EP4058836A2

EP4058836A2 - Borescope having a rotary head

Info

Publication number: EP4058836A2
Application number: EP20807717.2A
Authority: EP
Inventors: Jan Oke Peters; Michael Thies; Thomas Ruegg; Sören Wedow; Sven Rasche; Jens-Peter Tuppatsch; Sönke Bahr; Lukas BATH; Thorsten SCHÜPPSTUHL; Tarek Mostafa; Oliver Neumann
Original assignee: Lufthansa Technik AG
Current assignee: Lufthansa Technik AG
Priority date: 2019-11-15
Filing date: 2020-11-13
Publication date: 2022-09-21
Also published as: CN114945849A; WO2021094533A3; WO2021094533A2; US20220404291A1; JP2023501674A; CA3158259A1; DE102019130949A1

Abstract

The invention relates to a borescope (1), in particular for the borescopy of fuel chambers (58) of aircraft engines (50), and to an assembly (31) comprising a borescope (1). The borescope (1) comprises an electronic image capturing unit (20) with at least one image capturing sensor (22, 23) with a receiving cone at a first end (4) of a shaft (3) which has a shaft axis (3') and through which data and supply lines (21) for the image capturing unit (20) are guided. The image capturing unit (20) is arranged on a rotary head (10) which is rotatably secured to the first end (4) about the shaft axis (3') such that the axis (22', 23') of the receiving cone is not parallel to the shaft axis (3') on the first end (4) and a panoramic image can be captured by rotating the rotary head (10). The assembly (30) comprises a borescope (1) according to the invention and a control and analysis unit (31) which is designed to control the rotational movement of the rotary head (10) and the image capturing unit (20) and to combine the image data captured by the at least one image capturing sensor (22, 23) in order to form a panoramic image.

Description

Borescope

The invention relates to a borescope, in particular for borescopy of the combustion chambers of aircraft engines, and to an arrangement comprising a borescope. In the prior art it is known to use boroscopes to inspect technical equipment in areas that are not directly visible. The borescopes can be inserted into the areas in question through small openings and offer insight into otherwise inaccessible areas either directly via optics or by displaying a video image recorded by suitable sensors on the tip of the borescope - also known as a video borescope.

Boroscopy is used, for example, for the inspection of aircraft engines, in order to gain an insight into the interior of the engine without having to take it apart in a laborious manner. At least for individual areas of the aircraft engine, such as the combustion chamber, for example, it is necessary or at least desirable to find and document the area in full. Currently, a video borescope with a flexible shaft is used for boroscopy of the interior of the combustion chamber and is guided manually through the combustion chamber. To do this, the flexible borescope is guided along the entire inner circumference of the combustion chamber and then slowly pulled out. The images captured by the borescope are recorded while it is being pulled out. An attempt is made to ensure that the entire circumference of the usually ring-shaped combustion chamber is covered. If a possible problem is identified in the combustion chamber, it can then manual 3-D recording of the relevant point can be carried out with specially designed 3-D borescopes.

However, due to the manual guidance of the boroscope with flexible shaft, complete and reproducible documentation of the condition of a combustion chamber is hardly possible. In addition, the subsequent 3-D recording of possible problem areas in particular is very complex and time-consuming.

The object of the present invention is to create a borescope with which the inspection of technical devices, in particular the combustion chamber of aircraft engines, can be simplified and improved.

This object is achieved by a borescope according to the main claim and an arrangement according to the independent claim 12. Advantageous further developments are the subject matter of the dependent claims.

Accordingly, the invention relates to a borescope, in particular for borescopy of the combustion chambers of aircraft engines, to summarize an electronic image capture unit with at least one image sensor with a receiving cone at the first end of a shaft with a shaft axis through which data and supply lines for the image capture unit are passed , wherein the image acquisition unit is arranged on a rotary head rotatably attached to the shaft axis at the first end in such a way that the axis of the receiving cone does not run parallel to the shaft axis at the first end and a round image can be recorded by rotating the rotary head.

