KR101702331B1 - System and method for optical inspection of off-line industrial gas turbines and other power generation machinery while in turning gear mode - Google Patents

Abstract

The internal components of the gas and steam turbines can be automatically and / or manually positioned within the turbine within the turbine, along with a field of view (FOV) in the corresponding zone along a predefined guided path, It is inspected by an optical camera inspection system capable of capturing images. Camera position setting and image capture may be initiated automatically or after acceptance of an operator authorization. The inspection system includes a multi-axis tester that is articulated by an optical camera inserted through a combustor nozzle access port, a combustor and a transition so that when the rotor spins below 1000 RPM, the camera FOV captures the leading edge of the single row rotating turbine blades do. The illumination system strobe light and camera image acquisition are synchronized with the blade rotation speed such that images of multiple or all blades can be obtained from a single tester insertion point.

Description

FIELD OF THE INVENTION The present invention relates to a system and a method for optical inspection of off-line industrial gas turbines and other power generation machinery in a turning gear mode. BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

Reference to Concurrent Applications

[0001] This application is a divisional application entitled "System and Method for Automated Optical Inspection of Industrial Gas Turbines and Other Power Generating Machinery by a Multi-Axis Coupling Tester, Assigned Serial No. 13 / 362,352, filed January 31, This is a continuation of the filing of the US utility patent application, which is an "Articulated Multi-Axis Inspection Scope" with "System And Method For Automated Optical Inspection Of Industrial Gas Turbines And Other Power Generation Machinery".

This application claims the benefit of the assignee of the present invention, filed on August 23, 2012, assigned the serial number 61 / 692,393, which is also referred to as "turbine blades are also on turning gears (1 - 1000 rpm) Hybrid Scanner - Turbine Combustor Hardware Visual Inspection Tooling (Hybrid Scope - Turbine Combustor Hardware Visual Inspection Tooling That Can Also Be Used To Inspect The Row 1 Turbine Blades While They Are On Turning Gear (1 - 1000 rpm) U.S. patent application claims the benefit of, and is incorporated by reference herein.

The present application also claims the benefit of the following co-pending United States patent applications: The invention, which was filed on January 31, 2012 and assigned serial number 13/362, 417, is entitled "Automation of Industrial Gas Turbines & A US utility patent application entitled " System And Method For Automated Optical Inspection Of Industrial Gas Turbines And Other Power Generation Machinery "; The name of the invention, which was filed on January 31, 2012 and assigned serial number 13 / 362,387, is "System and Method for Automated Optical Inspection of Industrial Gas Turbines & Inspection Of Industrial Gas Turbines And Other Power Generation Machinery With Multi-Axis Inspection Scope "; The present application is a continuation-in-part of U. S. Patent Application Serial No. 61 / 692,409 filed on August 23, 2012 entitled "Vision Scope - 3D Scanner Tip for Visual Inspection and Measurement ), Entitled " Off-Line Industrial Gas Turbines and Other Power Generation Machinery, " filed on even date herewith, with the application Ser. No. 2013P09381US claiming the benefit of a co- A system and method for scanning 3D white light (US and US Patent Application) which is a simultaneous pending application of "System And Method For Visual Inspection And 3D White Light Scanning Of Off-Line Industrial Gas Turbines And Other Power Generation Machinery". All of the above cited co-pending applications cited above are incorporated by reference herein.

The present invention relates to optical camera systems for non-destructive internal inspection of industrial gas turbines and other power generation machinery, including but not limited to steam turbines and generators. More particularly, aspects of the present invention provide a method and system for monitoring a gas turbine engine through a gas turbine combustor and transition while the turbine engine is in a turning gear mode, either by human intervention or without human intervention. To an optical camera inspection system capable of positioning images of a field of view (FOV) and capturing images of turbine blades rotating in one row. In some embodiments, camera positioning and image capture may be initiated automatically or after receipt of an operator permission. In other embodiments, camera positioning may be performed manually.

Generating machinery, such as steam or gas turbines, often operate continuously with planned inspection and repair cycles, at which time the turbine is taken off and is shut down. By way of example, a gas turbine engine will often be operated to generate power continuously for approximately 4,000 hours, at which time it is discontinued for the repair of any components identified during regular maintenance, inspection and inspection. It is a multi-day project that stops the gas turbine for planned maintenance and consequently stops it completely. Some turbine components, such as a turbine rotor section, operate at temperatures above 1000 ° C (1832 ° F). The turbine requires 48-72 hours of cooling time to achieve an ambient temperature prior to a complete shutdown to reduce the likelihood of warping or other deformation of components. During the shutdown phase, the turbine rotor rotational speed is reduced from an operating speed of approximately 3600 RPM to a speed of approximately 120 RPM or less in a "turning gear mode" in which the rotor is externally driven by an auxiliary drive motor Spooled down to reduce the likelihood of rotor twisting. Other turbine components, such as turbine housings, are also slowly cooled to ambient temperature.

Once the turbine is cooled to ambient temperature over a course of approximately up to 72 hours, the internal components of the static turbine can now be inspected by known optical camera inspection systems. Known optical camera inspection systems utilize rigid or flexible optical bore scopes that are inserted into inspection ports located around the turbine periphery. The bore device is manually positioned so that its field of view includes one or more vanes or corresponding zones in the turbine such as blades, combustor baskets, etc. . A camera optically coupled to the bore device captures images of the corresponding objects in the watch for remote visualization by the tester and archiving (if necessary).

If a series of different images of different corresponding zones within a given turbine inspection port are required, the operator must manually relocate the camera inspection system bore device to achieve the desired relative alignment of the watch and its internal zone. Relative alignment can be accomplished by physically moving the bore device so that its viewing port is positioned near that fixed area. Examples of such relative movement of the stationary turbine component and the bore device include radial bores in and out of the space between the vanes and the row of blades in different orientations in the stationary combustor or in the turbine section, This is due to the insertion of the device. Relative alignment can also be achieved by keeping the bore instrument view port in a fixed position and moving the turbine internal components into the fixed clock. An example of the relative movement of the fixed bore device and turbine internal components is the inspection of different blades in the row of blades by manually rotating the turbine rotor sequentially several times and capturing an image of the blades. The rotors are rotated in order to align each required individual blade in the column within the camera clock.

