WO2018222832A1

WO2018222832A1 - Systems and methods for robotic inspection of switchgear systems

Info

Publication number: WO2018222832A1
Application number: PCT/US2018/035337
Authority: WO
Inventors: Gregory A. COLE; Gregory F. Rossano; Bilal SARFRAZ; Tomas Kozel; Callisto Gatti
Original assignee: Abb Schweiz Ag
Priority date: 2017-05-31
Filing date: 2018-05-31
Publication date: 2018-12-06

Abstract

An embodiment includes a system for inspecting a plurality of switchgear systems. Each switchgear system includes a switchgear enclosure and a plurality of switchgear components disposed in the switchgear enclosure. The plurality of switchgear systems have an arc duct extending between adjacent switchgear enclosures. The system includes a robot adapted to traverse the interior of the arc duct; and a probe mounted on the robot. The probe includes a sensor package operative to inspect at least one of the switchgear components inside desired the switchgear enclosures while the switchgear systems are live. The system includes a controller communicatively coupled to the robot and the probe. The controller is operative to control the robot to move within the arc duct, position the probe adjacent to an opening in the switchgear compartment and operate the sensor package to inspect the at least one of the switchgear components using the sensor package.

Description

SYSTEMS AND METHODS FOR ROBOTIC INSPECTION OF SWITCHGEAR

SYSTEMS

TECHNICAL FIELD

The present application generally relates to switchgear systems and more particularly, but not exclusively, to systems and method for robotic inspection of switchgear systems.

BACKGROUND

Switchgear systems remain an area of interest. Some existing systems have various shortcomings, drawbacks and disadvantages relative to certain applications. For example, in some switchgear systems, robotic inspection is not supported, or does not provide for adequate robotic inspection of some or all switchgear components of concern. Accordingly, there remains a need for further contributions in this area of technology.

SUMMARY

One embodiment of the present invention is a unique system for inspecting a switchgear system. Another embodiment is unique method of inspecting a switchgear system. Other embodiments include apparatuses, systems, devices, hardware, methods, and combinations for switchgear system inspection. Further embodiments, forms, features, aspects, benefits, and advantages of the present application shall become apparent from the description and figures provided herewith.

BRIEF DESCRIPTION OF THE FIGURES

The description herein makes reference to the accompanying drawings wherein like reference numerals refer to like parts throughout the several views, and wherein:

FIG. 1 illustrates some aspects of a non-limiting example of an electrical house (e-house) that may be inspected in accordance with an embodiment of the present invention.

FIG. 2 schematically illustrates some aspects of non-limiting examples of switchgear systems in accordance with an embodiment of the present invention.

FIG. 3 schematically illustrates some aspects of a non-limiting example of a cross sectional side view of a switchgear system in accordance with an embodiment of the present invention.

FIG. 4 schematically illustrates some aspects of a non-limiting example of a system for inspecting switchgear systems in accordance with an embodiment of the present invention.

FIG. 5 schematically illustrates some aspects of a non-limiting example of a sensor package in accordance with an embodiment of the present invention.

FIG. 6 schematically illustrates some aspects of a non-limiting example of a side view of a switchgear system in accordance with an embodiment of the present invention.

FIG. 7 schematically illustrates some aspects of a non-limiting example of a robot and a portal constructed to be opened by a robot in accordance with an embodiment of the present invention.

FIGS. 8A-8D illustrate some aspects of a non-limiting example of a portal constructed to be opened by a robot in accordance with an embodiment of the present invention.

FIGS. 9A-9D illustrate some aspects of a non-limiting example of a portal constructed to be opened by a robot in accordance with an embodiment of the present invention.

FIGS. 10A-10D illustrate some aspects of a non-limiting example of a portal constructed to be opened by a robot in accordance with an embodiment of the present invention. DETAILED DESCRIPTION OF THE ILLUSTRATIVE EMBODIMENTS

For the purposes of promoting an understanding of the principles of the invention, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended. Any alterations and further modifications in the described embodiments, and any further applications of the principles of the invention as described herein are contemplated as would normally occur to one skilled in the art to which the invention relates.

Referring to FIG. 1 , some aspects of a non-limiting example of an electrical house or e-house 400, also known as a power house, is illustrated. With reference to FIG. 2, e-house 400 contains or houses, among other things, a plurality of switchgear systems 402, e.g., skid mounted, arranged side-by-side, some aspects of non-limiting examples of which are illustrated in accordance with an embodiment of the present invention. Each switchgear system 402 includes a switchgear enclosure 404 housing a plurality of switchgear components, examples of which are mentioned below. A conduit in the form of an arc duct 406 is coupled to switchgear enclosures 404 and extends between adjacent switchgear enclosures 404 to channel arc products during the occurrence of an arc event to a safe location, e.g., into a safe area (not shown) inside e-house 400 or through a chimney 408 or other discharge feature to exit e-house 400.

In one form, each switchgear enclosure 404 includes a bottom panel 410, a middle panel 412 and a top panel 414. In other embodiments, each switchgear component may have any number of panels. In one form, each panel (e.g., 410, 412, 414) is a door that may be opened in order to provide access to an internal compartment, e.g., a compartment within switchgear enclosure 404 in which switchgear components are located. In other embodiments, panels 410, 412 and 414 may be other types of access panels and/or may be control panels. In some embodiments, one or more panels may provide access to one or more switchgear compartments disposed inside of each switchgear enclosure 404, e.g., in which switchgear components are located. The number of switchgear compartments within each switchgear enclosure may vary with the needs of the application, e.g., and may be one or greater. Referring to FIG. 3, some aspects of a non-limiting example of a switchgear system 402 with switchgear enclosure 404 are schematically illustrated. In one form, switchgear system 402 is a medium voltage (MV) switchgear system, e.g., having an operating voltage between 1 kV and 52kV, with an electrical current rating of up to 4000A. In other embodiments, switchgear system 402 may have a greater or lesser maximum operating voltage and/or rated current, and may be, for example, a low voltage (LV) switchgear system, another MV switchgear system or a high voltage (HV) switchgear system. Switchgear system 402 includes a plurality of internal compartments, e.g., switchgear compartments, including a low voltage compartment 416, a circuit breaker compartment 418, a bus bar compartment 420 and a cable compartment 422. Other embodiments may include other compartments in addition to or in place of compartments 416, 418, 420 and 422.

