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公开(公告)号：US20230173551A1
公开(公告)日：2023-06-08
申请号：US17916485
申请日：2021-04-02
Applicant: Square Robot, Inc.
Inventor： Jerome Vaganay , William O'Halloran , Eric Levitt
IPC: B08B3/08 , B65D90/44 , B08B9/093 , B65D90/48 , G01N21/954
CPC classification number: B08B3/08 , B65D90/44 , B08B9/093 , B65D90/48 , G01N21/954 , G05D2201/0207 , G01N2021/9518
Abstract: Systems, methods and apparatus for launching and recovering a vehicle via a side manway of a tank are provided. A launcher is coupled to a vertical side of the tank via a manway adapter. The launcher includes a first side having a lid and a second side configured to couple with the manway adapter. The lid is removed from the first side of the launcher. An autonomous vehicle is loaded into the launcher via the first side of the launcher. The lid is placed on the first side of the launcher. The launcher can be pressurized with the autonomous vehicle inside the launcher. The manway adapter is opened at the second side of the launcher to release the flammable fluid into the launcher. Subsequent to opening the manway adapter, the autonomous vehicle launches from the launcher into the tank to perform a tank inspection process.
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公开(公告)号：US10508968B1
公开(公告)日：2019-12-17
申请号：US16534009
申请日：2019-08-07
Applicant: SQUARE ROBOT, INC.
Inventor： Jerome Vaganay , Eric Levitt , William O'Halloran
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.
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Patent Agency Ranking
公开(公告)号：US20240410858A1
公开(公告)日：2024-12-12
申请号：US18809085
申请日：2024-08-19
Applicant: Square Robot, Inc.
Inventor： Jerome Vaganay , Eric Levitt , William O'Halloran
IPC: G01N27/9013 , F17C13/12 , G01B7/06 , G01N27/90
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.
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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
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.
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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
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.
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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
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.
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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.
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