TW200942466A - Devices and methods for performing inspections, repairs, and/or other operations within vessels - Google Patents
Devices and methods for performing inspections, repairs, and/or other operations within vesselsInfo
- Publication number
- TW200942466A TW200942466A TW097145572A TW97145572A TW200942466A TW 200942466 A TW200942466 A TW 200942466A TW 097145572 A TW097145572 A TW 097145572A TW 97145572 A TW97145572 A TW 97145572A TW 200942466 A TW200942466 A TW 200942466A
- Authority
- TW
- Taiwan
- Prior art keywords
- vessels
- repairs
- operations
- devices
- methods
- Prior art date
Links
- 238000007689 inspection Methods 0.000 title abstract 2
- 238000000034 method Methods 0.000 title abstract 2
- 230000008439 repair process Effects 0.000 title abstract 2
- 239000000356 contaminant Substances 0.000 abstract 1
- 239000000463 material Substances 0.000 abstract 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Filling Or Discharging Of Gas Storage Vessels (AREA)
- Filling Of Jars Or Cans And Processes For Cleaning And Sealing Jars (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/944,669 US7971497B2 (en) | 2007-11-26 | 2007-11-26 | Devices and methods for performing inspections, repairs, and/or other operations within vessels |
Publications (2)
Publication Number | Publication Date |
---|---|
TW200942466A true TW200942466A (en) | 2009-10-16 |
TWI361161B TWI361161B (en) | 2012-04-01 |
Family
ID=40451070
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW097145572A TWI361161B (en) | 2007-11-26 | 2008-11-25 | Devices and methods for performing inspections, repairs, and/or other operations within vessels |
TW101104118A TWI491542B (zh) | 2007-11-26 | 2008-11-25 | 於容器內進行檢查、修護及或其它操作的裝置及方法 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW101104118A TWI491542B (zh) | 2007-11-26 | 2008-11-25 | 於容器內進行檢查、修護及或其它操作的裝置及方法 |
Country Status (6)
Country | Link |
---|---|
US (2) | US7971497B2 (zh) |
EP (2) | EP2062659B1 (zh) |
JP (2) | JP2009126585A (zh) |
KR (1) | KR101061263B1 (zh) |
CN (1) | CN101450483B (zh) |
TW (2) | TWI361161B (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TWI468989B (zh) * | 2011-12-23 | 2015-01-11 | Hewlett Packard Development Co | 基於手勢之輸入命令 |
Families Citing this family (26)
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US10861146B2 (en) | 2005-04-15 | 2020-12-08 | Custom Industrial Automation Inc. | Delayed petroleum coking vessel inspection device and method |
US9524542B1 (en) * | 2005-04-15 | 2016-12-20 | Custom Industrial Automation Inc. | Delayed petroleum coking vessel inspection device and method |
US8093573B2 (en) * | 2008-09-25 | 2012-01-10 | Columbiana Hi Tech Llc | Container for transporting and storing uranium hexaflouride |
ES2753618T3 (es) * | 2009-05-27 | 2020-04-13 | Rolls Royce Nuclear Field Services Inc | Un sistema de inspección vehicular para inspeccionar un lado secundario de un generador de vapor |
CN103002996A (zh) * | 2010-06-23 | 2013-03-27 | Ocs技术公司 | 用于清洁容器的方法和设备 |
CA2836306A1 (en) * | 2011-06-16 | 2012-12-20 | Ssv Inspections Inc. | Method and system for in-situ visual inspection of a valve |
CN102998416A (zh) * | 2011-09-08 | 2013-03-27 | 中国石油天然气股份有限公司 | 一种简易油气管道牵引测试方法和装置 |
TWI577881B (zh) * | 2014-12-25 | 2017-04-11 | Nat Kaohsiung First Univ Of Science And Tech | Unattended vehicle with multiple sensing function |
CN105013775B (zh) * | 2015-08-18 | 2017-03-08 | 深圳市中航大记股份有限公司 | 一种基于力矩控制的管道自动清洗机器人的控制方法 |
