U.S. patent application number 15/051078 was filed with the patent office on 2017-08-24 for industrial machine acoustic inspection using unmanned aerial vehicle.
The applicant listed for this patent is General Electric Company. Invention is credited to Michael Alan Davi, Richard Lynn Loud.
Application Number | 20170240278 15/051078 |
Document ID | / |
Family ID | 59581352 |
Filed Date | 2017-08-24 |
United States Patent
Application |
20170240278 |
Kind Code |
A1 |
Loud; Richard Lynn ; et
al. |
August 24, 2017 |
INDUSTRIAL MACHINE ACOUSTIC INSPECTION USING UNMANNED AERIAL
VEHICLE
Abstract
A method for collecting acoustic data from an industrial machine
is disclosed. The method may include: providing an unmanned aerial
vehicle (UAV) having an acoustic receiver attached thereto; and
positioning the unmanned aerial vehicle at a specific location so
that the acoustic receiver collects acoustic data from the
industrial machine at the specific location. An acoustic receiver
is attached to the UAV for collecting acoustic data from the
industrial machine. An acoustic filter is attached to the acoustic
receiver and the UAV for filtering unwanted sound from the acoustic
data. Acoustic data can be used by a flight control system to
identify a specific location relative to the industrial machine
that is a source a specific acoustic signature emanating from the
industrial machine.
Inventors: |
Loud; Richard Lynn;
(Ballston Spa, NY) ; Davi; Michael Alan;
(Niskayuna, NY) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
General Electric Company |
Schenectady |
NY |
US |
|
|
Family ID: |
59581352 |
Appl. No.: |
15/051078 |
Filed: |
February 23, 2016 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B64C 39/024 20130101;
B64C 2201/123 20130101; B64B 1/02 20130101; B64C 2201/141 20130101;
G05D 1/0094 20130101; G01M 99/005 20130101; B64C 2201/027 20130101;
Y02E 20/16 20130101; B64C 2201/022 20130101 |
International
Class: |
B64C 39/02 20060101
B64C039/02; G01M 99/00 20060101 G01M099/00; G05D 1/00 20060101
G05D001/00; G05D 1/10 20060101 G05D001/10; B64B 1/02 20060101
B64B001/02; B64D 47/08 20060101 B64D047/08 |
Claims
1. A method for collecting acoustic data from an industrial
machine, comprising: providing an unmanned aerial vehicle (UAV)
having a flight control system and an acoustic receiver attached
thereto; using the flight control system to autonomously identify a
specific location based on a location emanating a selected acoustic
signature from the industrial machine, wherein the specific
location includes a source of the selected acoustic signature; and
positioning the unmanned aerial vehicle at the specific location so
that the acoustic receiver collects acoustic data from the
industrial machine at the specific location, wherein the acoustic
data includes at least one of a frequency or an amplitude of a
sound wave from the industrial machine, and collecting the acoustic
data includes determining the at least one of the frequency or the
amplitude.
2. The method of claim 1, further comprising providing the unmanned
aerial vehicle with a camera, and using the camera to automatically
identify the specific location.
3. The method of claim 2, further comprising manually using the
flight control system to identify the specific location based on an
image captured by the camera.
4. (canceled)
5. The method of claim 1, wherein the specific location includes a
plurality of predetermined specific locations relative to the
industrial machine.
6. The method of claim 1, further comprising filtering the acoustic
data at the unmanned aerial vehicle to remove unwanted sound from
the collected acoustic data.
7. The method of claim 1, wherein providing at least one unmanned
aerial vehicle further comprises providing at least one of a
helicopter and a blimp.
8. The method of claim 1, wherein the positioning the unmanned
aerial vehicle further comprises navigating the unmanned aerial
vehicle about an exterior of the industrial machine, wherein the
navigating is performed substantially by a remote operator.
9. The method of claim 1, wherein the positioning the unmanned
aerial vehicle further comprises navigating the unmanned aerial
vehicle about an exterior of the industrial machine, wherein the
navigating is performed substantially on a pre-programmed
autonomous path.
