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1. (WO2018104786) SUBMERSIBLE INSPECTION VEHICLE WITH NAVIGATION AND MAPPING CAPABILITIES

Pub. No.:    WO/2018/104786    International Application No.:    PCT/IB2017/001631
Publication Date: Fri Jun 15 01:59:59 CEST 2018 International Filing Date: Thu Dec 07 00:59:59 CET 2017
IPC: G05D 1/00
Applicants: ABB SCHWEIZ AG
Inventors: COLE, Gregory, A.
EAKINS, William, J.
LASKO, Daniel, T.
SHAH, Harshang
FUHLBRIGGE, Thomas, A.
MORATO, Carlos
CHEIM, Luiz, V.
PATEL, Poorvi
ZHANG, Biao
SHARMA, Saumya
ROSSANO, Gregory
Title: SUBMERSIBLE INSPECTION VEHICLE WITH NAVIGATION AND MAPPING CAPABILITIES
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.