Furthermore, the invention relates to an arrangement comprising a borescope according to one of the preceding claims and a control and evaluation unit which is used to control the rotational movement movement of the rotary head and the image capturing unit, as is designed to combine the image data captured by the at least image capturing sensor to form a round image.

The invention has recognized that it is advantageous for the boroscopy of technical devices, in particular the combustion chambers of aircraft engines, if the borescope used is designed to create round images - that is, a 360 ° panorama image. If the borescope is brought into a desired position, the round image can be created according to the invention without changing the position or location of the borescope shaft.

For this purpose, it is provided that the at least one image sensor of the image acquisition unit is arranged on a rotary head that can be rotated about the shaft axis. The "shaft axis" is the longitudinal or symmetry axis of the shaft. If the shaft axis does not run in a straight line (for example in the case of a curved shaft) and / or is variable (for example in the case of a flexible shaft) is on that part of the Shaft axis to be placed directly at the first end of the shaft on which the rotary head is arranged as the axis of rotation for the rotary head.

The range of rotation of the rotary head can be less than or equal to 360 °. By limiting the range of rotation accordingly, it can be prevented that any data and supply lines that may be routed from the shaft into the rotary head are twisted or wound up when the rotary head is rotated as desired. Since it is sufficient for the creation of a round image at the same time if the entire 360 ° area is actually captured by the recording cone of the image capture unit, a rotation range of less than 360 ° can also be sufficient, since the Receiving cone regularly has an extension in the plane perpendicular to the axis of rotation of the rotary head, so that a complete round image can still be created.

The rotary head preferably has a ring gear, in which a pinion engages, which is driven by a drive unit which is fixed in place and eccentrically with respect to the shaft axis. Due to the eccentric arrangement of the drive unit with respect to the shaft, the routing of the data and supply lines on the shaft in the rotary head can be simplified. The drive unit can be an electric motor, preferably a stepping motor, the supply and control lines of which can also be routed through the shaft.

The rotary head preferably comprises a co-rotating cylindrical housing with at least one transparent window in which the image capturing unit is arranged such that the receiving cone of each image capturing sensor is aligned through a transparent window. The image capturing unit is protected by the housing, while no restriction is to be expected with regard to the image capturing at any angular positions of the rotary head due to the windows provided therein, rotating with it.

Alternatively, a cylindrical housing with at least one transparent ring segment, which is stationary opposite the shaft axis at the first end and surrounding the rotary head, can be provided, the receiving cone of each image detection sensor being aligned by a transparent ring segment, with a separate ring segment being provided for each individual image detection sensor can be and / or the recording cone of several image acquisition sensors through a common mes ring segment are aligned. In this case, the housing is stationary, but due to the at least one ring segment, the image acquisition by the image acquisition sensors is not impaired in any angular position of the rotary head.

In both cases the housing has a cylindrical shape. The housing can thus be seen as a rigid continuation of the shaft, with which in particular the insertion of the boroscope according to the invention into a boroscope opening is easily possible. The outer diameter of the housing can preferably correspond approximately to the outer diameter of the shaft.

The housing is - in both of the aforementioned versions - encapsulated before given to liquid-tight. The borescope can then also be used for fluid-filled cavities without the image acquisition unit or other components of the borescope coming into direct contact with the fluid in the area of its tip and being damaged as a result.

