System and method for using a tool assembly

Abstract

A system and method of using a tool assembly is 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 indicative of an image of a reference feature from the first camera, determine data indicative of a first spatial position of the first camera based at least in part on the received data indicative of the image of the reference feature, and determine data indicative of 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. Further, the controller can be configured to receive data indicative of an image of a target feature using the second camera, derive a dimension of the target feature based on the image, and generate a three-dimensional representation of the target feature.

Description

[0001] This application is a divisional application of patent application No. 202111211388.6 filed on October 18, 2021, entitled "System and Method Using Tool Components". Technical Field

[0002] This topic broadly relates to methods used for inspecting machinery such as gas turbine engines. Background Technology

[0003] In various industries, inspection tools are used to detect damaged or deteriorated parts. For example, in the aerospace industry, some gas turbine engines comprise thousands of internal components, including hundreds of compressors and turbine blades, which require frequent inspections to ensure they are functioning properly and without damage. Attached Figure Description

[0004] The complete and practical disclosure of this disclosure, including its best mode, is set forth in the description with reference to the accompanying drawings, for those skilled in the art, wherein:

[0005] Figure 1 This is a schematic diagram of an exemplary gas turbine engine that can be examined according to embodiments of the present disclosure;

[0006] Figure 2 This is a partial cross-sectional view of the high-pressure turbine inside a gas turbine engine;

[0007] Figure 3 A cross-sectional view of a high-pressure compressor with multiple compressor stages is shown.

[0008] Figure 4 It is a 3D view of the inspection tool assembly inside a gas turbine engine;

[0009] Figure 5 This is a cross-sectional view of the compressor blades and tooling assembly from the location where the gas turbine engine is being imaged; and

[0010] Figure 6 A flowchart of one embodiment of a method for inspecting machine components according to aspects of this subject matter is shown. Detailed Implementation

[0011] 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 and not to limit it. In fact, it will be apparent to those skilled in the art that various modifications and variations can 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 with another embodiment to produce yet another embodiment. Therefore, the present disclosure is intended to cover such modifications and variations that fall within the scope of the appended claims and their equivalents.

[0012] As used herein, the terms “first,” “second,” and “third” are used interchangeably to distinguish one component from another and are not intended to indicate the location or importance of the individual components.

[0013] Unless otherwise stated, the terms “connection,” “fixed,” “attached to,” etc., refer to direct connection, fixation, or attachment, as well as indirect connection, fixation, or attachment via one or more intermediate parts or features.

[0014] Unless the context clearly indicates otherwise, the singular forms “a,” “a,” and “the” include plural references.

[0015] The approximate language used throughout the specification and claims can be used to modify any quantitative expression that allows for variation without altering its underlying function. Therefore, values ​​modified by terms such as “about” are not limited to specified exact values. In some cases, approximate language may correspond to the precision of the instrument used to measure the value. For example, approximate language may refer to a range of 1%, 2%, 4%, 10%, 15%, or 20%. These approximate margins can be applied to a single value, to define one or both endpoints of a numerical range, and / or to the margin of the range between endpoints.

[0016] In addition, as used herein, the term “substantially” can refer to a quantity of 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%.

[0017] Furthermore, without further specification, the term "rotor blade" refers to the rotating blade of a compressor or turbine, including compressor rotor blades and turbine rotor blades. Without further specification, the term "stator blade" refers to the stationary blade of a compressor or turbine, including compressor stator blades and turbine stator blades. Without further specification, the term "compressor blade" refers to both compressor rotor blades and compressor stator blades. Therefore, without further specification, 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" can refer to any type of turbine or compressor blade and can include any or all parts of the blade, including the suction side, pressure side, blade tip, blade shroud, plateau, root, and shank.

[0018] Finally, considering the construction of the compressor and turbine around a central common axis, and the cylindrical construction common to many combustor types, this document uses terms describing position relative to the axis. In this regard, it should be understood that the term "radial" refers to movement or position perpendicular to the axis. Relatedly, it may be necessary to describe the relative distance to the central axis. In this case, for example, if the first component is closer to the central axis than the second component, the first component will be described as "radially inward" or "inner" of the second component. On the other hand, if the first component is farther from the central axis than the second component, the first component will be described herein as "radially outward" or "outer". 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 about the axis. As mentioned above, while these terms can be applied with respect to the common central axis extending through the compressor and turbine sections of the engine, they can also be used with respect to other components or subsystems of the engine.

[0019] During the operation of a gas turbine engine, the blades of both the compressor and turbine are susceptible to damage from various sources, including creep from prolonged exposure to high temperatures, fatigue-induced cracks and stress, and scoring formed on the blade surface by dust and other foreign material particles present in the air flowing through the gas turbine engine. These damage events introduce deformation into the blade surface, thereby reducing overall efficiency and increasing fuel consumption required for the gas turbine engine to achieve its desired output. Furthermore, damage to engine components can lead to increased maintenance costs and shortened engine life.

[0020] To determine blade surface damage, gas turbine engines are occasionally shut down for disassembly and inspection to ensure proper blade function. A key component of this inspection typically involves a visual inspection of each blade surface, looking for signs of damage, including deformation, tears, cracks, holes, fissures, and any other defects. Each surface of each blade can be inspected manually, which introduces considerable error and variability into the blade maintenance process. Furthermore, a significant investment of time and human resources is required to make the inspection process meaningful. Moreover, if multiple inspectors are used to inspect the engine, discrepancies between inspectors often exist in terms of the thoroughness and / or accuracy of the inspection. In some cases, inspectors may use cameras to perform these visual inspections. Therefore, improved methods for determining defects in gas turbine engines are welcome in the art.

