Inspection system

Abstract

The invention is entitled "Inspection system". The invention discloses an inspection system for mounting on a user's hand. The inspection system comprises an imaging unit comprising two sub-units, a first sub-unit configured to provide an image from a first viewpoint and a second sub-unit configured to provide an image from a second viewpoint, and a measurement unit configured to provide data relating to a physical property measured at a measurement location on the user's hand. The imaging unit has a spacing sensor configured to measure a spacing between the two sub-units of the imaging unit. A method of inspecting and / or servicing a machine is also disclosed.

Description

Technical Field

[0001] This disclosure relates to providing an inspection system suitable for inspection and / or measurement in hard-to-reach environments (e.g., gas turbine engines and / or engines supplied to aircraft). Background Technology

[0002] There are situations where it is necessary to inspect areas inside machinery or inside a human body. The area to be inspected may be restricted and difficult to access. More specifically, the area is usually not within visual reach. Therefore, indirect methods can be used to inspect the area.

[0003] For example, endoscopes are known to be used to view hard-to-access areas. However, endoscopes have limitations. For instance, endoscopes typically have low rigidity, which makes them unsuitable for maneuvering over long distances. The mobility of endoscopes may also be limited. Summary of the Invention

[0004] According to a first aspect, an inspection system for mounting on a user's hand is provided, the inspection system comprising: an imaging unit including two sub-units, a first sub-unit configured to provide an image from a first viewpoint and a second sub-unit configured to provide an image from a second viewpoint; and a measurement unit configured to provide data relating to physical characteristics measured at a measurement location on the user's hand; wherein the imaging unit has a spacing sensor configured to measure the spacing between the two sub-units of the imaging unit.

[0005] In some implementations, at least two sub-units are of different types.

[0006] In some implementations, the imaging unit may be configured such that the optical axes of the subunits of the imaging unit are substantially parallel.

[0007] In some embodiments, the spacing sensor may include two contact pads, each of which may have a contact surface that is substantially fixed at a corresponding known displacement relative to a respective subunit of the imaging unit; and wherein, when the two contact surfaces are in contact with each other, the spacing between the two subunits of the imaging unit may be determined by the sum of the known displacements between the contact surfaces and the corresponding subunits of the imaging unit.

[0008] In some implementations, the contact pads of the spacing sensor can be magnetically attracted to each other.

[0009] In some implementations, the spacing sensor can be configured to sense whether two contact surfaces are in contact.

[0010] In some implementations, the imaging unit may be configured to: output a stereo image based on an image provided by the imaging unit when the spacing sensor (64) senses that the two contact surfaces are in contact; and / or combine an image provided by one subunit of the imaging unit with an image provided by another subunit of the imaging unit to produce a combined image with a magnified field of view when the spacing sensor senses that the two contact surfaces are not in contact.

[0011] In some embodiments, the spacing sensor may include a camera that is substantially fixed at a known displacement relative to one of the sub-units of the imaging unit, and a reference marker that is substantially fixed at another known displacement relative to another sub-unit; and wherein, when the reference marker is within the field of view of the camera of the spacing sensor, the spacing sensor may be configured to calculate the spacing between the two sub-units of the imaging unit based on an image of the reference marker captured by the camera.

[0012] In some implementations, the spacing sensor may include two inertial measurement units, each substantially fixedly positioned relative to a corresponding subunit (701) of the imaging unit; and wherein the spacing sensor may be configured to calculate the spacing between the two subunits of the imaging unit based on the outputs of the two inertial measurement units.

[0013] In some implementations, the imaging unit may be configured to: output a stereo image based on an image provided by the imaging unit when the distance between two sub-units of the imaging unit is less than a predetermined threshold; and / or combine an image provided by one sub-unit of the imaging unit with an image provided by another sub-unit of the imaging unit to produce a combined image with a magnified field of view when the distance between two sub-units of the imaging unit is not less than a predetermined threshold.

[0014] In some implementations, the imaging unit may include two or more sub-units that can be configured to provide images from different viewpoints, and the spacing sensor may be configured to measure more than one spacing between the sub-units of the imaging unit.

[0015] In some implementations, the inspection system can be configured to calculate the size of an object captured in an image or the size between objects based on images provided by two sub-units of the imaging unit.

[0016] In some implementations, the inspection system can be configured to calculate a three-dimensional mapping of the space captured in the images based on images provided by two sub-units.

[0017] In some implementations, each subunit of the imaging unit may include at least one of the following: a camera, a 360° camera, a wavelength-filtered camera, a thermal imaging camera, a zoom camera, a macro camera, a stereo camera, a dichroic camera, and an ultrasonic receiver.

[0018] In some embodiments, the measuring unit may include at least one of the following: a sensor configured to measure temperature at a measurement location on a user's hand; a sensor configured to measure force applied at a measurement location on a user's hand; a sensor configured to measure acceleration at a measurement location on a user's hand; a sensor configured to measure orientation at a measurement location on a user's hand; a sensor configured to measure ionizing radiation at a measurement location on a user's hand; a sensor configured to measure at least one of the direction and intensity of a magnetic field and / or electric field at a measurement location on a user's hand; a sensor configured to measure eddy currents in material near a measurement location on a user's hand; a sensor configured to detect sound waves at a measurement location on a user's hand; a sensor configured to measure the distance between two measurement locations on a user's hand; and a sensor configured to measure at least one of voltage, current, and resistance between two measurement locations on a user's hand.

[0019] In some implementations, the measurement unit may include a sensor that can be configured to provide a measurement result between two measurement locations, each of which is located on a finger of the user's hand, on the fingertip of a finger of the user's hand, on the phalanx of a finger of the user's hand, on the palm of the user's hand, or on the back of the user's hand.

[0020] In some embodiments, the inspection system may further include: a fluid dispensing unit configured to supply fluid from at least one dispensing location on a user's hand; a fluid absorption unit configured to absorb fluid at at least one location on a finger, fingertip, phalanx, palm, or back of the user's hand; and / or at least one illuminator configured to emit at least one of visible light, infrared radiation, and ultraviolet radiation.

[0021] In some implementations, at least one distribution location may be located on a finger of the user's hand, on the fingertip of a finger of the user's hand, on the phalanx of a finger of the user's hand, on the palm of the user's hand, or on the back of the user's hand.

[0022] In some implementations, the fluid distribution unit may be configured to supply at least one of oil, liquid penetrant, air jet, and water jet.

[0023] In some implementations, the illuminator may be located on the fingers of the user's hand, on the fingertips of the user's fingers, on the phalanges of the user's fingers, on the palm of the user's hand, or on the back of the user's hand.

[0024] In some implementations, the inspection system may also include a controller configured to receive data from at least one of the imaging unit and the measurement unit and output the corresponding information to a user interface.

[0025] In some implementations, the user interface may include a display configured to display images based on data from the imaging unit. The display may be a stereoscopic, head-mountable, augmented reality display, and / or the display may be configured to display dimensional information on the display.

[0026] In some implementations, the inspection system may include a cover that encloses the user's hand.

[0027] In some implementations, the cover may extend to enclose at least a portion of the user's forearm and optionally enclose at least a portion of the user's upper arm.

[0028] In some embodiments, the cover may be formed of at least one material selected from fluid-impermeable, gas-impermeable, heat-resistant, electrical-resistant, and puncture-resistant materials.

[0029] In some implementations, the inspection system can be configured for use within the machine and can be used in conjunction with aircraft propulsion systems and / or gas turbine engines or hybrid gas / electric propulsion systems.

[0030] In some implementations, the examination system can be configured for use in humans or animals.

[0031] In a second aspect, this disclosure provides a method for inspecting and / or repairing a machine (optionally, an aircraft engine), the method comprising the steps of: mounting an inspection system of the first aspect on a user's hand; and inserting the user's hand into the machine to inspect and / or repair the machine.

[0032] As described elsewhere herein, this disclosure relates to gas turbine engines. Such gas turbine engines may include an engine core comprising a turbine, a combustor, a compressor, and a spindle connecting the turbine to the compressor. Such gas turbine engines may include a fan (with fan blades) located upstream of the engine core.

[0033] The arrangement disclosed herein can be particularly, but not exclusively, advantageous to a fan driven via a gearbox. Thus, the gas turbine engine may include a gearbox that receives input from the spindle and outputs drive to the fan to drive the fan at a lower rotational speed than the spindle. The input to the gearbox may be directly from the spindle or indirectly from the spindle, for example via a spur shaft and / or gears. The spindle rigidly connects the turbine and compressor such that the turbine and compressor rotate at the same speed (wherein the fan rotates at a lower speed).

