US 5,473,953 AGranted

Device for inspecting vessel surfaces

AssigneeThe United States of America as represented by the United States Department of Energy

InventorD. Keith Appel

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Abstract

A portable, remotely-controlled inspection crawler for use along the walls of tanks, vessels, piping and the like. The crawler can be configured to use a vacuum chamber for supporting itself on the inspected surface by suction or a plurality of magnetic wheels for moving the crawler along the inspected surface. The crawler is adapted to be equipped with an ultrasonic probe for mapping the structural integrity or other characteristics of the surface being inspected. Navigation of the crawler is achieved by triangulation techniques between a signal transmitter on the crawler and a pair of microphones attached to a fixed, remote location, such as the crawler's deployment unit. The necessary communications are established between the crawler and computers external to the inspection environment for position control and storage and/or monitoring of data acquisition.

Claims17

Dependent claims

Apparatus for inspecting a surface, said apparatus for use with an inspection probe, said apparatus comprising:

a frame adapted for carrying said inspection probe so that said inspection probe is held within an operative distance from said surface;
means mounted to said frame for moving said frame along said surface so that said inspection probe can inspect said surface;
and
means connected to said frame for holding said apparatus in contact with said surface as said moving means moves said frame over said surface, wherein said holding means has
a vacuum chamber formed around said frame, said vacuum chamber having a peripheral edge,
a brush seal carried by said peripheral edge and in sealing engagement with said surface, and
means for reducing pressure in said vacuum chamber,
said vacuum chamber and said brush seal limiting air flow between said surface and said apparatus so that suction thereby created when said reducing means reduces pressure inside said vacuum chamber holds said apparatus to said surface,
said moving means and said holding means cooperating to allow said apparatus to move over said surface while being held to said surface, said apparatus movable controllably in preselected directions.

6 more elements

Apparatus for inspecting a wall, said apparatus for use with a probe, said apparatus comprising:

a frame;
a plurality of wheels carried by said frame for moving said frame over said wall, said wheels being made of a magnetic material;
means in radio communication with said frame for controlling said plurality of wheels;
and
means connected to said frame for holding said frame in contact with said wall as said plurality of wheels means moves said frame over said wall, said magnetic wheels assisting said holding means in holding said frame in contact with said wall, said holding means further comprising a vacuum chamber formed around said frame, said vacuum chamber having a peripheral edge;
a brush seal carded by said peripheral edge and in sealing engagement with said wall;
and
means for reducing pressure in said vacuum chamber,
said vacuum chamber and said brush seal limiting air flow between said wall and said apparatus so that suction thereby created when said reducing means reduces pressure inside said vacuum chamber holds said apparatus to said wall,
said plurality of wheels and said holding means cooperating to allow said frame to move over said wall while being held to said wall, said controlling means moving said frame in preselected directions for preselected distances so that said probe can collect said data with respect to said wall as said frame moves.

7 more elements

Apparatus for inspecting the walls of a vessel, said apparatus for use with an inspection probe, said apparatus comprising:

a frame adapted for carrying said inspection probe so that said inspection probe is held within an operative distance from said vessel walls;
means mounted to said frame for moving said frame over said vessel walls;
means connected to said frame for holding said apparatus in contact with said vessel walls as said moving means moves said frame over said vessel walls, the holding means comprising,
a vacuum chamber formed around said frame, said vacuum chamber having a peripheral edge;
a brush seal carded by said peripheral edge and in sealing engagement with said vessel walls;
and
means for reducing pressure in said vacuum chamber,
said vacuum chamber and said brush seal limiting air flow between said vessel walls and said apparatus so that suction thereby created when said reducing means reduces pressure inside said vacuum chamber holds said apparatus said vessel walls,
said moving means and said holding means cooperating to allow said frame to move over said vessel walls while being held to said vessel walls, said apparatus movable controllably in preselected directions;
and
means in communication with said apparatus for identifying the location of said apparatus on said vessel walls using triangulation.

8 more elements

Dependencies are inferred from the claim text.