It is preferred if the image acquisition unit comprises at least two, preferably in the direction of the shaft axis, image acquisition sensors spaced apart from one another with at least partially overlapping and / or mutually parallel alignment cones for determining 3-D information by triangulation. Since the two image acquisition sensors of the pair record a common image section at a distance from one another, triangulation can be used to determine 3-D information about the distance between the image points recorded by the two image acquisition sensors, which later becomes a 3-D model of the boroscopic area let join together. Suitable triangulation methods are known from the prior art. It is preferred if the image acquisition sensors of a pair provided for the triangulation are arranged with a center distance of 15 mm to 25 mm, preferably 17 mm to 22 mm, more preferably approx. 20 mm. Alternatively, a center-to-center distance of 5 mm to 15 mm, preferably from 7 mm to 12 mm, more preferably from 10 mm to 11 mm, is preferred. The "center-to-center distance" denotes the distance between the two sensor centers. The accuracy of the determination of the 3D data with the aid of triangulation depends on the distance between the two image acquisition sensors, with the small space available and optical distortions due to the generally only small distance The stated distances have proven to be advantageous in particular for the use of the boroscope according to the invention for inspecting aircraft engines.

The image capturing sensors can be arranged and / or designed in such a way that the receiving cones of one or two image capturing sensors provided for capturing 3-D information are arranged at a predetermined viewing angle with respect to the longitudinal axis of the image capturing unit. If this viewing angle is 90 °, areas to the side of the image capture unit can be captured. By choosing a different angle of view other than 90 °, areas in front of it (angle range 30 ° -90 °) or areas behind (angle range 90 ° -150 °) can be recorded in the direction of insertion of the boroscope. However, it is also possible to provide several image acquisition sensors or pairs of image acquisition sensors provided for triangulation on a single borescope, each of which has different viewing angles. In particular, two pairs of image acquisition sensors can be provided, the receiving cones of both image acquisition sensors of the one pair being at a different viewing angle with respect to the shaft axis are aligned than the recording cones of both image capture sensors of the other pair.

The image capture unit can comprise at least one image capture sensor for capturing color images. The color images captured by this at least one image capture sensor can be used directly as a round image. However, it is also possible that a 3-D information acquired on the basis of a pair of image acquisition sensors is supplemented with the color information of a color image acquisition sensor in order to add colored 3-D information or a colored 3-D information. D model. Recourse to gray-scale image acquisition sensors to determine 3-D information can be advantageous compared to color image acquisition sensors due to the higher resolution with identical sensor sizes.

The image acquisition sensors are preferably CCD sensors or CMOS sensors, preferably with a global shutter. The image acquisition sensors preferably have a resolution of 400 x 400 pixels to 2400 x 2400 pixels, an image repetition rate of up to 240 recordings per second and / or an image field opening angle of 30 ° to 120 °, preferably 35 ° to 65 °, more preferably of 40 °, 50 ° or 60 °, in each case ± 5 °, preferably in each case ± 3 °. In particular, continuous recording of image information is also possible with corresponding image acquisition sensors.

It is preferred if at least one light source, preferably an LED, is provided on the rotary head to illuminate the recording area. By arranging the light source directly on the rotary head, good lighting and illumination of the recording area can be ensured regardless of the angular position of the rotary head. The at least one The light source can emit visible light and / or infrared radiation, depending on the wavelength range for which the image acquisition sensors are designed. It is of course also possible to provide several different light sources - for example one for the visible and one for the infrared range. The use of LEDs as light sources is particularly preferred because of the low heat generation and low energy consumption.

The shaft of the boroscope can be rigid, semi-flexible or flexi bel. If the shaft is flexible, the borescope can be guided through a guide tube, for example. The guide tube can be part of the boroscope or a separate Führungsvor direction. The basic position of the boroscope or its image acquisition unit in the interior of the area to be boroscoped can then be determined via the guide tube. The shaft can also be provided with cables that enable the shaft to be controlled. But it is also possible to loosely guide the borescope with a flexible shaft through an area to be recorded and to create the desired recordings in particular when pulling out the borescope.

In the arrangement according to the invention, a control and evaluation unit connected to the borescope according to the invention is provided, with which the rotational movement of the rotary head and the at least one image acquisition sensor are controlled and with which the individual images recorded by the at least one image acquisition sensor are combined to form a circular image.