[0034] The gas turbine engine described and / or claimed herein may have any suitable general architecture. For example, the gas turbine engine may have any desired number of shafts connecting the turbine and compressor, such as one shaft, two shafts, or three shafts. By way of example only, the turbine connected to the mandrel may be a first turbine, the compressor connected to the mandrel may be a first compressor, and the mandrel may be a first mandrel. The engine core may also include a second turbine, a second compressor, and a second mandrel connecting the second turbine to the second compressor. The second turbine, the second compressor, and the second mandrel may be arranged to rotate at a higher rotational speed than the first mandrel.

[0035] In such an arrangement, the second compressor may be axially positioned downstream of the first compressor. The second compressor may be arranged to receive flow from the first compressor (e.g., directly, or via a generally annular duct).

[0036] The gearbox can be arranged to be driven by a spindle configured (e.g., in use) to rotate at a minimum rotational speed (e.g., the first spindle in the example above). For example, the gearbox can be arranged to be driven only by a spindle configured (e.g., in use) to rotate at a minimum rotational speed (e.g., in the example above, only the first spindle, not the second spindle). Alternatively, the gearbox can be arranged to be driven by any one or more shafts, such as the first shaft and / or the second shaft in the example above.

[0037] The gearbox can be a reduction gearbox (because the output to the fan rotates at a lower rate than the input from the spindle). Any type of gearbox can be used. For example, the gearbox can be a "planetary" or "stellar" gearbox, as described in more detail elsewhere in this document. The gearbox can have any desired reduction ratio (defined as the rotational speed of the input shaft divided by the rotational speed of the output shaft), for example, greater than 2.5, such as in the range of 3 to 4.2, or 3.2 to 3.8, for example, approximately or at least 3, 3.1, 3.2, 3.3, 3.4, 3.5, 3.6, 3.7, 3.8, 3.9, 4, 4.1, or 4.2. For example, the gear ratio can be between any two values ​​in the preceding sentence. By way of example only, the gearbox can be a "stellar" gearbox with a gear ratio in the range of 3.1 or 3.2 to 3.8. In some arrangements, the gear ratio can be outside these ranges.

[0038] In any gas turbine engine as described and / or claimed herein, the burner may be axially positioned downstream of the fan and one or more compressors. For example, if a second compressor is provided, the burner may be located directly downstream of the second compressor (e.g., at its outlet). In another example, if a second turbine is provided, the flow at the burner outlet may be directed to the inlet of the second turbine. This burner may be positioned upstream of one or more turbines.

[0039] The compressor, or each compressor (e.g., the first and second compressors as described above), may include any number of stages, such as multiple stages. Each stage may include a row of rotor blades and a row of stator blades, which may be variable stator blades (because the angle of incidence of the row of stator blades may be variable). The row of rotor blades and the row of stator blades may be axially offset from each other.

[0040] The turbine, or each turbine (e.g., the first and second turbines as described above), may include any number of stages, such as multiple stages. Each stage may include a row of rotor blades and a row of stator blades. The row of rotor blades and the row of stator blades may be axially offset from each other.

[0041] Each fan blade may be defined as having a radial span extending from the root (or hub) at a radially inner gas scrubbing position or a 0% span position to the tip at a 100% span position. The ratio of the radius of the fan blade at the hub to the radius of the fan blade at the tip may be less than (or approximately) any of the following: 0.4, 0.39, 0.38, 0.37, 0.36, 0.35, 0.34, 0.33, 0.32, 0.31, 0.3, 0.29, 0.28, 0.27, 0.26, or 0.25. The ratio of the radius of the fan blade at the hub to the radius of the fan blade at the tip may be within a range defined by any two values ​​in the preceding sentence (i.e., these values ​​may form an upper or lower limit), for example, in the range of 0.28 to 0.32. These ratios may generally be referred to as the hub-to-tip ratio. Both the radius at the hub and the radius at the tip may be measured at the leading edge (or axially foremost) portion of the blade. Of course, the hub-to-tip ratio refers to the gas-washing portion of the fan blades, that is, the portion radially outside any platform.

[0042] The radius of the fan can be measured between the engine centerline and the tip of the leading edge of the fan blades. The fan diameter (which may be only twice the fan radius) can be greater than (or approximately) any of the following: 220cm, 230cm, 240cm, 250cm (approximately 100 inches), 260cm, 270cm (approximately 105 inches), 280cm (approximately 110 inches), 290cm (approximately 115 inches), 300cm (approximately 120 inches), 310cm, 320cm (approximately 125 inches), 330cm (approximately 130 inches), 340cm (approximately 135 inches), 350cm, 360cm (approximately 140 inches), 370cm (approximately 145 inches), 380cm (approximately 150 inches), 390cm (approximately 155 inches), 400cm, 410cm (approximately 160 inches), or 420cm (approximately 165 inches). The fan diameter can be within the range defined by any two values ​​in the preceding sentence (i.e., these values ​​can form an upper or lower limit), for example, in the range of 240cm to 280cm or 330cm to 380cm.

[0043] The fan speed can vary during use. Generally, for fans with larger diameters, the speed is lower. By way of non-limiting example only, the fan speed under cruising conditions may be less than 2500 rpm, for example, less than 2300 rpm. By way of another non-limiting example only, for engines with fan diameters in the range of 220cm to 300cm (e.g., 240cm to 280cm or 250cm to 270cm), the fan speed under cruising conditions may be in the range of 1700rpm to 2500rpm, for example, in the range of 1800rpm to 2300rpm, or for example, in the range of 1900rpm to 2100rpm. By way of another non-limiting example only, for engines with fan diameters in the range of 330cm to 380cm, the fan speed under cruising conditions may be in the range of 1200rpm to 2000rpm, for example, in the range of 1300rpm to 1800rpm, or for example, in the range of 1400rpm to 1800rpm.

[0044] When using a gas turbine engine, the fan (with associated fan blades) rotates about an axis of rotation. This rotation causes the tips of the fan blades to move at a speed U. 尖端 Movement. The work done by the fan blades 13 in convection results in an enthalpy increase of dH in the flow. The fan tip load can be defined as dH / U 尖端 2 Where dH is the enthalpy rise across the fan (e.g., 1-D average enthalpy rise), and U 尖端 This is the (translational) velocity of the fan tip, for example at the leading edge of the tip (which can be defined as the fan tip radius at the leading edge multiplied by the angular velocity). The fan tip load under cruise conditions can be greater than (or approximately) any of the following: 0.28, 0.29, 0.30, 0.31, 0.32, 0.33, 0.34, 0.35, 0.36, 0.37, 0.38, 0.39, or 0.4 (all units in this paragraph are in J / kg). - 1 K -1 / (ms -1 ) 2 The fan tip load can be within the range defined by any two values ​​in the preceding sentence (i.e., these values ​​can form an upper or lower limit), for example, in the range of 0.28 to 0.31 or 0.29 to 0.3.

[0045] The gas turbine engine according to this disclosure may have any desired bypass ratio, wherein the bypass ratio is defined as the ratio of the mass flow rate of the flow through the bypass duct to the mass flow rate of the flow through the core under cruise conditions. In some arrangements, the bypass ratio may be greater than (or approximately) any of the following: 10, 10.5, 11, 11.5, 12, 12.5, 13, 13.5, 14, 14.5, 15, 15.5, 16, 16.5, 17, 17.5, 18, 18.5, 19, 19.5, or 20. The bypass ratio may be within a range defined by any two values ​​in the preceding sentence (i.e., these values ​​may form an upper or lower limit), for example, in the range of 12 to 16, or 13 to 15, or 13 to 14. The bypass duct may be substantially annular. The bypass duct may be located radially outside the engine core. The radially outer surface of the bypass duct may be defined by a nacelle and / or fan casing.

[0046] The total pressure ratio of the gas turbine engine described and / or claimed herein can be defined as the ratio of the stagnation pressure upstream of the fan to the stagnation pressure at the outlet of the highest-pressure compressor (before entering the combustor). By way of non-limiting example, the total pressure ratio of the gas turbine engine described and / or claimed herein may be greater than (or approximately) any of the following: 35, 40, 45, 50, 55, 60, 65, 70, 75. The total pressure ratio may be within a range defined by any two values ​​in the preceding sentence (i.e., these values ​​may form an upper or lower limit), for example, in the range of 50 to 70.