A complete turbine inspection requires multiple passive relative relocation sequences between the camera inspection system sight port by the human inspector and corresponding sections within the turbine. Inspection quality and productivity depend on inspection and operation skills of the inspector and the inspection team. The location of the testing device is difficult due to the complex operational paths between the components in the gas turbine. For example, the insertion of a bore device through a combustor inspection port to check the leading edge of the vanes in the first row or the associated supports requires complex operations. Improper positioning of the inspection device in the turbine can potentially damage the internal components of the turbine. Often, the inspection team of a large number of workers needs to perform manual inspections using known inspection methods and devices. In short, the known passive camera inspection processes and inspection system manipulations are time consuming, essentially repetitive, often requiring the assistance of a team of multiple personnel. Known " human factors " required for manual camera inspection procedures and inspection system manipulations lead to undesirable inspection process deviations based on human skill level differences . Due to given human skill deviations, some inspection teams can complete inspections in less time than other teams, achieve better image quality, and have a lower risk of inspection damage. Ideally, the skills of a high-performance inspection team can be captured for use by all teams.

Because gas or steam turbines are often the most sensitive to thermal and / or mechanical damage of operation, it is desirable to obtain inspection images of the leading edges of one row blades in these gas or steam turbines. When images of one row of blade leading edges are in a cool down cycle (e.g., when the rotor is spinning below 1000 RPM prior to the long turning gear mode part of the cooldown cycle) The blades requiring repair may be preferentially treated during replacement, remodeling and / or other repair days before the turbine rotor is tested, if it can be obtained early and easily, (Prioritized). Known bore checker inspection systems experience optical quality degradation in the optical fiber tester between the field of view (FOV) and the objective lens of the camera and keep the illumination constant during the inspection procedure. The physical constraints of this known bore checker effectively limit their usefulness by obtaining images of static components (in other words, when the rotor is completely shut down). Otherwise, the inspector camera captures blurred images of the rotating blades.

There is a need in the art for optical camera inspection systems and methods that enable visual inspection of all one row blades from a single, easily accessed inspection spot while the turbine rotor is rotating below 1000 RPM.

As a non-limiting example, the total time required to perform a non-destructive internal inspection of a power generation machine, including steam or gas turbines and generators, is reduced than can be achieved by known testing apparatus and methods, There is a need in the art for optical camera inspection systems and methods that can be put back into operation to resume generation more quickly during these maintenance cycles.

By way of example and not by way of limitation, inspection devices within power generating machinery including steam or gas turbines and generators are referred to as being minimally hazardous to damage to internal components of the machine, Quality and faster inspection Another requirement for optical camera inspection systems and methods that can be positioned consistently and repeatedly within inspection cycles of an individual machine or within inspection cycles of a number of different machines with cycling time Are present in the art.

There is another need in the industry for optical camera inspection systems and methods that help to equalize inspection skill levels and productivity among different inspection teams.

Thus, the potential objectives of the present invention (together or several of them) reduce the overall scheduled maintenance cycle time and the individual inspection cycle time compared to known inspection apparatus and methods; Has a minimized damage concern and a high image quality to the internal components of the machine while positioning the inspection apparatus consistently and repeatedly within the inspection cycle of each machine or within the inspection cycles of a number of different machines; (Including but not limited to steam or gas turbines and generators) that assist in equalizing inspection skill levels and productivity among different inspection teams.

Another object of the optical inspection system of the present invention is to enable visual inspection of all one row blades from a single easily accessible inspection spot while the turbine rotor is rotating below 1000 RPM.

These and other objects are achieved in accordance with the present invention by a system for internal inspection of a gas or steam turbine. The system includes a base for attachment to a turbine inspection port. The system also includes a tester having an extendable elongated body defining a central axis, the tip being rotatably coupled to the base and a distal end inserted into the turbine inspection port. The tester includes a distal end and a distal end intermediate extension; And an articulation joint having an opposing first joint end and a second joint end, wherein the first joint end is coupled to the test device distal end. The camera head with the watch is coupled to the joint joint second joint end. The total rotation drive is coupled to the tester to rotate the tester about its own central axis. The checker extension drive is coupled to the extension to translate the extension. The articulation drive is coupled to the camera head by articulating the camera head clock with respect to the tester center axis. The camera is coupled to the camera head and captures images in the clock. The lighting system selectively illuminates the camera clock. The system also includes means for locating the tester and watch along the guiding path in the turbine to the corresponding interior zone, as well as selectively illuminating the camera clock by the illumination system and capturing camera images at rates corresponding to the turbine rotor rotational speed A tether extension drive, a joint drive, a camera, and a control system coupled to the illumination system. In some embodiments, the illumination system operates in a first mode to uniformly illuminate the camera's clock, such as when imaging a row of fixed vanes, wherein an off-line turbine rotor rotates Thereby switching to a strobe lighting second mode to capture images of the one-column turbine blades.

In embodiments of the present invention, the tester base is attached to an off-line gas turbine combustion section, the tester is inserted through a transition through a combustor pilot nozzle port, And are oriented to capture images of the blades. The illumination system is pulsed at a strobe rate corresponding to the rotor RPM such that images of the rotating plurality of blades can be captured from a single inspector insertion point.

The invention also features a system for internal inspection of a steam or gas turbine comprising a base for attachment to a turbine inspection port. The system also includes a tester having an elongate elongate body defining a central axis, the tip portion being rotationally coupled to the base and the distal portion being inserted into the turbine inspection port. The extension is intermediate between the tip and the distal end. The tester has an articulated joint having an opposing first joint end and a second joint end, the first joint end coupled to the test device distal end. The camera head extension is coupled to the joint joint second joint end. The extension has a camera head telescopic member portion as well as a camera head rotation / pan joint that is also coupled to the second end of the joint-joint joint. The tester has a watch and has a camera head coupled to the camera head extension and the camera head rotation / fan joint. The tester has actuators for the motion shafts. The total rotation drive rotates the tester about its own central axis. The tester extension drive translates the extension portion and the joint drive portion articulates the camera head clock with respect to the tester center axis. The camera head extension driving part translates the elastic part of the camera head and the camera head rotation / fan driving part rotates the camera head. The camera is coupled to the camera head and captures images within the tester's watch. The inspection system has an illumination system for selectively illuminating the camera clock. The control system not only locates the tester and clock along the guiding path in the turbine in the corresponding inner zone but also selectively illuminates the camera clock by the illumination system and to capture camera images at speeds corresponding to the turbine rotor rotational speed The total rotation drive unit, the tester extension drive unit, the joint drive unit, the camera head extension drive unit, and the camera head rotation / fan drive unit and the camera. In some embodiments, the camera is a global shutter or full frame camera that captures all camera pixel images at approximately the same time, and the captured images are one row blades.

