SUBMERSIBLE INSPECTION SYSTEM
First Claim
1. A system for inspecting a machine, the system comprising:
- an inspection vehicle constructed for remote operation while submersed in a liquid medium in a tank of the machine, the inspection vehicle communicatively coupled to the base station, the system comprising two or more of the following;
(A) a vision based modelling system for generating, using at least a plurality of images captured by a plurality of cameras coupled to the inspection device, a model of a submerged object of interest located in the tank;
(B) a mapping system for generating, using at least a some of the plurality of images captured by the plurality of cameras coupled to the inspection device, at least one of a three-dimensional map and three-dimensional field of view of an interior of the tank;
(C) a plurality of status interrogation systems disposed on the inspection vehicle, the plurality of status interrogation systems being operative to capture inspection data regarding a plurality of inspection procedures performed on the machine;
(D) a launching container coupled to a port on a side of the tank, the launching container having a launching chamber and an tank-side valve, the launching chamber sized to receive placement of the inspection device from a position exterior to the tank, the tank-side valve operable to selectively permit ingress of the inspection device into the interior of the tank;
(E) a first signal receiver and a second signal receiver coupled to the inspection vehicle, the first signal receiver structured to receive a first control transmission having a first command and a first heartbeat, the second signal receiver structured to receive a second control transmission having a second command and a second heartbeat, a controller of the inspection vehicle structured to (1) use the first command upon receipt by the controller of the first heartbeat to control an operation of the inspection device, and (2) use the second command upon receipt by the controller of the second heartbeat to control the operation of the inspection device when the first heartbeat is no longer received; and
(F) a ballast system having a pump, a pressure vessel reservoir, and an inflatable bladder, the pressure vessel reservoir in fluid communication via the pump with the inflatable bladder, the pump structured to circulate a fluid between the pressure vessel reservoir and the inflatable bladder to achieve variable buoyancy, wherein movement of the fluid out of the pressure vessel reservoir alters a density of the pressure vessel reservoir to provide a buoyant force for the inspection vehicle.
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Accused Products
Abstract
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.
15 Citations
21 Claims
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1. A system for inspecting a machine, the system comprising:
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an inspection vehicle constructed for remote operation while submersed in a liquid medium in a tank of the machine, the inspection vehicle communicatively coupled to the base station, the system comprising two or more of the following; (A) a vision based modelling system for generating, using at least a plurality of images captured by a plurality of cameras coupled to the inspection device, a model of a submerged object of interest located in the tank; (B) a mapping system for generating, using at least a some of the plurality of images captured by the plurality of cameras coupled to the inspection device, at least one of a three-dimensional map and three-dimensional field of view of an interior of the tank; (C) a plurality of status interrogation systems disposed on the inspection vehicle, the plurality of status interrogation systems being operative to capture inspection data regarding a plurality of inspection procedures performed on the machine; (D) a launching container coupled to a port on a side of the tank, the launching container having a launching chamber and an tank-side valve, the launching chamber sized to receive placement of the inspection device from a position exterior to the tank, the tank-side valve operable to selectively permit ingress of the inspection device into the interior of the tank; (E) a first signal receiver and a second signal receiver coupled to the inspection vehicle, the first signal receiver structured to receive a first control transmission having a first command and a first heartbeat, the second signal receiver structured to receive a second control transmission having a second command and a second heartbeat, a controller of the inspection vehicle structured to (1) use the first command upon receipt by the controller of the first heartbeat to control an operation of the inspection device, and (2) use the second command upon receipt by the controller of the second heartbeat to control the operation of the inspection device when the first heartbeat is no longer received; and (F) a ballast system having a pump, a pressure vessel reservoir, and an inflatable bladder, the pressure vessel reservoir in fluid communication via the pump with the inflatable bladder, the pump structured to circulate a fluid between the pressure vessel reservoir and the inflatable bladder to achieve variable buoyancy, wherein movement of the fluid out of the pressure vessel reservoir alters a density of the pressure vessel reservoir to provide a buoyant force for the inspection vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21-1007. -1007. (canceled)
Specification