In this case, the arrangement can be designed for continuous recording by the image acquisition units when the rotary head rotates. In other words, in short succession - usually only given by the speed of the Image Capture Sensors - Images captured while the rotary head is spinning. A corresponding continuous recording enables a high quality in the round image assembled on the basis of these images.

Alternatively, it is possible for the arrangement to be designed for recording individual images by the image acquisition unit with the angular position successively reached by rotation of the rotary head. The angular positions are to be selected in such a way that the individual images can still be put together to form a round image. Compared to a continuous recording by the image acquisition units, the amount of data to be processed is smaller with this alternative.

The control and evaluation unit is preferably designed to join two partially overlapping circular images. By joining together overlapping circular images, an enlarged circular image can be created. The control and evaluation unit can also control the change in the position of the rotary head from which a round image is to be recorded. Suitable controllable guide devices are known in the prior art.

The merging of individual images to form round images or of individual round images to form an enlarged round image includes the merging of the associated 3-D information, provided this was determined by the borescope or the control and evaluation unit. This creates a 3-D model of the boroscopic area.

The invention is described by way of example on the basis of advantageous embodiments un ter with reference to the accompanying drawings. Show it: FIG. 1: a schematic representation of the borescope tip of a first exemplary embodiment of a boroscope according to the invention;

FIG. 2: a schematic representation of the borescope tip of a second exemplary embodiment of a borescope according to the invention; and

FIG. 3: a schematic representation of an arrangement according to the invention comprising a borescope according to FIG. 1 or FIG. 2.

In FIG. 1, the tip 2, which is inserted into the areas to be examined, of a boroscope 1 is shown schematically. The borescope 1 comprises a flexible shaft 3 that can be controlled via cables, which is only indicated in FIG. 1. At the tip near the first end 4 of the shaft 2, a Rota tion head 10 is arranged, which is rotatably mounted on a bearing 11 about the shaft axis 3 '. The shaft axis 3 'is the axis of symmetry of the shaft 3, the axis of rotation 10' of the rotary head 10 coinciding with the shaft axis 3 'directly at the first end 4 of the shaft 3, so that the remaining current shape of the flexible shaft 3 does not arrives. If the shaft axis 3 ′ is mentioned below, the part of the shaft axis 3 ′ immediately adjacent to the first end 4 of the shaft 3 is meant.

On the bearing 11, a stepper motor as a drive unit 12 is fixed in place with respect to the shaft 3 and its shaft axis 3 'be. The drive unit 12 is arranged eccentrically to the shaft 3, so that sufficient space remains for the implementation of data and supply lines 21 from the shaft 3 into the rotary head 10. The drive unit 12 is on Control and supply cables 13 connected, which are also if passed through the shaft 3 and via which the drive unit 12 can be controlled.

The drive unit 12 engages with a pinion 14 in a ring gear 15 on the rotary head 10 (both shown only schematically) and can thus rotate the rotary head 10 about its axis of rotation 10 'or the shaft axis 3'. The range of rotation of the rotary head 10 is limited to approx. 280 ° by suitable stops in order to prevent the data and supply lines 21 from hitting or twisting the drive unit 12, which may generate heat.

The rotary head 10 comprises a co-rotating cylindrical housing 16 with a transparent window 17. The housing 16 is encapsulated in a liquid-tight manner. An image acquisition unit 20, which is connected to the data and supply lines 21, is arranged in the interior of the rotary head 10 or its housing 16.

