# US 10,482,591 B1 · Delayed petroleum coking vessel inspection device and method

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- Number: US 10,482,591 B1
- Document ID: US10482591B1
- Status: Granted
- Kind: B1
- Application number: 15/949,933
- Filed: 2018-04-10
- Granted: 2019-11-19
- Earliest claimed: 2005-04-15
- Assignees: Custom Industrial Automation Inc.
- Applicants: Custom Industrial Automation Inc.
- Inventors: Richard D. Clark; Daryl K. Rutt; John David Stratton
- Web page: https://patentgrep.com/patent/US10482591B1

## CPC

- G06T 7/0004: {Industrial image inspection}
- G01B 11/24: for measuring contours or curvatures
- G01N 21/8851: {Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges (G01N21/8806 and G01N21/93 - G01N21/95692 take precedence; optical measurement of dimensions G01B11/00; optical scanning G02B26/10; image transformation G06T3/00; computerised image enhancement G06T5/00; image processing per se for flaw detection G06T7/0002)}
- G01N 21/90: in a container or its contents (G01N21/91 takes precedence)
- G01N 21/9072: {with illumination or detection from inside the container}
- G01N 21/954: Inspecting the inner surface of hollow bodies, e.g. bores
- G06T 7/60: Analysis of geometric attributes
- G06V 20/41: {Higher-level, semantic clustering, classification or understanding of video scenes, e.g. detection, labelling or Markovian modelling of sport events or news items (segmenting video sequences G06V20/49)}
- H04N 5/265: Mixing
- H04N 7/18: Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N 23/50: Constructional details
- H04N 23/56: provided with illuminating means
- G01N 2021/8887: {based on image processing techniques}
- G01N 2201/061: Sources
- G06T 2207/30164: Workpiece; Machine component
- H04N 23/555: {for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes}
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q)
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION

## Abstract

This invention comprises a system and a method for inspecting the inside of delayed petroleum coking vessels to identify deformations, detect and determine the severity of other defects, and visually observe the inside of the inspected vessel.

## Claims

### Claim 1

A vessel inspection system for inspecting the interior surface of a delayed petroleum coking vessel to determine defects and dimensional changes in the vessel, the system including a device comprising:
a frame;
a support for supporting the frame for movement within the vessel along a vertical axis;
a rotary positioner adapted to position the frame rotationally with respect to a vertical axis;
an enclosure for electronics and optionally a source of pressurized gas connected to the enclosure to pressurize the enclosure to minimize incursion of combustible vapor into the enclosure;
a video camera supported on the frame and operably connected to at least one of a monitor and a recording means for providing video scanning of the interior surface of the vessel;
a camera positioner supported on the frame and operable to position the video camera for viewing by the video camera, the camera positioner being operable to position the video camera about a second axis perpendicular to the rotary positioner;
a floodlight supported on the frame for illuminating the interior surface of the vessel for viewing by the video camera;
a support on the vessel for clamping the support in a predetermined lateral and vertical position with respect to the vertical axis of the vessel during operation of the system;
a crawler positioned on an arm extension from at least one of the support and the frame for positioning the crawler proximate to all or selected portions of the interior of the vessel to be tested;
an Alternating Current Field Measurement (ACFM) unit mounted on the crawler for testing the all or selected portions of the interior of the vessel;
a laser mounted on the crawler for generating a sheet of laser light along a weld for aligning the ACFM to the weld;
a crawler positioner for positioning the crawler and ACFM unit in selected locations; and
a recorder coupled to the ACFM unit for recording signals indicative of the ACFM unit position and the ACFM unit data from the selected locations.

### Claim 2 (depends on 1)

The system of claim 1 wherein the crawler includes a camera and a light positioned on a frontal portion of the crawler for viewing a weld line in front of the crawler.

### Claim 3 (depends on 1)

The system of claim 1 wherein the crawler includes a camera and a light positioned on an underside of the crawler for viewing a weld line proximate to the ACFM.

### Claim 4 (depends on 1)

The system of claim 1 wherein the crawler includes at least three wheels for facilitating movement along the interior of the vessel.

### Claim 5 (depends on 1)

The system of claim 1 wherein the crawler includes at least three magnetic wheels for facilitating movement along the interior of the vessel with magnetic adherence to the interior of the vessel.

### Claim 6 (depends on 1)

The system of claim 1 wherein the crawler includes at least three wheels for facilitating movement along the interior of the vessel, at least one of which wheels is mounted with spring suspension.

### Claim 7 (depends on 1)

The system of claim 1 wherein the support is adapted to support the frame for movement along the vertical axis of the vessel and support the frame at a selected vertical position relative to the vertical axis.

### Claim 8 (depends on 1)

The system of claim 1 wherein a pressurized gas source is positioned in fluid communication with the frame to inject a gas stream into the frame at a pressure greater than the pressure in the vessel.

### Claim 9 (depends on 1)

The system of claim 1 wherein a pressurized gas source is positioned in fluid communication with the frame to inject a gas stream into the ACFM unit at a pressure greater than the pressure in the vessel.

### Claim 10 (depends on 1)

The system of claim 1 wherein the ACFM unit includes magnetic wheels to support the ACFM unit at a selected spacing from the interior surface of the vessel.

### Claim 11 (depends on 1)

The system of claim 1 wherein the ACFM unit is self-propelled.

### Claim 12 (depends on 1)

The system of claim 1 wherein the ACFM unit is moved relative to the interior surface of the vessel by the arm extension.

### Claim 13 (depends on 1)

The system of claim 1 wherein the arm extension is extendible and retractable.

### Claim 14 (depends on 1)

The system of claim 1 wherein the extendible arm is rotatable relative to the vertical axis.