WO2012150364A1

WO2012150364A1 - Inspection and measurement method and system for use in ships' tanks and holds

Info

Publication number: WO2012150364A1
Application number: PCT/ES2012/000115
Authority: WO
Inventors: Jésus PANADERO PASTRANA; José DE LARA REY; Alberto MUÑOZ ESTEBAN
Original assignee: Universidad Politecnica De Madrid
Priority date: 2011-05-04
Filing date: 2012-04-27
Publication date: 2012-11-08
Also published as: ES2396259A1; ES2396259B2

Abstract

The invention relates to a method and system for the inspection and measurement of thicknesses in ships' tanks and holds, comprising the following steps consisting in: moving and positioning an endoscope (1) in one of the openings used to access, load or clean the upper or weather deck of the ship, using movement means (2, 3), said endoscope (1) comprising a motorised base (1.1), an orientable extendable boom (1.2) joined at the upper end thereof to the motorised base (1.1) and at least one observation/measuring device (1.3, 1.4); sending positioning co-ordinates to the observation/measurement device of the endoscope, either manually or automatically; performing the measurement and/or the inspection by actuating the elements built into the endoscope and designed for this purpose; and archiving, processing and displaying the information in a control unit and processing the data and the measurements taken.

Description

PROCEDURE AND SYSTEM OF INSPECTION AND MEASUREMENT IN WINERIES AND

VESSEL TANKS

Field of the Invention

The present invention is included within the Maritime-Naval sector, and more specifically, in inspection systems and thickness measurement in warehouses and ship tanks.

Background of the invention

a) The "close-up" inspection and the measurement of thicknesses of the structural elements of the warehouses and tanks of Bulk Carriers and Tankers in service built prior to January 1, 2006, is currently carried out by applying one of the following options :

a.1) Applicable to the "close-up" inspection and thickness measurement in Bulk-Carriers and Tankers (the latter once cleaned and degassed). It consists of the following steps:

• Flooding of the hold or cargo tank to a level close to 2 m below the deck.

• Introduction of a pneumatic boat in the hold or cargo tank, through its hatch

· First tour of the warehouse or cargo tank in the pneumatic boat.

Close-up inspection and measurement of sheet thicknesses and structural elements, using ultrasonic equipment

• Progressive emptying of the cargo hold or tank and execution of successive routes in the pneumatic boat, performing "close-up" inspections and thickness measurements

This procedure has as main limitations that:

• Requires prior cleaning and filling work with seawater from the warehouse or tank to be inspected or measured.

• Said cleaning must be carried out with great care to avoid contaminating the surrounding waters, when afterwards the progressive emptying of the warehouse or cargo tank under inspection is carried out.

• It can only be done in ports with sufficient draft, or in very sheltered areas where the ship barely moves during the permanence of the personnel in the pneumatic boat, inside the warehouses or tanks

• In the case of oil tankers, it is also necessary to carry out a previous degassing of the cargo tanks

a.2) Applicable to "close-up" inspection and thickness measurement in Bulk-Carriers. It consists of the following steps:

• Start of unloading in a warehouse.

• Situation on the cargo in the hold of the personnel who will carry out the inspection or measurement.

• First tour of the winery walking on the load. Close-up inspection and measurement of sheet thicknesses and structural elements, using ultrasonic equipment.

• Progressive unloading of the winery and successive tours of the winery by the personnel, carrying out inspections and measurements.

This procedure has as main limitations that it is only applicable to dry cargo ships and that, depending on the nature of the cargo, can be dangerous for the health or safety of the people who carry it out, so it can be rejected by competent inspectors, or prohibited by labor authorities

a.3) Applicable to "close-up" inspection and thickness measurement in Bulk-Carriers. It consists of the following steps:

• Mountaineering ropes tied in the arm of an empty warehouse

• Descent through said ropes of auxiliary personnel provided with video cameras and ultrasonic equipment, to film the state of the structural elements of the warehouse and measure its thickness.

