CAMERA AND LIGHTS POSITIONING SYSTEM FOR INSPECTION OF HOSES USED IN AIR REFUELING AND INSPECTION PR

专利摘要:
Camera and light positioning system for inspection of hoses used in aerial refueling and inspection procedure. Camera and light positioning system to inspect refueling hoses in flight, comprising a substructure that can be fixed to a casing or capsule or Pod, one or two guide substructures (13) that surround the hose, a toroidal volume, to house cameras (22) and lights (23) and a camera and light control subsystem. The system makes it possible to keep the cameras (22) and the lights (23) in a fixed relative position with respect to the hose (1) during the acquisition instants, despite the inclination and the five different movements that it has and performs, at the same time. time that allows the passage of protrusions inside it. (Machine-translation by Google Translate, not legally binding)
公开号:ES2847236A2
申请号:ES202030011
申请日:2020-01-11
公开日:2021-08-02
发明作者:Rosas Rafael Rodriguez
申请人:Quandum Aerospace S L；
IPC主号:

专利说明:

[0002] CAMERA AND LIGHTS POSITIONING SYSTEM FOR INSPECTION OF HOSES USED IN AIR REFUELING AND PROCEDURE
[0004] OBJECT OF THE INVENTION
[0006] The object of the present invention is a camera and light positioning system for the inspection of hoses used in aerial refueling, as well as the inspection procedure thereof.
[0008] This invention is characterized by the special structural elements of which it is composed, which enable the on-site inspection of the hoses used in aerial refueling and allow taking into account the outlet inclination of the hoses, the transverse movements, both vertical and horizontal. , as well as pitch and yaw and the longitudinal advance of the hose itself when it is collected or extended. Allowing it to pass even when there are bulges or protrusions that increase its diameter.
[0010] The world of in-flight refueling with hose is an aeronautical sector that aims to alleviate the problems derived from the limited autonomy of some aircraft, which require an additional contribution of fuel to be able to complete their air missions.
[0012] The hoses used in aerial refueling are relatively soft and must be inspected periodically to prevent damage to the hoses leading to a major accident. Surprisingly today, inspection is done manually. In this inspection, due to the weight and rigidity of the hose, a large group of operators is needed to extract it from the Pod (or device that houses it) and to visually inspect each part of its surface, in search of any breakage or damage. that could be dangerous.
[0014] This manual work is carried out on the ground and paradoxically, more damage is usually produced during inspection than during normal use.
[0015] The object of this invention is a system that allows moving and placing some cameras and lights inside the Pod, so that they automatically acquire the images of the surface of the hose, so that from the same, an inspection that we will call "remote" can be made. Later, this could be completely automated, freeing the operators from manual and direct manipulation of the same and from the responsibility of detecting the damages that occur, due to its fragility.
[0016] The two main objectives for a proper hose surface inspection are as follows:
[0017] 1. - Obtain an image of the entire surface of the hose so that no cracks can escape in any part of it, from beginning to end and along the 360 degrees of its transverse perimeter.
[0018] 2. - Obtain a sufficient image quality, which undoubtedly clearly reveals any damage that may exist on the surface of the hose.
[0020] As mentioned, these two objectives are now achieved manually by a large group of operators who extract, on the ground, the hose from the Pod, drag it in part across the ground and visually inspect it along its entire length and perimeter in a tedious and expensive process, not free from flaws.
[0022] To achieve the two previous objectives automatically, which is the ultimate object of this invention, we are going to use cameras to acquire images of the entire hose, either at the beginning of the refueling operation or at the end of it, preferably of the latter. In a very general way, the procedure consists of initially extending the entire hose when the aircraft is in the air, and then starting the image acquisition operation while we proceed with the collection.
[0024] Therefore, the present invention is circumscribed within the scope of the means and procedures for the inspection of the refueling hose in flight, in the basket and hose mode, also known in Anglo-Saxon "Hose &Drogue", in order to determine if there has been enough damage to it that makes it not advisable to use it for the following supply operations.
[0025] BACKGROUND OF THE INVENTION
[0027] Most of the basic elements that are going to be used to obtain the surface of a hose, such as cameras and lights, are the same that have been used in many applications for other patents. That includes a control unit with some electronics. However, the novelty here lies in the fact of proceeding to follow the movement of the hose itself in the different varieties that are presented in this application and to take advantage of that monitoring structure to be able to place cameras that will always be able to see the hose from the same angles and lights that will always illuminate it in the same way. This consistency in lighting together with the way of doing it, allow the creation of a special effect that reveals the irregularities in the surface of the hose, which is precisely one of the objectives of this patent. Thus, it is the arrangement of the elements that make up the system and the way to illuminate the hose, all together, to obtain the images that constitute "the photo", which will give this invention special features, which allow obtain the objectives set, despite the very adverse characteristics that occur in practice and that have been the cause of the manual inspection continuing to this day.
[0029] In different cases, the problems have been solved by the following patents:
[0031] - US 2011268313 A1 (WINTER SVEN et al.) 03/11/2011
[0032] - US 2012294506 A1 (VERREET ROLAND) 11/22/2012,
[0033] - WO 2016146703 A1 (UNIV LEUVEN KATH et al.) 09/22/2016,
[0034] - US 2011175997 A1 (CYBEROPTICS CORPORATION) 01/23/2009, cited
[0036] As can be seen, devices for inspecting the surface of elongated elements comprising one or more elements are known in the state of the art. These constitute a ring or element of similar geometry assimilated to a toroid, in whose interior space the element to be inspected is housed and which maintains a fixed relative position in relation to the rest of the elements. Mounted on the ring or torus are: A set of one or more frame or line image sensors, arranged along the ring, looking radially towards its center. And a set of light points whose function is the normal or structured lighting of the element to be inspected, so they are oriented towards the interior space in which said element to be inspected would be housed. That, due to the nature of the movement of the hose inside the Pod, it is impossible to perform in our case as described in those patents.
[0038] In the present case, with fuel supply hoses or similar, equipped with the different and multiple movements indicated, to obtain each of the two main objectives set (in the OBJECT OF THE INVENTION section) a series of drawbacks, which make it very different from previous problems.
[0040] First, let's consider objective 1. To get a global image of the entire hose surface that allows us to review it later, we must obtain partial photos of its perimeter for each part of its length. That's nothing new. But in our case, the hose moves very quickly on an axis that makes a certain angle with its transverse axis. In addition, the hose moves along its transverse axes, up and down and from the left to the right. Also, the hose presents changing inclinations due to the variable angle it adopts with the axes contained in the transverse plane of its trajectory. These are pitch and yaw motions. In short, enough, with all those degrees of freedom, not to be able to use any of the solutions that have been indicated in other patents previously. We have to create an invention that follows the hose in all its movements when it passes (movement L, figure 4) throughout our system, both transverse movements (V and H, figure 4), as well as pitch and yaw (Py R, figure 4), and which also compensates for the initial fixed inclination (□, figure 4). These movements are due to different factors of the collection or extension to or from the reel, and aerodynamics of the basket to which the hose is attached.
[0042] Secondly, we see that in practice there are serious problems in obtaining objective 2. On the one hand, there is again the fact that the hose moves rapidly along an axis that forms a certain angle with its longitudinal axis. On the other, there are two other factors such as that the surface of the hose is very smooth and that, due to its friction with the surrounding elements, its surface is further polished, reaching unwanted shine and reflections, especially when glows brightly from relatively close. There is also the dirt that the hose picks up due to normal use. All this gives us the result that the images obtained are very "flat" and dirty, which prevents revealing the possible existence of small cracks or damage. If, in addition, the hose, as is the real case, is painted in colors ranging from black to white passing through a pale red, the previous negative effects are intensified since if we illuminate intensely, the white color "burns", preventing us from seeing inside it and if, on the contrary, to avoid this we illuminate little, then the black areas of the hose come out too dark, and this prevents us from being able to determine, in them, the existence of that damage to be located on said surface of the hose.
[0044] All the aforementioned creates a difficult situation for us to deal with, in order to obtain, with very good quality, the two objectives set. And it leads us to look for and create a solution, which has not been included in any previous patent, and which must solve various problems that, as indicated, are the reason why, to date, an adequate way has not been found that allows fix the problem of manual inspection. This current inspection is expensive, delicate and leads to breaks in the hose itself in the same inspection process, in addition to numerous false negatives due to human error.
[0046] In the state of the art, no systems are known that allow the inspection of hoses used in aerial refueling, where said inspection takes place during the process of collection or deployment thereof.
