WO2018222834A1

WO2018222834A1 - Robot system for real-time inspection of switchgear

Info

Publication number: WO2018222834A1
Application number: PCT/US2018/035339
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

A robot is disclosed having the ability to conduct real-time measurements of switchgear as electrical power is conveyed through the switchgear. Embodiments of the robot are capable of opening a portal to access an interior compartment of the switchgear and inserting a probe into the interior. The probe can include a non- contact sensor of any variety. The robot can follow a prescribed path through an enclosure, such as an E-House, to conduct multiple inspections across multiple different switchgear components. The probe can be controlled such as to provide repeatable placement to allow time history comparison of data taken at different times. In one form the robot can be a package connected to the switchgear by a technician, and where the robot is capable of opening the portal and inserting the probe for data taking.

Description

ROBOT SYSTEM FOR REAL-TIME INSPECTION OF SWITCHGEAR

TECHNICAL FIELD

The present invention generally relates to real-time inspection of switchgear, and more particularly, but not exclusively, to real-time robotic inspection of switchgear

BACKGROUND

Providing the ability to conduct real-time measurements of operating switchgear, and form time history comparisons of such inspections remains an area of interest. Some existing systems have various shortcomings relative to certain applications. Accordingly, there remains a need for further contributions in this area of technology.

SUMMARY

One embodiment of the present invention is a unique robot for inspection of an E-House. Other embodiments include apparatuses, systems, devices, hardware, methods, and combinations for inspecting switchgear of an E-House. 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

FIG. 1 depicts an embodiment of an inspection system that follows a pathway. FIG. 2 depicts an embodiment of a robot following a track.

FIG. 3 depicts an embodiment of a fiducial marker and an associated portal. FIG. 4 depicts an embodiment of a robot having a probe.

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.

With reference to FIG. 1 , one embodiment of an inspection system is disclosed which includes a robot 50 capable of traversing along a path 52 to conduct an inspection of components (e.g. electrical components, high power components, etc) within a covered and/or enclosed structure 54, such as an E-House. The robot can convey a probe 56 in the form of a sensor used to measure an internal operating parameter of the E-House while electrical power is conveyed through the E-House during operation. The covered and/or enclosed structure 54 can be used to shelter any variety of components 58 including high power electrical components such as switchgear, variable speed drive cabinets, uninterrupted power supplies, dry transformers, HVAC equipment, etc, any one of which will be also be understood to have a covered and/or enclosed housing. For ease of convenience, the enclosure 54 may be referred to below as an E-House, but it will be appreciated that other types of enclosures are contemplated such as but not limited to any type having space large enough to permit human traffic. Also for ease of convenience, the components 58 (whether electrical, mechanical or otherwise) may be referred to as switchgear 58, but it will be understood that no limitation is hereby intended regarding the actual form of the component 58. In one form the switchgear 58 is an air insulated switchgear, but can also include switchgear housed in enclosures which contain non-atmospheric air.

The probe 56 can be inserted to measure an internal operating condition of the switchgear 58 and can include one sensor or an entire sensor package, including non-contact sensors. For example, the probe can take the form of a gas sensor; an infrared camera, a thermal imager, a humidity sensor, an acoustic sensor, an ultrasonic sensor, a visual light camera, a microphone, a 3-D microphone system, a hyperspectral imaging camera, a gas chromatography/mass spectrometry sensor, and a magnetometer.

The covered and/or enclosed structures 54 and/or 58 can include any number of walls, covers, roofs, etc useful to contain and/or provide shelter, and can include an access opening such as but not limited to a portal 72A1 (e.g. a door) through which the probe 56 can be conveyed to assess an internal operating condition of the switchgear 58. As will be described further below, embodiments of the instant application include various forms of robots 50 capable of deploying probes 56 into the interior of any structure that includes the high power electrical components and/or into the interior of the covered and/or enclosed housing that is generally associated with the switchgear.