[0021] Generally, this subject matter relates to systems and methods for improving the inspection of gas turbine engines. In particular, this 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 of one or more images indicating reference features, determine data indicating a first spatial position of the first camera based at least in part on the received data of the one or more images indicating reference features, 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 of one or more images indicating target features; determine data indicating one or more dimensions of the target features based at least in part on the received data of the one or more images indicating reference features, receive data from the first camera of one or more images indicating reference features, determine data indicating a first spatial position of the first camera based at least in part on the received data of the one or more images indicating reference features, 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 a second position, or both; and generate a three-dimensional representation of the target features. The three-dimensional representation of the target features can be used to locate, inspect, and / or measure defects within a gas turbine engine.

[0022] Now refer to the attached diagram, Figure 1A cross-sectional view of one embodiment of a gas turbine engine 10 for use within an aircraft, according to aspects of this subject matter, is shown, wherein the gas turbine engine 10 is shown having a longitudinal or axial centerline axis 12 extending therethrough for reference purposes. Typically, 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 therefrom. The core engine 14 typically includes a casing 18, which is substantially tubular and defines an annular inlet 20. Furthermore, the casing 18 may also surround 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 multistage axial compressor 24 can then receive pressurized air from the booster compressor 22 and further increase the pressure of such air. The pressurized air exiting the high-pressure compressor 24 can then flow to a combustor 26, in which fuel is injected into the pressurized air stream, and the resulting mixture is burned within the combustor 26. High-energy combustion products are guided along the hot gas path of the gas turbine engine 10 from the combustor 26 to the first (high-pressure) turbine 28 to drive the high-pressure compressor 24 via the first (high-pressure) drive shaft 30, and then to the second (low-pressure) turbine 32 to drive the supercharger compressor 22 and the fan section 16 via the second (low-pressure) drive shaft 34, which is substantially coaxial with the first drive shaft 30. After each of the drive turbines 28 and 32, the combustion products can be discharged from the core engine 14 via the exhaust nozzle 36 to provide propulsive jet thrust.

[0023] It should be understood that each compressor 22, 24 may include multiple compressor stages, wherein each stage includes an annular array of stationary compressor impeller blades and an annular array of rotating compressor blades positioned immediately downstream of the compressor impeller blades. Similarly, each turbine 28, 32 may include multiple turbine stages, wherein each stage includes an annular array of stationary nozzle impeller blades and an annular array of rotating turbine blades positioned immediately downstream of the nozzle impeller blades.

[0024] In addition, such as Figure 1 As shown, the fan section 16 of the gas turbine engine 10 may generally include a rotatable axial fan rotor assembly 38 configured to be surrounded by an annular fan housing 40. Those skilled in the art will understand that the fan housing 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 housing 40 may surround the fan rotor assembly 38 and its corresponding fan rotor blades 44. Furthermore, a downstream section 46 of the fan housing 40 may extend over the outer portion of the core engine 14 to define a secondary or bypass airflow duct 48 providing additional propulsive jet thrust.

[0025] It should be understood that, in several embodiments, the second (low-pressure) drive shaft 34 may be directly coupled to the fan rotor assembly 38 to provide a direct drive configuration. Alternatively, the second drive shaft 34 may 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-driven 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 required.

[0026] During operation of the gas turbine engine 10, it should be understood that an initial airflow (indicated by arrow 50) enters the gas turbine engine 10 through the relevant inlet 52 of the fan housing 40. The airflow 50 then passes through the fan rotor blades 44 and splits into a first compressed airflow (indicated by arrow 54) moving through the airflow duct 48 and a second compressed airflow (indicated by arrow 56) entering the booster compressor 22. The pressure of the second compressed airflow 56 then increases and enters the high-pressure compressor 24 (as indicated by arrow 58). After mixing with fuel and burning 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.

[0027] As described above, the gas turbine engine 10 may also include a plurality of access ports defined by its housing and / or frame for providing access to the interior of the core engine 14. For example, as Figure 1 As shown, the gas turbine engine 10 may include a plurality of access ports 62 (only three are shown) defined by a housing 18 to provide internal access to one or both of the compressors 22, 24. Similarly, as shown in the illustrated embodiment, the gas turbine engine 10 may include a plurality of access ports 64 (only three are shown) defined by a housing 18 to provide internal access to one or both of the turbines 28, 32. In several embodiments, the access ports 62, 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, 24 such that at least one access port 62 is located at each compressor stage to provide access to the compressor impellers and blades located within such a stage. Similarly, the turbine access ports 64 may be axially spaced along each turbine 28, 32 such that at least one access port 64 is located at each turbine stage to provide access to the nozzle impellers and turbine blades located within such a stage.

[0028] It should be understood that although access ports 62, 64 are generally described herein with reference to providing internal access to one or both of compressors 22, 24 and / or providing internal access to one or both of turbines 28, 32, the gas turbine engine 10 may include access to any suitable internal location of the gas turbine engine 10, for example, by including access ports providing access to the interior of the combustor 26 and / or any other suitable component of the gas turbine engine 10. Furthermore, this disclosure can be used to inspect any component of the gas turbine engine 10.

[0029] It should be understood that Figure 1 The exemplary gas turbine engine 10 depicted and described above is provided by way of example only. In other embodiments, the gas turbine engine 10 may have any other suitable configuration, such as geared connection with fan rotor blades 44; variable pitch fan; any suitable number of shafts / spools, compressors, or turbines; etc. 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, etc.

