System and method for using tool assembly

Abstract

A system and method for using a tool assembly are provided. The system includes a body, a first camera and a second camera secured to the body, and a controller. The controller is configured to: receive data from the first camera indicating an image of a reference feature; determine data indicating a first spatial position of the first camera based at least in part on the received data indicating the image of the reference feature; and determine data indicating a second spatial position of the second camera based on the first spatial position, a known spatial relationship between the first position and the second position, or both. Furthermore, the controller may be configured to: receive data from the second camera indicating an image of a target feature; derive dimensions of the target feature based on the image; and generate a three-dimensional representation of the target feature.

Description

Technical Field

[0001] The present subject matter generally relates to methods for inspecting machinery, such as gas turbine engines. Background Art

[0002] Inspection tools are used across a variety of industries to detect damaged or degraded components. For example, in the aviation industry, certain gas turbine engines contain thousands of internal components, including hundreds of compressor and turbine blades, which require frequent inspection to ensure they are functioning properly and free of damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0003] A full and enabling disclosure of the present disclosure, including the best mode thereof, to one of ordinary skill in the art is set forth in the specification with reference to the accompanying drawings, in which:

[0004] Figure 1 is a schematic diagram of an exemplary gas turbine engine that may be inspected according to embodiments of the present disclosure;

[0005] Figure 2 is a partial cross-sectional view of a high-pressure turbine within a gas turbine engine;

[0006] Figure 3 shows a cross-sectional view of a high pressure compressor having a plurality of compressor stages;

[0007] Figure 4 is a perspective view of an inspection tool assembly within a gas turbine engine;

[0008] Figure 5 is a cross-sectional view of a compressor blade and tool assembly in position to image a gas turbine engine; and

[0009] Figure 6 A flow chart illustrating one embodiment of a method for inspecting a component of a machine according to aspects of the present subject matter is shown. DETAILED DESCRIPTION

[0010] Reference will now be made in detail to embodiments of the present disclosure, one or more examples of which are illustrated in the accompanying drawings. Each example is provided to explain the present disclosure, not to limit it. Indeed, it will be apparent to those skilled in the art that various modifications and variations may be made to the present disclosure without departing from the scope or spirit of the present disclosure. For example, features shown or described as part of one embodiment may be used together with another embodiment to produce yet another embodiment. Therefore, the present disclosure is intended to encompass such modifications and variations as fall within the scope of the appended claims and their equivalents.

[0011] As used herein, the terms “first,” “second,” and “third” may be used interchangeably to distinguish one component from another and are not intended to indicate the position or importance of each component.

[0012] Unless stated otherwise, the terms "coupled," "fixed," "attached," and the like refer to both direct coupling, fixing, or attachment as well as indirect coupling, fixing, or attachment through one or more intermediate components or features.

[0013] The singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise.

[0014] Approximate language used throughout the specification and claims can be used to modify any quantitative expression that can be allowed to vary without causing a change in the basic function to which it is associated. Therefore, the values modified by terms such as "about" are not limited to the exact values specified. In some cases, approximate language can correspond to the precision of the instrument used to measure the value. For example, approximate language can refer to within 1%, 2%, 4%, 10%, 15% or 20%. These approximate margins can be applied to a single value, one or two endpoints of a defined numerical range, and / or the margin of the range between the endpoints.

[0015] Furthermore, as used herein, the term "substantially" may refer to more than half, such as greater than 50%, greater than 60%, greater than 70%, greater than 75%, greater than 80%, greater than 85%, greater than 90%, greater than 95% or greater than 99%.

[0016] Additionally, without further specificity, the term "rotor blade" refers to a rotating blade of a compressor or turbine, including compressor rotor blades and turbine rotor blades. Without further specificity, the term "stator blade" refers to a stationary blade of a compressor or turbine, including compressor stator blades and turbine stator blades. Without further specificity, the term "compressor blade" refers to a compressor rotor blade and compressor stator blade. Thus, without further specificity, the term "blade" includes all types of turbine engine blades, including compressor rotor blades, compressor stator blades, turbine rotor blades, and turbine stator blades. Additionally, the descriptive or independent term "blade surface" may refer to any type of turbine or compressor blade and may include any or all parts of the blade, including the suction side, pressure side, blade tip, blade shroud, platform, root, and shank.

[0017] Finally, given the construction of the compressor and turbine about a central common axis, and the cylindrical construction common to many combustor types, terms describing positions relative to the axis may be used herein. In this regard, it will be understood that the term "radial" refers to movement or position perpendicular to the axis. In connection with this, it may be necessary to describe the relative distance from the central axis. In this case, for example, if a first component is closer to the central axis than a second component, the first component will be described as being "radially inward" or "inboard" of the second component. On the other hand, if the first component is farther away from the central axis than the second component, the first component will be described herein as being "radially outward" or "outboard" of the second component. Furthermore, as will be understood, the term "axial" refers to movement or position parallel to the axis. Finally, the term "circumferential" refers to movement or position around an axis. As described above, while these terms may be applied with respect to a common central axis extending through the compressor and turbine sections of the engine, these terms may also be used with respect to other components or subsystems of the engine.

[0018] During gas turbine engine operation, both compressor and turbine blades are subject to damage from a variety of sources, including creep from prolonged exposure to high temperatures, cracks and stresses caused by fatigue, and notches in the blade surface caused by foreign particles of dust and other materials present in the air flowing through the gas turbine engine. Such damage events can introduce deformation into the blade surface, reducing overall efficiency and increasing fuel consumption required to operate the gas turbine engine at its desired output. Furthermore, damage to engine components can lead to increased maintenance costs and shortened engine life.

[0019] To identify blade surface damage, gas turbine engines are occasionally taken out of operation, disassembled, and inspected to ensure the blades are operating properly. A major component of this inspection typically includes a visual inspection of the surface of each blade, looking for signs of damage, including deformations, tears, rips, holes, cracks, and any other defects. Each surface of each blade may be inspected manually, which introduces a significant amount of error and variability in the process of maintaining the blades. Furthermore, in order for the inspection process to produce meaningful results, a significant investment in time and human resources is required. Furthermore, if multiple inspectors are used to inspect the engine, variations from inspector to inspector often exist in the thoroughness and / or accuracy of the inspections. In some cases, inspectors may use cameras to conduct these visual inspections. Therefore, improved methods for identifying defects in gas turbine engines would be welcome in the art.

[0020] In general, the present subject matter generally relates to systems and methods for improving inspection of gas turbine engines. In particular, the present disclosure relates to a tool assembly comprising: a body; a first camera; a second camera; and a controller configured to receive data from the first camera indicating one or more images of a reference feature, determine data indicating a first spatial position of the first camera based at least in part on the received data indicating the one or more images of the reference feature, and determine data indicating a second spatial position of the second camera based on the first spatial position. The controller may also be configured to receive data from the second camera indicating one or more images of a target feature, determine data indicating one or more dimensions of the target feature based at least in part on the received data indicating the one or more images of the target feature, receive data from the first camera indicating one or more images of the reference feature, determine data indicating a first spatial position of the first camera based at least in part on the received data indicating the one or more images of the reference feature, and determine data indicating a second spatial position of the second camera based on the first spatial position, a known spatial relationship between the first position and the second position, or both, and generate a three-dimensional representation of the target feature. The three-dimensional representation of the target feature may be used to locate, inspect, and / or measure defects within the gas turbine engine.

