Submersible ROV Navigation for 3D Inspection of Oil-Filled Transformers
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Solution Overview
Problem
Current methods for inspecting the interior of large power transformers are limited, requiring costly and time-consuming manual processes, and pose safety and environmental risks due to the need for draining transformer oil, while indirect techniques often fail to detect defects effectively.
Innovation Solution
A submersible remotely operable vehicle (ROV) equipped with multiple cameras and wireless communication, capable of autonomous navigation and three-dimensional mapping within the transformer, allowing for internal inspection without draining the oil, using vision-telemetry data to generate a quasi-spherical field of view and real-time dense-map fusion for comprehensive inspection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual inspection methods are used to inspect the interior of large power transformers, then inspection can be performed, but the process becomes costly and time-consuming while requiring draining of transformer oil
Solution Approach 1:
The patent replaces manual mechanical inspection with an automated submersible vehicle equipped with cameras and sensors. The vehicle autonomously navigates through the transformer interior, capturing images and data that are processed to create three-dimensional maps, eliminating the need for manual intervention and oil draining while reducing inspection time and costs.
2Measurement precision
If borescopes are used for internal inspection, then visual inspection is possible, but cable length limitations and controlling difficulties restrict the inspectable areas
Solution Approach 1:
The inspection system is divided into multiple independent camera units mounted on the submersible vehicle. These cameras are positioned at different locations and orientations to capture images of various transformer components simultaneously, overcoming the single-point limitation of borescopes and enabling comprehensive coverage of the entire transformer interior.
Solution Approach 2:
The system transitions from two-dimensional borescope imaging to three-dimensional mapping by using multiple cameras positioned at different spatial locations. The processed images generate three-dimensional maps that provide depth perception and comprehensive spatial understanding of the transformer interior, enabling inspection of previously inaccessible areas.
3Ease of operation
If indirect techniques are used to detect transformer defects, then inspection can be performed without internal access, but defect detection accuracy is reduced
Solution Approach 1:
The submersible vehicle acts as an intermediary between the external inspection system and the transformer interior. It carries cameras and sensors that directly observe internal components, transmitting visual data back to operators without requiring physical access to the transformer interior. This intermediary approach enables direct visual inspection while maintaining ease of operation and eliminating oil draining requirements.
Data Source
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AI summary
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.