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    Systems, methods and apparatus for in-service tank inspections
    1.
    发明授权
    Systems, methods and apparatus for in-service tank inspections 有权

    公开(公告)号：US12066403B2

    公开(公告)日：2024-08-20

    申请号：US17778649

    申请日：2020-11-19

    Applicant: Square Robot, Inc.

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

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

    CPC classification number: G01N27/902 ,  F17C13/12 ,  G01B7/10 ,  G01N27/9006 ,  G01N27/9073 ,  F17C2260/015 ,  F17C2260/036

    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.

    SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS
    2.
    发明申请
    SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS 有权

    公开(公告)号：US20230093502A1

    公开(公告)日：2023-03-23

    申请号：US17993155

    申请日：2022-11-23

    Applicant: SQUARE ROBOT, INC.

    Inventor： Jerome VAGANAY ,  Eric LEVITT ,  William O'HALLORAN

    IPC: G01M3/32 ,  G05D1/00 ,  B65D90/50 ,  B65D88/12 ,  G08B3/10 ,  G01N27/90 ,  G05D1/10 ,  G05D3/10 ,  G01N21/88 ,  G01M3/24 ,  G01N17/04 ,  G01B7/06

    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 A TANK INSPECTION ROBOT AND TETHER MANAGEMENT SYSTEM
    4.
    发明申请
    SYSTEMS, METHODS, AND APPARATUS FOR A TANK INSPECTION ROBOT AND TETHER MANAGEMENT SYSTEM 有权

    公开(公告)号：US20250116376A1

    公开(公告)日：2025-04-10

    申请号：US18906009

    申请日：2024-10-03

    Applicant: Square Robot, Inc.

    Inventor： Jerome VAGANAY ,  Ross JARVIS

    IPC: F17C13/02 ,  B65H63/04 ,  B65H63/08

    Abstract: Systems, methods and apparatus for a tank inspection vehicle and a tether management system (TMS) are disclosed. The tank inspection vehicle is connected to the TMS via a negatively buoyant tether. The TMS is also connected to a power source external to a tank via a power and communications cable. The TMS selectively connects the vehicle to the power source via the tether and the power and communications cable. The TMS may include a frame, a float, a reel, a reel mechanism, a float switch, one or more sensors, and a control unit having one or more processors communicable with one or more memories. The TMS is configured to reel or unreel the tether in response to the movement of the vehicle and provide power to the vehicle when the TMS, vehicle, and the components thereof are submerged in a flammable fluid.

    Systems, methods and apparatus for safe launch and recovery of an inspection vehicle
    5.
    发明授权
    Systems, methods and apparatus for safe launch and recovery of an inspection vehicle 有权

    公开(公告)号：US12209974B2

    公开(公告)日：2025-01-28

    申请号：US17916485

    申请日：2021-04-02

    Applicant: Square Robot, Inc.

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

    IPC: G01N21/954 ,  B08B9/093 ,  B63C3/04 ,  B65D90/44 ,  B65D90/48 ,  G01M3/32 ,  G01N21/95

    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.

    SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS
    7.
    发明申请
    SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS 有权

    公开(公告)号：US20230016738A1

    公开(公告)日：2023-01-19

    申请号：US17942867

    申请日：2022-09-12

    Applicant: SQUARE ROBOT, INC

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

    IPC: G01M3/32 ,  B65D90/50 ,  B65D88/12 ,  G01M3/24 ,  G05D1/00 ,  G05D1/10 ,  G05D3/10 ,  G01N17/04 ,  G08B3/10 ,  G01N21/88 ,  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 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
    8.
    发明申请
    SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS 有权

    公开(公告)号：US20230003606A1

    公开(公告)日：2023-01-05

    申请号：US17942852

    申请日：2022-09-12

    Applicant: SQUARE ROBOT, INC.

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

    IPC: G01M3/32 ,  B65D90/50 ,  B65D88/12 ,  G01M3/24 ,  G05D1/00 ,  G05D1/10 ,  G05D3/10 ,  G01N17/04 ,  G08B3/10 ,  G01N21/88 ,  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 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
    9.
    发明申请
    SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS 有权

    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.

    METHOD AND APPARATUS FOR SELF-CONTAINED POSITIONING OF A MOBILE ROBOT INSIDE A TANK
    10.
    发明申请
    METHOD AND APPARATUS FOR SELF-CONTAINED POSITIONING OF A MOBILE ROBOT INSIDE A TANK 有权

    公开(公告)号：US20220136835A1

    公开(公告)日：2022-05-05

    申请号：US17575392

    申请日：2022-01-13

    Applicant: Square Robot, Inc.

    Inventor： Jerome VAGANAY

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

    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.

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