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公开(公告)号：US20190287689A1
公开(公告)日：2019-09-19
申请号：US16434682
申请日：2019-06-07
申请人： ABB Schweiz AG
发明人： Gregory A. Cole , William J. Eakins , Daniel T. Lasko , Harshang Shah , Thomas A. Fuhlbrigge , Carlos Morato , Biao Zhang , Luiz V. Cheim , Poorvi Patel , Stefan Rakuff , Saumya Sharma , Nolan W. Nicholas , Gregory F. Rossano , Sanguen Choi
IPC分类号： G21C17/013 , G01B17/02 , G01R33/12 , G01N33/28 , G01J3/10
摘要： An inspection system for inspecting a machine includes an inspection vehicle constructed for wireless operation while submersed in a dielectric liquid medium. The inspection vehicle is self-propelled. A controller is operative to direct the activities of the inspection vehicle. A plurality of status interrogation systems is disposed on the inspection vehicle. The status interrogation systems are operative to capture inspection data regarding a plurality of inspection procedures performed on the machine.
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公开(公告)号：US20190287688A1
公开(公告)日：2019-09-19
申请号：US16434672
申请日：2019-06-07
申请人： ABB Schweiz AG
发明人： Gregory A. Cole , William J. Eakins , Daniel T. Lasko , Harshang Shah , Thomas A. Fuhlbrigge , Biao Zhang , Luiz V. Cheim , Poorvi Patel , Gregory F. Rossano , Andrew Salm , Sanguen Choi
IPC分类号： G21C17/013 , G02B23/24
摘要： A launching tube for use with a liquid filled tank can be sized to accommodate a submersible vehicle for dispensing into the liquid tank. The tank can be an electrical transformer or any other liquid containing tank such as but not limited to a chemical tank. The launching tube can include a valve for insertion into a launching chamber, and a tank side valve for launching of the submersible into the tank. In one form the launching tube includes an antenna for communication with the submersible and/or a base station. The launching tube can also include a sensor such as a camera, as well as an agitator. The agitator can be used to facilitate bubble removal from the inside of the launching tube.
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公开(公告)号：US20200218285A1
公开(公告)日：2020-07-09
申请号：US16434613
申请日：2019-06-07
申请人： ABB Schweiz Ag
发明人： Gregory A. Cole , William J. Eakins , Daniel T. Lasko , Harshang Shah , Thomas A. Fuhlbrigge , Luiz V. Cheim , Poorvi Patel , Biao Zhang , Saumya Sharma , Andrew Salm , Sanguen Choi
摘要： A tether control system for an inspection vehicle operable in a housing having a liquid medium is disclosed in the present application. The tether system includes a tether connected between the inspection vehicle and an electronic controller. A controllable buoyancy system associated with the tether is operable for moving the tether in a desired location. The controllable buoyancy system includes one or more floating bodies having a propulsion system and one or more buoyant elements having variable buoyancy capabilities.
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公开(公告)号：US20190325668A1
公开(公告)日：2019-10-24
申请号：US16434371
申请日：2019-06-07
申请人： ABB Schweiz AG
发明人： Gregory A. Cole , William J. Eakins , Daniel T. Lasko , Harshang Shah , Thomas A. Fuhlbrigge , Carlos Morato , Luiz V. Cheim , Poorvi Patel , Biao Zhang , Sanguen Choi , Gregory F. Rossano , Andrew M. Salm , Saumya Sharma , Stefan Rakuff , Nolan W. Nicholas
摘要： A submersible inspection system for inspection of liquid cooled electrical transformers having a wirelessly controlled submersible inspective device. A submersion depth of the submersible can be controlled using a ballast system. The system can also include an input/output selector to switch between camera images from the submersible. A heartbeat signal indicative of a health of the transmitted signal can be transmitted to the submersible, and redundant channel selection logic can facilitate switching to a channel that includes a current heartbeat. A plurality of status interrogation systems disposed on the submersible can capture data regarding inspection procedures performed on the transformer, and the submersible can include tools for repair procedures. Data transmitted from the submersible, and overlayed with input data from an operator, can facilitate real time inspection analysis. The system can also form a model of an internal in the transformer, as well as produce a three-dimensional field of view.
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公开(公告)号：US20180154995A1
公开(公告)日：2018-06-07
申请号：US15834396
申请日：2017-12-07
申请人： ABB Schweiz AG
发明人： Gregory Cole , William Eakins , Daniel Lasko , Harshang Shah , Thomas Fuhlbrigge , Biao Zhang , Sanguen Choi , Luiz Cheim , Poorvi Patel , Andrew Salm
CPC分类号： B63G8/22 , B63G8/001 , B63G2008/005
摘要： A submersible inspection drone used for inspection can include a ballast system used to control depth of the submersible inspection drone. The submersible can be configured to communicate to a base station using a wireless transmitter and receiver. The ballast system can include a pressure vessel for storing fluid and a bag for inflating and deflating as it receives a fluid. Buoyancy of the submersible inspection drone can be provided by change in density of the pressure vessel as a compressible gas is expanded when the ballast bag is caused to inflate or deflate. A pump can be used to draw fluid from the ballast bag and store the fluid in the pressure vessel. In one form the pressure vessel can include a compressible fluid and an incompressible fluid, where the incompressible fluid is used to inflate and deflate the bag.
