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公开(公告)号：US20200047016A1
公开(公告)日：2020-02-13
申请号：US16539697
申请日：2019-08-13
申请人： Phillips 66 , Square Robot, Inc.
摘要： 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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公开(公告)号：US20230093502A1
公开(公告)日：2023-03-23
申请号：US17993155
申请日：2022-11-23
申请人： SQUARE ROBOT, INC.
发明人： Jerome VAGANAY , Eric LEVITT , William O'HALLORAN
IPC分类号： G01M3/32 , G05D1/00 , B65D90/50 , B65D88/12 , G08B3/10 , G01N27/90 , G05D1/10 , G05D3/10 , G01N21/88 , G01M3/24 , G01N17/04 , G01B7/06
摘要： 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：US20230016738A1
公开(公告)日：2023-01-19
申请号：US17942867
申请日：2022-09-12
申请人： SQUARE ROBOT, INC
发明人： Jerome VAGANAY , Eric Levitt , William O'Halloran
IPC分类号： G01M3/32 , B65D90/50 , B65D88/12 , G01M3/24 , G05D1/00 , G05D1/10 , G05D3/10 , G01N17/04 , G08B3/10 , G01N21/88 , G01N27/90 , G01B7/06
摘要： 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：US20230003606A1
公开(公告)日：2023-01-05
申请号：US17942852
申请日：2022-09-12
申请人： SQUARE ROBOT, INC.
发明人： Jerome VAGANAY , Eric Levitt , William O'Halloran
IPC分类号： G01M3/32 , B65D90/50 , B65D88/12 , G01M3/24 , G05D1/00 , G05D1/10 , G05D3/10 , G01N17/04 , G08B3/10 , G01N21/88 , G01N27/90 , G01B7/06
摘要： 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：US20220136835A1
公开(公告)日：2022-05-05
申请号：US17575392
申请日：2022-01-13
申请人： Square Robot, Inc.
发明人： Jerome VAGANAY
摘要： 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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公开(公告)号：US20230166146A1
公开(公告)日：2023-06-01
申请号：US18090200
申请日：2022-12-28
申请人： PHILLIPS 66 COMPANY
CPC分类号： A62C99/0036 , B66F11/04 , A62C3/065
摘要： 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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公开(公告)号：US20230138010A1
公开(公告)日：2023-05-04
申请号：US18090178
申请日：2022-12-28
申请人： PHILLIPS 66 COMPANY
摘要： 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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