• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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    • 专利摘要:
    device and method for in-situ inspection of transformers. The present invention relates to an inspection device for use in a fluid container having at least one opening that includes a housing sized to fit through the opening. the housing has at least two fluid flow channels extending therethrough, each having an inlet and an outlet, and a pump maintained in the housing within each fluid flow channel. pumps are selectively controlled to maneuver the housing within the fluid container. the inspection device continues with a method of in-situ inspection of a container having at least one opening for receiving a fluid, which includes uploading a virtual model of the container into a computer, inserting the device into the inside the container, generate a position signal by the device and receive the position signal in a computer. a virtual image of the device in the virtual model of the container is generated to determine an actual position of the device within the container.
    公开号:BR112015018364B1
    申请号:R112015018364-6
    申请日:2014-01-24
    公开日:2021-07-27
    发明作者:Luiz V. Cheim；George Q. Zhang；Thomas A. Fuhlbrigge；Harald STAAB；William J. Eakins；Gregory F. Rossano；Biao Zhang；Poorvi Patel；Marek Budyn
    申请人:Abb Schweiz Ag；
    IPC主号:
    专利说明:

    FIELD OF TECHNIQUE
    [001] In general, the present invention is directed to transformer inspection systems. Specifically, the present invention is directed to a remotely controlled inspection device inserted into a liquid filled high voltage transformer. More particularly, the present invention is directed to a remotely controlled inspection device for use with a virtual transfiguration of the transformer to assist in correlating inspection device data with internal components of the transformer. PRIOR TECHNIQUE
    [002] Liquid filled power transformers are one of the key components in power distribution and transformation. The liquid is used to cool the internal components of the transformer during its operation. As is well understood, large liquid-filled power transformers are extremely heavy and difficult to transport and replace. They have a limited service life and repair and maintenance are required periodically.
    [003] Although sets of non-invasive procedures are now used to identify potential problems that the transformer may have; the common way to directly observe the windings, cables, supports and connectors inside a transformer tank is to drain the liquid from the transformer tank and send it to a person through a manhole or open the transformer tank by cutting the plate. from the top of the tank. Therefore, there is a need in the art for a device and related method for in-situ inspection of a transformer. SUMMARY OF THE INVENTION
    [004] Given the foregoing considerations, it is a first aspect of the present invention to provide a device and method for in-situ inspection of a transformer.
    [005] It is another aspect of the present invention to provide an inspection device for use in a fluid container that has at least one opening, comprising a housing sized to fit through the opening, the housing having a plurality of channels. fluid flow extending therethrough, each flow channel having at least one inlet and at least one outlet, and a pump maintained in the housing within each fluid flow channel, wherein the pumps are selectively controlled to maneuver the housing into the fluid container.
    [006] Yet another aspect of the present invention is to provide a method of in-situ inspection of a container having at least one opening for receiving a fluid, comprising uploading a virtual model of the container to a computer, inserting a device of inspection within the opening of the container, generating a position indication signal by the inspection device, receiving the position signal by sensors associated with the container and processed in the computer, and generating a virtual image of the inspection device in relation to the virtual model of the container for the purpose of displaying an actual position of the inspection device within the container. BRIEF DESCRIPTION OF THE DRAWINGS
    [007] These and other features and advantages of the present invention will become better understood in connection with the following description, appended claims, and accompanying drawings in which:
    [008] Figure 1 is a schematic diagram of a system for in-situ inspection of transformer according to the concepts of the present invention;
    [009] Figure 2 is a perspective view of an inspection device used within the system in accordance with the concepts of the present invention;
    [0010] Figure 3 is an exploded view of the inspection device used within the system in accordance with the concepts of the present invention;
    [0011] Figure 4 is a schematic diagram of the inspection device according to the concepts of the present invention;
    [0012] Figure 5 is a schematic diagram of the inspection device according to the concepts of the present invention in which two pumps under one control move the device in the Z direction;
    [0013] Figure 6 is a schematic diagram of the inspection device according to the concepts of the present invention in which two pumps under two controls move the device in the X direction;
    [0014] Figure 7 is a schematic diagram of the inspection device according to the concepts of the present invention in which the single pump under a control moves the device in the Y direction;
    [0015] Figures 8A and 8B are schematic diagrams of the inspection device according to the concepts of the present invention in which Figure 8A shows two pumps under a control to rotate the device in a counterclockwise direction and in which the Figure 8B shows two pumps under a control that rotates the device in a clockwise direction; and
