Robot for unmanned operation and maintenance in an indoor medium or high voltage switch-gear station

This application is a continuation of International Patent Application No. PCT/EP2018/066951, filed on Jun. 25, 2018, which claims priority to European Patent Application Nos. EP 17178336.8, filed on Jun. 28, 2017 and to EP 17209473.2, filed on Dec. 21, 2017. The entire disclosures of all three applications is hereby incorporated by reference herein.

The invention relates to a switch or control-gear system that can be for medium or high voltage use.

Normally, well known switch-gears or control-gears are provided with sensors, in order to have control elements and sensors, connected via local data networks or via browsers, for technical diagnostic and steering functions and or maintenance.

The scope of the inspection in switch-gear or control-gear with unmanned operation can be enhanced compared to the scope that is typically done by fixed sensors or manually on de-energized switch-gear or control-gear today. By enhancing the inspection scope periodic shutdown and testing of the switch-gear or control-gear and its components can be avoided.

Systems like that, only can send sensor data for technical diagnosis, but maintenance of actual technical problems cannot be activated.

In an embodiment, the present invention provides a switch-gear or control-gear system for medium or high voltage use including an external housing containing the switch-gear or control-gear system, which is configured for unmanned operation and maintenance. The switch-gear or control-gear system is configured for unmanned operation and maintenance with a robotic system or manipulator and the robotic system or manipulator is provided with a camera system and an image recognition system.

Embodiments of the present invention will be described in even greater detail below based on the exemplary figures. The present invention is not limited to the exemplary embodiments. All features described and/or illustrated herein can be used alone or combined in different combinations in embodiments of the present invention. The features and advantages of various embodiments of the present invention will become apparent by reading the following detailed description with reference to the attached drawings which illustrate the following:

FIG. 1 is a cross-section of switch-gear or control-gear with unmanned operation and maintenance, according to an embodiment.

An object of an embodiment of the invention is, to enhance such switch-gear or control-gear systems, as well as the method for operating the same as such, that a more detailed sensoring of technical faults is given, so that faults or deterioration of components that might lead to faults, and malfunctions can be located much more detailed and quickly, and at least first steps, over solving technical problems can be initiated automatically.

Considering that, a switch-gear or control-gear with unmanned operation and maintenance excludes human operators from operation and maintenance processes of the switch-gear or control-gear as we know them today.

Referring to a switch-gear or control-gear system, an embodiment of the invention is, that the switch-gear or control-gear system is provided for unmanned operation and maintenance with a robotic system or manipulator, and that the robotic system or manipulator is provided with a camera system, and an image recognition system.

By adding a robotic system to inner space of the switch-gear or control-gear, a new system serving the operation and maintenance functions of the switch-gear or control-gear was introduced. The robotic system and design of the switch-gear or control-gear internal space without segregations gives opportunity to collect much richer static and dynamic visual data about the primary and auxiliary circuits and mechanisms condition compared to today situation.

Collected rich visual data allow the application of automatized image processing and analysis with the target to learn the conditions of the switch-gear or control-gear systems and components.

Furthermore, by the use of the invention, the switch-gear or control-gear systems can react in cases of faults much quicker, and more effectively.

A further advantageous embodiment is that the robot system is provided with a data network or an external data communication interface.

In a further advantageous embodiment, the camera has means for corresponding with an image recognition system, and to evaluate actual images with adaptive image data, in order to be able to locate and to analyse physical reasons for faults, or deterioration of components, that might lead to faults.

In a further advantageous embodiment, the camera is provided with a video mode, by which the functional surveillance can be taken by slow motion video sequences.

Concerning to a method for operating such a switch-gear or control-gear, the invention is, that the switch-gear or control-gear system is provided for unmanned operation and maintenance with a robotic system or manipulator, which is steered at least partly by a housing internal or a housing external software system, and that the robotic system or manipulator is provided with a camera system, and an image recognition system, which is corresponding for technical diagnosis. In a further advantageous embodiment of the invention, the robot system is provided with a data network or external data communication interface, and that in case of detection of technical problems or malfunctions, referring messages are generated automatically and sent to an authorized external observation system.

Furthermore advantageous is an embodiment, in which the camera is provided with means for corresponding with an image recognition system, and to evaluate actual images with adaptive image data, in order to be able to locate and to analyse physical reasons for faults or deterioration of components that might lead to faults.

In an advantageous embodiment, the camera is provided with a video mode, by which the functional surveillance can be taken by slow motion video sequences, and analysed automatically with regular expected function sequences by comparison of slow motion video sequences from an adaptive data field, which show the expected regular function.

An advantageous embodiment of the invention is shown in FIG. 1 , which depicts an example cross-section of a switch-gear or control with unmanned operation and maintenance.

In an embodiment, the present invention describes the enhanced scope of robotized inspection of the switch-gear or control-gear with unmanned operation and maintenance.

The robotic system 21 tooling includes in this embodiment sensors for visual inspection and thermographic inspection for the enhanced inspection of energized switch-gear or control-gear. As the robotic manipulator 29 and wrist 30 is allowed to approach de-energized circuits only, all these sensors shall be non-contact type. The robotic arm and wrist can position the sensors to best shot positions without advanced pan, tilt, zoom functions on the sensors itself.

The visual inspection sensor in this embodiment is be capable of taking high resolution picture as well as slow-motion video sequence recording. The data from visual inspection sensor and subsequent automatic image analysis algorithms shall be used for following inspection tasks:

Detecting grime, corrosion, moisture on the primary circuits from high resolution static images Detecting traces of discharges or ruptures on the insulation surfaces from high resolution static images Detecting irregularities in movement of auxiliary mechanism during operation by slow-motion video sequence analysis Detecting irregularities in movement of switching device moving contact by slow-motion video sequence analysis

The sensors for thermographic inspection shall be capable of taking high resolution thermographic pictures of high emissivity surfaces. The primary circuits inside the switch-gear or control-gear are preferably, in an embodiment, covered with thin high emissivity material wherever possible to allow accurate thermographic measurements.

The data from thermographic inspection sensor and subsequent automatic image analysis algorithms are, in an embodiment, used for following inspection tasks:

Detecting hot spots on primary circuits from static thermographic images—Detecting spots hotter than maximum allowed temperature on the primary circuits from static thermographic images Detecting hot spots on the auxiliary circuits from static thermography images Detecting points of high friction on the auxiliary mechanisms from static thermography images

While embodiments of the invention have been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive. It will be understood that changes and modifications may be made by those of ordinary skill within the scope of the following claims. In particular, the present invention covers further embodiments with any combination of features from different embodiments described above and below. Additionally, statements made herein characterizing the invention refer to an embodiment of the invention and not necessarily all embodiments.

The terms used in the claims should be construed to have the broadest reasonable interpretation consistent with the foregoing description. For example, the use of the article “a” or “the” in introducing an element should not be interpreted as being exclusive of a plurality of elements. Likewise, the recitation of “or” should be interpreted as being inclusive, such that the recitation of “A or B” is not exclusive of “A and B,” unless it is clear from the context or the foregoing description that only one of A and B is intended. Further, the recitation of “at least one of A, B and C” should be interpreted as one or more of a group of elements consisting of A, B and C, and should not be interpreted as requiring at least one of each of the listed elements A, B and C, regardless of whether A, B and C are related as categories or otherwise. Moreover, the recitation of “A, B and/or C” or “at least one of A, B or C” should be interpreted as including any singular entity from the listed elements, e.g., A, any subset from the listed elements, e.g., A and B, or the entire list of elements A, B and C.