[0048] The refueling hose inspection process presents very important technical complications to perform an on-line inspection since the hoses during the collection or deployment process move as indicated above.
[0050] Different disclosures are known that seek to inspect the outer surface of cylindrical cable-like elements or the like.
[0052] For example, patent EP0373796 shows the inspection of cables by means of cameras, but which nevertheless does not have the difficulty of the movement of the cable to be inspected.
[0054] Patent US20180057021 discloses a structure that runs along a cable and that has a series of wheels that adapt to it, so that the structure follows the course of the cable, but the problem does not arise. transmission of horizontal and vertical movements as well as pitch and yaw to the support structure of the cameras. Furthermore, the diameter does not change drastically along the entire length of the cable.
[0056] In general, in the inspection of elongated elements, in case of being subjected to fluctuations or movements, what is done is to fix the elongated element to avoid oscillations of the same in the section where the cameras are placed.
[0058] Therefore, it is the object of the present invention to overcome the existing state of the art for the inspection of elongated elements, particularly with regard to aerial refueling hoses so that they can be inspected during the collection or deployment process, thus avoiding having which makes a manual inspection on the ground with the costs and complications involved, developing a system that takes into account at least the vertical and horizontal movements of the hose and more completely the initial inclination of the same and even more perfected the pitching and yawing movement in addition to the possible bulging that the hose could have, developing a system such as the one described below and is reflected in its essentiality in the first claim.
[0060] DEFINITIONS
[0062] For a better understanding of the terms used in the description of this invention, we define here some terms of interest and use throughout this document:
[0064] Data bus : set of metallic, optical or any other type of connections that allow the transfer of information between one part of the system and another or between the system and another outside.
[0066] Chiaroscuro : It is an effect created in an image obtained by a camera, which is a consequence of the coexistence, in it, of areas with a lot of light and dark areas. The camera is a device that usually consists of a gain adjustment, the value of which is obtained from a simple calculation of the average light in an area of the image, generally a rectangle in the center of it. If there is a lot of light in the center of the image, the gain is low, and if there is darkness in other areas, that low gain prevents them from being seen clearly. If, on the other hand, there is darkness in the center of the image, the Gain rises, and if there is a lot of light in other areas, that high gain burns those areas, saturating the light value as a consequence of multiplying it by that high gain.
[0068] Axis of a camera: It is the imaginary line orthogonal to its image sensor at its central point.
[0070] Axis of a light bulb: it is the orthogonal line to the light output surface that the spotlight emits at its central point.
[0072] Hose axis: It is the imaginary line that runs along the axis of the cylinder that represents it.
[0074] The “photo” of the hose: It is a global image of the entire cylindrical surface that constitutes its envelope and whose development, placed on a plane, is a rectangle. According to this, the "photo" will be a rectangle that will have a width or a base equal to the length of the hose and a height equal to the length of the circumference that constitutes its transverse perimeter.
[0076] f.p.s .: Anglo-Saxon acronym for "Frames Per Second" that corresponds to the number of frames or images that a camera takes per second.
[0078] MCU: Acronym for "Micro-Controller Unit", it is a process unit that can be programmed to receive a set of inputs and depending on that program and depending on the various states in which it can be found, act on a series of It is a fundamental component in a control unit, which can however be replaced depending on the calculation or process requirements, by a micro processor (MPU, CPU), an FPGA (Field-Programmable Gate Array), a GPU (Graphics Processing Unit), and others with sufficient processing capacity.
[0080] Pitching movement (P, fig. 4): It is produced in the hose when its longitudinal axis is inclined within the vertical plane that contains it.
[0082] Yaw movement (R, fig 4): It is produced in the hose when its longitudinal axis moves within the horizontal plane that contains it.
[0084] Burn an area of an image: The values of light that reach each of the pixels, or individual sensors into which a sensor is broken down, through the lens of image, are multiplied by a fixed value for all, which is called gain. If that gain is very high and the number of photons that reach a given pixel is also high, multiplying both results in a value above the maximum that that pixel can reach. The sensor limits this value to the maximum value or saturation value, which is equivalent to a completely white pixel and provides little information about the content of the image. For an image not to be burned, the gain multiplied by the value of its pixel of maximum light must be below the saturation value. Burned images have completely white areas that do not allow us to determine what is in them.
[0086] Pod : Within the scope of in-flight refueling, it is the capsule or casing in which the hose is housed, to be extended and collected, in order to carry out the refueling operation. The Pod is usually located under the wings of tanker aircraft that usually have one under each of them, to allow two simultaneous refueling.
[0088] DESCRIPTION OF THE INVENTION
[0090] The objective of this invention is a device that manages to obtain images of the entire hose surface with a sufficient quality to allow remote inspection of the same after and from the acquisition of these images. To achieve this, this specification describes a system that interactively changes the position of the cameras and lights so that they adopt a constant position relative to the hose as it moves or tilts. This patent also refers to a method to illuminate and obtain images using the previous structure, so that the images obtained from the hose throughout its collection (or extension) reveal the details of its surface, in such a way that allow to ensure, without a doubt, the absence of damage to said surface.
[0092] Due: 1.- To the initial inclination of the axis of the hose with respect to the axis of the Pod, 2.- To the transversal movement of the hose in its two axes, 3.- To the rotational movements in any of the axes contained in a plane transverse to the hose, which allow it to adopt a great variety of positions, 4.- The longitudinal movement of the hose when it is wound or unwound from the reel,
[0093] and in order to obtain a set of homogeneous images of its surface, it is important that the cameras and the lighting elements that will allow us to obtain the "photo" (of the surface of the hose), are in a fixed position relative to the position of the same in every moment. This is achieved by the system object of this invention thanks to a series of mobile elements that make that for each position or movement of the hose, the structure that supports the cameras and lights is placed or moved evenly, to place them transversely. to said hose, in a constant relative position.
[0094] Together with the foregoing, this invention provides a procedure for lighting and obtaining images, based on the advantage that the system provides.
[0095] The system allows a refueling hose to be analyzed by an operator, from a "photo" of its surface.
[0096] The system generates the "photo", which will be the product resulting from its operation, with a sufficient quality to ensure that, from its inspection, the absence of damage on any point of its surface can be affirmed with a very high degree of reliability. Obviously, this inspection of the "photo" will already be carried out by a single operator, with the ability to go forward or backward in its display, and even zoom in on areas of doubt. Thanks to the quality obtained, this process can also be automated for the detection of failures using "intelligent software", simplifying the process, making it less expensive and avoiding errors almost one hundred percent of the time.
[0098] From all the above we can deduce that, in addition to the fundamental and more global objectives that are stated at the beginning, the resulting system must and does meet the following more specific requirements:
[0099] 1. - The image of the "photo" of the hose must be "complete", that is, it must contain the entire surface of the hose along its entire length (from one end of the hose to the other) and around its entire transverse perimeter .
[0100] 2. - The lighting must not create reflections or chiaroscuro that burn part of the image due to excess light, or shadows that leave parts of the image too dark, preventing a clear view of whether or not there is damage to them.
[0101] 3. - The images should not be blurred or moved due to the rapid longitudinal movement of the hose or other movement that may appear such as vibrations, wind, etc.
[0102] 4. - The images obtained by the cameras used must not present distortions due to the angle of vision incident on the surface of the hose or due to the curvature of the same, which varies on a cylinder while it is separated from the axis of vision of the camera. So that by joining all the images of the
[0105] adjacent cameras the "photo" obtained, is continuous and does not present irregularities that distort the interpretation of any damage that the hose could present. 5. - The quality of the set of images obtained by the cameras used must allow that, by means of a software These can all be easily joined together, adjusting the intersection lines between images, adjusting their clarity and finally the gamma factor, white balance and other parameters, until a continuous and complete "photo" is achieved. To do this, the appropriate guard zones must be entered and be able to join everything to create the aforementioned "photo".
[0106] 6. - It is also important to consider that we are dealing with a system that is not usually new. This means that, unlike other inspection or detection systems, the product to be inspected is not homogeneous or in perfect condition, free of stains, degradation and imperfections due to use, quite the opposite. Therefore, any detection will always be based on obtaining a photo of complex composition in which, initially, an operator must be able to see and recognize in said "photo" the existence of damage, even of very small size. Damage can lead to leaks or general malfunction of the supply process. This requires conditions of continuity and quality in the reconstruction process that cannot be obtained with current systems. Therefore, the The system must provide something new in terms of quality and precision that enables this complex task to be carried out efficiently and with guarantee. This is not a question of rejecting some units from a production process. We are facing a very demanding task of thorough inspection that must avoid a The quality requirements are so great that just that would make the problem very different from the rest. Without forgetting that the system must be able to pass environmental tests very strict, for aeronautical use.
