GB2580639A - System and method for inspecting a moving structure - Google Patents

System and method for inspecting a moving structure Download PDF

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Publication number
GB2580639A
GB2580639A GB1900723.6A GB201900723A GB2580639A GB 2580639 A GB2580639 A GB 2580639A GB 201900723 A GB201900723 A GB 201900723A GB 2580639 A GB2580639 A GB 2580639A
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United Kingdom
Prior art keywords
moving structure
imaging arrangement
image
image sensor
time
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GB1900723.6A
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GB2580639B (en
GB201900723D0 (en
Inventor
Smart Nicholas
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Thales Holdings UK PLC
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Thales Holdings UK PLC
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
    • G01M5/0016—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings of aircraft wings or blades
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
    • F03D80/50—Maintenance or repair
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G01B11/0691—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material of objects while moving
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2518—Projection by scanning of the object
    • G01B11/2522—Projection by scanning of the object the position of the object changing and being recorded
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
    • G01B11/303—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces using photoelectric detection means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
    • G01M11/08—Testing mechanical properties
    • G01M11/081—Testing mechanical properties by using a contact-less detection method, i.e. with a camera
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
    • G01M5/0091—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by using electromagnetic excitation or detection
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2240/00—Components
    • F05B2240/90—Mounting on supporting structures or systems
    • F05B2240/92—Mounting on supporting structures or systems on an airbourne structure
    • F05B2240/923—Mounting on supporting structures or systems on an airbourne structure which is a vehicle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2240/00—Components
    • F05B2240/90—Mounting on supporting structures or systems
    • F05B2240/95—Mounting on supporting structures or systems offshore
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00—Function
    • F05B2260/82—Forecasts
    • F05B2260/821—Parameter estimation or prediction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00—Function
    • F05B2260/83—Testing, e.g. methods, components or tools therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
    • F05B2270/804—Optical devices
    • F05B2270/8041—Cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
    • G01B11/10—Measuring arrangements characterised by the use of optical techniques for measuring diameters of objects while moving
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
    • G01M11/08—Testing mechanical properties
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/727—Offshore wind turbines

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Sustainable Energy (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Analytical Chemistry (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)

Abstract

Inspecting a moving structure comprises using a first imaging arrangement 20 to sequentially capture a plurality of initial images of the moving structure. Historical image positions of a plurality of reference features of the moving structure on an image sensor of the first imaging arrangement are determined based on the corresponding captured initial images. Predicted future image positions of each reference feature of the moving structure on the image sensor of the first imaging arrangement at future instants in time are based at least in part on the historical image positions of the plurality of reference features on the image sensor of the first imaging arrangement. The method further comprises using a second imaging arrangement 30 to capture an image of a region of interest of the moving structure at a future instant in time based at least in part on the predicted future image position of each reference feature of the moving structure on the image sensor of the first imaging arrangement at the future instant in time, wherein the second imaging arrangement has a higher resolution than the first imaging arrangement. In use the method is especially suited to inspecting a moving structure such as one or more blades 4 of a wind turbine 2 such as an offshore wind turbine.

Description

SYSTEM AND METHOD FOR INSPECTING A MOVING STRUCTURE
FIELD
The present disclosure relates to a system and method for use in inspecting a moving structure and, in particular though not exclusively, for use in inspecting one or more blades of a wind turbine such as an offshore wind turbine.
BACKGROUND
It is known to inspect the blades of wind turbines periodically to check for damage, erosion and/or delamination occurring on a scale of the order of one centimetre or more. Known methods for inspecting the blades of wind turbines require the blades of the wind turbine to be stationary to allow an engineer climb up the wind turbine and manually inspect each blade of the wind turbine whilst suspended by a rope. Accordingly, such manual inspection methods require that energy production is suspended. In addition, such manual inspection methods may take several hours for each wind turbine. Such manual inspection methods may potentially cause further damage to the blades of the wind turbine. Such manual inspection methods may also expose the engineer to health and safety risks.
Where the wind turbine is an offshore wind turbine, such manual inspection methods also require the engineer to be transported to the offshore wind turbine by boat. This often requires that one or more boat crew members are also required to crew the boat. Transporting an engineer to an offshore wind turbine by boat may also be difficult or impossible when the sea state is rough.
It is also known to use a drone-mounted camera to inspect the stationary blades of a wind turbine. For example, it is known to inspect the stationary blades of an offshore wind turbine using a camera mounted to a drone which is launched from a boat. However, such known methods for inspecting the stationary blades of a wind turbine using a drone-mounted camera may not provide images of sufficient detail or resolution to allow damage, erosion and/or delamination of the blades to be detected or identified accurately. In addition, such known methods which use a drone-mounted camera still require that the blades of the wind turbine are stationary and that energy production is therefore suspended.