This procedure has as main limitations that it is only applicable to ships with large cargo hatches, and that must be carried out by sports personnel who generally lack technical knowledge, which hinders the quality and accuracy of inspections and measurements, even when Said auxiliary personnel are directed, at a distance, by expert inspectors.

b) In accordance with the Regulations in force in this regard, the warehouses and cargo tanks of the Bulk Carriers and Oil Tankers in service built after January 1, 2006 must be provided with means of access to the elements to be inspected and measured, so, initially, it should not be required in they of no preparatory action to carry out inspections and measurements. However, the means of access imposed by the new Regulations also have negative aspects, the following being highlighted:

b.1) Negative incidents of the means of access imposed by the new Regulations on the construction and operation of these vessels:

• The warehouses and cargo tanks of ships built after 2005 permanently carry equipment, ladders, stairs and platforms inside them, which are only used for a small fraction of their useful life.

· The aforementioned ladders, stairs and platforms represent a small decrease in the volume and weight of payload that ships can transport.

• Its fixing by welding to the structures of ships, decks and bulkheads, is usually done at an advanced stage of their armament, which results in the protection paint of said metallic elements being burned, if they are not properly corrected. , foci of beginning of corrosion, that can produce:

- A deterioration of the structural elements of the holds and cargo tanks, to the detriment of the life of the ship.

- A weakening of the fixing elements of the scales, stairs and platforms, with the consequent risk to the people who will travel through them.

• The ladders, stairs and platforms are, in a way, an inconvenience for the cleaning of the cargo spaces since they usually deposit or adhere to them remains of the cargo.

• Finally, it cannot be mentioned that the manufacture in the workshop and the assembly on board of the ladders, stairs and platforms for access to warehouses and cargo tanks are some concepts of costs in the construction of these ships.

b.2) Negative effects on the people of the means of access imposed by the new Regulations:

• Risk of physical damage for people who access warehouses or cargo tanks, as a result of the fact that current scales, stairs and access platforms may have some steps or sections of slippery handrails due to the adherence to them of remains of the cargo, or deteriorated by the chemical action of the cargo, as well as the poor visibility in these spaces, especially in tanks, since the latter do not receive natural light in any situation and, very frequently, the only existing light It is the lanterns or bulbs that people carry. Therefore, it is understood that there is a risk that someone may suffer a slip or fall of unforeseeable consequences.

• Physical fatigue for people. In large ships with much strut, it is very tiring to descend and, above all, ascend and transit the ladders, stairs and platforms located inside their warehouses and cargo tanks. The problem is aggravated if, in addition, the person must be a carrier of tools or work tools and, as is often the case, must go up and down several times during the work day.

c) The information published in specialized journals on projects for the development of robotic systems for inspection and measurement of thicknesses in warehouses and tanks show that these are attempts to adapt and use on board for this purpose some existing means that are used to certain purposes in other industrial sectors. In no case, these systems have been the result of an abstraction about the situation and the possibilities on board, followed by the corresponding specific development.

In some industrial activities, robots are used that periodically travel and measure the thicknesses of the plates of containers and storage tanks, remaining adhered to the surfaces, (always smooth) to be measured by means of magnetic devices or by suction cups, and mechanically advancing on them. These same types of robots are also used in the industry in automatic welding processes, cleaning by pressurized water jets, etc.

Undoubtedly, the aforementioned types of robots may have application for the measurement of shell thicknesses of the hull outside the vessel. On the other hand, and although this is possible, it seems inadequate to try to adapt them for the inspection and measurement of thicknesses of structural elements inside warehouses and cargo tanks of ships in service, since in their movement "attached" to the sheets of the structures would have to overcome a large number of obstacles, (structural reinforcements), so the measurement process would be slow and its "performance" would be low. For some years underwater robotics has experienced remarkable development, so that today the market offers a variety of ROV ^'s (underwater robots) operated by umbilicals. As in the previous case, the use of these vehicles can only be adequate to carry out inspections and measurements in the hull by the exterior of the ship and, at most, inside ballast tanks but never in warehouses and tanks load.

In short, the known attempts to use robotic systems are not the result of an abstraction about the situation and the possibilities on board, followed by the corresponding specific development, which is why they are therefore not considered or satisfactory for these purposes. These robots, at the most, can be useful for the external inspection of the hull and for the measurement from said position of the thicknesses of their plates

Description of the invention

The invention solves the aforementioned problems by means of a system specifically designed to execute and, if desired, automate the performance of inspections and thickness measurements that, on a mandatory and periodic basis, must be carried out on the structural elements. that make up the holds and cargo tanks of ships, and especially oil tankers and bulk carriers, without this requiring a human presence inside these spaces and without the use of the system being limited by the dimensions of the large ships

The inspection and measurement procedure in warehouses and tanks of ships of the invention allows the realization of "close-up" or close-up visual inspections, the measurement of thicknesses, the measurement of dimensions or deformations in structural elements, the state inspection of welded joints, the detection of fatigue cracks, and the performance of small preliminary cleaning or peeling work on any structural element, pipe, equipment or accessory located inside a warehouse or tank of a ship, without requiring that in these spaces have a human presence or that fixed or removable access elements of any kind have been arranged.