[0108] With these high-level requirements, under consideration, a system emerges that simultaneously solves all the problems raised and that is the object of this invention.
[0110] The result of this invention allows the system to maintain the relative position of the set of cameras and lights with respect to the hose, despite its five degrees of freedom of movement and its initial inclination. This is achieved thanks to a series of mobile elements that have been introduced into its structure and that provide the toroidal volume of cameras and lights with a mobility equal to the movement of the camera itself. the hose. Thus, the structural segments on which the lights and cameras are housed, follow the movement of the hose and thus greatly facilitate the lighting and capture of images for each moment of the route followed by it in its extension or collection phase. If it were not for this monitoring of cameras and lights to the hose, and the way of lighting and obtaining the photo, the quality of the images obtained could not be sufficient for the result of the acquisition carried out to meet the quality requirements. necessary.
[0112] The system, in its most complete implementation, consists of the following elements:
[0113] • An active electronic part or subsystem, composed of:
[0114] o A set of cameras.
[0115] o A set of lights to illuminate the hose. This group of lights may be composed of light-generating elements at various angles and of different colors, including polarized light.
[0116] These previous elements will be arranged in a kind of ring or toroidal volume equidistant from a center that is the axis of the hose itself.
[0117] o A camera and light control system that determines when each of the lights turn on and off and when each camera begins and ends its exposure time, together with the connection to the plane to receive orders and be able to download the images, as well as a power supply and the corresponding interconnection wiring between all its electronic parts. In short, a light and camera sequencer controlled by commands from the plane.
[0118] This control subsystem can be housed in a protection box or in the same ring of cameras and lights, and connected to the rest of the aircraft, from where it obtains energy and the appropriate operating orders for its configuration, start-up, shutdown and data download. It is mainly made up of an electronic unit with sufficient processing capacity to efficiently control the lighting of lights and cameras as the hose moves.
[0119] o The control subsystem (or the cameras mentioned above) also have a large capacity memory that stores the images that each camera obtains in each shot and a communications bus that allows it to download that information stored, from which each part of the referred "photo" of the hose will be obtained.
[0120] • A mechanical structure that holds and protects the previous elements and places them in certain relative positions between them, and that gives this set the ability to follow the hose so that the images obtained are of the highest resolution and quality. This mechanical structure can be divided into the following parts:
[0122] - A basic structure fixable to a shell or capsule or Pod comprising:
[0123] - Some structural fixing elements provided at their ends with a fixing lugs to a Pod. Optionally, it can also have two pairs of structural pieces that we call incliners, mounted on the structural fixing elements and that compensate for an initial angle that the hose forms with respect to the axis of the Pod, so that the toroidal volume where the cameras and lights are located remains. as perpendicular as possible to the axis of the hose.
[0124] - A scrollbars both horizontal and vertical, where the horizontal sliding bars connecting the upper and lower ends of structural fasteners, while the vertical sliding bars are mounted on horizontal slide bars.
[0125] - Optionally, it can have low friction cylinders that slide along the previous sliding bars, facilitating the horizontal and vertical movements of the system due to the movement of the hose itself, with little effort from the latter. The objective of the bars together with the low friction rings, will be that the hose does not need to exert excessive force in its natural movement of (un) / winding the reel to displace our system. Thus, it will be able to use the hose itself to follow it in its horizontal and vertical movements, while its guiding substructures, which will be discussed below, prevent it from getting out of the barriers you have. All this to prevent the current hose from being loaded, which is the one that has to push them to move them and whose only force to overcome will be friction or
[0128] friction with these bars and that which the sliding elements cannot avoid (apart from the weight in the case of vertical bars).
[0130] - A first guide substructure that surrounds the hose, which we will call fixed, and that moves with it as it slides along the sliding bars thanks to the low friction cylinders that are attached to this first guide substructure and which is made up of:
[0131] o A support structure for all the elements that compose it.
[0132] o Optionally, it can have very low friction sliding wheels that will roll on the surface of the hose and allow it to push and move our system.
[0133] o Some axles or bars to hold these wheels, which will allow them to turn.
[0134] o Optionally, it can have tangential movement skids that facilitate the passage of the hose or any protrusion that it may contain, including a cap of the same, especially when these elements have a larger diameter than that of the basic hose.
[0135] o A set of springs that hold the previous skids to the substructure and that cushion the blows or "pushes" of the hose and, or of its protrusions.
[0137] - Optionally A second substructure that surrounds the hose, which we will call floating, which moves with the hose and which, like the first guiding substructure, is composed of:
[0138] o A support substructure for all the elements that compose it.
[0139] o Optionally, it can have very low friction sliding wheels that will roll on the surface of the hose and allow it to push and move our system.
[0140] o One axles or bars to hold those wheels, which will allow them to turn.
[0141] o Optionally, it can have tangential movement skids that facilitate the passage of the hose or any protrusion that it may contain, including a larger diameter bushing.
[0142] o A set of springs that hold the front skates and that cushion the blows or "pushes" of the hose and, or of its protrusions.
[0144] - A toroidal volume, mentioned before, to house cameras and lights. This kind of ring will cling to the floating guide substructure in the most complete version of this invention or to the fixed guide substructure in the most basic version.
[0146] In the most complete version, both substructures are linked together by:
[0147] - Some extendable rods supported by ball joints at their ends that will allow the floating substructure to move with respect to the fixed one to place the rods in parallel with the hose, and therefore, to the ring of cameras and lights, perpendicular to the hose that will follow it in its movements, regardless of the position or inclination that it adopts. When the hose moves in its orientation in a pitching or yawing movement, the wheels hanging from the hanging substructure will follow it and give rise to a tilting movement of the rods and of the substructure itself, making these rods remain parallel to said hose. hose. Thus, the cameras and lights will be placed in a constant position with respect to the hose and will always be at the same distance and the same angle with respect to it, which will run through the interior of the substructures and in parallel with the rods.
[0149] To ensure that the substructures adjust to the position of the hose as closely as possible, while not introducing significant friction with our system, springs have been added to the wheels and skates, which grip the substructure. The purpose of these springs is to tension or force the wheels to remain tangent to the hose at all times.
[0150] If the hose had a constant radius, the springs could be replaced by axes, but that is not the case and there is also a bushing at one end of it.
[0153] which also has to go through the substructures. That means the wheels have to separate significantly when it passes through any of the substructures. So that this bushing does not literally collide with the wheels, it is important that the axle of the wheels is above the obstacle to be overcome. Otherwise, the wheel will collide with said obstacle, in this case, the bushing. To solve this problem, it is reasonable to increase the radius of the wheel. However, in our case that is not possible, since if it did, the wheel, when separated outwards due to the bushing, would collide with the interior of the Pod at some point and that would cause some damage that is not acceptable. To solve this situation, the skate has been inserted that acts as a wheel in part, allowing the bushing to pass without problem, since its axis of rotation is well above its height. The springs will allow the skate to pass over the bushing and then return to its normal position, just like the wheels. As the skate is made of a wheel and is made of a self-lubricating material, such as Teflon, it perfectly allows the passage of said bushing in either of the two possible directions.
[0155] The number of cameras we need is low (minimum three, four in a preferred implementation). Without prejudice to the fact that in order to obtain redundancy and the ability to absorb failures (in the cameras) we can expand this number.
[0157] But all of the above is not enough to optimally solve the obtaining of the "photo": We still have a very important aspect: The way to illuminate the hose, based on the installation capacity of this system.
[0158] The composition and arrangement of the lights in relation to the cameras and the way of illuminating the hose, give an indisputable advantage to the invention that is the object of this document and we consider that it is one of the most important factors that also distinguish this patent with respect to others. methods that may have something to do with it.
