公开(公告)号：US20190286119A1

公开(公告)日：2019-09-19

申请号：US16434639

申请日：2019-06-07

Applicant: ABB Schweiz AG

Inventor： Gregory A. Cole ,  William J. Eakins ,  Daniel T. Lasko ,  Harshang Shah ,  Thomas A. Fuhlbrigge ,  Carlos Morato ,  Luiz V. Cheim ,  Poorvi Patel ,  Biao Zhang ,  Saumya Sharma ,  Gregory F. Rossano

IPC: G05D1/00 ,  G05D1/02 ,  G07C5/00 ,  G07C5/08 ,  H04W4/44

Abstract: A submersible remotely operable vehicle used for inspection of liquid cooled electrical transformers can include a number of separate cameras and sensors for mapping and navigating the internal structure of the transformer with liquid coolant remaining in the transformer. The remotely operable vehicle can be wirelessly controlled to perform various inspection functions while the number of cameras provide video streams for processing to produce a three dimensional field of view based on an observation position of the remotely operable vehicle.