[0021] Referring now to the accompanying drawings, Figure 1A cross-sectional view of one embodiment of a gas turbine engine 10 according to aspects of the present subject matter, which may be used within an aircraft, is shown, for reference purposes, with the gas turbine engine 10 being shown having a longitudinal or axial centerline axis 12 extending therethrough. Generally, the gas turbine engine 10 may include a core gas turbine engine (generally indicated by reference numeral 14) and a fan section 16 positioned upstream thereof. The core engine 14 may generally include a casing 18 that is substantially tubular and defines an annular inlet 20. Furthermore, the casing 18 may also enclose and support a booster compressor 22 for increasing the pressure of air entering the core engine 14 to a first pressure level. A high-pressure, multi-stage axial flow compressor 24 may then receive the pressurized air from the booster compressor 22 and further increase the pressure of such air. The pressurized air exiting the high-pressure compressor 24 may then flow to a combustor 26, where fuel is injected into the pressurized air flow, and the resulting mixture is combusted within the combustor 26. The high-energy combustion products are directed from the combustor 26 along the hot gas path of the gas turbine engine 10 to a first (high-pressure) turbine 28 to drive the high-pressure compressor 24 via a first (high-pressure) drive shaft 30, and then to a second (low-pressure) turbine 32 to drive the booster compressor 22 and the fan section 16 via a second (low-pressure) drive shaft 34, which is generally coaxial with the first drive shaft 30. After driving each of the turbines 28 and 32, the combustion products may be discharged from the core engine 14 via an exhaust nozzle 36 to provide propulsive jet thrust.

[0022] It should be understood that each compressor 22, 24 may include a plurality of compressor stages, wherein each stage includes an annular array of stationary compressor blades and an annular array of rotating compressor blades positioned immediately downstream of the compressor blades. Similarly, each turbine 28, 32 may include a plurality of turbine stages, wherein each stage includes an annular array of stationary nozzle vanes and an annular array of rotating turbine blades positioned immediately downstream of the nozzle vanes.

[0023] In addition, if Figure 1 As shown, the fan section 16 of the gas turbine engine 10 may generally include a rotatable axial flow fan rotor assembly 38, which is configured to be surrounded by an annular fan case 40. As will be appreciated by those skilled in the art, the fan case 40 may be configured to be supported relative to the core engine 14 by a plurality of substantially radially extending, circumferentially spaced outlet guide vanes 42. Thus, the fan case 40 may surround the fan rotor assembly 38 and its corresponding fan rotor blades 44. In addition, a downstream section 46 of the fan case 40 may extend over an outer portion of the core engine 14 to define a secondary or bypass airflow duct 48 that provides additional propulsive jet thrust.

[0024] It should be understood that in several embodiments, the second (low-pressure) drive shaft 34 can be directly coupled to the fan rotor assembly 38 to provide a direct drive configuration. Alternatively, the second drive shaft 34 can be coupled to the fan rotor assembly 38 via a reduction gear 37 (e.g., a reduction gear or gearbox) to provide an indirect drive or gear drive configuration. Such a reduction gear may also be provided between any other suitable shafts and / or spools within the gas turbine engine 10 as needed or desired.

[0025] During operation of the gas turbine engine 10, it will be appreciated that an initial air flow (indicated by arrow 50) may enter the gas turbine engine 10 through an associated inlet 52 of the fan case 40. The air flow 50 then passes through the fan rotor blades 44 and is split into a first compressed air flow (indicated by arrow 54) that moves through the airflow duct 48 and a second compressed air flow (indicated by arrow 56) that enters the boost compressor 22. The second compressed air flow 56 is then increased in pressure and enters the high-pressure compressor 24 (as indicated by arrow 58). After mixing with the fuel and combusting within the combustor 26, the combustion products 60 exit the combustor 26 and flow through the first turbine 28. Thereafter, the combustion products 60 flow through the second turbine 32 and exit the exhaust nozzle 36 to provide thrust to the gas turbine engine 10.

[0026] As mentioned above, the gas turbine engine 10 may also include a plurality of access ports defined through its casing and / or frame for providing access to the interior of the core engine 14. For example, Figure 1 As shown, the gas turbine engine 10 may include a plurality of access ports 62 (only three of which are shown) defined through the outer casing 18 to provide internal access to one or both of the compressors 22 and 24. Similarly, as shown in the illustrated embodiment, the gas turbine engine 10 may include a plurality of access ports 64 (only three of which are shown) defined through the outer casing 18 to provide internal access to one or both of the turbines 28 and 32. In several embodiments, the access ports 62 and 64 may be axially spaced along the core engine 14. For example, the compressor access ports 62 may be axially spaced along each compressor 22 and 24, such that at least one access port 62 is located at each compressor stage to provide access to the compressor buckets and blades located within such stage. Similarly, the turbine access ports 64 may be axially spaced along each turbine 28 and 32, such that at least one access port 64 is located at each turbine stage to provide access to the nozzle vanes and turbine blades located within such stage.

[0027] It should be understood that although the access ports 62, 64 are generally described herein with reference to providing internal access to one or both of the compressors 22, 24 and / or to providing internal access to one or both of the turbines 28, 32, the gas turbine engine 10 may include providing access to any suitable internal location of the gas turbine engine 10, for example by including an access port providing access to the interior of the combustor 26 and / or any other suitable component of the gas turbine engine 10. Furthermore, the present disclosure may be used to inspect any component of the gas turbine engine 10.

[0028] It should be understood that Figure 1 The exemplary gas turbine engine 10 depicted in FIG and described above is provided for example only. In other embodiments, the gas turbine engine 10 may have any other suitable configuration, such as a geared connection to the fan rotor blades 44; a variable pitch fan; any suitable number of shafts / spools, compressors, or turbines; and the like. Furthermore, although depicted as a ducted turbofan engine, in other embodiments, the gas turbine engine 10 may be configured as a non-ducted turbofan engine, a turboshaft engine, a turboprop engine, a turbojet engine, and the like.

[0029] Now refer to Figure 2 , according to an embodiment of the present subject matter, the above reference Figure 1 1 and 2. A partial cross-sectional view of the first (or high pressure) turbine 28 is depicted. As shown, the first turbine 28 may include a first stage turbine nozzle 66 and an annular array of rotating turbine blades 68 (one of which is shown) located immediately downstream of the first stage turbine nozzle 66. The first stage turbine nozzle 66 may generally be defined by an annular flow passage including a plurality of radially extending, circularly spaced nozzle vanes 70 (one of which is shown). The vanes 70 may be supported between a plurality of arcuate outer bands 72 and arcuate inner bands 74. Furthermore, the circumferentially spaced turbine blades 68 may generally be configured to extend from about the axial centerline axis 12 ( Figure 1 ) extends radially outwardly from a rotating rotor disk (not shown). Additionally, a turbine shroud 76 may be positioned proximate the radially outer tips of the turbine blades 68 to define an outer radial flow path boundary for the combustion products 60 flowing through the turbine 28 along the hot gas path of the engine 10.

