WO2021232095A1 - Système d'inspection par thermographie et son procédé d'utilisation - Google Patents

Système d'inspection par thermographie et son procédé d'utilisation Download PDF

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Publication number
WO2021232095A1
WO2021232095A1 PCT/AU2021/050465 AU2021050465W WO2021232095A1 WO 2021232095 A1 WO2021232095 A1 WO 2021232095A1 AU 2021050465 W AU2021050465 W AU 2021050465W WO 2021232095 A1 WO2021232095 A1 WO 2021232095A1
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WO
WIPO (PCT)
Prior art keywords
image capturing
capturing device
thermal image
mount
moveable mount
Prior art date
Application number
PCT/AU2021/050465
Other languages
English (en)
Inventor
Jeff Erichsen
Original Assignee
Erichsen Asset Pty Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from AU2020901620A external-priority patent/AU2020901620A0/en
Application filed by Erichsen Asset Pty Ltd filed Critical Erichsen Asset Pty Ltd
Publication of WO2021232095A1 publication Critical patent/WO2021232095A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
    • F16M11/28—Undercarriages for supports with one single telescoping pillar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/02—Constructional details
    • G01J5/025—Interfacing a pyrometer to an external device or network; User interface
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/02—Constructional details
    • G01J5/0265—Handheld, portable
    • G—PHYSICS
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    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/02—Constructional details
    • G01J5/03—Arrangements for indicating or recording specially adapted for radiation pyrometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/02—Constructional details
    • G01J5/04—Casings
    • G01J5/047—Mobile mounting; Scanning arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/48—Thermography; Techniques using wholly visual means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N25/00—Investigating or analyzing materials by the use of thermal means
    • G01N25/72—Investigating presence of flaws
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/225—Supports, positioning or alignment in moving situation
    • G01N29/226—Handheld or portable devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/34—Generating the ultrasonic, sonic or infrasonic waves, e.g. electronic circuits specially adapted therefor
    • G01N29/348—Generating the ultrasonic, sonic or infrasonic waves, e.g. electronic circuits specially adapted therefor with frequency characteristics, e.g. single frequency signals, chirp signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
    • G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
    • H04N23/11—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths for generating image signals from visible and infrared light wavelengths
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/10—Circuitry of solid-state image sensors [SSIS]; Control thereof for transforming different wavelengths into image signals
    • H04N25/11—Arrangement of colour filter arrays [CFA]; Filter mosaics
    • H04N25/13—Arrangement of colour filter arrays [CFA]; Filter mosaics characterised by the spectral characteristics of the filter elements
    • H04N25/131—Arrangement of colour filter arrays [CFA]; Filter mosaics characterised by the spectral characteristics of the filter elements including elements passing infrared wavelengths
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/02—Indexing codes associated with the analysed material
    • G01N2291/023—Solids
    • G01N2291/0232—Glass, ceramics, concrete or stone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/02—Indexing codes associated with the analysed material
    • G01N2291/023—Solids
    • G01N2291/0238—Wood
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/10—Number of transducers
    • G01N2291/104—Number of transducers two or more emitters, one receiver
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/40—Remote control systems using repeaters, converters, gateways
    • G08C2201/42—Transmitting or receiving remote control signals via a network
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/50—Receiving or transmitting feedback, e.g. replies, status updates, acknowledgements, from the controlled devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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Definitions

  • the present invention relates to a thermography inspection system and method of use thereof for remotely capturing thermal images of subjects or structures.
  • Thermography also known as thermal imaging, is an infrared imaging technique that produces images of infrared radiation emitted by subjects and structures having a temperature above absolute zero.
  • thermography is particularly useful to the military and other users of surveillance cameras.
  • thermography is useful as a medical screening tool for detecting suspected flu or covid19 cases.
  • the technique is commonly used in condition monitoring and fault detection of structures, such as, machinery, buildings and parts thereof.
  • thermography is a predictive maintenance technique that is able to find deterioration by identifying parts with an elevated temperature prior to their failure.
  • the technique is heavily dependent on the presence of a thermographer to set up the equipment and to capture and analyse thermal images of the subject or structure.