10. The method of claim 1, wherein the providing the unmanned
aerial vehicle further comprises: providing multiple unmanned
aerial vehicles, wherein each of the multiple unmanned aerial
vehicles is either remotely controlled by a human operator or
controlled to navigate on a pre-programmed autonomous path.
11. The method of claim 1, further comprising: providing a global
positioning system to determine a relative location of the unmanned
aerial vehicle, wherein the global positioning system is used to at
least one of: navigate the unmanned aerial vehicle and maintain
position of the unmanned aerial vehicle during flight.
12. A system for collecting acoustic data from an industrial
machine, the system comprising: an unmanned aerial vehicle (UAV)
including a flight control system; an acoustic receiver attached to
the unmanned aerial vehicle for collecting acoustic data from the
industrial machine; and an acoustic filter attached to the acoustic
receiver and the unmanned aerial vehicle for filtering unwanted
sound from the acoustic data, wherein the unmanned aerial vehicle
is positioned so that the acoustic receiver collects acoustic data
from the industrial machine, wherein the acoustic data includes at
least one of a frequency or an amplitude of a sound wave from the
industrial machine, and collecting the acoustic data includes
determining the at least one of the frequency or the amplitude,
wherein the flight control system is configured to autonomously
identify a specific location based on a location emanating a
specific acoustic signature from the industrial machine, and
wherein the specific location includes a source of the specific
acoustic signature.
13. The system of claim 12, further comprising a boom member
coupled to the unmanned aerial vehicle for positioning the acoustic
receiver a distance from the unmanned aerial vehicle.
14. The system of claim 12, wherein the unmanned aerial vehicle
includes a camera.
15. The system of claim 14, wherein the flight control system
automatically identifies the specific location based on an image
captured by the camera.
16. (canceled)
17. The system of claim 12, wherein the specific location includes
a plurality of predetermined specific locations relative to the
industrial machine.
18. The system of claim 12, wherein the flight control system
navigates the unmanned aerial vehicle about an exterior of the
industrial machine based substantially on a pre-programmed
autonomous path.
19. The system of claim 12, wherein the unmanned aerial vehicle
includes multiple unmanned aerial vehicles, wherein each of the
multiple unmanned aerial vehicles is controlled by at least one of:
a human operator and a pre-programmed autonomous path.
20. A system for collecting acoustic data from an industrial
machine, the system comprising: an unmanned aerial vehicle (UAV)
including a flight control system; and an acoustic receiver
attached to the unmanned aerial vehicle for collecting acoustic
data from the industrial machine, wherein the flight control system
is configured to autonomously identify a specific location relative
to the industrial machine that is a source of a specific acoustic
signature emanating from the industrial machine.
Description
BACKGROUND OF THE INVENTION
[0001] The disclosure relates generally to acoustic inspection, and
more particularly, to an acoustic data collection system and method
using an unmanned aerial vehicle that is advantageous for acoustic
inspection of, for example, an industrial machine.
[0002] Acoustic inspection of industrial machines is oftentimes
required to be performed on a regular basis to ensure compliance
with environmental, health and safety (EHS) regulations, and to
keep the machines operating reliably and effectively. Illustrative
large industrial machines that require inspection may include but
are not limited to: any variety of power plant regardless of power
source, gas turbines, steam turbines, generators, compressors, wind
turbines, manufacturing equipment like industrial presses and
printers, etc. In order to inspect such large industrial machines,
unmanned aerial vehicles (UAVs) equipped with a variety of
non-destructive evaluation devices may be employed. The
non-destructive evaluation devices may include, for example, a
visual camera, an infrared camera, an acoustic transmitter, an
acoustic receiver, a radiation source, a radiation detector,
etc.
[0003] Use of UAVs to inspect machines has been found advantageous
because the size of some machines makes inspection difficult,
requiring use of large lifts/cranes and/or construction of
scaffolding to provide access for close inspection of the various
components. A technician can oftentimes manually climb the relevant
parts of the machine, e.g., using climbing equipment,
stairs/catwalks, etc., but this is a time consuming, labor
intensive and hazardous activity. In addition, there are often
limits placed on the number of climbs any one technician can
perform per day. This issue can be particularly problematic when an
industrial machine has a large number of parts requiring
inspection, e.g., a multi-unit combined cycle power plant or a wind
turbine farm, or is spread across a large geographic area. In some
instances, the industrial machine must be shut down when personnel
are in close proximity, which reduces the production capability of
the industrial machine currently undergoing an inspection.
