# US 10,501,209 B2 · Metrology system for positioning assemblies > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,501,209 B2 - Document ID: US10501209B2 - Status: Granted - Kind: B2 - Application number: 16/012,577 - Filed: 2018-06-19 - Published: 2018-11-01 - Granted: 2019-12-10 - Earliest claimed: 2014-04-30 - Assignees: The Boeing Company - Applicants: The Boeing Company - Inventors: James M. Cobb; Clayton Lynn Munk; Dan Dresskell Day; Eric M. Reid; Matthew Ray DesJardien; Steven A. Best - Web page: https://patentgrep.com/patent/US10501209B2 ## CPC - B64F 5/10: Manufacturing or assembling aircraft, e.g. jigs therefor - G05B 19/19: characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path - G05B 19/402: characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position (G05B19/19 takes precedence) - B23Q 1/035: {with an array of longitudinally movable rods defining a reconfigurable support surface} - B23Q 1/621: {a single sliding pair followed perpendicularly by a single sliding pair} - G05B 2219/45055: Assembly - Y02P 90/80: Management or planning - B64F: GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - B23Q: DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING (tools of the kind used in lathes or boring machines B23B27/00); MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract A method and apparatus for maintaining a selected configuration for a structure. Metrology data for a support system is received while the support system holds the structure. A determination is made as to whether a current configuration of the structure is within selected tolerances of the selected configuration for the structure based on the metrology data. The support system is moved to move the structure held by the support system into the selected configuration in response to a determination that the current configuration of the structure is not within the selected tolerances of the selected configuration for the structure. ## Claims ### Claim 1 A method of maintaining a selected configuration for a structure, the method comprising: generating metrology data by: emitting signals from a group of transmitters positioned relative to a support system; receiving the signals at each of a plurality of target systems associated with the support system; generating position information by the each of the plurality of target systems to form the metrology data; receiving, by a controller, the metrology data for a plurality of supports comprising the support system while the support system holds the structure, wherein each of the plurality of supports comprises a supporting member connected to the structure; determining, by a controller, whether a current configuration of the structure is within selected tolerances of the selected configuration for the structure based on the metrology data; and moving the support system, by a controller, to move the structure held by the support system into the selected configuration in response to a determination that the current configuration of the structure is not within the selected tolerances of the selected configuration for the structure. ### Claim 2 (depends on 1) The method of claim 1, wherein each target system in the plurality of target systems comprises at least three targets configured to receive the signals, wherein the at least three targets have a known arrangement. ### Claim 3 (depends on 1) The method of claim 1, wherein determining whether the current configuration of the structure is within the selected tolerances of the selected configuration for the structure based on the metrology data comprises: identifying a plurality of positions for a plurality of control points using the metrology data, wherein each of the plurality of control points is selected from one of a point on a support in the support system and a connection point between the structure and the support. ### Claim 4 (depends on 1) The method of claim 1, wherein determining whether the current configuration of the structure is within the selected tolerances of the selected configuration for the structure based on the metrology data comprises: identifying a plurality of local coordinate systems for a plurality of supports of the support system using the metrology data. ### Claim 5 (depends on 4) The method of claim 4, wherein determining whether the current configuration of the structure is within the selected tolerances of the selected configuration for the structure based on the metrology data comprises: identifying a structure coordinate system for the structure using the plurality of local coordinate systems. ### Claim 6 (depends on 5) The method of claim 5, wherein determining whether the current configuration of the structure is within the selected tolerances of the selected configuration for the structure based on the metrology data comprises: comparing the structure coordinate system to a global coordinate system. ### Claim 7 (depends on 6) The method of claim 6, wherein determining whether the current configuration of the structure is within the selected tolerances of the selected configuration for the structure based on the metrology data comprises: determining whether a plane of the structure coordinate system is parallel to a plane of the global coordinate system. ### Claim 8 (depends on 7) The method of claim 7, wherein moving the support system to move the structure held by the support system into the selected configuration comprises moving a supporting member connected to the structure to align the structure coordinate system with the global coordinate system such that the plane of the structure coordinate system is substantially parallel to the plane of the global coordinate system. ### Claim 9 An apparatus comprising: a support system configured to hold a structure, wherein the support system comprises a plurality of supports and wherein each of the plurality of supports comprises a supporting member connected to the structure; a metrology system that generates metrology data for the plurality of supports comprising the support system while the support system holds the structure, wherein the metrology system comprises: a group of transmitters configured to emit signals from positions relative to the support system; a plurality of target systems associated with the supports comprising the support system, wherein each target system in the plurality of target systems comprises at least three sensors, and wherein the plurality of target systems is configured to receive the signals and generate position information to form the metrology data; and a controller that receives the metrology data, determines whether a current configuration of the structure is within selected tolerances of a selected configuration for the structure based on the metrology data, and generates commands for moving the support system to move the structure into the selected configuration in response to a determination that the current configuration of the structure is not within the selected tolerances of the selected configuration for the structure. ### Claim 10 (depends on 9) The apparatus of claim 9, wherein each target system in the plurality of target systems comprises at least three targets configured to receive the signals, wherein the at least three targets have a known arrangement. ### Claim 11 (depends on 9) The apparatus of claim 9, wherein the controller is configured to determine whether the current configuration of the structure is within the selected tolerances of the selected configuration for the structure based on the metrology data by: identifying a plurality of positions for a plurality of control points using the metrology data, wherein each of the plurality of control points is selected from one of a point on a support in the support system and a connection point between the structure and the support. ### Claim 12 (depends on 9) The apparatus of claim 9, wherein the controller is configured to determine whether the current configuration of the structure is within the selected tolerances of the selected configuration for the structure based on the metrology data by: identifying a plurality of local coordinate systems for a plurality of supports of the support system using the metrology data. ### Claim 13 (depends on 12) The apparatus of claim 12, wherein the controller is configured to determine whether the current configuration of the structure is within the selected tolerances of the selected configuration for the structure based on the metrology data by: identifying a structure coordinate system for the structure using the plurality of local coordinate systems. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein the controller is configured to determine whether the current configuration of the structure is within the selected tolerances of the selected configuration for the structure based on the metrology data by: comparing the structure coordinate system to a global coordinate system. ### Claim 15 (depends on 14) The apparatus of claim 14, wherein the controller is configured to determine whether the current configuration of the structure is within the selected tolerances of the selected configuration for the structure based on the metrology data by: determining whether a plane of the structure coordinate system is parallel to a plane of the global coordinate system. ### Claim 16 (depends on 15) The apparatus of claim 15, wherein the commands for moving the support system are configured to move a supporting member connected to the structure to align the structure coordinate system with the global coordinate system such that the plane of the structure coordinate system is substantially parallel to the plane of the global coordinate system. ### Claim 17 A method of maintaining a selected configuration for a structure, the method comprising: generating, by a controller, metrology data by: emitting signals from a group of transmitters positioned relative to a support system, wherein the global coordinate system is defined with respect to the group of transmitters; receiving the signals at a target system associated with the support in the plurality of supports; generating position information by the target system to form the metrology data; receiving, by a controller, metrology data for a plurality of supports comprising the support system while the support system holds the structure, each of the plurality of supports comprises a supporting member connected to the structure; identifying, by the controller, a local coordinate system for a support in the plurality of supports of the support system using the metrology data; comparing, by the controller, the local coordinate system to a global coordinate system to determine whether a current configuration of the structure is within selected tolerances of the selected configuration for the structure; and moving the supporting member of the support connected to the structure, by the controller, to move the structure held by the support system into the selected configuration in response to a determination that the current configuration of the structure is not within the selected tolerances of the selected configuration for the structure.