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公开(公告)号：US20190323191A1
公开(公告)日：2019-10-24
申请号：US16434676
申请日：2019-06-07
申请人： ABB Schweiz AG
发明人： Gregory A. Cole , William J. Eakins , Daniel T. Lasko , Harshang Shah , Thomas A. Fuhlbrigge , Luiz V. Cheim , Poorvi Patel , Biao Zhang , Gregory F. Rossano , Saumya Sharma , Sanguen Choi
摘要： A deployment system for an inspection vehicle operable in a housing having a liquid medium is disclosed in the present application. The deployment system includes a mount connectable to the housing through an aperture formed in a wall thereof. An extendable arm is connected to the mount and positioned within the housing. A tether is slidably coupled to the extendable arm and adapted to connect with the inspection vehicle. A control mechanism is operable to control deployment of the tether and the position of the extendable arm.
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公开(公告)号：US20180158232A1
公开(公告)日：2018-06-07
申请号：US15835178
申请日：2017-12-07
申请人： ABB Schweiz AG
发明人： Gregory Cole , William Eakins , Daniel Lasko , Harshang Shah , Thomas Fuhlbrigge , Carlos Morato , Biao Zhang , Luiz Cheim , Poorvi Patel , Harald Staab , Saumya Sharma
CPC分类号： G06T15/205 , B63B2702/12 , B63G8/001 , B63G2008/005 , G06F17/5009 , G06T7/55 , G06T7/593 , G06T7/73 , G06T7/97 , G06T17/20 , G06T2200/08 , G06T2207/10012
摘要： A submersible vehicle which includes a plurality of cameras can be used to collect visual images of an object of interest submerged in a liquid environment, such as in a tank (e.g. transformer tank). In one form the submersible vehicle is remotely operated such as an ROV or an autonomous vehicle. Image information from the submersible along with inertial measurements in some embodiments is used with a vision based modelling system to form a model of an internal object of interest in the tank. The vision based modelling system can include a number of processes to form the model such as but not limited to tracking, sparse and dense reconstruction, model generation, and rectification.
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8.发明申请公开(公告)号：US20180157251A1
公开(公告)日：2018-06-07
申请号：US15833916
申请日：2017-12-06
申请人： ABB Schweiz AG
发明人： Gregory A. Cole , William Eakins , Daniel Lasko , Harshang Shah , Thomas Fuhlbrigge , Carlos Morato , Biao Zhang , Luiz Cheim , Poorvi Patel , Andrew Salm
CPC分类号： G05D1/0022 , B63G8/001 , B63G8/24 , B63G2008/005 , G05D1/0077 , G08C17/02 , G08C2201/51 , G08C2201/60 , H04B1/69 , H04B2201/696 , H04B2201/70715 , H04W72/02
摘要： A submersible inspection device used for inspection of, for example, liquid cooled electrical transformers can include a number of separate cameras for imaging the internal structure of the transformer. The submersible can be configured to communicate to a base station using a number of wireless transmitters and receivers. Signals transmitted to the submersible include command signals useful to effect an action on the submersible but also a heartbeat signal to indicate health of the transmitted signal. A redundant channel selection logic is provided to switch from a channel which no longer receives a heartbeat to another channel that includes a current heartbeat. Multiple signals can be received and evaluated in software, and another signal received via a firmware radio.
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公开(公告)号：US10583905B2
公开(公告)日：2020-03-10
申请号：US15834396
申请日：2017-12-07
申请人： ABB Schweiz AG
发明人： Gregory Cole , William Eakins , Daniel Lasko , Harshang Shah , Thomas Fuhlbrigge , Biao Zhang , Sanguen Choi , Luiz Cheim , Poorvi Patel , Andrew Salm
摘要： A submersible inspection drone used for inspection can include a ballast system used to control depth of the submersible inspection drone. The submersible can be configured to communicate to a base station using a wireless transmitter and receiver. The ballast system can include a pressure vessel for storing fluid and a bag for inflating and deflating as it receives a fluid. Buoyancy of the submersible inspection drone can be provided by change in density of the pressure vessel as a compressible gas is expanded when the ballast bag is caused to inflate or deflate. A pump can be used to draw fluid from the ballast bag and store the fluid in the pressure vessel. In one form the pressure vessel can include a compressible fluid and an incompressible fluid, where the incompressible fluid is used to inflate and deflate the bag.
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公开(公告)号：US20190389548A1
公开(公告)日：2019-12-26
申请号：US16434643
申请日：2019-06-07
申请人： ABB Schweiz Ag
发明人： Gregory A. Cole , William J. Eakins , Daniel I. Lasko , Harshang Shah , Thomas A. Fuhlbrigge , Luiz V. Cheim , Poorvi Patel , Biao Zhang , Saumya Sharma , Andrew Salm
IPC分类号： B63G8/00 , G01N21/954 , G21C17/013 , G21C17/017 , B63G8/16 , G05D1/00
摘要： An inspection vehicle operable for performing one or more maintenance and repair operations in a housing filled at least partially with a liquid medium is disclosed in the present application. The inspection vehicle includes a propulsion device operable in the liquid medium and includes at least one sensor operable for sensing and transmitting data associated therewith. A control system including an electronic controller is in electronic communication with the inspection vehicle to transmit and receive communication signals to/from the inspection vehicle. One or more maintenance tools operable with the inspection vehicle are configured to perform maintenance and/or repair operations within the liquid filled housing.
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