[0030] Now for reference Figure 2 The above references are illustrated according to embodiments of this subject matter. Figure 1 A partial cross-sectional view of the first (or high-pressure) turbine 28 is described. As shown, the first turbine 28 may include a first-stage turbine nozzle 66 and an annular array (one shown) of rotating turbine blades 68 immediately downstream of the first-stage turbine nozzle 66. The first-stage turbine nozzle 66 may generally be defined by an annular flow channel including a plurality of radially extending, circularly spaced nozzle blades 70 (one shown). The blades 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 the axial centerline 12 of the gas turbine engine 10 ( Figure 1 The rotating rotor disk (not shown) extends radially outward. In addition, the turbine shroud 76 may be positioned close to the radially outer tip of the turbine blade 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.

[0031] As described above, turbine 28 can typically include any number of turbine stages, each stage comprising an annular array of nozzle blades and subsequent turbine blades 68. For example, as Figure 2 As shown, the annular array of nozzle blades 78 of the second stage of turbine 28 can be located immediately downstream of the turbine blades 68 of the first stage of turbine 28.

[0032] In addition, such as 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 different axial locations. 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 different stages of the turbine 28. For example, as Figure 2 As shown, a first access port 64A can be defined by the turbine housing / frame to provide access to the first stage of the turbine 28, while a second access port 64B can be defined by the turbine housing / frame to provide access to the second stage of the turbine 28.

[0033] It should be understood that similar access ports 64 may also be provided for any other stage of 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, access ports can be located at different circumferentially spaced positions. For example, in one embodiment, multiple circumferentially spaced access ports can be defined at each turbine stage by a turbine housing / frame to provide internal access to the turbine 28 at multiple circumferential locations around the turbine stage.

[0034] Now for reference Figure 3 The above references are illustrated according to embodiments of this subject matter. Figure 1 A partial cross-sectional view of the high-pressure compressor 24 is described. As shown, the compressor 24 may include multiple compressor stages, each stage comprising an annular array of fixed compressor impeller blades 80 (only one of each stage is shown) and an annular array of rotatable compressor blades 82 (only one of each stage is shown). Each row of fixed compressor impeller blades 80 is generally configured to direct air flowing through the compressor 24 to the row of compressor blades 82 immediately downstream of it.

[0035] Furthermore, as shown 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 different axial locations. 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 different stages of the compressor 24. For example, as Figure 3 As shown, the first, second, third, and fourth access ports 62A, 62B, 62C, and 62D are illustrated to provide access to four consecutive stages of the compressor 24, respectively.

[0036] It should be understood that similar access ports may also be provided for any other stage of compressor 24 and / or for any stage of booster compressor 22. It should also be understood that, in addition to Figure 3 In addition to the axially spaced access ports 62 shown, access ports may also be provided at different circumferentially spaced locations. For example, in one embodiment, multiple circumferentially spaced access ports may be defined by the compressor housing / frame at each compressor stage to provide internal access to the compressor 24 at multiple circumferential locations around the compressor stage.

[0037] Now for reference Figure 4 A perspective view of a tool assembly 100 is shown within a gas turbine engine 10 according to an exemplary embodiment of this subject matter. In some embodiments, Figure 4 The gas turbine engine 10, schematically depicted in the diagram, can be coupled with... Figure 1 The exemplary gas turbine engine 10 is constructed in a similar manner.

[0038] Typically, tool component 100 includes: a body 102; a first camera 104, located at a first position X. L The second camera 106 is fixed to the main body 102 and is in the first spatial position; the second camera 106 is in the second position Y. L The camera is fixed to the body 102 and is in a second spatial position; and a controller 108 is operatively in communication with the first camera 104 and the second camera 106. Additionally, in an exemplary embodiment, the first position X... L Second position Y L The spatial relationships between them are known. In another exemplary embodiment, the body 102 is elongated and defines a local longitudinal direction L1, a latitudinal direction L2, and a lateral direction T. First position X L Along the longitudinal direction L1 and the second position Y L Spacing out. As will be explained in more detail below, the spatial position of an object can refer to both its relative position and relative orientation. For example, the first spatial position includes the first position X of the first camera 104 relative to the body 102. P and first orientation X O The second spatial position includes the second position Y of the second camera 106 relative to the body 102. P Second orientation Y O As used in this article, the term "orientation" refers to the angular orientation of the camera's field of view or focal line in three-dimensional space.

[0039] It is worth noting that, for the described embodiments, the first orientation X O With second orientation Y O The angle defined in the plane bounded by the latitudinal direction L2 and the lateral direction T is greater than 0, for example greater than 10 degrees, for example greater than 20 degrees, for example greater than 45 degrees, for example less than 360 degrees. More specifically, for the illustrated embodiment, the first orientation X in the plane bounded by the latitudinal direction L2 and the lateral direction TO Second orientation Y O The angle defined between them is approximately 90 degrees. Furthermore, for the illustrated embodiment, the first and second orientations X... O Y O Both are parallel to the plane defined by the latitudinal direction L2 and the lateral direction T. However, in one or more embodiments, the first and second orientations X O Y O One or both of them may alternatively define an angle greater than 0 with the plane defined by the latitudinal direction L2 and the lateral 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 can be attached to a structure 116 external to the tool assembly 100 (e.g., outside the body of the gas turbine engine 10). Attachment member 114 can be attached to a robotic arm, telescopic arm, reel, cable, or any other structure 116 that can manipulate the tool assembly 100 to a desired position relative to the gas turbine engine 10, or is part of a robotic arm, telescopic arm, reel, cable, or any other structure 116 that can manipulate the tool assembly 100 to a desired position relative to the gas turbine engine 10. As used herein, the term "structure 116" can refer to any of the examples listed above.