The inspection and measurement procedure in warehouses and ship tanks includes the following stages:

- Introduction of an endoscope, which comprises at least one observation-measuring device, in one of the openings in the upper cover or weathering of the ship, for access, loading or cleaning of said spaces using the means of travel and support of the endoscope,

- Sending positioning coordinates to the equipment or the observation-measuring equipment of the endoscope manually or automatically,

- Automatic positioning of the observation-measuring equipment of the endoscope, in the vicinity or on the elements to be inspected or measured, according to the positioning coordinates received, without in its movement any elements of the same that roll adhere or rest on the structure of warehouses and tanks, and without floating or navigating in a liquid, and

- realization or execution of the measurement of thicknesses, the measurement of dimensions or deformations in structural elements, the inspection of the state of the welded joints, the detection of fatigue cracks, or the accomplishment of small previous works of cleaning or descaling on any element structural, pipe, equipment or accessory located inside a warehouse or tank of a ship, by acting on the elements incorporated in the endoscope designed for this purpose, and sending the corresponding signals for subsequent archiving, processing and visualization in a control and data processing unit

The process of the invention allows inspection and measurement to be carried out without the need to previously carry out the washing or degassing of the hold or tank.

The inspection or measurement by the observation equipment of the endoscope on successive points of a warehouse or tank can be ordered:

- In manual mode:

- through the operation of an operator located outside the warehouses and tanks, which will load the coordinates of the points to be inspected or measured in a Control Unit, or

- mark them on the ship with a light or laser pointer,

- In automatic mode through the Control Unit itself that will issue the corresponding orders to act at successive points whose positions are determined in a computer file containing the

Ship Inspection and Thickness Measurement Plan.

The system of the invention for the inspection and measurement in warehouses and tanks of ships by the procedure indicated above, comprises an endoscope designed with the appropriate dimensions so that it can be located and introduced by each of the cleaning records of the existing tanks on the deck of weathering of oil tankers, and means of displacement and positioning of the endoscope for performing the desired inspection and measurement.

In case it is convenient, the endoscope can also be placed and introduced into the cargo tanks and in the ship's warehouses through the access hatches to said spaces, provided that in the vertical of those hatches no scales have been arranged or other impediments.

The endoscope consists in its upper part of a motorized pedestal that can be fixed on each of the aforementioned cleaning records or on the access hatches. The aforementioned pedestal supports and has inside it a vertical tube that can rotate azimuthally and that at its lower end is connected by means of a joint to the upper end of an extendable and adjustable pen, whose lower end is carried by a robot. By rotating the vertical tube and extending and raising the boom, the robot can be brought to the vicinity or come into contact with any point in the warehouse or tank to be inspected. To perform the required functions, the robot is equipped with a TV camera, an ultrasonic thickness gauge and other accessories.

By fixing, successively, the endoscope on each cleaning record of an oil tanker, or by simultaneously placing several endoscopes on the corresponding records, the state can be observed or the thickness of each structural element of an oil tanker can be measured.

The inspection and measurement of thicknesses in the holds of bulk carriers can be carried out from their cargo hatches, for which the endoscope is mounted on a carriage that can be moved on a frame adaptable to the hatches that are previously arranged on your arm

If desired, each endoscope can be equipped with complementary equipment to facilitate its movement through the ship's deck and its positioning on the hatches and registers, as well as its transfer to the stowage assigned on board.

The signals generated by the endoscopes and the control of these equipments are received and emitted from a Control Unit that can be located on the ship itself, on the dock, or anywhere else at a distance.

The use of the System of the invention for these purposes in the Tankers and Bulk Carriers in service will reduce the number of days that each of these ships has to be periodically immobilized to carry out inspections and regulatory measurements. On the other hand, the use of the system of the invention in the new Tankers and Bulk Carriers will prevent these ships from having to be built with permanent means of access in their cargo tanks and warehouses, and reduce the number of days each of these vessels must be periodically immobilized to carry out inspections and regulatory measurements on it.