[0030] As described above, the turbine 28 may generally include any number of turbine stages, with each stage including an annular array of nozzle vanes and subsequent turbine blades 68. For example, Figure 2 As shown, the annular array of nozzle vanes 78 of the second stage of the turbine 28 may be located immediately downstream of the turbine blades 68 of the first stage of the turbine 28 .

[0031] In addition, if Figure 2As shown, a plurality of access ports 64 may be defined by the turbine housing and / or frame, wherein each access port 64 is configured to provide access to the interior of the turbine 28 at a different axial position. Specifically, as described above, in several embodiments, the access ports 64 may be axially spaced such that each access port 64 is aligned with or otherwise provides access to the interior of a different stage of the turbine 28. For example, Figure 2 As shown, a first access port 64A may be defined by the turbine housing / frame to provide access to the first stage of the turbine 28 , while a second access port 64B may be defined by the turbine housing / frame to provide access to the second stage of the turbine 28 .

[0032] It should be understood that similar access ports 64 may also be provided for any other stage of the turbine 28 and / or for any turbine stage of the second (or low pressure) turbine 32. It should also be understood that, in addition to Figure 2 In addition to the axially spaced access ports 64 shown in FIG. 1 , the access ports may be provided at various circumferentially spaced locations. For example, in one embodiment, a plurality of circumferentially spaced access ports may be defined by the turbine casing / frame at each turbine stage to provide internal access to the turbine 28 at a plurality of circumferential locations around the turbine stage.

[0033] Now refer to Figure 3 , according to an embodiment of the present subject matter, the above reference Figure 1 A partial cross-sectional view of the high-pressure compressor 24 is depicted. As shown, the compressor 24 may include a plurality of compressor stages, wherein each stage includes an annular array of stationary compressor blades 80 (only one of which is shown per stage) and an annular array of rotatable compressor blades 82 (only one of which is shown per stage). Each row of stationary compressor blades 80 is generally configured to direct air flowing through the compressor 24 toward the row of compressor blades 82 immediately downstream thereof.

[0034] Furthermore, as indicated above, the compressor 24 may include a plurality of access ports 62 defined by the compressor housing / frame, each access port 62 being configured to provide access to the interior of the compressor 24 at a different axial location. Specifically, in several embodiments, the access ports 62 may be axially spaced such that each access port 62 is aligned with or otherwise provides access to the interior of a different stage of the compressor 24. For example, Figure 3 As shown, first, second, third, and fourth access ports 62A, 62B, 62C, 62D are illustrated as providing access to four sequential stages of the compressor 24 , respectively.

[0035] It should be understood that similar access ports may be provided for any other stage of the compressor 24 and / or for any stage of the booster compressor 22. Figure 3 In addition to the axially spaced access ports 62 shown in FIG. 1 , access ports may be provided at various circumferentially spaced locations. For example, in one embodiment, a plurality of circumferentially spaced access ports may be defined through the compressor housing / frame at each compressor stage to provide internal access to the compressor 24 at a plurality of circumferential locations around the compressor stage.

[0036] Now refer to Figure 4 , a perspective schematic diagram of a tool assembly 100 is shown within a gas turbine engine 10 according to an exemplary embodiment of the present subject matter. In certain embodiments, Figure 4 The gas turbine engine 10 schematically depicted in FIG. 1 may be operated with Figure 1 The exemplary gas turbine engine 10 is constructed in a similar manner.

[0037] Generally, the tool assembly 100 includes: a body 102; a first camera 104, which is located at a first position X L The second camera 106 is fixed to the body 102 and is in a first spatial position; L and a controller 108 in operable communication with the first camera 104 and the second camera 106. In addition, in an exemplary embodiment, the first position X L and the second position Y L The spatial relationship between is known. In another exemplary embodiment, the body 102 is elongated and defines a local longitudinal direction L1, a latitudinal direction L2, and a transverse direction T. The first position X L Along the longitudinal direction L1 and the second position Y L As will be explained in more depth below, the spatial position of an object may refer to both the relative position and the relative orientation of the object. For example, a first spatial position includes a first position X of the first camera 104 relative to the body 102. P and the first orientation X O The second spatial position includes a second position Y of the second camera 106 relative to the body 102 P and the second orientation Y O As used herein, the term "orientation" refers to the angular orientation of a camera's field of view or focal line in three-dimensional space.

[0038] It is worth noting that for the depicted embodiment, the first orientation X O With the second orientation Y O The angle defined in the plane defined by the latitudinal direction L2 and the transverse direction T is greater than 0, such as greater than 10 degrees, such as greater than 20 degrees, such as greater than 45 degrees, such as less than 360 degrees. More specifically, for the embodiment shown, the first orientation X in the plane defined by the latitudinal direction L2 and the transverse direction T is greater than 0, such as greater than 10 degrees, such as greater than 20 degrees, such as greater than 45 degrees, such as less than 360 degrees.O and the second orientation Y O The angle defined between them is equal to about 90 degrees. In addition, for the embodiment shown, the first and second orientations X O 、Y O are parallel to the plane defined by the latitudinal direction L2 and the transverse direction T. However, in one or more embodiments, the first and second orientations X O 、Y O One or both of the two may alternatively define an angle greater than 0 with a plane defined by the latitudinal direction L2 and the transverse direction T. The depicted exemplary tool assembly 100 also includes an attachment member 114 for attaching the body 102 to another structure. In one embodiment, as Figure 4 and 5 As shown, attachment member 114 may be attached to a structure 116 external to tool assembly 100 (e.g., external to the body of gas turbine engine 10). Attachment member 114 may be attached to or part of a robotic arm, telescopic arm, reel, cable, or any other structure 116 that may manipulate tool assembly 100 to a desired position relative to gas turbine engine 10. As used herein, the term "structure 116" may refer to any of the examples listed above.

[0039] In an exemplary embodiment, the body 102 is a rigid body to which the first camera 104 and the second camera 106 are attached. In an alternative embodiment, the body 102 may be semi-rigid (e.g., semi-flexible) to allow for easier positioning. For example, the body 102 may have one or more sections or segments in which the body 102 is flexible, while other sections or segments remain rigid. In certain embodiments, the sections in which the first camera 104 and the second camera 106 are located, as well as the sections between the cameras, may remain rigid. However, it should be understood that each rigid section may pivot or otherwise move relative to adjacent sections as long as the relative positioning is known. In other embodiments, the body 102 may include a hinge that can be locked to a specific position. The first camera 104 may be on the side of the locking hinge of the body 102 opposite the second camera 106. Alternatively, the first position X L and the second position Y L It may be on the same side of the hinge.As previously mentioned, the body 102 may be elongated and may further have any of the characteristics described above.