[0160] We have found that even in hoses with a very smooth or even polished surface, due to the friction of their usual use, there are a series of protrusions on them that give them a certain roughness that, although minimal in some areas, is still sufficient to that, when properly illuminated, can generate what we call a structure of "micro-shadows." These micro-shadows can be generated by lighting that forms at least a 45 ° angle with the
[0163] orthogonal to the surface of the hose. When illuminated in this way, an unexpected but highly desired side effect appears, which arose during the development of certain models of the invention and which constitutes one of the most important characteristics of this invention. It is a micro-shadow effect that enhances the texture of the surfaces, amplifying in a very interesting way any defect that may exist on the surface of the hose. This effect is achieved as we have said, illuminating at a certain angle with respect to the orthogonal to the surface of the hose while the camera points at it with a perpendicular angle, so that the roughness that it may contain on its surface, generate a pattern that produces the visual sensation of a special texture on its surface. This special texture has a certain regularity except for the existence of some damage and therefore an irregularity in said texture is a clear indicator of a damage problem in it. In short, it is produced as a visual amplification of any defect that the hose may have on its surface, conferring on this emergent property, of the system configuration, a high value for the objectives pursued, since this exceptionally facilitates the detection that is intended with the device object of this invention.
[0165] In addition, the bulbs that we use to illuminate the surface of the hose at the indicated angle can be made up of rays of various colors depending on their angle of incidence. And by fulfilling the mentioned angular condition, they generate the referred texture. In addition, for a better visualization if possible, that light can be polarized and complemented with a polarization of the camera lens, which will avoid some residual reflections that could appear due to anomalies in the regularity of the hose surface in its manufacturing process.
[0167] It is important to note that, normally, between the axis of the cameras and the plane in which the lighting sources are located, there are several different angles. By arranging the cameras and lights at different angles with respect to the orthogonal to the surface of the hose, we not only maintain the previous effect but also avoid other reflections that generate the most polished areas of the hose. In short, the optimal solution is found in the use of at least one group, composed of lights or spotlights whose axis is inclined with respect to the axis of the camera, which illuminate the hose in a way that tends to be tangential from opposite sides and alternately and consecutively, from the area of the hose that the camera sees. This will prevent lighting from one side is compensated by the other side, whose result would be the disappearance of the mentioned micro-shadows and with them the texture that allows us to easily detect the breaks.
[0169] To better explain how various forms of lighting could be compatible with the marked tilt condition, we look at figure 10, if we call the camera axis z, we must illuminate the hose (1) in directions that do not generate reflections in it. and that at the same time they illuminate their surfaces as tangentially as possible, that is, with an angle greater than 45 ° with the orthogonal to its surface. To obtain this, we can either illuminate from the direction D = 0 or □ = 90 °, (or a combination of them) as indicated in the same figure.
[0171] If we illuminate from D = 0, the light rays will always be in a plane parallel to the axis of the hose and therefore we will obtain the desired effect. But due to the geometric structure of our system, we cannot illuminate in that exact direction, because we would have to infinitely move the lights away from our cameras. However, we can move them away in the direction D = 0, a distance greater than the distance between the camera and the hose, so that the angle of incidence between the rays and the axis of the camera would be greater than 45 ° and therefore we would comply aiming well enough.
[0173] Another option that this structure gives us, (see figure 10), is to set the cameras at □ = 90 °, that is, in a plane perpendicular to the axis of the hose. In this case, the disadvantage that arises is that the hose, due to its circular section, changes the angle of the perpendicular to its surface. To achieve in this situation, the objective that the rays are as tangent as possible to the surface of the hose, we must consider that we only need the camera to see an angle of the hose of around 100 ° measured from the center of the hose. . Then we can place lights, on each side of the hose to illuminate, from opposite sides, its surface. In this way, we can illuminate with an angle again greater than 45 ° from each side, in the area of interest. This second lighting mode is worse than the previous one but more viable considering the geometry of our system. To maintain that the lighting achieves an angle with the orthogonal to the hose greater than or equal to 45 ° we have introduced two points of light, at least, on each side of the hose (see figure 11).
[0176] We have, therefore, two ways of lighting that meet the established condition and that will allow to highlight any defect on the surface of the hose. In our preferred implementation, the second has been used for reasons of design simplicity.
[0178] The illumination can also be improved by adding a polarization to the lights that illuminate. This results in the disappearance of certain reflections due to light rays that reflect in areas with an inappropriate angle. The camera lens should also contain a polarizing effect.
[0180] Another additional advantage would be provided by the fact of illuminating with light of a different color depending on the inclination of the rays. This would allow us, on the one hand, to better visualize any irregularity on the hose surface and, on the other, if we place a multispectral filter on the cameras sensor, it would also highlight a damage on the hose surface that would reflect differently from the rest. of the area.
[0182] With the solution object of this invention, on the one hand, it is possible to position the lights and cameras in a constant position with respect to the hose to be inspected and a substantial improvement in the lighting and quality of the image obtained from the surface thereof, which they allow to detect the damages in a simpler and more evident way. Together, they allow to obtain the complete surface of the hose with a sharpness, a detail and a resolution of very good quality, qualities more than enough to reach the intended objective.
[0184] The spotlights are arranged in such a way that they can illuminate the surface of the hose to be inspected, and there will be a certain number of spotlights associated with each camera (even if they are not located adjacent to it), that is, when a camera is to capture a frame will be a certain number of spotlights that illuminate in a synchronized way the areas of interest to be captured by that camera, said assignment of the spotlights to the cameras being fixed. This functionality falls on the sequencer, which is located on the controller, which is part of the system.
[0186] At the end, a puzzle of frames of the unfolded surface of the hose is formed in which it is necessary to make an adjustment in the intersections, or guard areas, to obtain a homogeneous and continuous "photo".
[0189] INSPECTION PROCEDURE
[0191] There are two previous aspects, which must be considered within the inspection procedure, which have to do with the way in which we are going to take the images from the cameras and how we are going to join or merge them between them to obtain the "photo": 1. - The order of merging the images from the cameras: The images from the cameras are first obtained and then merged with images from the same camera (in the longitudinal direction) and with the images from the adjacent cameras (transverse direction). The order of fusion will depend on the software used and its convenience in one order or another, in terms of the treatment that must be carried out on the images to join them. We can first fuse adjacent cameras to obtain a peripheral ring of the surface of the hose and then join all these rings longitudinally to obtain the "photo" or join the images of each camera longitudinally to obtain strips of the "photo" that later we will join transversely to achieve ar the final "photo".
[0192] Before carrying out, during the flight, the acquisition process, it is necessary to perform a calibration of the cameras and an adjustment between adjacent cameras in order to smooth the fusion between them. The intrinsic parameters of each camera must be obtained to reduce distortions due to artifacts of the lenses and sensors, which can be done in the factory and store these parameters within the memory of each camera. Also in the factory, some scale and gain parameters must be obtained and stored to improve the subsequent fusion of images.
[0193] 2. - To simplify and shorten the time, the operation of obtaining and composing images, we are going to group the cameras into sets, in which the lighting they need does not interfere with each other. To illuminate and take images of each ring, we first divide its surface into zones that correspond to different cameras and whose illumination does not interfere with that of another camera. We group these cameras together and illuminate all the areas, which will be disjoint, to acquire images with all those cameras in the set, at the same time. In this way, the sampling time corresponding to each ring is divided only into as many parts as there are grouped camera sets into which the total number of cameras have been divided. Since we cannot sample all sets at the same time, this will mean that the images taken for the different sets when being joined will not match, as they will be out of date in time. This lag is taken into account when merging into a complete ring.
[0196] Once the method of proceeding to obtain the cylinder of the image of the entire hose has been chosen, this cylinder must be cut along a plane parallel to the axis of the hose, which includes it. In other words, the cut will be through one of its generatrices, to obtain a development of the lateral surface of that cylinder in the shape of a rectangle, which will be the one that will constitute the "photo" of the hose, which is to be obtained. Accordingly, the The top of the "photo" will match the bottom of the photo.
[0198] Let's consider that the hose, in its collection or extension, has a linear speed V mm / s and that the lens and the distance from the cameras to it are such that the length of the longitudinal fragment that said cameras acquire in each frame is □□ millimeters, which corresponds to rh pixels, which is the resolution of the camera's image sensor in the same longitudinal direction of the hose. This means that every millimeter on the hose surface corresponds to A ^ pixels in the camera. We must do this calculation for the part of the hose that is closest to the chamber, which is the worst case.
[0200] So that the movement of the hose does not affect the sharpness of the image obtained in each camera, we are going to prevent it from moving during the exposure time t ^e , more than an order of magnitude below the distance between two pixels. . According to that:
[0202] te rh - 10-V
[0203] The minimum number of images per second f.p.s., to be taken by each camera, so that there is at least a guard zone of 10% of the image, (which will allow a 5% overlap on each side), will be:
[0205] f -P-s. = x
[0206] If the length in millimeters of the hose is L, the recording time will be:
[0208] T = v
[0209] And the number of frames captured by each camera:
[0210] N = f .p. s. • T
[0212] The inspection procedure will be as follows:
[0213] - Deployment or full extension of the hose in flight.