The image acquisition unit 20 comprises two spaced gray value image acquisition sensors 22, the recording cones of which overlap in such a way that 3-D information can be derived from the images of the two image acquisition sensors 22 for the overlap area by triangulation. In addition, a color image image detection sensor 23 is provided, which likewise detects the overlap area of the two other image detection sensors 22. The color image information from the image acquisition sensor 23 can be used to enrich the 3-D information obtained via the two other image acquisition sensors 22 with color information. Corresponding methods for this are known in the prior art. The image acquisition unit 20 further comprises two LEDs as light sources 24, with which the recording area of the individual image acquisition sensors 22, 23 can be sufficiently illuminated. The image acquisition unit 20 is arranged within the housing 16 of the rotary head 10 in such a way that both the image acquisition sensors 22, 23 acquire through the transparent window 17 through the surroundings and the light sources 24 can illuminate the surroundings through the transparent window 17 .

The image acquisition sensors 22, 23 are further arranged in such a way that their receiving cones or their receiving axes 22 ',

23 'are aligned at a predetermined viewing angle of 90 ° with respect to the shaft axis 3' or the axis of rotation 10 '. Since the image acquisition unit 20 is stationary with respect to the housing 16 and can thus be rotated by 280 ° about the axis of rotation 10 ', together with the recording areas of the image acquisition sensors 22, 23 there is the possibility of an annular 360 ° - Panorama. The image data and 3-D information recorded by the image acquisition sensors 22, 23 can accordingly be combined to form a round image.

FIG. 2 shows an alternative exemplary embodiment of a borescope 1, largely in accordance with the exemplary embodiment from FIG. 1. In the following, therefore, only the differences between the alternative embodiment example are discussed and reference is made to the remarks made above. In the exemplary embodiment according to FIG. 2, the housing 16 is designed to be stationary with respect to the shaft 3 and the parts of the rotary head 10 that can be rotated about the rotational axis 10 'include the image acquisition unit 20 already fastened to a bracket 18 of the ring gear 15 and arranged within the housing 16 . The non-visible bearing is provided between the hollow wheel 15 and the inner wall of the housing 16. The first end 4 of the shaft 3 is inserted into the housing 16 and firmly connected to it.

The housing has a completely transparent ring segment 17 'so that the image acquisition sensors 22, 23 of the image acquisition unit 20 protruding from the bracket 18 can capture the surroundings unimpeded in any angular position that can be controlled via the drive unit 12. The ring segment 17 'is connected to the other non-transparent parts of the housing 16 in such a way that the housing 16 as a whole is liquid-tight, that is to say the rotary head 10 is encapsulated in a liquid-tight manner.

In Figure 3, a section through a two-shaft engine 50 is shown schematically, in which the fan 51 and the low pressure compressor 52 is rotatably connected via a first shaft 53 with the low pressure turbine 54, while the high pressure compressor 55 via a second shaft 56 with the High pressure turbine 57 is rotatably connected. Between the high pressure compressor 55 and high pressure turbine 57, the annular combustion chamber 58 is arranged.

In addition to a borescope 1, which is designed according to one of FIGS. 1 or 2 and consequently comprises a rotary head 10, the arrangement 30 comprises a control and evaluation unit 31. Since the control and evaluation unit 31 also includes the actuators for includes the cables of the controllable shaft 3, which is directly fastened to the engine 50 in the region of a borescope opening 59, through which the borescope 1 is inserted into the combustion chamber 58.

The control and evaluation unit 31 is connected to the image acquisition unit 20 and the drive unit 12 via the data, control and supply lines 14, 21 running in the shaft 3 of the boroscope 1 (see FIGS. 1 and 2). Since the control and evaluation unit 31 can also control the shaft 3 via its cables, fully automatic 3-D detection of the combustion chamber 58 is possible.

To this end, the control and evaluation unit 31 controls the cables of the shaft 3 in such a way that predetermined positions within the combustion chamber 58 with the rotary head 10 are started one after the other. At each of these positions, the rotary head 10 is then rotated while simultaneously recording the surroundings by the image sensors 22, 233-D information and color information is collected, which is then evaluated by the control and evaluation unit 31 using known triangulation and stitching methods colored 3-D round pictures can be put together. The image sensors 22, 23 can continuously record images while the rotary head 10 is rotating, or individual images are recorded only at certain angular positions of the rotary head 10. In both cases, the image information can be combined to form colored round images, including comprehensive 3-D information.