DK178897B1 (da) * | 2015-10-12 | 2017-05-08 | Intelligent Marking Aps | Selvkørende robotenhed omfattende et navigationssystem og bevægeorganer til positionering af robotenheden på et jævnt underlag. |
CN105537213A (zh) * | 2016-02-20 | 2016-05-04 | 国网浙江嘉善县供电公司 | 一种无线控制的电缆管道清障器 |
MX2019013900A (es) * | 2017-05-25 | 2020-01-20 | Ecoserv Technologies Llc | Dispositivos, sistemas y metodos para limpiar contenedores. |
ES2774199T3 (es) | 2017-12-15 | 2020-07-17 | Tankbots Inc | Métodos para realizar tareas en un tanque que contiene sustancias peligrosas |
PL425243A1 (pl) * | 2018-04-16 | 2019-10-21 | Ponar Wadowice Spółka Akcyjna | Samojezdne sterowane urządzenie czyszczące wysokociśnieniowe, korzystnie magnetyczne, z mechanizmem obrotowym |
US11925824B2 (en) * | 2018-08-13 | 2024-03-12 | Phillips 66 Company | Method and apparatus for launching and recovering a remote inspection device from a volatile liquid storage tank |
CA3136306C (en) | 2019-02-20 | 2023-10-03 | Tankbots, Inc. | Methods for performing tasks inherently safely in a tank containing hazardous substances |
US20210380187A1 (en) * | 2019-02-28 | 2021-12-09 | Board Of Regents, The University Of Texas System | Tank Seal Inspection |
CN110180842A (zh) * | 2019-05-09 | 2019-08-30 | 北京史河科技有限公司 | 爬壁机器人 |
CN110455808A (zh) * | 2019-07-23 | 2019-11-15 | 上海航天精密机械研究所 | 适用于管件内部质量检测的智能质检系统及方法 |
US11415260B2 (en) | 2019-11-06 | 2022-08-16 | Saudi Arabian Oil Company | Robotic inspection device for tank and pipe inspections |
US11526168B2 (en) | 2019-11-14 | 2022-12-13 | Saudi Arabian Oil Company | Robotic inspection of in-service tanks through lower wall |
CA3185841A1 (en) * | 2020-06-04 | 2021-12-09 | U.S. Submergent Technologies, Llc | Method and system of cleaning submerged structures |
ES2946965T3 (es) * | 2020-06-12 | 2023-07-28 | Tankbots Inc | Método para recuperar una plataforma móvil de un tanque que contiene sustancias energéticas |
CN112026624B (zh) * | 2020-09-04 | 2022-11-08 | 徐州徐工环境技术有限公司 | 一种土壤检测车全流程辅助作业系统 |
US11779968B2 (en) | 2021-07-19 | 2023-10-10 | Clean Harbors Industrial Services, Inc. | Remotely operated vessel cleaning apparatus and method |
BE1029681B1 (de) * | 2021-08-13 | 2023-03-13 | Rosen Swiss Ag | Verfahren zur Inspektion eines Tanks, Schleusenvorrichtung und Anordnung, umfassend einen Tank, eine Schleusenvorrichtung und ein Inspektionsgerät |
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US3664922A (en) | 1969-12-18 | 1972-05-23 | Combustion Eng | In-service inspection of reactor vessel welds |
US3653265A (en) * | 1970-09-11 | 1972-04-04 | Atlantic Richfield Co | Catalyst sampling apparatus |
US3715914A (en) | 1970-10-12 | 1973-02-13 | Babcock & Wilcox Co | On site pressure vessel inspection device |
US3784827A (en) | 1971-03-05 | 1974-01-08 | Industrial Dynamics Co | Container inspection system and method |
US3708064A (en) | 1971-03-16 | 1973-01-02 | Owens Illinois Inc | Method and apparatus for inspecting dielectric members |
US3857052A (en) | 1972-04-28 | 1974-12-24 | Rockwell International Corp | Inspection and analysis system |
US3895604A (en) * | 1973-06-15 | 1975-07-22 | John W Ryan | Duct coating apparatus |
JPS51130074A (en) | 1975-05-06 | 1976-11-12 | Kiichi Hirata | Apparatus for cleaning off substances adhering to vessels or construct ions below the water surface |
JPS5518962A (en) | 1978-07-27 | 1980-02-09 | Hitachi Ltd | Device for detecting in nuclear reactor vessel |
US4385318A (en) | 1980-11-07 | 1983-05-24 | Owens-Illinois, Inc. | Method and apparatus for comparing data signals in a container inspection device |