[0040] In an exemplary embodiment, body 102 is a rigid body to which first camera 104 and second camera 106 are attached. In an alternative embodiment, body 102 may be semi-rigid (e.g., semi-flexible) to allow for easier positioning. For example, body 102 may have one or more segments or sections in which body 102 is flexible, while other segments or sections remain rigid. In some embodiments, the segments containing first camera 104 and second camera 106, as well as the segments between the cameras, may remain rigid. However, it should be understood that each rigid segment may pivot or otherwise move relative to adjacent segments, provided that the relative positioning is known. In other embodiments, body 102 may include a hinge lockable to a specific position. First camera 104 may be on the side of body 102 opposite to second camera 106 of the locking hinge. Alternatively, a first position X L Second position Y L It can be on the same side of the hinge. As previously mentioned, the body 102 can be elongated and can further have any of the aforementioned characteristics.

[0041] In an exemplary embodiment, and as Figure 4As shown, a first camera 104 is positioned to view a reference feature 120. The reference feature 120 may be located on a first component 110 of the gas turbine engine 10. In an exemplary embodiment, a second camera 106 is positioned to view a target feature 125, wherein the target feature 125 is located on a second component 112. As used herein, the terms “reference feature” and “target feature” can be used to refer to a location, portion, or other identifiable area on one or more components of the gas turbine engine 10, the relative positioning and orientation of which are known or can be otherwise calculated or derived. For example, if a controller 108 knows the dimensions of the reference feature 120, the controller 108 is able to determine the dimensions of the target feature 125 based on their known spatial relationships. In one particular non-limiting embodiment, the reference feature 120 is the tip of a turbine blade, and the target feature 125 is the tip of a compressor blade. In another non-limiting embodiment, the reference feature 120 is a compressor blade, and the target feature 125 is a portion of a stator blade. Furthermore, reference feature 120 may refer to a portion of turbine shroud 76, while target feature 125 is a portion of compressor blades or stator blades. In other additional embodiments, reference feature 120 and / or target feature 125 may refer to a portion of airfoil or guide vane.

[0042] Furthermore, it should be understood that reference feature 120 and target feature 125 can be located on any component of the gas turbine engine 10. This component can be inside or outside the gas turbine engine 10. For example, the body 102 can 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 can see the internal component, while the second camera 106 sees the external component. Additionally, according to some embodiments, target feature 125 can be located on the second component 112 of the gas turbine engine 10, such as... Figure 4 As shown. Alternatively, reference feature 120 and target feature 125 may be located on the same component of the gas turbine engine 10. For example, both reference feature 120 and target feature 125 may be located on the first component 110 or both may be located on the second component 112. It should be understood that such feature examples are specific to the gas turbine engine 10 and will be applicable when used for another inspection scenario or example to replace the reference and target features.

[0043] Still referencing Figure 4In an exemplary embodiment, the first camera 104 and the second camera 106 are shown fixed to a body 102, wherein 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 while the second camera 106 is embedded within the body 102, or vice versa.

[0044] Furthermore, the position of the first camera 104 relative to the second camera 106 (or more precisely, the first position X) L Second position Y L The difference between the two positions (x, y, y) and the first spatial position of the first camera 104 within the gas turbine engine 10 are used as references to determine the second spatial position of the second camera 106 within 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 within the gas turbine engine 10. P and first orientation X O These are collectively referred to as the first spatial position. First position X P and first orientation X O Relative to 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 Second orientation Y O This is collectively referred to as the second spatial position. In an exemplary embodiment, the second position Y... P Second orientation Y O Relative to target feature 125 within the field of view of the second camera 106. First relative position X P This can 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 O This could refer, for example, to the vector from reference feature 120 to the first camera 104. Similarly, the second position Y... P This can refer to the distance between the target feature 125 on the second camera 106 and the second component 112, and the second orientation Y O It can refer to, for example, the vector from target feature 125 to second camera 106.

[0045] Along the first position X of body 102 L Second position Y L The distance between them is known. Similarly, the relative positions between the first and second spatial positions are known. Specifically, relative to the first orientation X... O Second orientation Y OIt is known (e.g., approximately 90 degrees in the illustrated embodiment), and relative to the first position X P The second position Y P This is known. In an exemplary embodiment, the controller 108 receives data from the first camera 104 of one or more images indicating the reference feature 120, and determines data indicating a first spatial position of the first camera 104 within the gas turbine engine 10 based at least in part on the received data of the one or more images indicating the reference feature 120. Once the controller 108 has determined the first spatial position of the first camera 104 within the gas turbine engine 10, it can use the known relative position X. L Y L The second spatial position of the second camera 106 within the gas turbine engine 10 is determined by the first and second spatial positions of the first and second cameras 104, 106 (e.g., the known first and second spatial positions of the first and second cameras 104, 106 relative to the body 102).

[0046] Furthermore, controller 108 may be configured to receive data of one or more images indicating target feature 125 using second camera 106, and to determine data indicating the dimension of target feature 125 based at least in part on the received data of the one or more images indicating target feature 125. Controller 108 may use the determined data indicating the dimension of target feature 125 to generate a three-dimensional representation of target feature 125. Such a three-dimensional representation of target feature 125 may include measurements related to the depth, size, and / or location of target feature 125. In an exemplary embodiment, target feature 125 is a defect on a component (e.g., second component 112), and the three-dimensional representation can be used to inspect the defect and determine the required maintenance and / or remedial measures (if any).