The System allows to perform visual inspections "close-up" or in the foreground, measure thicknesses and measure dimensions or deformations of any structural element, pipe, equipment or accessory located inside a warehouse or cargo tank of a ship, acting endoscopically through the openings in the upper deck for access, loading or cleaning of these spaces, as well as doing small cleaning or peeling work:

• Without requiring a human presence inside these spaces

• Without requiring that there be fixed or removable access elements of any kind inside these spaces.

· Moving aerially to the vicinity of these elements, making the journey without rolling, adhering or resting on the structure.

• Without requiring the presence in those spaces of a liquid, that of the load or ballast or other, since the equipment does not need to navigate in a liquid to move.

• Without requiring that there be a considerable degree of cleanliness in the structure of the warehouse or tank, as the inspection and measurement equipment moves without adhering to the structure and without resting on it.

The system of the invention allows the possibility of carrying out emergency inspections without it being essential to carry out, in advance, the washing of the hold or tank and the degassing of the hold or tank.

In the case of Tankers, the Extendable Pen of the System Endoscope has been projected with the appropriate dimensions to reach any point of the structure of a cargo tank acting from each of the existing cleaning records on the upper deck of the ship, Whatever the dimensions of the tank.

In the case of Bulk Carriers, the Extendable Pen of the endoscope is projected with the appropriate dimensions to reach any point of the structure of a cargo hold by previously arranging the endoscope on a Cart that can move along a frame arranged on the cargo hatch, whatever the dimensions of the hold.

The system can perform inspections or measurements inside a warehouse or cargo tank of a ship:

· Acting at successive points whose positions are set by the operator by entering their coordinates in the system or marking said points with a light or laser pointer, or

• Acting automatically at successive points whose positions are determined in a computer file containing the Ship's Inspection and Thickness Measurement Plan.

Likewise, the dimensions measured for reporting, trend analysis, or planimetric surveys can be archived.

Brief description of the drawings

A series of drawings that help to better understand the invention and that expressly relate to an embodiment of said invention which is presented as a non-limiting example thereof is described very briefly below.

Figure 1 shows a perspective view of the endoscope of the system of the invention,

Figure 2 shows a perspective detail of the pedestal of the invention,

Figure 3 shows a section by lll-lll of figure 2,

Figure 4 shows a perspective detail of the main observer-meter,

Figure 5a shows a perspective view of a first preferred embodiment of a means of displacement of the endoscope of the system of the invention, in horizontal displacement position.

Figure 5b shows a perspective view of a first preferred embodiment of a means of displacement of the endoscope of the system of the invention, in a position of vertical displacement.

Figure 6 shows a perspective view of the system with the displacement means of Figure 5b folded, and the endoscope positioned on a structural element of an oil tanker.

Figure 7 shows a perspective view of a second preferred embodiment of a horizontal displacement means of the endoscope of the system of the invention Figure 8 shows an explosion of the displacement means of Figure 7.

Figure 9 shows a perspective view of the system with the displacement means of Figure 7 in a bulkcarrier.

Figure 10 shows a perspective view of the system with the displacement means of Figure 7 deployed.

Detailed description of one embodiment

The inspection and measurement system in warehouses and tanks of ships of the invention comprises, according to Figures 1-10:

- an endoscope (1)

- means of displacement and positioning of the endoscope (2, 3)

- a system control unit, to control the movements of the endoscope components, activate or deactivate its sensors and accessories and process and archive the information collected by the system.

- coupling means (4) from the motorized pedestal to the access hatches and cleaning records of different geometry,

This system shown in Figures 1 through 10 allows inspection and measurement in warehouses to be carried out through the following stages:

- move and position the endoscope (1), which comprises at least one observation-measuring device, in one of the access, loading or cleaning openings of the upper deck or weathering of the ship,

- send positioning coordinates to the observation-measuring equipment of the endoscope, selected between manual or automatic and

- execute the measurement and / or inspection by acting on the elements incorporated in the endoscope designed for this purpose,

-filing, processing and visualizing in a control unit and data processing, the measures taken,