The robot 50 can be remotely piloted, can be wirelessly piloted, or can be tethered and communication/control signals conveyed via the tether. In some forms the robot 50 can be autonomous. In other forms, the robot 50 can be autonomous with a manual override mode. In still further forms the robot 50 is capable of communication with a local station 73, or a remote base station 75, which permits interactive engagement with the robot via a technician or other operator. It will be appreciated that use of the robot 50 as described herein permits a technician to be outside of the E-House during the inspection thus increasing the overall safety posture of the inspection. In sum, the robot can be controlled using any variety of techniques, including onboard, local, and distant. The robot 50 can be a terrestrial robot structured to be transported along a path (whether or not marked) on the ground. In other alternative and/or additional embodiments, the robot 50 can be an aerial robot structured to be transported through the air via platforms that utilize any number of approaches such as propeller and lifting surface, rotor (e.g. helicopter or quadcopter, etc), or buoyant effects such as through an inflatable dirigible. The robot 50 can be robotic system that incorporates one or more of the above approaches. Further features of the robot 50 will be described further below.

As mentioned, the robot 50 is capable of moving along a path 52 such as a structured pathway 52 which can be any suitable type of demarcated pathway, physical or otherwise, that denotes an inspection route along which the robot 50 will be regulated to follow, where such regulation can take the form of mechanical constraint, navigation aid, computer vision assisted route following, etc. In some forms the robot 50 can autonomously map out an enclosure, such as an E-House, to collect data for use in constructing the structured pathway 52. Such construction of the structured pathway 52 can be via aid of a person, or can be autonomously determined by the robot 50. Though the structured pathway 52 shown in FIG. 1 is represented schematically, it will be appreciated that the pathway 52 can take on a variety of forms.

In some forms the structured pathway 52 is a mechanical rail that interacts with the robot to constrain the robot to the inspection route as the robot traverses the E-House 54. Such mechanical rail can take a variety of forms. For example, the rail can be a structured that extends from a base/bottom of a structure in the E-House 54 or the floor of the E-House, whether as a single structure or paired with another. In still other embodiments one or more rails can be recessed into the floor. In still other forms the rail can be an overhead structured which permits traversal of the robot. In some forms the pathway 52 can be enclosed, such as within a duct, vent, or other conduit that constrains the robot 50. In such forms the sidewalls of the

duct/vent/conduit/etc can be used to constrain the robot, to set forth just one nonlimiting feature that could be used. The duct/vent/conduit/etc can either be an existing structure within the E-House 54, or can be a purpose built structure specifically for the robot 50 and/or probe 56.

In other forms the structured pathway 52 can be a marking useful to denote the inspection route through the E-House 54. Such a marking can be detected by the robot 50 (for example, as through computer vision) and used as a guide, similar to a mechanical track, to follow as the robot 50 conducts one or more inspection duties along the pathway 52. Any type of marking can be used, whether the marking is a line, symbol, marker, etc which is painted/bonded/affixed/inserted or otherwise attached to or within the E-House 54. Additionally and/or alternatively the marking can be a natural feature of the E-House (e.g. a concrete floor joint). In some forms the marking can be continuous in whole or part. Additionally and/or alternatively the marking can be discontinuous in whole or part. In sum, the marking can be any useful feature.

In still other alternative and/or additional forms the robot 50 can navigate the pathway 52 using a positioning system 66, such as but not limited to an indoor positioning system (IPS) capable of providing a signal from which position coordinates such as lateral, longitudinal, and height positions relative to a reference origin can be deduced. In other forms the positioning system can be an outdoor based positioning system such as but not limited to those that rely exclusively upon global positioning system satellite signals. The indoor positioning system can utilize one or more systems to assist in determining position, such as, but not limited to: Wi- Fi based systems, Bluetooth based systems, wireless telephony based systems (e.g. 3G/4G (LTE), GSM, etc), mobile centric Wi-Fi, magnetic positioning, dead reckoning (e.g. using the last known position, possibly from an outdoor GPS signal), air pressure, barometer, accelerometer, and gyroscopes. GPS could also be used in some forms to augment one or more of the aforementioned techniques if using an indoor positioning system. The indoor position system can provide position either as an absolute position (such as but not limited to a WGS 84 position, or equivalent, available through GPS) or a relative position (such as might be measured from a reference point located somewhere in a room). In some applications the indoor positioning system determines a position and also determines a range of error that accompanies the position. The range of error can be a circular error of probability (CEP), or similar error. Such error of position can take on any number of values depending on the type of indoor positioning system used. In one system, the error in position can be approximately one meter.