Inspection of industrial machines in certain geographic locations
may also be challenging. For example, inspections of industrial
machines may require testing at a position over water, or at a
position on land that is impossible or difficult to access using
ground-based vehicles.
[0004] Acoustic data is one parameter that is regularly inspected
with certain industrial machines, typically to ensure compliance
with EHS regulations, such as those that limit noise or vibrations.
Acoustic data is also collected to identify areas in need of
repair. In many settings, acoustic data is acquired by a human
operator manually carrying an acoustic receiver to desired
locations, or perhaps by installing a very expensive semi-permanent
array of microphones at desired locations. While UAVs have been
provided with acoustic receivers to collect acoustic data, current
UAV acoustic data collection systems collect raw data in a
haphazard manner. For example, the UAV may collect acoustic data
while flying about performing other inspections or while performing
a repair. Consequently, the raw acoustic data collected may not be
of much use for acoustic analysis because it contains unnecessary
sounds of, for example, a repair tool on the UAV, the UAV
propulsion system, etc. Further, if the acoustic data is not
collected with any meaningful identification of location relative
to the industrial machine, it can make identification of the source
of the acoustics impossible.
BRIEF DESCRIPTION OF THE INVENTION
[0005] A first aspect of the disclosure provides a method for
collecting acoustic data from an industrial machine, comprising:
providing an unmanned aerial vehicle (UAV) having an acoustic
receiver attached thereto; and positioning the unmanned aerial
vehicle at a specific location so that the acoustic receiver
collects acoustic data from the industrial machine at the specific
location.
[0006] A second aspect of the disclosure provides a system for
collecting acoustic data from an industrial machine, the system
comprising: an unmanned aerial vehicle (UAV); an acoustic receiver
attached to the unmanned aerial vehicle for collecting acoustic
data from the industrial machine; and an acoustic filter attached
to the acoustic receiver and the unmanned aerial vehicle for
filtering unwanted sound from the acoustic data, wherein the
unmanned aerial vehicle is positioned so that the acoustic receiver
collects acoustic data from the industrial machine.
[0007] A third aspect includes a system for collecting acoustic
data from an industrial machine, the system comprising: an unmanned
aerial vehicle (UAV) including a flight control system; and an
acoustic receiver attached to the unmanned aerial vehicle for
collecting acoustic data from the industrial machine, wherein the
flight control system is configured to identify a specific location
relative to the industrial machine that is a source a specific
acoustic signature emanating from the industrial machine.
[0008] The illustrative aspects of the present disclosure are
designed to solve the problems herein described and/or other
problems not discussed.
BRIEF DESCRIPTION OF THE DRAWINGS
[0009] These and other features of this disclosure will be more
readily understood from the following detailed description of the
various aspects of the disclosure taken in conjunction with the
accompanying drawings that depict various embodiments of the
disclosure, in which:
[0010] FIG. 1 shows a schematic perspective view of an illustrative
unmanned aerial vehicle including an acoustic data collection
system according to embodiments of the disclosure.
[0011] FIG. 2 shows a schematic side elevational view of an
illustrative unmanned aerial vehicle including an acoustic data
collection system according to another embodiment of the
disclosure.
[0012] FIG. 3-6 show perspective views of an unmanned aerial
vehicle including an acoustic data collection system in use at a
variety of industrial machines according to embodiments of the
disclosure.
[0013] It is noted that the drawings of the disclosure are not to
scale. The drawings are intended to depict only typical aspects of
the disclosure, and therefore should not be considered as limiting
the scope of the disclosure. In the drawings, like numbering
represents like elements between the drawings.
DETAILED DESCRIPTION OF THE INVENTION
[0014] As indicated above, the disclosure provides an acoustic data
collection system employing an unmanned aerial vehicle (UAV) for
acoustic inspection of, for example, large industrial machines.