    [0016] Figures 9A and 9B are schematic diagrams of the inspection device according to the concepts of the present invention, in which Figure 9A shows the device with a pump under a control that rotates in the clockwise direction and in which Figure 9B shows the device under a pump and a control that rotates in a counterclockwise direction. BEST WAY TO PERFORM THE INVENTION
    [0017] Referring again to the drawings, and in particular to Figure 1, it can be seen that a system for in-situ inspection of a transformer is generally designated by the numeral 10. In most embodiments, the system 10 is used for the inspection of a transformer 12 that contains high voltage electrical components immersed in a coolant 14 such as oil. Skilled technicians will appreciate that inspection takes place only when the transformer is turned off or not in use. As knowledgeable technicians will appreciate, transformer 12 uses coolant 14 to keep and disperse heat generated by internal components during transformer operation. While the present embodiment is directed to systems for inspecting electrical transformers, it will be appreciated that the teachings disclosed herein are applicable to any relatively large volume sealed container that holds a fluid. In some embodiments, the fluid used in the transformer includes dielectric properties. As knowledgeable technicians will appreciate, transformer 12 is maintained in a sealed configuration for the purpose of preventing contaminants or otherwise from entering. As used herein, a "sealed configuration" of the tank allows sealed conduits and/or ducts to be associated with the tank or transformer housing to allow connection to electrical components and/or monitoring devices maintained in the tank. The tank is also provided with at least one opening to allow filling and/or draining of the coolant.
    [0018] An inspection device generally designated by the numeral 16 is insertable inside the transformer 12 or sealed container and is mobile with the use of wireless remote control and disconnected. A computer 18, such as a laptop computer or other suitable computing device, is in wireless communication with the inspection device. Computer 18 can maintain a virtual transformer 20 image of the transformer's internal construction. In most embodiments, this virtual image is a computer-aided design (CAD) image generated in the construction or design of the transformer. However, other images could be used. As will be described in more detail, the computer 18 uses the virtual transformer image 20 in conjunction with a virtual inspection device 22, which represents the actual inspection device 16, for the purpose of monitoring the positioning of the device 16 within the transformer. 12. A motion control input device such as a joystick 24 is connected to computer 18 and allows a technician to control the movement of device 16 within transformer 12 by observing virtual inspection device 22 as it moves through the around the virtual transformer image 20. In other words, the technician controls the movement of the device 16 based on the observed position of the device within the transformer 12 as will be discussed. Other types of motion control input devices such as use in video games, portable tablet-type computers, touch screen computers or the like may be employed.
    [0019] As best seen in Figures 2 to 5, the inspection device 16 includes a housing 30. The housing has a substantially cylindrical and spherical round construction without significant bulges or extensions that might otherwise become entangled with the internal components within the transformer. The housing 30 includes an upper cover 32 which has a minimally extending protrusion 33, an intermediate section 34 and a lower cover 36. The protrusion 33 is dimensioned in order to secure the inspection device from inside the transformer through of a tool or by the hand of the technician. The protrusion could have other shapes, such as a loop, to facilitate easy grasping, depending on the type of tool used to hold the device. Cover 32, section 34 and cover 36 are secured together wherein fastener passages 40 extend through at least the covers 32 and 36 for the purpose of receiving fasteners 42 to allow attachment to intermediate section 34. of the modalities, the fasteners are kept level with the surface of the cover in order to minimize drag and avoid entanglement with internal components of the transformer. At least two pump flow channels designated generally by the numeral 44 are extending through the housing 30. These channels extend vertically and horizontally through the housing and are configured for the purpose of being sealed off from the internal components of the housing 16. Each stream channel 44 provides a pair of ports 46. As shown in the drawings, numerical and alphabetical designations are provided for the purpose of identifying particular ports. For example, port 46A1 is at one end or side of the housing while the opposite end of the flow channel is designated by port 46A2. As such, fluid held within the transformer can flow from port 46A1 through and out through port 46A2. Similarly, oil can flow through port 46B1 and out through port 46B2. As will be discussed, components held within the channels move fluid in any direction through the device and then allow the device to move within the transformer tank. It should be appreciated that alternative flow channel configurations could be implemented. For example, fluid could enter the device through a single inlet and internal valves could route fluid to all outlet ports. In another example, the vertical path could have an inlet port and two or more outlet ports.