The inspection path 52 through the E-House 54 can be a predetermined path (e.g. via mechanical rail or preprogrammed navigation path), but in some forms the inspection path 52 can be built dynamically during operation of the robot 50. For example, the route 52 can be built by waypoints designated by a technician as the robot 52 travels in the E-House. In still other forms, the inspection path 52 can be an adaptive path that can be determined on the basis of any number of items, such as but not limited to a priority list, successful passage of prior inspection points, etc. The robot 52 can dynamically determine the best path through the E-House as well. In still further features, individual route segments may be considered the structured pathway, while higher level guidance either designs further route segment(s), or dictates which route segments to select. In short, any form of inspection path 52, whether predetermined or dynamically defined, can be used.

To move about the pathway 52 the robot 50 can include an onboard source of motive power, such as a motor that provides mechanical motive power to drive the robot along the inspection route. In some forms the motive source of power is incorporated into the robot along with a source of power such as, but not limited to, a battery. The source of power (e.g. electrically stored power in a batter) and/or the motive power (e.g. an electric motor) can take any variety of forms.

While the motive power provides the ability of the robot 50 to be moved along the pathway 52, the robot 50 can traverse the pathway in a number of different manners. In one non-limiting embodiment, the robot 50 can include a member or feature that engages the mechanical rail mentioned above. Such a member can take the form of a wheel or other locomotive device useful to mechanically follow the rail (e.g. a rack, screw, etc). For ease of description but without limitation, reference will be made below to a protrusion 59 that extends from the robot 50 and useful to guide the robot along a rail 52, but it will be understood that analogous devices are also useful to engage the rail, whether or not it protrudes from the robot. FIG. 2 provides a non-limiting example of a protrusion 59 useful to engage a rail. The protrusion 59 can be any device suitable to engage the rail and constrain movement of the robot. For example, the protrusion can be any suitable mechanical device of any desired shape that can contact the rail and assist the robot in maintaining the inspection route defined by the rail. Such a protrusion can be one or more of a bumper or a rod.

In some forms the member used to engage the rail can be a concave circumferential groove bounded by a single or dual shoulders much like that used in some railway car implementations (e.g. a railway wheel), to set forth just a few nonlimiting examples. Other types of wheels are also contemplated. For example, a wheel can be used to that is free spinning and directly contacts a surface of the E- House, but other types of wheels are also contemplated. In some embodiments, wheels 77 can be used to permit movement of the robot 50 but in which the robot 50 is not constrained to mechanically move along a rail. Such non-tracked robot embodiments will be capable of moving along the structured pathway 52 using navigation aids, computer vision based regulation, etc.

In some embodiments a wheel can be used that is part of a flexible belt or even continuous band of treads/plates akin to a tank track which can operate with multiple wheels disposed therein is also contemplated herein. Such a wheel can be used to guide the tank track, and/or to drive the tank track. In one form the wheel can be a sprocket like wheel having a series of teeth that engage corresponding teeth in the tank track. While embodiments of the robot 50 discussed above are mobile, in some forms the robot 50 can be a moveable robot in some embodiments, but in others one or more portions of the robot 50, or the entire robot 50, will be configured to remain in place. For example, the robot 50 can be delivered to an inspection station under power of another (e.g. a technician docking a robot system to the switchgear), but wherein the robot can still have an onboard source of power such as that needed to power any on board sensors, etc. For those embodiments in which one or more portions of the robot 50 remains in place (e.g. a "static" robot, or robot with static base, etc), the robot can initially be placed into its initial location through assistance of an operator, either in close proximity to a component to be inspected, or docked to a station from which the robot can inspect. The robot can be registered into place using any variety of mechanical and/or visual and/or magnetic aids and/or RF beacons, among potential others.