Switchgear compartments 416, 418, 420 and 422 house a plurality of switchgear components. For example, low voltage switchgear compartment 416 houses, among other things, for example, protection relays and lEDs (intelligent electronic devices) 424 for providing protection, control, measurement and supervision, including power quality in some embodiments. In some embodiments, low voltage compartment 416 houses communication systems, e.g., for horizontal communications with other switchgear systems 402 in e-house 400, as well as other types of communications systems/protocols, e.g., network and/or Internet

communications. Circuit breaker compartment 418 houses, among other things, a circuit breaker, e.g., a vacuum or SF6 insulated circuit breaker 426, and bus bar-side voltage transformers 428. Bus bar compartment houses, among other things, bus bars 430, e.g., one for each phase of the three-phase switchgear systems 402.

Cable compartment 422 houses, among other things, cable and cable terminations 432; surge arrestors 434, core balance current transformers 436; cable-side voltage transformers 438 and measurement current transformers 440. Circuit breaker compartment 418, bus bar compartment 420 and cable compartment 422 are open to arc duct 406, e.g., via flaps 442, 444 and 446, respectively, which are vent flaps. In one form, flaps 442, 444 and 446 are louvered, slotted, slatted, latticed or otherwise open to permit the exhaust into arc duct 406 of air used to cool the respective switchgear components during normal operation. Flaps 442, 444 and 446 open during an arc event, e.g., based on a pressure differential during the arc event, to permit arc products to exit switchgear system 402 into arc duct 406. Flap 444 is depicted in the open position to allow robotic inspection of bus bar compartment 420 and bus bars 430, e.g., as described below. Although the illustrated embodiment places arc duct 406 on top of switchgear enclosures 404, it will be understood that in other embodiments, arc duct 406 may be disposed at another location, e.g., at the back of switchgear enclosures 404.

Referring to FIGS. 4 and 5, in conjunction with FIGS. 2 and 3, some aspects of a non-limiting example of a system 448 for inspecting one or more switchgear systems 402, e.g., disposed in e-house 400, are schematically illustrated in accordance with an embodiment of the present invention. System 448 includes an automated mechanism, e.g., a robot 450, and includes a probe 452, a controller 454 and an input device 456. Controller 454 is communicatively coupled to input device 456, robot 450 and probe 452 via communication links 458, 460 and 462, respectively, which may be, for example, bidirectional communication links, e.g., wired, wireless, optical, network, Internet or any other suitable forms of

communication links. Although depicted as a unitary structure, it will be understood that controller 454 may be distributed across more than one location and/or platform, and may include, for example, a dedicated robotic controller, and/or one or more linked computers/controllers suitable for controlling and receiving data from robot 450 and probe 452, and for performing inspections, e.g., non-contact inspections of live switchgear components in switchgear enclosure 404 using, i.e., switchgear components 424, 426, 428, 430, 432, 434, 436, 438, 440 and/or any other switchgear components, operating under live voltage and current conditions, e.g., at rated voltage and current or other voltage and current values associated with live operation of switchgear systems 402.

In one form, robot 450 is a crawler, e.g., a robot that employs tracks or treads for creating motion of robot 450. In some embodiments, robot 450 may be a magnetic crawler that adheres to magnetic or ferrous alloys, which may be used to climb up the side of a switchgear enclosure 404, e.g., where the side is produced from a magnetic or ferrous alloy, e.g., as depicted in FIG. 2. In other embodiments, robot 450 may take other forms. In some embodiments, robot 450 is adapted to traverse the interior of arc duct 406 in order to perform inspection of switchgear systems 402 using probe 452. Robot 450 is operative to traverse along the interior of arc duct 406 to perform an inspection of each switchgear system 402 or only certain selected switchgear systems 402. Robot 450 is adapted to enter arc duct 406, e.g., through an opening or robotic entrance 464 disposed at the end-most switchgear system 402 of the row or group of adjacent switchgear systems 402, in order to perform the inspections, e.g., under the direction of controller 454. In one form, opening 464 is a door. In a particular form, opening 464 is self-closing. For example, opening 464 may be operative to close after the entry of robot 450 into arc duct 406, e.g., in order to enhance arc safety. In some embodiments, robotic entrance 464 may be, for example, a trap door. In one example, a trap door may be spring loaded into a closed position, which may be pushed open by robot 450 or a robot 450 appendage once a safe zone in e-house 400 has been cleared of humans, or once humans have left e-house 400. In some embodiments, the trap door may be self-actuating, and may be opened under the direction of controller 454. In some embodiments, in order to enhance arc safety, robotic entrance 464 may be an "air lock" having an inner door and an outer door. In some such embodiments, for example, robot 450 may be placed in the air lock by opening the outer door and directing robot 450 into the air lock or manually placing robot 450 in the air lock, all the while the inner door remains closed in order to enhance arc safety. Once robot 450 is in the air lock, the outer door may be closed, after which the inner door may be opened in order to allow robot 450 to traverse the interior of arc duct 406 to perform the inspection of switchgear systems 402.

In some embodiments, robotic entrance 464 may include a robotic lift, e.g., a hoist or lift mechanism that is constructed to lift robot 450, e.g., from the floor level of e-house 400, to the level of arc duct 406. In some such embodiments the lift allows robot 450 to enter arc duct 406 without the necessity of robot 450 being constructed to climb up switchgear enclosures 404, or without the need for a human to lift robot 450 up to the level of arc duct 406. In some embodiments, a separate robot or manipulator may be employed to place robot 450 into arc duct 406, e.g., into an opening into arc duct 406, such as robotic entrance 464. Although robotic entrance 464 has been described as being above the side of arc duct 406, it will be

understood that in various embodiments, robotic entrance 464 can be disposed at the front, back, or either side of arc duct 406 or switchgear enclosures 404.

In one form, robot 450 includes an arm 466 and a manipulator 468. In one form, manipulator 468 is operative to support probe 450. In one form, arm 466 is extendable/retractable, and is also pivotable about a pivot joint 470 in order to be able to manipulate probe 452 into a desired position for performing a non-contact inspection of live switchgear components. In other embodiments, robot 450 may include other appendages and features operative to manipulate probe 452 into position for performing an inspection of live switchgear components.

