TECHNICAL FIELD

The present invention generally relates to submersible inspection vehicles, and more particularly, but not exclusively, to vision-telemetry based autonomous navigation and mapping with submersible remotely operable vehicles to internally inspect liquid filled housings, such as electrical transformers.

BACKGROUND

Power transformers are a key component in power transformation and distribution. Large power transformers are extremely heavy, and are difficult to transport and replace. In addition, transformers have a limited life span even if not damaged, and it is necessary to periodically maintain and repair power transformers. While online monitoring, dissolved gas analysis, noise level monitoring and related technologies are often used to identify potential problems that a transformer may have, the maintenance and repair work is required to be performed on site or in a repair shop, both of which require draining of the transformer oil. Thus, physically accessing the interior of the transformer for inspection by a human can be a costly and time consuming undertaking. There are also safety and environmental considerations involved in the manual inspection, draining and refilling operations.

Therefore, the capability of inspecting the interior of a large power transformer with the cooling oil remaining in the tank is highly desired by the transformer servicing and manufacturing industry. However, internal inspection of transformers is typically possible in only limited applications, such as by using standard visual tools like borescopes for smaller size units. For medium and large power transformers, due to technical issues such as cable length and controlling the borescope, only limited internal areas of the transformer are able to be visually inspected. Thus, many transformer defects such as damage to transformer windings have to be detected by using indirect techniques, such as by analyzing temperature of the oil, detection of gasses that appear in the oil under certain conditions, and noise level, for example. Accordingly, there remains a need for further contributions in this area of technology.

SUMMARY

One embodiment of the present invention is a unique submersible remotely operable vehicle for internal inspection within a liquid filled housing and more particularly, but not exclusively, for internal inspection of an electrical transformer. Other embodiments include apparatuses, systems, devices, hardware, methods, and combinations for wirelessly navigating and three dimensional mapping an internal structure of the transformer with a submersible remotely operable vehicle. Further embodiments, forms, features, aspects, benefits, and advantages of the present application shall become apparent from the description and figures provided herewith.