[0040] In an exemplary embodiment, and as Figure 4As shown, first camera 104 is positioned to view reference feature 120. Reference feature 120 may be located on first component 110 of gas turbine engine 10. In an exemplary embodiment, second camera 106 is positioned to view target feature 125, where target feature 125 is located on second component 112. As used herein, the terms "reference feature" and "target feature" may refer to a location, portion, or other identifiable area on one or more components of gas turbine engine 10 whose relative position and orientation relative to each other are known or can be otherwise calculated or derived. For example, if controller 108 knows the dimensions of reference feature 120, controller 108 can determine the dimensions of target feature 125 based on their known spatial relationship. In one specific non-limiting embodiment, reference feature 120 is the tip of a turbine blade, and target feature 125 is the tip of a compressor blade. In another non-limiting embodiment, reference feature 120 is a compressor blade, and target feature 125 is a portion of a stator vane. Furthermore, reference feature 120 may refer to a portion of turbine shroud 76, while target feature 125 is a portion of a compressor blade or stator vane. In other additional embodiments, reference feature 120 and / or target feature 125 may refer to a portion of an airfoil or guide vane.

[0041] Furthermore, it should be understood that the reference feature 120 and the target feature 125 may be located on any component of the gas turbine engine 10. The component may be internal or external to the gas turbine engine 10. For example, the body 102 may be partially inserted into the gas turbine engine 10 such that the second camera 106 sees the internal component while the first camera 104 remains outside the gas turbine engine 10 and sees the external component. Alternatively, the first camera 104 may see the internal component while the second camera 106 sees the external component. Additionally, according to some embodiments, the target feature 125 may be located on the second component 112 of the gas turbine engine 10, such as Figure 4 Alternatively, the reference feature 120 and the target feature 125 may be located on the same component of the gas turbine engine 10. For example, the reference feature 120 and the target feature 125 may both be located on the first component 110 or both be located on the second component 112. It should be understood that such feature examples are specific to the gas turbine engine 10 and would be applicable when replacing the reference and target features for another inspection scenario or example.

[0042] Still refer to Figure 4In an exemplary embodiment, the first camera 104 and the second camera 106 are shown as being fixed to the body 102, where the body 102 is elongated. In another embodiment, the first camera 104 and the second camera 106 are embedded within the body 102. In other embodiments, the first camera 104 and / or the second camera 106 are mounted on top of the body 102. In yet another embodiment, the first camera 104 may be fixed to the body 102 and the second camera 106 may be embedded within the body 102, or vice versa.

[0043] Furthermore, the position of the first camera 104 relative to the second camera 106 (or more precisely, the first position X L and the second position Y L The difference between the two) and the first spatial position of the first camera 104 in the gas turbine engine provide a reference for determining the second spatial position of the second camera 106 in the gas turbine engine 10. As previously mentioned, the spatial position of an object refers to the relative position and relative orientation of the object. For example, the first camera 104 may have a first position X in the gas turbine engine 10. P and the first orientation X O , collectively referred to as the first spatial position. The first position X P and the first orientation X O Relative to the reference feature 120 within the field of view of the first camera 104. Similarly, the second camera 106 may have a second position Y within the gas turbine engine 10. P and the second orientation Y O , collectively referred to as the second spatial position. In an exemplary embodiment, the second position Y P and the second orientation Y O Relative to the target feature 125 within the field of view of the second camera 106. The first relative position X P The first relative orientation X may refer to the distance between the first camera 104 and the reference feature 120 on the first component 110, and the first relative orientation X may refer to the distance between the first camera 104 and the reference feature 120 on the first component 110. O It may refer to, for example, a vector from the reference feature 120 to the first camera 104. Similarly, the second position Y P The second orientation Y may refer to the distance between the second camera 106 and the target feature 125 on the second component 112, and the second orientation Y may refer to the distance between the second camera 106 and the target feature 125 on the second component 112. O It may refer to, for example, a vector from the target feature 125 to the second camera 106 .

[0044] A first position X along the body 102 L and the second position Y L The distance between them is known. Similarly, the relative position between the first spatial position and the second spatial position is known. Specifically, relative to the first orientation X O The second orientation Y Ois known (eg, about 90 degrees in the embodiment shown), and relative to the first position X P The second position Y P In the exemplary embodiment, controller 108 receives data indicating one or more images of reference feature 120 from first camera 104 and determines data indicating a first spatial position of first camera 104 within gas turbine engine 10 based at least in part on the received data indicating one or more images of reference feature 120. Once controller 108 has determined the first spatial position of first camera 104 within gas turbine engine 10, it may use the known relative position X to determine the first spatial position of first camera 104 within gas turbine engine 10. L 、Y L and the first and second spatial positions of the first and second cameras 104 , 106 (eg, the known first and second spatial positions of the first and second cameras 104 , 106 relative to the body 102 ) to determine a second spatial position of the second camera 106 within the gas turbine engine 10 .

[0045] Furthermore, the controller 108 can be configured to receive data indicating one or more images of the target feature 125 using the second camera 106 and determine data indicating dimensions of the target feature 125 based at least in part on the received data indicating one or more images of the target feature 125. The controller 108 can use the determined data indicating dimensions of the target feature 125 to generate a three-dimensional representation of the target feature 125. This three-dimensional representation of the target feature 125 can include measurements related to the depth, size, and / or location of the target feature 125. In an exemplary embodiment, the target feature 125 is a defect on a component (e.g., the second component 112), and the three-dimensional representation can be used to inspect the defect and determine what maintenance and / or remedial measures, if any, are needed.

[0046] In other embodiments, the tool assembly 100 further includes an additional camera, for example, at a position corresponding to the first position X. L and the second position Y L The spaced third position Z L The third camera 107 is fixed to the body 102, wherein Z L 、Y L and / or X L The distance between is known. In such an embodiment, the third camera 107 is positioned to see the auxiliary feature 127. The auxiliary feature 127 may be located on the same component as the reference feature 120, the target feature 125, or both. Alternatively, as Figure 4As shown, the auxiliary feature 127 may be located on a third component 113 of the gas turbine engine 10 that is different from the first component 110 and the second component 112. The third camera 107 has a third spatial position, wherein the third spatial position is known relative to the first spatial position, the second spatial position, or both. The third camera 107 may have a third position Z within the gas turbine engine 10. P and the third orientation Z O , collectively referred to as the third spatial position. The third position Z P and the third orientation Z O relative to the assist feature 127 within the field of view of the third camera 107. In embodiments where the tool assembly 100 further includes additional cameras, the controller 108 can be further configured to: determine a third spatial position based at least in part on the first spatial position of the first camera 104 and / or the second spatial position of the second camera 106; obtain one or more images of the assist feature 127 using the third camera 107; derive one or more dimensions of the assist feature 127; and generate a three-dimensional representation of the assist feature 127 based at least in part on the determined data indicative of the one or more dimensions of the assist feature 127.