Probe 452 is mounted on robot 450, e.g., manipulator 468. Probe 452 includes a sensor package 472 constructed to perform non-contact inspections of live switchgear components inside switchgear enclosures 404 while switchgear systems 402 are live. In one form, sensor package 472 includes a plurality of non- contact sensors. For example, in some embodiments, sensor package 472 includes a gas sensor 474; an infrared camera 476, a thermal imager 478, a humidity sensor 480, an acoustic sensor 482, an ultrasonic sensor 484, a camera 486, e.g., a visual light camera or a visual sensor, a 3-D microphone system 488, a hyperspectral imaging camera 490 and a gas chromatography/mass spectrometry sensor 492. Gas sensor 474 and/or gas chromatography/mass spectrometry sensor 492 may be used, for example, among other things, for detecting gas leakage from gas insulated switchgear and/or detecting breakdown of switchgear component materials or other materials in or on switchgear enclosures 404. Some embodiments may also include a conventional microphone 494. Some embodiments may include other sensors in addition to or in place of the aforementioned sensors, or may include fewer sensors, which may or may not include one or more of the aforementioned sensors.

In various embodiments, robot 450 may have an autonomous mode, a semi- autonomous mode and a manual mode. In the autonomous mode, controller 454 controls robot 450 autonomously. In the semi-autonomous mode, controller 454 controls robot 450 in conjunction with human input from input device 456, e.g., but prevents human inputs that may have undesirable or catastrophic results, e.g., driving probe 452 into a live electrical component or another object. In another aspect of semi-autonomous mode, human inputs may be employed, e.g., to select components or features or locations sought to be inspected or to adjust or change automatic inspection parameters, to direct certain inspection procedures and/or provide other manual inputs. In manual mode, controller 454 controls robot 450 in response to human input via input device 456, and may be used, for example, to control robot 450 prior to the point of performing an inspection, e.g., to drive the robot to a desired location in preparation for an inspection operation, before autonomous or semi-autonomous operation begins. In one form, input device 456 is an input/output device, including a keyboard and a display. In other embodiments, input device 456 may take other forms.

Controller 454 is operative to control the robot 450 to move or traverse within arc duct 406, position probe 454 adjacent to an opening in the switchgear compartment, and operate sensor package 472 to perform a non-contact inspection of switchgear components using sensor package 472, e.g., of bus bars 430 or other switchgear components via flaps 442 and/or 446. The opening may be, for example, opening 194 under flap 444, an opening under flap 442 or 446, an opening in one or more of flaps 442, 444 or 446, or another opening, e.g., a vent opening or a portal into a desired switchgear compartment, such as switchgear compartments 416, 418, 420 and/or 422. In some embodiments, robot 450 may extend, retract and/or rotate probe 454 in order to expose one or more desired sensors to the switchgear component being inspected and/or to perform the inspection from a desired location. Robot 450 may access or utilize one or more fiducials and/or mechanical

registrations, e.g., mounted on, affixed to or integral with switchgear systems 402 or enclosures 404 or portals or openings thereon or therein, in order to position sensor package 472 at a desired fixed location for repeatability of inspections, e.g., in order to provide an accurate basis for comparing current, past and future inspection results. In some embodiments, controller 454 is operative to direct robot 450 to insert probe 452 into the switchgear enclosure 404 or one or more of the switchgear compartments 416, 418, 420, 422 via an opening, e.g., opening 496, while the switchgear system 402 is live, and to inspect one or more desired switchgear components in the switchgear compartments while the switchgear components are live.

Referring to FIG. 6, some aspects of a non-limiting example of a side view of switchgear system 402 in accordance with an embodiment of the present invention is schematically illustrated. In the embodiment of FIG. 6, switchgear system 402 includes a conduit in the form of a guide tube 498, a portal 72D1 and a portal 72D2. Guide tube 498 is disposed and mounted within switchgear enclosure 404. Portal 72D1 is mounted in or on panel 412, and is constructed and operative to provide robotic access to circuit breaker compartment 418, when open. Portal 72D1 is constructed and operative to prevent access to circuit breaker compartment 418, as well as provide a degree of arc flash protection, when closed. The degree of arc flash protection may vary with the needs of the application. In other embodiments, portal 72D1 may be mounted elsewhere, and may be employed to provide access to other switchgear compartments in addition to or in place of circuit breaker compartment 418. Portal 72D1 is constructed to be opened by an automated mechanism, e.g., a robot, e.g., as described below. Portal 72D2 is constructed and operative to, when open, expose and provide access to bus bar compartment 420, e.g., from circuit breaker compartment 418, and is mounted on, for example, a common wall 502 or one or both of a pair of walls shared by or disposed between or delineating circuit breaker compartment 418 and bus bar compartment 420. When closed, portal 72D2 prevents access therethrough to bus bar compartment 420 from circuit breaker compartment 418. Although depicted as being disposed within circuit breaker compartment 418, it will be understood that one or more guide tubes may be disposed and mounted within any switchgear compartment within switchgear enclosure 404, e.g., any of switchgear compartments 416, 418, 420 and 422. In some embodiments, one or more guide tubes may extend between more than one switchgear compartment. Similarly, it will be understood that although portals 72D1 and 72D2 are operative to provide access to circuit breaker compartment 418 and bus bar compartment 420, respectively, in other embodiments, similar or other portals may be employed to provide access to any one or more switchgear compartments, whether from the front, top, sides, back or bottom of switchgear enclosures 404.

Portal 72D1 is constructed to provide robotic access, or more particularly, robotic probe 452 access to switchgear compartment 418, and in some

embodiments to also or alternatively provide such access to guide tube 498. In one form, portal 72D1 is constructed to be opened by an automated mechanism, e.g., a robot, but not casually opened by a human, absent the use of tools or keys or the like that such as may be employed by a robot to open portal 72D1 . In some cases, electrical connections from the automated mechanism or robot to the portal may be employed to supply power to a portal lock mechanism or a portal open/close mechanism to unlock or open portal 72D1 , which connections may not casually or easily be duplicated by a human, e.g., absent specific intent to unlock or open the portal, which may limit human access to the switchgear compartments via the portal, thus providing a measure of arc safety. Some embodiments may require a coded signal or password to be supplied from the automated mechanism or robot to the portal in order to unlock or open the portal. By not being subject to casual opening by a human, arc safety is enhanced. Portals, such as might be employed as portal 72D1 are discussed further below.