    [0020] A sensor 48 is carried by housing 30 and in most embodiments sensor 48 is a camera. The camera is used to capture visible and other wavelength images of the transformer's internal components. These images allow technicians to monitor and inspect various components inside the transformer. In some embodiments, housing 30 is provided with lights 52 that facilitate illumination of the area surrounding the inspection device. In some embodiments the lights 52 are light emitting diodes, but it will be appreciated that other lighting devices could be used. The lighting devices are oriented for the purpose of illuminating the viewing area of the camera 48. In some modalities, the user can control the intensity and wavelength of the light.
    [0021] A battery pack 54 is held within the inspection device for the purpose of powering internal components such as sensor 48, lights 52 and a controller 60. Controller 60 operates sensor 48 and lights 52 and also controls the operation of a motor 62 and a pump 64 that are used in combination with each of the provided pump flow channels 44. The controller 60 maintains the necessary hardware and software to control the operation of the connected components and maintains the ability to communicate with the computer 18 and any intermediate communication devices. Controller 60 provides functionality in addition to controlling inspection device movement. For example, controller 60 can provide a data recording function so that a high-speed, high-resolution video of the entire inspection generated by sensor 48 can be recorded and stored in an integrated fashion by storage device 68. This can be advantageous in cases where wireless streaming of the video is interrupted or the antenna transmission of the wireless signals has a lower bandwidth than desired. Skilled technicians will appreciate that sensor 48 can also be a thermal camera, a sonar sensor, a radar sensor, a three-dimensional vision sensor, or any combination of the sensors.
    [0022] Each motor 62 is reversible for the purpose of controlling the flow of fluid or oil through the flow channels by the pump 64. In other words, each motor is operated independently of one another for the purpose of controlling the operation of the drive pump associated 64 so that rotation of the pump in one direction causes oil to flow through the flow channel in a specified direction and thus assists in propelling the housing 30 in a desired direction. Pump 64, which may also be called a booster pump, is shown as a booster-type configuration, but other configurations such as a paddle-type pump could be used. In some embodiments, a single motor can be used to generate fluid flow through more than one channel. In other words, housing could only provide one admission and two or more exits. Valves maintained within the housing could be used to control and redirect internal fluid flow and, as a result, control housing movement within the tank. By coordinating the operation of the motors with the controller, and thus the oil flowing through the housing, the inspection device can cross all areas of the transformer through which it can fit. Furthermore, the device 16 has the ability to maintain orientational stability while maneuvering in the tank. In other words, device 16 is stable so that it does not move end over end while moving within the transformer tank.
    [0023] Housing 30 provides a center of gravity designated by the capital letter G. The device components are properly designed so that the center of gravity G is less than the center of buoyancy force of the inspection device designated by the capital letter F. Skilled technicians will appreciate, this enables the device to be endowed with stability during transverse movement.
    [0024] The housing also carries a data storage device 68 which collects the data from the sensor 48 and is suitably sized to provide storage of video or stationary images captured by a camera. Storage device 68 is connected to controller 60 for the purpose of providing a reliable transfer of data from the sensor/camera to the storage device. It will be appreciated that in some embodiments the storage device is directly connected to the sensor and the controller receives data directly from the storage device.
