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.
G01N 21/954 - Inspecting the inner surface of hollow bodies, e.g. bores
B08B 9/093 - Cleaning of containers, e.g. tanks by the force of jets or sprays
B63C 3/04 - Launching or hauling-out, e.g. by landborne slipwaysSlipways by sideways movement of vessel
B65D 90/44 - Means for reducing the vapour space or for reducing the formation of vapour within containers by use of inert gas for filling space above liquid or between contents
B65D 90/48 - Arrangements of indicating or measuring devices
G01M 3/32 - Investigating fluid tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for containers, e.g. radiators
G01N 21/95 - Investigating the presence of flaws, defects or contamination characterised by the material or shape of the object to be examined
2.
SYSTEMS, METHODS, AND APPARATUS FOR A TANK INSPECTION ROBOT AND TETHER MANAGEMENT SYSTEM
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.
F17C 13/02 - Special adaptations of indicating, measuring, or monitoring equipment
B65H 63/04 - Warning or safety devices for use when unwinding, paying-out, forwarding, winding, coiling, or depositing filamentary material, e.g. automatic fault detectors or stop-motions responsive to excessive tension or irregular operation of apparatus
B65H 63/08 - Warning or safety devices for use when unwinding, paying-out, forwarding, winding, coiling, or depositing filamentary material, e.g. automatic fault detectors or stop-motions responsive to delivery of a measured length of material, completion of winding of a package, or filling of a receptacle
3.
SYSTEMS, METHODS, AND APPARATUS FOR A TANK INSPECTION ROBOT AND TETHER MANAGEMENT SYSTEM
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.
G01M 3/00 - Investigating fluid tightness of structures
B65H 75/42 - Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools or machines
G01F 23/00 - Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
G01F 23/40 - Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by floats using bands or wires as transmission elements
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.
F17C 13/12 - Arrangements or mounting of devices for preventing or minimising the effect of explosion
G01B 7/06 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width, or thickness for measuring thickness
G01N 27/90 - Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
5.
SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS
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.
G01M 3/32 - Investigating fluid tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for containers, e.g. radiators
B65D 88/12 - Large containers rigid specially adapted for transport
B65D 90/50 - Arrangements of indicating or measuring devices of leakage-indicating devices
G01B 7/06 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width, or thickness for measuring thickness
G01C 21/20 - Instruments for performing navigational calculations
G01M 3/24 - Investigating fluid tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations
G01M 3/40 - Investigating fluid tightness of structures by using electric means, e.g. by observing electric discharges
G01N 21/88 - Investigating the presence of flaws, defects or contamination
G01N 27/90 - Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
G05D 1/223 - Command input arrangements on the remote controller, e.g. joysticks or touch screens
G05D 1/43 - Control of position or course in two dimensions
G05D 3/10 - Control of position or direction without using feedback
G08B 3/10 - Audible signalling systemsAudible personal calling systems using electric transmissionAudible signalling systemsAudible personal calling systems using electromagnetic transmission
6.
Systems, methods and apparatus for safe launch and recovery of an inspection vehicle
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.
G01N 21/954 - Inspecting the inner surface of hollow bodies, e.g. bores
B08B 9/093 - Cleaning of containers, e.g. tanks by the force of jets or sprays
B63C 3/04 - Launching or hauling-out, e.g. by landborne slipwaysSlipways by sideways movement of vessel
B65D 90/44 - Means for reducing the vapour space or for reducing the formation of vapour within containers by use of inert gas for filling space above liquid or between contents
B65D 90/48 - Arrangements of indicating or measuring devices
G01M 3/32 - Investigating fluid tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for containers, e.g. radiators
G01N 21/95 - Investigating the presence of flaws, defects or contamination characterised by the material or shape of the object to be examined
7.
Systems, methods and apparatus for in-service tank inspections
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.
G01M 3/32 - Investigating fluid tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for containers, e.g. radiators
B65D 88/12 - Large containers rigid specially adapted for transport
B65D 90/50 - Arrangements of indicating or measuring devices of leakage-indicating devices
G01B 7/06 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width, or thickness for measuring thickness
G01C 21/20 - Instruments for performing navigational calculations
G01M 3/24 - Investigating fluid tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations
G01N 21/88 - Investigating the presence of flaws, defects or contamination
G01N 27/90 - Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
G05D 3/10 - Control of position or direction without using feedback
G08B 3/10 - Audible signalling systemsAudible personal calling systems using electric transmissionAudible signalling systemsAudible personal calling systems using electromagnetic transmission
G01M 3/40 - Investigating fluid tightness of structures by using electric means, e.g. by observing electric discharges
8.