[0015] Referring to the drawings, FIGS. 1 and 2 show a schematic
perspective view and a schematic side elevational view,
respectively, of illustrative acoustic data collection systems 100,
200 for collecting acoustic data from, for example, an industrial
machine. Each system 100, 200 includes an unmanned aerial vehicle
(UAV) 102, 202, respectively. UAVs 102, 202 can include any now
known or later developed form of UAV, which may be referred to by a
number of alternative terms such as but not limited to: remotely
controlled aerial platform, drone, flying robots, and unmanned
navigating aerial vehicle. In the examples shown, the UAVs employed
with systems 100, 200 can take the form of a multi-rotor vehicle
such as a helicopter (not shown) or quad-copter (FIG. 1) or a
non-rigid airship (i.e., blimp)(FIG. 2), or any other device
capable of flight with sufficient maneuverability. As shown in FIG.
1, a quadcopter may have a control housing 104 and one or more main
rotors 106 (four shown), and may also include one or more tail
rotors (not shown). Main rotors 106 are typically oriented in one
or more substantially horizontal planes, and any tail rotor (if
used) is typically oriented in a substantially vertical plane. It
is noted, and as illustrated, multiple rotor vehicles may or may
not have a tail rotor, as main rotors 106 in some cases can be used
to stabilize or help change the direction of flight and/or spatial
orientation.
[0016] FIG. 2 illustrates a side elevational view of a UAV 202
taking the form of a non-rigid airship 220 (commonly referred to as
a blimp), according to an aspect of the present disclosure. UAV 202
includes a chamber 222 such as a balloon, dirigible, blimp or other
lighter-than-air device. A method for generating lift with such
devices is accomplished with gases having a lesser density than an
ambient atmosphere, by heating ambient air, or by other suitable
methods. Coupled to chamber 222 are a number of fins 224 which may
include control surfaces for steering blimp 220 in pitch or yaw.
Also coupled with chamber 222 is a control housing 204 that may
include control devices suitable to receive and process the signal
received (or generated) for controlling operation of blimp 220.
Control housing 204 supports one or more thrust devices 226, which
may be gimbaled to provide lift and/or thrust. Chamber 222 provides
lift as previously described, thus, thrust devices 226 are
configured to provide supplemental lift to assist in holding
payload aloft and/or for controlling vertical positioning of blimp
220. In addition, a steering thrust device 228 may be included to
provide another control mechanism and to assist in "pointing" the
blimp in the desired direction.
[0017] Each UAV 102, 202 includes a flight control system 110, 210
for remotely controlling flight of the UAV. Flight control system
110, 210 may take the form of any now known or later developed
controller capable of receiving and transmitting control signals
for controlling the various propulsion systems on UAV 102, 202. As
will be described, flight control system 110, 210 may also include
various additional features according to embodiments of the
disclosure. The remote control of UAV 102, 202, as understood, can
be human operated by manually controlling the UAV remote control,
or can be operated autonomously. In the latter case, UAV 102, 202
can be pre-programmed to fly to pre-selected locations about an
industrial machine at which data collection is carried out, as will
be described further herein. In any event, UAV 102, 202 can be
positioned at a specific location so that an acoustic receiver
collects acoustic data from the industrial machine at the specific
location.
[0018] In accordance with embodiments of the disclosure, an
acoustic receiver 130, 230, is attached to UAV 102, 202,
respectively, for collecting acoustic data from the industrial
machine. Acoustic receiver 130, 230 may include any now known or
later developed acoustic collecting device such as a microphone
134, 234. Each collection system 100, 200, in contrast to
conventional systems, also includes an acoustic filter 136, 236
attached to acoustic receiver 130, 230, for filtering unwanted
sound from the acoustic data collected. Prior to use, each acoustic
filter 136, 236 may be preset to filter unwanted sound that is
expected to be collected, and may be adjusted (manually or
automatically) during or after the operation to adjust the
filtering. "Unwanted sounds" may include any sound wave having an
amplitude and/or frequency that is not desired to be collected or
may cause unwanted interference. For example, unwanted sounds may
be related to the UAV, such as but not limited to: propulsion or
aerial control noises such as rotor wash, wind rush about the UAV,
and precipitation interacting with the UAV. Unwanted sounds also
may be related to parts of the industrial machine for which
acoustic data collection is not desired, e.g., acoustic data from a
part that is known to be working correctly that is next to a part
that is malfunctioning and for which acoustic data collection is
desired. Acoustic filter 136, 236 can be adjusted to filter out any
desired unwanted sounds.