[0047] The specific thrust of an engine can be defined as the net thrust of the engine divided by the total mass flow rate through the engine. Under cruise conditions, the specific thrust of the engine described and / or claimed herein may be less than (or approximately) any of the following: 110 Nkg -1 s, 105Nkg -1 s, 100Nkg -1 s, 95Nkg -1 s, 90Nkg -1 s, 85Nkg -1 s or 80Nkg -1 s. This specific thrust can be within a range defined by any two values ​​in the preceding sentence (i.e., these values ​​can form an upper or lower limit), for example, at 80 Nkg. -1 s to 100Nkg -1 s, or 85Nkg -1 s to 95Nkg -1 Within the range of s. Compared to traditional gas turbine engines, this type of engine may be particularly efficient.

[0048] The fan blades and / or the airfoil portions of the fan blades described and / or claimed herein may be made of any suitable material or combination of materials. For example, at least a portion of the fan blades and / or airfoil may be made at least partially of a composite material, such as a metal matrix composite and / or an organic matrix composite, such as carbon fiber. As another example, at least a portion of the fan blades and / or airfoil may be made at least partially of a metal, such as a titanium-based metal or an aluminum-based material (such as an aluminum-lithium alloy) or a steel-based material. The fan blade may include at least two regions made of different materials. For example, the fan blade may have a protective leading edge made of a material that is better resistant to impacts (e.g., from birds, ice, or other materials) than the rest of the blade. Such a leading edge may be made, for example, of titanium or a titanium-based alloy. Thus, by way of example only, the fan blade may have carbon fiber or an aluminum-based body (such as an aluminum-lithium alloy) with a titanium leading edge.

[0049] The fan described and / or claimed herein may include a central portion from which fan blades may extend, for example, radially. The fan blades may be attached to the central portion in any desired manner. For example, each fan blade may include a retainer that engages with a corresponding slot in a hub (or disc). By way of example only, such a retainer may be in the form of a dovetail, which may be inserted into and / or engage with a corresponding slot in the hub / disc to secure the fan blade to the hub / disc. In another example, the fan blade may be integrally formed with the central portion. Such an arrangement may be referred to as a blade disc or blade ring. Such blade discs or blade rings may be manufactured using any suitable method. For example, at least a portion of the fan blade may be machined from a block, and / or at least a portion of the fan blade may be attached to the hub / disc by welding (such as linear friction welding).

[0050] The gas turbine engines described and / or claimed herein may or may not be equipped with variable area nozzles (VANs). Such variable area nozzles allow the outlet area of ​​the bypass duct to vary during use. The general principles of this disclosure can be applied to engines with or without VANs.

[0051] The fan of the gas turbine described and / or claimed herein may have any desired number of fan blades, such as 14, 16, 18, 20, 22, 24 or 26 fan blades.

[0052] Those skilled in the art will understand that, unless mutually exclusive, the features or parameters described with respect to any of the foregoing aspects may be applied to any other aspect. Furthermore, unless mutually exclusive, any feature or parameter described herein may be applied to any aspect and / or combined with any other feature or parameter described herein. Attached Figure Description

[0053] The implementation scheme will now be described by way of example only, with reference to the accompanying drawings, in which:

[0054] Figure 1 This is a cross-sectional side view of a gas turbine engine;

[0055] Figure 2 This is a close-up cross-sectional side view of the upstream section of a gas turbine engine;

[0056] Figure 3 This is a partial cross-sectional view of a gearbox used in a gas turbine engine;

[0057] Figures 4 to 6 An example of an inspection system according to this disclosure is shown;

[0058] Figure 7 shows an inspection system with an imaging unit and a spacing sensor. The imaging unit includes multiple sub-units, and the spacing sensor includes a contact pad.

[0059] Figure 8 shows an inspection system with an imaging unit and a spacing sensor. The imaging unit includes multiple sub-units, and the spacing sensor includes a camera and a reference marker.

[0060] Figure 9 shows an inspection system with an imaging unit and a spacing sensor. The imaging unit includes multiple sub-units, and the spacing sensor includes an inertial measurement unit.

[0061] Figure 10 The inspection system and the monitor connected to it are shown;

[0062] Figure 11 The inspection system in use is shown. Detailed Implementation

[0063] Aspects and embodiments of this disclosure will now be discussed with reference to the accompanying drawings. Further aspects and embodiments will be apparent to those skilled in the art.

[0064] Figure 1A gas turbine engine 10 with a main axis of rotation 9 is shown. The engine 10 includes an intake 12 and a propulsion fan 23 that generates two airflows: a core airflow A and a bypass airflow B. The gas turbine engine 10 includes a core 11 that receives the core airflow A. The engine core 11 includes, in axial-flow series, a low-pressure compressor 14, a high-pressure compressor 15, a combustion device 16, a high-pressure turbine 17, a low-pressure turbine 19, and a core exhaust nozzle 20. A nacelle 21 surrounds the gas turbine engine 10 and defines a bypass duct 22 and a bypass exhaust nozzle 18. The bypass airflow B flows through the bypass duct 22. The fan 23 is attached to and driven by the low-pressure turbine 19 via a shaft 26 and a rotary gearbox 30.

[0065] In operation, the core airflow A is accelerated and compressed by the low-pressure compressor 14 and directed to the high-pressure compressor 15 for further compression. The compressed air discharged from the high-pressure compressor 15 is directed to the combustion device 16, where it is mixed with fuel and the mixture is burned. The resulting thermal combustion products then expand through the high-pressure turbine 17 and the low-pressure turbine 19 before being discharged through the core exhaust nozzle 20, thereby driving the high-pressure turbine 17 and the low-pressure turbine 19 to provide some propulsive thrust. The high-pressure turbine 17 drives the high-pressure compressor 15 via a suitable interconnecting shaft 27. The fan 23 typically provides most of the propulsive thrust. The rotary gearbox 30 is a reduction gearbox.

[0066] Figure 2 An exemplary arrangement of a geared fan gas turbine engine 10 is shown. The low-pressure turbine 19 (see [reference]) Figure 1 A drive shaft 26 is connected to the sun gear or sun gear 28 of the planetary gearbox 30. A plurality of planet gears 32 mesh with the sun gear 28 radially outward, and are connected together by a planet carrier 34. The planet carrier 34 constrains the planet gears 32 to precess synchronously around the sun gear 28, while simultaneously causing each planet gear 32 to rotate about its own axis. The planet carrier 34 is connected to a fan 23 via a connecting rod 36 to drive the fan to rotate about the engine axis 9. A ring gear or ring gear 38 meshes with the planet gears 32 radially outward, and is connected to a fixed support structure 24 via a connecting rod 40.

[0067] It should be noted that the terms "low-pressure turbine" and "low-pressure compressor" as used herein may refer to the lowest-pressure turbine stage and the lowest-pressure compressor stage (i.e., excluding fan 23), and / or the turbine stage and compressor stage connected together by an interconnecting shaft 26 having the lowest rotational speed in the engine (i.e., excluding the gearbox output shaft driving fan 23). In some literature, the terms "low-pressure turbine" and "low-pressure compressor" mentioned herein may alternatively be referred to as "intermediate-pressure turbine" and "intermediate-pressure compressor." In the case of such alternative nomenclature, fan 23 may be referred to as the first or lowest-pressure compression stage.

[0068] exist Figure 3 The rotary gearbox 30 is shown in more detail by way of example. Each of the sun gear 28, planetary gear 32, and ring gear 38 includes teeth surrounding its periphery for meshing with other gears. However, for clarity, Figure 3 Only exemplary portions of the teeth are shown. Four planetary gears 32 are shown, but it will be apparent to those skilled in the art that more or fewer planetary gears 32 can be provided within the scope of the claimed invention. Practical applications of the planetary gearbox 30 typically include at least three planetary gears 32.

[0069] exist Figure 2 and Figure 3 The planetary gearbox 30 shown by way of example is a planetary type, in which the planet carrier 34 is connected to the output shaft via a connecting rod 36, and the ring gear 38 is fixed. However, any other suitable type of planetary gearbox 30 can be used. As another example, the planetary gearbox 30 can be a stellar arrangement, in which the planet carrier 34 remains fixed, allowing the ring gear (or gear ring) 38 to rotate. In such an arrangement, the fan 23 is driven by the ring gear 38. As yet another alternative example, the planetary gearbox 30 can be a differential gearbox, in which both the ring gear 38 and the planet carrier 34 are allowed to rotate.