  • This can be a problem when the subject or structure to be thermally analysed is located in remote or isolated areas as many thermographers are reluctant to travel out to such areas, particularly just for a one-off job.
  • those thermographers that are prepared to travel to such areas have to account for their time and travel expenses, which can render the whole process a costly exercise and thereby dissuade customers from employing the technique.
  • thermography inspection system including: at least one thermal image capturing device; at least one moveable mount for mounting the thermal image capturing device relative to a subject or structure and moving the thermal image capturing device relative to the subject or structure; and a remote controller in communication with at least the image capturing device and the moveable mount for at least receiving imaging data from the image capturing device and for remotely controlling operation of the image capturing device and the moveable mount.
  • a remote thermography inspection system for remotely undertaking a thermography inspection of a subject or structure, said system including: at least one thermal image capturing device; at least one moveable mount adapted to be operably associated with an onsite operator or a vehicle for mounting the at least one thermal image capturing device relative to the subject or structure and for moving the thermal image capturing device relative thereto; and a remote controller in communication with at least the image capturing device and the moveable mount for at least receiving imaging data from the image capturing device and for remotely controlling operation of the image capturing device and the moveable mount in real time.
  • a moveable mount for use or when used with the system of the first aspect, said mount configured to mount at least one thermal image capturing device relative to a subject or structure and move the at least one thermal image capturing device relative to the subject or structure.
  • a remote controller for use or when used with the system of the first aspect, said controller configured to be in communication with at least the at least one thermal image capturing device and at least one moveable mount for mounting the at least one thermal image capturing device for at least receiving imaging data from the image capturing device and for remotely controlling operation of the image capturing device and the moveable mount.
  • thermography system of the present invention enables a thermographer to remotely control and analyse at least thermal images of a subject or structure in real time without the associated costs and time required to travel onsite to a remote or isolated location.
  • thermography a cost-effective part of any service program where once it may have been considered cost-prohibitive due to the distance and time spent travelling to remote or isolated locations.
  • the system provides a quicker and more efficient inspection system to conventional practice. For example, during electrical inspections, where once both a thermographer and an electrician may be required to wear flash protection suits, now only one person may be required to wear a flash protection suit thereby rendering the whole inspection process both quicker and more efficient.
  • the system of the present invention may advantageously render the whole inspection process a safer exercise by removing the hindrance of ergonomics as an onsite thermographer continually has to move a thermal image capturing device relative to a subject or structure while further investigating any anomalies with the subject or structure being analysed.
  • the system is primarily for use on site in remote or isolated locations to enable a thermographer, hereinafter referred to as a “remote operator”, to remotely capture and analyse thermal images of subjects or structures.
  • a thermographer hereinafter referred to as a “remote operator”
  • the system may ultimately be used in any location, including non remote or isolated locations.
  • a thermographer may deploy a number of systems to various locations and then remotely and selectively operate each system to thereby make more efficient use of his or her time.
  • the term “subject” may include any homeothermic animal capable of maintaining a stable body temperature by regulating metabolic processes.
  • the subject may include mammals and birds, especially humans, primates, livestock animals, companion animals and wild animals (whether captive or free).
  • Livestock animals may include sheep, cattle, oxen, buffalos, pigs, horses and donkeys.
  • Companion animals may include dogs and cats.
  • the subject may include a marsupial, such as, e.g., a koala or kangaroo.
  • structure may include any manufactured or constructed structure.
  • the structure may include a building, a building foundation, a slab, a bridge, a dam, a pipe, a pipeline, a railway, a road, a transportation embankment, a levee, a machine, an engine, machinery, plant equipment, electrical equipment, an electrical fuse block, or a part or a component thereof.
  • the thermal image capturing device may include any suitable device capable of capturing at least one thermal image of an object, typically of the amount of infrared energy emitted, transmitted and reflected by the object and its surroundings.
  • the at least one thermal image capturing device may be of any suitable size, shape and form. Normally, the at least one thermal image capturing device may be capable of capturing a plurality of thermal images and/or video, depending on the type of image capturing device.
  • the at least one thermal image capturing device may include a camera sensitive to wavelengths from about 700nm to about 14,000nm.
  • the at least one thermal image capturing device may be a cooled infrared camera.
