Using force sensing to prevent borescope damage

1 . A borescope comprising:

a first inspection tube and a second inspection tube configured to be used interchangeably with the borescope system, wherein the second inspection tube has a different size or length than the first inspection tube, and wherein each of the first and second inspection tubes comprise:

an actuable portion nearer a distal of the inspection tube than a proximal end of the tube, and

actuatable drive cables extending a length of the inspection tube, the actuable drive cables attached to a distal end of the inspection tube, the actuable drive cables arranged to transfer motion to the actuable portion; and

a force sensor coupled to each of the actuable drive cables, the force sensor configured to measure tension within each of the actuable drive cables;

an inspection head attachable to the distal end of the first inspection tube or the second inspection tube; and

a control unit attachable to a proximal end of the first inspection tube or the second inspection tube, the control unit configured to:

receive a signal from the force sensor of the first inspection tube or the second inspection tube, the signal being indicative of tension within the actuable drive cables of the first inspection tube or the second inspection tube; and

actuate the actuable drive cables of the first inspection tube or the second inspection tube to provide slack in response to the signal indicating stress within the actuable drive cables of the first inspection tube or the second inspection tube exceeding either a first specified threshold when the first inspection tube is being used or a second specified threshold when the second inspection tube is being used.

2 . The borescope of claim 1 , wherein the force sensor of each of the first and second inspection tubes comprises a piezoelectric force sensor.

3 . The borescope of claim 1 , wherein the force sensor of each of the first and second inspection tubes comprises a strain gauge, a force sensitive resistor, a drive current sensor, or a torque sensor.

4 . The borescope of claim 1 , wherein the force sensor of the first inspection tube extends between an actuator bracket and a housing of the borescope when the first inspection tube is being used, and wherein the force sensor of the second inspection tube extends between the actuator bracket and the housing of the borescope when the second inspection tube is being used.

5 . The borescope of claim 1 , wherein each of the first and second inspection tubes further comprise:

a fiber optic cable extending through an inner passage defined by the inspection tube, the fiber optic cable extending between the inspection head and the control unit; and

communication cables extending through the inner passage, the communication cables extending between the inspection head and the control unit.

6 . The borescope of claim 1 , further comprising first actuators coupled to proximal ends of the actuable drive cables of the first inspection tube and second actuators coupled to proximal ends of the actuable drive cables of the second inspection tube, the first actuators configured to move the actuable drive cables responsive to signals received from the control unit when the first inspection tube is being used, and the second actuators configured to move the actuable drive cables of the second inspection tube responsive to signals received from the control unit when the second inspection tube is being used.

7 . The borescope of claim 1 , wherein the controller is further configured to provide a warning to a user prior to actuating the actuable drive cables of either the first inspection tube or the second inspection tube.

8 . A method comprising:

interchangeably coupling one of a first inspection tube or a second inspection tube to a borescope system, wherein the second inspection tube has a different size or length than the first inspection tube;

receiving a signal from a force sensor coupled to actuable drive cables within the first inspection tube or the second inspection tube, the signal being indicative of tension within the actuable drive cables of the first inspection tube or the second inspection tube;

determining that a tension within one or more of the actuable drive cables of the first inspection tube has exceeded a first specified threshold based on the signal when the first inspection tube is being used, or determining that a tension within one or more of the actuable drive cables of the second inspection tube has exceeded a second specified threshold based on the signal when the second inspection tube is being used; and

actuating the actuable drive cables of the first inspection tube or the second inspection tube to provide slack such that an inspection head of the borescope is moved to a straight-ahead position.

9 . The method of claim 8 , wherein actuating the actuable drive cables of either the first inspection tube or the second inspection tube comprises:

sending a signal to one or more actuators;

adjusting the actuators responsive to the signal; and

adjusting a drive cable, coupled to an actuator at a first end of the drive cable and to the inspection head at a second end of the drive cable, by the actuator.

10 . The method of claim 8 , further comprising providing a warning to a user prior to actuating the actuable drive cables of the first inspection tube or the second inspection tube.

11 . A borescope comprising:

a first inspection tube and a second inspection tube configured to be used interchangeably with the borescope system, wherein the second inspection tube has a different size or length than the first inspection tube, and wherein each of the first and second inspection tubes comprise:

an actuable portion nearer a distal of the inspection tube than a proximal end of the tube, and

actuatable drive cables extending a length of the inspection tube, the actuable drive cables attached to a distal end of the inspection tube, the actuable drive cables arranged to transfer motion to the actuable portion;

a force sensor coupled to each of the actuable drive cables, the force sensor configured to measure tension within each of the actuable drive cables;

an inspection head attachable to the distal end of the first inspection tube or the second inspection tube; and

a control unit attachable to a proximal end of the first inspection tube or the second inspection tube, the control unit comprising:

a processor; and

a non-transient memory comprising instructions executable by the processor to:

receive a signal from the force sensor of the first inspection tube or the second inspection tube, the signal being indicative of tension within the actuable drive cables of the first inspection tube or the second inspection tube; and

actuate the actuable drive cables of the first inspection tube or the second inspection tube to provide slack in response to the signal indicating tension within the actuable drive cables of the first inspection tube or the second inspection tube exceeding either a first specified threshold when the first inspection tube is being used or a second specified threshold when the second inspection tube is being used, the actuable drive cables being actuated such that the inspection head is moved to a straight-ahead position.

12 . The borescope of claim 11 , wherein the force sensor of each of the first and second inspection tubes comprises a piezoelectric force sensor.

13 . The borescope of claim 11 , wherein the force sensor of each of the first and second inspection tubes comprises a strain gauge, a force sensitive resistor, a drive current sensor, or a torque sensor.

14 . The borescope of claim 11 , wherein each of the first and second inspection tubes further comprises:

a fiber optic cable extending through an inner passage defined by the inspection tube, the fiber optic cable extending between the inspection head and the control unit; and

communication cables extending through the inner passage, the communication cables extending between the inspection head and the control unit.

15 . The borescope of claim 11 , further comprising first actuators coupled to proximal ends of the actuable drive cables of the first inspection tube and second actuators coupled to proximal ends of the actuable drive cables of the second inspection tube, the first actuators configured to move the actuable drive cables of the first inspection tube responsive to signals received from the control unit when the first inspection tube is being used, and the second actuators configured to move the actuable drive cables of the second inspection tube responsive to signals received from the control unit when the second inspection tube is being used.

16 . The borescope of claim 15 , wherein the memory further comprises instructions executable by the processor to:

actuate the actuable drive cables, by the actuators of the first inspection tube when the first inspection tube is being used, such that the inspection head is moved to face a substantially upward direction; or

actuate the actuable drive cables, by the actuators of the second inspection tube when the second inspection tube is being used, such that the inspection head is moved to face the substantially upward direction.

17 . The borescope of claim 11 , wherein the force sensor of the first inspection tube extends between an actuator bracket and a housing of the borescope when the first inspection tube is being used, and wherein the force sensor of the second inspection tube extends between the actuator bracket and the housing of the borescope when the second inspection tube is being used.

18 . The borescope of claim 11 , wherein the memory further comprises instructions executable by the processor to provide a warning to a user prior to actuating the actuable drive cables of either the first inspection tube or the second inspection tube.