Portal 72D1 provides access to switchgear compartment 418 (circuit breaker compartment 418) through panel 412 from the environment external to switchgear enclosure 404. Once portal 72D1 is opened, there is no barrier to the interior of the switchgear compartment, e.g., circuit breaker compartment 418, presented. Thus, an automated mechanism or robot, such as robot 450 or another robot or automated mechanism that supports or mounts probe 452 with sensor package 472, may perform an inspection, e.g., a non-contact inspection, of one or more live switchgear components disposed therein without any interference such as a barrier in any form may inadvertently provide. In some embodiments probe 452 and sensor package 472 may enter the switchgear compartment via portal 72D1 . In some embodiments, the inspection may be of one or more live switchgear components disposed in an adjacent switchgear compartment, e.g., whether by access such as via portal 72D2 or the like, or whether by obtaining inspection data such as thermal imaging data, without accessing the second switchgear compartment directly. The non-contact inspections may be performed using, for example, sensor package 472 of probe 452.

In some embodiments, portal 72D1 provides access to an opening 504 in guide tube 498, e.g., an opening at a proximal end of guide tube 498. In some embodiments, guide tube 498 also has an opening 506, e.g., disposed at a distal end of guide tube 498. Guide tube 498 and probe 452 with sensor package 472 are both adapted to permit probe 452 with sensor package 472 to traverse from opening 504, along the interior of guide tube 498 to, and in some embodiments through, opening 506 of guide tube 498. For example, the robot may have a flexible arm that pushes probe 452 through a curbed guide tube 498, or an arm, flexible or rigid, that pushes probe 452 through a straight guide tube 498.

In one form, guide tube 498 has a circular cross section. In other

embodiments guide tube 498 may have a square or any other cross sectional shape, or may be a U-shaped channel or a channel having any other cross sectional shape. The shape of guide tube 498 is complementary to the shape of probe 452 and sensor package 472, to permit probe 452 and sensor package 472 to traverse the interior of guide tube 498 in order to perform non-contact inspection of live

switchgear components, e.g., while switchgear systems 402 are live. Controller 456 is operative to control the automated mechanism or robot, e.g., robot 450 or another robot or automated mechanism, to direct probe 452 through an opening (through portal 72D1 , when open) and into the guide tube 498 while switchgear system 402 is live, and to operate sensor package 472 to inspect one or more switchgear components using sensor package 472 while switchgear system 402 is live.

In one form, guide tube 498 is rigid, and in some embodiments is constructed to enhance the repeatability of measurements, e.g., so that past, present and future inspection results may be compared. In one form, guide tube 498 is non-conductive. In one form, guide tube 498 is insulative, e.g., has dielectric strength sufficient to provide a desired hold-off voltage, e.g., measured in kV per millimeter of guide tube wall thickness, in order to prevent or reduce the likelihood of arcing between switchgear components, or between switchgear components and a robotic arm or manipulator or a probe and sensor package, such as probe 452 and sensor package 472.

Guide tube 458 is constructed to position sensor package 472 at a desired location within the switchgear enclosure/compartment. In one form, guide tube 498 includes a window 508 and a window 510. In one form, windows 508 and 510 are open, e.g., barrier-free, presenting no barrier, glass, composite or otherwise, between the interior of guide tube 498 and circuit breaker compartment 418. In some embodiments, one or more windows may include a barrier, such as a glass or polymeric pane. Windows 508 and 510 are adapted to expose sensor package 472 to the switchgear components sought to be inspected, e.g., circuit breaker system 426 and voltage transformers 428, and allow sensor package 472 to "view" the switchgear components from repeatable viewing positions while performing the inspections, e.g., non-contact inspections. Accordingly, windows 508 and 510 face circuit breaker system 426 and voltage transformers 428 to permit non-contact inspection of circuit breaker system 426 and voltage transformers 428 by sensor package 472. It will be understood that circuit breaker system 426 and voltage transformers 428 are used by way of example only; in various embodiments, the guide tube and windows may be constructed and adapted to permit non-contact inspection of any desired switchgear component using sensor package 472 of probe 452. Guide tube 498 and windows 508 and 510 are constructed to position probe 452 and sensor package 472 in a repeatable manner, so that inspection results from past, present and current inspections may be compared, and the status and/or change of status of the switchgear components determined. In some embodiments, opening 506 of guide tube 498 is positioned adjacent to and facing portal 72D2. The automated mechanism or robot may thus use an arm or manipulator to open portal 72D2 so that an inspection, e.g., a non-contact inspection, of the adjacent switchgear compartment and switchgear components located therein may be subject to a non-contact inspection. In some embodiments, probe 452 may be used to push portal 72D2 into the open position. In some embodiments, because portal 72D2 is located inside of switchgear compartment 404, portal 72D2 may be constructed for opening without the necessity of using tools or other features to prevent casual human opening of the portal. Opening 506 of guide tube 498 is adapted to pass probe 452 and sensor package 472 therethrough into the adjacent switchgear compartment, e.g., bus bar compartment 420, for inspecting switchgear components located therein, e.g., bus bars 430. In some embodiments, probe 452 and sensor package 472 may be extended, retracted and/or rotated in order to expose particular sensors to the switchgear components sought to be inspected through windows 508 and 510 or opening 506 and/or to position probe 452 and sensor package 472 at a desired location in order to perform the inspection.

Although the embodiment of FIG. 6 employs guide tube 498 as a conduit across circuit breaker compartment 418 from portal 72D1 to portal 72D2, in other embodiments, a pathway between portals 72D1 to 72D2, e.g., through air, as opposed to a mechanical conduit, may be employed. For example, a pathway between portals, such as a non-obstructed path between portals 72D1 and 72D2 may be employed. In some embodiments, such a pathway might be lie directly between portals 72D1 and 72D2, e.g., linearly, depending upon the locations of switchgear components within the switchgear compartments, in which case the space between portals 72D1 and 72D2 may be traversed by controller 454 directing probe 452 with sensor package 472 directly from portal 72D1 to portal 72D2 to open portal 72D2 without the use of a mechanical conduit. In some embodiments, the pathway may be curvilinear. In some embodiments, controller 454 may direct probe to perform an inspection of switchgear components, e.g. , bus bars 430 in bus bar compartment 420, via portal 72D2. The inspection may be performed, for example, by viewing bus bars 430 from circuit breaker compartment 418 through portal 72D2 using sensor package 472, or by directing probe 452 with sensor package 472 to enter portal 72D2 to perform the inspection, e.g., a non-contact inspection, from one or more closer vantage points.