[0214] - Beginning of the collection operation or total extension of the hose in flight.
[0215] - At the same time that the operation of the previous point begins, and for each set of cameras into which we have divided the total of them, according to the previous criterion that their lights do not interfere with each other, we start the firing of the lights of the first set synchronized with the capture of frames by each camera in the set. This capture process will be repeated for each set of cameras.
[0216] - We repeat the previous process for each section of the hose, which we call the hose ring and which is a cylinder that reflects the external image of a section of hose all around it. This process is carried out at a frequency of f.p.s. times per second.
[0217] It is important that the lights corresponding to each camera keep the appropriate angles with its axis, as explained previously, in order to obtain the required effect. The duration of the on-time of the appropriate lights will be several milliseconds. The duration of the acquisition of each camera will be from a few microseconds to a few tens of microseconds, all depending on the sensitivity of the image sensor and the intensity of the lights used as well as their on time. As indicated, the frames obtained by the different sets of cameras for a given image ring will be out of phase, in the sense that they do not correspond to the same instant of time. For proper blending, vividness, gamma, white balance and other image adjustment operations must be performed at the borders with adjacent photos.
[0218] - The image from the cameras is stored in memory. This image can be subjected to a compression process of the H.265 type (or similar) to reduce its size, as long as said process does not degrade the image appreciably.
[0219] - When the hose has finished being collected, the controller indicates it and ends both the lighting of the lights and the acquisition by the cameras.
[0220] - The system stops waiting for the order to download the data from the memory for later processing and composition of the "photo".
[0222] Once the "photo" is obtained, an operator will be able to view it step by step on a screen, and will be able to verify if any part of the hose is damaged.
[0223] It must be considered that the system and the procedure can be redundant, that is, a second batch of cameras and lights are placed interspersed between the previous ones with a lag between consecutive cameras. For example, in the case of four additional cameras, it would be 45 °. Thus, a second set of images would be captured, in such a way that a truthful capture of the hose surface would be ensured with any of the two subsystems interspersed with each other, with the advantage that if one or more cameras belonging to a subsystem fail, we will continue to have enough information to obtain the "photo".
[0225] We can also polarize the light coming from the spotlights and we can also put a polarizing filter in front of the camera lenses. This ensures the directions of the rays and the filtering of those unwanted, obtaining an improvement in the avoidance of reflections and glare.
[0227] We can also use lights of different colors with different directions that will make elements or parts of the surface of the hose that go out of the normal arrangement, present a different color and thus more easily reveal any irregularity in it.
[0229] Either the cameras, or the processing unit, may include the ability to compress the images from the cameras in order to reduce the amount of information needed to recompose the "photo" of the hose surface.
[0231] The system can comprise a program that composes the "photo" of the hose surface, from the images captured by the different cameras.
[0233] The system can also include a program that analyzes the "photo" of the hose surface and detects the critical points of damage and breaks that may exist on it.
[0235] The system for avoiding current spikes from the aircraft generators may comprise a set of supercapacitors that continuously store energy and supply it to the lights when they need it.
[0238] By doing it in the proposed way, a high efficiency is achieved, since the capture of frames is carried out during the process of collecting or unfolding the hose in flight. It does not require the intervention of specialized personnel and it cannot be damaged in the process, since it is carried out in the air. After the unloading and compounding process, only a visual inspection is required on a screen by an operator. The final process is cheaper, safer and simpler. Furthermore, the result obtained allows further digital processing to automate this inspection.
[0240] Unless otherwise indicated, all technical and scientific elements used herein have the meanings commonly understood by one of ordinary skill in the art to which this invention pertains. In the practice of the present invention, methods and materials similar or equivalent to those described herein can be used.
[0242] Throughout the description and the claims, the terms "comprises" or "is composed of" and their variations are not intended to exclude other technical characteristics, additives, components or steps. For those skilled in the art, other objects, advantages and characteristics of the invention will emerge in part from the description and in part from the practice of the invention.
[0244] EXPLANATION OF THE FIGURES
[0246] To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of a practical embodiment thereof, a set of drawings is attached as an integral part of said description. where by way of illustration and not limitation, the following has been represented.
[0248] In figure 1, we can see a schematic representation of the cross section of a reel (2) on which the hose (1) is wound / unrolled.
[0250] In figure 2, we can see a cross section of a "Pod" (3) with the most significant elements that act inside it. The reel or drum (2) where the hose (1) and the basket (4) are wound at the end of the hose (1).
[0251] Figure 3 shows a more enlarged front view and elevation of the reel (2) and the structure of our positioning and imaging system that is mounted inside the Pod (3).
[0253] Figure 4 schematically represents the inclination (□) and the different types of movement or degrees of freedom that the hose has and that are the cause of the complexity of the system to achieve a constant relative position with respect to it. .
[0255] Figure 5 shows the hose divided into frames (31) that must be joined both transversely and longitudinally to obtain a "photo" of it.
[0257] Figure 6 shows the structure object of this invention, from a frontal point of view.
[0259] In figure 7, the skids (15, 17) of the system are represented in elevation and in perspective.
[0261] Figure 8 shows the system object of this invention, represented with a side perspective.
[0263] Figure 9 highlights within two ellipses, the guiding substructures of the system, a first guiding substructure (13) that is fixed, on the left, and a second guiding substructure (16) that is hanging on the right. Both allow the ring of cameras and lights to remain perpendicular to the hose.
[0265] Figure 10 shows a Cartesian diagram of the hose (1) and the different relative directions of the camera and lights.
[0267] Figure 11 shows four sets of lights (23) used to illuminate the area of interest of the hose (1) for a certain chamber (22).
[0269] Figure 12 shows a diagram of the electronic system of the invention and the connections regarding signals and power (35) from the aircraft.
[0272] Figure 13 shows schematically what a rod (9) would look like, connecting the guide substructures.
[0274] Figure 14 shows a cross section to the axis of the hose (1), which includes the elements that are part of a guide substructure.
[0276] Figure 15 left shows an elevation of a longitudinal section of the hose (1) where the bushing (38) and two positions of the wheel (19), the skate, can be seen.
[0278] Figure 15 right shows the two positions of wheels and bushings when the hose and bush respectively pass through the substructure.
[0280] At the end of the description of the preferred embodiment of this invention, in this document, a list is added with the names of the elements of the figures in order to facilitate the search and location of each one of them.
[0282] PREFERRED EMBODIMENT OF THE INVENTION.
[0284] In view of the figures, a preferred embodiment of the proposed invention is described below. Without limiting character, it aims to explain the realization of a specific and functional implementation of the same with the main purpose of illustrating in more detail, the properties that characterize this invention.
[0286] In figure 1 we can see a reel (2) on which a hose (1) is wound and unrolled. This reel is located inside a casing or capsule, where the hose (1) that we will call Pod from now on is housed, which in turn is generally placed under the wing of an airplane. The aircraft thus configured can be called a "tanker" and supply fuel to other aircraft by the hose and basket method.
[0288] Figure 2 shows the inner part of a Pod (3), to which we have internally fixed the system that is the object of this invention and through which the hose (1) runs. We look for the winding and unwinding movement of the hose (1) during the flight, so that, during this process, the system can acquire the information from the surface of the hose.
[0291] The system object of the invention, as shown in figure 3, is internally fastened to the Pod (3) by means of lugs (12) that are screwed inside onto which fix structural fixing elements (10) to through which the hose (1) will pass along its entire length.
[0293] The system consists of a set of cameras (22) and lights (23) arranged in a ring around the hose (1). The objective of the system is to achieve a very high quality in the images obtained from the hose (1) and a great regularity in terms of the image and the degree of illumination that each camera obtains from it. For this, a main objective of the system is to keep these cameras (22) and lights (23) always at the same distance from the hose (1).
[0295] Due to the entry (or exit) of the hose on the reel, inside the Pod, an angle of inclination (□) appears in relation to a plane orthogonal to the axis of the hose (1), as a consequence of its entry angle ( or output) to said spool (2), (see □ in figures 3, 4 and 9).
[0297] In addition, the position of the hose (1) will move both in the horizontal direction (H) (to allow several turns on the reel) and in the vertical direction (V) (to allow several levels on the reel, with different winding radii therein). The above facts are thus shown in Figures 3, 4 and 9, with the angle (□) and in Figure 4 with the arrows (H) and (V). That is, we have a fixed angle of inclination and two different movements of the hose (1) with respect to the Pod (3), which we will consider as our fixed reference.