SUMMARY
It should be understood that any one or more of the features of any of the following aspects or embodiments of the present disclosure may be combined with any one or more of the features of any of the other aspects or embodiments.
According to at least one aspect or to at least one embodiment of the present disclosure there is provided a method for use in inspecting a moving structure comprising: using a first imaging arrangement to sequentially capture a plurality of initial images of a part of the moving structure or the whole of the moving structure at a corresponding plurality of historical instants in time; using a second imaging arrangement to capture an image of a region of interest of the moving structure at a future instant in time based at least in part on the captured initial images, wherein the second imaging arrangement has a higher resolution than the first imaging arrangement.
Such a method may be used to inspect a moving structure during movement of the moving structure. Such a method may therefore avoid any requirement for the movement of the structure to be interrupted. For example, such a method may be used to inspect the blades of a wind turbine whilst the blades are moving thereby avoiding any requirement to suspend energy production. Such a method may allow an image to be captured of a region of interest of the moving structure at a resolution which allows the detection or identification of damage, erosion and/or delamination having a dimension of the order of one centimetre.
The method may comprise using the first imaging arrangement to sequentially capture the initial images from a movable platform and using the second imaging arrangement to capture the image of the region of interest from the same movable platform. The movable platform may comprise an airborne platform such as a helicopter or a drone.
Such a method may avoid any requirement for interruption of movement of a moving structure and manual inspection of the moving structure after movement of the moving structure has been interrupted thereby reducing the risk of damage associated with, or caused by, manual inspection of the moving structure. Such a method may also avoid exposing an engineer to the health and safety risks associated with manual inspection of a moving structure. For example, such a method may avoid exposing an engineer to the health and safety risks associated with manual inspection of a blade of a wind turbine. Such a method may also reduce inspection times relative to known inspection methods. For example, such a method may also avoid any requirement for an engineer and/or a drone to be transported by boat to an offshore wind turbine. Such a method may allow a plurality of wind turbines, such as a plurality of offshore wind turbines, to be inspected during a single flight of the airborne platform. Such a method may allow all of the wind turbines of a wind farm, such as the offshore wind turbines of an offshore wind farm, to be inspected during a single flight of the airborne platform. The method may comprise determining, for each historical instant in time, historical image positions of a plurality of reference features of the moving structure on an image sensor of the first imaging arrangement based on the corresponding captured initial image at each historical instant in time.
The method may comprise predicting a future image position of each reference feature of the moving structure on the image sensor of the first imaging arrangement at the future instant in time based at least in part on the historical image positions of the plurality of reference features on the image sensor of the first imaging arrangement.
According to at least one aspect or to at least one embodiment of the present disclosure there is provided a method for use in inspecting a moving structure comprising: using a first imaging arrangement to sequentially capture a plurality of initial images of a part of the moving structure or the whole of the moving structure at a corresponding plurality of historical instants in time; determining, for each historical instant in time, historical image positions of a plurality of reference features of the moving structure on an image sensor of the first imaging arrangement based on the corresponding captured initial image at each historical instant in time; predicting a future image position of each reference feature of the moving structure on the image sensor of the first imaging arrangement at a future instant in time based at least in part on the historical image positions of the plurality of reference features on the image sensor of the first imaging arrangement; and using a second imaging arrangement to capture an image of a region of interest of the moving structure at a future instant in time based at least in part on the predicted future image position of each reference feature of the moving structure on the image sensor of the first imaging arrangement at the future instant in time, wherein the second imaging arrangement has a higher resolution than the first imaging arrangement.
The moving structure may comprise a stationary point having a known position relative to the plurality of reference features. For example, the moving structure may comprise a rotating part, and the stationary point of the moving structure may comprise a position on an axis of rotation of the rotating part of the moving structure. The moving structure may comprise a plurality of rotating parts. The stationary point of the moving structure may comprise a position of on an axis of rotation of the rotating parts of the moving structure.
The method may comprise using the determined historical image positions of the plurality of reference features of the moving structure on the image sensor of the first imaging arrangement at each historical instant in time and the known position of the stationary point relative to the plurality of reference features to determine, for each historical instant in time, a historical image position of the stationary point of the moving structure on the image sensor of the first imaging arrangement.
The method may comprise predicting the future image position of each reference feature of the moving structure on the image sensor of the first imaging arrangement at the future instant in time based at least in part on the determined historical image positions of the plurality of reference features of the moving structure on the image sensor of the first imaging arrangement at each historical instant in time, the determined historical image position of the stationary point of the moving structure on the image sensor of the first imaging arrangement at each historical instant in time, and the known position of the stationary point relative to the plurality of reference features.