Referring to FIG. 7, some aspects of a non-limiting example of an automated mechanism, e.g., a robot 500 or other automated mechanism for performing an inspection through portal 72D3 in accordance with an embodiment of the present invention is schematically depicted. Although some embodiments are described herein above and below as including robots, it will be understood that in various or other embodiments, other forms of automated mechanisms may be employed in place of robots, and that in other embodiments, automated mechanisms may include robots and other mechanisms that are programmable, programmed, or the like, which in some embodiments may include autonomous, semi-autonomous and/or manual operating modes, and may be operated via a computer or controller alone or in conjunction with input from a human. Portal 72D3 is constructed to be opened by robot 500. Portal 72 D3 is constructed and operative to provide access to switchgear enclosure 404 when opened, i.e., access to the interior of switchgear enclosure 404, e.g., circuit breaker compartment 418 or one or more other switchgear

compartments, and to prevent access to the switchgear compartment(s) when closed. In some embodiments, portal 72D3 may be constructed for automatic closing, e.g., after withdrawal of the robot from the portal. Robot 500 is configured to perform an inspection, e.g., a non-contact inspection, of a live switchgear system 402 using probe 452 with sensor package 472, e.g., under the direction of controller 454, and some cases, with input from input device 456. In some embodiments, the inspection may be performed using guide tube 498 as described above, whereas other embodiments may not use a guide tube. Robot 500 may be the same as or similar to robot 450, or may take a different form. Robot 500 is coupled to controller 454, and supports probe 452 with sensor package 472 via one or more appendages, e.g., an arm and a manipulator. Robot 500 is operative to perform an inspection of live switchgear components of switchgear systems 402 via portal 72D3, which may be the same as or similar to portal 72D1 , for example.

Portal 72D3 is disposed on switchgear enclosure 404. In one form, portal 72D3 is disposed on the exterior of switchgear enclosure 404. In other

embodiments, one or more portals may be disposed in the interior of switchgear enclosure 404. In one form, portal 72D3 is disposed on panel 412, although in other embodiments, portal 72D3 may be disposed on any wall, e.g., external side, top or bottom wall, or door or panel of switchgear enclosure 404. Portal 72D3 is operative to be opened in conjunction with the use of an access member 512 mounted on, affixed to or supported by robot 500, e.g., a manipulator of robot 500.

Portal 72D3 includes one or more doors 514, one or more access members 516, and one or more mechanical registration features 518. The mechanical registration features 518 are constructed to provide mechanical registration of the position of a robotic feature or automated mechanism feature, i.e., a mechanical feature of or associated with the automated mechanism performing the inspection, e.g., robot 500,for example, a manipulator, arm, or other appendage of robot 500; access member 512; or a dedicated robot 500 or other automated mechanism mechanical registration feature or tool. Some embodiments include one or more springs 520 constructed to bias door(s) 514 toward a closed position or to close door(s) 514.

Some embodiments include a lock 522 operative to prevent door(s) 514 from opening, i.e., until unlocked by robot 500 using one or more features of access member 512. In some embodiments, lock 522 may be an electrically actuated locking mechanism operative to lock door 514; and operative to unlock door 514 when access member 516 is supplied with an electrical signal from access member 512, which may be constructed to, among other things, supply the electrical signal. The electrical signal supplied from access member 512 to access member 516 may be, for example, a power signal, e.g., a 12 Vdc power supply, or may be a control and/or communication signal of any suitable sort, including wired, wireless and optical signals using any suitable protocol. Some embodiments may include an electrically actuated door opening mechanism 524, e.g., a motorized door opening mechanism. The electrically actuated door opening mechanism 524 may be operative to open door 514, e.g., when the access member 516 is supplied with an electrical signal from access member 512, e.g., an electrical signal as described above with respect to lock 522. Portal 72D3 is constructed and operative to provide access to one or more switchgear compartments, e.g. , circuit breaker compartment 418, when door(s) 514 is open, and to prevent such access when door(s) 514 is closed.

Robot 500 access member 512 is constructed to engage access member 516. Access member 512 may be gripped by, mounted on, affixed to or otherwise supported by a manipulator or other appendage 526 of robot 500, which may also support probe 452 with sensor package 472 in some embodiments. Portal 72D3 is constructed to be opened by robot 500 using access member 512. Access member 516 and access member 512 cooperate to manually or automatically open door(s) 514, and in some cases to unlock lock 522, under the impetus or action of access member 512. For example, in some embodiments, a translation and/or rotation of access member 512 while engaging or engaged with access member 516 may be employed as the impetus or action; and/or the making of an electrical connection between access members 516 and 512; and/or the sending of an electronic signal from access member 512 to access member 516, e.g., depending upon the nature of access members 516 and 512.

Access member 512 may be, for example, a tool, a key, a power supply, a communication link or connection that is constructed to engage corresponding and complementary access member 516 to allow robot 500 to open or direct the opening of portal 72D3, e.g., door(s) 514. Access member 512 and access member 516 are constructed to inhibit a human's ability to casually or accidentally or inadvertently open portal 72D3, by requiring specific intent to open the door(s) 514, e.g., the specific intent being manifested by the intentional acquisition and manipulation of an access member 512 by a human, which in some embodiments is intended to be not readily available to human operators. For example, in order for a human to access portal 72D3, the human would have to secure and manipulate an access member 512 or another mechanism constructed to engage access member 516, in conjunction with access member 516, to unlock and/or open portal 72D3. Access members 512 and 516 thus contribute to arc safety by preventing or reducing the likelihood of an inadvertent human opening of portal 72D3. In some embodiments, humans vacate e-house 400 prior to the robot opening the portal, thus further contributing to arc safety.