[0047] In other embodiments, tool component 100 further includes an additional camera, for example, at the first position X. L Second position Y L The third position Z, which is spaced apart L The third camera 107 is fixed to the main body 102, where Z L Y L and / or X L The distance between them 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, auxiliary feature 127 may be located on a third component 113 of the gas turbine engine 10, which 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 third orientation Z O These are collectively referred to as the third spatial location. Third location Z P and third orientation Z O Relative to auxiliary feature 127 within the field of view of third camera 107. In embodiments where tool assembly 100 also includes an additional camera, controller 108 may further be configured to: determine a third spatial position based at least in part on a first spatial position of first camera 104 and / or a second spatial position of second camera 106; acquire one or more images of auxiliary feature 127 using third camera 107; derive one or more dimensions of auxiliary feature 127; and generate a three-dimensional representation of auxiliary feature 127 based at least in part on data indicating one or more dimensions of auxiliary feature 127.

[0048] 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. Pipe endoscopes or endoscopic cameras are also envisioned. Furthermore, the camera can be a monocular or 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 1MP, 2MP, or 3MP, and up to about 750MP. Both the first camera 104 and the second camera 106 can include a timing mechanism to enable the cameras to periodically record images after specified time intervals. Additionally or alternatively, when the first camera 104 or the second camera 106 is positioned to see the blade, the tool assembly 100 can include a trigger mechanism activated by rotation of the blade. In some embodiments, the first camera 104, the second camera 106, or both may include video recording devices such that the first camera 104 is able to record video of the first component 110 and / or the second camera 106 is able to record video of the second component 112.

[0049] Additionally, the first camera 104 and the second camera 106 can be calibrated before capturing images. Specifically, the calibration of the first camera 104 and the second camera 106 may include estimating intrinsic and / or extrinsic parameters to ensure accuracy. For example, the first camera 104 and the second camera 106 may be calibrated to account for angular separation and / or circumferential distance between pixels. Camera calibration may also account for lens distortion and lens mounting errors (e.g., after the first camera 104 and the second camera 106 are fixed to the body 102). Furthermore, calibrating the cameras can also help measure dimensions or determine the camera's position within the gas turbine engine 10. It should be understood that the first and second cameras 104 and 106 may be calibrated additionally or alternatively in any other manner.

[0050] 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 encoder, and / or eddy current sensing device. 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, sensors 90A, 90B may be proximity sensors, optical sensors, and / or tactile sensors. Furthermore, in an exemplary embodiment, one or more sensors 90A, 90B provide data to the controller 108. For example, the sensors may help position the body 102 within the gas turbine engine 10. In other embodiments, one or more sensors 90A, 90B may locate the entrance or passageway of the tool assembly 100.

[0051] In another embodiment, feedback from one or more sensors 90A and 90B can be used to provide dimensional data points related to a reference feature, a target feature, or both. For example, one or more sensors 90A and 90B may include inertial measurement units (“IMUs”). These IMUs may also include accelerometers, gyroscopes, magnetometers, and / or any other tools capable of obtaining the 3D position and / or orientation of an object. In this particular embodiment, sensors 90A and 90B may provide dimensional (e.g., angular) data points for images captured by a first camera 104, a second camera 106, or both. For example, dimensional data points from the image captured by the first camera 104 (and any calibration information of the first camera 104) can provide the scale of the reference feature 120. This configuration can more specifically provide a scale of the reference feature 120 determined independently of any prior data on the reference feature 120 (e.g., independent of any CAD information, etc.).

[0052] In other embodiments, the first camera 104, the second camera 106, the light source, and the storage device can form an integrated assembly. The light source can be a light-emitting diode (LED), fluorescent lamp, incandescent lamp, or any other suitable light device, and can be directed to illuminate the compressor blades 82 or any other area capable of image recording by the first and second cameras 104, 106. A variety of colors of light source can be used, such as blue, green, red, white, or other colors. The storage device can be a non-volatile storage device (e.g., a flash memory device) configured to provide the desired storage capacity. In one embodiment, the storage device can provide at least 2GB, 4GB, 6GB, or 8GB of memory, and up to approximately 2TB of memory.

[0053] As pointed out, Figure 4 The exemplary controller 108 depicted is configured to receive data sensed from one or more sensors 90A, 90B, and can, for example, make control decisions for the tool component 100 based on the received data. In one or more exemplary embodiments, Figure 4 The controller 108 depicted may be a standalone controller 108 for tool component 100, or alternatively, it may be integrated into one or more other controllers.

[0054] Referring specifically to the operation of controller 108, in at least some embodiments, controller 108 may include one or more computing devices 130. 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 means, such as a microprocessor, microcontroller, integrated circuit, logic device, and / or other suitable processing means. 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, hard disk drives, flash drives, and / or other memory devices.

[0055] 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. The 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 operate. In some embodiments, the computer-readable instructions 133 may be executed by one or more processors 131 to cause one or more processors 131 to operate, for example, any operation and function of the controller 108 and / or computing device configured for, to operate the tool component 100 as described herein (e.g., method 200), and / or any other operation or function of one or more computing devices 130. The computer-readable instructions 133 may be software written in any suitable programming language or may be implemented in hardware. Additionally and / or alternatively, the computer-readable instructions 133 may be executed in logically and / or virtually decoupled threads on the processor 131. The memory device 132 may also store data 134 accessible by the processor 131. For example, data 134 may include data indicating power flow, data indicating engine / aircraft operating status, and / or any other data and / or information described herein.