The overlapping colored 3-D round images recorded at the various points can then be added together to form a 3-D model of the interior of the combustion chamber 58, which is then assessed and assessed at a user terminal (not shown) can.

Claims

1. Boroscope (1), in particular for the boroscopy of the combustion chambers (58) of aircraft engines (50), comprising an electronic image acquisition unit (20) with at least egg nem image acquisition sensor (22, 23) with a receiving cone at the first end (4) of a Shaft (3) with a shaft axis (3 ') through which data and supply lines (21) for the image acquisition unit (20) are guided, characterized in that the image acquisition unit (20) is rotatable about the shaft axis (3') on Rotary head (10) attached to the first end (4) is arranged in such a way that the axis (22 ', 23') of the receiving cone is non-parallel to the shaft axis (3 ') at the first end (4) and by rotating the rotary head ( 10) a round image can be recorded.

2. Boroscope according to claim 1, characterized in that the range of rotation of the rotary head (10) is less than or equal to 360 °.

3. Boroscope according to one of the preceding claims, characterized in that the rotary head (10) has a ring gear (15) in which a drive unit (12) driven by a stationary and eccentrically attached to the shaft axis engages Nes pinion (14).

4. Boroscope according to one of the preceding claims, characterized in that the rotary head (10) has a co-rotating cylindrical Ge housing (16) with at least one transparent window (17) comprises, in which the image acquisition unit is arranged in such a way that the receiving cone of each image acquisition sensor (22, 23) is aligned in each case through a transparent window (17).

5. Boroscope according to one of claims 1 to 3, characterized in that a relative to the shaft axis (3 ') at the first end (4) stationary, the rotary head (10) surrounding cylindrical Ge housing (16) with at least one transparent ring segment ( 17 ') is provided, the receiving cone of each image acquisition sensor (22, 23) being aligned in each case by a transparent ring segment (17').

6. Boroscope according to claim 4 or 5, characterized in that the housing (16) is encapsulated in a liquid-tight manner.

7. Boroscope according to one of the preceding claims, characterized in that the image acquisition unit (20) carries out at least two spaced-apart image acquisition sensors (22) with at least partially overlapping and / or mutually parallel alignment cones for determining 3-D information Includes triangulation.

8. Boroscope according to one of the preceding claims, characterized in that the at least one image acquisition sensor (22, 23) is arranged and / or designed so that the receiving cone of an image acquisition sensor (23) or a pair of for the acquisition of 3-D Information of the intended image solution sensors (22) are aligned at a predetermined viewing angle with respect to the shaft axis (3 ') at the first end (4).

9. Boroscope according to one of the preceding claims, characterized in that the image capturing unit (22) is designed at least one image capturing sensor (23) for capturing color images.

10. Boroscope according to one of the preceding claims, characterized in that at least one light source (24), preferably an LED, is provided for illuminating the receiving area on the rotary head (10).

11. Boroscope according to one of the preceding claims, characterized in that the shaft (3) is designed as a flexible shaft.

12. Arrangement (30) comprising a borescope (1) according to one of the preceding claims and a control and Auswertein unit (31) for controlling the rotational movement of the Rota tion head (10) and the image acquisition unit (20), as well as for joining the from the at least image acquisition sensor (22, 23) acquired image data is formed into a round image.

13. The arrangement according to claim 12, characterized in that the arrangement (31) is designed for continuous recording by the image acquisition unit (20) when the rotary head (10) rotates.

14. The arrangement according to claim 12, characterized in that the arrangement (31) for recording individual images by the image capturing unit (20) is formed when the angular position is successively reached by rotation of the rotary head (10).

15. Arrangement according to one of claims 12 to 14, characterized in that the control and evaluation unit (31) is designed for joining two partially overlapping circular images.