Square Robot, Inc.

United States of America

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        United States 16
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Date
2025 May 1
2025 April 2
2025 (YTD) 3
2024 2
2023 5
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IPC Class
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 8
G01B 7/06 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width, or thickness for measuring thickness 7
G01C 21/20 - Instruments for performing navigational calculations 7
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 7
B65D 88/12 - Large containers rigid specially adapted for transport 6
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NICE Class
12 - Land, air and water vehicles; parts of land vehicles 3
42 - Scientific, technological and industrial services, research and design 1
Status
Pending 5
Registered / In Force 17

1.

SYSTEMS, METHODS AND APPARATUS FOR SAFE LAUNCH AND RECOVERY OF AN INSPECTION VEHICLE

      
Application Number 19038055
Status Pending
Filing Date 2025-01-27
First Publication Date 2025-05-29
Owner Square Robot, Inc. (USA)
Inventor
  • Vaganay, Jerome
  • O'Halloran, William
  • Levitt, Eric

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.

IPC Classes  ?

  • 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

      
Application Number 18906009
Status Pending
Filing Date 2024-10-03
First Publication Date 2025-04-10
Owner Square Robot, Inc. (USA)
Inventor
  • Vaganay, Jerome
  • Jarvis, Ross

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.

IPC Classes  ?

  • 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

      
Application Number US2024049840
Publication Number 2025/076255
Status In Force
Filing Date 2024-10-03
Publication Date 2025-04-10
Owner SQUARE ROBOT, INC. (USA)
Inventor
  • Vaganay, Jerome
  • Jarvis, Ross

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.

IPC Classes  ?

  • 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
  • B65H 75/44 - Constructional details

4.

SYSTEMS, METHODS AND APPARATUS FOR IN-SERVICE TANK INSPECTIONS

      
Application Number 18809085
Status Pending
Filing Date 2024-08-19
First Publication Date 2024-12-12
Owner Square Robot, Inc. (USA)
Inventor
  • Vaganay, Jerome
  • Levitt, Eric
  • O'Halloran, William

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.

IPC Classes  ?

  • G01N 27/9013 - Arrangements for scanning
  • 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

      
Application Number 18738826
Status Pending
Filing Date 2024-06-10
First Publication Date 2024-10-03
Owner Square Robot, Inc. (USA)
Inventor
  • Vaganay, Jerome
  • Levitt, Eric
  • O'Halloran, William

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.

IPC Classes  ?

  • 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 17/04 - Corrosion probes
  • 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 1/40 - Control within particular dimensions
  • 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

      
Application Number 17916485
Grant Number 12209974
Status In Force
Filing Date 2021-04-02
First Publication Date 2023-06-08
Grant Date 2025-01-28
Owner Square Robot, Inc. (USA)
Inventor
  • Vaganay, Jerome
  • O'Halloran, William
  • Levitt, Eric

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.

IPC Classes  ?

  • 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

      
Application Number 17993155
Grant Number 11933692
Status In Force
Filing Date 2022-11-23
First Publication Date 2023-03-23
Grant Date 2024-03-19
Owner Square Robot, Inc. (USA)
Inventor
  • Vaganay, Jerome
  • Levitt, Eric
  • O'Halloran, William

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.

IPC Classes  ?

  • 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 17/04 - Corrosion probes
  • 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

      
Application Number 17942867
Grant Number 12007308
Status In Force
Filing Date 2022-09-12
First Publication Date 2023-01-19
Grant Date 2024-06-11
Owner Square Robot, Inc. (USA)
Inventor
  • Vaganay, Jerome
  • Levitt, Eric
  • O'Halloran, William

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.

IPC Classes  ?

  • 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 17/04 - Corrosion probes
  • 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

      
Application Number 17942852
Grant Number 11959833
Status In Force
Filing Date 2022-09-12
First Publication Date 2023-01-05
Grant Date 2024-04-16
Owner Square Robot, Inc. (USA)
Inventor
  • Vaganay, Jerome
  • Levitt, Eric
  • O'Halloran, William

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.

IPC Classes  ?

  • 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 17/04 - Corrosion probes
  • 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

      
Application Number 17778649
Grant Number 12066403
Status In Force
Filing Date 2020-11-19
First Publication Date 2023-01-05
Grant Date 2024-08-20
Owner Square Robot, Inc. (USA)
Inventor
  • Vaganay, Jerome
  • Levitt, Eric
  • O'Halloran, William

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.

IPC Classes  ?

  • 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
  • G01N 27/9013 - Arrangements for scanning

11.

Method and apparatus for self-contained positioning of a mobile robot inside a tank

      
Application Number 17575392
Grant Number 11525681
Status In Force
Filing Date 2022-01-13
First Publication Date 2022-05-05
Grant Date 2022-12-13
Owner Square Robot, Inc (USA)
Inventor Vaganay, Jerome

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.

IPC Classes  ?

  • 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
  • G05D 1/06 - Rate of change of altitude or depth
  • G05D 1/10 - Simultaneous control of position or course in three dimensions

12.

SYSTEMS, METHODS AND APPARATUS FOR SAFE LAUNCH AND RECOVERY OF AN INSPECTION VEHICLE

      
Application Number US2021025540
Publication Number 2021/207019
Status In Force
Filing Date 2021-04-02
Publication Date 2021-10-14
Owner SQUARE ROBOT, INC. (USA)
Inventor
  • Vaganay, Jerome
  • O'Halloran, William
  • Levitt, Eric

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.