[0047] The camera can represent any suitable imaging device, including any optical sensor capable of capturing still or moving images. Suitable types of cameras can be CMOS cameras, CCD cameras, analog cameras, digital cameras, video cameras, or any other type of device capable of capturing images. It is also contemplated that a borescope camera or an endoscope camera can be used. In addition, the camera can be a monocular camera or a binocular camera. For example, in some embodiments, the first camera 104 and the second camera 106 can record images at a rate of at least about 2 frames per second (FPS), and the resolution can be greater than 0.1 megapixels (MP), such as greater than 1 MP, 2 MP, or 3 MP, and up to about 750 MP. The first camera 104 and the second camera 106 can each include a timing mechanism to enable the camera to periodically record images after a specified time interval. Additionally or alternatively, in the case where the first camera 104 or the second camera 106 is positioned to view the blade, the tool assembly 100 can include a trigger mechanism activated by the rotation of the blade. In some embodiments, first camera 104 , second camera 106 , or both may include video recording devices, such that first camera 104 can record video of first component 110 and / or second camera 106 can record video of second component 112 .

[0048] In addition, the first camera 104 and the second camera 106 can be calibrated before capturing an image. In particular, the calibration of the first camera 104 and the second camera 106 can include estimating intrinsic and / or extrinsic parameters to ensure accuracy. For example, the first camera 104 and the second camera 106 can be calibrated to account for angular separation and / or circumferential distance between pixels. Camera calibration can also account for lens distortion and lens mounting errors (e.g., after the first camera 104 and the second camera 106 are secured to the body 102). Furthermore, calibrating the cameras can also help measure dimensions or determine the position of the cameras within the gas turbine engine 10. It should be understood that the first and second cameras 104 and 106 can be calibrated in any other manner in addition or alternatively.

[0049] Furthermore, in other embodiments, the first camera 104, the second camera 106, or both may include any other image sensing device, such as infrared, ultrasonic, inductive, position encoders, and / or eddy current sensing devices. Specifically, in the illustrated embodiment, the first camera 104 and the second camera 106 may each include one or more sensors 90A, 90B, such as positioning sensors. As used herein, the term "positioning sensor" may refer to any sensor capable of providing feedback to the controller 108 to assist in positioning the body 102. For example, the sensors 90A, 90B may be proximity sensors, optical sensors, and / or tactile sensors. Furthermore, in the exemplary embodiment, one or more sensors 90A, 90B provide data to the controller 108. For example, the sensors may assist in positioning the body 102 within the gas turbine engine 10. In other embodiments, one or more sensors 90A, 90B may locate an inlet or passageway of the tool assembly 100.

[0050] In yet another embodiment, feedback from one or more sensors 90A and 90B can be used to provide dimensional data points associated with a reference feature, a target feature, or both. For example, one or more sensors 90A and 90B can include an inertial measurement unit ("IMU"). These IMUs can also include accelerometers, gyroscopes, magnetometers, and / or any other means capable of obtaining the 3D position and / or orientation of an object. In this particular embodiment, sensors 90A and 90B can provide dimensional (e.g., angular) data points for images captured by first camera 104, second camera 106, or both. For example, the dimensional data points for an image captured by first camera 104 (along with any calibration information for first camera 104) can provide the scale of reference feature 120. This configuration can more specifically provide a scale of reference feature 120 that is determined independently of any prior data for reference feature 120 (e.g., independent of any CAD information, etc.).

[0051] In other embodiments, the first camera 104, the second camera 106, the light source, and the storage device may form an integrated assembly. The light source may be a light emitting diode (LED), a fluorescent lamp, an incandescent lamp, or any other suitable light device and may be directed to illuminate the compressor blades 82 or any other area capable of being imaged by the first and second cameras 104, 106. A variety of light sources may be used, such as blue, green, red, white, or other colors. The storage device may be a non-volatile storage device (e.g., a flash memory device) configured to provide a desired storage capacity. In one embodiment, the storage device may provide at least 2 GB, 4 GB, 6 GB, or 8 GB of memory, and up to approximately 2 TB of memory.

[0052] As pointed out, Figure 4 The exemplary controller 108 depicted in FIG is configured to receive data sensed from one or more sensors 90A, 90B and, for example, can make control decisions for the tool assembly 100 based on the received data. In one or more exemplary embodiments, Figure 4 The controller 108 depicted in FIG. 1 may be a stand-alone controller 108 for the tool assembly 100 , or alternatively, may be integrated into one or more other controllers.

[0053] With particular reference to the operation of the controller 108, in at least some embodiments, the controller 108 may include one or more computing devices 130. The computing device 130 may include one or more processors 131 and one or more memory devices 132. The one or more processors 131 may include any suitable processing device, such as a microprocessor, a microcontroller, an integrated circuit, a logic device, and / or other suitable processing device. The one or more memory devices 132 may include one or more computer-readable media, including, but not limited to, non-transitory computer-readable media, RAM, ROM, a hard drive, a flash drive, and / or other memory devices.

[0054] One or more memory devices 132 may store information accessible by one or more processors 131, including computer-readable instructions 133 executable by one or more processors 131. Computer-readable instructions 133 may be any set of instructions that, when executed by one or more processors 131, cause one or more processors 131 to perform operations. In some embodiments, computer-readable instructions 133 may be executable by one or more processors 131 to cause one or more processors 131 to perform operations, such as any operations and functions for which controller 108 and / or computing devices are configured, for operating the tool assembly 100 as described herein (e.g., method 200), and / or any other operations or functions of one or more computing devices 130. Computer-readable instructions 133 may be software written in any suitable programming language or may be implemented in hardware. Additionally and / or alternatively, computer-readable instructions 133 may be executed in logically and / or virtually separate threads on processor 131. Memory device 132 may also store data 134 accessible by processor 131. For example, data 134 may include data indicative of power flow, data indicative of engine / aircraft operating conditions, and / or any other data and / or information described herein.

[0055] The computing device 130 may also include a network interface 135 for communicating, for example, with other components of the tool assembly 100, a gas turbine engine 10 incorporating the tool assembly 100, an aircraft incorporating the gas turbine engine, or the like. For example, in the depicted embodiment, as described above, the gas turbine engine 10 and / or the tool assembly 100 also include one or more sensors 90A, 90B for sensing data indicative of one or more parameters of the gas turbine engine 10, the tool assembly 100, or both. The controller 108 of the tool assembly 100 is operably coupled to the one or more sensors 90A, 90B via, for example, the network interface 135, such that the controller 108 may receive data indicative of various operating parameters sensed by the one or more sensors 90A, 90B during operation. Additionally, for Figure 4 In the illustrated embodiment, the controller 108 is operably coupled to, for example, sensors 90A and 90B located on or adjacent to the first and second cameras 104, 106, respectively. In this manner, the controller 108 can be configured to locate the body 102 in response to, for example, data 134 sensed by one or more sensors 90A, 90B. In other embodiments, the first and second cameras 104, 106 can each include one or more sensors 90A, 90B as part of the first and second cameras 104, 106.