[0299] Also, and as a consequence of the exterior aerodynamics and the maneuvers of the tanker plane, and on the other hand, due to the different angle of rotation of the hose on the reel, the basket (4) can carry out a force pulling in different directions of the tank. hose (I) and change its direction with respect to that of the reel outlet. This change in the direction of movement of the basket (4) can be vertical or pitch (P) or horizontal or yaw (R) as indicated in the same figure 4. We therefore have two more movements or degrees of freedom .
[0301] In summary, according to the above, we have an initial fixed angle (□) and five degrees of freedom corresponding to the previous four (H), (V), (P), (R), along with the same longitudinal movement (L) of the hose in its collection / extension process and also its variation in terms of its radius, as happens when the bushing has to pass through the system.
[0303] As has been established, the objective of our system to preserve a high degree of quality in the images collected, is to keep the cameras (22) and the lights (23) in a fixed relative position with respect to the hose. Therefore, the system that is the object of this invention will compensate for all the previous movements and inclination and will do so in the following way:
[0305] To compensate for the inclination □ set by the reel outlet, the system consists of two pairs of arms (5) of different lengths that give that inclination to the rest of the system (figures 8 and 9).
[0307] To compensate for horizontal (H) and vertical (V) movements, the system consists of a first guide substructure (13), with an octagonal shape (see figure 9) in this preferred implementation, in which four wheels have been arranged. (19), with an axial inclination towards the axis of the hose of 90 ° difference from one with respect to the next, all with their axes (20) (figure 7) perpendicular to the axis of the hose. The wheels have the mission of "rolling" on the surface of the hose (1) in order to make the substructure follow the movement of the latter. The springs (8) that hold them tend to place them in the center of the substructure, making it follow the position of the hose in this way. A section can be seen in figure 14, where four wheels (19) corresponding to this preferred implementation, roll over the hose (1) making the spring-wheel set embrace it and the substructure follow the hose (1) .
[0309] The objective of this first guide substructure (13) is, on the one hand, to allow the hose to run inside it with the minimum possible friction, hence the wheels (19). But it is also intended that the hose (1) when moving horizontally (H) and vertically (V), pushes this substructure and moves it evenly to it. As has been anticipated, to try to adjust this substructure as much as possible to the hose (1), some springs (8) have been added. And to consider the possibility that its diameter may vary, as is our case, due to the existence of a bushing, increasing considerably, some skids have been introduced (15).
[0312] These functionally increase the radius of the wheels and produce the same effect as these, of following the hose, in the case of a greater radius of the same. The operation of these skates (15) is very similar to that of the wheels (19) and although they cannot roll like the first ones, they can nevertheless rotate to allow a bulge in the hose to pass through the center of the substructure. If we did not put these "skates" (15) and to avoid that the bulge blocked the wheel (19), we would have to increase the radius of the same. This is not feasible in our case since when these wheels separate from the center of the substructure, Due to a bulging of the hose, its large diameter would cause them to collide with the interior of the Pod (3) making this implementation of the system unfeasible. This does not happen with the skids (15) as illustrated in the right image of Figure 15. In it, on the left, it can be seen how the skid can overcome the obstacle of the bushing and how, if we did not put the skids (15), the bushing, which has a height when it hits the wheel close to its spoke, it would cause a blockage of this and probably a problem of breakage of some of the elements of the system. In figure 15, to the right, you can see the two positions in which the skates will be. The first corresponds to the hose passage and second to the passage of the bushing.
[0314] The runners (15, 17) must be made of a smooth and polished material that cannot be caught by the bushing. It could be worth the Teflon that is self-lubricating or another similar that supports the required temperature ranges.
[0316] Obviously, each skate (15) has the same axis (20) as its corresponding wheel and consists of hooks (21) for each of the springs (8) (Figures 7 and 14).
[0318] So that this first guide substructure (13) can move horizontally and vertically (Figures 6, 9 and 14), horizontal (7) and vertical (14) bars have been arranged in the structure of our system, which together with some Low friction cylinders (6) and (11) placed on the guide substructure, allow it to move in these two directions H and V with the minimum effort from the hose (1).
[0320] Thanks to this first guide substructure (13), the horizontal (H) and vertical (V) movements are compensated and if we place the ring (18) of cameras (22) and lights (23) attached to this substructure, said movements would no longer affect them (in terms of
[0323] maintain its fixed relative position with respect to the hose) since the guides will cause the substructure to move with the movements of the hose.
[0325] But in order to obtain an even better image quality, the aerodynamic movement of the basket (4) that changes the direction of the hose as it exits the reel (2) has been considered and the change of the radius of collection of the hose due to the increase in turns on the hose reel (2).
[0327] To compensate for the two changes (P) and (R) that these movements can produce, a second guide substructure (16) has been used (see figure 9) also with wheels (19) very similar to the first guide substructure The same orientation as that of the hose (1) compensating for these deviations as intended. The ring (18) where the cameras (22) and the lights (23) are located, will be subject to the connecting rods (9) between both substructures in this more complete implementation of this invention.
[0329] As previously stated, to join the first guide substructure (13) and the second guide substructure (16) to each other and to allow the second guide substructure (16) to move relative to the first substructure (13), fixing elements have been inserted between the two. In this embodiment there are four, and we have called them substructure rods (9). They are composed of an extensible element such as a spring (37) that is fixed to two ball joints (36) fixed to each substructure (see figure 13).
[0331] Now the pitch (P) and yaw (R) movements of the hose are compensated with the hanging guiding substructure (16) and at all times, the cameras (22) and lights (23) will move even to the hose itself ( 1) also compensating for those movements.
[0333] Thus, we have two potential implementations of this invention, the first implementation with only the first guide substructure (13) or fixed guide substructure. The second implementation, adding the second guide substructure (16) or hanging guide substructure (13), more complete than the first to the consider compensating for these two additional movements (P and R) of the hose.
[0335] We must also consider the movement of the hose in the longitudinal direction to it (Figure 4) (L). To compensate for this movement, what the system does is take frames with each camera at a very high speed, so that, in the period of time in which this occurs, the movement of the hose (1) is negligible. We are talking about a few microseconds. In order to obtain a quality image in that small time interval, we need the high intensity lights (23) that our system consists of.
[0337] In addition, the system (see figure 12) has a control module (24), in our case made up of a microcontroller (MCU) and some peripheral components, programmed to send an ignition command, through a control bus (34) to the lights (23) and to the cameras (22), so that the images of the hose (1) are acquired in their entire length and that will depend on the speed of this in their collection. This control module (24) is powered by an adaptation or conversion module (26) of the aircraft voltage (35), the control module (24) being joined from the adaptation or conversion unit (26) by means of a first connection (27) while the set of cameras (22) and lights (23) receive power from the control unit (24) through a second connection (28). The control unit (24) will also have a memory that will store the information of the acquired frames and that will send them in a timely manner to the download point (25) through a high-speed bus (29).
[0339] The hose (1) is photographed by the cameras (22) to obtain the frames (31) (figure 5), which, with the appropriate perimeter guard zones, allow to compose them for each instant of time and generate a ring (32). These rings are made up of as many fragments as there are chambers. In each fragment the redundancies of the guard zones are eliminated and merged with the adjacent fragments to form a complete perimeter image of the hose (1) for a given time segment. In the embodiment shown, the number of chambers and fragments is four. They are sampled at sufficient speed to allow guard zones on the longitudinal axis between them. These guard zones, again, are but the repetition of part of the hose image at the end of one ring and beginning of the next and
[0342] they allow to ensure the continuity of the photo. In order to make the composition of all the hose rings, these new storage areas will be eliminated and the "photo" will be generated with a very high level of quality thanks to the architecture of this system.
[0344] To obtain the photo, it is also important (see figure 5) to consider that the hose has longitudinal lines (30) painted on its surface and that it is also in various colors such as white (31) and black (33). To ensure that these disparate colors, in terms of the reflection of the light they receive from the bulbs, do not burn the frames or leave them too dark, it is important to determine the appropriate level of illumination, which thanks to this design will remain constant throughout throughout the entire operation. Likewise, reflections must be avoided and the effect of micro-shadows explained previously must be obtained.