While the robot 50 can be moved along the pathway 52 in the E-House, one or more techniques can be used to determine the appropriate stopping location for purposes of conducting an inspection. In general the robot 50, or a base station which receives raw data from the robot 50, can be structured to detect a fiducial marker 61 associated with an inspection port of the switchgear assembly. The fiducial marker 61 can take many forms, whether mechanically-based, navigation- based, computer vision based, RF-based, etc. or combinations thereof. In general, the robot 50 will include a component useful to detect the fiducial marker 61 , and either guide the robot/sensor probe 56 into a docked configuration relative to the fiducial marker 61 , or through active engagement with the fiducial marker the robot 50 and/or sensor probe 56 will be accurately positioned for insertion of the robot 50 and/or sensor probe 56 into the switchgear system 58.

As stated above, the fiducial marker 61 can take any variety of forms. The fiducial marker 61 can be a mechanical registration structure such as one or more protrusions and/or one or more recesses capable of engaging a fiducial detecting component 63 of the robot, such as but not limited to complementary protrusion or recess of the robot 50. The fiducial marker 61 can be virtual, such as those based upon a location and/or orientation of one or more parts of the robot. For example, a positioning system can be used to assist in navigating the robot 50 to a portal 72A1 at which time either the robot 50 can enter the portal 72A1 , or a measurement probe 56 of the robot can be inserted through the portal 72A1 . The fiducial detecting component 63 of the robot can be a controller 65 having an algorithm that compares current position and/or orientation, with a desired position and/or orientation for insertion of the probe. In some forms the fiducial marker can be a

graphic/picture/target associated with the switchgear 58 and/or portal 72A1 , where the fiducial detecting component 63 can include a camera with associated computer vision processing to detect the same. Fig. 3 illustrates a non-limiting embodiment of a fiducial marker 61 in the form of a graphic placed in proximity to a portal 72A1 . In other forms the fiducial marker 61 can be a component of the switchgear assembly 58, such as a latch or knob (or one or more aspects of the portal 72A1 itself), with associated computer vision techniques to detect the same. In still other forms, the fiducial marker 61 can be an RF beacon (e.g. a direction finding beacon) which assists in homing the robot 50 to the appropriate location, with an RF receiver or transceiver used as a fiducial detecting component 63. Combinations of the above can also be used. As will be appreciated, the fiducial detecting component 63 associated with guiding the robot toward the portal can also take on a variety of forms commensurate with the type of fiducial marker 61 used.

The fiducial marker 61 can serve not only the purpose of finding the appropriate stopping location for an inspection, but also the purpose of aligning the robot 50 to the switchgear to permit docking or insertion of a probe 56 (or the robot) into the interior of the switchgear 58. The robot 50 can be aligned with a switchgear 58 using any variety of techniques. One non-limiting embodiment of the robot 5 is such that the robot 50 can be mechanically registered to an enclosure of the switchgear 58. Such mechanical registration can take a variety of forms such as alignment of mechanical protrusions in one or both of the robot 50 and a structure such as the switchgear 58 that permit entry of the probe into the interior of the switchgear 58. Such structure can be a portion of the switchgear enclosure 60 itself, or a structure intended to permit location fixation of the robot 50 relative to the switchgear enclosure 60. Fixing the location of the robot 50 can be through mechanical interengagement techniques (e.g. protrusion of the robot through an aperture of the switchgear, among others), but can also merely provide a fixed position in which the robot 50 remains fixed in place while a probe 56 is deployed.