  • the at least one thermal image capturing device may be an uncooled infrared camera.
  • the at least one thermal image capturing device may include at least one sensor.
  • the sensor may typically be at least one detector, such as, e.g., Ferroelectric detectors, silicon microbolometer detectors, pyroelectric detectors or infrared photodetectors.
  • the at least one thermal image capturing device may also include at least one emitter for emitting radiation in the form of visible light, near infrared (IR), IR or X-ray or soundwaves in the form of ultrasound.
  • at least one emitter for emitting radiation in the form of visible light, near infrared (IR), IR or X-ray or soundwaves in the form of ultrasound may also include at least one emitter for emitting radiation in the form of visible light, near infrared (IR), IR or X-ray or soundwaves in the form of ultrasound.
  • the at least one emitter may emit radiation or soundwaves that may be reflected off the subject or structure and sensed by the at least one sensor to capture a thermal image of the subject or structure.
  • the at least one image capturing device may preferably include a body for housing the at least one sensor and the at least one emitter, if present.
  • the body may be of any suitable size, shape and construction to be mounted to the at least one movable mount, preferably detachably.
  • the body may include at least one handle for handling of the at least one thermal image capturing device.
  • the body may have a substantially triangular, rectangular, square, circular, semi-circular or bi-lobal cross-sectional shape.
  • the body may preferably have a subject or structure-facing surface.
  • the at least one sensor and the at least one emitter may each be located at least partially in or on the subject or structure-facing surface of the thermal image capturing device.
  • the system may include more than one image capturing device.
  • the system may include at least two, at least three, at least four, at least five, at least six, at least seven or at least eight image capturing devices.
  • the system may include a combination of visual and thermal image capturing devices.
  • the system may further include at least one visual image capturing device for capturing a visual image of the subject or structure.
  • the at least one visual image capturing device may be a camera, preferably a digital camera.
  • the system includes at least one moveable mount for mounting the image capturing device in front of a subject or structure and for moving the image capturing device relative to the subject or the structure.
  • the mount may be of any suitable size, shape and construction and may be formed from any suitable material or materials.
  • the mount may be configured to stably support the at least one thermal image capturing device relative to the subject or structure.
  • the mount may enable movement of the at least one thermal image capturing device relative to the mount.
  • the mount may enable the image capturing device to pivot and rotate, preferably about at least two axes, more preferably about three axes.
  • movement of the at least one thermal image capturing device relative to the mount may be driven by a movement mechanism, such as, e.g., one or more servomechanisms operatively associated with the mount.
  • the mount may include a gimbal stabilisation system for stabilisation and movement of the thermal image capturing device relative to the mount.
  • the gimbal stabilisation system may preferably be a 3-axis system.
  • the system may also preferably be a motorized system.
  • the mount may be sized and shaped to be mobile and be operably associated with an onsite operator, or a vehicle or a mobile robot on site.
  • the mount may be operably associated in any suitable way.
  • the mount may be sized and shape to be carried by the operator, such as, e.g., in a pocket or backpack, or on a vertical member, such as, e.g., a pole, carried by the operator.
  • the system may further include a housing for housing at least components of the system.
  • the housing may be of any suitable size, shape and form for carriage by the onsite operator.
  • the housing may include a backpack or the like containing the at least components of the system.
  • the mount may be sized and shaped to be mounted to the vehicle.
  • the mount may be directly or indirectly mounted to the vehicle.
  • the mount may be mounted on a vertical member, such as, e.g., a pole mounted to the vehicle.
  • the vehicle may be a land vehicle, such as, e.g., a car or truck.
  • the vertical member may preferably be a telescopic pole so that the height of the at least one thermal image capturing device may be adjusted.
  • the mount may be sized and shaped to be mounted to the mobile robot.
  • the mobile robot may preferably be capable of locomotion.
  • the mobile robot may preferably include a propulsion system for propelling the robot and the mount along a support surface of a site.
  • the robot may include a track or wheel-based propulsion system and may be operated with varying degrees of autonomy ranging from fully autonomous to intermittently autonomous or may be remotely controlled together with the thermography inspection system by a remote operator.