[0070] It should be understood that Figure 2 and Figure 3 The arrangement shown is merely exemplary, and various alternatives are within the scope of this disclosure. By way of example only, any suitable arrangement can be used to position the gearbox 30 within the engine 10 and / or to connect the gearbox 30 to the engine 10. As another example, the connection between the gearbox 30 and other components of the engine 10 (such as the input shaft 26, output shaft, and mounting structure 24) (such as...) Figure 2The connecting rods 36 and 40 in the example can have any desired level of stiffness or flexibility. In another example manner, any suitable arrangement of bearings between the rotating and stationary parts of the engine (e.g., between the input and output shafts from the gearbox and a stationary structure such as the gearbox housing) can be used, and this disclosure is not limited to... Figure 2 The exemplary arrangement structure is as follows. For example, in the case where the rotary gearbox 30 has a stellar arrangement structure (as described above), those skilled in the art will readily understand that the arrangement structure of the output link and support link, as well as the bearing positions, is generally different from that of the output link and support link. Figure 2 The arrangement structure is shown as an example.

[0071] Therefore, this disclosure extends to gas turbine engines having any arrangement of gearbox type (e.g., star or planetary gear), support structure, input and output shaft arrangement, and bearing location.

[0072] Optionally, the gearbox may drive additional and / or alternative components (e.g., a medium-pressure compressor and / or a booster compressor).

[0073] Other gas turbine engines to which this disclosure is applicable may have alternative configurations. For example, such engines may have an alternative number of compressors and / or turbines and / or an alternative number of interconnecting shafts. In another example, Figure 1 The gas turbine engine shown has split nozzles 18 and 20, meaning that the flow through the bypass duct 22 has its own nozzle 18, which is separate from and radially located outside the core exhaust nozzle 20. However, this is not limiting, and any aspect of this disclosure can also be applied to engines in which the flow through the bypass duct 22 and the flow through the core 11 are mixed or combined before (or upstream of) a single nozzle, which may be referred to as a mixing nozzle. One or both nozzles (whether mixing or splitting) may have a fixed or variable area. While the described example relates to a turbofan engine, this disclosure is applicable to, for example, any type of gas turbine engine, such as an open rotor (where the fan stage is not surrounded by a nacelle) or, for example, a turboprop engine. In some arrangements, the gas turbine engine 10 may not include a turnaround gearbox 30.

[0074] The geometry of the gas turbine engine 10 and its components are defined by a conventional shaft system, including the axial direction (aligned with the axis of rotation 9) and the radial direction (in... Figure 1 The direction from bottom to top) and the circumferential direction (perpendicular to) Figure 1 (Page in the view). The axial, radial, and circumferential directions are perpendicular to each other.

[0075] This disclosure provides an examination system for mounting to a user's hand, i.e., the examination system is wearable or worn during use. The system may include multiple units mounted to the user's hand. Therefore, this arrangement can utilize the dexterity of the human hand and arm to access hard-to-reach locations. Compared to, for example, an endoscope, this arrangement is also more intuitive and / or easier to control for the user. Endoscopes can be limited by their poor rigidity, making it difficult to maneuver over long distances, and their limited mobility also contributes to this limitation. This arrangement can also benefit from the experience of skilled technicians and engineers, effectively expanding their original understanding.

[0076] The inspection system has at least one imaging unit and at least one measuring unit. The imaging unit is configured to provide an image from at least one viewpoint located on the user's hand, and the measuring unit is configured to provide data related to physical characteristics measured at a measurement location on the user's hand. The combination of the imaging unit and the measuring unit enables improved inspection by providing measurement data in addition to visual inspection. Furthermore, using the imaging unit helps guide the user to insert their hand into the desired position and helps ensure that the measuring unit obtains measurement results at the desired measurement location.

[0077] The measurement unit may have one or more of a plurality of sensors. As described below, the sensors may be configured to provide data relating to a physical characteristic measured or detected at a measurement location on the user's hand. The measurement location may be located at the fingertip of a finger (i.e., another finger or thumb), at another location on a finger of the user's hand (e.g., on a phalanx), on the palm of the user's hand (e.g., in the middle of the palm, or on the edge of the palm where another finger of the user's hand meets the palm), or on the back of the user's hand. Some sensors may be configured to provide measurement results between two such measurement locations. It should also be understood that in the case where the measurement unit has multiple sensors, each sensor may measure or detect a physical characteristic at a different measurement location. Alternatively, in some arrangements, two or more sensors may measure or detect corresponding physical characteristics at the same measurement location.

[0078] In one arrangement, the measuring unit may include a sensor configured to measure the temperature at a measurement location on the user's hand. For example, a thermometer, such as an electronic thermometer, may be provided. Thus, the user can bring the sensor-containing portion of the inspection system into contact with an object, such as a component within the equipment being inspected, to measure the temperature of that component. Alternatively or additionally, the thermometer may be used to provide a warning to the user if the ambient temperature poses a risk of harm.

[0079] In one arrangement, the measuring unit may include a sensor configured to measure the force applied to a measurement location on a user's hand. Such a sensor can be used to enable an operator to determine whether flexible components in the device have the correct stiffness or whether they are loose or damaged. Examples of such force sensors may include a resistive touchpad that changes resistance when pressed, a capacitive touchpad that changes charge capacity when pressed, and / or a flexible structure with an embedded strain sensor. Force sensors can also be used to store touch data for playback using haptic devices for training technicians and engineers.

[0080] In one arrangement, the measurement unit may include sensors configured to measure acceleration and / or orientation at a measurement location on the user's hand. This may include the use of an accelerometer, such as one that can be used with an inertial measurement unit, i.e., an arrangement that tracks the movement of the measurement location relative to a starting position. If the starting position is known, the subsequent position can therefore be determined. This makes it possible to track the position of the inspection system relative to the user and / or within the equipment being inspected.

[0081] Sensors configured to measure acceleration and / or orientation at a measurement location can also be configured to provide measurements about a fixed point within the inspection system and / or about another measurement location. Such sensors may include bending sensors configured to change electrical properties when bent, strain sensors configured to change electrical properties when stretched, fiber optic sensors such as fiber Bragg grating sensors providing strain and orientation measurements, rotary encoders positioned at a user's hand joint to measure finger movement relative to the hand, and string or linear encoders positioned at the tendon ends of other fingers or joints besides the thumb.

[0082] In one arrangement, the use of sensors (such as those discussed above) can be configured to provide a measurement of the distance between two measurement locations on a user's hand. For example, such sensors can be configured to measure the distance between the tips of two fingers, such as the distance between the tip of a user's finger and the tip of their thumb. Thus, the user can position their hand within the device and measure the distance between the two parts. For instance, if the sensor is configured to measure the distance between the tip of the thumb and the tip of the index finger, the user can grasp a component between their thumb and index finger and obtain a measurement of the component's size.

[0083] In one arrangement, the measuring unit may include a sensor configured to measure ionizing radiation at a measurement location on the user's hand. For example, the sensor may be a Geiger counter. Providing such a sensor enhances operator safety when inspecting equipment at risk of elevated radiation levels. Alternatively or additionally, deviations from expected radiation levels may indicate a malfunction within the system, even if it poses no safety threat to the operator.

[0084] In one arrangement, the measuring unit may include a sensor configured to measure at least one of the direction and intensity of a magnetic field at a measurement location on the user's hand. For example, a magnetometer may be provided that facilitates the inspection of residual magnetism in electronic components and / or parts. In one arrangement, the measuring unit may include a sensor configured to measure at least one of the direction and intensity of an electric field at a measurement location on the user's hand. In one arrangement, the sensor may be specifically configured to detect eddy currents in material near the measurement location on the user's hand.

[0085] In one arrangement, the measuring unit may include a sensor configured to detect sound waves at a measuring location on a user's hand. The sensor may include a microphone capable of detecting audible sounds, such as squeaks or scratches that indicate the condition of the device and / or a malfunction within the device. Alternatively or additionally, the sensor may be configured to detect ultrasonic waves, for example for ultrasonic nondestructive testing, which can be used to detect internal defects in a component, such as cracks or delamination.

[0086] In one arrangement, the measurement unit may include a sensor configured to measure at least one of voltage, current, and resistance between two measurement locations on a user's hand. For example, such a sensor may be configured to provide measurements between the fingertips of two fingers on the user's hand (e.g., between the tip of the thumb and the tip of the index finger). Therefore, in use, the user can simply touch two different parts of the device being inspected with the fingertips of two fingers to obtain the desired measurements of voltage, current, and / or resistance between these two parts. This is much easier to operate than inserting two probes into the device and holding each probe on a different part of the device.

