Remote visual inspection system and method

{
  "publication_number": "US10354138B2",
  "country": "US",
  "kind": "B2",
  "title": "Remote visual inspection system and method",
  "abstract": "A method and a system for remote visual inspection of a target surface of a structure, the system comprising a multi-axis assembly; a combination of dynamic digital video cameras and optic supported by said multi-axis assembly; and a controller connected to the cameras and the multi-axis assembly; wherein the multi-axis assembly comprises a turret along a vertical axis, the turret being connected at a top part thereof to a first arm extending along a roll axis, the first arm being connected to a second arm along a pitch axis, the cameras and optic being carried by the second arm.",
  "claims": [
    "1. A system for remote visual inspection of a target surface of a structure, comprising: a multi-axis assembly; a combination of two cameras and optic having an optical axis and supported by said multi-axis assembly; and a controller connected to said cameras and said multi-axis assembly; wherein said multi-axis assembly comprises a vertical axis, a roll axis and a pitch axis; said controller controlling rotation of the vertical axis to place the target surface in the line of sight of the system; aligning the roll angle about the roll axis to a longitudinal axis of the target surface of the structure; and revolving of a pitch angle around said pitch axis for scanning the target surface of the structure; thereby allowing the cameras to take pictures of the target surface orthogonally to the target surface and along the longitudinal axis of the target, the system being positioned at a fixed distance from the structure.",
    "2. The system of claim 1, wherein said combination comprises a high resolution dynamic digital video camera and a light gathering optic.",
    "3. The system of claim 1, wherein said combination comprises a high resolution dynamic camera, a wide view camera and a light gathering optic.",
    "4. The system of claim 1, further comprising a range measurement device aligned with the optical axis, said controller receiving data from said range measurement device.",
    "5. The system of claim 1, wherein each axis is provided with motion sensors, said controller receiving data from said motion sensors.",
    "6. The system of claim 1, further comprising a range measurement device, each axis being provided with motion sensors, said controller receiving angular data from said motion sensors and distance measurements from said range measurement device, said controller using said angular data collected by the motion sensors of each axis and said distance measurements provided by the range measurement device to calculate planes of references, positions, and locations on the target surface of the structure and to calculate size, position and orientation of geometries on pictures taken on said target surface by said cameras.",
    "7. The system of claim 1, wherein said vertical axis, roll axis and pitch axis have a minimum coupling with the optical axis.",
    "8. The system of claim 1, wherein said controller controls orientation of the cameras and optic.",
    "9. The system of claim 1, wherein said pitch angle about said pitch axis being also adjustable according to a distance between a base of the structure and the system and to an elevation of the system relative to the structure."
  ],
  "description_excerpt": "The present invention relates to inspection of structures, like wind turbine blades, buildings, bridges, barrages. More specifically, the present invention is concerned with a method and a system for remote visual inspection of a wind turbine.\n\nThere are many situations in which it is desirable to inspect inconveniently located structures.\n\nFor examples, the blades of wind turbines need to be inspected regularly to ensure that they are repaired or replaced when damaged. However, these blades are typically located at the top of relatively tall towers. In-person inspection in which a human climbs in the tower to visually or, with the help of equipment, inspects the blades is relatively time-consuming and can also be a relatively dangerous task. There exist prior art methods in which equipment is lifted at the required height so that the blades can be inspected. However, the lifting equipment is typically relatively expensive and relatively difficult to operate. Also, in many cases, the inspection equipment is not stably lifted, which may complicate the inspection procedure, and which also may cause damages to the wind turbine or the equipment if errors in control of the lifting equipment are made.\n\nThere exists a need in the art for a method and a system for remote inspection of structures such as wind turbines, buildings, bridges and barrages for example.\n\nThe present description refers to a number of documents, the content of which is herein incorporated by reference in their entirety.",
  "cpc": [
    "G06K 9/00637",
    "B25J 9/1697",
    "G01B 11/00",
    "G01M 11/081",
    "G01M 5/0091",
    "G01N 2021/8867",
    "G01N 2021/8874",
    "G01N 21/88",
    "G06K 9/00664",
    "G06T 7/20",
    "G06V 20/10",
    "G06V 20/176",
    "G08B 13/19663",
    "H04N 23/54",
    "H04N 23/698",
    "H04N 23/90",
    "H04N 5/2253",
    "H04N 5/23238",
    "H04N 5/23293",
    "H04N 5/247",
    "Y02B 10/30",
    "Y02E 10/72"
  ],
  "ipc": [
    "B25J 9/16",
    "G01B 11/00",
    "G01M 11/08",
    "G01M 5/00",
    "G01N 21/88",
    "G06K 9/00",
    "G06T 7/20",
    "G08B 13/196",
    "H04N 23/90"
  ],
  "assignees": [
    "COLLINEO Inc",
    "Innergex Cartier Energy LP"
  ],
  "inventors": [
    "Guillaume Lambert",
    "Matias Arbeleche",
    "Jean-Christophe Demers",
    "Nicolas Morency",
    "Germain Bélanger",
    "Guillaume Huet"
  ],
  "filing_date": "2013-06-18",
  "publication_date": "2019-07-16",
  "grant_date": "2019-07-16",
  "priority_date": "2012-06-18",
  "application_number": "US-201314408901-A",
  "family_id": "49767981",
  "cited_by_count": 3,
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}