[0346] In our preferred implementation, the placement of the lights is done in a hybrid way to those explained above. This is thanks to the fact that the closer we get to mode 1, the more we can raise the lights and the better the angle obtained, always above 45 °. We can move the lights away from the cameras a little on the axis of the hose, which will allow us to lift them a little and meet the requirement of the angle greater than 45 ° more easily. The preferred placement of cameras and lights can be seen in figure 11. In said figure it can be seen how the surface to be acquired from the hose for the upper chamber is illuminated by four lights from opposite sides and angles. The rays of light form with the orthogonal to the surface of the hose, an angle greater than 45 ° in the entire area that said light intends to illuminate. It is also important that they do not interfere with each other, as this could eliminate the intended micro-shadowing effect. In our case, each chamber acquires an angular surface of the hose surface of about 100 °. Of these, 10 ° correspond to guard zones. 5 ° on each side, for the intersection with the adjoining chambers. By removing these guards, there are 90 ° that the lights illuminate as follows, starting from right to left: The first 90 ° / 4 are illuminated by the light or set of first lights 23-1. These first lights 23-1 are positioned to the left of the camera 22 itself, in a front view. The second room is illuminated by second lights 23-2. The third quarter as well as the last one, representing the range from 45 ° to 90 ° of the total, are illuminated in a similar and symmetrical way as has been done for the first half of the total range. The figure shows a third lights 23-3 and a fourth lights 23-4 that perform this
[0349] function. Among the four groups of lights, we obtain the total illumination of the area corresponding to chamber 22 of figure 11, having so many groups of cameras (22) and associated lights as to be able to capture the entire perimeter surface of the hose. If, in addition, in the longitudinal axis of the hose, we move the ring of lights with respect to that of cameras, we will obtain a better lighting result and creation of micro-shadows as desired.
[0351] None of the lights located for the illumination of the chamber (22) of the figure interfere geometrically with the lights that are needed for an adjoining chamber. In this way, if we repeat the image in figure 11 for each of the three remaining cameras (turning the position of the camera and lights 90 ° three times), we would have the total set of lights and cameras necessary to take the image of a hose ring. The result of that can be seen in the same figure 11, on the right and below.
[0353] In summary, to achieve all of the above objectives, the basis of this invention is found in the proposed geometric arrangement which, having to be compatible with the current geometry of the Pods, must allow adequate monitoring of the hose and lighting and taking of images that comply with all of the above. This is efficiently achieved with the solution and implementation provided.
[0355] The fact of being able to carry out the inspection during the collection of the hose in flight, constitutes a significant novelty that has a series of advantages such as saving time, being able to avoid the breakage of the same in the process of dragging on the ground during the extension and collection on land, avoid human error, etc. But perhaps the most important is again the ability to detect hose damage. Hydraulic hose fuel control consists of at least two valves at the beginning and end of the hose. If we keep the one at the end where the basket is located closed, due to not having any connection to the receiving plane, and we open the valve at the beginning, the fuel pressure inside the hose increases and if there is a leak, it can be captured by any of the images taken, in the procedure of analysis of the "photo." All this without prejudice to the detection of damage indicated above.
[0357] On land this part of the procedure is unfeasible, for safety reasons. In this sense, it may be interesting to have a real-time view of the cameras (22) in the cabin to detect leaks in the hose (1).
[0358] Figure 14 shows a cross section to the axis of the hose (1) that collects the elements that are part of a guide substructure, such as the toroidal volume (18) with chambers (22) and lights (23) and the springs ( 8) responsible for adjusting the wheels (19) and the adjusting skids (15) to the hose (1). Figure 15 shows how, said skates and wheels (19) can separate in the event that a bulge appears around the hose, such as a bushing (38) that embraces the hose (1), increasing significantly its outer radius.
[0360] Figure 15 left, shows an elevation of a longitudinal section of the hose (1) where the wheels (19) and the skates are seen together with the bushing (38) or bulge of the hose. As can be seen, the wheel by itself would not be able to exceed the bush, since its radius is of the same order as the height that this bush (38) presents as an obstacle. However, thanks to the shoe, the bushing (38) will pass without problem. The skate acts as a wheel with a larger radius without the problem of occupying in height the space that a wheel of such dimensions would need if it were complete.
[0362] INSPECTION PROCEDURE
[0364] The procedure of image capture and inspection, for the camera and light positioning system for inspection of hoses with inclination and transverse, vertical and horizontal, pitch and yaw and longitudinal movements described above, which compensates for said movements in order to obtain a very high quality photo, comprises the steps described below.
[0366] In the case of this preferred implementation in which we have four lighting zones, one for each camera, we can group them into two sets: A first set formed by the upper and lower cameras.
[0368] And another set corresponding to the left and right cameras.
[0370] Thus, each sampling of the hose surface is divided into two phases, one for each set of those established. The first chamber (22) of the first set, the upper one, has a hose surface angle, with respect to the center of the hose, of 100 °,
[0373] which is illuminated by four groups of lights (23-1, 2, 3, and 4) as shown in the figure
[0374] 11. To complete the set, this part of the ring is added to the other symmetrical one that
[0375] corresponds to the lower camera (22), another 100 °, which would be illuminated by another four
[0376] groups of lights symmetrical to those corresponding to the camera above. Both zones
[0377] illuminated, they have no common part on the surface of the hose and can
[0378] be illuminated at the same time without interfering with each other. This is how we form the first set
[0379] by grouping these lighting zones from the upper chamber and the lower chamber.
[0380] Similarly, we form the second set with the lights corresponding to the
[0381] left and right cameras.
[0383] The procedure is the next:
[0385] - Full deployment of the hose in flight.
[0387] - Beginning of the hose collection operation in flight.
[0389] - At the same time that the hose collection begins, we start the shot
[0390] of the lights of the first set synchronized with the capture of frames by
[0391] each camera in the set. This capture process will be repeated for each
[0392] set.
[0394] - We repeat the previous step for each section of the hose, or ring of
[0395] hose with a frequency of f.p.s.
[0397] - When the hose has finished being collected, the controller indicates it and
[0398] both the lighting of lights and the acquisition by the
[0399] cameras.
[0401] - The system stops waiting for the order to download the data from the
[0402] memory for further processing and composition of the photo.
[0404] Designation of the elements of the figures:
[0406] 1. Hose
[0407] 2. Reel
[0408] 3. Pod
[0409] 4. Basket
[0410] 5. Pre-tilt arm
[0411] 6. Horizontal bar slide cylinder
[0412] 7. Horizontal slide bar
[0413] 8. Skid spring
[0414] 9. Connecting rod of substructures
[0415] 10. Support structure and grip to the Pod
[0416] 11. Vertical slide cylinder
[0417] 12. System Attachment Lugs to Pod
[0418] 13. Guiding substructure fixed to the structure
[0419] 14. Vertical slide bar
[0420] 15. Hose fitting skid of the substructure fixed to the structure
[0421] 16. Hanging guide substructure
[0422] 17. Hanging substructure hose fitting skid
[0423] 18. Box or toroidal volume with chambers and lights
[0424] 19. Skate wheel
[0425] 20. Skate wheel axle
[0426] 21. Spring hitch
[0427] 22. Camera
[0428] 23. Light
[0429] 24. Control Unit
[0430] 25. Aircraft cabin system
[0431] 26. Food
[0432] 27. Power line to control unit
[0433] 28. Power line to cameras and lights
[0434] 29. Communication bus with the plane
[0435] 30. Longitudinal strip of the hose
[0436] 31. Image from a camera
[0437] 32. Image ring
[0438] 33. Color zone of the hose
[0439] 34. Camera and light control line
[0440] 35. Food from the plane
[0441] 36. Patella
[0442] 37. Rod spring
[0443] 38. Bushing (hose bulge)
[0445] Sufficiently described the nature of the present invention, as well as the manner of
[0446] put it into practice, it is stated that, within its essentiality, it may be carried
[0447] to practice in other embodiments that differ in detail from that indicated by way of
[0448] example, and to which the protection that is sought will also reach, always
[0449] that it does not alter, change or modify its fundamental principle.

权利要求:
Claims (24)
[1]
1. - System for positioning cameras and lights for inspection of hoses used in aerial refueling, characterized in that it comprises:
- A mechanical structure fixable to a shell or capsule or Pod comprising:
- Some structural fixing elements (10) provided at their ends with lugs (12) fixable to the Pod.
- Loaves both horizontal slide (7) and vertical (14), where the bars horizontal sliding (7) connecting the upper and lower ends of structural fasteners (10), while the bars of vertical sliding (14 ) are mounted on the horizontal slide bars.