  • the mount may be directly or indirectly mounted to the robot.
  • the mount may be mounted on a vertical member, such as, e.g., a pole or telescopic pole, that is mounted to the robot.
  • a motorised vertical member capable of adjusting the height of the thermal image capturing device relative to the subject or structure.
  • the system when operably associated with a vehicle or mobile robot, may also include a housing for housing at least components of the system.
  • the system may include a body having a substantially polygonal shape, for example.
  • the system may further include at least one navigation system for determining a position of the at least one thermal image capturing device relative to the site.
  • the at least one navigation system may preferably include a global navigational satellite system (“GNSS”).
  • GNSS global navigational satellite system
  • the GNSS may include at least one GNSS antenna and at least one modem.
  • the GNSS antenna may be configured to receive radio waves from artificial satellites for determining positional coordinates of the system relative to the site, preferably GNSS satellites, more preferably at least four GNSS satellites.
  • the GNSS antenna may preferably be a Global Positioning System (“GPS”) antenna.
  • GPS Global Positioning System
  • the system may further include a GNSS receiver associated with the at least one GNSS antenna for receiving output from the antenna, preferably a GPS receiver.
  • a GNSS receiver associated with the at least one GNSS antenna for receiving output from the antenna, preferably a GPS receiver.
  • the at least one modem may be configured to be in communication with the remote controller and/or at least one remotely accessible server.
  • the at least one modem may be a cellular modem.
  • the at least one modem may be a radio modem.
  • the system may further include an ultrasound inspection system for inspection of subjects or structures with ultrasound and for detection of sounds beyond the limits of normal human hearing, such as, e.g., faults in rotating machinery, electrical distribution systems, and leaks in vacuum and pressurised systems.
  • an ultrasound inspection system for inspection of subjects or structures with ultrasound and for detection of sounds beyond the limits of normal human hearing, such as, e.g., faults in rotating machinery, electrical distribution systems, and leaks in vacuum and pressurised systems.
  • the ultrasound inspection system may include one or more emitters for emitting ultrasound and or more transducers for detection of energy reflected from the subject or structure.
  • the one or more ultrasound emitters may be capable of emitting ultrasound at tuneable frequencies depending on the substrate.
  • the one or more emitters may be capable of emitting ultrasound at frequencies ranging from 2 to 10MHz.
  • the emission of ultrasound at low frequencies such as, e.g., 20 to 100kHz, is also envisaged to inspect less dense materials, such as, e.g., wood, concrete and cement.
  • the one or more ultrasound emitters and transducers may be typically located on the thermal image capturing device or mount as previously described.
  • the ultrasound inspection system may be capable of airborne ultrasound detection.
  • the remote controller may be in communication with the ultrasound inspection system for wirelessly receiving at least ultrasound data from the ultrasound inspection system, optionally via a remotely accessible server.
  • the system may further include a lidar-based mapping system for mapping subjects or structures thermally analysed by the at least one thermal image capturing device.
  • the lidar-based mapping system may include one or more lidar sensors, typically located on the thermal image capturing device or mount. The system may utilise rotating laser beams for detection of the subject or structure. Point cloud outputs from the one or more lidar sensors may provide data to map the subject or structure.
  • the one or more lidar sensors may be typically located on the at least one thermal image capturing device or mount as previously described.
  • the remote controller may be in communication with the lidar-based mapping system for wirelessly receiving data from the lidar-based mapping system, optionally via a remotely accessible server.
  • the system may preferably include an onboard controller for controlling operation of the at least one thermal image capturing device, the at least one moveable mount, the movement mechanism associated with the mount and other electronic components of the system, such as, e.g., the ultrasound inspection system and/or the lidar-based mapping system.
  • an onboard controller for controlling operation of the at least one thermal image capturing device, the at least one moveable mount, the movement mechanism associated with the mount and other electronic components of the system, such as, e.g., the ultrasound inspection system and/or the lidar-based mapping system.
  • the onboard controller may be at least part of a microcomputer, including one or more processors and a memory.
  • the processors may include multiple inputs and outer outputs coupled to the electronic components of the at least one thermal image capturing device, the at least one moveable mount and the movement mechanism associated with the mount.