    [0025] An antenna 70 is connected to the controller 60 for the purpose of transmitting data collected from the sensor and also for sending and receiving control signals to control the movement and/or direction of the inspection device within the transformer. The antenna generates a wireless signal 72 that can be detected by the computer or any intermediary device. A fault detection module 74 (designated as FD in Figure 4) may be included in the controller for the purpose of disabling internal components within device 16 if a system fault is detected. For example, if a low battery level is detected by the controller, module 74 and controller 60 may begin a controlled shutdown of device 16 which would cause the device to float to the surface due to its positive buoyancy. In another example, a loss of connection to the remote system could also trigger a shutdown. After floating to the surface, the housing can be held by protrusion 33.
    [0026] A borescope 76 may also be carried by housing 16. One end of the borescope provides a camera 77 or other sensor connected to a retractable fiber optic cable 78 that is connected at its opposite end to the controller 60. When in a stowed position , camera 77 is flush with the surface of housing 30 for the purpose of preventing entanglement with components within the transformer. When inspection of hard-to-see items such as transformer windings is required, cable 78 is extended while the device is held in a stationary position. After images and other data are collected by the camera, the cable is retracted. As a result, the borescope 76 allows for additional detailed inspection of the transformer.
    [0027] As noted earlier, the inspection device is configured in order to easily move around obstacles within the transformer. The housing 30 is cylindrical in shape with ball ends or ball-shaped configuration and is provided with a floating design for the purpose of allowing the inspection device to float to the top of the oil when it is deliberately or accidentally disconnected. The inspection device is configured for the purpose of allowing the drive pump 64 to move the device by selective actuation of each pump. As a result, the device has four degrees of freedom or motion: X, Y, Z and rotation around Z. As a result, by controlling the direction of the pump impellers, the inspection device can be moved easily.
    [0028] Referring again to Figure 1, it can be seen that the transformer 12 has at least one transformer hole 80. In general operation, oil is inserted through numerous holes located in the top of the tank. Holes 80 may also be provided in the bottom of the tank to allow fluid to drain. The holes 80 are provided with suitable plugs or caps. Accordingly, it will be appreciated that the size of the inspection device should be such that it can fit within the hole 80. In any case, the transformer can be configured with a plurality of transmit signal receivers 82 mounted on the corners, edges or other upper areas. from the transformer, or close to the transformer. Transmit signal receivers 82 receive wireless signal 72 from the inspection device to determine the position of the inspection device in the transformer tank. Receivers 82 use triangulation, based on received signals 72 or other methodology, to determine a position of device 16 in the tank. This position information is then transmitted by a signal 84, wired or wirelessly, to the computer 18. Additionally, the information collected by the sensor 48, such as visual data, is transferred to the computer or other visual receiving device. separately. In other words, the informational data generated by the sensor 48 is transmitted to the computer 18 through the fluid and the tank wall with the openings 80. The use of these different communication paths can be used to avoid interference between the signals; however, some modalities may use the same communication path to transfer positioning-related data, data information, and control information as appropriate. Reliable communication for device motion control and continuous data/video transmission are critical for in-situ transformer inspection. Using the dielectric feature of the transformer refrigerant oil, the inspection device can be controlled by radio frequencies quite effectively. Streaming video to a Wi-Fi camera (eg 4.2 GHz) has proven sufficient. To ensure reliable communication between device 16 and computer 18, a transceiver 85 can be inserted into the cooling oil tank through the service opening at the top of the transformer. In most embodiments, transceiver 85 is used to exchange data information from sensor 48 and camera 77 via controller 60 to computer 18; and control of movement or maneuvering signals from joystick 24 via computer 18 to controller 60 for the purpose of operating motors 62 and thrusters 64. Signal 84, transmitted by receiver 82 is used by computer 18 to provide a separate confirmation for the device's position inside the tank.