The determined historical image position of the stationary point of the moving structure on the image sensor of the first imaging arrangement at each historical instant in time may be independent of the movement of the moving structure such that the determined historical image position of the stationary point of the moving structure on the image sensor of the first imaging arrangement at each historical instant in time may depend only on the movement of the movable platform from which the first imaging arrangement captures the one or more initial images.
The method may comprise determining an image position of the region of interest of the moving structure on the image sensor of the first imaging arrangement at the future instant in time based on the predicted future image position of each reference feature of the moving structure on the image sensor of the first imaging arrangement at the future instant in time and from knowledge of the position of the region of interest relative to the plurality of reference features of the moving structure.
The method may comprise determining a position of the region of interest of the moving structure relative to the second imaging arrangement at the future instant in time from the determined image position of the region of interest of the moving structure on the image sensor of the first imaging arrangement at the future instant in time and from knowledge of the configurations of the first and second imaging arrangements.
The method may comprise receiving visible and/or infrared light from the region of interest at the future instant in time and directing the received light to an image sensor of the second imaging arrangement at the future instant in time, based on the determined position of the region of interest relative to the second imaging arrangement at the future instant in time.
The method may comprise moving an image sensor of the second imaging arrangement so as to receive visible and/or infrared light from the region of interest at the future instant in time, based on the determined position of the region of interest relative to the second imaging arrangement at the future instant in time.
The method may comprise using the second imaging arrangement to capture images of a plurality of regions of interest of the moving structure at a future instant in time based at least in part on the predicted future image position of each reference feature of the moving structure on the image sensor of the first imaging arrangement at the future instant in time.
At least two of the regions of interest may overlap. Using at least two overlapping regions of interest may increase the probability that a higher resolution image of a feature of the moving structure will be obtained using the second imaging arrangement even in the presence of a degree of inaccuracy in the determined image position of the region of interest.
The second imaging arrangement may have a narrower field-of-view than the first imaging arrangement.
The method may comprise using the image of each region of interest of the moving structure to determine a condition of the moving structure.
The method may comprise using the image of each region of interest of the moving structure to determine the presence or extent of any damage of the moving structure.
The method may comprise using the image of each region of interest of the moving structure to determine the presence or extent of any erosion of the moving structure.
The method may comprise using the image of each region of interest of the moving structure to determine the presence or extent of any delamination of the moving structure.
The method may comprise using the image of each region of interest of the moving structure to determine or identify any localised variations in temperature in the moving structure.
Each of the reference features of the moving structure may comprise an extremity, an end, or a tip of the moving structure.
The moving structure may comprise a plurality of moving parts. Each of the reference features of the moving structure may be associated with a corresponding moving part of the moving structure.
The moving structure may comprise a plurality of rotating parts. Each of the reference features of the moving structure may be associated with a corresponding rotating part of the moving structure.
The moving structure may comprise one or more rotating blades. Each of the reference features of the moving structure may be associated with a corresponding rotating blade of the moving structure.
The moving structure may comprise a plurality of rotating parts or blades. Each of the reference features of the moving structure may be associated with a corresponding rotating part or blade of the moving structure. The stationary point may correspond to a centre of rotation of the rotating parts or blades.
The moving structure may comprise a wind turbine such as an offshore wind turbine.
According to at least one aspect or to at least one embodiment of the present disclosure there is provided a system for use in inspecting a moving structure, the system comprising: a first imaging arrangement; a second imaging arrangement having a higher resolution than the first imaging arrangement; and a controller, wherein the controller is configured to: cause the first imaging arrangement to sequentially capture a plurality of initial images of a part of the moving structure or the whole of the moving structure at a corresponding plurality of historical instants in time; and cause the second imaging arrangement to capture an image of a region of interest of the moving structure at a future instant in time based at least in part on the captured initial images.
According to at least one aspect or to at least one embodiment of the present
disclosure there is provided:
a first imaging arrangement; a second imaging arrangement having a higher resolution than the first imaging arrangement; and a controller, wherein the controller is configured to: cause the first imaging arrangement to sequentially capture a plurality of initial images of a part of the moving structure or the whole of the moving structure at a corresponding plurality of historical instants in time; determine, for each historical instant in time, historical image positions of a plurality of reference features of the moving structure on an image sensor of the first imaging arrangement based on the corresponding captured initial image at each historical instant in time; predict a future image position of each reference feature of the moving structure on the image sensor of the first imaging arrangement at a future instant in time based at least in part on the historical image positions of the plurality of reference features on the image sensor of the first imaging arrangement; and cause the second imaging arrangement to capture an image of a region of interest of the moving structure at a future instant in time based at least in part on the predicted future image position of each reference feature of the moving structure on the image sensor of the first imaging arrangement at the future instant in time.