  • the onboard controller may preferably be in communication with the remote controller over a communications network.
  • the onboard controller may be in communication with the remote controller via at least one remotely accessible server.
  • the system may include at least one remotely accessible server.
  • the at least one remotely accessible server may be any appropriate server computer, distributed computer, cloud-based server computer, server computer cluster or the like.
  • the server may typically include one or more processors and one or more memory units containing executable instructions/software to be executed by the one or more processors.
  • the system may preferably include a communications module for connecting to an external device, the at least one remotely accessible server and/or the remote controller and for transferring image data and receiving commands from the remote controller.
  • the communications module may be in the form of a wireless communications module, such as, e.g., a wireless network interface controller, such that the system may wirelessly connect to an external device and/or the remote controller via a wireless network (e.g., Wi-Fi (WLAN) communication, Satellite communication, RF communication, infrared communication, or BluetoothTM).
  • the communications module may include at least one modem.
  • the at least one modem may be a cellular or radio modem as previously described.
  • the communications module may preferably provide voice communications between the remote operator and the operator on site, optionally via the at least one remotely accessible server.
  • the communications module may further include one or more speakers and microphones, such as, e.g., a headset to be worn by the onsite operator.
  • the system may preferably include a power supply for powering the electrical components of the system.
  • the power source may include an on-board power source, such as, e.g., one or more batteries, preferably rechargeable batteries.
  • the power source may preferably be operatively connected to the onboard controller via a power management control board.
  • the system includes a remote controller in communication with at least the at least one thermal image capturing device and the moveable mount for at least receiving imaging data from the image capturing device and for remotely controlling operation of the image capturing device and the moveable mount.
  • the remote controller may be of any suitable size, shape and form.
  • the remote controller may include one or more keys, buttons and/or switches for a remote operator to control operation of at least the image capturing device and the moveable mount, preferably also the ultrasound inspection system and the lidar-based mapping system.
  • the remote controller may preferably include at least one display.
  • the display may display imaging data transmitted by the at least one thermal image capturing device.
  • the display may be of any suitable form.
  • the display may be a liquid crystal display (“LCD”), plasma display or an LED display.
  • the remote controller may include a touch screen to allow the remote operator to interact with the controller.
  • the display of the remote controller may at least display image data collected by at least the at least one thermal image capturing device, preferably in real-time.
  • the display may also display data collected by the ultrasound inspection system and the lidar-based mapping system.
  • the remote operator may interact with the data displayed.
  • the operator may pan, tilt, zoom the at least one thermal image capturing device to alter the data displayed on the at least one display of the remote controller.
  • the remote controller may include a communications module for communication with a remainder of the system, optionally via the at least one remotely accessible server.
  • the communications module may be in the form of a wireless communications module, such as, e.g., a wireless network interface controller, such that the remote controller may wireless connect to a reminder of the system via a wireless network (e.g., Wi-Fi (WLAN) communication, Satellite communication, RF communication, infrared communication, or BluetoothTM).
  • the communications module may include a modem, typically a radio or cellular modem.
  • the remote controller may include a microcomputer, including one or more processors and a memory.
  • the remote controller may be in the form of a computing device, such as, e.g., a laptop or a desktop.
  • the system may include software configured to be run on the computing device.
  • the software may preferably be interactive and allow the remote operator to interact and control operation of the system.
  • the remote controller may be in the form of a mobile computing device, such as, e.g., a smart phone, a tablet, or a smart watch.
  • the remote controller or system may further include software in the form of an application (i.e., an app) configured to be run on the mobile computing device and allow the remote operator to interact with and control the system.
  • Communications received and transmitted between the remote controller and the rest of the system may be carried via a private network connection established between at least the onboard controller of the system and the remote controller.
  • the private network connection may be a secure communication session across an encrypted communication channel such as, e.g., Flypertext Transfer Protocol Secure (HTTPS), Transport Layer Security / Secure Sockets Layer (TLS/SSL) or some other secure channel.
  • HTTPS Flypertext Transfer Protocol Secure
  • TLS/SSL Transport Layer Security / Secure Sockets Layer
  • the private network connection may be a VPN connection established using encrypted layered tunnelling protocol and authentication methods, including identifiers, passwords and/or certificates.
