Method, system and apparatus for aligning a removable sensor on a vehicle

Patent metadata

Field	Value
Publication number	US-11639234-B2
Application number	US-201916393376-A
Country	US
Kind code	B2
Filing date	Apr 24, 2019
Priority date	Apr 24, 2019
Publication date	May 2, 2023
Grant date	May 2, 2023

Abstract

A method for aligning a removable sensor on a vehicle includes connecting the removable sensor to a sensor mounting device. The method further includes connecting a connector of an alignment apparatus to either (i) the removable sensor such that a spatial reference component of the alignment apparatus has a known position and orientation relative to a current position and orientation of the removable sensor or (ii) a fixed connection location on the vehicle such that the spatial reference component indicates a desired position and orientation of the removable sensor. In addition the method includes adjusting the current position and orientation of the removable sensor by reference to the alignment apparatus to cause the current position and orientation of the removable sensor to match the desired position and orientation of the removable sensor.

First claim

What is claimed:

1. A method for aligning a removable sensor on a vehicle, comprising:
connecting the removable sensor to a sensor mounting device;
connecting a connector of an alignment apparatus to either:
the removable sensor such that a spatial reference component of the alignment apparatus, and the removable sensor are fixedly secured together wherein the spatial reference component and the removable sensor move together and the spatial reference component has a known position and orientation;
adjusting a position and orientation of the removable sensor, relative to the sensor mounting device, using the known position and orientation of the spatial reference component of the alignment apparatus as a reference, to cause the removable sensor to match a desired position and orientation of the removable sensor; or
a fixed connection location on the vehicle such that the spatial reference component of the alignment apparatus indicates the desired position and orientation of the removable sensor; and

adjusting the position and orientation of the removable sensor, using the spatial reference component as a reference so as to cause the removable sensor to match the desired position and orientation of the removable sensor.

2. The method of claim 1 , wherein connecting the removable sensor to the sensor mounting device, includes the sensor mounting device comprises a first ball joint assembly.

3. The method of claim 2 , wherein connecting the removable sensor to the sensor mounting device, includes the first ball joint assembly comprises a first ball member connected to the removable sensor and a second ball member connected to the vehicle, with the first ball member and the second ball member positioned within a clamp assembly, which is movable between a clamped and an unclamped position with respect to the first ball member and the second ball member.

4. The method of claim 3 , wherein connecting of the connector of the alignment apparatus to the removable sensor includes the connector comprises a fastener assembly having a flexible clamp for engaging the removable sensor and a first surface for abutting against a second surface of the removable sensor such that with the flexible clamp engaged to the removable sensor and the first surface and the second surface abutting one another, the fastener assembly and the removable sensor are in a fixed position in relationship to one another.

5. The method of claim 4 , wherein:
the spatial reference component of the alignment apparatus comprises three wall members secured to one another in orthogonal relationship to one another; and
the fastener assembly is fixedly secured to the spatial reference component.

6. The method of claim 5 , wherein adjusting the position and orientation of the removable sensor using the known position and orientation of the spatial reference component of the alignment apparatus as the reference to cause the removable sensor to match the desired position and orientation of the removable sensor, includes positioning the clamp assembly into the unclamped position with respect to the first ball member and the second ball member of the first ball joint assembly and moving the removable sensor from a current position and orientation of the removable sensor to match the desired position and orientation of the removable sensor.

7. The method of claim 1 , wherein connecting the removable sensor to the sensor mounting device includes the sensor mounting device comprises a second ball joint assembly.

8. The method of claim 7 , wherein connecting the removable sensor to the sensor mounting device includes the second ball joint assembly comprises a first ball member connected to the removable sensor and a second ball member connected to the vehicle with the first ball member and the second ball member positioned within a clamp assembly movable between a clamped and an unclamped positions with respect to the first ball member and the second ball member.

9. The method of claim 7 , wherein connecting the connector of the alignment apparatus to the fixed connection location on the vehicle such that the spatial reference component indicates the desired position and orientation of the removable sensor includes:
the connector of the alignment apparatus comprises a vehicle clamp assembly connecting the alignment apparatus to the fixed connection location on the vehicle;
the alignment apparatus further includes a first arm fixedly secured to the vehicle clamp assembly;
the first arm extends from the vehicle clamp assembly and connects to a second arm with a lockable rotational joint positioned between the first arm and second arm;
a lockable ball joint assembly positioned on the second arm is secured to the spatial reference component of the alignment apparatus wherein the lockable ball joint assembly comprises a third ball member; and
the spatial reference component of the alignment apparatus comprises a receptacle member secured to the third ball member of the lockable ball joint assembly.

10. The method of claim 9 , wherein adjusting the position and orientation of the removable sensor by the reference to the alignment apparatus to cause the position and orientation of the removable sensor to match the desired position and orientation of the removable sensor includes, with the vehicle clamp assembly secured to the fixed connection location on the vehicle, moving the removable sensor, connected to the lockable ball joint assembly, to engage the receptacle member of the spatial reference component of the alignment apparatus.

11. The method of claim 1 , wherein:
connecting the removable sensor to the sensor mounting device includes the sensor mounting device comprises a bracket wherein the removable sensor is bolted to the bracket; and
connecting the connector of the alignment apparatus to the fixed connection location on the vehicle such that the spatial reference component indicates the desired position and orientation of the removable sensor, wherein the connector comprises a bolt, which affixes a plate, of the alignment apparatus, to the vehicle wherein the plate has at least two openings defined in the plate which indicate the desired position and orientation for the removable sensor.

12. The method of claim 11 ,
wherein the vehicle is an aircraft, and
wherein adjusting a current position and orientation of the removable sensor by the reference to the alignment apparatus to cause the current position and orientation of the removable sensor to match the desired position and orientation of the removable sensor includes moving the bracket to align the at least two openings defined in the bracket with the at least two openings defined in the plate.

13. A system for aligning a removable sensor on a vehicle, comprising:
an alignment apparatus having (i) a connector configured to mount the alignment apparatus in a fixed position and orientation relative to the removable sensor and (ii) a spatial reference component adjoined to the connector such that, when the alignment apparatus is mounted in the fixed position and orientation, the spatial reference component has a known position and orientation; and
an external positioning device having (i) a measurement component configured to detect a spatial position and orientation of the spatial reference component relative to at least one reference location on the vehicle and (ii) an output component configured to provide positioning data relating to a current position and orientation of the removable sensor to a user to facilitate aligning the removable sensor to a desired position and orientation of the removable sensor.

14. The system of

Assignees

• Boeing Co

Inventors

• Callahan Kevin S
• Evans Nick S
• Muir Eric R

Classifications

• B60R2011/0052

  using screws, bolts, rivets or the like · CPC title

• G01S7/4972

  Alignment of sensor · CPC title

• B60R11/04 Primary

  Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle · CPC title

• B64D45/00

  Aircraft indicators or protectors not otherwise provided for · CPC title

• B60R2300/402

  Image calibration · CPC title