[0019] Each collection system 100, 200 may also transmit acoustic
data (and other data such as flight control signals) collected to a
ground station or remote operator (not shown) wirelessly for
recording and analysis using any now known or later developed
acoustic analysis system. In the drawings, acoustic filter 136, 236
is shown as located within control housing 104, 204. However,
filter 136, 236 may also be positioned remotely from UAV 102, 202,
e.g., where proximal filtering is not required and wireless
communication allows for immediate transmission to another location
such as a ground-based computer. In this regard, UAV 102, 202 may
be equipped with on-board data storage or direct transmission of
data to ground based receiver/storage device or some combination of
both of these.
[0020] As illustrated in FIGS. 1 and 2, in accordance with
embodiments of the disclosure and in contrast to conventional
systems, acoustic collection systems 100, 200 may include a boom
member 140, 240 coupled to UAV 102, 202 for positioning microphone
134, 234 of acoustic receiver 130, 230 a distance from UAV 102,
202. Boom member 140, 240 may take the form of any element capable
of positioning acoustic receiver 130, 230 (e.g., microphone 134,
234) away from the UAV, such as but not limited to a flexible
tether or a lightweight rigid member that may or may not have
ability to move the receiver position relative to vehicle. Any
electrical connection or wiring necessary to operatively couple to
acoustic receiver 130, 230 may be provided along or within boom
member 140, 240. Boom member 140, 240 may have any length necessary
to reduce or eliminate recording of unwanted sounds, which may
include any of the aforementioned sounds but, in particular,
unwanted sounds related to the UAV such as but not limited to:
propulsion or aerial control noises such as rotor wash, wind rush
about the UAV, and precipitation interacting with the UAV. The
length of boom member 140, 240 may depend on the propulsion and
controls used on the UAV, anticipated environmental conditions such
as wind and/or precipitation, the lift capacity of the UAV, among
other factors.
[0021] Collection system 100, 200 may include a number of flight
control system 110, 210 features that enable positioning of UAV
102, 202 at one or more specific locations so that acoustic
receiver 130, 230 can collect acoustic data from the industrial
machine at one or more specific locations. Each "specific location"
can be part of a larger three-dimensional position matrix for which
acoustic data collection is desired, e.g., proximal to a part of
the industrial machine, at a specified distance from a part of the
industrial machine, at a location outside the property border of
the industrial machine, etc. Further, each specific location can
take the form of any variety of physical locating parameters for
UAV 102, 202 and/or acoustic receiver 130, 230 such as but not
limited to: a predetermined distance from a particular part of the
industrial machine, a particular position within a predetermined
geographic area about the industrial machine, a particular angle
relative to the particular part, a particular 3D coordinate
position, a location at which certain acoustic characteristics are
collected by acoustic receiver 130, 230 (e.g., emanating from a
part of the industrial machine), etc. In addition, each specific
location may be part of a larger three-dimensional position matrix
including a number of specific locations, e.g., relative to part of
an industrial machine.
[0022] With regard to specific locations that are predetermined,
FIGS. 3-5 show various applications in which collection system 100,
200 may be employed to collect acoustic data from, for example,
typical power plant equipment. FIG. 3 shows a plan view of a large
power plant system 300 including a number of industrial machines
302, e.g., combined cycle power plants with compressor intakes, a
gas turbine, one or more steam turbines, and one or more
generators, each part of which may create noise. A property border
304 is shown in phantom as is an adjacent body of water 306, e.g.,
ocean, lake, river, pond, etc. A number of specific locations 310
are shown at which acoustic data collection regarding power plant
system 300 is desired. The specific locations may be dictated to be
periodically performed by, for example, noise abatement or other
environmental regulations, which may be dictated by, among others,
the International Organization for Standardization (ISO). FIG. 4
shows a perspective view of an industrial machine in the form of a
large compressor intake 312, e.g., for a power plant. A rectangular
grid of predetermined specific locations 310 proximal to the intake
at which acoustic data collection is desired is shown. FIG. 5 shows
perspective view of a large round industrial exhaust stack 314,
e.g., of a gas turbine. A pair of circularly arranged predetermined
specific locations 310 proximal to an end of the stack at which
acoustic data collection is desired are shown. In the FIGS. 3-5
embodiments, each specific location 310 can be dictated by any of
the above-described physical locating parameters for UAV 102, 202
and/or acoustic receiver 130, 230. That is, each specific location
310 can be dictated by, for example, a particular 3D coordinate to
which collection system 100, 200 can be flown.