In the inspection embodiments herein the robot 50 can include a portal opening component 67 useful to unlock and/or open the portal 72A1 . Such an opening component 67 can interact with complementary structure on the switchgear assembly, and in one form is akin to a key. The key can be a mechanical, magnetic, electronic, or any other type of suitable tool. In another nonlimiting example, the portal opening component 67 can be a leading edge of the robot that urges a spring loaded door to open when the robot 50 advances toward the portal. In still other forms the opening component 67 and complementary structure on the switchgear assembly can be designed such that it would be difficult for a technician or other person transiting the E-House to inadvertently open the portal. The portal opening component can be separately movable relative to a base of the robot 50, such as might include a moveable arm. The arm can be configured to translate, rotate, pivot, etc relative to the robot 50. In some forms the portal opening component 67 can include the probe 56.

The robot 50 can be structured to insert a probe 56 through an outer housing 60 of the switchgear 58 while electrical power is conveyed through the switchgear 58. In one form the switchgear 58 is housed behind a panel with a component of the switchgear located in an enclosure closed off by the panel (see panels 66, 68, and 70). Any number of panel/enclosure configurations can be used. In one non-limiting embodiment, the switchgear 58 can include a three panel, three enclosure setup, with different components of the switchgear occupying different enclosures closed off by respective panels. In some forms the panels can include a mechanism useful to permit opening of the panel for real-time inspection and/or servicing (e.g. a knob or latch) in which case the panel is the portal 72A1 , while in other forms the portal 72A1 can be used to access the interior of the switchgear enclosure 60 without the need to open the panel.

The probe 56 can, but need not, be extendable from the robot 50. The probe 56 can be a telescoping assembly useful to deploy the probe 56 away from the robot 50. The probe 56 can be mounted on a rail system integrated into the robot 56. FIG. 4 illustrates a non-limiting embodiment of the robot 50and probe 56. In some forms the probe 56 can be flexible to permit some amount of bending capability. The probe 56 can be deployed using any variety of techniques. For example, can be deployed using any type of actuation system such as, but not limited to, hydraulic, pneumatic, and electromagnetic, to set forth just a few non-limiting examples. In those embodiments in which at least a portion of the robot 50 remains in place and the probe 56 is deployed to its measurement position, the probe 56 can be extended and retracted at will, but in some forms the probe may be extended without provision to be recalled. While many embodiments of the robot 50 envision use of an extendable probe 56, some forms also contemplate that the probe 56 is not extendable but is rather moved into position by movement of the robot itself. For example, one embodiment of the robot 50 is structured to crawl into the switchgear enclosure 60 until it reaches an inspection location internal to the switchgear 58.

Whether the probe 56 is deployed from the robot 50, or is carried by the robot 50, the probe 56 is intended to be inserted into a data taking position 71 . The data taking position 71 is intended in the embodiments herein to be a repeatable position from inspection to inspection, but such repeatability is not necessary. Such data taking position 71 can be pre-programmed, but can also be dynamically selected by a user and/or the robot 50 (or robot supporting system such as a base station). For example, the data taking position 71 can be determined by an initial inspection location of the robot 50 and/or an orientation of the probe 56. In those embodiments in which the robot 50 remains fixed in place and the probe 56 deployed (e.g. via extension of a telescoping arrangement), the data taking position can be dictated by the inspection station the robot has arrived at, coupled with any translation/rotation of the probe 56 as it is inserted into position within the switchgear enclosure 60. Other data taking positions are also contemplated, such as but not limited to simple translation of the robot 50 into the interior of a conduit. In some forms the data taking position 71 can also be dictated by natural mechanical interference with existing structure of the E-House. For example, the probe 56 can be routed through conduit such as a guide tube, the size/shape/configuration of which can produce a repeatable position and/or orientation of the probe 56. The regulation of the location and/or orientation of the probe can be facilitated through use of position and/or angle sensors (e.g. LVDT, RVDT, etc). It is envisioned that any location and/or component discussed herein can be accessible by the probe 56, and in some forms the robot 50 as well.