Once portal 72D3 is open, robot 500 is free to perform an inspection of live switchgear components inside switchgear enclosure 414, either by exposing probe 452 and sensor package 472 to, e.g., line-of-sight viewing of switchgear components through the open door(s) 514, or by inserting probe 452 and sensor package 472 into switchgear enclosure 404 through portal 72D3, e.g., into circuit breaker compartment 418. Inspection of additional switchgear components may be performed by opening an interior portal, such as portal 72D2, thus providing access to another switchgear compartment, e.g., circuit breaker compartment 420. In the present description and in the drawings, reference characters having an alpha character in the 3^rd or 4^th position from the left relate to the same or corresponding elements or features as described, e.g., with respect FIG. 7, with reference to the same numeric portion of the reference character, and unless otherwise indicated herein or otherwise made obvious to one of ordinary skill in the art, the same description of the element or feature applies. Thus, by way of example, reference character 514A in the embodiment of FIGS. 8A-8D relates to door(s) 514 described above with respect to FIG. 7, and unless otherwise indicated herein or otherwise made obvious to one of ordinary skill in the art, the same description set forth above with respect to doors 514 applies to doors 514A.

Referring to FIGS. 8A-8D in conjunction with FIG. 7, some aspects of a non- limiting example of a portal 72D4 in accordance with an embodiment of the present invention is illustrated. FIG. 8A depicts a front view of portal 72D4 in the open condition; FIG. 8B depicts a front view of portal 72D4 in the closed condition; FIG. 8C depicts a back view of portal 72D4 in the closed condition; and FIG. 8D depict a back view of portal 72D4 in the open condition.

Portal 72D4 includes at least some of the features mentioned above with respect to portal 72D3. The description of portal 72D1 applies equally to portal 72D4. Portal 72D4 includes access members 516A in the form of pins disposed in openings 528 that may be depressed by access members 512 on robot 500 in the form of pins that fit into openings 528. Translation of access members 516A under the impetus or action of access members 512, e.g., as driven by manipulator 526, actuates a four-bar linkage mechanism (not shown), that slides doors 514A apart to open portal 72D4, yielding an opening 530 through portal 72D4. Surface features 518A of portals 72D4 may be constructed as mechanical registration features that provide mechanical registration of a robotic feature, e.g., so that probe 452 and sensor package 472 may be repeatably positioned by robot 500 for inspection of switchgear components. Springs 520A bias doors 514A toward the closed position, and are operative to close doors 514A after the removal of access members 512 from openings 528. Lock 522 is an electrically actuated locking mechanism operative to lock doors 514A, and to unlock doors 514A when a feature of access member 516 in the form of an electrical pin connector 532 is supplied with 12 Vdc from access member 512. Referring to FIGS. 9A-9D in conjunction with FIG. 7, some aspects of a non- limiting example of a portal 72D5 in accordance with an embodiment of the present invention is illustrated. FIG. 9A depicts a front view of portal 72D5 in the closed condition; FIG. 9B depicts a front view of portal 72D5 in the open condition; FIG. 9C depicts a back view of portal 72D5 in the open condition; and FIG. 9D depicts a back view of portal 72D5 in the closed condition.

Portal 72D5 includes at least some of the features mentioned above with respect to portal 72D3 and portal 72D2. The description of portal 72D1 applies equally to portal 72D5. Portal 72D5 includes access member 516B in the form of a pin that may be grasped by access member 512 on robot 500 in the form of a socket that covers all or a portion of the protruding pin 516B. In some embodiments, pin 516B has a shape that is more difficult to grasp without rigidly mounted access member 512, e.g., a curved, low profile protrusion. It will be understood that the shape of the illustrated pin 516B is for the sake of clarity of illustration. Translation of access member 516B under the impetus or action of access member 512, as driven by manipulator 526, e.g., in the vertical direction toward slot 534, slides door 514B upward to open portal 72D5. The opening of door 514B yields an opening 536 through portal 72D5. One or more of surface features 518B of portals 72D5 may be constructed as mechanical registration features that provide mechanical registration of a robotic feature, e.g., so that probe 452 and sensor package 472 may be repeatably positioned by robot 500 for inspection of switchgear components. Door 514B may be closed by translating access member 516B in the downward direction away from slot 534 using access member 512. Some embodiments may include springs to bias doors 514B toward the closed position, and to close doors 514B after the removal of access member 512 from access member 516B.

Referring to FIGS. 10A-10D in conjunction with FIG. 7, some aspects of a non-limiting example of a portal 72D6 in accordance with an embodiment of the present invention is illustrated. FIG. 10A depicts a front view of portal 72D6 in the open condition; FIG. 10B depicts a front view of portal 72D6 in the closed condition; FIG. 10C depicts a back view of portal 72D6 in the open condition; and FIG. 10D depicts a back view of portal 72D6 in the closed condition.

Portal 72D6 includes at least some of the features mentioned above with respect to portal 72D3 and portal 72D2. The description of portal 72D1 applies equally to portal 72D6. Portal 72D6 includes access member 516C in the form of a hex key that may be grasped by access member 512 on robot 500 in the form of a socket that engages hex key 516C. The size of hex key 516C may be nonstandard, so that a conventional socket tool is unable to rotate it. In other embodiments, key 516C may have a different shape. Rotation of access member 516C under the impetus or action of access member 512 as driven by manipulator 526, e.g., in the counterclockwise direction, slidingly rotates door 514C upward to open portal 72D6. The opening of door 516C yields an opening 538 through portal 72D6. One or more of surface features 518C of portals 72D6 may be constructed as mechanical registration features that provide mechanical registration of a robotic feature, e.g., so that probe 452 and sensor package 472 may be repeatably positioned by robot 500 for inspection of switchgear components. Door 514C may be closed by rotating access member 516C in the clockwise direction using access member 512. Some embodiments may include springs to bias doors 514C toward the closed position, and to close doors 514C after the removal of access member 512 from access member 516C.

Embodiments of the present invention include a system for inspecting a plurality of switchgear systems, each switchgear system having a switchgear enclosure and a plurality of switchgear components disposed in the switchgear enclosure, the plurality of switchgear systems having an arc duct extending between adjacent switchgear enclosures, comprising: a robot adapted to traverse the interior of the arc duct; a probe mounted on the robot, the probe including a sensor package operative to inspect at least one of the switchgear components inside desired the switchgear enclosures while the switchgear systems are live; and a controller communicatively coupled to the robot and the probe, the controller being operative to control the robot to move within the arc duct, position the probe adjacent to an opening in the switchgear compartment and operate the sensor package to inspect the at least one of the switchgear components using the sensor package.

In a refinement, the controller is operative to control the robot autonomously.