[0087] An imaging unit comprises two or more imaging sub-units, which may be identical or different. Each sub-unit is configured to provide an image from a viewpoint; for example, two or three sub-units may be located on two or three different fingers of the user's hand. For example, the viewpoint may be located on the thumb or other fingers (specifically on the phalanx or fingertip), on the palm of the user's hand (e.g., in the middle of the palm, or on an edge such as the edge where other fingers meet the palm), or on the back of the user's hand.

[0088] In the case where the imaging unit has multiple sub-units that provide images, each sub-unit can provide images with different viewpoint positions. In some embodiments, two or more sub-units can provide images with a common viewpoint. In any case, the sub-units of the imaging unit can all be of different types, as described below, or at least two can be of the same type, for example, providing images from different viewpoints.

[0089] One or more of the image-providing subunits may be cameras, which enable intuitive manual inspection of the device and / or help guide the user's hand into the device. It should be understood that the cameras may be configured to provide color or monochrome images. In the case of multiple cameras, the images provided by each camera may be provided to the user separately as further described below, and / or the images may be combined using software within the controller as described below to increase the field of view. Multiple images from different viewpoints can also be used to calculate distances using stereoscopic vision.

[0090] In one arrangement, a subunit of the imaging unit may include a 360° camera, such as a dual-lens 360° camera. Such a camera may be placed, for example, on the tip of a finger, such as the index finger, to provide a fully immersive view of the environment surrounding the inspection system.

[0091] In one arrangement, a subunit of the imaging unit may include a wavelength-filtered camera configured to capture visible, infrared, or ultraviolet light of a specific wavelength. Such a subunit can be used to examine specific phenomena, such as fluorescence or radiative emission.

[0092] In one arrangement, a subunit of the imaging unit may include a thermal imaging camera configured to examine thermal radiation from objects within the field of view. Such a subunit can be used to warn a user if a component becomes hot. It can also be used to identify components that have suffered accidental wear, which may cause frictional heating.

[0093] In one arrangement, a subunit of the imaging unit may include a zoom camera, i.e., a camera with high or variable magnification. This can facilitate the inspection of components that the inspection system cannot access.

[0094] In one arrangement, a subunit of the imaging unit may include a macro camera configured to provide high-quality images of components close to the inspection system, thereby enabling close-up inspection of the components.

[0095] In one arrangement, a subunit of the imaging unit may include a stereo camera, wherein two cameras are provided that are separately positioned but rigidly connected at a known spacing. Such cameras can provide 3D images to a user via a suitably configured display device.

[0096] Alternatively, or otherwise, a stereo camera can be used to measure the distance to objects within the field of view. By measuring the distance to two different objects, the spacing between the two objects can be determined.

[0097] In one arrangement, a subunit of the imaging unit may include a camera with an image-splitting optics element capable of splitting light components (such as wavelength or polarization) in two or more directions, for example, by using a dichroic filter beamsplitter or a polarizing filter beamsplitter. For example, a camera equipped with a dichroic, polarizing, or other beamsplitter can be used to simultaneously observe features in front of and behind a hand. A dichroic filter is a mirror that allows some wavelengths of light to pass through glass and allows some wavelengths of light to be reflected. Therefore, by placing a dichroic filter in front of the camera sensor and tilting it at a 45-degree angle, the camera can see through the mirror in the direction of wavelengths that are transparent to the mirror and can see lateral reflections in the direction of wavelengths that are not transparent to the mirror. The same applies to selective polarizing beamsplitters. A cubic prism wavelength beamsplitter can be used to separate red, green, and blue light arriving at the sensor in, for example, left, front, and right directions, which can be used to provide the user with a field of view in the direction in which the fingers cannot naturally bend.

[0098] In one arrangement, a subunit of the imaging unit may include an ultrasonic receiver. For example, this enables the generation of images showing the results of ultrasonic testing, such as non-destructive testing of welds and / or other parts of a component that may have undergone cracking or delamination.

[0099] As described above, the imaging unit 70 may include two sub-units configured to provide images from different viewpoints, and the inspection system may include a measurement unit 60. The measurement unit 60 may include spacing sensors 64, 65, and 66. The spacing sensors 64, 65, and 66 may be configured to measure the spacing between the two sub-units. The measurement result of the spacing (i.e., distance) between the two sub-units can provide useful information for processing the images captured by the two sub-units. For example, if the images from the two sub-units are to be combined to form an image with a wider field of view, the spacing measurement result can be used to describe the parallax of objects captured in the image. Alternatively, if the images captured by the two sub-units are to be used to generate a stereo image, the spacing measurement result can be used to calculate the stereo baseline (i.e., the optical distance between the viewpoints of the constituent images from which the stereo image is acquired). More specifically, the stereo baseline may be equal to the spacing distance measured by the measurement unit 60.

[0100] The inspection system can be configured such that the optical axes of the sub-units are substantially parallel. In other words, the sub-units can point in substantially the same direction. This can be used to generate stereoscopic images. Specifically, by pointing the sub-units in the same direction, the area of ​​the environment covered by one sub-unit can substantially overlap with the area captured by the other sub-unit. This provides a wide field of view for the stereoscopic image because stereoscopic information can be derived from the overlapping area.

[0101] Furthermore, the sub-units of the imaging unit can be arranged side-by-side. In other words, the spacing between two sub-units can be substantially perpendicular to the optical axis of the sub-unit. With this arrangement, objects or features can appear in the image captured by the sub-units at substantially the same size. Therefore, when object scaling correction can be omitted, stereo information can be derived more accurately from the captured image.

[0102] As described above, images captured by the sub-units of the imaging unit can be combined to form an image with a wide field of view, rather than producing a stereoscopic image. In this case, the optical axes of the sub-units can be non-parallel to each other in order to further increase the field of view of the resulting combined image.

[0103] Figure 4 An example of an inspection system is shown. In this arrangement, a glove-shaped cover 50 is provided to enclose the user's hand. The measuring unit 60 includes sensors in the form of a thermometer 61 mounted on the back of the hand and sensors in the form of an ultrasonic probe 62 mounted on the tip of the thumb. The measuring unit 60 also includes a plurality of orientation sensors 63 mounted at multiple locations on the phalanges of each finger and on the back of the hand, thereby providing information about the orientation of each part of the hand.

[0104] Figure 4 The imaging unit 70 of the inspection system shown includes a 360° camera 71 mounted on each of the fingertips of the index and ring fingers. This can be used to identify the location of the weld to be inspected. The imaging unit includes a spacing sensor, but it is not shown in the figure. A coupling agent or oil dispenser 80 is placed on the fingertip of the little finger, allowing the user to apply a fluid layer to the weld to be inspected using the ultrasonic probe 62. A macro camera 72 is placed on the fingertip of the middle finger, allowing the user to take photographs of any areas deemed interesting, for example, based on the inspection using the ultrasonic probe.

[0105] Finally, the inspection system shown also includes a controller 110 wirelessly connected to the measurement unit and the imaging unit, and a user interface 111 configured to output information derived from the measurement unit and the imaging unit.

[0106] Figure 5 Another example of the inspection system is shown. As previously described, a glove-shaped cover 50 is provided to at least enclose the user's hand. The measuring unit 60 includes a thermometer 61 and a plurality of orientation sensors 63, which are similar to those described above. Figure 4The sensors discussed. Imaging unit 70 includes a wide-angle camera 71 mounted on the tip of the thumb and a wide-angle camera 71 mounted on the tip of the ring finger. This can be used with a fluid dispensing unit in the form of a fluorescent penetrant dispenser 81 mounted on the tip of the index finger, a fluid absorption unit in the form of a wiping sponge 90 mounted on the tip of the middle finger, and an illuminator in the form of an ultraviolet illuminator 100 mounted on the tip of the little finger, to apply penetrant to the area of ​​interest, clean the area of ​​interest, and then inspect for residual penetrant in any cracks. The imaging unit includes a spacing sensor, but it is not shown in this figure.

[0107] Figure 6 Another example of the arrangement of the inspection system is shown. In this arrangement, the imaging unit 70 includes cameras 73 mounted to the fingertips of each of the fingers other than the thumb, and the measurement unit 60 includes multiple orientation sensors 63 configured to measure the orientation of each of the fingers other than the thumb, at least relative to each other. In this arrangement, the controller 110 can be configured to combine images from the multiple cameras 73 and generate a single large field-of-view image to be displayed on the user interface 111. The imaging unit includes a spacing sensor, but it is not shown in this figure.

