Automatic slap impact mitigation system
An inspection tube of a borescope can include an actuable portion nearer a distal of the inspection tube than a proximal end of the tube. Actuable drive cables can extend a length of the inspection tube to transfer motion to the actuable portion. At a distal end of the inspection tube is an inspection head that can include a motion sensor configured to sense an orientation and a movement of the inspection head. At the proximal end of the inspection tube is a control unit. The control unit can receive a signal from the motion sensor. The signal can be indicative of an orientation and/or the movement of the inspection head. A fall condition can be determined to be occurring based on the signal. The actuable drive cables can then be actuated to move the inspection head to a protected position.
1 . A borescope comprising:
an inspection tube comprising:
an actuable portion nearer a distal end of the inspection tube than a proximal end of the tube, and
actuable 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;
an inspection head attached to the distal end of the inspection tube, the inspection head comprising a motion sensor configured to sense a movement of the inspection head, the inspection head being attached to and movable by the actuable portion; and
a control unit at a proximal end of the inspection tube, the control unit configured to:
receive a signal from the motion sensor, the signal being indicative of the movement of the inspection head;
determine a fall condition of the inspection head is occurring based on the signal; and
actuate the actuable drive cables such that the inspection head is moved to a protected position.
2 . The borescope of claim 1 , wherein the control unit is further configured to:
determine an upward direction based on the signal; and
determine an actuation length of each drive cable to position the inspection head in a substantially upward direction.
3 . The borescope of claim 1 , wherein the protected position is facing a substantially upward direction.
4 . The borescope of claim 1 , wherein the control unit is further configured to:
determine a travel direction of the inspection head based on the signal; and
determine an actuation length of each drive cable to position the inspection head in a direction substantially the opposite the travel direction.
5 . The borescope of claim 4 , wherein the protected position is facing substantially opposite the travel direction.
6 . The borescope of claim 1 , wherein the motion sensor is a three axis accelerometer.
7 . The borescope of claim 1 , wherein the motion sensor is a six axis inertial measurement unit with three axis accelerometer and three axis gyroscope.
8 . The borescope of claim 1 , wherein the inspection tube further comprises:
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.
9 . The borescope of claim 1 , further comprising actuators coupled to proximal ends of the actuable drive cables, the actuators configured to move the actuable drive cables responsive to signals received from the control unit.
10 . The borescope of claim 1 , wherein the inspection head further comprises:
a lens at a distal end of the inspection head;
an optical sensor arranged to receive light from the lens; and
a light source arranged to emit light in a substantially distal direction.
11 . A method comprising:
receiving a signal from a motion sensor within an inspection head of a borescope, the signal being indicative of an orientation and a movement of the inspection head;
determining that a fall condition is occurring based on the signal; and
moving the inspection head to a protected position in response to determining that a fall condition is occurring.
12 . The method of claim 11 , wherein moving the inspection head 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.
13 . The method of claim 11 , further comprising:
determining a direction of travel; and
determining an actuation stroke length of each drive cable to aim the inspection head in a direction substantially the opposite direction of travel.
14 . The method of claim 13 , wherein moving the inspection head comprises moving the inspection head to face substantially opposite the direction of travel.
15 . A borescope comprising:
an inspection tube comprising:
an actuable portion nearer a distal end 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;
an inspection head attached to the distal end of the inspection tube, the inspection head comprising a motion sensor configured to sense a movement of the inspection head, the inspection head being attached to and movable by the actuable portion; and
a control unit at a proximal end of the 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 motion sensor, the signal being indicative of the movement of the inspection head;
determine a fall condition of the inspection head is occurring based on the signal; and
actuate the actuable drive cables such that the inspection head is moved to a protected position.
16 . The borescope of claim 15 , wherein the head comprises;
an electromagnetic sensor; and
an electromagnetic emitter arranged to emit electromagnetic radiation in a distal direction.
17 . The borescope of claim 15 , wherein the inspection tube further comprises:
communication cables extending through an inner passage defined by the inspection tube, the communication cables extending between the inspection head and the control unit.
18 . The borescope of claim 15 , wherein the memory further comprises instructions executable by the processor to:
determine an upward direction based on the signal; and
determine an actuation stroke length of each drive cable to aim the inspection head in a substantially upward direction based on the determined upward direction.
19 . The borescope of claim 18 , wherein the memory further comprises instructions executable by the processor to:
actuate the actuable drive cables such that the inspection head is moved to face a substantially upward direction.
20 . The borescope of claim 15 , wherein the memory further comprises instructions executable by the processor to:
determine a direction of travel based on the signal; and
determine an actuation length of each drive cable to aim the inspection head in a direction substantially the opposite direction of travel.
21 . The borescope of claim 20 , wherein the memory further comprises instructions executable by the processor to:
actuate the actuable drive cables such that the inspection head is moved to face substantially opposite the direction of travel.