  • the system may further include an augmented reality system to enable an onsite operator to see at least the image data collected by the at least one thermal image capturing device, preferably in real-time together with the remote operator remotely controlling the system.
  • the augmented reality system may include a headset configured to be worn by the onsite operator.
  • the headset may overlay image data collected and processed by the at least one thermal image capturing device over what the onsite operator is actually seeing. Additionally, the headset may playback ultrasound data collected by the ultrasound inspection system.
  • the augmented reality system may assist the onsite operator in following the commands and guidance of the remote operator controlling the remote controller by enabling the onsite operator to receive data in real-time processed by the system together with voice communications from the remote operator.
  • a remote thermography inspection method including: providing a thermography inspection system in accordance with the first aspect; moving the at least one thermal image capturing device relative to a subject or structure with the at least one moveable mount via the remote controller; and remotely capturing at least one thermal image of the subject or structure.
  • the method may include one or more characteristics or features of the system as hereinbefore described.
  • the moving the at least one thermal image capturing device relative to the subject or structure may include panning, tilting and/or zooming the thermal image capturing device.
  • the moving may include moving the at least one thermal image capturing device preferably about three axes.
  • the at least one moveable mount may include a movement mechanism for moving the at least one thermal image capturing device.
  • the remotely capturing the at least one thermal image of the subject or structure may preferably occur in real-time.
  • the remote controller may include or be operably associated with at least one display for at least displaying image data captured by the at least one thermal image capturing device.
  • the remotely capturing may preferably further include displaying the image data collected by the at least one thermal image capturing device on the at least one display of, or operably associated with, the remote controller.
  • Figure 1 is a schematic drawing showing a thermography inspection system according to an embodiment of the present invention.
  • Figure 2 is a photograph showing a part of the system as shown in Figure 1 ;
  • Figure 3 is a photograph showing another part of the system as shown in Figure 1 ;
  • Figure 4 is a flowchart showing steps in a remote thermography inspection method according to an embodiment of the present invention.
  • Figures 1 to 3 show an embodiment of a remote thermography inspection system (100) and parts thereof.
  • the system (100) includes a thermography camera unit (110; i.e., a thermal image capturing device) capable of capturing both thermal and visual images of a structure (900); a moveable mount (120) for mounting the thermography camera unit (110) relative to the structure (900) and moving the thermography camera unit (110) relative to the structure (900); and a remote controller (130) in communication with the thermography camera unit (110) and the moveable mount (120) for receiving imaging data from the thermography camera unit (110) and for remotely controlling operation of the thermography camera unit (110) and the moveable mount (120).
  • a thermography camera unit 110
  • a thermal image capturing device capable of capturing both thermal and visual images of a structure (900
  • a moveable mount 120
  • a remote controller in communication with the thermography camera unit (110) and the moveable mount (120) for receiving imaging data from the thermography camera unit (110) and for remotely controlling operation of the thermography camera unit (110) and the moveable mount (120).
  • thermography unit (110) and the moveable mount (120) are configured to be at least partly housed in a housing in the form of a backpack (140) carried by an onsite operator (800) on location in a remote or isolated location (910).
  • the remote controller (130) is configured to be operated by a thermographer or remote operator (700) advantageously enabling the remote operator (700) to remotely capture and analyse thermal images of the structure (900) without the associated costs and time required to travel onsite to the remote or isolated location (910).
  • the remote controller (130) is in communication with the thermography camera unit (110) and the moveable mount (130) via a remotely accessible server (150).
  • thermography camera unit (110) is capable of capturing both thermal and visual images and video of the structure (900; not shown).
  • thermography camera unit (110) includes a thermography camera sensitive to wavelengths from about 700nm to about 14,000nm and a digital camera sensitive to visible light.
  • the thermography camera unit (110) include a body (112) for housing the components of the camera unit (110).
  • the body (112) is configured to be detachably mounted to the moveable mount (120; i.e., only partly shown) and includes at least one handle (not shown) for handling the camera unit (110) when detached from the mount (120).
  • the system (100) includes the moveable mount (120) for stably supporting the thermography camera unit (110) relative to the structure (900; not shown).