[0108] Various specific implementations of the measuring unit 60 are possible. For example, as shown in FIG7(a), the spacing sensor 64 may include two contact pads. Each contact pad may have a predetermined thickness. Each contact pad may have a contact surface 641. Each contact pad may be fixedly attached to the inspection system such that it is in a substantially fixed positional relationship with the corresponding subunit 701 of the imaging unit 70. Thus, each contact surface 641 may also be substantially fixedly positioned relative to the corresponding subunit 701 of the imaging unit 70.

[0109] In other words, the displacement (i.e., distance and direction of distance) between the contact surface 641 and the corresponding sub-unit 701 can be known. This displacement can be a function of the predetermined thickness of the contact pad and the positioning of the contact pad relative to the corresponding sub-unit 701 of the imaging unit 70. The contact pad can be positioned on the inspection system such that it is aligned with the corresponding sub-unit 701. The contact pad and sub-unit 701 can be mounted entirely on the inspection system such that they are aligned substantially in a straight line. Alternatively, the contact pad can be offset from the sub-unit 701. As shown in FIG7(a), the center of the contact pad can be slightly offset from the imaginary line connecting the two sub-units 701 of the imaging unit 70.

[0110] Two contact surfaces 641 can contact each other. For example, as shown in Figures 7(a) and 7(b), the inspection system can be worn on a user's hand, and the two contact surfaces 641 can be brought into contact by placing two fingers together. When the two contact surfaces 641 are in contact, the spacing distance between the two sub-units 701 of the imaging unit 70 can be determined. Specifically, the spacing between the sub-units 701 can be equal to the sum of known displacements between the contact surfaces 641 and the corresponding sub-units 701 of the imaging unit 70. Therefore, by providing contact pads as described above, it is possible to repeatedly and reliably position the sub-units 701 at known or predetermined intervals. Furthermore, the contact pads can be pressed together to stabilize the spacing between the sub-units 701 of the imaging unit 70. Having a known and stable spacing between the sub-units 701 can be useful because the spacing measurement results can be used when combining images captured by the sub-units 701 to form a wider image or when establishing a baseline for a stereoscopic image.

[0111] It should be understood that even though the spacing sensor can be "substantially fixedly positioned" relative to the corresponding sub-unit 701, depending on the construction of the inspection system, the relative position between the contact pad of the spacing sensor and the sub-unit 701 can actually vary slightly due to material bending. Specifically, if the sub-unit 701 and the corresponding contact pad are disposed on the fingers of a glove, the relative position of the contact pad can vary due to the flexibility of the glove material. However, it should be understood that a certain degree of flexibility is permissible as long as the spacing between the two sub-units 701 can be determined to achieve a sufficiently high level of accuracy. It should be understood that a trade-off can be made between spacing accuracy and user comfort due to the flexibility of the material on which the sub-units 701 and the corresponding contact pad are disposed.

[0112] The contact pads (and therefore contact surfaces 641) can be magnetically attracted to each other. Magnetic attraction can be provided in any known manner. For example, one contact pad may comprise a permanently magnetic material, or may comprise an electromagnet. The other contact pad may comprise a non-magnetized material attracted to the other magnetic contact pad. Alternatively, both contact pads may be magnetic and can be configured to attract each other. This arrangement prevents unintentional relative movement between the sub-units 701 and thus enhances the stability of the spacing between the sub-units 701 of the imaging unit 70.

[0113] The spacing sensor 64 can be configured to sense whether two contact surfaces 641 are in contact. For example, the spacing sensor 64 may include electrical contacts (not shown in Figures 7(a) to 7(c)) disposed on the respective contact surfaces 641, such that a circuit is closed when the contact surfaces 641 are in contact with each other. Alternatively, one or more contact surfaces 641 may be made of a conductive material, such that the entire contact pad serves as an electrical contact. Other mechanisms may be used. For example, a Hall effect sensor, a capacitive sensor, or an inductive sensor may be provided within one or more contact pads in the contact pad to sense whether the two contact surfaces 641 are in contact.

[0114] The output of the spacing sensor 64 can be used to determine how to process the captured image. For example, when the spacing sensor 64 senses that the two contact surfaces 641 are in contact, the inspection system can be configured to output a stereoscopic image based on the image provided by the imaging unit 70. For example, when the spacing sensor 64 senses that the two contact surfaces 641 are not in contact, the inspection system can be configured to combine the image provided by one subunit 701 of the imaging unit 70 with the image provided by another subunit 701 of the imaging unit 70 to produce a combined image with a magnified field of view.

[0115] Therefore, the user of the inspection system can select between stereoscopic images or combined wide-view images by placing the two contact surfaces 641 together or apart. It should be understood that, alternatively or otherwise, the output of the spacing sensor 64 can be used to control the functions of the inspection system, rather than to control the processing of the images captured by the imaging unit 70.

[0116] As an alternative to or supplement to the contact pad, as shown in FIG8(a), the spacing sensor 65 may include a camera 651 and a reference mark 652. The term "reference mark" is used to refer to an object on which a visible mark is provided for use as a dimensional reference. The camera 651 of the spacing sensor 65 may be substantially fixedly positioned relative to one of the sub-units 701 of the imaging unit 70. Accordingly, the reference mark 652 may also be substantially fixedly positioned relative to another sub-unit 701 of the imaging unit 70.

[0117] As described above, the relative positioning of the spacing sensor 65 and the corresponding sub-units 701 of the imaging unit 70 does not actually need to be completely fixed. A certain degree of flexibility can be tolerated depending on the required measurement accuracy of the spacing between the two sub-units 701 of the imaging unit 70.

[0118] Similar to the contact pad arrangement in Figure 7, the displacement between the camera 651 of the spacing sensor 65 and the corresponding subunit 701 can be known or predetermined. The displacement between the reference mark 651 and the corresponding subunit 701 can also be known or predetermined.

[0119] The reference marker 652 and the camera 651 of the spacing sensor 65 can be positioned in the inspection system such that the reference marker 652 can enter the field of view of the camera 651 of the spacing sensor 65. When the reference marker 652 enters the field of view of the camera 651 of the spacing sensor 65, the mark of the reference marker 652 can be captured in the image provided by the camera 651.

[0120] Camera 651 may have a known field of view, and reference marker 652 may contain markers indicating known dimensions. Therefore, based on an image of reference marker 652 captured by camera 651, the angular size of the markers on reference marker 652 appearing in the captured image can be determined, and the distance between camera 651 and reference marker 652 can be calculated based on this angular size. Because camera 651 and reference marker 652 are each separated from their respective subunits 701 of imaging unit 70 by a known displacement, the spacing between the two subunits 701 can be calculated based on an image of reference marker 652 captured by camera 651. Spacing sensor 65 may be configured to perform this calculation.

[0121] As an alternative, as shown in FIG9(a), the spacing sensor 66 may optionally include two inertial measurement units 661. Each of the two inertial measurement units 661 may be positioned substantially fixedly relative to a corresponding subunit 701 of the imaging unit 70. As mentioned above, the relative positioning of the inertial measurement unit and the corresponding subunit 701 of the imaging unit 70 may not actually be completely fixed and may vary slightly due to material bending.

[0122] The displacement between each inertial measurement unit 661 and the corresponding subunit 701 of the imaging unit 70 can also be known. The spacing sensor 66 can be configured to calculate the spacing between the two subunits 701 of the imaging unit 70 based on the outputs of the two inertial measurement units 661.

[0123] The inertial measurement unit (IMU) is capable of measuring linear and angular acceleration in three dimensions. The acceleration measurement can be converted into displacement by integrating twice over time. The spacing sensor 66 may need to be zeroed before the distance between subunits 701 can be calculated based on the outputs of the two IMUs 661. Specifically, the user can manipulate the inspection system to separate the two subunits 701 by a known distance and indicate to the system that this is the zeroing position and velocity.

[0124] As described above, spacing sensors 65 and 66 can calculate the spacing between the two sub-units 701 of the imaging unit 70. The inspection system can utilize this calculated spacing. For example, the inspection system can be configured to output a stereoscopic image based on an image provided by the imaging unit 70 when the calculated spacing between the two sub-units 701 of the imaging unit 70 is less than a predetermined threshold. Alternatively or otherwise, the inspection system can be configured to combine an image provided by one sub-unit 701 of the imaging unit 70 with an image provided by the other sub-unit 701 of the imaging unit 70 to produce a combined image with a magnified field of view.

[0125] Therefore, the user of the inspection system can control whether the inspection system should output a stereoscopic image or a composite image. The user can achieve this control by manipulating the inspection system to change the spacing between the two sub-units 701 of the imaging unit 70.