Figures 1, 2, 3 and 4 show the endoscope (1) of the inspection and measurement system of the invention, comprising:

- a motorized pedestal (1.1) comprising:

- a rigid frame (1.1.1) configured to be fixed to an access hatch or to a register for tank cleaning, by means of a coupling means (4),

- a rotating vertical tube (1.1.3) with respect to a vertical axis, partially arranged inside the rigid frame, - an azimuthal motion actuator (1.1.2) of the rotating vertical tube (1.1.3), arranged inside the rigid frame (1.1.1), and

- an internal hydraulic power plant (1.1.4), which can be powered by an umbilical electric cable

- an extendable and adjustable boom (1.2) joined by its upper end by means of a joint to the lower end of the rotating vertical tube (1.1.3) of the motorized pedestal (1.1),

- a main observer-meter (1.3) attached to the lower end of the extensible and adjustable boom (1.2).

- A complementary observer-meter (1.4), movable on the outer profile of the extensible and adjustable boom (1.2).

- A signal emitter-receiver device (1.5) capable of receiving from the control unit, the precise orders for the realization of the observations and measurements, and of transmitting to the control unit all the information of images and measurements captured by the observation-measurement equipment.

The system of the invention comprises an endoscope like the one shown in Figure 1 and means of displacement and positioning of the endoscope for carrying out the measurement and inspection.

These means of displacement and positioning can be of various types such as that shown in Figures 5a, 5b and 6, in which a means of displacement and positioning (2) of the endoscope (1) on the deck of ships on the ships is shown. Access hatches and tank cleaning records, comprising:

- a self-propelled carrier car (2.1),

- a plurality of extensible scissors (2.2), arranged on the self-propelled carrier carriage (2.1)

- a tilting mechanism (2.3) of the scissors and

- fastening means (2.4) of the end of the boom.

Another means of displacement and positioning (3) is that shown in Figures 7, 8, 9 and 10 in which a means of displacement and positioning of the endoscope (1) is shown on the loading hatches of the large bulkcarriers, comprising :

- a frame for cargo hatch (3.1), comprising a long frame (3.1.1) and a short frame (3.1.2), both U-shaped and equipped with motorized wheels, positioning wheels, roll-over wheels, engines step by step with reducer and fastening and lashing elements, as well as extension stringers (3.1.3) of the frame, and

- a carriage (3.2) movable on the frame (3.1), comprising a rectangular armor with skirts and central hole, equipped with wheels driven by stepper motors with gearboxes, for displacement, by pinions, of the carriage on the frame (3.1 ).

The extensible and adjustable boom (1.2), as shown in Figure 1, comprises a plurality of telescopic profiles (1.2.1), provided with guides (1.2.1.2) for their relative displacement that is carried out by means of a set of actuators, located inside; and also includes lugs and bolts (1.2.1.3), located at the upper end of the outer profile that allow its articulated connection to the rotating vertical tube (1.1.3), a flange at the lower end of the inner profile to support the main observer-meter assembly (1.3), and external guides (1.2.1.5) on the outer profile to drive the displacement of the complementary observer-meter assembly (1.4).

Additionally, the extensible and adjustable pen (1.2) comprises a set of accessories (1.2.3) that, at a minimum, are a light source, an image camera, laser sensors, laser pointer and an explosive atmosphere detector.

The main observer-meter (1.3), as seen in Figure 4, comprises:

- a robot (1.3.1),

- an observation device (1.3.2) composed of a camera for taking pictures and a security light bulb, and

- a measuring device (1.3.3), consisting of laser distance meters and a sensor for ultrasonic thickness measurement.

On the other hand, the complementary observer-meter (1.4), includes a positioning scissors, an observation equipment integrated by a camera for taking images and a security light bulb, and a measuring equipment, integrated by laser distance meters and by a sensor for measuring ultrasonic thicknesses.

Optionally, both the main observer-meter (1.3) and the complementary one (1.4) can comprise a rotating tool holder assembly (1.3.4), equipped with a motorized vacuum with a vacuum cleaner, a coupling doser for the ultrasonic sensor, a motorized sponge and a marker.