The first imaging arrangement may have a wider field-of-view than the second imaging arrangement.
The system may comprise a body.
The first imaging arrangement may comprise an image sensor. The image sensor of the first imaging arrangement may be fixed to the body.
The second imaging arrangement may comprise an image sensor and a light re-direction arrangement. The image sensor of the second imaging arrangement may be fixed to the body. The light re-direction arrangement may be fixed to the body. The light re-direction arrangement may be controllable so as to receive visible and/or infrared light from the region of interest of the moving structure and to re-direct the received light to the image sensor of the second imaging arrangement.
The light re-direction arrangement may comprise a light re-direction element and an actuator arrangement for tilting the light re-direction element relative to the body about one or more axes to thereby re-direct light received from the region of interest of the moving structure to the image sensor of the second imaging arrangement.
The second imaging arrangement may comprise an image sensor and an actuator arrangement for moving the image sensor relative to the body.
The body may comprise a housing. The housing may contain the first and second imaging arrangements. The housing may define one or more apertures for admitting light from an external environment to the first and second imaging arrangements.
The first imaging arrangement may be configured to capture images formed from visible and/or infrared light. The first imaging arrangement may comprise a thermal camera.
The second imaging arrangement may be configured to capture images formed from visible and/or infrared light. The second imaging arrangement may comprise a thermal camera.
The controller may be configured to control the first and second imaging arrangements so as to perform any of the methods described above.The controller may comprise a memory and a processing resource, wherein the memory stores a computer program which, when executed by the processing resource, causes the controller to control the first and second imaging arrangements so as to perform any of the methods described above.
According to at least one aspect or to at least one embodiment of the present disclosure there is provided a computer program which, when executed by a processing resource, causes a controller to control the first and second imaging arrangements so as to perform any of the methods described above.
According to at least one aspect or to at least one embodiment of the present disclosure there is provided a movable platform comprising any of the systems described above. The movable platform may comprise an airborne platform such as a helicopter or a drone.
BRIEF DESCRIPTION OF THE DRAWINGS
A method and system for use in inspecting a moving structure will now be described by way of non-limiting example only with reference to the following drawings of which: FIG. 1 schematically illustrates a wind turbine in operation and an airborne platform in the form of a helicopter which includes a system for use in inspecting the blades of the wind turbine whilst the blades are rotating; FIG. 2 is a schematic perspective view of the system of FIG. 1 located within an interior of the helicopter of FIG. 1; FIG. 3A is a schematic cross-section of the system of FIG. 1; FIG. 3B is a schematic cross-section of the system of FIG. 1; and FIG. 3C is a schematic front view of the system of FIG. 1.
DETAILED DESCRIPTION OF THE DRAWINGS
One of skill in the art will understand that one or more of the features of the embodiments of the present disclosure described below with reference to the drawings may produce effects or provide advantages when used in isolation from one or more of the other features of the embodiments of the present disclosure and that different combinations of the features are possible other than the specific combinations of the features of the embodiments of the present disclosure described below.
Referring initially to FIG. 1 there is shown a moving structure in the form of an offshore wind turbine generally designated 2 having three blades 4a, 4b and 4c, and an airborne platform in the form of a helicopter 6 which includes a system generally designated 10 for use in inspecting one or more of the blades 4a, 4b, 4c whilst the blades 4a, 4c, 4c are rotating about an axis of rotation 8 of the wind turbine 2.
The system 10 is shown in FIG. 2 located within an interior of the helicopter 6. The system 10 is shown in isolation from the helicopter 6 in FIGS. 3A, 3B and 3C. With reference to FIGS. 3A, 3B and 3C, the system 10 includes a first, wider field-ofview (FOV), lower resolution, imaging arrangement generally designated 20 and a second, higher resolution, narrower FOV, imaging arrangement generally designated 30. The system 10 further includes a body in the form of a housing 12. The first and second imaging arrangements 20, 30 are each located within, and fixed to, the housing 12. The first imaging arrangement 20 includes an image sensor 22 and a lens 24. The image sensor 22 and the lens 24 may, for example, constitute or form part of a visible camera. Although not shown explicitly, it should be understood that the image sensor 22 is fixed to the housing 12. As indicated by the dotted lines, the first imaging arrangement 20 is configured to receive light from the moving blades 4a, 4b, 4c via a first aperture 26 defined by the housing 12.