Systems, methods and apparatus for in-service tank inspections
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.
G01M 3/32 - Investigating fluid tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for containers, e.g. radiators
B65D 88/12 - Large containers rigid specially adapted for transport
B65D 90/50 - Arrangements of indicating or measuring devices of leakage-indicating devices
G01B 7/06 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width, or thickness for measuring thickness
G01C 21/20 - Instruments for performing navigational calculations
G01M 3/24 - Investigating fluid tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations
G01N 21/88 - Investigating the presence of flaws, defects or contamination
G01N 27/90 - Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
G05D 3/10 - Control of position or direction without using feedback
G08B 3/10 - Audible signalling systemsAudible personal calling systems using electric transmissionAudible signalling systemsAudible personal calling systems using electromagnetic transmission
G01M 3/40 - Investigating fluid tightness of structures by using electric means, e.g. by observing electric discharges
9.
Systems, methods and apparatus for in-service tank inspections
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.
G01M 3/32 - Investigating fluid tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for containers, e.g. radiators
B65D 88/12 - Large containers rigid specially adapted for transport
B65D 90/50 - Arrangements of indicating or measuring devices of leakage-indicating devices
G01B 7/06 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width, or thickness for measuring thickness
G01C 21/20 - Instruments for performing navigational calculations
G01M 3/24 - Investigating fluid tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations
G01N 21/88 - Investigating the presence of flaws, defects or contamination
G01N 27/90 - Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
G05D 3/10 - Control of position or direction without using feedback
G08B 3/10 - Audible signalling systemsAudible personal calling systems using electric transmissionAudible signalling systemsAudible personal calling systems using electromagnetic transmission
G01M 3/40 - Investigating fluid tightness of structures by using electric means, e.g. by observing electric discharges
10.
Systems, methods and apparatus for in-service tank inspections
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.
G01N 27/90 - Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
F17C 13/12 - Arrangements or mounting of devices for preventing or minimising the effect of explosion
G01B 7/06 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width, or thickness for measuring thickness
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.
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01C 21/20 - Instruments for performing navigational calculations
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
G05D 1/02 - Control of position or course in two dimensions
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.
A62C 99/00 - Subject matter not provided for in other groups of this subclass
B65D 90/44 - Means for reducing the vapour space or for reducing the formation of vapour within containers by use of inert gas for filling space above liquid or between contents
B65D 90/48 - Arrangements of indicating or measuring devices
B08B 3/08 - Cleaning involving contact with liquid the liquid having chemical or dissolving effect
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.
B08B 9/093 - Cleaning of containers, e.g. tanks by the force of jets or sprays
B65D 90/44 - Means for reducing the vapour space or for reducing the formation of vapour within containers by use of inert gas for filling space above liquid or between contents
B65D 90/48 - Arrangements of indicating or measuring devices
14.
SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS
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 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.
G01M 3/32 - Investigating fluid tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for containers, e.g. radiators
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
G08B 3/10 - Audible signalling systemsAudible personal calling systems using electric transmissionAudible signalling systemsAudible personal calling systems using electromagnetic transmission
G01N 27/90 - Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
B65D 90/50 - Arrangements of indicating or measuring devices of leakage-indicating devices
B65D 88/12 - Large containers rigid specially adapted for transport
G01M 3/24 - Investigating fluid tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations
G05D 1/10 - Simultaneous control of position or course in three dimensions
G05D 3/10 - Control of position or direction without using feedback
G01N 21/88 - Investigating the presence of flaws, defects or contamination
G01B 7/06 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width, or thickness for measuring thickness
G01C 21/20 - Instruments for performing navigational calculations
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01M 3/40 - Investigating fluid tightness of structures by using electric means, e.g. by observing electric discharges
16.
SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS
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 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.
G01M 3/32 - Investigating fluid tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for containers, e.g. radiators
B65D 90/50 - Arrangements of indicating or measuring devices of leakage-indicating devices
B65D 88/12 - Large containers rigid specially adapted for transport
G01M 3/24 - Investigating fluid tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations
19.
METHOD AND APPARATUS FOR SELF-CONTAINED POSITIONING OF A MOBILE ROBOT INSIDE A TANK
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.