Abb Schweiz Ag

Hitachi Energy Switzerland Ag

Abb Power Grids Switzerland Ag

Andrew Salm

Thomas A Fuhlbrigge

William John Eakins

Daniel T Lasko

Gregory A Cole

Biao Zhang

Harshang Shah

Luiz V Cheim

Poorvi Patel

Gregory F Rossano

Saumya Sharma

Stefan Rakuff

Carlos Winsor Morato

Will J Eakins

Sanguen Choi

Jianjun Wang

Sangeun Choi

George Q Zhang

Remus Boca

Sang Joon Choi

Harald Josef Staab

Harald Staab

Jordi Artigas

Yixin Liu

Jorge Vidal-Ribas

Ramon Casanelles

Edward Zhang

Yun Hsuan Su

Sang Choi

A submersible inspection drone used for inspection of 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 wireless transmitter and receiver. The cameras on the submersible can be fixed in place and can be either static or motion picture cameras. The submersible can include an input/output selector capable of switching between the camera images, either through commanded action of a user or through computer based switching. In one form the input/output selector is a multiplexer. The base station can be configured to display images from the cameras one at a time, or can include a number of separate viewing portals in which real time images are displayed. The base station can include a demultiplexer synchronized to the multiplexer of the submersible.

Submersible inspection device and wireless communication with a base station

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.

Tether for an inspection vehicle

A robotic system is provided for assembling parts together. In the assembly process, both parts are moving separately with one part moving on an assembly base and another part moving on a moveable arm of a robot base. Motion data is measured by an inertial measurement unit (IMU) sensor. Movement of the robot base or moveable arm is then compensated based on the measured motion to align the first and second parts with each other and assemble the parts together.

System and method for robotic assembly

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.

Unmanned rail vehicle

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.

Inspection vehicle with maintenance tools

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.

Liquid tank inspection including device for launching submersible

A cooling device includes a body formed into an elongate strip having upper and lower surfaces. The elongate strip is configured to contact the housing along the lower surface for conductive heat transfer from the housing to the body. Each of a plurality of cooling fins is attached to the strip and extends from one end attached to the upper surface of the strip another, free end. The device includes a first tab disposed at one end of the elongate strip, and a second tab disposed at another end of the elongate strip. The elongate strip is made from a compliant material such that the elongate strip conforms to a shape of the housing when the first and second tabs are connected to the housing and a majority of the lower surface contacts the housing. The fins are arranged to convectively dissipate heat from the body.

Convective cooling devices and methods for cooling housings

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.

Submersible inspection device and redundant wireless communication with a base station

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.

Submersible drone having active ballast system

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.

Transformer in-situ inspection vehicle with a cage hull

Growing community of inventors

West Hartford, CT, United States of America

Andrew Salm