The second imaging arrangement 30 includes an image sensor 32, a lens 33, a folding mirror 34, and a light re-direction arrangement generally designated 35 configured to re-direct a FOV of the second imaging arrangement 30. The image sensor 32 and the second lens 33 may constitute or form part of a visible and/or infrared camera. The image sensor 32 and the lens 33 are fixed to the housing 12 via mounting arrangements 32a and 33a respectively. As indicated by the dotted lines, the second imaging arrangement 30 is configured to receive light from the moving blades 4a, 4b, 4c via a second aperture 36 defined by the housing 12. The light re-direction arrangement 35 includes a light re-direction element in the form of a tilting mirror 37 and an actuator arrangement 38 for tilting the mirror 37 relative to the housing 12 about one or more axes to thereby re-direct light received by the mirror 37 from different angles to the image sensor 32.
The system 10 further includes a controller 40 which is configured for communication with the image sensor 22 of the first imaging arrangement 20, the image sensor 32 of the second imaging arrangement 30 and the actuator arrangement 38 of the light re-direction arrangement 35. The controller 40 includes a memory 42 and a processing resource 44. The memory 42 stores a computer program 46 which is executable by the processing resource 44.
In use, the processing resource 44 executes the computer program 46 to cause the controller 40 to implement a method in which the controller 40 causes the first imaging arrangement 20 to sequentially capture a plurality of wider-FOV, lower-resolution initial images of the moving blades 4a, 4b, 4c of the wind turbine 2 at a corresponding plurality of historical instants in time. As will be described in more detail below, the controller 40 subsequently controls the second imaging arrangement 30 to capture a higher-resolution image of one or more regions of interest of the moving blades 4a, 4b, 4c based at least in part on the plurality of captured initial images of moving blades 4a, 4b, 4c. The processing resource 44 performs an analysis of the wider-FOV, lower-resolution initial images captured using the first imaging arrangement 20 and the controller 40 controls the second imaging arrangement 30 so as to accurately track the motion of the moving blades 4a, 4b, 4c and image one or more regions of interest of the moving blades 4a, 4b, 4c at a higher resolution from a relatively long range. The helicopter 6 may be used to transport the system 10 so that the wind turbine 2 can be circled quickly, during which time all imagery is captured. As will be described in more detail below, the wider-FOV lower-resolution first imaging arrangement 20 observes the moving blades 4a, 4b, 4c of the wind turbine 2 and the processing resource 44 determines an image position on the axis of rotation 8 of the moving blades 4a, 4b, 4c, the distance from the helicopter 6 to the moving blades 4a, 4b, 4c, and the progression of the rotation of the moving blades 4a, 4b, 4c so that the higher resolution second imaging arrangement 30 may image one or more regions of interest during rotation of the moving blades 4a, 4b, 4c and/or during motion of the helicopter 6 relative to the moving blades 4a, 4b, 4c.
More specifically, for each historical instant in time, the processing resource 44 determines the historical image positions of the tips 5a, 5b, 5c of the moving blades 4a, 4b, 4c on the image sensor 22 of the first imaging arrangement 20 based on the corresponding initial image captured by the image sensor 22 of the first imaging arrangement 20 at each historical instant in time.
For each historical instant in time, the processing resource 44 uses the determined historical image positions of the tips 5a, 5b, 5c and the known position of the axis of rotation 8 of the moving blades 4a, 4b, 4c relative to the tips 5a, 5b, 5c to determine a historical image position of the axis of rotation 8 of the moving blades 4a, 4b, 4c on the image sensor 22 of the first imaging arrangement 20. One of ordinary skill in the art will understand that the determined historical image position on the axis of rotation 8 of the moving blades 4a, 4b, 4c on the image sensor 22 of the first imaging arrangement 20 at each historical instant in time is independent of the rotation of the moving blades 4a, 4b, 4c and depends only on the movement of the helicopter 6 and, therefore, only on the movement of the system 10, relative to the wind turbine 2.
The processing resource 44 uses the determined historical image position of the axis of rotation 8 of the moving blades 4a, 4b, 4c on the image sensor 22 of the first imaging arrangement 20 at each historical instant in time and the determined historical image positions of the tips 5a, 5b, 5c on the image sensor 22 of the first imaging arrangement 20 at each historical instant in time to predict the future image positions of the tips 5a, 5b, 5c on the image sensor 22 of the first imaging arrangement 20 at a future instant in time, taking into account not just the rotation of the moving blades 4a, 4b, 4c, but also the movement of the helicopter 6, and therefore the movement of the system 10, relative to the wind turbine 2.
The processing resource 44 then predicts a future image position of the region of interest of the moving blades 4a, 4b, 4c on the image sensor 22 of the first imaging arrangement 20 at the future instant in time based on the predicted future image positions of the tips 5a, 5b, 5c on the image sensor 22 of the first imaging arrangement 20 at the future instant in time and from knowledge of the position of the region of interest relative to the tips 5a, 5b, 5c of the moving blades 4a, 4b, 4c.
