VIPIR Borescope Inspection System for Confined Space Access
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional robotic inspection systems face challenges in accessing and visually inspecting components in difficult-to-reach locations due to visibility, size, reach, distance, and dexterity restrictions, particularly in spacecraft servicing where lighting conditions, confined spaces, and complex geometries pose significant obstacles.
Innovation Solution
The Visual Inspection Posable Invertebrate Robot (VIPIR) system, which includes a reel system, video borescope assembly with articulating tendons, and a seal system, enables flexible and adjustable inspection by deploying a camera with motorized zoom and focus capabilities, and articulating borescope functionality to navigate complex spaces and varying distances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If a robotic manipulator arm is used for inspection, then it can perform remote servicing operations, but it cannot access confined spaces or areas beyond its reach
Solution Approach 1:
The inspection system is divided into two functional components: a robotic manipulator for positioning and a deployable borescope camera assembly for actual inspection. The borescope can be extended through the manipulator's end effector to reach areas beyond the arm's direct reach, while the manipulator provides stable positioning and mobility to various locations on the spacecraft.
Solution Approach 2:
The borescope camera assembly acts as an intermediary tool that extends the manipulator's capabilities. It is deployed through the end effector to access confined spaces and hard-to-reach areas, effectively mediating between the manipulator's limited direct access and the need for comprehensive inspection of enclosed spacecraft components.
2Measurement precision
If the robotic manipulator approaches close to the worksite for detailed inspection, then imaging quality improves, but the risk of impact from dynamic motion increases
Solution Approach 1:
The system separates the positioning function (manipulator) from the inspection function (borescope camera). The manipulator maintains a safe distance while the deployable borescope extends to the worksite, allowing high-resolution imaging without bringing the heavy manipulator arm into close proximity where dynamic motion could cause impact.
Solution Approach 2:
The borescope camera assembly serves as an intermediary that can be extended to the worksite for detailed imaging while the manipulator remains at a safer distance. This intermediary approach enables close-up inspection quality without the manipulator arm being physically present at the critical close distance where impact risk exists.
3Illumination intensity
If ambient lighting is increased for better visibility, then image quality improves, but the lighting may oversaturate or wash out the image
Solution Approach 1:
Instead of using general ambient lighting, the system employs dedicated LED light sources positioned locally near the camera sensor. This localized illumination allows precise control of light intensity and direction, providing adequate visibility for the specific inspection area without causing oversaturation or washout effects that would result from diffuse ambient lighting.
Data Source
AI summary
A visual inspection posable invertebrate robot (VIPIR) borescope camera system can inspect components in difficult to reach locations. The system enables dexterous robotic inspection of worksites and areas that were heretofore impossible to inspect via extravehicular activities (EVA) and fixed situational awareness cameras. VIPIR may include: (1) a main drive assembly; (2) a reel system; (3) a video borescope assembly (VBA); (4) an enhanced motorized zoom lens (EMZL); (5) a fixed camera assembly (FCA); (6) a support structure; and/or (7) a main electronics box (MEB).