The invention also features a method for internal inspection of a steam or gas turbine, comprising the step of providing an internal inspection system. The inspection system has a base for attachment to the turbine inspection port and a tester coupled to the base. More specifically, the tester has an elongate elongate body defining a central axis, the distal end being rotationally coupled to the base and the distal end being inserted into the turbine inspection port. The inspecting device has an extension part between the distal end and the distal end; And an articulated joint having an opposing first joint end and a second joint end, wherein the first joint end is coupled to the test device distal end. The camera head with the watch is coupled to the joint joint second joint end. The tester also has multiple drivers for imposing selective motion on the tester. The total rotation drive rotates the tester about its own central axis. The tester extension drive causes the extension to translate. The articulation drive joints the camera head clock with respect to the tester center axis. The camera is coupled to the camera head and captures images within the tester's watch. The system includes a control system coupled to the total rotation drive, the tester extension drive, the joint drive and the camera to position the tester and watch along the guide path in the turbine to the corresponding inner zone and capture the camera image of the inner zone, . The tester thus provided also has an illumination system for selectively illuminating the camera clock coupled to the control system. The inspection method is further implemented by rotating the off-line turbine rotor at a rotational speed and attaching a base to the turbine inspection port, such as the combustor nozzle port. The turbine is inspected by positioning the tester and the camera head clock along the guided path by the control system. The illumination system selectively illuminates the camera clock with strobe rates corresponding to the turbine rotor rotational speed. The camera images are captured at speeds corresponding to the turbine rotor rotational speed. In some embodiments, the camera is a global shutter or full frame camera that captures all camera pixel images at about the same time, and the captured images are one row blades.

Advantageously, the guide path can be pre-determined by several methods and subsequently recorded for later iteration by the control system of the actual tester used in the inspection step. The methods for predetermining the guiding path may be performed in a gas turbine actually inspected along the selected guiding path (or in another gas turbine having the same type of internal structure as the actually inspected gas turbine) Prior to the human-controlled positioning of the object; A human controlled simulated positioning of a virtual inspector of the type used in the inspecting step in the virtual power generating machinery of the type inspected along the selected guiding path; And a simulated positioning of virtual inspector types and virtual power generation machines of the type used in the inspecting step along the selected simulated guided path without human intervention.

In other embodiments for implementing the methods of the present invention, the inspection system provided is used to capture images of gas turbine one row vanes and one row blades components, and the base is coupled to a gas turbine combustor pilot nozzle port Ring; Inserting the tester through a gas turbine combustor pilot nozzle port; And illuminating the camera clock while guiding the camera along the guide path through adjacent combustor transitions and combustors upstream of the one row blades and vane components irrespective of the turbine rotor rotational speed. A first camera image of one or more of the one row vane components is captured by the inspection system articulation joint provided at the first position. The camera clock is selectively illuminated by the illumination system at strobe rates corresponding to the turbine rotor rotational speed. The joint engagement joint is articulated to the second position such that the camera captures the second camera images of each of the plurality of rotating one-row blade components. In some embodiments, the camera is a global shutter or full frame camera that captures all camera pixel images at approximately the same time, and the captured images are one row blades.

Objects and features of the present invention may be combined in any combination or sub-combination by those skilled in the art in various embodiments to implement at least some (but not necessarily all) of the previously recognized requirements Or each can be applied.

The teachings of the present invention can be readily understood by considering the following detailed description in conjunction with the accompanying drawings.
1 is a partial schematic cross-sectional view of a known gas turbine;
2 is a partial schematic cross-sectional view of a known gas turbine illustrating partial insertion of the optical camera inspection system embodiment described herein into a combustor inspection port;
Figure 3 is a partial schematic cross-sectional view of a known gas turbine that performs inspection of combustor internal components by the optical camera inspection system of Figure 2;
4 is a partial schematic cross-sectional view of a known gas turbine that performs inspection of the leading edge of one-column turbine blades by the optical camera inspection system of the present invention;
5 is a perspective schematic view of the optical camera inspection system of the embodiment of FIG. 2, showing available motion degrees of freedom (?, T,?, E and?);
Figure 6 is a perspective schematic view of the optical camera inspection system of Figure 5 in the collapsed insertion position of Figure 2;
Figure 7 is a perspective schematic view of the optical camera inspection system of Figure 5 at the locked inspection position of Figure 3;
8 is a perspective schematic view of an extension tube mechanism portion of the optical camera inspection system of FIG. 5, showing the degrees of freedom of motion (? And T); FIG.
Figure 9 is a schematic perspective view of an adapter ring of the present invention attached to a turbine inspection port,
10 is a schematic elevational view of a camera head joint engagement and pan mechanism of the optical camera inspection system of FIG. 5, showing motion degrees of freedom (? And?); FIG.
Figure 11 is a schematic top view of the camera head articulation and rotation (pan) mechanism of Figure 10;
Figure 12 is a schematic elevational view of the camera head extension mechanism of the optical camera inspection system of Figure 5, showing the degree of freedom of motion (E);
Figure 13 is a schematic perspective view of the camera head of the optical camera inspection system of Figure 5;
Figure 14 is a schematic exploded perspective view of the camera head of the optical camera inspection system of Figure 5;
Figure 15 is a schematic partial assembled perspective view of the camera head of Figure 14;
Figure 16 is a block diagram of a control box and control system for the optical camera inspection system of Figure 5;
17 is a perspective schematic view of an embodiment of a tablet computer human machine interface (HMI) for operator remote monitoring and control of an optical camera inspection system of the present invention;
18 is a partial schematic cross-sectional view of a known gas turbine illustrating the insertion of another optical camera inspection system embodiment described herein into two separate turbine section columns of respective inspection ports;
19 is a perspective elevation view of the optical camera inspection system embodiment of FIG. 18, showing available motion degrees of freedom (T,? And?);
20 is an elevational view of a swing prism articulation mechanism for motion freedom (PHI) of the optical camera inspection system embodiment of FIG. 18;
21 is a perspective view of an optical camera inspection system embodiment of the present invention having a camera head capable of capturing images of one-column turbine blades while the turbine is in a turning gear mode;
22 is a perspective view of the camera head of the camera inspection system embodiment of FIG. 21;
Figure 23 is a block diagram of a control box and control system for the optical camera inspection system of Figure 21;
To facilitate understanding, the same reference numerals have been used, where possible, to designate identical elements that are common to the figures.

