from the time associated with the triggering event. The computing device generates a command based on a result of the correlating and sends the command to at least one controllable device.

Modular safety monitoring and warning system and methods for use thereof

Apparatus and methods that can be used to stabilize the distal end of an arm (and an end effector attached thereto) of an automated extended-reach tool-equipped assembly. Stabilization is provided by three or more stabilizers, each comprising a stationary part and a movable part. Each stationary part has a fixed location relative to the end effector; each movable part is translatably coupled to a respective stationary part and comprises a contactor disposed at a distal end of the movable part. When the stabilizers are actuated, the contactors are translated toward and into contact with the surface of the workpiece and then locked in place to stabilize the distal end of the arm and the end effector. During tool operation, the stabilizers reduce oscillation of the end effector (and all structure fixedly coupled thereto).

Stabilization of tool-carrying end of extended-reach arm of automated apparatus

Systems and methods for increasing situational awareness for a tool operator and an individual approaching a working field of the tool are described. An example method includes activating a first device, where the first device has a working field and has au operational path configured to intersect a barrier. A proximity sensor of the second device then detects a presence of an object in a sensor zone of the second device. The second device transmits a wireless signal to the first device indicating the presence of the object in the sensor zone of the second device. Then at least one of the first device and the second device issues a first alert indicating the presence of the object in the sensor zone of the second device.

Safety system for operations having a working field on an opposite side of a barrier from a device

A dual function non-destructive inspection apparatus comprises a frame structure, a thermographic inspection system, a displacement system, and an ultrasonic inspection system. The frame structure has a channel, a first end, and a second end. The channel extends through the frame structure from the first end to the second end. The thermographic inspection system is associated with the first end of the frame structure. The displacement system is connected to the second end of the frame structure. The ultrasonic inspection system is connected to the displacement system such that the displacement system moves the ultrasonic inspection system relative to the channel of the frame structure.

Dual function non-destructive inspection apparatus and method

Systems and methods for measuring the distance to a target object and acquiring three-dimensional coordinates, scale information, and point-to-point distance information for that target object in an environment using a remotely operated cable-suspended platform. The system uses on-board sensors and processing techniques to provide discrete or continuous measurements of the distances between points on a target object or the scale of the target object. The addition of on-board three-dimensional measurement capabilities to cable-suspended platforms enables these systems to acquire three-dimensional position data defined in the coordinate system of the environment, determine distances between objects or between points on the same object. The system can also be used to determine the scale factors of items in images captured by a camera carried by the cable-suspended platform, in the course of performing metrology-related tasks.

Methods for measuring and inspecting structures using cable-suspended platforms

Systems and methods for measuring the distance to a target object and acquiring scale and point-to-point distance information for that target object in an environment using a remotely operated flying platform, such as an unmanned aerial vehicle (UAV). The system uses on-board sensors and processing techniques to provide discrete or continuous measurements of the distances between points on a target object or the scale of the target object. The addition of on-board three-dimensional measurement capabilities to UAVs (or other flying platforms) allows the collection of distance data. Having this capability enables these systems to acquire distances between points on a single object, such as determining the true scale factors of items in images captured by the UAV, in the course of performing metrology-related tasks.

Positioning system for aerial non-destructive inspection

An example system for inspecting railcar axles includes a flash source, an infrared camera, and a trigger sensor. The flash source is configured to apply a thermal pulse toward a surface of a railcar axle of a railcar wheelset, while the railcar wheelset is on a track. The infrared camera is configured to capture infrared data indicative of a thermal response of the surface of the railcar axle to the thermal pulse. The trigger sensor is configured to trigger the flash source to apply the thermal pulse based on a position of the railcar wheelset on the track. The example system can also include a processor configured to determine whether the captured infrared data is indicative of a crack on the surface of the railcar axle, and a vision camera configured to capture an image of the surface of the railcar axle.

In-motion high-speed non-destructive evaluation for railcar axles

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Renton, WA, United States of America

Scott Wesley Lea