Variable parameter collision avoidance system for aircraft work platforms

• US 5,359,542 A
• Filed: 12/20/1991
• Issued: 10/25/1994
• Est. Priority Date: 12/20/1991
• Status: Expired due to Fees

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Pahmeier, Max C., Pierce, Richard T.
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US07/811,523
• Time in Patent Office: 1,040 Days
• Field of Search: 364/559, 364/550, 364/460, 364/461, 364/424.02, 364/424.01, 364/424.07, 356/376, 356/387, 356/379, 356/380, 340/436
• US Class Current: 701/301
• CPC Class Codes: B25J 9/1615 characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
• CPC Class Codes: B64F 5/10 Manufacturing or assembling aircraft, e.g. jigs therefor
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G05B 2219/39082 Collision, real time collision avoidance
• CPC Class Codes: G05B 2219/40293 Gantry, portal
• CPC Class Codes: G05B 2219/45071 Aircraft, airplane, ship cleaning manipulator, paint stripping

Abstract

A system for determining the position of an airplane in a hangar and for limiting the motion of a plurality of gantry cranes around the airplane, the system including a plurality of movable scanners which ascertain locations of a plurality of collinear points along the leading edges of the wings of the airplane, including a processor system for determining a point of intersection of lines through the collinear points, the point of intersection and lines having a known positional relationship with the other portions of the airplane from which the processor system also determines the locations of other portions of the airplane, the processor system determining limits on the cranes'"'"' motion relative to the airplane.

Claims

1. Apparatus for locating an aircraft relative to a known reference and for preventing collisions between the aircraft and a movable work platform, said apparatus comprising:

scanning means for ascertaining a portion of the aircraft and generating and storing a set of data representative of the portion of the aircraft;

means for determining the spatial position of the aircraft relative to the known reference according to the set of data from said scanning means and a known relationship between the portion of the aircraft scanned and another portion of the aircraft;

means for determining the spatial and rotational position of the movable work platform relative to the known reference; and

means for setting three-dimensional and rotational movement restriction limits on the movable work platform when movement beyond such limits will result in a collision between the movable work platform and the aircraft, said setting means employing the stored set of data from said scanning means.

2. The apparatus of claim 1 wherein said means for determining the spatial position of the aircraft comprises a hangar processor.

3. The apparatus of claim 1 wherein said work platform is manually operated.

4. The apparatus of claim 1 wherein said movement and rotational limits are alterable to accommodate different aircraft.

5. Apparatus according to claim 1 wherein said means for setting movement restriction limits is adapted to reduce a maximum speed of movement of the work platform in at least one direction when said platform is between first and second distances from the airplane.

6. Apparatus according to claim 1 wherein said means for setting movement restriction limits is adapted halt movement of the work platform in at least one direction when said platform is less than or equal to a first distance from the airplane.

7. Apparatus for locating an aircraft relative to a known reference, said apparatus comprising:

scanning means for ascertaining a portion of the aircraft, wherein said scanning means comprises a plurality of movable scanners which ascertain edges of wings of the aircraft, wherein said plurality of movable scanners comprise a plurality of infrared photo-optic sensors each mounted on an end of an extendible and retractable cylinder piston which is mounted on a support structure suspended above the edges of the wings, said scanning means also comprising a plurality of light reflecting scanner targets positioned beneath the wings and said infrared photo-optic sensors for reflecting light back to said sensors; and

means for determining the position of the aircraft relative to the known reference according to data from said scanning means and a known relationship between the portion of the aircraft scanned and another portion of the aircraft, wherein said determining means ascertains the position of a point relative to the known reference and having a known relationship with the other portion of the aircraft and wherein the point is a point of intersection of lines through collinear points along the wings, and wherein said determining means uses the position of the point and the point'"'"'s known relationship with the other portion of the aircraft for determining the location of the aircraft.

8. The apparatus of claim 7 wherein said infrared photo-optic sensors'"'"' positions are known relative to the known reference such that upon ascertaining the edge of the wings, said sensors'"'"' positions are sent to said determining means for ascertaining a point of intersection of wing edge lines.

9. A collision avoidance system for limiting the motion of a plurality of apparatus movable around an aircraft, said system comprising:

means for ascertaining a portion of the aircraft;

identifying means for determining the general outline and position of the aircraft relative to a known reference according to data from said means for ascertaining the portion of the aircraft and a known relationship between the portion of the aircraft and other portions of the aircraft;

means for determining the respective positions of ones of said plural apparatus; and

means responsive to said identifying means and said determining means for setting limits on motion of the plural apparatus within predetermined range of said aircraft as determined from the general outline and position of the aircraft and for preventing movement by said plural apparatus beyond the limits to avoid collision between ones of the apparatus and the aircraft.