[0023] In one embodiment, collection system 100, 200 may include a
global positioning system 164, 264 (global as well as local
GPS)(FIGS. 1 and 2) that operatively interacts with flight control
system 110, 210, to determine a relative location of the UAV, e.g.,
relative to a part of the industrial machine. GPS 164, 264 may be
used to at least one of: navigate the UAV and maintain position of
the UAV during flight, in conjunction with flight control system
110, 210. In terms of navigation, GPS 164, 264 in conjunction with
flight control system 110, 210 may control the UAV manually, e.g.,
by providing GPS location to a human operator of a remote control
for UAV 102, 202. Alternatively, flight control system 110, 210,
with or without GPS 164, 264, may be used for locating the UAV 102,
202 about an exterior of the industrial machine based substantially
on a pre-programmed autonomous path, i.e., following a predefined
flight trajectory while performing acoustic data collection (and
perhaps other tasks) at one or more specific location(s) 310 (FIGS.
3-5) defined in the pre-programmed autonomous path. In FIGS. 3-5, a
plurality of predetermined specific locations 310 relative to the
industrial machine are used. Consequently, collection system 100,
200 would collect acoustic data at each specific location 310 (FIG.
3, 4 or 5) as it flew along a predetermined path including each
specific location 310.
[0024] In accordance with embodiments of the disclosure, collection
system 100, 200 may also be provided with one or more cameras 152,
252 (FIGS. 1 and 2) (e.g., visual, monocular, stereo, infrared
and/or other). In one embodiment, a human operator may manually use
flight control system 110, 210 (e.g., using ground based remote
controls) to identify the specific location based on an image
captured by the camera camera(s) 152, 252. In one embodiment, the
location identification can be manual, e.g., by showing location on
a display of a remote control for manual identification by the
human operator. In another embodiment, flight control system 110,
210 may employ camera(s) 152, 252 to automatically identify the
specific location 310 based on an image captured by the camera,
i.e., to confirm the predetermined physical locating parameters for
specific location 310 such as distance from the machine and desired
X, Y, Z position by comparison with equipment map, model or other
similar reference. In this case, flight control system 110, 210 may
employ simultaneous location and mapping (SLAM) technology for
close-in navigation/positioning of UAV(s) 102, 202 near selected
locations 310, e.g., on power plant equipment such as inlet filter
house (FIG. 4), exhaust stack (FIG. 5), etc. Two common SLAM
technologies employ: cameras (either monocular, or stereo cameras)
to identify a specific location or light detection and ranging
(LIDAR) technology may also be used for close range 3D positioning
near industrial machines. In LIDAR, typically a target would be
illuminated by laser and distance would be measured by analyzing
and timing reflected light. This technique could also be used to
create a 3D model/map of the industrial machine (or part thereof)
which again could be utilized to position UAV 102, 202 properly for
performing acoustic data collection. In either case, flight control
system 110, 210 creates a three dimensional (3D) (cloud) model of
an immediate environment in the vicinity of UAV(s) 102, 202.
Information from the 3D model may be combined with other
information on the industrial machine, e.g., models, maps, locating
marks such as QR or bar codes, etc., to position UAV(s) 102, 202
relatively close to specific location 310 for acoustic data
collection.