Claims

1. - Inspection and measurement procedure in warehouses and tanks of ships characterized by understanding the stages of:

- move and position an endoscope, which comprises at least one observation-measuring equipment, in one of the access, loading or cleaning openings of the upper deck or weathering of the ship,

- send positioning coordinates to the observation-measuring equipment of the endoscope,

- execute the measurement and / or inspection, and

-filing, processing and visualizing in a unit of control and data processing, the measurements made

2. - Inspection and measurement system in warehouses and tanks of ships by the method of claim 1 characterized by comprising:

- an endoscope (1) comprising, in turn:

- a motorized pedestal (1.1),

- a telescopic boom (1.2) comprising:

- a plurality of profiles (1.2.1) comprising guides (1.2.1.2) of relative displacement that is carried out by means of a set of actuators, located inside and

- lugs and bolts (1.2.1.3), located at the upper end of the boom, configured to allow its articulated connection to the rotating vertical tube (1.1.3),

- at least one observer-meter (1.3, 1.4), and

- a signal emitter-receiver device (1.5), and

- at least one means of displacement and positioning (2, 3) of the endoscope (1),

- a device for sending positioning coordinates to the endoscope (1),

- a file control unit for the movements of its components.

3. - System according to claim 2 characterized in that the equipment for sending positioning coordinates to the endoscope is the control unit of the system.

4. - System according to claim 2 characterized in that it comprises a luminous marker pointer of the positioning coordinates of the endoscope.

5. - System according to claims 2-4 characterized in that it comprises a coupling means (4) of the motorized pedestal (1.1) of the endoscope to the access hatches and cleaning records.

6. - System according to claims 2-5 characterized in that the positioning means (2) of the endoscope comprise:

- a self-propelled carrier carriage (2.1), on which extendable scissors (2.2) have been arranged,

- a tilting mechanism (2.3), of the scissors and

- a mechanism for clamping (2.4), of the end of the boom.

7. - System according to claims 2-5 characterized in that the positioning means (3) of the endoscope comprise a frame (3.1), on which a carriage (3.2) moves.

8. The system according to claim 7 characterized in that the carriage (3.2) comprises a rectangular frame with flaps and central hole, provided with wheels driven by stepper reducers for displacement engines, by pinions, carriage on the frame (3.1 ).

9. - Endoscope for inspection and measurement systems in warehouses and tanks of ships by the method of claim 1 characterized by comprising:

- a motorized pedestal (1.1)

- a telescopic boom (1.2) comprising:

- a plurality of profiles (1.2.1) comprising guides (1.2.1.2) of relative displacement that is carried out by means of a set of actuators, located inside

- at least one measuring observer (1.3, 1.4), and

- a signal emitter-receiver device (1.5).

10. - Endoscope according to claim 9 characterized in that it comprises a main observer-meter (1.3) attached to the lower end of the pen (1.2), and a complementary observer-meter (1.4), and the pen (1.2) comprises a flange in the lower inner end of the boom, supporting the main observer-meter assembly (1.3), and external guides (1.2.1.5) on the boom, to drive the displacement of the complementary observer-meter assembly (1.4).

11. - Endoscope according to claims 9-10 characterized in that the motorized pedestal (1.1) of the endoscope (1) comprises:

- a rigid frame (1.1.1) fixed to an access hatch or to a tank cleaning register, by means of a coupling means (4), - a rotating vertical tube (1.1.3) with respect to a vertical axis, partially arranged inside the rigid frame,

- an azimuthal motion actuator (1.1.2) of the rotating vertical tube (1.1.3), arranged inside the rigid frame (1.1.1), and

- an indoor hydraulic power plant (1.1.4).

12. - Endoscope according to claims 10 or 1, characterized in that the main observer (1.3) comprises:

13. - Endoscope according to claims 10-12 characterized in that the main observer-meter (1.3), comprises a rotating tool holder assembly (1.3.4), equipped with a motorized vacuum with a vacuum cleaner, a coupler doser for the ultrasonic sensor, a Motorized sponge and a marker.

14. - Endoscope according to claims 10 to 13 characterized in that the complementary observer meter (1.4), comprising a positioning scissors, observation equipment comprising a camera for imaging and a light source safety and measuring equipment, composed of laser distance meters and a sensor for ultrasonic thickness measurement.

15. - Endoscope according to claims 10-14, characterized in that the complementary observer-meter (1.4) comprises a rotating tool holder assembly, equipped with a motorized vacuum with a vacuum cleaner, a coupling doser for the ultrasonic sensor, a motorized sponge and a marker.