[0056] Network interface 135 may include any suitable components for interfacing with one or more networks, including, for example, transmitters, receivers, ports, controllers, antennas, and / or other suitable components.

[0057] The technology discussed herein refers to computer-based systems, actions taken by computer-based systems, information sent to computer-based systems, and information from computer-based systems. Those skilled in the art will recognize that the inherent flexibility of computer-based systems allows for a variety of possible configurations, combinations, and divisions of tasks and functions between and among components. For example, a single computing device or multiple computing devices working in combination can be used to implement the processes discussed herein. Databases, memories, instructions, and applications can be implemented on a single system or distributed across multiple systems. Distributed components can operate sequentially or in parallel.

[0058] Now refer to Figure 5 , according to aspects of the present subject matter, the above reference Figures 1 to 4 A cross-sectional view of compressor blade 82 and tool assembly 100 is depicted in a position for imaging gas turbine engine 10. In the exemplary embodiment, tool assembly 100, and more specifically, body 102, is inserted through borescope holes or other access ports 62, 64. Tool assembly 100 thereby enables access to first and second components 110, 112 of gas turbine engine 10 without substantially disassembling gas turbine engine 10.

[0059] In the exemplary embodiment, the first component 110 is a turbine shroud 76 , such as Figure 5 As previously mentioned, the first component 110 may be internal or external to the gas turbine engine 10 . Similarly, the second component 112 may be internal or external to the gas turbine engine 10 .

[0060] In addition, if Figure 5 As shown, the position of the tool assembly 100 allows the first camera 104 and the second camera 106 to see the reference feature 120 and the target feature 125, respectively. As previously described, the attachment member 114 and the structure 116 ( Figure 5 ) is used to manipulate the body 102 until it is in position within the gas turbine engine 10. The body 102 is in position when each of the first camera 104 and the second camera 106 has at least the reference feature 120 and the target feature 125 within its field of view, respectively. Figure 5, reference feature 120 is located on first part 110, while target feature 125 is located on second part 112. As shown, second part 112 is within the field of view of second camera 106. As used herein, the term "field of view" of a camera is defined as the maximum area of a sample that can be imaged by the camera and is generally determined at least in part by the focal length of the camera lens. The field of view may also be defined in any other manner known to those of ordinary skill in the art.

[0061] Now that the structure of tool assembly 100 has been described, an exemplary method 200 of using tool assembly 100 will be described. Figure 6 Shown for checking the above reference Figure 1 A flow chart of one embodiment of a method for imaging, measuring, and modeling a component of a gas turbine engine 10 is depicted. Generally, the method 200 images, measures, and models a target feature 125 .

[0062] like Figure 6 As shown, method 200 generally includes: positioning body 102 such that first camera 104 sees reference feature 120, at 210; receiving data indicating one or more images of reference feature 120 from first camera 104, at 220; determining a first spatial position of first camera 104 based at least in part on the received data indicating one or more images of reference feature 120, at 230; and determining a second spatial position of second camera 106 based on the first spatial position, at 240. Furthermore, in other embodiments, the method may further include receiving data indicating one or more images of target feature 125 using second camera 106. Furthermore, in the exemplary embodiment, controller 108 is further configured to generate a three-dimensional representation of target feature 125 and / or derive dimensions of target feature 125. Each of these blocks will be described in greater detail below.

[0063] At 210, body 102 is positioned so that first camera 104 sees reference feature 120. In the exemplary embodiment, body 102 is positioned so that first camera 104 sees reference feature 120 of first component 110, and so that second camera 106 sees target feature 125 of second component 112 of gas turbine engine 10. However, as previously described, reference feature 120 and target feature 125 may be located on the same component. Furthermore, in one embodiment, reference feature 120 may refer to the entirety of first component 110. In the exemplary embodiment, reference feature 120 refers to a compressor blade. However, it should be understood that reference feature 120 may refer to any other component of gas turbine engine 10. In alternative embodiments, reference feature 120 is a portion of first component 110, such as a specific feature of first component 110. For example, reference feature 120 may be simply the tip of a compressor blade. Positioning body 102 may also include inserting body 102 into gas turbine engine 10. Body 102 may be inserted into gas turbine engine 10 through borescope ports or other access ports 62, 64. Furthermore, the attachment member 114 and the structure 116 may help position the body 102 so that the first camera 104 sees the reference feature 120 and the second camera 106 sees the target feature 125 .

[0064] At 220, controller 108 receives data indicative of one or more images of reference feature 120 from first camera 104. In an exemplary embodiment, first camera 104 captures one or more images of reference feature 120 within its field of view. The data indicative of the one or more images may be temporarily stored in a storage device (e.g., in RAM) or permanently stored in a storage device (e.g., transferred to a more permanent storage device).

[0065] In an exemplary embodiment, information about the reference feature 120 is known. This information may be three-dimensional information about the reference feature 120. As used herein, the term "three-dimensional information" refers to the size, position, and / or depth of the reference feature 120. In particular, the position of the reference feature 120 may refer to a spatial position within a three-dimensional space (e.g., the L1L2T plane). The controller 108 may obtain this information by estimating, determining, or measuring actual measurements of the reference feature 120, or in any other manner that is reasonably capable of obtaining this information. In an exemplary embodiment, obtaining the three-dimensional information about the reference feature 120 includes obtaining the information from a computer-aided design (CAD) model. The CAD model may be input by a user or collected from a database. The CAD model may also be derived using a monocular camera using parallax. In one specific, non-limiting embodiment, the reference feature 120 may be located on a first component 110, which may be, for example, a rotor blade. In this case, the model of the first component 110 (in this example, a rotor blade) may provide sufficient information. Additionally, in this embodiment, the user may then enter the model number into the controller 108 to search a database of CAD models, blueprints, schematics, or any other type of reference information capable of providing three-dimensional information.

[0066] Furthermore, if tool assembly 100 further includes one or more sensors 90A and 90B, three-dimensional information can be obtained from one or more sensors 90A and 90B. In one particular embodiment, for example, one or more sensors 90A and 90B can further include an IMU, as described above. The IMU can provide the three-dimensional information to controller 108.

[0067] At 230, the controller 108 determines a first spatial position of the first camera 104 based at least in part on the one or more images of the reference feature 120. The first spatial position may be derived using an algorithm executed by the controller 108 and may be stored in a storage memory device. The spatial position of the object may be stored in coordinate form, vector form, or any other form that can describe the spatial position of the object.

[0068] In an exemplary embodiment, controller 108 may be able to determine a first spatial position of first camera 104 relative to reference feature 120 based at least in part on the image of reference feature 120 and known information about reference feature 120. For example, controller 108 may be able to determine the first spatial position of first camera 104 relative to reference feature 120 by comparing an image of reference feature 120 captured using first camera 104 with known three-dimensional information about reference feature 120.