After considering the following description, those skilled in the art will readily appreciate that the teachings of the present invention can be readily utilized in optical camera systems for non-destructive internal inspection of power generation machinery, including steam or gas turbines and generators by non-limiting example Obviously you will realize. Images will be obtained as the generator rotor rotates below 1000 RPM. In some embodiments, the internal components of the gas and steam turbines automatically or passively position the camera clock (FOV) to corresponding zones in the turbine along a predefined guided path, and by human intervention or It is inspected by an optical camera inspection system that can capture images without human intervention. In some embodiments, the camera positioning and image capture may be initiated automatically or after an operator's permission reception. In other embodiments, the camera may be manually positioned under human control, such as by a joystick or other human machine interface device. The inspection system includes an articulated multiaxial tester with an optical camera that can be advantageously inserted through a combustor nozzle access port, combustor and transition, so that when the rotor spins below 1000 RPM, the camera FOV The leading edge of one row rotating turbine blades is captured. The illumination system strobe light and camera image acquisition is synchronized with the blade rotation rate so that images of multiple or all blades can be obtained from a single tester insertion point. Camera resolution and image acquisition rate can be improved by avoiding blurry images of rotating blades, for example, through the use of an exemplary so-called "full frame" or "global shutter" camera that captures images of all camera pixels at substantially the same time .

In some embodiments, the optical camera inspection system can automatically position the camera's field of view (FOV) with corresponding zones within the organs and capture images without human intervention. The automatic camera position setting and image capturing can be started automatically or after the permission reception of the operator. Alternatively, the system may be operated by a human in "passive" mode.

Camera Inspection System Overview

1, 4, and 18, embodiments of the camera inspection system described herein include combustion section combustors and transitions 34, vanes 42, 46 secured to turbine section 1 column 2, field; Leading first and second row rotating blades 44 and 48; And automatic ring remote visual inspection of gas turbine 30 internal components including ring segments. As shown in FIGS. 2-4 and 18, the inspection system embodiments described herein may be used in a gas turbine 30 turbine section, such as a combustor nozzle port 36, or other ports 50,52. By inserting an optical camera tester probe (60 or 220) remotely operated to turbine test ports, it is possible to inspect off-line turbines which are not cooled to a completely ambient temperature. In adhering, the inspector probes 60 or 220 may be selectively activated (either manually or in an operator-by-operator, in some embodiments) via internal motion control servo motors under the command of a motion control system (Automatically in other embodiments). Image data is acquired and captured and archived for further analysis if required.

Articulation checker

Figures 2 through 4 illustrate the off-line gas turbine (Figure 2) by insertion of one of two alternative embodiments of the articulatable tester 60 into a combustor nozzle port 36 that serves as an inspection port FIG. For maneuvering clearance of the tester 60 to the limits of the gas turbine installation, the tester 60 may have a folding knuckle so that the tester is a generally L-shaped profile approximately half can be folded with a profile. Once the tester 60 is positioned within the inspection port 36, the knuckle is straightened as shown in FIG. After the tester 60 is attached to the inspection port 36, the tester can be used to inspect the combustor and transition internal components by rotating and extending the tester's camera head. In the tester embodiment of FIG. 4, when the tester 60 is further extended and its camera head is articulated, images of the leading edge of one row vanes and one row of blades can be obtained. If the turbine rotor is in the turning mode, as the blades rotate past the camera head clock, as will be discussed in more detail herein with reference to Figures 21-23, images of all of the one row blades can be captured .

Referring to Figure 5, the inspector embodiment 60 shown here has three major component sections: an extension tube section 62 (see Figures 5-9) capable of performing the following five degrees of freedom of movement: Reference); A motor can 64 (Figs. 5, 10 to 12); And a camera tip 66 or head (Figures 5, 12-15, 21 and 22).

Ω - gross rotation;

T - telescoping extension;

Φ - camera head joint binding;

E - Camera head tip extension; And

θ - Rotate the camera head / fan.

The extension tube section 62 has a mounting tube 70 and mounting collar 72 attached to an inspection port such as a combustor inspection port 36. The motor housing 74 is attached to the opposite end of the mounting tube 70 remote from the mounting collar 72 and accommodates the servomotors necessary to perform the motion degrees of freedom O and T. [ Three retractable tubes 75-77 are superimposed into the mounting tube 70 to provide T direction movement.

6 and 7, the spring loaded rocker knuckle 80 is configured such that the entire tester 60 is operated in a compact operation mode for the turbine 30, as shown in FIG. 2 and described above. to be folded for maneuvering. A locking sleeve 77A slides over the telescopic tube 77 and constrains the knuckle 80 internally when the tester 60 is in its locked inspection position as shown in FIG.

5, the motor can 64 is moved through the camera head 66 extensor movement E and camera head 66 through motion degrees of freedom, phi, camera head telescopic extensions 84 and 86, Lt; RTI ID = 0.0 > 88 < / RTI > The camera head 88 includes camera ports 90 and 92 for respective axial and lateral field of view (FOV).

8 is a detailed view of motor housing 74 showing two large diameter and small diameter gears that are co-axially nested within a rotation hub 100 and driven independently. The rotary drive gear 102 is driven by the rotary servomotor 104 so as to perform the? Movement by rotating a larger diameter gear in the rotary hub 100. [ A telescope extension drive screw 106 is tightly coupled to the smaller diameter gear within the rotating hub 100 and in turn engages the extended drive gear 108. The extended servomotor 110 is responsible for executing the T motion by rotating a smaller diameter in the rotating hub 100. [ The mounting collar 72 is attached to the adapter ring 112, i.e., in turn, attached to a test port, such as a combustor nozzle inspection port 36. As shown in FIG. 9, the adapter ring includes a plurality of circumferential threads 114 that mate with mating internal threads within the mounting collar 72. The adapter ring 112 has mounting holes 116 for receiving tapered head machine screws 118. The screws 118 may be captively mounted within the adapter ring 112. Other configurations of the adapter ring or other types of base attaching the tester to the test port may replace the adapter ring 112.

10, the motor can 64 has a motor can housing 120 with a pair of spaced apart ear-like motor can pivots 122. The joint motion servomotor 124 rotates the drive screw 126 which imparts the Φ joint motion by tipping the camera pivoting hub 128. The tipping motion shaft 132 is set between the camera hub pivots 130 that are rotationally coupled to the motor can pivot 122. An offset link 133 is coupled to the drive screw 126 and converts the linear motion into rotational motion about the tipping axis 132.