The repeatable nature of the data taking locations may include some nominal amount of error that will be understood to occur in systems of this nature. It is envisioned that manual data taking positions which are selected by interactive inspection of a technician can be recorded and used in later inspections if needed. Any number of data taking positions can be requested in the switchgear 58, and not all switchgear 58 in any given E-House need include the same number and types of data taking positions. Not all data taking positions need include every sensor. For example, a thermal image may be desired at many but not all locations in the switchgear 58.

Data collected using the probe 56 can be compared with historical data taken during prior robotic inspection, and/or compared with predictive data. The data can be stored local to the robot 50 for later download, it can be transmitted to a local monitoring/control station 73, or can be transmitted to a remote facility 75. The data can be transmitted using any variety of techniques, whether analog or digital transmission, wired or wireless, among other possible variations. Data in any variety can be captured such as photographs, video, and time history samples. The data can be stored raw on the robot 50 for transmission to a base station, or can be processed in some fashion on the robot 50 for later transmission or download. Any variety of other techniques of data processing and transmission/download are contemplated herein.

Unless otherwise indicated herein, like reference numerals will refer to like elements, and like element names will refer to like elements. For example, any of the embodiments described herein for the element "robot" or "conduit" or

"controller/control system" will be equally applicable to any of the other

embodiments, unless otherwise prohibited to the contrary. Thus, embodiments the "robot" associated with the description of FIG. 1 will be understood to also apply to embodiments of the "robot" described in any of the other figures, for example FIG. 2. No limitation is hereby intended that any individual "robot", or "portal", or "track", or etc will be limited to just the narrow confines of the description in the immediate vicinity that it is found in the instant description, unless otherwise prohibited to the contrary.

One aspect of the present application provides an apparatus comprising a switchgear robot having a fiducial locating component structured to detect a reference point on a switchgear, a measurement probe structured to be conveyed through a portal of the switchgear during operation of the switchgear and commence a measurement while internal to the switchgear, wherein the fiducial locating component is capable of being used to guide the switchgear robot to the portal of the switchgear for insertion of the measurement probe through the portal and into the interior of the switchgear.

One other aspect of the present application provides an apparatus comprising a switchgear robot having a fiducial locating component structured to detect a reference point associated with a switchgear, a measurement probe structured to be conveyed through a portal of the switchgear during operation of the switchgear and perform a measurement while internal to the switchgear, wherein the fiducial locating component is capable of being used to guide the switchgear robot to the portal of the switchgear for insertion of the measurement probe through the portal and into the interior of the switchgear.

A feature of the present application includes wherein the fiducial locating component is a mechanical registration system having at least one protrusion that guides itself into place as the switchgear robot is driven into a docked position.

Another feature of the present application includes wherein the switchgear robot is a non-self-propelled package that can be installed on an outer surface of the switchgear assembly.

Yet another feature of the present application includes wherein the switchgear robot includes a navigation system capable of detecting a spatial position from which guidance commands can be formulated to regulate movement of the switchgear robot.

Still another feature of the present application includes wherein the fiducial locating component is a computer vision based system in which a controller recognizes an object associated with the switchgear, and wherein the controller regulates position of the switchgear robot based upon the recognized object.

Still yet another feature of the present application includes wherein the measurement probe is fixed relative to the robot, and wherein the robot drives itself through the portal for insertion of the measurement probe through the portal and into the interior of the switchgear.

Yet still another feature of the present application includes wherein the robot further includes an extendable member coupled with the measurement probe such that extension of the extendable member results in relative movement between the measurement probe and the switchgear robot.

A further feature of the present application includes wherein the switchgear robot is structured to engage and open the portal.

A still further feature of the present application includes wherein the switchgear robot is structured to extend the measurement probe into the interior of the switchgear and past the portal. A yet still further feature of the present application includes wherein the robot includes a key capable of opening the portal.

Another aspect of the present application includes an apparatus comprising an E-House inspection robot including: a housing within which contains control electronics, a measurement sensor operable to facilitate measurement of an internal working characteristic of a switchgear enclosure in an E-House, a fiducial locating component structured to be used as a guide for the E-House inspection robot to be aligned with the switchgear enclosure of the E-House, wherein the robot is further structured to convey the measurement sensor into the interior of the switchgear enclosure for sampling an internal working characteristic of a switchgear in the switchgear enclosure during operation of the switchgear.

