公开(公告)号：US10583905B2

公开(公告)日：2020-03-10

申请号：US15834396

申请日：2017-12-07

Applicant: ABB Schweiz AG

Inventor： Gregory Cole ,  William Eakins ,  Daniel Lasko ,  Harshang Shah ,  Thomas Fuhlbrigge ,  Biao Zhang ,  Sanguen Choi ,  Luiz Cheim ,  Poorvi Patel ,  Andrew Salm

IPC: B63G8/14 ,  B63G8/22 ,  B63G8/00

Abstract: 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.

公开(公告)号：US11465653B2

公开(公告)日：2022-10-11

申请号：US16467795

申请日：2017-12-08

Applicant: ABB Schweiz AG

Inventor： Harald Staab ,  William Eakins ,  Daniel Lasko ,  Thomas Fuhlbrigge ,  Edward Zhang ,  Harshang Shah ,  Stefan Rakuff ,  Gregory Cole ,  Gregory Rossano ,  Andrew Salm ,  Sang Choi ,  Remus Boca

IPC: B61B3/02 ,  B61C3/00 ,  B61C13/04 ,  B61C17/06 ,  B61D15/00 ,  B61L27/70

Abstract: An unmanned rail vehicle for surveillance, inspection, and/or maintenance of an industrial site is provided. The rail vehicle includes at least two carry rollers adapted for engaging on an upper rail side of a rail, wherein the center of gravity of the rail vehicle is vertically below the upper rail side; and at least one support roller connected to the chassis and adapted for rolling against a lateral rail side of the rail to laterally displace the center of gravity of the rail vehicle with respect to the upper rail side.

公开(公告)号：US20180154995A1

公开(公告)日：2018-06-07

申请号：US15834396

申请日：2017-12-07

Applicant: ABB Schweiz AG

Inventor： Gregory Cole ,  William Eakins ,  Daniel Lasko ,  Harshang Shah ,  Thomas Fuhlbrigge ,  Biao Zhang ,  Sanguen Choi ,  Luiz Cheim ,  Poorvi Patel ,  Andrew Salm

IPC: B63G8/22 ,  B63G8/00

CPC classification number: B63G8/22 ,  B63G8/001 ,  B63G2008/005

Abstract: 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.

公开(公告)号：US20180158232A1

公开(公告)日：2018-06-07

申请号：US15835178

申请日：2017-12-07

Applicant: ABB Schweiz AG

Inventor： Gregory Cole ,  William Eakins ,  Daniel Lasko ,  Harshang Shah ,  Thomas Fuhlbrigge ,  Carlos Morato ,  Biao Zhang ,  Luiz Cheim ,  Poorvi Patel ,  Harald Staab ,  Saumya Sharma

IPC: G06T15/20 ,  G06T17/20 ,  G06T7/00 ,  G06F17/50 ,  B63G8/00

CPC classification number: G06T15/205 ,  B63B2702/12 ,  B63G8/001 ,  B63G2008/005 ,  G06F17/5009 ,  G06T7/55 ,  G06T7/593 ,  G06T7/73 ,  G06T7/97 ,  G06T17/20 ,  G06T2200/08 ,  G06T2207/10012

Abstract: 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.

公开(公告)号：US20180157251A1

公开(公告)日：2018-06-07

申请号：US15833916

申请日：2017-12-06

Applicant: ABB Schweiz AG

Inventor： Gregory A. Cole ,  William Eakins ,  Daniel Lasko ,  Harshang Shah ,  Thomas Fuhlbrigge ,  Carlos Morato ,  Biao Zhang ,  Luiz Cheim ,  Poorvi Patel ,  Andrew Salm

IPC: G05D1/00 ,  H04B1/69 ,  G08C17/02 ,  H04W72/02 ,  B63G8/00 ,  B63G8/24

CPC classification number: G05D1/0022 ,  B63G8/001 ,  B63G8/24 ,  B63G2008/005 ,  G05D1/0077 ,  G08C17/02 ,  G08C2201/51 ,  G08C2201/60 ,  H04B1/69 ,  H04B2201/696 ,  H04B2201/70715 ,  H04W72/02

Abstract: 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.

公开(公告)号：US20190322292A1

公开(公告)日：2019-10-24

申请号：US16467795

申请日：2017-12-08

Applicant: ABB Schweiz AG

Inventor： Harald Staab ,  William Eakins ,  Daniel Lasko ,  Thomas Fuhlbrigge ,  Edward Zhang ,  Harshang Shah ,  Stefan Rakuff ,  Gregory Cole ,  Gregory Rossano ,  Andrew Salm ,  Sang Choi ,  Remus Boca

IPC: B61B3/02 ,  B61C3/00 ,  B61C13/04 ,  B61C17/06 ,  B61L27/00 ,  B61D15/00

Abstract: An unmanned rail vehicle for surveillance, inspection, and/or maintenance of an industrial site is provided. The rail vehicle includes at least two carry rollers adapted for engaging on an upper rail side of a rail, wherein the center of gravity of the rail vehicle is vertically below the upper rail side; and at least one support roller connected to the chassis and adapted for rolling against a lateral rail side of the rail to laterally displace the center of gravity of the rail vehicle with respect to the upper rail side.

公开(公告)号：US09914513B2

公开(公告)日：2018-03-13

申请号：US14535417

申请日：2014-11-07

Applicant: ABB SCHWEIZ AG

Inventor： Gregory F. Rossano ,  William Eakins ,  Daniel T. Lasko ,  Thomas A. Fuhlbrigge ,  Andrew M. Salm ,  George Zhang

IPC: B63G8/00 ,  G21C17/013 ,  B63G8/04 ,  G01D11/24 ,  G01N21/88 ,  G01R31/02 ,  G01M3/38 ,  E21B23/00 ,  B63G8/08 ,  G01N21/01 ,  B63G8/22 ,  H01F27/12

CPC classification number: B63G8/001 ,  B63G8/04 ,  B63G8/08 ,  B63G8/22 ,  B63G2008/002 ,  E21B2023/008 ,  G01D11/24 ,  G01M3/38 ,  G01N21/88 ,  G01N2021/0112 ,  G01R31/027 ,  G21C17/013 ,  H01F27/12

Abstract: An inspection device for use in a fluid container includes at least one thrust device, at least one ballast device and a cage which carries the at least one thrust device and the at least one ballast device. The cage includes at least two bars. Each bar provides an opening, the openings forming a cage cavity to carry the at least one thrust device and the at least one ballast device.