In another refinement, the robot has a manual mode and/or an semi- autonomous mode and/or an autonomous mode, the system further comprising an input device, wherein the controller is operative to control the robot under the direction of a human when the robot is in a manual mode or a semi-autonomous mode; and wherein the robot is guided autonomously under the direction of the controller when in the autonomous mode. In yet another refinement, the controller is operative to control the robot semi- autonomously.

In still another refinement, the robot is a magnetic crawler.

In yet still another refinement, the arc duct has an opening; and wherein the controller is operative to direct the robot to enter the arc duct through the opening.

In another refinement, the opening is self-closing and is operative to close after the entry of the robot into the arc duct.

In a further refinement, the controller is operative to direct the robot to insert the probe into the switchgear compartment while the switchgear system is live, and to inspect the at least one of the switchgear components while the switchgear component is live.

In a yet further refinement, the sensor package includes a plurality of non- contact sensors.

In still another refinement, the plurality of non-contact sensors includes at least two of: a gas sensor; an infrared camera, a thermal imager, a humidity sensor, an acoustic sensor, an ultrasonic sensor, a camera, a 3-D microphone system, a hyperspectral imaging camera and a gas chromatography/mass spectrometry sensor.

Embodiments of the present invention include a system for inspecting a switchgear system having a plurality of switchgear components disposed in a switchgear enclosure, comprising: a conduit disposed within the switchgear enclosure; a robot having a probe coupled thereto, the probe being adapted to enter the conduit through an opening in the enclosure, the probe including a sensor package constructed for non-contact inspection of at least one of the switchgear system components inside the switchgear enclosure while the at least one of the switchgear system components is live; and a controller communicatively coupled to the robot and the probe, the controller being operative to control the robot to direct the probe through the opening and into the conduit while the switchgear system is live, and to operate the sensor package to inspect the at least one of the switchgear components using the sensor package.

In a refinement, the conduit is a guide tube constructed to position the sensor package at a desired location within the switchgear enclosure.

In another refinement, the conduit includes a window adapted to expose the sensor package to the at least one of the switchgear components. In yet another refinement, the plurality of switchgear components includes a first switchgear component sought to be inspected; wherein the conduit includes a first window facing the first switchgear component and adapted to permit non-contact inspection of the first switchgear component by the sensor package.

In yet still another refinement, the plurality of switchgear components includes a second switchgear component sought to be inspected; and wherein the conduit includes a second window facing the second switchgear component and adapted to permit non-contact inspection of the second switchgear component by the sensor package.

In a further refinement, the switchgear enclosure includes a first switchgear compartment, a second switchgear compartment and a portal disposed between the first switchgear compartment and the second switchgear compartment; wherein the conduit is disposed in the first switchgear compartment and has an opening adjacent to the portal; and wherein the opening is adapted to pass the sensor package therethrough for inspection of second switchgear compartment through the portal.

In a yet further refinement, the conduit is insulative and nonconductive.

Embodiments of the present invention include a method for inspecting a switchgear system, comprising: directing a probe having a sensor package into a conduit while the switchgear system is live; performing a non-contact inspection of a live switchgear component using the sensor package after entering the conduit.

In a refinement, the conduit is an arc duct coupled to a switchgear enclosure, further comprising directing a robot into the arc duct and directing the probe into the switchgear enclosure.

In another refinement, the conduit is a guide tube disposed in a switchgear enclosure, further comprising directing the probe into a portal on the switchgear enclosure and into the switchgear compartment; driving the probe through the conduit to a window in the conduit; and inspecting the live switchgear component through the window.

In yet another refinement, the conduit is disposed in a first switchgear compartment in a switchgear enclosure of the switchgear system, the method further comprising: driving the probe through the conduit to exit the conduit through an opening in the conduit disposed adjacent to a second switchgear compartment, wherein the second switchgear compartment is disposed adjacent to the first switchgear compartment; opening a portal between the first switchgear compartment and the second switchgear compartment; and inspecting the live switchgear component through the portal, wherein the live switchgear component is disposed in the second switchgear compartment.

Embodiments of the present invention system for inspecting a switchgear system having a plurality of switchgear components disposed in a switchgear enclosure, comprising: a pathway disposed within the switchgear enclosure; a robot having a probe coupled thereto, the probe being adapted to enter the pathway through an opening in the enclosure, the probe including a sensor package constructed for non-contact inspection of at least one of the switchgear components inside the switchgear enclosure through the opening while the at least one of the switchgear components is live; and a controller communicatively coupled to the robot and the probe, the controller being operative to control the robot to direct the probe through the opening and into the pathway while the switchgear system is live, and to operate the sensor package to inspect the at least one of the switchgear

components using the sensor package.

In a refinement, the switchgear enclosure includes a first switchgear compartment, a second switchgear compartment and a portal disposed between the first switchgear compartment and the second switchgear compartment; wherein the pathway is disposed in the first switchgear compartment and extends to the portal; and wherein the opening is adapted to pass the sensor package therethrough along the pathway to the portal for inspection of the second switchgear compartment through the portal.

In another refinement, the controller is operative to control the robot to direct the probe through the portal and into the second switchgear compartment while the switchgear system is live, and to operate the sensor package to inspect a live switchgear component in the second switchgear compartment through the portal.

While the invention has been illustrated and described in detail in the drawings and foregoing description, the same is to be considered as illustrative and not restrictive in character, it being understood that only the preferred embodiments have been shown and described and that all changes and modifications that come within the spirit of the inventions are desired to be protected. It should be

understood that while the use of words such as preferable, preferably, preferred or more preferred utilized in the description above indicate that the feature so described may be more desirable, it nonetheless may not be necessary and embodiments lacking the same may be contemplated as within the scope of the invention, the scope being defined by the claims that follow. In reading the claims, it is intended that when words such as "a," "an," "at least one," or "at least one portion" are used there is no intention to limit the claim to only one item unless specifically stated to the contrary in the claim. When the language "at least a portion" and/or "a portion" is used the item can include a portion and/or the entire item unless specifically stated to the contrary.

Unless specified or limited otherwise, the terms "mounted," "connected," "supported," and "coupled" and variations thereof are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings. Further, "connected" and "coupled" are not restricted to physical or mechanical connections or couplings.