The motor can housing 120 also includes a camera pan / turn servomotor 134 that imparts a? Motion degree of freedom on the camera head 66, as shown in FIG. Servo motor 134 drives a bevel gear train 136 which in turn is driven rotationally captured within camera pivoting hub 128 to rotate rotary hub 129, And a bevel gear. The rotating hub 129 is tightly coupled to the camera head telescopic extension 84. The camera end telescoping extensions 84 and 86 are extended and contracted in E motion freedom by an extension servomotor 140 which in turn engages the linear drive screw 142. The linear drive screw 142 includes a drive pulley 144 over which a tensioned cable 146 passes. A slave pulley 148 is attached to the camera head 88 and is also coupled to the cable 146. A coil spring 150 is sandwiched between the camera head 88 and the rotating hub 129 and deflects them away from each other thereby tensioning the cable 146. Selective translational motion of the drive screw 142 by the extension servo motor 140 follows the movement of the camera head 88 to the left and right in the figure (movement E).

Figs. 13-15 illustrate an embodiment of a camera head 88 having a clamshell structure with a camera head housing 152 and an optionally removable cover 154. Fig. Camera 156 has a field of view (FOV) through a "camera 1" port 90 that extends along the central axis of the camera head 88. Camera 158 has a field of view (FOV) through a "camera 2" port 92 extending laterally or vertically to the central axis of the camera head 88. The camera 156 generates its image through the prism 160. The cameras 156 and 158 are well known auto-focusing USB cameras of the type routinely used with personal computers. Light emitting diodes (LED) 162 and 164 provide illumination for cameras 156 and 158 during internal inspection of the power generation machinery. One or two cameras having different resolution and focus characteristics may be substituted for the auto focus USB cameras. Similarly, the camera head illumination system may be configured to provide a desired output intensity, including, without limitation, i) steady state or pulsed strobe illumination, or ii) intensity outputs that may be variable or blurring, or Other illumination sources or LEDs of other features may be applied.

A camera tip or head 66 'of an alternative exemplary embodiment that replaces the camera tip or head 66 described in the preceding figures is shown in FIGS. 21 and 22. FIG. The camera head 66 'is coupled to the camera pivoting hub 128, which forms the distal end of the articulating joint 82. The motor can 64, including the joint joint 82, and the remainder of the previously described tester system tube section 62 are utilized by the camera head 66 'of an alternative embodiment.

The camera 156 'is preferably a camera that is referred to as a "full frame" and "global shutter" that simultaneously captures images of all camera pixels simultaneously or virtually simultaneously. The camera 156 'preferably has a resolution of 2 megapixels or greater, and the individual of the one-column rotor blades that rotates while the rotor rotates below 1000 RPM without image blurring And has a frame rate sufficiently high to capture images. A suitable camera is a Genie family camera available from Teledyne DALSA of Billerica, Massachusetts, USA. The camera 156 'includes a zoom focus drive 157' that can be automatically or manually adjusted for magnification. Preferably, the inspection system 60 has optical hardware, such as fiber optic pipes or viewing windows, between the camera objective lens 157 "and the corresponding subject in the FOV Camera 156 'The field of view (FOV) is parallel to the center axis of the camera head 66'. The camera 156 ' The FOV can be moved to any desired position relative to the central axis of the camera head 66 'by, for example, utilizing a prism or, preferably, physically reorienting the camera and its objective lens 157 " . Although a single camera is shown in Figs. 21 and 22, multiple cameras may be mounted to the camera head 66 'as shown in the camera head 66 of Figs. 13-15.

The embodiment of the tester 60 of Figures 21 and 22 includes an LED light (not shown) mounted coaxially with the camera head 66 'central axis to illuminate the camera 156' FOV during inserter insertion and / lt; / RTI > has an illumination system shown as including pairs of light (162 'and 164'). The LED lights 162 'and 164' may be oriented in any desired direction including the transverse direction with respect to the central axis of the camera head 66 'as shown in FIGS. 13-15.

The tester 60 (utilizing either of the camera head embodiments 66 or 66 ') preferably includes a cooling air line 170 and a pressurized cooling air source 172 ), Which is schematically shown in Fig. Cooling air passes through the tester 60 to transfer heat away from the equipment where cooling air flows through the camera ports 90 and 92, the prism 160, the cameras 156 and 158, 164 through the gaps in the outer surface of the tester. These gaps effectively function as cooling air exhaust ports. The various cooling ports for venting cooling air help to transfer heat from the tester 60 and create a thermal barrier around the camera head 88 that is relatively cooler than the internal temperature of the turbine 30 that is not fully cooled . In this manner, the tester 60 can be inserted into a shut-down turbine that is still hot for a number of hours before the turbine is cooled to ambient air temperature. In this way, inspection can be initiated more time (and possibly several days) than was acceptable by known inspection systems. In this manner, the inspection process can be initiated and completed earlier in the turbine service period than was possible in the past, possibly reducing the overall repair cycle time.

Camera Inspector Control and Operation

The tester 60 positioning along its five kinematic degrees of freedom comprises five previously described precision motion control servomotors 104 (), 110 (T), 134 (), 124 () E). ≪ / RTI > Servo motors have associated encoders that provide motor position information feedback for use by a controller of a known motion control system. Figure 16 is a block diagram of an exemplary motion control system utilized by the camera head 66 of Figures 13-15. A corresponding block diagram for the camera head 66 'of Figs. 21 and 22 is shown in Fig. In both FIG. 16 and FIG. 23, common components and functions are denoted by the same reference numerals and include common operation descriptions. The previously described tester 60 hardware is represented by the dashed line 60 and includes a control box 180 indicated by dashed lines and a known communication path such as a multipath cable 192 and individual camera cables pathways.

16 and 23, the control box 180 includes first and second electric power for supplying power to the motion control device 186 and the motion controller motor drive 188. In one embodiment, Supply devices 182 and 184, respectively. All components 182 through 188 are known designs used in industrial motion control systems. The motion controller 186 controls the motion of the tester 60 to activate and reverse the servomotors 104 (?), 110 (T), 134 (?), 124 (?), And 140 And instructs the control unit motor driving unit 188 to execute the commands. For the sake of brevity, all of these motors are collectively referred to as "servo motors ". Each servo motor has associated encoders that generate encoder signals indicative of a tester position within its respective motion range. For example, the encoder associated with the servomotor 104 generates a rotational position signal indicative of the total rotational position [Omega] of the extension tube portion 62. [ Position signal information from each encoder is accessed by motion controller 186. The motion control device 186 correlates each motor encoder signal by the tester 60 spatial position. A digital light controller 190 may include LEDs 162, 164 or 162 ', 164', a light output and an on / off (including a strobe function, if applicable) And communicates with the motion controller 186 and the host controller 200. The motion control device 186 also controls the flow rate of cooling air flow into and out of the tester 60, e.g., from the cooling port 174.