  • the mount (120) is configured to enable the thermography camera unit (110) to pivot and rotate about at least two axes. Movement of the thermography camera unit (110) is driven by a movement mechanism (not shown), including one or more servomechanisms operatively associated with the mount (120). In some embodiments, the mount (120) includes a motorized gimbal stabilisation system.
  • thermography camera unit (110; partly shown) and the moveable mount (120) are configured to be at least partly housed in the backpack (140) carried by an onsite operator (800; not shown) on location in a remote or isolated location (910; not shown).
  • the mount (120) includes a telescopic pole (122) extending between the backpack (140) and the thermography camera unit (110).
  • the telescopic pole (122) is configured to be extendable and retractable so that the height of the thermography camera unit (110) may be remotely adjusted as needed. Movement of the telescopic pole (122) is driven by one or more remotely controlled servomechanisms (not shown).
  • the backpack (140) of the system (100) houses further components of the system (100), which will now be described.
  • the system (100) further includes a global navigational satellite system (“GNSS”) for determining a position of the thermography camera unit (110) relative to the structure (900) and the remote or isolated location (910).
  • GNSS global navigational satellite system
  • the GNSS includes at least one GNSS antenna and at least one modem.
  • the GNSS antenna is configured to receive radio waves from artificial satellites for determining positional coordinates of the system relative to the to the structure (900) and the remote or isolated location (910).
  • the GNNS further includes a GNSS receiver associated with the GNSS antenna for receiving output from the antenna.
  • the at least one modem is configured to be in communication with the remote controller (130) and/or the remotely accessible server (150).
  • the at least one modem can be a cellular modem or a radio modem.
  • the system (100) further includes an ultrasound inspection system for inspection of the structure (900) with ultrasound.
  • the ultrasound inspection system includes one or more emitters for emitting ultrasound and one or more transducers for detection of energy reflected from the structure (900) for analysis of the structure (900) and for detection of sounds beyond the limits of normal human hearing, such as, e.g., faults in rotating machinery, electrical distribution systems and leaks in vacuum and pressurised systems.
  • the one or more ultrasound emitters are capable of emitting ultrasound at tuneable frequencies depending on the substrate.
  • the one or more emitters typically emit ultrasound at frequencies ranging from 2 to 10MFIz.
  • the emission of ultrasound at low frequencies such as, e.g., 20 to 10OkFIz, is also envisaged to inspect less dense materials, such as, e.g., wood, concrete and cement.
  • the one or more ultrasound emitters and transducers are located on a structure (900) facing side of the body (112; not visible) of the thermography camera unit (110).
  • the remote controller (130) is in communication with the ultrasound inspection system for wirelessly receiving ultrasound data from the ultrasound inspection system, optionally via the remotely accessible server (150).
  • the system (100) further includes a lidar-based mapping system for mapping the structure (900) thermally and visually analysed by the thermography camera unit (110).
  • the lidar-based mapping system includes one or more lidar sensors located on a structure (900) facing side of the body (112; not visible) of the thermography camera unit (110). The system utilises rotating laser beams for detection of the structure (900). Point cloud outputs from the one or more lidar sensors provide data to map the structure (900).
  • the remote controller (130) is in communication with the lidar-based mapping system for wirelessly receiving data from the lidar-based mapping system, optionally via the remotely accessible server (150).
  • the system (100) includes an onboard controller (not shown) for controlling operation of thermal camera unit (110), the moveable mount (120) and other electronic components of the system (100).
  • the onboard controller includes a microcomputer, including one or more processors and a memory.
  • the processors may include multiple inputs and outer outputs coupled to the electronic components of the system (100).
  • the onboard controller is in communication with the remote controller (130) over a communications network, again optionally via the remotely accessible server (150).
  • the remotely accessible server (150) includes any appropriate server computer, distributed computer, cloud-based server computer, server computer cluster or the like.
  • the server (150) includes one or more processors and one or more memory units containing executable instructions/software to be executed by the one or more processors.
  • the system (100) includes a communications module for connecting to an external device, the remotely accessible server (150) and/or the remote controller (130) for transferring image data and for receiving commands from the remote controller (130).