[0025] In replacement of or in addition to SLAM technology, flight
control system 110, 210 may also employ other forms of positioning
technology. For example, radio frequency based (RFB) positioning
location uses portable beacons (each with a unique signature)
broadcasting (transmitting) signals that can be received by the
UAV(s) 102, 202 for precise relative positioning of UAV(s) 102, 202
based on location of these beacons. The beacons can be, for
example, positioned on the industrial machine at or near the
specific locations 310 (FIGS. 3-5). Multiple beacons could also be
used in a specific pattern on or around the industrial machine (or
parts thereof) of interest to provide adequate coverage for
required navigation fidelity. The more beacons that are used, the
better the positioning fidelity. Other forms of position control
and distance control 262 (shown in FIG. 2 only for clarity) may
also be employed such as but not limited to: contact type collision
detectors, electromagnetic transceivers, acoustic transceivers, and
radar transceivers.
[0026] Referring to FIG. 6, in another embodiment, a specific
location 410 (2 shown) for which acoustic data collection is
desired may not be predetermined. Rather, flight control system
110, 210 may be configured to identify a specific location based on
a location emanating a selected acoustic signature from the
industrial machine. That is, flight control system 110, 210, using
acoustic receiver 130, 230 and acoustic filter 136, 236, is
configured to identify a specific location 410 relative to the
industrial machine that is a source of a specific acoustic
signature emanating from the industrial machine. In this case,
specific location 410 is preliminarily unknown, but is discovered
through acoustic data collection by acoustic receiver 130, 230 and
controlled flight by flight control system 110, 210 to identify
selected location 410.
[0027] The "selected acoustic signature" 412A, 412B can include any
acoustic attribute, such as but not limited to: exceeding a
user-selected acoustic amplitude and/or frequency, being within a
user-selected range(s) of acoustic amplitude and/or frequency, etc.
To illustrate, assume an industrial machine, such as the power
plant shown in FIG. 6, may be known to operate at a known acoustic
signature having a maximum amplitude and/or maximum frequency. A
"selected acoustic signature" 412A could be set to, for example,
identify a sound having an amplitude higher than the maximum
amplitude and/or a frequency higher than the maximum frequency,
which may indicate a repair at that location should be
investigated. As indicated, a number of selected acoustic
signatures 412A, 412B could be employed to identify a variety of
situations. In any case, in this embodiment, flight control system
110, 210 flies UAV 102, 202 in a "search path" that would include
moving in a number of directions (X, Y, Z) to identify in which
direction(s) the collected acoustic data comports with the selected
acoustic signature. For example, where the selected acoustic
signature 412A includes sounds exceeding a maximum amplitude, from
a selected starting positon 414, flight control system 110, 210
selects the direction(s) in which collected acoustic data exhibits
higher amplitude than the maximum amplitude. Where more than one
unifiable direction is possible, flight control system 110, 210 may
prioritize based on any number of factors, e.g., those directions
closer to industrial machine, those directions closest to a
selected part of the industrial machine, etc., to further test with
additional acoustic data collection. The search path may include
moving in a number of test directions, e.g., a set vertical Z
distance, a set lateral Y direction and/or a set lateral X
direction, to identify which direction(s) results in acoustic data
collection that fits the selected acoustic signature. Those
direction(s) that increase the matching with the selected acoustic
signature, would be selected for UAV 102, 202 flight, and the
process would repeat until no further increase in matching is
indicated as possible, hence identifying specific location 410. For
selected acoustic signature 412A, selected location 410 would be
identified as at the top of the illustrated exhaust stack; and for
selected acoustic signature 412B, selected position 410 would be
adjacent the opening 416 illustrated in an outer wall of the power
plant. As understood, once specific location 410 is identified, the
source of the acoustic data matching the selected acoustic
signature 412A, 412B can also be readily identified because UAV
102, 202 will be flying adjacent to the offending area of the
industrial machine.
[0028] During the above process, flight control system 110, 210
would also simultaneously employ any now known or later developed
collision avoidance procedures to override movement in any way that
would cause damage to the particular collection system 100, 200,
other collection systems 100, 200 flying adjacent thereto, the
industrial machine and/or any person or other structure. In this
regard, any of the above-described positioning technologies or any
other now known or later developed collision avoidance systems,
e.g., radar, could be employed.
[0029] It is emphasized that while the above description describes
use of a single collection system 100, 200, multiple collections
systems 100, 200, i.e., UAVs 102, 202, may be employed
simultaneously or sequentially, each system controlled by its own
flight control system 110, 210.