In the embodiments of Figures 16 and 23, the motion control device 186 has an optional wireless communicatable portion 194. For example, a hardwired data path 198, which is a cable carrying communication signals conforming to the Ethernet protocol, communicates with the host controller 200. Exemplary host control device 200 is a personal computer with internal memory capacity and, if desired, external memory 202. In the embodiments of Figures 16 and 23, the host controller computer 200 includes a camera 156 (USB camera 1), a camera 158 (USB camera 2) and a camera 156 '/ camera And receives and processes image data from focus 157 '. The host control unit computer 200 also controls the operation of the cameras.

For a full-frame or global shutter 156 'camera, the host controller computer also receives turbine RPM rotational speed information y from the gas turbine 30 velocity sensing system to determine the camera image acquisition rate and LED light 162' Or 164 'are pulsed / strobed in combination with the turbine rotational speed to image a plurality of one-column turbine blades from a single inspection FOV without significant image blurring. Utilize the strobe lighting sequence during rotation of the blade inspection, more advantageously a full-frame global shutter camera and camera 156 ', an optically unobstructed direct view (') between the objective lens 157 ' view facilitates the acquisition of higher turbine RPM images (e.g., less than about 1000 RPM), possibly without a strobe lighting sequence. The illumination system also selectively illuminates the camera clock by changing illumination intensity and duration, regardless of the turbine rotor rotational speed. The host control unit computer 200 may store or otherwise store the original or processed image data in the memory 202. The tester 60 may be positioned under human command and control, such as an HMI joystick 204 and / or an HMI view / touch screen 206. Images from the cameras 156, 156 'and 158 can be viewed by the HMI field of view screen 206.

Optionally, the computer 200 may have a wireless communicable portion, for example, to communicate with other computers, including a tablet computer 210 with an HMI. 17 is an exemplary illustration of a camera 1 image display 212 including a camera 1 image display 212, a camera 2 image display 214, a probe position information display 216 and an HMI control interface 218 for manipulating tester 60 positions. Tablet computer HMI display screen. The tablet computer 210 may have a portion capable of directly communicating with the exercise control device 186 without having to communicate through the host control device computer 200. [ The tablet computer HMI 210 may also be utilized by the tester embodiment 60 shown in FIG.

Blade / Vane Inspector

An embodiment of the blade / vane tester 220 is shown in Figures 18-20. This embodiment is particularly suitable for inspection between the rotating blades within the limits of the gas turbine 30 turbine section 38 and the rows between the fixed vanes. 18 shows a pair of inspectors 220 mounted on each of the inspection ports 50 in one row and the inspection ports 52 in two columns. However, at the discretion of the inspection team, a single tester 220 may be mounted on the selected test port, or more than two tester 220 may be mounted on the turbine 30 simultaneously during the inspection process. Similarly, the inspection team may at the same time also operate one or more tester 60 embodiments simultaneously with or without the tester 220 embodiment in any inspection process have.

19 and 20, the tester 220 embodiment is mounted on a gas turbine test port (here, one row of test ports 50) by a mounting flange 222. As shown in FIG. The linear drive 224 with associated servomotor and encoder translates the tester to a telescopic extended position motion degree of freedom (T). The rotary drive 226 with associated servo motor and encoder rotates the tester with the degree of freedom of camera rotation / pan motion ([theta]). The bore device 228 has a camera head 230 that is mechanically coupled to the linear drive 224 and rotation drive 226 and captures within its field of view (FOV). The camera head 230 includes a pivoting prism 232 and motion to its articulation degree of freedom phi is imparted by the associated servo motor and encoder. The bore device 228 includes a known structure and auxiliary exterior lighting (not shown) that illuminates the optical fiber lenses 234 and the illumination and transmits the images in the camera head clock to the camera 336. The camera 236 may be an auto-focusing USB camera coupled to the motion control system, as shown in FIG. General motion control and positioning and camera image acquisition along the motion degrees of freedom (?,?, And T) of the tester 220 are performed as previously described for the tester embodiment 50.

The tester 220 includes an external cooling system for testing within the turbine 30 cooling stage when the turbine section 30 still has an elevated temperature of up to about 150 degrees Celsius. As described for the inspector embodiment 50, the cooling system includes a bore tester (not shown) that emits cooling air from a source of cooling air through one or more functional cooling air exhaust ports, such as around the camera head 230 228 and an air line 170 running parallel thereto or inside thereof.

The three degrees of freedom ([Phi], [theta] and T) of the blade / vane tester 220 embodiment can be used to determine the leading or trailing of all the rotating turbine blades in a given row while the turbine rotor is spinning into a turning gear mode. It is enough to get complete images of the sides. For example, each leading side of each row of turbine blades 44 in FIG. 18 may be inspected by a tester 220 located at the inspection port 50. As each individual blade rotates within the camera head 230 clock, its image is captured by the associated control system. A partial or full series of blade images may be obtained during rotation of the single rotor 40 while the turbine 30 is in the turning gear mode. The single camera head 230 clock will not capture the entire radial length of the corresponding section of the turbine blade. By repositioning the camera head tilt angle phi or inserting / retracting the bore tester 228 along the T degrees of freedom, the camera clock can be repositioned radially along the blade or vane length. The images captured at the radial positions of the different blades / vanes may be combined to produce an overall image of the entire blade. Similarly, an image of the trailing edge of each blade 44 within a row can be captured by positioning the tester 220 within the turbine inspection port 52, as was done for the leading edges.

Exemplary turbine test procedures

Some camera inspection system embodiments described herein provide for automatic positioning and image capture capability of the inspection camera clock for that area of the turbine, such as a gas turbine, without human intervention. After the inspector location setting sequence information is provided to the system, subsequent examinations are repeatable by different inspection teams regardless of their individual inspector positioning skills or inspection speed. Automated tests can be completed more quickly, with less possibility of human-created errors when compared to known testing procedures. A further description of the inspection methods of the present invention will be referred to the inspection of an exemplary industrial gas turbine.

The automatic tester location setup sequence information may be obtained by installing the tester embodiment described herein on a selected test port and orienting all controlled motions to an initialized or "start" position. The human inspector can guide the inspector through the control system HMI by the use of a joystick or touch screen pad through a guided path in the turbine, e.g., recorded in one or both of the control system control devices / guide. The navigation path is selected to orient the tester camera head clock within the zone without causing undesirable collisions of the tester internal components with the tester.