The processing resource 44 then determines the future position of the region of interest relative to the second imaging arrangement 30 at the future instant in time from the predicted future position of the region of interest on the image sensor 22 of the first imaging arrangement 20 at the future instant in time and from knowledge of the configurations of the first and second imaging arrangements 20, 30, wherein the configurations of the first and second imaging arrangements 20, 30 may include the properties, relative positions and/or orientations of one or more of the image sensor 22, the lens 24, the image sensor 32, the lens 33, the folding mirror 34 and the tilting mirror 37.
The controller 40 then controls the actuator arrangement 38 of the light re-direction arrangement 35 so as to tilt the mirror 37 and direct visible and/or infrared light received from the region of interest of the moving blades 4a, 4b, 4c at the future instant in time to the image sensor 32 of the second imaging arrangement 30, based on the predicted position of the region of interest relative to the second imaging arrangement 30 at the future instant in time. In effect, the controller 40 controls the actuator arrangement 38 of the light re-direction arrangement 35 so as to tilt the mirror 37 and cause the second imaging arrangement 32 to track the motion of the region of interest as the helicopter flies by, or hovers around, the moving blades 4a, 4b, 4c to thereby capture one or more higher-resolution visible and/or infrared images of the region of interest of the moving blades 4a, 4b, 4c.
The controller 40 may control the first and second imaging arrangements 20, 30 so as to capture higher-resolution visible and/or infrared images of a plurality of regions of interest of the moving blades 4a, 4b, 4c whilst the wind turbine 2 is in operation. Accordingly, one of skill in the art will understand that the system 10 may be used for inspecting the blades 4a, 4b, 4c of the offshore wind turbine 2 in a relatively remote manner whilst the offshore wind turbine 2 is in operation, without any requirement to suspend energy production, without any requirement to approach the offshore wind turbine 2 by boat, and in a fraction of the time that it would take an engineer to inspect the (static) blades 4a, 4b, 4c of the offshore wind turbine 2 manually when suspended from a rope. One of skill in the art will also understand that the system 10 may be used for inspecting the blades of multiple wind turbines, for example multiple wind turbines of a wind farm during the course of a single flight of the helicopter 6.
From the foregoing description, one of ordinary skill in the art will understand that the controller 40 controls the actuator arrangement 38 of the light re-direction arrangement 35 so as to tilt the mirror 37 and track the motion of the region of interest during rotation of the moving blades 4a, 4b, 4c and during motion of the helicopter 6 relative to the moving blades 4a, 4b, 4c. One of ordinary skill in the art will also understand that the foregoing imaging method is passive in the sense that the method does not require the moving blades 4a, 4b, 4c to be illuminated by a dedicated optical or infrared source. One of ordinary skill in the art will understand that the foregoing imaging method does not require any a priori knowledge of the instantaneous position or rate of rotation of the moving blades 4a, 4b, 4c, or any a priori knowledge of the instantaneous position, orientation or rate of motion of the helicopter 6.
A condition of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2 may be determined from the captured higher resolution visible and/or infrared images of the plurality of regions of interest of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2. For example, the processing resource 44 may be configured to determine a condition of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2 from the captured higher resolution visible and/or infrared images of the plurality of regions of interest of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2. Additionally or alternatively, a further processing resource (not shown) located remotely from the helicopter 6 may be configured to determine a condition of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2 from the captured higher resolution visible and/or infrared images of the plurality of regions of interest of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2.
In particular, any surface damage or surface erosion of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2 may be identified from the captured higher resolution visible and/or infrared images of the plurality of regions of interest of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2. For example, the processing resource 44 may be configured to identify any surface damage or surface erosion of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2 from the captured higher resolution visible and/or infrared images of the plurality of regions of interest of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2. Additionally or alternatively, a further processing resource (not shown) located remotely from the helicopter 6 may be configured to identify any surface damage or surface erosion of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2 from the captured higher resolution visible and/or infrared images of the plurality of regions of interest of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2..
Any delamination of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2 may be identified from the captured higher resolution visible and/or infrared images of the plurality of regions of interest of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2. For example, the processing resource 44 may be configured to identify any delamination of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2 from the captured higher resolution visible and/or infrared images of the plurality of regions of interest of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2. Additionally or alternatively, a further processing resource (not shown) located remotely from the helicopter 6 may be configured to identify any delamination of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2 from the captured higher resolution visible and/or infrared images of the plurality of regions of interest of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2.
