Switchgear or controlgear with unmanned operation and maintenance, and method of operating the same

Patent metadata

Field	Value
Publication number	US-11511428-B2
Application number	US-201916727979-A
Country	US
Kind code	B2
Filing date	Dec 27, 2019
Priority date	Jun 28, 2017
Publication date	Nov 29, 2022
Grant date	Nov 29, 2022

Abstract

A switchgear or controlgear with unmanned operation and maintenance includes: an equipment safety system that includes a steering and control system for calculating a action radius of a robot system. An acting area in an internal space of the switchgear or controlgear is divided into virtual zones. Each action in each virtual zone is precalculated predictively as a micro simulation in which actual sensor data are considered before an intended action is triggered.

First claim

What is claimed is:

1. A switchgear or controlgear with unmanned operation and maintenance, the switchgear or controlgear comprising:
an equipment safety system, comprising a controller configured to calculate an action range of a robot system, by:
dividing an action area in an internal space of the switchgear or controlgear into a plurality of virtual zones based on physical layouts of a plurality of primary circuits of the switchgear or controlgear,
receiving status indicators for each circuit of the plurality of primary circuits from a set of limit switches,
determining a status for each zone in the plurality of virtual zones based on the received status indicators, and
precalculating an action range of a robot system interacting with the switchgear or controlgear in each of the plurality of virtual zones, wherein the action range limits movement of the robotic system in each zone of the plurality of virtual zones based on the determined status of the zone.

2. A method for operating a switchgear or controlgear with unmanned operation and maintenance, comprising:
dividing an action area in an internal space of the switchgear or controlgear into a plurality of virtual zones based on physical layouts of a plurality of primary circuits of the switchgear or controlgear;
receiving status indicators for each circuit of the plurality of primary circuits from a set of limit switches;
determining a status for each zone in the plurality of virtual zones based on the received status indicators; and
precalculating an action range of a robot system interacting with the switchgear or controlgear in each of the plurality of virtual zones, wherein the action range limits movement of the robotic system in each zone of the plurality of virtual zones based on the determined status of the zone.

3. The method according to claim 2 , wherein the plurality of virtual zones in which the pluralirty of primary circuits are divided comprise:
a main busbars zone, which contains all horizontal busbars and T-offs circuits of one busbar section up to all points of disconnection;
a switch-disconnectors zone, wherein each switch-disconnector of the plurality of switch-disconnectors has a different zone;
a circuit breaker zone, wherein each circuit breaker of the plurality of circuit breakers has a different zone; and
auxiliary circuits and mechanisms zones, wherein the auxiliary circuits and mechanisms zones are limited by metallic earthed segregation of an auxiliary circuit space from a primary circuit space.

4. The method according to claim 2 , wherein the physical layout of the plurality of circuits comprises:
each primary circuit continuing from circuit breaker main contacts covering circuits up to a next point of disconnection or to a point where the circuits go out of an enclosure.

5. The method according to claim 2 , wherein the plurality of virtual zones include:
zone energized, wherein each of the plurality of primary circuits in zone energized are energized;
zone deenergized, wherein each of the plurality of primary circuits in zone de-energized are de-energized but not earthed; and
zone secured, wherein each of the plurality of primary circuits in zone secured are de-energized and earthed, and wherein a robotic arm of the robot system is able to physically interact with the plurality of primary circuits within zone secured.

6. The method of claim 5 , wherein the robotic arm of the robot system present in zone de-energized must be a predetermined distance away from the de-energized circuits.

7. The method of claim 5 , wherein the robotic arm of the robot system does not enter zone energized.

Assignees

• Abb Schweiz Ag

Inventors

• Kozel Tomas
• Schmidtchen Thomas
• Stefanka Martin

Classifications

• G05B2219/50391

  Robot · CPC title

• H02B3/00

  Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear · CPC title

• G05B2219/49157

  Limitation, collision, interference, forbidden zones, avoid obstacles · CPC title

• G05B19/4061

  Avoiding collision or forbidden zones · CPC title

• B25J9/1671 Primary

  characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems · CPC title