10. A collision avoidance system in accordance with claim 9 wherein said limits are changeable to accommodate differently positioned aircraft.

11. A collision avoidance system in accordance with claim 9 wherein said plurality of apparatus comprise plural cranes movable around the aircraft and wherein said identifying means determines the position of a point relative to the known reference and having a known relationship with the other portions of the aircraft, said identifying means using the position of the point and the point'"'"'s known relationship with the other portions of the aircraft for determining the general outline and position of the aircraft.

12. Apparatus according to claim 9 wherein said plurality of apparatus include means for detecting proximity between ones of said apparatus and other ones of said apparatus, and wherein said limit setting means further sets limits on motion of the plural apparatus within predetermined range of one another to avoid collision between ones of said apparatus and other ones of said apparatus.

13. A collision avoidance system for limiting the motion of a crane movable by an operator around an aircraft, said system comprising:

means for ascertaining a portion of the aircraft;

identifying means for determining the general outline and position of the aircraft relative to a known reference according to data from said means for ascertaining the portion of the aircraft and a known relationship between the portion of the aircraft and other portions of the aircraft, wherein said identifying means determines the position of a point relative to the known reference and having a known relationship with the other portions of the aircraft, said identifying means using the position of the point and the point'"'"'s known relationship with the other portions of the aircraft for determining the general outline and position of the aircraft; and

means responsive to said identifying means for setting limits on motion of the crane within predetermined range of said aircraft as determined from the general outline and position of the aircraft to avoid collision between the crane and the aircraft, wherein said crane is coupled to means for determining positions of said crane relative to the known reference and sending said crane'"'"'s positions to said means for setting limits, and wherein said means for setting limits compares the positions of said crane with said set limits to determine whether to signal further motion of said crane.

14. A collision avoidance system in accordance with claim 13 wherein said crane is a gantry crane comprising a vertically extendible and retractable mast which moves along rails mounted in a hangar, said crane also comprising a platform connected to said mast and from which said crane'"'"'s operator operates said crane, said mast and hence said platform being movable along X, Y and Z directions, said platform also being rotatable about said mast.

15. A collision avoidance system in accordance with claim 14, further comprising a plurality of motion limiting sensors selected from the group consisting of limit switches, wands, contact tapes, bumpers, ultra-sonic and reflective light sensors, said sensors being placed at a plurality of locations on said crane and said platform additionally to prevent collision between said crane and platform and other objects in said hangar including said aircraft.

16. A method of determining the position of an aircraft relative to a known reference and preventing collisions between the aircraft and a movable work platform, comprising the steps of:

scanning to ascertain a portion of the aircraft;

determining the position of the aircraft from data from the scanning step and a known positional relationship between the portion scanned and another portion of the aircraft;

generating a set of limits defining boundaries around the perimeter of the aircraft; and

limiting movement around the aircraft of a movable work platform based on the generated set of limits for preventing collision between the work platform and the airplane upon three dimensional and rotational movement of the platform.

17. A method in accordance with claim 16 wherein the determining step involves determining the position of a point according to data from said scanning step, the point having a known relationship with another portion of the aircraft, and wherein the known relationship is used in determining the position of the aircraft.

18. A method in accordance with claim 17 wherein the scanning step comprises the step of scanning the leading edges of wings on the aircraft with a plurality of scanners, and wherein the point determined is a point of intersection of lines through a plurality of collinear points along the edges of the wings scanned.

19. A hangar in which the position of an aircraft is to be determined relative to a known reference in said hangar, said hangar comprising:

a building of sufficient size for at least one aircraft;

scanning means mounted within said building for ascertaining a portion of the aircraft relative to the known reference, and

processor means for receiving data from said scanning means for determining the location of the aircraft from the data and a known relationship between the portion scanned and another portion of the aircraft;

said processor means setting spatial boundary limits around the aircraft based on the determined location of the aircraft for preventing movement of a work apparatus beyond the set boundary limits.

20. A hangar having a collision avoidance system therein and comprising:

a building of sufficient size to house at least one aircraft and a plurality of gantry cranes within the building;

scanning means mounted within said building for ascertaining a portion of the aircraft;

computing means for receiving data from said scanning means for determining the location of the aircraft from the data and a known relationship between the portion scanned and another portion of the aircraft and for setting limits on the motion of said gantry cranes according to the determined position of the aircraft; and

means for sending said gantry cranes'"'"' locations to said computing means to enable said computing means to compare the locations of said gantry cranes with said set limits to determine whether to allow further motion of said gantry cranes in avoiding collision with the aircraft.