Any localised variations in temperature in any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2 may be identified from the captured higher resolution infrared images of the plurality of regions of interest of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2. For example, the processing resource 44 may be configured to identify any localised variations in temperature in any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2 from the captured higher resolution infrared images of the plurality of regions of interest of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2. Additionally or alternatively, a further processing resource (not shown) located remotely from the helicopter 6 may be configured to identify any localised variations in temperature in any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2 from the captured higher resolution infrared images of the plurality of regions of interest of any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2. The identification of any localised variations in temperature in any one or more of the moving blades 4a, 4b, 4c of the wind turbine 2 may be important because a localised variation in temperature may be symptomatic or indicative of sub-surface delamination or damage.
It will be appreciated by one skilled in the art that various modifications may be made to the foregoing methods and systems without departing from the scope of the present invention as defined by the claims. For example, rather than using a light re-direction arrangement 35 to tilt the mirror 37 and direct visible and/or infrared light to the image sensor 32 of the second imaging arrangement 30 from the region of interest of the moving blades 4a, 4b, 4c at the future instant in time, the system 10 may include an actuator arrangement for moving the image sensor 32 of the second imaging arrangement 30 so as to receive visible and/or infrared light from the region of interest at the future instant in time.
Rather than determining the historical image positions of the tips 5a, 5b, 5c of the moving blades 4a, 4b, 4c in the corresponding captured initial image at each historical instant in time, the method may include determining the historical image positions of other reference features of the moving blades 4a, 4b, 4c in the corresponding captured initial image at each historical instant in time. For example, the method may include determining the historical image positions of hubs 7a, 7b, 7c of the moving blades 4a, 4b, 4c in the corresponding captured initial image at each historical instant in time.
Rather than mounting the system 10 on the helicopter 6 and using the helicopter 6 to fly the system 10 by, or around, the wind turbine 2, the method may comprise mounting the system 10 on an airborne platform of any kind and using the airborne platform to fly the system 10 by, or around, the wind turbine 2. For example, the method may comprise mounting the system 10 on a drone and using the drone to fly the system 10 by, or around, the wind turbine 2. The drone may be operated remotely from the wind turbine 2. For example, the drone may be used to inspect a windfarm including a plurality of wind turbines, whilst the drone is operated remotely from the windfarm.
One of skill in the art will also appreciate that the system 10 and the associated method described above may be used to inspect a moving structure other than a wind turbine.

Claims (25)

  1. CLAIMS1. A method for use in inspecting a moving structure comprising: using a first imaging arrangement to sequentially capture a plurality of initial images of a part of the moving structure or the whole of the moving structure at a corresponding plurality of historical instants in time; determining, for each historical instant in time, historical image positions of a plurality of reference features of the moving structure on an image sensor of the first imaging arrangement based on the corresponding captured initial image at each historical instant in time; predicting a future image position of each reference feature of the moving structure on the image sensor of the first imaging arrangement at a future instant in time based at least in part on the historical image positions of the plurality of reference features on the image sensor of the first imaging arrangement; and using a second imaging arrangement to capture an image of a region of interest of the moving structure at a future instant in time based at least in part on the predicted future image position of each reference feature of the moving structure on the image sensor of the first imaging arrangement at the future instant in time, wherein the second imaging arrangement has a higher resolution than the first imaging arrangement.
  2. 2. The method of claim 1, wherein the moving structure comprises a stationary point having a known position relative to the plurality of reference features, and the method comprises: using the determined historical image positions of the plurality of reference features of the moving structure on the image sensor of the first imaging arrangement at each historical instant in time and the known position of the stationary point relative to the plurality of reference features to determine, for each historical instant in time, a historical image position of the stationary point of the moving structure on the image sensor of the first imaging arrangement; and predicting the future image position of each reference feature of the moving structure on the image sensor of the first imaging arrangement at the future instant in time based at least in part on the determined historical image positions of the plurality of reference features of the moving structure on the image sensor of the first imaging arrangement at each historical instant in time, the determined historical image position of the stationary point of the moving structure on the image sensor of the first imaging arrangement at each historical instant in time, and the known position of the stationary point relative to the plurality of reference features.
  3. 3. The method of claim 1 or 2, comprising determining an image position of the region of interest of the moving structure on the image sensor of the first imaging arrangement at the future instant in time based on the predicted future image position of each reference feature of the moving structure on the image sensor of the first imaging arrangement at the future instant in time and from knowledge of the position of the region of interest relative to the plurality of reference features of the moving structure.
  4. 4. The method of claim 3, comprising determining a position of the region of interest of the moving structure relative to the second imaging arrangement at the future instant in time from the determined image position of the region of interest of the moving structure on the image sensor of the first imaging arrangement at the future instant in time and from knowledge of the configurations of the first and second imaging arrangements.
  5. 5. The method of claim 4, comprising: receiving visible and/or infrared light from the region of interest at the future instant in time and directing the received light to an image sensor of the second imaging arrangement at the future instant in time based on the determined position of the region of interest relative to the second imaging arrangement at the future instant in time.