Claims

CLAIMS What is claimed is:

1 . A system for inspecting a plurality of switchgear systems, each switchgear system having a switchgear enclosure and a plurality of switchgear components disposed in the switchgear enclosure, the plurality of switchgear systems having an arc duct extending between adjacent switchgear enclosures, comprising:

a robot adapted to traverse the interior of the arc duct;

a probe mounted on the robot, the probe including a sensor package operative to inspect at least one of the switchgear components inside desired the switchgear enclosures while the switchgear systems are live; and

a controller communicatively coupled to the robot and the probe, the controller being operative to control the robot to move within the arc duct, position the probe adjacent to an opening in the switchgear compartment and operate the sensor package to inspect the at least one of the switchgear components using the sensor package.

2. The system of claim 1 , wherein the controller is operative to control the robot autonomously.

3. The system of claim 1 , wherein the robot has a manual mode and/or an semi-autonomous mode and/or an autonomous mode, further comprising an input device, wherein the controller is operative to control the robot under the direction of a human when the robot is in a manual mode or a semi-autonomous mode; and wherein the robot is guided autonomously under the direction of the controller when in the autonomous mode.

4. The system of claim 3, wherein the controller is operative to control the robot semi-autonomously.

5. The system of claim 1 , wherein the robot is a magnetic crawler.

6. The system of claim 1 , wherein the arc duct has an opening; and wherein the controller is operative to direct the robot to enter the arc duct through the opening.

7. The system of claim 1 , wherein the opening self-closing and is operative to close after the entry of the robot into the arc duct.

8. The system of claim 1 , wherein the controller is operative to direct the robot to insert the probe into the switchgear compartment while the switchgear system is live, and to inspect the at least one of the switchgear components while the switchgear component is live.

9. The system of claim 1 , wherein the sensor package includes a plurality of non-contact sensors.

10. The system of claim 9, wherein the plurality of non-contact sensors includes at least two of: a gas sensor; an infrared camera, a thermal imager, a humidity sensor, an acoustic sensor, an ultrasonic sensor, a camera, a 3-D microphone system, a hyperspectral imaging camera and a gas

chromatography/mass spectrometry sensor.

1 1 . A system for inspecting a switchgear system having a plurality of switchgear components disposed in a switchgear enclosure, comprising:

a conduit disposed within the switchgear enclosure;

a robot having a probe coupled thereto, the probe being adapted to enter the conduit through an opening in the enclosure, the probe including a sensor package constructed for non-contact inspection of at least one of the switchgear components inside the switchgear enclosure while the at least one of the switchgear components is live; and

a controller communicatively coupled to the robot and the probe, the controller being operative to control the robot to direct the probe through the opening and into the conduit while the switchgear system is live, and to operate the sensor package to inspect the at least one of the switchgear components using the sensor package.

12. The system of claim 1 1 , wherein the conduit is a guide tube constructed to position the sensor package at a desired location within the switchgear enclosure.

13. The system of claim 1 1 , wherein the conduit includes a window adapted to expose the sensor package to the at least one of the switchgear components.

14. The system of claim 1 1 , wherein the plurality of switchgear components includes a first switchgear component sought to be inspected; and wherein the conduit includes a first window facing the first switchgear component and adapted to permit non-contact inspection of the first switchgear component by the sensor package.

15. The system of claim 1 1 , wherein the plurality of switchgear components includes a second switchgear component sought to be inspected; and wherein the conduit includes a second window facing the second switchgear component and adapted to permit non-contact inspection of the second switchgear component by the sensor package.

16. The system of claim 1 1 , wherein the switchgear enclosure includes a first switchgear compartment, a second switchgear compartment and a portal disposed between the first switchgear compartment and the second switchgear compartment; wherein the conduit is disposed in the first switchgear compartment and has an opening adjacent to the portal; and wherein the opening is adapted to pass the sensor package therethrough for inspection of second switchgear compartment through the portal.

17. The system of claim 1 1 , wherein the conduit is insulative and

nonconductive.

18. A method for inspecting a switchgear system, comprising:

directing a probe having a sensor package into a conduit while the switchgear system is live;

performing a non-contact inspection of a live switchgear component using the sensor package after entering the conduit.

19. The method of claim 18, wherein the conduit is an arc duct coupled to a switchgear enclosure, further comprising directing a robot into the arc duct and directing the probe into the switchgear enclosure.

20. The method of claim 18, wherein the conduit is a guide tube disposed in a switchgear enclosure, further comprising directing the probe into a portal on the switchgear enclosure and into the switchgear compartment;

driving the probe through the conduit to a window in the conduit; and inspecting the live switchgear component through the window.

21 . The method of claim 18, wherein the conduit is disposed in a first switchgear compartment in a switchgear enclosure of the switchgear system, further comprising:

driving the probe through the conduit to exit the conduit through an opening in the conduit disposed adjacent to a second switchgear compartment, wherein the second switchgear compartment is disposed adjacent to the first switchgear compartment;

opening a portal between the first switchgear compartment and the second switchgear compartment; and

inspecting the live switchgear component through the portal, wherein the live switchgear component is disposed in the second switchgear compartment.

22. A system for inspecting a switchgear system having a plurality of switchgear components disposed in a switchgear enclosure, comprising:

a pathway disposed within the switchgear enclosure;

a robot having a probe coupled thereto, the probe being adapted to enter the pathway through an opening in the enclosure, the probe including a sensor package constructed for non-contact inspection of at least one of the switchgear components inside the switchgear enclosure through the opening while the at least one of the switchgear components is live; and

a controller communicatively coupled to the robot and the probe, the controller being operative to control the robot to direct the probe through the opening and into the pathway while the switchgear system is live, and to operate the sensor package to inspect the at least one of the switchgear components using the sensor package.

23. The system of claim 22, wherein the switchgear enclosure includes a first switchgear compartment, a second switchgear compartment and a portal disposed between the first switchgear compartment and the second switchgear compartment; wherein the pathway is disposed in the first switchgear compartment and extends to the portal; and wherein the opening is adapted to pass the sensor package therethrough along the pathway to the portal for inspection of the second switchgear compartment through the portal.

24. The system of claim 23, wherein the controller is operative to control the robot to direct the probe through the portal and into the second switchgear compartment while the switchgear system is live, and to operate the sensor package to inspect a live switchgear component in the second switchgear compartment through the portal.