A feature of the present application includes wherein the fiducial locating component mechanically interacts with a fiducial marker through a protrusion and receiver assembly, wherein a receiver aperture is structured to receive a protrusion of the protrusion and receiver assembly.

Another feature of the present application includes wherein the E-House inspection robot lacks a wheel for transport and is otherwise unable to convey itself from location to location.

Yet another feature of the present application includes wherein the E-House inspection robot includes a portal opener structured to cooperatively engage the switchgear enclosure to permit opening of a portal of the switchgear enclosure.

Still another feature of the present application includes wherein the E-House inspection robot is capable of driving itself through the portal when opened.

Still yet another feature of the present application includes wherein the E- House inspection robot includes an extendable probe useful to convey the measurement sensor into the interior of the switchgear assembly and past the portal.

Yet still another feature of the present application includes wherein the E- House inspection robot is non-self-propelled.

A further feature of the present application includes wherein the E-House inspection robot includes a position detection device structured to sense location of the E-House inspection robot within an E-House useful to regulate location of the E- House inspection robot within the E-House. A yet further feature of the present application includes wherein the fiducial locating component includes a camera capable of digitizing a scene useful to detect a fiducial marker associated with the switchgear enclosure.

A still further feature of the present application includes wherein the measurement sensor is carried in a fixed position upon the E-House inspection robot, and wherein the E-House inspection robot includes a locomotive useful to transit the E-House inspection robot through the portal for insertion of the

measurement sensor through the portal and into the interior of the switchgear assembly.

A yet still further feature of the present application includes wherein the robot further includes a movable arm coupled with the measurement sensor such that movement of the movable arm results in relative movement between the

measurement sensor and the E-House inspection robot.

Still another aspect of the present application provides a method comprising aligning a switchgear inspection robot with a switchgear enclosure in preparations for inspection of a switchgear, the switchgear inspection robot including a non-contact sensor, opening a portal on the switchgear enclosure via operation of the switchgear inspection robot while electrical power is provided through the switchgear, and inserting the non-contact sensor through the portal while electrical power is provided through the switchgear.

A feature of the present application further includes mechanically registering the switchgear inspection robot to the switchgear enclosure.

Another feature of the present application includes wherein the aligning includes imaging a fiducial marker on the switchgear enclosure to provide computer vision assisted navigation of the switchgear inspection robot to the switchgear enclosure.

Yet another feature of the present application further includes navigating the switchgear robot to the switchgear enclosure using data from a positioning system.

Still yet another feature of the present application includes wherein the inserting includes conveying the robot through the portal along with the non-contact sensor.

Yet still another feature of the present application further includes moving the non-contact sensor to a fixed measurement position representative of a position used in subsequent inspections. 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 . An apparatus comprising:

a switchgear robot having a fiducial locating component structured to detect a reference point associated with a switchgear, a measurement probe structured to be conveyed through a portal of the switchgear during operation of the switchgear and perform a measurement while internal to the switchgear, wherein the fiducial locating component is capable of being used to guide the switchgear robot to the portal of the switchgear for insertion of the measurement probe through the portal and into the interior of the switchgear.

2. The apparatus of claim 1 , wherein the fiducial locating component is a mechanical registration system having at least one protrusion that guides itself into place as the switchgear robot is driven into a docked position.

3. The apparatus of claim 2, wherein the switchgear robot is a non-self-propelled package that can be installed on an outer surface of the switchgear assembly.

4. The apparatus of claim 1 , wherein the switchgear robot includes a navigation system capable of detecting a spatial position from which guidance commands can be formulated to regulate movement of the switchgear robot.

5. The apparatus of claim 1 , wherein the fiducial locating component is a computer vision based system in which a controller recognizes an object associated with the switchgear, and wherein the controller regulates position of the switchgear robot based upon the recognized object.