  6. 6. The method of claim 4 or 5, comprising: moving an image sensor of the second imaging arrangement so as to receive visible and/or infrared light from the region of interest at the future instant in time, based on the determined position of the region of interest relative to the second imaging arrangement at the future instant in time.
  7. 7. The method of any one of claims 1 to 6, comprising using the second imaging arrangement to capture images of a plurality of regions of interest of the moving structure at a future instant in time based at least in part on the predicted future image position of each reference feature of the moving structure on the image sensor of the first imaging arrangement at the future instant in time.
  8. The method of claim 7, wherein at least two of the regions of interest overlap.
  9. 9. The method of any one of claims 1 to 8, wherein the second imaging arrangement has a narrower field of view than the first imaging arrangement.
  10. 10. The method of any one of claims 1 to 9, using the image of each region of interest of the moving structure to determine or identify at least one of: a condition of the moving structure; the presence or extent of any damage of the moving structure; the presence or extent of any erosion of the moving structure; the presence or extent of any delamination of the moving structure; and any localised variations in temperature in the moving structure.
  11. 11. The method of any preceding claim, wherein each of the reference features of the moving structure comprises an extremity, an end, or a tip of the moving structure.
  12. 12. The method of any preceding claim, wherein the moving structure comprises a plurality of moving parts and each of the reference features of the moving structure is associated with a corresponding moving part of the moving structure.
  13. 13. The method of any preceding claim, wherein the moving structure comprises a plurality of rotating parts or blades and each of the reference features of the moving structure is associated with a corresponding rotating part or blade of the moving structure.
  14. 14. The method of any preceding claim when dependent on claim 2, wherein the moving structure comprises a plurality of rotating parts or blades, each of the reference features of the moving structure is associated with a corresponding rotating part or blade of the moving structure, and the stationary point corresponds to a position on an axis of rotation of the rotating parts or blades.
  15. 15. The method of any preceding claim, wherein the moving structure comprises a wind turbine such as an offshore wind turbine.
  16. 16. The method of any one of claims 1 to 15, comprising using the first imaging arrangement to sequentially capture the initial images from a movable platform and using the second imaging arrangement to capture the image of the region of interest from the same movable platform.
  17. 17. The method of claim 16, wherein the movable platform comprises an airborne platform such as a helicopter or a drone.
  18. 18. A system for use in inspecting a moving structure, the system comprising: a first imaging arrangement; a second imaging arrangement having a higher resolution than the first imaging arrangement; and a controller, wherein the controller is configured to: cause the first imaging arrangement to sequentially capture a plurality of initial images of a part of the moving structure or the whole of the moving structure at a corresponding plurality of historical instants in time; determine, for each historical instant in time, historical image positions of a plurality of reference features of the moving structure on an image sensor of the first imaging arrangement based on the corresponding captured initial image at each historical instant in time; predict a future image position of each reference feature of the moving structure on the image sensor of the first imaging arrangement at a future instant in time based at least in part on the historical image positions of the plurality of reference features on the image sensor of the first imaging arrangement; and cause the second imaging arrangement to capture an image of a region of interest of the moving structure at a future instant in time based at least in part on the predicted future image position of each reference feature of the moving structure on the image sensor of the first imaging arrangement at the future instant in time.
  19. 19. The system of claim 18, wherein the first imaging arrangement has a widerfield-of-view than the second imaging arrangement.
  20. 20. The system of claim 18 or 19, comprising a body, wherein the first imaging arrangement comprises an image sensor which is fixed to the body.
  21. 21. The system of claim 20, wherein the second imaging arrangement comprises an image sensor and a light re-direction arrangement such as a tilting mirror, wherein the image sensor of the second imaging arrangement is fixed to the body and the light re-direction arrangement is controllable so as to receive visible and/or infrared light from the region of interest of the moving structure and to re-direct the received light to the image sensor of the second imaging arrangement.
  22. 22. The system of claim 20 or 21, wherein the body comprises a housing which contains the first and second imaging arrangements, wherein the housing defines one or more apertures for admitting light from an environment external to the housing to the first and second imaging arrangements.
  23. 23. The system of any one of claims 18 to 22, wherein the first imaging arrangement is configured to capture images formed from visible light and the second imaging arrangement is configured to capture images formed from visible and/or infrared light, for example wherein the second imaging arrangement comprises a thermal camera.
  24. 24. The system of any one of claims 18 to 23, wherein the controller is configured to control the first and second imaging arrangements so as to perform the method of any one of claims 1 to 17.
  25. 25. A movable platform, for example an airborne platform such as a helicopter or a drone, comprising the system of any one of claims 18 to 24.
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