  • the communications module is a wireless communications module so that the system (100) can wirelessly connect to an external device, the remotely accessible server (150) and/or the remote controller (130) via a wireless network (e.g., Wi-Fi (WLAN) communication, Satellite communication, RF communication, infrared communication, or BluetoothTM).
  • the communications module includes at least one modem, which can be a cellular or radio modem as previously described.
  • the communications module provides voice communications between the remote operator (700) and the onsite operator (800).
  • the communications module of the system (100) further includes a headset (810) to be worn by the onsite operator (800) so that the remote operator (700) can remotely guide the onside operator (800) as needed.
  • the system (100) includes a power supply for powering the electrical components of the system (100).
  • the power source includes an on-board power source in the form of one or more rechargeable batteries.
  • the power source is operatively connected to the onboard controller via a power management control board.
  • the remote controller (130) of the system (100) is in communication with at least the thermal camera unit (110), the moveable mount (120) and other electronic components of the system (100) for at least receiving imaging data and for remotely controlling operation of at least the thermography camera unit (110), the moveable mount (120) and other electronic components of the system (100).
  • the remote controller (130) is in the form of a computing device (132) including at least one display and keys enabling the remote operator (700) to interact with the system (100).
  • the display displays imaging data transmitted by the thermography camera unit (110) and the remote operator (700) can interact with the system (100) to pan, tilt, zoom the thermography camera unit (110) as needed to alter the data displayed on the display.
  • the system (100) includes software configured to be run on the computing device (132).
  • the software is interactive and allows the remote operator (700) to interact and control operation of the system (100).
  • the system (100) can further include an augmented reality system to enable the onsite operator (800) to see at least the image data collected by the thermography camera unit (110) in real-time together with the remote operator (700) remotely controlling the system (100).
  • the headset (810) worn by the onsite operator (800) can overlay image data collected and processed by the thermography camera unit (110) over what the onsite operator (800) is actually seeing. Additionally, the headset (810) can playback ultrasound data collected by the ultrasound inspection system.
  • the remote operator (700) using the remote controller (130) moves the thermography camera unit (110) relative to the structure (900) to capture at least thermal images of desired parts of the structure (900).
  • the onsite operator (800) carrying the system (100) remains stationary or follows voice commands of the remote operator (700) via the worn headset (810).
  • the remote operator (700) remotely commands the thermography camera unit (110) to capture the desired thermal images of the structure (900) or parts thereof.
  • the thermal images captured are displayed in real time on the display of the remote control (130) before the remote operator (700) for analysis.
  • the remote operator (700) may request that the onsite operator carrying the system (100) move relative to the structure (900) to further analyse parts of the structure (900). For example, in some embodiments, the remote operator (700) may instruct the onsite operator (800) to detach the thermography camera unit (110) from the moveable mount (120) to better visualise and capture images of a part or portion of the structure (900).

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Health & Medical Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Immunology (AREA)
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  • Spectroscopy & Molecular Physics (AREA)
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  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Human Computer Interaction (AREA)
  • Acoustics & Sound (AREA)
  • Radiation Pyrometers (AREA)
  • Investigating Or Analyzing Materials Using Thermal Means (AREA)

Abstract

La présente invention concerne un système d'inspection par thermographie et son procédé d'utilisation pour capturer à distance des images thermiques de sujets ou de structures. Le système comprend au moins un dispositif de capture d'image thermique ; au moins un support mobile pour monter le dispositif de capture d'image thermique par rapport à un sujet ou une structure et pour déplacer le dispositif de capture d'image thermique par rapport au sujet ou à la structure ; et un dispositif de commande à distance connecté de manière opérationnelle au dispositif de capture d'image et au support mobile pour au moins recevoir des données d'imagerie du dispositif de capture d'image et pour commander à distance le fonctionnement du dispositif de capture d'image et du support mobile.
PCT/AU2021/050465 2020-05-20 2021-05-19 Système d'inspection par thermographie et son procédé d'utilisation WO2021232095A1 (fr)

Applications Claiming Priority (2)

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AU2020901620A AU2020901620A0 (en) 2020-05-20 A thermography inspection system and method of use thereof
AU2020901620 2020-05-20

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