[0126] As described above, the imaging unit 70 may include two sub-units 701 configured to provide images from different viewpoints, and the measurement unit 60 may include spacing sensors 64, 65, and 66 configured to measure the distance between the two sub-units 701. However, the imaging unit 70 may include more than two sub-units. The more than two sub-units 701 may be configured to provide images from different viewpoints.

[0127] For example, the imaging unit 70 may include three sub-units 701 configured to provide images from three different viewpoints. Accordingly, spacing sensors 64, 65, and 66 may be configured to measure more than one spacing between the sub-units 701 of the imaging unit 70. Specifically, in an example where the imaging unit 70 includes three sub-units 701, spacing sensors 64, 65, and 66 may be configured to measure the spacing between the first and second sub-units 701, as well as the spacing between the second and third sub-units 701.

[0128] As shown in Figures 7(c), 8(b), and 9(b), two or more sub-units 701 can be arranged in a substantially row. Therefore, the spacing sensors 64, 65, and 66 described above for the two sub-units 701 of the imaging unit 70 can be replicated to measure the two spacings.

[0129] More specifically, in the presence of three subunits 701, the spacing sensor 64 may include a contact pad substantially fixedly positioned relative to the first subunit 701, two contact pads substantially fixedly positioned relative to the second subunit 701, and a contact pad substantially fixedly positioned relative to the third subunit 701. The contact pads may be oriented such that the contact surface 641 of the first subunit 701 is configured to contact the contact surface 641 of one of the contact pads of the second subunit 701, and the contact surface 641 of the other of the two contact pads of the second subunit 701 may be configured to contact the contact surface 641 of the contact pad of the third subunit 701.

[0130] Similarly, as shown in FIG8(b), the spacing sensor 65 may include two cameras 651 and two reference marks 652 to measure two spacings between the three sub-units 701 of the imaging unit 70. Specifically, the cameras 651 may be substantially fixedly positioned relative to each of the first and second sub-units 701, and the reference marks 652 may be substantially fixedly positioned relative to each of the second and third sub-units 701. The cameras 651 and reference marks 652 may be oriented such that the cameras 651 of the first sub-unit 701 and the reference marks 652 of the second sub-unit 701 are configured to face each other, and the cameras 651 of the second sub-unit 701 and the reference marks 652 of the third sub-unit 701 are configured to face each other. With this arrangement, the spacing between the first and second sub-units 701 and the spacing between the second and third sub-units 701 can be measured separately.

[0131] Similarly, as shown in FIG9(b), the spacing sensor 66 may include two or more inertial measurement units 661. The inertial measurement units 661 may be substantially fixedly positioned relative to each of the first, second, and third sub-units of the imaging unit 70. In this arrangement, the position of each sub-unit 701 relative to the zeroing position can be obtained individually, and the spacing between any two sub-units 701 can be calculated.

[0132] The above arrangement can also be adapted to provide three or more sub-units 701 that follow the same principle.

[0133] In an arrangement where the sub-units 701 of the imaging unit 70 are mounted on a user's finger, the examination system can be configured to compensate for varying finger lengths. For example, as shown in Figures 7(c), 8(b), and 9(b), since the little finger is typically shorter than the other fingers, the examination system may include additional material to extend the length of the little finger, allowing the sub-units 701 of the imaging unit 70 mounted thereon to be substantially aligned with the sub-units 701 mounted on the other fingers. By ensuring that the sub-units 701 of the imaging unit 70 are substantially aligned, the user can more intuitively control the visible range of each sub-unit 701. Furthermore, this ensures a good degree of overlap between images captured by more than three sub-units 701, which in turn allows for a wide field of view in the stereoscopic image produced by the imaging unit 70.

[0134] As described above, the imaging unit 70 may include two or more sub-units 701. Based on the images provided by the two or more sub-units 701 of the imaging unit 70, the inspection system can be configured to calculate the size of objects captured in the images or the dimensions between objects. Specifically, because the images are captured by two or more sub-units 701 at at least two viewpoints, depth information can be derived from the captured images.

[0135] Furthermore, by providing a measurement unit 60 including spacing sensors 64, 65, and 66, the spacing between the two subunits 701 can be measured. As described above, the measured spacing can be used as a stereo baseline for the stereo image captured by the subunits 701. Based on this baseline, depth information can be accurately derived from the captured image. Specifically, depth information can be derived using the position of the object in the captured image, the known field of view of the subunits 701, and the calculated baseline.

[0136] The inspection system can be configured to identify objects in a captured image using any known image processing technique. For example, the inspection system can be configured to apply edge detection to the captured image. Alternatively or otherwise, the user can manually specify points on one or more objects captured in the image. Because depth information is contained in the captured image, it is possible to obtain the three-dimensional coordinates of the specified points on the stereo image. Therefore, by specifying two points on the stereo image, the three-dimensional coordinates of each of the two specified points can be calculated, and the distance between the two specified points can also be calculated. Figure 11 As shown, for example, the distance between two rivets in a gas turbine engine can be calculated in this way.

[0137] Alternatively, or otherwise, the inspection system can calculate a three-dimensional mapping of the space captured in the image. This can be achieved by calculating the three-dimensional coordinates of a large number of points in the captured image. These points can be points arranged in a grid. Alternatively, the points can be randomly distributed. The number of points can be selected based on the required level of detail for the three-dimensional mapping.

[0138] Alternatively or otherwise, the inspection system can be configured to identify objects, such as through edge recognition. In this case, the inspection system can be configured to obtain the 3D coordinates of the vertices of the object captured in the image, as well as the coordinates of points along the edges of the object in the captured image. Such methods can result in a more accurate 3D mapping of the space captured using a potentially smaller number of points.

[0139] In one arrangement, the inspection system may include a cover that at least encloses the user's hand. For example, the inspection system may include a glove to which other components of the inspection system may be attached. Such a cover provides protection for the user's hand. For example, the cover may be formed of at least one material selected from fluid-impermeable, gas-impermeable, heat-resistant, electrical-resistant, and puncture-resistant materials.

[0140] In this context, it should be understood that a heat-resistant material can be one that reduces heat transfer to the user's hands to a level that should prevent injury when the inspection system is exposed to foreseeable temperatures within the equipment being inspected (including foreseeable temperatures in the event of equipment failure). Similarly, an electrical-resistant material can be one intended to prevent the user from receiving an electric shock under foreseeable conditions within the equipment being inspected.

[0141] Puncture-resistant materials are those that are expected to resist puncture by a sharp object under forces that can be applied to the inspection system during use within the equipment being inspected.

[0142] In one arrangement, the cover can be configured to fit snugly. This allows users to insert their hands and inspection system into small spaces. Furthermore, a snug fit and / or the selection of a smooth or at least tightly woven material prevents loose material from getting stuck on sharp edges, which could potentially trap the user's hands inside the device.

[0143] In one arrangement, the cover may extend to enclose at least a portion of the user's forearm. The cover may extend to or above the user's elbow and may cover part or all of the user's upper arm. This arrangement of the cover can protect the user's arm and hand when the inspection system is deeply inserted into the device.

[0144] In one arrangement, the inspection system may include a fluid dispensing unit configured to supply at least one fluid from at least one dispensing location on a user's hand. The dispensing unit may be configured to supply fluid from one or more fingers of the user's hand, on the fingertips of the fingers, on the phalanges of the fingers, on the palm of the hand, or on the back of the hand. Where the fluid dispensing unit is configured to supply fluid from more than one dispensing location, it should be understood that the same fluid may be supplied from more than one dispensing location and / or different fluids may be supplied from different dispensing locations.

[0145] The fluid distribution unit may be configured to supply oil, for example, as a coupling agent, i.e., a fluid layer for coupling the part to be inspected to a portion of an ultrasonic probe or lubrication device. Alternatively or additionally, the fluid distribution unit may be configured to supply a liquid penetrant. For example, a fluorescent liquid may be available for applications such as crack detection, weld inspection, or similar purposes. Alternatively or additionally, the fluid distribution unit may be configured to supply air jets and / or water jets that can be used to clean parts and / or remove debris.

[0146] In one arrangement, the inspection system may include a fluid-absorbing unit disposed at at least one location on the user's hand, such as on the fingers of the user's hand, specifically at the fingertips and / or on the phalanges of the fingers, on the palm of the user's hand, and / or on the back of the user's hand. The fluid-absorbing unit may be formed solely of a sponge for absorbing fluid. Alternatively or in addition, a suction system for removing fluid may be provided.