    [0029] The computer 18 receives the position signals 84 and information signals 72 and in conjunction with the virtual image 20 correlates the received signals to the virtual image for the purpose of allowing a technician to monitor and control the movement of the inspection device. This allows the technician to inspect the internal components of the transformer and pay particular attention to certain areas within the transformer if necessary. Using a virtual image of the internal resources of the transformer and the position of the inspection device in relation to those virtual resources, the image obtained can correspond to the corresponding site inside the real transformer tank. Based on the visual representation of the image of transformer 20 and virtual inspection device 22 in relation to the image, a technician can manipulate the response of joystick 24. The computer receives the movement signals from the joystick and transmits those wirelessly to the antenna 72, through which the controller 60 deploys internally maintained subroutines to control the pump impellers to generate the desired motion. This movement is monitored in real time by the technician who can readjust the position of device 16 as appropriate.
    [0030] In some embodiments, the computer 18 may be connected to a network 86, such as the internet, for the purpose of allowing images or sensor data to be transferred to specialists, who may be remotely located, designated by the block 88, so that their opinion can be provided to the technician for the purpose of determining the nature and extent of the condition within the transformer and then providing corrective action as needed. In some embodiments, control of the device can also be transferred to a specialist, who can be located remotely. In such embodiments, the skilled person would have another computer that can send control signals over a network to local computer 18 which, in turn, sends signals to control device 16 as described above.
    [0031] Now referring to Figures 5 to 9, it can be seen that the control of pump motors and impellers and the direction of fluid flow thereof through the channels can control the movement of the inspection device within a fluid. For example, Figure 5 shows the use of two pumps under one control for the purpose of moving the device in a Z direction. To propel themselves along the Z axis and remain at a stable depth, the Z axis thrusters have to operate continuously. The action of the Z thruster can be controlled either manually by the operator or automatically by the controller. As used herein, the terminology "one control" refers to the operation of two pumps to operate in conjunction with one another so that fluid flow is uniformly in one direction or the other. In Figure 6, it can be seen that an X direction can be achieved using two pumps under two controls for the purpose of allowing movement in an X direction. As used in this document, the operation of "two pumps under two controls " means the controller operates the pumps separately from each other. In Figure 7, you can see that the device is mobile along the Y direction where a bomb is used under a control. It will be understood that Figure 7 is a side view of Figure 6 and at a slightly different elevation with respect to the X-direction flow channels.
    [0032] As mentioned above, other modalities may use different combinations of channels. For example, the three or four channels can exist in the Z direction. Also, other modalities can have one in and two out ports for one channel, or vice versa, or even use a different number of ins and outs . The number of bombs can also vary. For example, a pump can be used to control fluid flow from an inlet port which then exits through four outlet ports.
    [0033] In Figures 8A and 8B, it can be seen that two pumps under one control allow rotation of the inspection device. In Figure 8A, by directing fluid flow in one direction through one channel and an opposite direction in another channel, a counterclockwise rotation can be obtained. By reversing the flows in both channels, a clockwise rotation can be obtained as seen in Figure 8B. In another variation, Figures 9A and 9B show the rotation of the inspection device using a pump under a control, where the flow is directed from one side of the device to the device and then back to the same side. A corresponding flux is provided by the opposite side of the device for the purpose of providing rotation around the Z axis. Reversing the flow provides a corresponding reversal of the rotation of the device along the Z axis.
    [0034] The robot/inspection device designed for examining the inside of the transformer provides the following features and advantages. First, the device allows visual inspection and other inspection without draining the transformer oil. This is achieved by being able to propel the device into the oil and perform visual inspection and other inspection through the oil. The device is built to be resistant to an oil environment and is properly sealed. Additionally, the device is small enough to be placed inside a transformer tank using existing service holes, for example those used to fill transformer oil. As a result, it is not necessary to completely remove the seal from the top of the transformer tank. Another advantage is that the device can be controlled from outside the transformer using a joystick and a computing device that can also be used to present visual data from the sensor(s). As a transformer has no ambient light, sensor 48 uses an auxiliary light source carried by the robot. Various wavelengths of light can be used (visible and/or non-visible light) for a detailed inspection of the transformer's interior components. A remotely controlled arm that guides a thin fiber optic camera head inside the transformer winding block can also be used. Yet another advantage of device 16 is that all materials employed in constructing the device are oil compatible. This is to prevent any kind of contamination from being introduced by the device, in case the transformer directly returns to operation after inspection by robot without oil treatment.