In the automatic tester location setting embodiments, the control system initially maintains the guided path information from a human controlled survey and then automatically acquires guidance path information for later inspection cycles of the same turbine or other turbines having the same internal structure The checker positioning sequence can be repeated. For example, the guiding path sequence may be performed on a single test turbine and the sequence may be communicated to other remote locations for use by inspection teams that inspect gas turbines of the same structure located at this location. In the field, the inspection team may be interested in whether other gas turbines can have variations in the internal structure from the original gas turbine. The field team can review the stored guided paths individually and step-by-step, locally to accommodate any path variations required for on-site installation turbines to perform inspections, You can choose to program the path.

The guiding paths may alternatively be determined in the virtual space by simulating the guiding path in the simulated turbine and recording the path for subsequent use in actual turbine checks. Alternatively, a tester test simulation program may produce a proposed test guide path for review and approval by a human tester.

The guide path sequence may move the camera head clock from one corresponding position to another corresponding position. For example, as shown in FIG. 4, a tester may be attached to the combustor nozzle port 36, at which time the inspection system may detect an image of internal components in the combustor and transition, with the aid of steady state lighting illumination from the illumination system Capturing and recording them, and then moving the leading edge of one row vanes to take their images. If a one-column blade leading edge image is desired, the tester 60 camera head can pass between these vanes and extend through these vanes. Alternatively, when performing a one-column blade leading edge image, the camera head may be positioned such that when the camera FOV is shifted by articulating the articulation joint 82 along the axis of motion phi, And can be maintained at the edge outer edge transition. This articulating shifting will allow the tester 60 to inspect the leading edge of the first row blades within the repositioned camera FOV and to capture their images. If the turbine rotates in a turning gear mode or alternatively under about 1000 RPM, the camera head 66 'embodiment with strobe lighting from the illumination system lights sequentially records the same image for each blade during a single rotor rotation .

When in the guiding path position, the camera head embodiments 66 or 66 'can be repositioned to obtain image information from different camera clocks from the same reference point. Various images taken from the same reference point can be combined to obtain a composite or "stitched" view of the structural elements, or for a virtual "tour" of any or all parts of the interior of the turbine have.

In addition to moving the tester camera head clock from one position to another, it is also possible to move the corresponding turbine component sections into the clock of the fixed camera head. For example, a tester inserted between the rows of blades and vanes or on the leading edge of one row of blades may be configured to manually couple each blade of the turbine rotor, either in the turning gear mode, , It is possible to capture an image of each blade rotating within the camera's clock.

While various embodiments including the teachings of the present invention have been shown and described in detail herein, those skilled in the art can readily devise other varied embodiments that still incorporate these teachings. For example, "optical images" of a turbine internal component may be obtained in a visible light spectrum or in an infrared spectrum. The tester motion degrees of freedom need not be limited to these exemplary motions possible by servomotors 104 (?), 110 (?), 134 (?), 124 (?), And 140 (E). The tester motion need not be provided by the servomotors and may include known alternative pneumatic or other motion control systems. Similarly, inspection system cameras are selected to facilitate capture of clear, non-blurred images of rotating turbine blades while the rotor spins below 1000 RPM, regardless of their internal structure or operation.

Claims (20)