[0069] At 240, the controller 108 determines a second spatial position of the second camera 106. In an exemplary embodiment, the controller 108 executes an algorithm to calculate the second spatial position of the second camera 106 using the now known first spatial position of the first camera 104. Because the relative spatial positions of the first camera 104 and the second camera 106 along the body 102 are known, the controller 108 will be able to determine the second spatial position based on this known relative spatial position and the first spatial position determined at 230.

[0070] The method 200 may also include obtaining one or more images of the target feature 125 using the second camera 106. In an exemplary embodiment, the target feature 125 is a feature on the second part 112. The target feature 125 may be a defect or any specific portion of the second part 112. The one or more images of the target feature 125 and / or the second spatial position of the second camera 106 may be used to derive data indicating one or more dimensions of the target feature 125. The dimensions of the target feature 125 may be stored on a storage memory device. Furthermore, in an exemplary embodiment, the received data indicating one or more dimensions of the target feature 125 is used to create a three-dimensional representation of the target feature 125. In one embodiment, the three-dimensional representation may be a point cloud. A point cloud is a set of data points defined in a coordinate system and may include color and depth data. In some embodiments, the point cloud may be used to create a CAD model. The CAD model may be created using any CAD software and may be obtained from a variety of well-known computer-aided design (CAD) software systems (e.g., The CAD model may be generated by any one of DesignCAD 3D Max, etc. In other embodiments, the CAD model may be a terrain model, a surface model, a wireframe model, a shell model, or any other type of CAD model. It should be understood that the present disclosure includes any other representation that can accurately depict the target feature 125.

[0071] Additionally, in some embodiments, each of the first camera 104 and the second camera 106 can acquire two or more sets of images, each set comprising one or more images. A first set of images can be captured when the first camera 104 and the second camera 106 are in a first position. A second set of images can be captured when the first camera 104 and the second camera 106 are in a second position separated from the first position by a circumferential distance (e.g., an engine rotation angle). Specifically, if the rotor is moving, the first camera 104 and the second camera 106 can capture each set of images synchronously (e.g., at or approximately at the same time). In this particular embodiment, the circumferential distance is calculated using at least one reference feature 120 from the first and second sets of images from the first camera 104. Alternatively, if the tool assembly 100 further includes sensors 90A and 90B, and sensors 90A and 90B further include an IMU, the circumferential distance can be obtained from the IMU. The first and second sets of images captured by the second camera 106 can then be used to determine the dimensions of the target feature 125 based on the circumferential distance.

[0072] It should also be understood that tool assembly 100 can be used in any compatible machine across various industries. Those skilled in the art will recognize that the inherent flexibility of tool assembly 100 allows for inspection and maintenance in various industrial machines of varying sizes. For example, in some embodiments, tool assembly 100 may further include a third camera 107 affixed along body 102 at a third position and a third spatial location, wherein third camera 107 is positioned to view auxiliary feature 127 and / or third component 113. In these embodiments, method 200 may further include the steps of: determining the third spatial location based at least in part on the first spatial location and / or the second spatial location; receiving data indicative of one or more images of auxiliary feature 127 using third camera 107; determining data indicative of one or more dimensions of auxiliary feature 127; and generating a three-dimensional representation of auxiliary feature 127 based at least on the determined data indicative of the one or more dimensions of auxiliary feature 127. For example, tool assembly 100 may also include four, five, six, seven, or more cameras operating in the same manner as described. Furthermore, additional cameras may operate simultaneously with first camera 104 and second camera 106 to allow for simultaneous imaging of multiple features and / or components. These embodiments will allow for greater efficiency in routine inspection and maintenance and may help identify and measure defects in a wide variety of internal machines and components, including but not limited to those of gas turbine engines.

[0073] For example, during machine operation, damage may occur due to normal wear and tear and other reasons. Such damage events may reduce the overall efficiency and productivity of the machine. In addition, damage to machine components may lead to increased maintenance costs and shortened engine life. Therefore, maintenance of the machine often requires inspection of the components. In many cases, these inspections can be performed by user inspectors and are time-consuming and labor-intensive. In addition, the inspections may produce different results depending on the user inspector. The tool assembly 100 can be used to perform these inspections and improve the efficiency of the inspections. Although the tool assembly 100 is described herein with specific reference to machines and gas turbine engines, the tool assembly 100 is also applicable to other fields (e.g., the medical field) to inspect hard-to-reach places and / or estimate the size of tumors and other foreign objects in the human body.

[0074] Further aspects of the invention are provided by the subject matter of the following clauses:

[0075] 1. A tool assembly comprising: a body; a first camera, the first camera being fixed to the body at a first position; a second camera, the second camera being fixed to the body at a second position spaced apart from the first position; and a controller, the controller being in operative communication with the first camera and the second camera, the controller being configured to: receive data indicating one or more images of a reference feature from the first camera; determine data indicating a first spatial position of the first camera based at least in part on the received data indicating the one or more images of the reference feature; and determine data indicating a second spatial position of the second camera based on the first spatial position, a known spatial relationship between the first position and the second position, or both.

[0076] 2. A tool assembly according to any preceding clause, wherein the first spatial position comprises a first position and a first orientation of the first camera within the gas turbine engine, and wherein the second spatial position comprises a second position and a second orientation of the second camera within the gas turbine engine.

[0077] 3. The tool assembly of any preceding clause, wherein the controller is further configured to: receive data of one or more images indicative of target features using the second camera.

[0078] 4. A tool assembly according to any preceding clause, wherein the controller is further configured to: determine data indicative of one or more dimensions of the target feature based at least in part on the received data indicative of the one or more images of the target feature.

[0079] 5. The tool assembly of any preceding clause, wherein the controller is further configured to generate a three-dimensional representation of the target feature using the determined data indicative of the one or more dimensions of the target feature.

[0080] 6. A tool assembly according to any preceding clause, wherein the reference feature is located on a first component, and wherein the target feature is located on a second component.

[0081] 7. A tool assembly according to any preceding clause, wherein the body is an elongate body.

[0082] 8. The tool assembly of any preceding clause, wherein each of the first camera and the second camera comprises one or more sensors, wherein the one or more sensors provide data to the controller.

[0083] 9. The tool assembly of any preceding clause, further comprising: a third camera secured to the body at a third position spaced apart from the first and second positions, wherein the third camera is positioned to view an auxiliary feature.

[0084] 10. A tool assembly according to any preceding clause, wherein the controller is further constructed to: determine a third spatial position of the third camera based on the first spatial position, the second spatial position, or both; receive data indicating one or more images of the auxiliary feature from the third camera; determine data indicating dimensions of the auxiliary feature based at least in part on the received data indicating the one or more images of the auxiliary feature; and generate a three-dimensional representation of the auxiliary feature based at least in part on the determined data indicating the dimensions of the auxiliary feature.

