System and method for automated optical inspection of industrial gas turbines and other power generation machinery with articulated multi-axis inspection scope

摘要

Internal components of power generation machinery, such as gas and steam turbines are inspected with an optical camera inspection system that is capable of automatically positioning the camera field of view (FOV) to an area of interest within the machinery along a pre-designated navigation path and capturing images without human intervention. Automatic camera positioning and image capture can be initiated automatically or after receipt of operator permission. The pre-designated navigation path can be defined by operator manual positioning of an inspection scope within the power machine or a similar one of the same type and recording of positioning steps for future replication. The navigation path can also be defined by virtual simulation. The inspection system includes an articulated multi-axis inspection scope.

主权项

1. A system for non-contact internal inspection of a turbine, comprising:
a base for affixation to a turbine inspection port external a turbine; an inspection scope having an extendable rigid elongated body defining a central axis, with a proximal end rotatively coupled to the base external the turbine and a distal end for insertion within the turbine inspection port; a rigid extension portion intermediate the proximal and distal ends; and an articulation joint, having opposed first and second joint ends, with the first joint end coupled to the inspection scope distal end; a camera head, having a field of view, coupled to articulation joint second joint end; a gross rotation drive coupled to the base external the turbine for rotating the inspection scope about its central axis, coupled thereto; a scope extension drive for translating the extension portion, coupled thereto; an articulation drive, for articulating the camera head field of view relative to the inspection scope central axis, coupled to the camera head; a camera coupled to the camera head, for capturing an image within the field of view; an illumination system coupled to the camera head for illuminating the camera head field of view; and a control system, coupled to the gross rotation, scope extension and articulation drives and the camera, for automatically and sequentially positioning the inspection scope and field of view along a pre-designated non-contact navigation path within a turbine to plural internal areas of interest and for capturing respective camera images thereof without human intervention; wherein the navigation path designation is selected from the group consisting of: human controlled positioning of an inspection system within a turbine of the same type along a selected navigation path, and recording said navigation path for subsequent replication by an inspection scope control system; human controlled simulated positioning of a virtual inspection system within a virtual turbine of the same type along a selected navigation path, and recording said navigation path for subsequent replication by an inspection scope control system; and simulated positioning of a virtual inspection scope and virtual power generation machine of the same type along a simulated selected navigation path without human intervention, and recording said navigation path for subsequent replication by an inspection scope control system.