    [0035] Thus, it can be seen that the objectives of the invention were satisfied by the structure and by its method for use presented above. Although, according to the Patent Statutes, only the best mode and preferred modality have been presented and described in detail, it should be understood that the invention is not limited to or by the same. Likewise, for an understanding of the true scope and scope of the invention, reference should be made to the following claims.
    权利要求:
    Claims (27)
    [0001]
    1. Inspection device (16) for use in a fluid container having at least one opening, characterized in that it comprises: a housing (30) sized to fit through the opening, said housing (30) having a plurality of fluid flow channels (44) extending therethrough, each said flow channel (44) having at least one inlet and at least one outlet forming a through hole (80) therebetween and extending through said housing (30), wherein the inspection device (16) includes an antenna (70) configured to generate a wireless signal (72) from a position of the housing (30) within the fluid container; and a plurality of pumps (64), wherein at least one pump (64) of the plurality of pumps (64) is maintained entirely within each said fluid flow channel (44), wherein said pumps (64) are configured to be selectively controlled to maneuver said housing (30) within the fluid container; a computer (18) configured to maintain a virtual image of said housing in a virtual model of the fluid container; a plurality of transmission signal receivers ( 82) mounted on or near the fluid container; wherein each transmission signal receiver (82) is configured to receive the wireless signal from the inspection device (16); wherein the plurality of transmission signal receivers (82) is configured to: determine a position of said housing (30) in the container based on receipt of wireless signals (72) by the plurality of transmit signal receivers (82); generating a wireless position signal representing, in a virtual model, the determined position of said housing (30) in the fluid container; and transmitting the position signal wirelessly to the computer (18), wherein the computer (18) is further configured to: receive the position signal wirelessly; monitor the position of the housing (30) within the fluid container using the virtual image in the virtual model.
    [0002]
    2. Inspection device (16), according to claim 1, characterized in that said housing (30) has positive buoyancy.
    [0003]
    3. Inspection device (16) according to claim 1, characterized in that said housing (30) maintains a center of gravity in a lower half for the purpose of providing orientational stability while maneuvering in the fluid container.
    [0004]
    4. Inspection device (16) according to claim 1, characterized in that it further comprises: a controller (60) connected to each said pump (64), wherein said controller (60) and said pumps (64) enable said housing (30) to move in multiple degrees of freedom.
    [0005]
    5. Inspection device (16) according to claim 4, characterized in that it further comprises: an antenna (70) connected to said controller (60) to transmit and receive signals for the purpose of controlling said pumps ( 64) and maneuvering said housing (30).
    [0006]
    6. Inspection device (16) according to claim 5, characterized in that it further comprises: a user input device manipulated by a user to manually generate maneuvering signals receivable by said controller (60); and wherein said computer (18) monitors said position signals in comparison to an actual position of said housing (30) in the fluid container.
    [0007]
    7. Inspection device (16) according to claim 5, characterized in that: the computer (18) is further configured to receive said transmission signals generated by said antenna (70); wherein a network connected to said computer (18) is configured to receive and distribute said transmission signals.
    [0008]
    8. Inspection device (16) according to claim 4, characterized in that the computer (18) is further configured to maintain the virtual image of said housing (30) in positional relation to the fluid container.
    [0009]
    9. Inspection device (16) according to claim 4, characterized in that it further comprises: a fault detection module (74) associated with said controller (60), wherein said module is configured to disable said pumps (64) in response to a system failure being detected, said housing (30) being further configured to float to the top of the fluid in response to said pumps (64) being deactivated.
    [0010]
    10. Inspection device (16) according to claim 4, characterized in that it further comprises: a borescope (76) connected to said controller, wherein the borescope (76) is extendable from said housing (30 ).