[0085] 11. A method for inspecting a gas turbine engine using a tool assembly, the tool assembly comprising a body, a first camera fixed to the body at a first position, and a second camera fixed to the body at a second position spaced apart from the first position, the method comprising: positioning the body so that the first camera sees a reference feature; receiving data indicating one or more images of the reference feature from the first camera; determining data indicating a first spatial position of the first camera based at least in part on the received data indicating the one or more images of the reference feature; and determining data indicating a second spatial position of the second camera based on the first spatial position.

[0086] 12. The method of any preceding clause, further comprising: receiving, using the second camera, data of one or more images indicative of target features.

[0087] 13. A method according to any preceding clause, further comprising determining data indicative of one or more dimensions of characteristics of the target.

[0088] 14. A method according to any preceding clause, further comprising generating a three-dimensional representation of the target feature based at least in part on the determined data indicative of the one or more dimensions of the target feature.

[0089] 15. The method of any preceding clause, wherein generating the three-dimensional representation of the target feature further comprises generating a point cloud.

[0090] 16. The method of any preceding clause, wherein positioning the body so that the first camera sees the reference feature comprises inserting the body into the gas turbine engine.

[0091] 17. A method according to any preceding clause, wherein the reference feature is located on a first component, and wherein the target feature is located on a second component.

[0092] 18. A method according to any preceding clause, wherein the first spatial position comprises a first position and a first orientation of the first camera within the gas turbine engine, and wherein the second spatial position comprises a second position and a second orientation of the second camera within the gas turbine engine.

[0093] 19. The method of any preceding clause, wherein the tool assembly further comprises a third camera secured to the body at a third position spaced apart from the first position, the second position, or both, wherein the third camera is positioned to view an auxiliary feature.

[0094] 20. A method according to any preceding clause, wherein the method further comprises: determining a third spatial position of the third camera based at least in part on the first spatial position or the second spatial position; receiving data indicating one or more images of the auxiliary feature using the third camera; determining data indicating one or more dimensions of the auxiliary feature based at least in part on the received data indicating one or more images of the auxiliary feature; and generating a three-dimensional representation of the auxiliary feature based at least in part on the determined data indicating the one or more dimensions of the auxiliary feature.

[0095] This written description uses examples to disclose the disclosure, including the best mode, and also to enable any person skilled in the art to practice the disclosure, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the disclosure is defined by the claims and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal language of the claims.

Claims

1. An inspection system, characterized in that: include: ontology; a first camera secured to the body at a first position and having a first orientation relative to a local coordinate system of the inspection system, the local coordinate system having a longitudinal direction, a latitudinal direction, and a transverse direction; a second camera affixed to the body at a second position spaced a known spatial distance from the first position and having a second orientation relative to the local coordinate system, the first orientation defining an angle greater than zero and less than 360 degrees with respect to a plane defined by the latitudinal direction and the lateral direction; as well as a controller in operative communication with the first camera and the second camera, the controller being configured to: receiving data from the first camera indicating one or more images of a reference feature; determining data indicative of a first spatial position of the first camera based at least in part on the received data indicative of the one or more images of the reference feature; determining data indicative of a second spatial position of the second camera based on a known spatial relationship between the first position and the second position; as well as receiving data of one or more images indicative of target features using the second camera, The target feature is not in the field of view of the first camera.

2. The inspection system according to claim 1, characterized in that Wherein the first spatial location comprises a first location within a device, and wherein the second spatial location comprises a second location within the device.

3. The inspection system according to claim 1, characterized in that Wherein the controller is configured to determine data indicative of one or more dimensions of the target feature based at least in part on the received data indicative of the one or more images of the target feature.

4. The inspection system according to claim 3, characterized in that Wherein the controller is configured to generate a three-dimensional representation of the target feature using the determined data indicative of the one or more dimensions of the target feature.

5. The inspection system according to claim 1, characterized in that Wherein the reference feature is located on a first component, and wherein the target feature is located on a second component.

6. The inspection system according to claim 1, characterized in that The data includes at least a distance relative to the reference feature and a vector from the reference feature to the first camera.

7. The inspection system according to claim 1, characterized in that Each of the first camera and the second camera further comprises one or more sensors, wherein the one or more sensors provide data to the controller.

8. The inspection system according to claim 1, wherein: Further including: A third camera is secured to the body at a third position relative to the local coordinate system that is spaced apart from the first position and the second position, wherein the third camera is positioned to view an auxiliary feature.

9. The inspection system according to claim 8, characterized in that The controller is further configured to: determining a third spatial position of the third camera based on the first spatial position, the second spatial position, or both; receiving data from the third camera indicating one or more images of the assist feature; determining data indicative of dimensions of the assist feature based at least in part on the received data indicative of one or more images of the assist feature; and A three-dimensional representation of the assist feature is generated based at least in part on the determined data indicative of the dimensions of the assist feature.

10. A method of using an inspection system, characterized in that, The inspection system includes a body; a first camera affixed to the body at a first position and having a first orientation relative to a local coordinate system of the inspection system, the local coordinate system having a longitudinal direction, a latitudinal direction, and a transverse direction; and a second camera affixed to the body at a second position spaced a known spatial distance from the first position and having a second orientation relative to the local coordinate system, the first orientation defining an angle greater than zero and less than 360 degrees with the second orientation relative to a plane defined by the latitudinal direction and the transverse direction, the method comprising: obtaining one or more images of a reference feature from the first camera; determining a first spatial position of the first camera based at least in part on the one or more images of the reference feature; determining a second spatial position of the second camera based on a known spatial relationship between the first position and the second position; and obtaining one or more images of a target feature using the second camera, The target feature is not in the field of view of the first camera.

11. The method according to claim 10, characterized in that Further comprising determining one or more dimensions of the target feature.

12. The method according to claim 11, characterized in that Further including generating a three-dimensional representation of the target feature based at least in part on the one or more dimensions of the target feature.

13. The method according to claim 12, characterized in that Wherein generating the three-dimensional representation of the target feature comprises generating a point cloud.

14. The method according to claim 10, characterized in that Further comprising inserting the first camera into a gas turbine engine having the reference feature.

15. The method according to claim 14, characterized in that The reference feature is located on a first component and the target feature is located on a second component.

16. The method according to claim 14, characterized in that Wherein the first spatial position comprises a first position and a first orientation of the first camera within the gas turbine engine, and the second spatial position comprises a second position and a second orientation of the second camera within the gas turbine engine.

17. The method according to claim 10, wherein: Wherein the inspection system includes a third camera secured to the body at a third position spaced from the first position, the second position, or both, wherein the third camera is positioned to view an auxiliary feature.

18. The method according to claim 17, characterized in that include: determining a third spatial position of the third camera based at least in part on the first spatial position or the second spatial position; obtaining one or more images of the assist feature using the third camera; determining one or more dimensions of the assist feature based at least in part on the one or more images of the assist feature; as well as A three-dimensional representation of the assist feature is generated based at least on the one or more dimensions of the assist feature.

Images