US4391373A (en) | 1980-11-10 | 1983-07-05 | Barry-Wehmiller Company | Method of and apparatus for compensating signal drift during container inspection |
JPS5826256A (ja) | 1981-08-07 | 1983-02-16 | Kubota Ltd | 管の検査装置 |
US4432013A (en) | 1981-11-23 | 1984-02-14 | Owens-Illinois, Inc. | Method and apparatus for comparing data signals in a container inspection device |
US4491237A (en) | 1982-07-15 | 1985-01-01 | Foster Wheeler Energy Corporation | Replaceable inspection plug assembly |
US4696544A (en) | 1985-11-18 | 1987-09-29 | Olympus Corporation | Fiberscopic device for inspection of internal sections of construction, and method for using same |
FR2607421B1 (fr) * | 1986-12-01 | 1989-03-24 | Electricite De France | Dispositif d'exploration et/ou de traitement d'une surface lisse courbe |
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JP3421011B2 (ja) * | 2000-11-17 | 2003-06-30 | 石川島検査計測株式会社 | 差圧式微少リーク検出方法及び装置 |
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US20040004551A1 (en) * | 2002-07-08 | 2004-01-08 | Early Gay M. | Fluid management system |
JP2004055723A (ja) * | 2002-07-18 | 2004-02-19 | Seiko Epson Corp | 横型熱処理炉用光軸モニタ治具及び半導体装置の製造方法及び半導体装置 |
US6929142B2 (en) | 2002-07-29 | 2005-08-16 | Ast Services Llc | Removable hatch cover for an internal floating roof manway |
US7001106B2 (en) * | 2003-07-08 | 2006-02-21 | The Regents Of The University Of California | Installation of service connections for sensors or transmitters in buried water pipes |
US7265662B2 (en) | 2005-03-17 | 2007-09-04 | Praxair Technology, Inc. | Apparatus and method for inspecting containers |
CN100386181C (zh) | 2005-06-16 | 2008-05-07 | 武汉大学 | 检测机器人 |
JP4624273B2 (ja) * | 2006-02-07 | 2011-02-02 | 川田工業株式会社 | 内骨格型ロボット用外装 |
-
2007
- 2007-11-26 US US11/944,669 patent/US7971497B2/en not_active Expired - Fee Related
-
2008
- 2008-11-25 EP EP08020445.6A patent/EP2062659B1/en not_active Not-in-force
- 2008-11-25 TW TW097145572A patent/TWI361161B/zh not_active IP Right Cessation
- 2008-11-25 TW TW101104118A patent/TWI491542B/zh not_active IP Right Cessation
- 2008-11-25 EP EP14003508.0A patent/EP2851135B1/en not_active Not-in-force
- 2008-11-26 KR KR1020080118335A patent/KR101061263B1/ko active IP Right Grant
- 2008-11-26 JP JP2008300711A patent/JP2009126585A/ja active Pending
- 2008-11-26 CN CN2008101893287A patent/CN101450483B/zh not_active Expired - Fee Related
-
2011
- 2011-05-12 US US13/106,430 patent/US8616075B2/en not_active Expired - Fee Related
- 2011-12-13 JP JP2011271967A patent/JP5302384B2/ja not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TWI468989B (zh) * | 2011-12-23 | 2015-01-11 | Hewlett Packard Development Co | 基於手勢之輸入命令 |
Also Published As
Publication number | Publication date |
---|---|
EP2062659A2 (en) | 2009-05-27 |
TW201223838A (en) | 2012-06-16 |
US8616075B2 (en) | 2013-12-31 |
KR20090054401A (ko) | 2009-05-29 |
TWI361161B (en) | 2012-04-01 |
EP2851135B1 (en) | 2019-01-30 |
CN101450483A (zh) | 2009-06-10 |
CN101450483B (zh) | 2012-07-11 |
US20120125128A1 (en) | 2012-05-24 |
EP2851135A1 (en) | 2015-03-25 |
KR101061263B1 (ko) | 2011-08-31 |
JP2009126585A (ja) | 2009-06-11 |
JP2012071899A (ja) | 2012-04-12 |
JP5302384B2 (ja) | 2013-10-02 |
EP2062659B1 (en) | 2015-06-17 |
EP2062659A3 (en) | 2012-08-08 |
US7971497B2 (en) | 2011-07-05 |
TWI491542B (zh) | 2015-07-11 |
US20090133515A1 (en) | 2009-05-28 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
MM4A | Annulment or lapse of patent due to non-payment of fees |