WO2011084143A1 - Procédés d'inspection de réservoirs atmosphériques de stockage situés au sol ou dans des vaisseaux flottants - Google Patents

Procédés d'inspection de réservoirs atmosphériques de stockage situés au sol ou dans des vaisseaux flottants Download PDF

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Publication number
WO2011084143A1
WO2011084143A1 PCT/US2010/003222 US2010003222W WO2011084143A1 WO 2011084143 A1 WO2011084143 A1 WO 2011084143A1 US 2010003222 W US2010003222 W US 2010003222W WO 2011084143 A1 WO2011084143 A1 WO 2011084143A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
tank
pressure
floor
float
Prior art date
Application number
PCT/US2010/003222
Other languages
English (en)
Inventor
W. Thor Zollinger
Original Assignee
Intrepid Robotics, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US12/653,901 external-priority patent/US20100180672A1/en
Application filed by Intrepid Robotics, Inc. filed Critical Intrepid Robotics, Inc.
Publication of WO2011084143A1 publication Critical patent/WO2011084143A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/227—Details, e.g. general constructional or apparatus details related to high pressure, tension or stress conditions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M3/00—Investigating fluid-tightness of structures
    • G01M3/005—Investigating fluid-tightness of structures using pigs or moles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M3/00—Investigating fluid-tightness of structures
    • G01M3/38—Investigating fluid-tightness of structures by using light
    • 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
    • G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/26—Scanned objects
    • G01N2291/269—Various geometry objects
    • G01N2291/2695—Bottles, containers

Abstract

L'invention porte sur une méthode sûre d'inspection des réservoirs atmosphériques de stockage situés au sol ou dans des vaisseaux flottants, sans avoir à les vidanger. Ladite méthode consiste à utiliser un robot anti-déflagration spécifiquement conçu à cet effet, et à surveiller la pression à l'intérieur et à l'extérieur du robot pendant l'inspection. Le robot cessera de fonctionner si la pression à l'intérieur du robot descend au dessous de la pression à l'extérieur du robot.
PCT/US2010/003222 2009-12-21 2010-12-21 Procédés d'inspection de réservoirs atmosphériques de stockage situés au sol ou dans des vaisseaux flottants WO2011084143A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US12/653,901 2009-12-21
US12/653,901 US20100180672A1 (en) 2008-12-20 2009-12-21 Methods for inspecting atmospheric storage tanks above ground and in floating vessels

Publications (1)

Publication Number Publication Date
WO2011084143A1 true WO2011084143A1 (fr) 2011-07-14

Family

ID=43827094

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2010/003222 WO2011084143A1 (fr) 2009-12-21 2010-12-21 Procédés d'inspection de réservoirs atmosphériques de stockage situés au sol ou dans des vaisseaux flottants

Country Status (1)

Country Link
WO (1) WO2011084143A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10067096B2 (en) 2016-02-26 2018-09-04 Dakont Advanced Technologies, Inc. Apparatus, system and method for automated nondestructive inspection of metal structures
WO2020171811A1 (fr) * 2019-02-20 2020-08-27 Tankbots, Inc. Procédés pour réaliser des tâches de manière intrinsèquement sûre dans un réservoir contenant des substances dangereuses
US11181438B2 (en) 2017-12-15 2021-11-23 Tankbots, Inc. Methods for performing tasks in a tank containing hazardous substances
WO2021232415A1 (fr) * 2020-05-22 2021-11-25 深圳市锐明技术股份有限公司 Dispositif de caméra anti-explosion monté sur un véhicule

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4706001A (en) * 1984-07-04 1987-11-10 Fanuc Ltd. Industrial robot
US5435405A (en) * 1993-05-14 1995-07-25 Carnegie Mellon University Reconfigurable mobile vehicle with magnetic tracks
US5819863A (en) * 1996-08-28 1998-10-13 Lockheed Martin Idaho Technologies Company Vehicle for carrying an object of interest
WO2000055594A2 (fr) * 1999-03-18 2000-09-21 Bechtel Bwxt Idaho, Llc Retards ultrasonores utilises dans des environnements sujets a des explosions
US20080148876A1 (en) * 2000-04-20 2008-06-26 Vince Hock System and method for accessing ferrous surfaces normally accessible only with special effort

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4706001A (en) * 1984-07-04 1987-11-10 Fanuc Ltd. Industrial robot
US5435405A (en) * 1993-05-14 1995-07-25 Carnegie Mellon University Reconfigurable mobile vehicle with magnetic tracks
US5819863A (en) * 1996-08-28 1998-10-13 Lockheed Martin Idaho Technologies Company Vehicle for carrying an object of interest
WO2000055594A2 (fr) * 1999-03-18 2000-09-21 Bechtel Bwxt Idaho, Llc Retards ultrasonores utilises dans des environnements sujets a des explosions
US20080148876A1 (en) * 2000-04-20 2008-06-26 Vince Hock System and method for accessing ferrous surfaces normally accessible only with special effort

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
CORREIA DA CRUZ A ET AL: "RobTank Inspec in service robotized inspection tool for hazardous products storage tanks", INDUSTRIAL ROBOT, MCB UNIVERSITY PRESS, GB, vol. 32, no. 2, 1 January 2005 (2005-01-01), pages 157 - 162, XP009128293, ISSN: 0143-991X, DOI: DOI:10.1108/01439910510582282 *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10067096B2 (en) 2016-02-26 2018-09-04 Dakont Advanced Technologies, Inc. Apparatus, system and method for automated nondestructive inspection of metal structures
US11181438B2 (en) 2017-12-15 2021-11-23 Tankbots, Inc. Methods for performing tasks in a tank containing hazardous substances
US11415566B2 (en) 2017-12-15 2022-08-16 Tankbots, Inc. Methods utilizing a tethered buoyant body to retrieve a mobile platform from a tank containing a hazardous substance
US11536705B2 (en) 2017-12-15 2022-12-27 Tankbots, Inc. Methods for controlling charge accumulation while operating a mobile platform immersed in a hazardous, non-conductive substance
US11604180B2 (en) 2017-12-15 2023-03-14 Tankbots, Inc. Voltage differential reduction methods used while retrieving a mobile platform from a tank containing a hazardous, non-conductive substance
WO2020171811A1 (fr) * 2019-02-20 2020-08-27 Tankbots, Inc. Procédés pour réaliser des tâches de manière intrinsèquement sûre dans un réservoir contenant des substances dangereuses
US11828731B2 (en) 2019-02-20 2023-11-28 Tankbots, Inc. Methods for performing tasks inherently safely in a tank containing hazardous substances
WO2021232415A1 (fr) * 2020-05-22 2021-11-25 深圳市锐明技术股份有限公司 Dispositif de caméra anti-explosion monté sur un véhicule

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