A system for internal inspection of turbines,
A base for attachment to a turbine inspection port;
As an inspection scope,
A distal end rotatably coupled to the base and a distal end for insertion into the turbine inspection port; An extension between the distal end and the distal end; And a joint joint having a first joint end and a second joint end, the first joint end being coupled to the distal end of the tester, the first joint end being opposite ends and the second joint end being opposite ends;
A verifier having an extendable elongated body defining a central axis and having an elongated body;
A camera head having a field of view and coupled to a second joint end of the articulation joint;
A total rotation drive coupled to the tester for rotating the tester about a central axis of the tester;
A tester extension drive coupled to the extension to translate the extension;
An articulation drive coupled to the camera head for articulating a camera head clock with respect to a central axis of the tester;
A camera coupled to the camera head for capturing an image in the clock;
An illumination system for selectively illuminating a camera clock; And
Not only locates the tester and watch along the guiding path within the turbine in the corresponding inner zone but also optionally illuminates the camera's clock by means of an illumination system, and at a rate corresponding to the turbine rotor rotational speed, comprising a control system coupled to the total rotation drive, the tester extension drive, the articulation drive, the camera and the illumination system to capture camera images,
System for internal inspection of turbines.
The method according to claim 1,
The control system automatically and sequentially locates a clock in a plurality of corresponding zones along a guide path and captures images of respective ones of the zones,
System for internal inspection of turbines.
The method according to claim 1,
In addition,
It is possible to selectively illuminate the camera clock by varying illumination intensity and duration irrespective of the rotational speed of the turbine rotor,
System for internal inspection of turbines.
The method according to claim 1,
Wherein the control system is further coupled to a turbine rotational speed sensing system for selectively illuminating an illumination system in response to a turbine rotor rotational speed information system obtained from the speed sensing system,
System for internal inspection of turbines.
The method according to claim 1,
The turbine is a gas turbine; The base being coupled to a combustor pilot nozzle port; The camera is a global shutter or full frame camera that simultaneously captures all camera pixel images and the captured images are displayed in row vanes or blades ),
System for internal inspection of turbines.
The method according to claim 1,
Wherein the guiding path performed by the control system comprises:
Locating the inspection system manually within the same type of turbine along the selected guided path and recording the guiding path for subsequent use by the control system;
Simulating a virtual inspection system in a virtual turbine of the same type along a selected guided path and manually recording the guided path for subsequent use by the control system; or
Simulating the same type of virtual tester and virtual power generation machine along an automatically selected simulated guided path and recording the guided path for subsequent use by the control system
≪ / RTI >
System for internal inspection of turbines.
The method according to claim 1,
A first camera coupled to the camera head and capable of capturing images in a first clock parallel to the central axis of the camera head; And
Further comprising a second camera coupled to the camera head and capable of capturing images in a second clock that is laterally aligned with a central axis of the camera head,
System for internal inspection of turbines.
A system for internal inspection of a gas turbine,
A base for attachment to a turbine inspection port;
As an inspection scope,
A distal end rotatably coupled to the base and a distal end for insertion into the turbine inspection port; An extension between the distal end and the distal end; And an articulated joint having a first joint end and a second joint end, the first joint end being opposite ends and the first joint end being coupled to a distal end of the tester, the elongate body defining an axis,
A camera head extension coupled to the second joint end of the articulating joint and having a camera head telescoping portion,
A camera head rotation / pan joint coupled to the second joint end of the joint-
A tester;
A camera head having a clock and coupled to the camera head extension and the camera head rotation / fan joint;
A total rotation drive coupled to the tester for rotating the tester about a central axis of the tester;
A tester extension drive coupled to the extension to translate the extension;
An articulation drive coupled to the camera head for articulating a camera head clock with respect to a central axis of the tester;
A camera head extension driver coupled to the camera head telescopic material portion for translating the camera head telescopic material portion;
A camera head rotating / fan driving unit coupled to the camera head for rotating the camera head;
A camera coupled to the camera head and capturing an image within the clock;
An illumination system for selectively illuminating the camera head clock; And
In order to position the tester and clock along the guiding path within the turbine in the corresponding inner zone, as well as to selectively illuminate the camera head clock by the illumination system and to capture camera images at rates corresponding to the turbine rotor rotational speed, A tether extension drive and a joint drive, a camera, and a control system coupled to the illumination system.
Systems for internal inspection of gas turbines.
9. The method of claim 8,
Wherein the control system is further coupled to a turbine rotational speed sensing system for selectively illuminating an illumination system in response to a turbine rotor rotational speed information system obtained from the speed sensing system,
Systems for internal inspection of gas turbines.
10. The method of claim 9,
The illumination system may additionally
It is possible to selectively illuminate the camera clock by varying illumination intensity and duration irrespective of the rotational speed of the turbine rotor,
Systems for internal inspection of gas turbines.
9. The method of claim 8,
The illumination system may additionally
It is possible to further selectively illuminate the camera clock by varying the intensity and duration of the illumination regardless of the turbine rotor speed,
Systems for internal inspection of gas turbines.
9. The method of claim 8,
The turbine is a gas turbine; The base being coupled to a combustor pilot nozzle port; Wherein the camera is a global shutter or full frame camera that simultaneously captures all camera pixel images and the captured images are one row vanes or blades,
Systems for internal inspection of gas turbines.
13. The method of claim 12,
A cooling system coupled to the tester for routing the pressurized cooling gas path through the tester and the camera head;
An illumination system coupled to the camera head;
A first camera coupled to the camera head and capable of capturing images in a first clock parallel to the central axis of the camera head; And
And a second camera coupled to the camera head and capable of capturing images in a second clock that is laterally aligned with a central axis of the camera head,
Systems for internal inspection of gas turbines.
As an internal inspection method for a turbine,
Providing an internal inspection system,
The internal inspection system
A base for attachment to a turbine inspection port;
As an inspection scope,
A distal end rotatably coupled to the base and a distal end for insertion into the turbine inspection port; An extension between the distal end and the distal end; And a joint joint having a first joint end and a second joint end, the first joint end being coupled to the distal end of the tester;
A tester having an elongate elongated body defining a central axis;
A camera head having a field of view and coupled to a second joint end of the articulation joint;
A total rotation drive coupled to the tester for rotating the tester about a central axis of the tester;
A tester extension drive coupled to the extension to translate the extension;
An articulation drive coupled to the camera head for articulating a camera head clock with respect to a central axis of the tester;
A camera coupled to the camera head for capturing an image in the clock;
A control system coupled to the total rotation drive, the tester extension drive, the articulation drive and the camera to position a tester and a watch in the interior zone along the guide path within the turbine and to capture a camera image of the interior zone; And
And a lighting system for selectively illuminating a camera clock coupled to the control system.
Providing an internal inspection system,
Rotating the turbine rotor at a rotational speed,
Positioning the tester and the camera head clock along the guide path by the control system,
Selectively illuminating the camera clock by the illumination system at rates corresponding to the rotational speed of the turbine rotor, and
And capturing camera images at rates corresponding to the rotational speed of the turbine rotor.
Internal inspection of turbines.
15. The method of claim 14,
Coupling the control system to the turbine rotor rotational speed sensing system of the turbine
A system for selectively illuminating a lighting system in response to a turbine rotor rotational speed information system obtained from a speed sensing system
Further comprising:
Internal inspection of turbines.
16. The method of claim 15,
The illumination system may additionally
Wherein the camera clock is selectively illuminated by varying illumination intensity and duration independent of the turbine rotor rotational speed,
Internal inspection of turbines.
17. The method of claim 16,
In order to capture images of gas turbine one row vanes and one row blade components,
Providing a global shutter or full frame camera that simultaneously captures all camera pixel images,
Coupling the base to a gas turbine combustor pilot nozzle port,
Inserting the tester through a gas turbine combustor pilot nozzle port,
Illuminating the camera clock while guiding the camera along the guide path through the combustor and adjacent combustor transitions upstream of the one row blades and vane components irrespective of the turbine rotor rotational speed,
Capturing a first camera image of at least one of the one row vane components by an articulating joint at a first location,
Selectively illuminating the camera clock by the illumination system at rates corresponding to the turbine rotor rotational speed; And
Jointing the articulating joint to a second position and capturing second camera images of each of the plurality of rotating one-row blade components.
Internal inspection of turbines.
15. The method of claim 14,
In order to capture images of gas turbine one row vanes and one row blade components,
Coupling the base to a gas turbine combustor pilot nozzle port,
Inserting the tester through a gas turbine combustor pilot nozzle port,
Illuminating the camera clock while guiding the camera along the guide path through the combustor and adjacent combustor transitions upstream of the one row blades and vane components irrespective of the turbine rotor rotational speed,
Capturing a first camera image of at least one of the one row vane components by an articulating joint at a first location,
Selectively illuminating the camera clock by the illumination system at rates corresponding to the turbine rotor rotational speed; And
Capturing the second camera images of each of the plurality of rotating one-column blade components by a camera that articulates the articulation joint to a second position and simultaneously captures all camera pixel images.
Internal inspection of turbines.
15. The method of claim 14,
Wherein the guiding path performed by the control system comprises:
Locating the inspection system manually within the same type of turbine along the selected guided path and recording the guiding path for subsequent use by the control system;
Simulating a virtual inspection system in a virtual turbine of the same type along a selected guided path and manually recording the guided path for subsequent use by the control system; And
Simulating the same type of virtual tester and virtual power generation machine along an automatically selected simulated guided path and recording the guided path for subsequent use by the control system
≪ / RTI >
Internal inspection of turbines.
15. The method of claim 14,
During the inspection step, the control system automatically and sequentially,
Selectively illuminating the illumination system;
Locating the camera clock in a plurality of corresponding zones along the guide path by moving the tester; And
At the same time, capturing images of respective ones of the zones by a camera capturing all camera pixel images,
Internal inspection of turbines.

Images