    [0011]
    11. Inspection device (30) according to claim 4, characterized in that it further comprises: a sensor connected to said controller, wherein said sensor (48) is configured to collect information about the components within of the fluid container.
    [0012]
    12. Inspection device (16) according to claim 11, characterized in that it further comprises: a storage device (68) connected to said controller, said storage device (68) being configured to store information about the components inside the fluid container.
    [0013]
    13. Inspection device (16) according to claim 12, characterized in that it further comprises: a computer (18) in a network configured to receive and distribute signals transmitted by said antenna (70).
    [0014]
    14. Inspection device (16) according to claim 12, characterized in that the housing further comprises: a light (52), and wherein said sensor (48) further comprises a camera.
    [0015]
    15. Method of in-situ inspection of a container having at least one opening to receive a fluid, characterized in that it comprises: uploading a virtual model of the container into a computer; inserting an inspection device (16) in the inside the opening of the container; generating a wireless signal indicating a position of a housing (30) in the container via said inspection device (16) and transmitting the position signal wirelessly from an antenna (70) of said device inspection (16); receiving said position signal by a plurality of transmission signal receivers (82) associated with the container; determining the position of the housing (30) in the container based on wirelessly receiving the position signal by the plurality of transmit signal receivers (82); transmitting the wireless position signal from at least one of the plurality of transmit signal receivers (82) to the computer (18), the wireless position signal being based on the reception of the the wireless position indication signal by the plurality of transmit signal receivers (82) and representing the position of the housing (30) with respect to the container; wireless position in said computer (18); generating a virtual image of said inspection device (16) in relation to said virtual model of the container based on the wireless position signal and displaying, in the virtual model, the virtual image of said device inspection (16); and carry out an inspection of the container using the inspection device (16) based on the position of the virtual image of the inspection device (16) generated in the virtual model an actual position of said inspection device (16) within the container.
    [0016]
    16. Method according to claim 15, characterized in that it further comprises: providing said inspection device (16) with at least one pump (64); and sending instructions from said computer (18) through said transmission signal receivers (82) to said at least one pump (64) to control the position and/or orientation of said inspection device (16) within the container. .
    [0017]
    17. Method according to claim 16, characterized in that it further comprises: providing an input device connected to said computer (18); and imparting motion to said input device which generates corresponding directional signals received by said computer (18) and said inspection device (16) to maneuver within the container.
    [0018]
    18. Method according to claim 16, characterized in that it further comprises: providing a sensor (48) in said inspection device (16); generating sensor signals by said sensor (48); and transmitting said sensor signals to said computer (18).
    [0019]
    19. Method according to claim 18, characterized in that it further comprises: providing a camera as said sensor (48).
    [0020]
    20. The method of claim 18, further comprising: transmitting said sensor signals from said computer (18) to a network (86).
    [0021]
    21. Inspection device (16) for use in a fluid container having at least one opening, characterized in that it comprises: a housing (30) sized to fit through the opening, said housing (30) having a plurality of fluid flow channels (44) extending therethrough, each said flow channel (44) having at least one inlet and at least one outlet disposed in said housing (30) forming a plurality of inlets. and a plurality of outlets, and each flow channel (44) forming a through hole (80) therebetween and extending between at least one inlet and at least one outlet, the through hole (80) extending in the housing ( 30) and therethrough, wherein the inspection device (16) includes an antenna (70) configured to generate a wireless signal from a position of the housing (30) within the fluid container; at least one pump (64) disposed entirely within at least one flow channel (4 4) fluid, wherein the at least one pump (64) is configured to be selectively controlled to maneuver said housing (30) within the fluid container; a computer (18) configured to maintain a virtual image of said housing ( 30) in a virtual model of the fluid container; a plurality of transmission signal receivers (82) mounted on or near the fluid container; wherein each transmission signal receiver (82) is configured to receive the wireless signal from the inspection device (16); wherein the plurality of transmission signal receivers (82) is configured to: triangulate a position of said housing (30) in the container based on receiving wireless signals by the plurality of receivers transmission signal (82); generating a wireless position signal representing, in the virtual image, the triangulated position of said housing (30); and transmitting the position signal wirelessly to the computer (18), wherein the computer (18) is further configured to: receive the position signal wirelessly; monitor the position of the housing (30) within the fluid container (16) using the virtual image on the virtual model.