[0056] The computing device 130 may also include a network interface 135 for communication, for example, with other components of the tool assembly 100, the gas turbine engine 10 including the tool assembly 100, an aircraft including the gas turbine engine, etc. 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 indicating 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 operatively coupled to one or more sensors 90A, 90B via, for example, the network interface 135, such that the controller 108 can receive data indicating various operating parameters sensed by one or more sensors 90A, 90B during operation. Furthermore, for Figure 4 In the illustrated embodiment, the controller 108 is operatively coupled to, for example, a first camera 104 and a second camera 106, or to sensors 90A and 90B adjacent to the first camera 104 and the second camera 106. 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 camera 104 and the second camera 106 may each include one or more sensors 90A, 90B as part of the first and second cameras 104, 106.

[0057] Network interface 135 may include any suitable components for use with one or more network interfaces, including, for example, transmitters, receivers, ports, controllers, antennas and / or other suitable components.

[0058] The techniques discussed herein refer to computer-based systems, actions taken by computer-based systems, information sent to computer-based systems, and information received from computer-based systems. Those skilled in the art will recognize that the inherent flexibility of computer-based systems allows for a wide variety of possible configurations, combinations, and divisions of tasks and functions between and within components. For example, the processes discussed herein can be implemented using a single computing device or multiple computing devices working in combination. Databases, memory, instructions, and applications can be implemented on a single system or distributed across multiple systems. Distributed components can operate sequentially or in parallel.

[0059] Now for reference Figure 5 The above references are provided based on aspects of this topic. Figures 1 to 4 The image depicts a cross-sectional view of the compressor blades 82 and the tool assembly 100 in a position for imaging the gas turbine engine 10. In an exemplary embodiment, the tool assembly 100, and more specifically, the body 102, is inserted through a pipe mirror hole or other access port 62, 64. The tool assembly 100 thus enables access to the first and second components 110, 112 of the gas turbine engine 10 without substantially disassembling the gas turbine engine 10.

[0060] In an exemplary embodiment, the first component 110 is a turbine shield 76, such as Figure 5 As shown. As previously described, the first component 110 may be inside or outside the gas turbine engine 10. Similarly, the second component 112 may be inside or outside the gas turbine engine 10.

[0061] In addition, such as Figure 5 As shown, the position of tool assembly 100 allows the first camera 104 and the second camera 106 to see reference feature 120 and target feature 125, respectively. As previously described, attachment member 114 and structure 116 ( Figure 5 (Illustrated schematically) for maneuvering the body 102 until it is in place within the gas turbine engine 10. The body 102 is in place when each of the first camera 104 and the second camera 106 has at least a reference feature 120 and a target feature 125, respectively, within its field of view. Figure 5In the figure, reference feature 120 is located on the first component 110, while target feature 125 is located on the second component 112. As shown, the second component 112 is a component within the field of view of the second camera 106. As used herein, the term "field of view" for a camera is defined as the maximum area of ​​a sample that the camera can image, and generally depends at least in part on the focal length of the camera lens. The field of view may also be defined in any other manner known to those skilled in the art.

[0062] Now that the structure of tool component 100 has been described, an exemplary method 200 for using tool component 100 will be described. Figure 6 The above reference is shown. Figure 1 A flowchart of one embodiment of a method for describing components of a gas turbine engine 10. Typically, method 200 images, measures, and models target feature 125.

[0063] like Figure 6 As shown, method 200 typically includes: at 210, positioning body 102 such that a first camera 104 sees reference feature 120; at 220, receiving data from the first camera 104 of one or more images indicating reference feature 120; at 230, determining a first spatial position of the first camera 104 based at least in part on the received data of the one or more images indicating reference feature 120; and at 240, determining a second spatial position of a second camera 106 based on the first spatial position. Furthermore, in other embodiments, the method may also include using the second camera 106 to receive data of one or more images indicating target feature 125. Additionally, in exemplary embodiments, controller 108 is also configured to generate a three-dimensional representation of target feature 125 and / or derive the dimensions of target feature 125. Each of these boxes will be described in more detail below.

[0064] At 210, body 102 is positioned such that first camera 104 sees reference feature 120. In an exemplary embodiment, body 102 is positioned such that first camera 104 sees reference feature 120 of first component 110, and second camera 106 sees target feature 125 of second component 112 of gas turbine engine 10. However, as previously stated, 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 entire first component 110. In an 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 an alternative embodiment, reference feature 120 is a part of first component 110, such as a specific feature of first component 110. For example, reference feature 120 may simply be 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 a duct mirror hole or other access ports 62, 64. In addition, the attachment member 114 and the structure 116 can help position the body 102 so that the first camera 104 can see the reference feature 120 and the second camera 106 can see the target feature 125.

[0065] At 220, the controller 108 receives data from the first camera 104 indicating one or more images of the reference feature 120. In an exemplary embodiment, the first camera 104 will capture one or more images of the reference feature 120 within its field of view. The data indicating 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).

