Automated scanning systems for non-destructive inspection of curved cylinder-like workpieces

A system for scanning a substructure of a curved cylinder-like workpiece, which substructure extends along an inner surface of the workpiece, comprising:

• a mobile platform comprising a frame;
• a first actuator which, when activated, exerts a force urging said mobile platform to move;
• a first extendible arm comprising a first member pivotably mounted to said frame of said mobile platform and a second member which is translatable relative to said first member;
• a second actuator which, when activated, exerts a force urging said first extendible arm to pivot relative to said frame;
• a third actuator which, when activated, exerts a force urging said second member to translate relative to said first member;
• a first NDI sensor unit coupled to a distal end of said second member;
• an encoder device capable of outputting signals representing incremental movements of said first NDI sensor unit along a substructure;
• and
• a computer system programmed to perform the following operations:
• controlling said first, second and third actuators and said first NDI sensor unit;
• receiving signals from said encoder device;
• converting signals from said encoder device into position data representing a position of said first NDI sensor unit along the substructure;
• receiving scan data from said first NDI sensor unit;
• and
• correlating the scan data with the position of said first NDI sensor unit along the substructure.