IPC Classes  ?

  • 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
  • B08B 9/08 - Cleaning of containers, e.g. tanks
  • B08B 9/093 - Cleaning of containers, e.g. tanks by the force of jets or sprays

13.

SYSTEMS, METHODS AND APPARATUS FOR SAFE LAUNCH AND RECOVERY OF AN INSPECTION VEHICLE

      
Document Number 03204330
Status Pending
Filing Date 2021-04-02
Open to Public Date 2021-10-14
Owner SQUARE ROBOT, INC. (USA)
Inventor
  • Vaganay, Jerome
  • O'Halloran, William
  • Levitt, Eric

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.

IPC Classes  ?

  • A62C 99/00 - Subject matter not provided for in other groups of this subclass
  • B08B 3/08 - Cleaning involving contact with liquid the liquid having chemical or dissolving effect
  • B08B 9/08 - Cleaning of containers, e.g. tanks
  • 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

      
Application Number US2020061175
Publication Number 2021/102079
Status In Force
Filing Date 2020-11-19
Publication Date 2021-05-27
Owner SQUARE ROBOT, INC. (USA)
Inventor
  • Vaganay, Jerome
  • Levitt, Eric
  • O'Halloran, William

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.

IPC Classes  ?

  • F17C 3/10 - Vessels not under pressure with provision for thermal insulation by liquid-circulating or vapour-circulating jackets
  • F17C 13/02 - Special adaptations of indicating, measuring, or monitoring equipment

15.

Systems, methods and apparatus for in-service tank inspections

      
Application Number 16526412
Grant Number 11047762
Status In Force
Filing Date 2019-07-30
First Publication Date 2020-07-30
Grant Date 2021-06-29
Owner SQUARE ROBOT, INC. (USA)
Inventor
  • Vaganay, Jerome
  • Levitt, Eric
  • O'Halloran, William

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.

IPC Classes  ?

  • 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
  • G01N 17/04 - Corrosion probes
  • 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

      
Application Number US2020014443
Publication Number 2020/154303
Status In Force
Filing Date 2020-01-21
Publication Date 2020-07-30
Owner SQUARE ROBOT, INC. (USA)
Inventor
  • Vaganay, Jerome
  • Levitt, Eric
  • O'Halloran, William

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.

IPC Classes  ?

  • B63G 8/00 - Underwater vessels, e.g. submarines
  • G01N 21/954 - Inspecting the inner surface of hollow bodies, e.g. bores
  • G01N 29/265 - Arrangements for orientation or scanning by moving the sensor relative to a stationary material
  • G21C 17/013 - Inspection vehicles

17.

Miscellaneous Design

      
Serial Number 90037978
Status Registered
Filing Date 2020-07-06
Registration Date 2021-08-03
Owner Square Robot, Inc. ()
NICE Classes  ? 12 - Land, air and water vehicles; parts of land vehicles

Goods & Services

Autonomous vehicles for above ground petroleum tank inspections

18.

Systems, methods and apparatus for in-service tank inspections

      
Application Number 16534009
Grant Number 10508968
Status In Force
Filing Date 2019-08-07
First Publication Date 2019-12-17
Grant Date 2019-12-17
Owner Square Robot, Inc. (USA)
Inventor
  • Vaganay, Jerome
  • Levitt, Eric
  • O'Halloran, William

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.

IPC Classes  ?

  • 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

      
Application Number US2018039719
Publication Number 2019/005939
Status In Force
Filing Date 2018-06-27
Publication Date 2019-01-03
Owner SQUARE ROBOT, INC. (USA)
Inventor
  • Vaganay, Jerome
  • O'Halloran, William, F.
  • Levitt, Eric, S.

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.

IPC Classes  ?

  • G05D 1/02 - Control of position or course in two dimensions
  • G05D 1/08 - Control of attitude, i.e. control of roll, pitch, or yaw
  • G05D 1/10 - Simultaneous control of position or course in three dimensions
  • G05D 3/12 - Control of position or direction using feedback
  • G01C 21/20 - Instruments for performing navigational calculations

20.

VERITANK

      
Serial Number 88154572
Status Registered
Filing Date 2018-10-15
Registration Date 2020-02-18
Owner Square Robot, Inc. ()
NICE Classes  ? 42 - Scientific, technological and industrial services, research and design

Goods & Services

inspection services for inspecting above ground storage tanks

21.

SQUARE ROBOT

      
Serial Number 87290136
Status Registered
Filing Date 2017-01-05
Registration Date 2021-03-02
Owner Square Robot, Inc. ()
NICE Classes  ? 12 - Land, air and water vehicles; parts of land vehicles

Goods & Services

Autonomous vehicles for above ground petroleum tank inspections

22.

Miscellaneous Design

      
Serial Number 87290147
Status Registered
Filing Date 2017-01-05
Registration Date 2021-06-08
Owner Square Robot, Inc. ()
NICE Classes  ? 12 - Land, air and water vehicles; parts of land vehicles

Goods & Services

Autonomous vehicles for above ground petroleum tank inspections