    [0022]
    22. Inspection device (16) according to claim 21, characterized in that the fluid flow channels (44) and the at least one pump (64) are configured to generate movement of the housing (30 ) in X, Y and Z directions and to generate rotation in a Z axis.
    [0023]
    23. Inspection device (16) according to claim 21, characterized in that the plurality of flow channels (44) includes at least two fluid flow channels (44) disposed along an X direction, extending completely through the housing (30) and spaced apart horizontally, each of the at least two fluid flow channels (44) having an inlet disposed on a first side of the housing (30) and each having an outlet disposed. on a second side of the housing (30) opposite the first side, wherein the at least two fluid flow channels (44) are configured to translate the housing (30) in an X direction and generate a rotation of the housing in a Z axis.
    [0024]
    24. Inspection device (16) according to claim 21, characterized in that the at least one pump (64) is configured to be energized by a motor (62) wherein the motor (62) is reversible wherein the motor (62) and the at least one pump (64) are configured to reverse a flow through the fluid flow channel (44) to maneuver the housing (30).
    [0025]
    25. Inspection device (16) according to claim 1, characterized in that at least one of the pumps (64) is configured to be energized by a motor (62) in which the motor (62) is reversible wherein the motor (62) and the at least one pump (64) are configured to reverse a flow through the fluid flow channel (44) to maneuver the housing (30).
    [0026]
    26. Inspection device (16) according to claim 1, characterized in that the plurality of transmission signal receivers (82) is further configured to determine the position of said housing (30) in the fluid container with based on receiving wireless signals by the plurality of transmit signal receivers (82) by triangulation of the position of said housing (30) based on receiving the wireless signal by the plurality of transmit signal receivers (82).
    [0027]
    27. Method according to claim 16, characterized in that the step of determining the position of the housing (30) in the container based on receiving the wireless position signal by the plurality of transmission signal receivers (82) further comprises triangulation the position of said housing based on reception of the wireless signal by the plurality of transmit signal receivers (82).
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    同族专利:
    公开号 | 公开日
    WO2014120568A1|2014-08-07|
    CN105026112A|2015-11-04|
    US20150369751A1|2015-12-24|
    EP2762279B1|2021-01-20|
    CN105026112B|2018-12-11|
    BR112015018364A2|2017-07-18|
    ES2859755T3|2021-10-04|
    CA2899279A1|2014-08-07|
    EP2762279A1|2014-08-06|
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    法律状态:
    2017-12-26| B25A| Requested transfer of rights approved|Owner name: ABB SCHWEIZ AG (CH) |
    2018-01-30| B25L| Entry of change of name and/or headquarter and transfer of application, patent and certificate of addition of invention: publication cancelled|Owner name: ABB TECHNOLOGY AG (CH) |
    2018-02-06| B25C| Requirement related to requested transfer of rights|Owner name: ABB TECHNOLOGY AG (CH) |
    2018-06-05| B25L| Entry of change of name and/or headquarter and transfer of application, patent and certificate of addition of invention: publication cancelled|Owner name: ABB SCHWEIZ AG (CH) |
    2018-06-12| B25A| Requested transfer of rights approved|Owner name: ABB SCHWEIZ AG (CH) |
    2018-11-13| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2020-03-17| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-06-15| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-07-27| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 24/01/2014, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    EP13153721.9A|EP2762279B1|2013-02-01|2013-02-01|Device And Method For Transformer In-Situ Inspection|
    EP13153721.9|2013-02-01|
    PCT/US2014/012920|WO2014120568A1|2013-02-01|2014-01-24|Device and method for transformer in-situ inspection|
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