[0066] In an exemplary embodiment, information about reference feature 120 is known. This information may be three-dimensional information about reference feature 120. As used herein, the term "three-dimensional information" refers to the size, location, and / or depth of reference feature 120. In particular, the location of reference feature 120 may refer to its spatial location in three-dimensional space (e.g., the L1L2T plane). Controller 108 may obtain this information by estimating, determining, or measuring actual measurements of reference feature 120 or by any other means that reasonably allows the information to be obtained. In an exemplary embodiment, obtaining three-dimensional information about reference feature 120 includes obtaining information from a computer-aided design (CAD) model. The CAD model may be input by a user or collected from a database. A monocular camera may also be used to derive the CAD model via parallax. In a particular non-limiting embodiment, reference feature 120 may be located on a first component 110, which may be, for example, a rotor blade. In this case, the model number of the first component 110 (in this example, a rotor blade) may provide sufficient information. Additionally, in this embodiment, the user can then input the model number into the controller 108 to search a database of CAD models, blueprints, schematics, or any other type of reference information that can provide three-dimensional information.

[0067] Furthermore, if the tool assembly 100 also includes one or more sensors 90A and 90B, three-dimensional information can be obtained from the one or more sensors 90A and 90B. In a particular embodiment, for example, the one or more sensors 90A and 90B may further include an IMU, as described above. The IMU can provide this three-dimensional information to the controller 108.

[0068] At 230, the controller 108 determines a first spatial position of the first camera 104 based at least in part on one or more images of the reference feature 120. The first spatial position can be derived using an algorithm executed by the controller 108 and can be stored in a storage memory device. The spatial position of an object can be stored in coordinate form, vector form, or any other form that can describe the spatial position of an object.

[0069] In an exemplary embodiment, the controller 108 will be able to determine the first spatial position of the first camera 104 relative to the reference feature 120 based at least in part on an image of the reference feature 120 and known information about the reference feature 120. For example, by comparing an image of the reference feature 120 taken using the first camera 104 with known three-dimensional information about the reference feature 120, the controller 108 will be able to determine the first spatial position of the first camera 104 relative to the reference feature 120.

[0070] At 240, controller 108 determines a second spatial position of the second camera 106. In an exemplary embodiment, 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. Since the relative spatial positions of the first camera 104 and the second camera 106 along the body 102 are known, 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.

[0071] Method 200 may further include acquiring one or more images of the target feature 125 using a second camera 106. In an exemplary embodiment, the target feature 125 is a feature on the second component 112. The target feature 125 may be a defect or any particular part of the second component 112. One or more images of the target feature 125 and / or a 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 use any CAD software and may be derived from a variety of well-known computer-aided design (CAD) software systems (e.g., The CAD model can be generated by any of the following: DesignCAD, 3D Max, etc. In other embodiments, the CAD model can be a terrain model, surface model, wireframe model, shell model, or any other type of CAD model. It should be understood that this disclosure includes any other representation that can accurately depict target feature 125.

[0072] 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 spaced circumferentially from the first position (e.g., 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 the same time or approximately at the same time). In this particular embodiment, at least one reference feature 120 from the first and second sets of images from the first camera 104 is used to calculate the circumferential distance. Alternatively, where the tool assembly 100 also 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 dimension of the target feature 125 based on the circumferential distance.

[0073] It should also be understood that tool assembly 100 can be used in any compatible machine across different 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 different sizes. For example, in some embodiments, tool assembly 100 may also include a third camera 107 fixed along body 102 at a third position and a third spatial position, wherein the third camera 107 is positioned to see auxiliary feature 127 and / or third component 113. In these embodiments, method 200 will further include the steps of: determining a third spatial position at least in part based on a first spatial position and / or a second spatial position; receiving data indicating one or more images of auxiliary feature 127 using the third camera 107; determining data indicating one or more dimensions of auxiliary feature 127; and generating a three-dimensional representation of auxiliary feature 127 at least based on the determined data indicating 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 the first camera 104 and the second camera 106 to allow simultaneous imaging of multiple features and / or components. These embodiments will allow for greater efficiency in routine inspections and maintenance and can help identify and measure defects in a wide range of internal machines and components, including but not limited to those in gas turbine engines.

[0074] For example, damage may occur during machine operation due to normal wear and tear, as well as other causes. Such damage events can reduce the overall efficiency and productivity of the machine. Furthermore, damage to machine parts can lead to increased maintenance costs and shortened engine life. Therefore, machine maintenance often requires component inspection. In many cases, these inspections can be performed by user inspectors, which is both time-consuming and labor-intensive. Moreover, the inspections may yield varying results depending on the user inspector. Tool assembly 100 can be used to perform these inspections and improve their efficiency. Although tool assembly 100 is described herein with specific references to machines and gas turbine engines, tool assembly 100 is also applicable to other fields (e.g., the medical field) to inspect hard-to-reach areas and / or estimate tumor size and other foreign bodies within the human body.

[0075] Further aspects of the invention are provided by the subject matter of the following clauses:

[0076] 1. A tool assembly comprising: a body; a first camera fixed to the body at a first position; a second camera fixed to the body at a second position spaced apart from the first position; and a controller operatively communicating with the first camera and the second camera, the controller being configured to: receive data from the first camera of one or more images indicating reference features; determine data indicating a first spatial position of the first camera based at least in part on the received data of the one or more images indicating the reference features; 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.

[0077] 2. The tool assembly according to any of the preceding clauses, wherein the first spatial position includes a first position and a first orientation of the first camera within the gas turbine engine, and wherein the second spatial position includes a second position and a second orientation of the second camera within the gas turbine engine.

[0078] 3. The tool component according to any of the preceding clauses, wherein the controller is further configured to: receive data of one or more images indicating target features using the second camera.

[0079] 4. The tool component according to any of the preceding clauses, wherein the controller is further configured to: determine data indicating one or more dimensions of the target feature based at least in part on data received from the one or more images indicating the target feature.