[0030] Each collection system 100, 200 can also be equipped with a
variety of other common control and data acquisitions systems. For
example, each collection system 100, 200 may also include at least
one other non-destructive evaluation (NDE) device such as an
acoustic transmitter, a radiation source, a radiation detector, an
ultrasonic device, a radiographic device, a thermographic device,
an electromagnetic device and/or any other suitable evaluation
device as desired in the specific application. Additional NDE
devices 260 (shown in FIG. 2 only for clarity) may also be
distributed at various locations on the UAVs. UAVs 102, 202 can
also carry other accessories like a light source to enhance image
retrieval, a laser pointer to create a bright contrast spot on a
part of the industrial machine so that the lens of camera 152, 252
can focus with this spot as a reference.
[0031] The present disclosure adapts existing UAV technology by
employing an acoustic receiver and acoustic filter in an
unconventional fashion. With appropriate acoustic receiver, camera,
autonomous navigation, transmitting and/or recording, collection
system 100, 200 allows for acoustic inspection of, e.g., large
industrial machines such as a power plant, with acoustic data
collection from key specific locations representing acoustic
sources (such as inlet systems and exhaust ducts/stacks) which are
typically located very high off the ground in very difficult to
access locations. Flight control system 110, 210 can be
programmed/directed to strategic specific locations which provide
optimized data to capture and quantify acoustic emissions while the
machine is in operation. The system has the capability to collect
acoustic data based on a predetermined autonomous path, e.g., a
systematic grid or array that meets industry or regulatory
standards, or search for a specific location that is near a source
of a select acoustic signature. Acoustic data acquired using this
system and method provides optimized modeling and sound level
predictions at other locations. Additionally, the acoustic data
collected provides more useful information to optimize designs for
improved attenuation. Collection system 100, 200 also provides for
closer acoustic inspection for difficult or impossible to reach
locations, compared to conventional ground-based or lift-based
inspections. Collection system 100, 200 also provides the ability
to reach areas that are not easily accessible quickly, reach more
areas quickly, with less cost and with reduced risk to humans. The
additional acoustic data collected offers improved measurement
data, model information and predictions for noise levels in other
locations as these data are often not available due to the
difficulty/expense in obtaining.
[0032] The terminology used herein is for the purpose of describing
particular embodiments only and is not intended to be limiting of
the disclosure. As used herein, the singular forms "a", "an" and
"the" are intended to include the plural forms as well, unless the
context clearly indicates otherwise. It will be further understood
that the terms "comprises" and/or "comprising," when used in this
specification, specify the presence of stated features, integers,
steps, operations, elements, and/or components, but do not preclude
the presence or addition of one or more other features, integers,
steps, operations, elements, components, and/or groups thereof
"Optional" or "optionally" means that the subsequently described
event or circumstance may or may not occur, and that the
description includes instances where the event occurs and instances
where it does not.
[0033] Approximating language, as used herein throughout the
specification and claims, may be applied to modify any quantitative
representation that could permissibly vary without resulting in a
change in the basic function to which it is related. Accordingly, a
value modified by a term or terms, such as "about", "approximately"
and "substantially", are not to be limited to the precise value
specific. In at least some instances, the approximating language
may correspond to the precision of an instrument for measuring the
value. In one example, "approximately" indicates +/-10% of the
value, or if a range, of the values stated. Throughout the
specification and claims, range limitations may be combined and/or
interchanged, such ranges are identified and include all the
sub-ranges contained therein unless context or language indicates
otherwise.
[0034] The corresponding structures, materials, acts, and
equivalents of all means or step plus function elements in the
claims below are intended to include any structure, material, or
act for performing the function in combination with other claimed
elements as specifically claimed. The description of the present
disclosure has been presented for purposes of illustration and
description, but is not intended to be exhaustive or limited to the
disclosure in the form disclosed. Many modifications and variations
will be apparent to those of ordinary skill in the art without
departing from the scope and spirit of the disclosure. The
embodiment was chosen and described in order to best explain the
principles of the disclosure and the practical application, and to
enable others of ordinary skill in the art to understand the
disclosure for various embodiments with various modifications as
are suited to the particular use contemplated.
* * * * *