[0147] In one arrangement, the inspection system may include at least one illuminator. Such illuminators may emit one or more of visible light, infrared radiation, and ultraviolet radiation. Generally, the illuminator is used to illuminate components within equipment being inspected by the inspection system. For example, an ultraviolet radiation illuminator may be used to illuminate components that have been treated with a fluorescent penetrant to investigate the presence of cracks and / or welding defects.

[0148] It should be understood that one or more illuminators may be provided at any of a number of locations on the user's hand, such as on the fingers of the user's hand, optionally on the fingertips of the fingers of the user's hand or on the phalanges of the fingers of the user's hand, on the palm of the user's hand or on the back of the user's hand.

[0149] The inspection system may also include a controller. The controller can receive data from the imaging unit and / or measuring unit and output the corresponding information to a user interface, such as a display 112. It should be understood that the connection between the imaging unit and / or measuring unit and the controller can be made by any suitable means, including cables, fiber optics, or wireless connections such as Bluetooth or Wi-Fi. The controller can be configured to also be worn by the operator, for example, as a backpack, waist bag, or schoolbag, depending on the size of the controller. Similarly, the power supply for the inspection system can also be similarly worn by the user. This makes the entire system portable. Alternatively or otherwise, the controller and / or power supply can be provided separately.

[0150] The user interface may include at least one display 112 configured to display images based on data from the imaging unit. In systems where the imaging unit comprises multiple sub-units, each configured to generate a corresponding image, multiple displays may be provided, allowing a user to view multiple images simultaneously, and / or the user interface may be configured to allow a user to switch between multiple image sources on a single display.

[0151] The user interface may include at least one head-mounted display 112, such as a virtual reality headset. For systems where the imaging unit includes one or more cameras that return three-dimensional data, the head-mounted display 112 can be used to provide the user with an immersive experience of the environment. Alternatively or additionally, for systems where the imaging unit includes two cameras spaced at a fixed distance, such as stereo cameras, the head-mounted display 112 can be used to display an image from the first camera to a first eye and an image from the second camera to a second eye, thereby giving the user a natural sense of depth within the environment.

[0152] In one arrangement, the controller and / or user interface can be configured to provide an augmented reality display by overlaying additional images and / or information. The use of augmented reality can, for example, enable the display of measurements, interesting features, highlighting potential locations of damage, or displaying the names of components.

[0153] For example, the imaging unit 70 includes two or more sub-units 701 as described above, and spacing sensors 64, 65, and 66, also as described above, and the inspection system is capable of measuring the size of objects or the dimensions between objects in the captured image. The measured dimensions can be displayed on the display 112, such as by overlaying size markers onto the captured image. As described above, the display 112 can be an augmented reality display. Figure 11 As shown, users can see a portion of the gas turbine engine in the augmented reality display, and the measurement result "120mm" between the two rivets is directly overlaid on the portion of the image showing the two rivets.

[0154] While the above description relates to the provision of inspection systems for use in machines such as aircraft propulsion systems (which may be gas turbine engines or, for example, mixed-gas-electric propulsion systems), it should be understood that variations of the inspection systems may be adapted for other purposes.

[0155] For example, an examination system may be configured for use inside a human or animal. It should be understood that an examination system for such different purposes may differ from an examination system used within a machine. By way of example only, it should be understood that the requirements for covers (if used) will differ. For example, covers for an examination system used inside a human or animal may not require heat and / or electrical resistance (if used). However, it may be desirable for the cover to be at least fluid-impermeable to separate the user's hand from the blood inside the person or animal being examined. As another example, a sensor configured to detect sound waves within an examination system used inside a human or animal may be specifically configured to detect predictable characteristic sounds within the human or animal, such as breathing, heartbeat, and / or muscle spasms.

[0156] It should be understood that the present invention is not limited to the embodiments described above, and various modifications and improvements can be made without departing from the concepts described herein. Unless mutually exclusive, any feature may be used alone or in combination with any other feature, and this disclosure extends to and includes all combinations and sub-combinations of one or more features described herein.

Claims

1. An inspection system for mounting on a user's hand for performing inspections and / or measurements in hard-to-access environments, the inspection system comprising: an imaging unit, the imaging unit comprising two sub-units, a first sub-unit configured to provide images from a first viewpoint and a second sub-unit configured to provide images from a second viewpoint; and a measurement unit configured to provide data related to physical properties measured at a measurement location on the user's hand; wherein the imaging unit has a spacing sensor configured to measure a spacing between the two sub-units of the imaging unit; wherein the spacing sensor comprises two contact pads, each of the contact pads having a contact surface, the contact surfaces being substantially fixedly positioned at respective known displacements relative to the respective sub-unit of the imaging unit; and wherein, when the two contact surfaces are in contact with each other, the spacing between the two sub-units of the imaging unit is determined by the sum of the known displacements between the contact surfaces and the respective sub-unit of the imaging unit.

2. The inspection system of claim 1, wherein the imaging unit is configured such that optical axes of the sub-units of the imaging unit are substantially parallel.

3. The inspection system of claim 1, wherein the contact pads of the spacing sensor (64) are magnetically attracted to each other.

4. The inspection system of claim 1, wherein the spacing sensor is configured to sense whether the two contact surfaces are in contact.

5. The inspection system of claim 4, wherein the imaging unit is configured to: output stereoscopic images based on the images provided by the imaging unit when the spacing sensor senses that the two contact surfaces are in contact; and / or combine an image provided by one sub-unit of the imaging unit with an image provided by the other sub-unit of the imaging unit to produce a combined image having an enlarged field of view when the spacing sensor senses that the two contact surfaces are not in contact.

6. The inspection system of claim 1, wherein the spacing sensor comprises a camera and a reference marker, the camera being substantially fixedly positioned at a known displacement relative to one of the sub-units of the imaging unit and the reference marker being substantially fixedly positioned at another known displacement relative to the other of the sub-units; and wherein the spacing sensor is configured to calculate the spacing between the two sub-units of the imaging unit based on an image of the reference marker captured by the camera when the reference marker is within a field of view of the camera of the spacing sensor.

7. The inspection system of claim 1, wherein the spacing sensor comprises two inertial measurement units, each inertial measurement unit being substantially fixedly positioned relative to a respective sub-unit of the imaging unit; and wherein the spacing sensor is configured to calculate the spacing between the two sub-units of the imaging unit based on outputs of the two inertial measurement units.

8. The inspection system of claim 1, wherein the imaging unit is configured to: output a stereoscopic image based on the images provided by the two sub-units of the imaging unit when the separation between the two sub-units of the imaging unit is less than a predetermined threshold; and / or combine the image provided by one sub-unit of the imaging unit with the image provided by the other sub-unit of the imaging unit to produce a combined image having an enlarged field of view when the separation between the two sub-units of the imaging unit is not less than the predetermined threshold.

9. The inspection system of claim 1, wherein the imaging unit comprises more than two sub-units configured to provide images from different viewpoints, and the separation sensor is configured to measure more than one separation between the sub-units of the imaging unit.

10. The inspection system of claim 1, configured to calculate dimensions of objects or between objects captured in the images based on the images provided by the two sub-units of the imaging unit.

11. The inspection system of claim 1, configured to calculate a three-dimensional map of a space captured in the images based on the images provided by the two sub-units.

12. The inspection system of claim 1, wherein each sub-unit of the imaging unit comprises at least one of: a 360° camera, a wavelength-filtered camera, a thermal imaging camera, a zoom camera, a macro camera, a stereo camera, a dichroic camera, and an ultrasound receiver.

13. The inspection system of claim 1, wherein the measurement unit comprises at least one of: a sensor configured to measure temperature at a measurement location on the user’s hand; a sensor configured to measure force exerted at a measurement location on the user’s hand; a sensor configured to measure acceleration at a measurement location on the user’s hand; a sensor configured to measure orientation at a measurement location on the user’s hand; a sensor configured to measure ionizing radiation at a measurement location on the user’s hand; a sensor configured to measure at least one of direction and intensity of magnetic and / or electric field at a measurement location on the user’s hand; a sensor configured to measure eddy currents in a material proximate to a measurement location on the user’s hand; a sensor configured to detect sound waves at a measurement location on the user’s hand; a sensor configured to measure separation between two measurement locations on the user’s hand; and a sensor configured to measure at least one of voltage, current, and resistance between two measurement locations on the user’s hand.

14. A method of inspecting and / or repairing a machine, the method comprising the steps of: installing the inspection system of claim 1 on a user’s hand; and inserting the user’s hand into the machine to inspect and / or repair the machine. ​

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