[0080] 5. The tool component according to any of the preceding clauses, wherein the controller is further configured to generate a three-dimensional representation of the target feature using determined data indicating the one or more dimensions of the target feature.

[0081] 6. The tool assembly according to any of the preceding clauses, wherein the reference feature is located on a first component and wherein the target feature is located on a second component.

[0082] 7. The tool assembly according to any of the preceding clauses, wherein the body is an elongated body.

[0083] 8. The tool assembly according to any of the preceding clauses, wherein each of the first camera and the second camera includes one or more sensors, wherein the one or more sensors provide data to the controller.

[0084] 9. The tool assembly according to any of the preceding clauses, the tool assembly further comprising: a third camera fixed to the body at a third position spaced apart from the first position and the second position, wherein the third camera is positioned to see auxiliary features.

[0085] 10. The tool assembly according to any of the preceding clauses, wherein the controller is further configured to: determine a third spatial position of the third camera based on the first spatial position, the second spatial position, or both; receive data from the third camera of one or more images indicating the auxiliary feature; determine data indicating the dimension of the auxiliary feature based at least in part on the received data of the one or more images indicating the auxiliary feature; and generate a three-dimensional representation of the auxiliary feature based at least in part on the determined data indicating the dimension of the auxiliary feature.

[0086] 11. A method for inspecting a gas turbine engine using a tool assembly, the tool assembly including 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 such that the first camera sees the reference feature; receiving data from the first camera of one or more images indicating the reference feature; determining data indicating a first spatial position of the first camera based at least in part on the received data of the one or more images indicating the reference feature; and determining data indicating a second spatial position of the second camera based on the first spatial position.

[0087] 12. The method according to any of the preceding clauses, the method further comprising: receiving data of one or more images indicating target features using the second camera.

[0088] 13. The method according to any of the preceding clauses, the method further comprising: determining data indicating one or more dimensions of the target feature.

[0089] 14. The method according to any of the preceding clauses, the method further comprising: generating a three-dimensional representation of the target feature based at least in part on data determined indicating the one or more dimensions of the target feature.

[0090] 15. The method according to any of the preceding clauses, wherein generating the three-dimensional representation of the target feature further comprises: generating a point cloud.

[0091] 16. The method according to any of the preceding clauses, wherein positioning the body such that the first camera sees the reference feature comprises: inserting the body into the gas turbine engine.

[0092] 17. The method according to any of the preceding clauses, wherein the reference feature is located on a first component and wherein the target feature is located on a second component.

[0093] 18. The method according to any of the preceding clauses, wherein the first spatial location includes a first position and a first orientation of the first camera within the gas turbine engine, and wherein the second spatial location includes a second position and a second orientation of the second camera within the gas turbine engine.

[0094] 19. The method according to any of the preceding clauses, wherein the tool component further includes a third camera fixed 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 see the auxiliary feature.

[0095] 20. The method according to any of the preceding clauses, 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 of one or more images indicating 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 of the one or more images indicating 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.

[0096] This written description uses examples to disclose this disclosure, including best practices, and also enables any person skilled in the art to practice this disclosure, including making and using any apparatus or system and performing any combined methods. The patentable scope of this disclosure is defined by the claims, but may include other examples that would occur to a person skilled in the art. Such other examples are intended to fall within the scope of the claims if they include structural elements that are not indistinguishable from the literal language of the claims, or if they include equivalent structural elements that are not substantially indistinguishable from the literal language of the claims.

Claims

1. An inspection system, characterized in that, include: A first camera is located at a first position and has 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 lateral direction. A second camera is located at a second position spaced a known spatial distance from the first position and has a second orientation relative to the local coordinate system, wherein the angle between the first orientation and the plane defined by the latitude direction and the lateral direction and the second orientation is greater than zero degrees and less than 360 degrees. as well as A controller, which communicates operationally with the first camera and the second camera, is configured to: Receive data from the first camera of one or more images indicating reference features; Data indicating the first spatial position of the first camera is determined at least in part based on data from the received one or more images indicating the reference features; Data indicating the second spatial position of the second camera is determined based on the known spatial relationship between the first position and the second position. as well as The second camera is used to receive data from one or more images indicating the features of the target. 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, The first spatial location includes a first location within the device, and the second spatial location includes a second location within the device.

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

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

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

6. The inspection system according to claim 1, characterized in that, The data includes at least the distance relative to the reference feature and the 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 includes one or more sensors, wherein the one or more sensors provide data to the controller.

8. The inspection system according to claim 1, characterized in that, Further includes: A third camera is positioned relative to the local coordinate system at a third position spaced apart from the first and second positions, wherein the third camera is positioned to see auxiliary features.

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

10. A method using an inspection system, characterized in that, The inspection system includes: a first camera located 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 lateral direction; and a second camera located 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 having an angle greater than zero and less than 360 degrees with respect to a plane defined by the latitudinal direction and the lateral direction and the second orientation. The method includes: Obtain one or more images of the reference features from the first camera; The first spatial position of the first camera is determined at least in part based on one or more images of the reference features; The second spatial position of the second camera is determined based on the known spatial relationship between the first position and the second position; and Use the second camera to obtain one or more images of the target features. The target feature is not in the field of view of the first camera.

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

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

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

14. The method according to claim 10, characterized in that, The method further includes 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 the first component, and the target feature is located on the second component.

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

17. The method according to claim 10, characterized in that, The inspection system includes a third camera at a third position spaced apart from the first position, the second position, or both, wherein the third camera is positioned to see auxiliary features.

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

Images