6. The apparatus of claim 1 , wherein the measurement probe is fixed relative to the robot, and wherein the robot drives itself through the portal for insertion of the measurement probe through the portal and into the interior of the switchgear.

7. The apparatus of claim 6, wherein the robot further includes an extendable member coupled with the measurement probe such that extension of the extendable member results in relative movement between the measurement probe and the switchgear robot.

8. The apparatus of claim 1 , wherein the switchgear robot is structured to engage and open the portal.

9. The apparatus of claim 8, wherein the switchgear robot is structured to extend the measurement probe into the interior of the switchgear and past the portal.

10. The apparatus of claim 8, wherein the robot includes a key capable of opening the portal.

1 1 . An apparatus comprising:

an E-House inspection robot including:

a housing within which contains control electronics;

a measurement sensor operable to facilitate measurement of an internal working characteristic of a switchgear enclosure in an E-House;

a fiducial locating component structured to be used as a guide for the

E-House inspection robot to be aligned with the switchgear enclosure of the E-

House;

wherein the robot is further structured to convey the measurement sensor into the interior of the switchgear enclosure for sampling an internal working characteristic of a switchgear in the switchgear enclosure during operation of the switchgear.

12. The apparatus of claim 1 1 , wherein the fiducial locating component mechanically interacts with a fiducial marker through a protrusion and receiver assembly, wherein a receiver aperture is structured to receive a protrusion of the protrusion and receiver assembly.

13. The apparatus of claim 12, wherein the E-House inspection robot lacks a wheel for transport and is otherwise unable to convey itself from location to location.

14. The apparatus of claim 1 1 , wherein the E-House inspection robot includes a portal opener structured to cooperatively engage the switchgear enclosure to permit opening of a portal of the switchgear enclosure.

15. The apparatus of claim 14, wherein the E-House inspection robot is capable of driving itself through the portal when opened.

16. The apparatus of claim 14, wherein the E-House inspection robot includes an extendable probe useful to convey the measurement sensor into the interior of the switchgear assembly and past the portal.

17. The apparatus of claim 16, wherein the E-House inspection robot is non-self- propelled.

18. The apparatus of claim 1 1 , wherein the E-House inspection robot includes a position detection device structured to sense location of the E-House inspection robot within an E-House useful to regulate location of the E-House inspection robot within the E-House.

19. The apparatus of claim 1 1 , wherein the fiducial locating component includes a camera capable of digitizing a scene useful to detect a fiducial marker associated with the switchgear enclosure.

20. The apparatus of claim 1 1 , wherein the measurement sensor is carried in a fixed position upon the E-House inspection robot, and wherein the E-House inspection robot includes a locomotive device useful to transit the E-House inspection robot through the portal for insertion of the measurement sensor through the portal and into the interior of the switchgear assembly.

21 . The apparatus of claim 20, wherein the robot further includes a movable arm coupled with the measurement sensor such that movement of the movable arm results in relative movement between the measurement sensor and the E-House inspection robot.

22. A method comprising:

aligning a switchgear inspection robot with a switchgear enclosure in preparations for inspection of a switchgear, the switchgear inspection robot including a non-contact sensor;

opening a portal on the switchgear enclosure via operation of the switchgear inspection robot while electrical power is provided through the switchgear; and

inserting the non-contact sensor through the portal while electrical power is provided through the switchgear.

23. The apparatus of claim 22, which further includes mechanically registering the switchgear inspection robot to the switchgear enclosure.

24. The apparatus of claim 22, wherein the aligning includes imaging a fiducial marker on the switchgear enclosure to provide computer vision assisted navigation of the switchgear inspection robot to the switchgear enclosure.

25. The apparatus of claim 22, which further includes navigating the switchgear robot to the switchgear enclosure using data from a positioning system.

26. The apparatus of claim 22, wherein the inserting includes conveying the robot through the portal along with the non-contact sensor.

27. The apparatus of claim 22, which further includes moving the non-contact sensor to a fixed measurement position representative of a position used in subsequent inspections.