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    SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS
    11.
    发明申请
    SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS 审中-公开

    公开(公告)号：US20200242900A1

    公开(公告)日：2020-07-30

    申请号：US16526690

    申请日：2019-07-30

    Applicant: SQUARE ROBOT, INC.

    Inventor： Jerome Vaganay ,  Eric Levitt ,  William O'Halloran

    IPC: G08B3/10 ,  G01M3/32 ,  G01N21/88

    Abstract: Systems, methods and apparatuses for inspecting a tank containing a flammable fluid are provided. The system includes a vehicle having a propeller, a latch mechanism, a pressure switch, and an inspection device. The system includes a control unit in communication with the propeller, the latch mechanism, and the inspection device, and electrically connected to the pressure switch. The control unit powers on responsive to the pressure switch detecting an ambient pressure greater than a minimum threshold. The control unit receives, from the latch mechanism, an indication of a state of the latch mechanism. The control unit determines that the cable used to lower the vehicle into the tank containing the flammable fluid is detached from the vehicle. The control unit commands the propeller to move the vehicle through the flammable fluid. The control unit determines a quality metric of a portion of the tank.

    SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS
    12.
    发明申请
    SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS 审中-公开

    公开(公告)号：US20200241521A1

    公开(公告)日：2020-07-30

    申请号：US16526412

    申请日：2019-07-30

    Applicant: SQUARE ROBOT, INC.

    Inventor： Jerome Vaganay ,  Eric Levitt ,  William O'Halloran

    IPC: G05D1/00 ,  G05D1/10 ,  G05D3/10

    Abstract: Systems, methods and apparatuses for inspecting a tank containing a flammable fluid are provided. A vehicle configured to inspect the tank can include a propeller, a battery, a control unit, an inspection device, and a ranging device. The battery provides power to the propeller, the control unit, the inspection device, and the ranging device. The control unit generates a map of the tank. The control unit determines a first position of the vehicle on the map of the tank. The propeller moves the vehicle through the flammable fluid in the tank. The inspection device determines a quality metric of a portion of the tank. The control unit causes the propeller to move the vehicle from the first position to a second position within the tank. The control unit determines the quality metric for the portion of the tank at the second position within the tank, and stores the quality metric.

    SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS
    13.
    发明申请
    SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS 审中-公开

    公开(公告)号：US20200240952A1

    公开(公告)日：2020-07-30

    申请号：US16526436

    申请日：2019-07-30

    Applicant: SQUARE ROBOT, INC.

    Inventor： Jerome Vaganay ,  Eric Levitt ,  William O'Halloran

    IPC: G01N27/90 ,  G01B7/06

    Abstract: Systems, methods and apparatuses for inspecting a tank containing a flammable fluid are provided. The system includes a vehicle having a battery, a control unit, an inspection device having one or more conductors, and a ranging device. The inspection device receives, from the control unit, a command to initiate inspection at the first position on the map. The inspection device changes a magnetic field in the one or more conductors to induce loops of electric current that extend towards a portion of the tank corresponding to the first position on the map. The inspection device detects values corresponding to the induced loops of electric current at the portion of the tank corresponding to the first position on the map. The inspection device provides, to the control unit, the detected values to cause the control unit to determine a quality metric and store the quality metric.

    SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS
    14.
    发明申请
    SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS 审中-公开

    公开(公告)号：US20200240899A1

    公开(公告)日：2020-07-30

    申请号：US16526705

    申请日：2019-07-30

    Applicant: SQUARE ROBOT, INC.

    Inventor： Jerome Vaganay ,  Eric Levitt ,  William O'Halloran

    IPC: G01N17/04

    Abstract: Systems, methods and apparatuses for inspecting a tank containing a flammable fluid are provided. The method includes opening a lid of a tank containing the flammable fluid. The method includes connecting a cable to a vehicle that includes a battery and a control unit. The method includes lowering, via the cable and through an opening of the tank, the vehicle through a vapor barrier within the tank and on top of the flammable fluid. The method includes disengaging the cable from the vehicle subsequent to the vehicle contacting a floor of the tank. The method includes removing the cable from the tank. The method includes performing, via the control unit of the vehicle, a tank inspection process under battery power, the tank inspection process comprising generating a map of the tank and determining a quality metric for a portion of the tank corresponding to a location on the generated map.

    SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS
    15.
    发明申请
    SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS 有权

    公开(公告)号：US20230003687A1

    公开(公告)日：2023-01-05

    申请号：US17778649

    申请日：2020-11-19

    Applicant: Square Robot, Inc.

    Inventor： Jerome Vaganay ,  Eric Levitt ,  William O'Halloran

    IPC: G01N27/9013 ,  G01N27/90 ,  G01B7/06 ,  F17C13/12

    Abstract: Systems, methods, and apparatuses for inspecting a tank containing a flammable fluid are provided. A vehicle configured to inspect the tank can include a propeller, a battery, a control unit, an inspection device, and a ranging device. The battery provides power to the propeller, the control unit, the inspection device, and the ranging device. The control unit generates a map of the tank and determines a first position of the vehicle on the map. The propeller moves the vehicle through the flammable fluid in the tank. The inspection device includes a pulsed eddy current array to obtain inspection data indicating a quality of a tank wall. The control unit causes the propeller to move the vehicle from the first position to a second position within the tank. The control unit obtains first inspection data indicating the quality of the tank wall, and stores the first inspection data.

    Method and apparatus for self-contained positioning of a mobile robot inside a tank
    16.
    发明授权
    Method and apparatus for self-contained positioning of a mobile robot inside a tank 有权

    公开(公告)号：US11525681B2

    公开(公告)日：2022-12-13

    申请号：US17575392

    申请日：2022-01-13

    Applicant: Square Robot, Inc.

    Inventor： Jerome Vaganay

    IPC: G01C21/16 ,  G01C21/20 ,  G05D1/00 ,  G05D1/02 ,  G05D1/06 ,  G05D1/10

    Abstract: A method and apparatus for positioning a mobile robot inside a vertical cylindrical Aboveground Storage Tank filled with a liquid is described. No additional hardware is needed other than the robot itself. The only piece of information needed is the tank's diameter which is known by construction. The robot carries proprioceptive sensors needed to propagate its position estimate as well as exteroceptive sensors needed to control the dead reckoning positional drift. Proprioceptive and exteroceptive data are merged using data fusion algorithms adapted to the sensor suite integrated in the vehicle, which can take different forms.

    METHOD AND APPARATUS FOR LAUNCHING AND RECOVERING A REMOTE INSPECTION DEVICE
    17.
    发明申请
    METHOD AND APPARATUS FOR LAUNCHING AND RECOVERING A REMOTE INSPECTION DEVICE 审中-公开

    公开(公告)号：US20200047016A1

    公开(公告)日：2020-02-13

    申请号：US16539697

    申请日：2019-08-13

    Applicant: Phillips 66 ,  Square Robot, Inc.

    Inventor： Troy L. STAIRES ,  Benjamin C. MOORE ,  Jerome VAGANAY ,  Eric LEVITT ,  William O'HALLORAN

    IPC: A62C99/00 ,  B65D90/44 ,  B65D90/48

    Abstract: The present disclosure relates to methods and apparatus for launch and recovery of a remote inspection device within a liquid storage tank. In one embodiment, the tank is accessed by opening an entrance hatch and then injecting a vapor suppression foam across a surface of a stored liquid mass to form a foam layer. A launching system having a remote inspection device is attached to the entrance hatch to define a launch and recovery space sealed from an external environment and isolated from the stored liquid mass in the tank via a valve and the foam layer. The launch and recovery space is purged of hazardous vapors by injection of an inert gas prior to launch and recovery of the remote inspection device. Prior to removal of the launching system, the surface of the stored liquid mass is re-coated with vapor suppression foam.

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