- A first guide substructure ( 13) that surrounds the hose, and that we will call fixed, and that moves with the hose as it slides along the horizontal (7) and vertical (14) sliding bars and is composed of:
• A support structure for all the elements that compose it.
• Very low friction wheels (19) that will roll on the surface of the hose and allow it to push and move our system.
• Some axles ( 20) or bars to hold these wheels (19), which will allow them to turn.
- A toroidal volume, with chambers (22) and lights (23) fixed to this substructure (13).
- A sub -control system with a large capacity memory, with cameras and lights, which determines when each of the lights turn on and off and when each camera begins and ends its exposure time, together with the connection to the plane to receive orders and to be able to download the images, as well as a power supply and the corresponding interconnection wiring between all its electronic parts.
Where the previous elements allow to change the position of the cameras and the lights interactively so that they adopt a constant relative position in relation to the hose (1) as it moves.
[2]
2. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to claim 1, characterized in that
7
It comprises two pairs of structural or tilting pieces (5) that are mounted on the structural fixing elements (10) and that compensate for an initial angle that the hose forms with respect to the axis of the Pod,
[3]
3. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to claim 1 or 2, characterized in that the first guide substructure also consists of:
• Some skids (15) with tangential movement that facilitate the passage of the hose or any protrusion that it may contain, such as a larger diameter bushing.
[4]
4. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to claim 1 or 2 or 3, characterized in that the wheels (19) of the first guide substructure (13) and / or the skids ( 15) of the same, have a set of springs ( 8) that hold them to the substructure and that cushion the blows or "pushes" of the hose.
[5]
5. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to any of the preceding claims, characterized in that it additionally comprises a second guide substructure ( 16) that surrounds the hose, floatingly attached with respect to the first guide substructure (13) that moves with the hose and which is composed like the first guide substructure of:
• A sub support structure for all the elements that compose it .
• Very low friction sliding wheels that will roll on the surface of the hose and allow it to push and move our system.
• One axles or bars to hold those wheels, which will allow them to turn. Where the first guide substructure (13) and the second guide substructure (16) are joined together by means of fixing elements or substructure rods (9) that are composed of an extensible element such as a spring (37) that is fixed to respective ball joints (36) fixed to each substructure, and where in addition the box or toroidal volume (18) with the lights (23) and the chambers (22) is attached to said rods (9).
[6]
6. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to the preceding claim, characterized in that the first guide substructure and / or the second guide substructure also consist of:
• Some skids ( 17) with tangential movement that facilitate the passage of the hose or any protrusion that it may contain, such as a larger diameter bushing.
[7]
7. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to claims 5 or 6, characterized in that the wheels (19) of the second guide substructure (16) and / or the skids (17) of the same (16) have a set of springs ( 8) that hold them to the substructure and that cushion the blows or "pushes" of the hose.
[8]
8. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to any of the preceding claims, characterized in that the first guide substructure on the sliding bars (7) and (14) comprises low cylinders friction (6) and (11) that slide along said bars, allowing a movement of the system due to the pressure itself due to the movement of the hose, with little effort from the latter.
[9]
9. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to any of the preceding claims, characterized in that some of the lights (23) used to illuminate the surface of the hose (1) are polarized.
[10]
10. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to any of the preceding claims, characterized in that some of the camera lenses (22) used to illuminate the surface of the hose (1) are also polarized.
[11]
11. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to any of the preceding claims, characterized in that the lights (23) used are of various wavelengths and that are arranged at different angles to illuminate the surface hose (1).
[12]
12. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to any of the previous claims characterized in that the cameras (22) have different filters in the different pixels of their image sensor in order to " see ”certain wavelengths and not others.
[13]
13. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to any of the preceding claims characterized in that it has redundancy in the number of cameras (22), so that in case of failure in any one of them, the others can rebuild the entire surface of the hose (1).
[14]
14. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to any of the preceding claims, characterized in that either the cameras or the processing unit include the ability to compress the images from the cameras with the in order to reduce the amount of information needed to recompose the "photo" of the hose surface (1).
[15]
15. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to any of the preceding claims, characterized in that it comprises a program that makes up the "photo" of the surface of the hose (1), from the images captured by the different cameras (22).
[16]
16. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to any of the preceding claims, characterized in that it comprises a program that analyzes the "photo" of the surface of the hose (1) and detects the critical points of damages and breaks that may exist on it.
[17]
17. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to any of the preceding claims, characterized in that it also has energy storage elements such as supercapacitors, to extract from them the necessary energy to turn on the lights (23) and not have to load the plane with a peak of consumption at the moment of ignition.
[18]
18. - System for positioning cameras and lights for inspection of hoses used in aerial refueling according to any of the preceding claims, characterized in that the area to be illuminated is distributed so that in the area corresponding to each camera, apart from the guard areas , the first 90 ° / 4 are illuminated by the light or set of first lights 23-1, placed next to the camera 22 itself, in a frontal view; a second room is illuminated by second lights 23-2, the third 23-3 and room 23-4 are symmetrical to the first two and so are the lights that illuminate them and that said lights (23) do not interfere geometrically with the lights that are needed to illuminate the areas corresponding to the adjacent chambers, reproducing said distribution with three more chambers and their corresponding lights until the transverse perimeter of the hose is covered.
[19]
19. - Procedure for positioning cameras and lights for inspection of hoses used in aerial refueling that uses the system according to any of the preceding claims, characterized in that it comprises the following stages:
- Beginning of the operation to collect or deploy the hose (1) in flight. - At the same time that the collection or deployment of the hose begins (1), the firing of the lights (23) that illuminate the areas that do not have common intersections of the hose surface (1) and that therefore do not they interfere with each other. This grouping can be by independent cameras (22) or by sets of cameras (22).
- For the camera (22) or set of cameras corresponding to the illuminated area, we perform an image acquisition during the corresponding acquisition time te, calculated so that the movement of the hose does not create blurred images (as explained in a previous section ).
- The images obtained are stored in the system memory.
- This capture process is repeated for each camera (22) or set of cameras until each section of the hose (1) is completed, which we call the hose ring and which is a cylinder that reflects the external image of a section of hose throughout your surroundings.
- The previous step is repeated for each section of the hose (1), or hose ring with a frequency of fps until all the hose rings are completed in their entire length.
- When the hose (1) has finished the process indicated in the second step, the controller indicates it and ends both the lighting of the lights (23) and the acquisition by the cameras (22).
- The system stops waiting for the order to download the data from the memory for further processing and composition of the photo.
[20]
20. - Procedure for positioning cameras and lights for inspection of hoses used in aerial refueling according to claim 19 characterized by also using lights (23) and / or polarized cameras (22) so that the images obtained are free of certain reflections and glare.
[21]
21. - Procedure for positioning cameras and lights for inspection of hoses used in aerial refueling according to claim 19 or 20 characterized in that it also uses multispectral filters in the camera sensors (22) that filter the light with certain polarizations and allow see that of others.
[22]
22. - Procedure for positioning cameras and lights for inspection of hoses used in aerial refueling according to claim 19 or 20 or 21, characterized in that it also uses colored lights (23) that illuminate the catchment area of each with different angles. corresponding chamber (22).
[23]
23. - Procedure for positioning cameras and lights for inspection of hoses used in aerial refueling according to any of claims 19 to 22 (both included), characterized in that it composes the "photo" of the surface of the hose (1), to from the images captured by the different cameras (22).
[24]
24. - Procedure for positioning cameras and lights for inspection of hoses used in aerial refueling according to any of claims 19 to 23, characterized in that it comprises a program that analyzes the "photo" of the surface of the hose (1) and detects the critical points of damage and breakage that may exist on it.

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同族专利:

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公开号 | 公开日

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ES2847236R1|2021-08-03|

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优先权:

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申请号 | 申请日 | 专利标题

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ES202030011A|ES2847236R1|2020-01-11|2020-01-11|CAMERA AND LIGHTS POSITIONING SYSTEM FOR INSPECTION OF HOSES USED IN AIR REFUELING AND INSPECTION PROCEDURE|ES202030011A| ES2847236R1|2020-01-11|2020-01-11|CAMERA AND LIGHTS POSITIONING SYSTEM FOR INSPECTION OF HOSES USED IN AIR REFUELING AND INSPECTION PROCEDURE|

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PCT/ES2020/070015| WO2021140259A1|2020-01-11|2020-01-13|Camera and lights positioning system for inspecting hoses used in air-to-air refueling and inspection procedure|