US 11,719,592 B2
Integrity testing of storage tank structure using robotic ultrasound
Stephen Edward Walker, Redmond, WA (US); and Sheldon Rubin, Redmond, WA (US)
Assigned to Sonasearch, Inc., Waco, TX (US)
Filed by SONASEARCH, INC., Waco, TX (US)
Filed on Oct. 25, 2019, as Appl. No. 16/664,663.
Application 16/664,663 is a continuation of application No. 16/025,859, filed on Jul. 2, 2018, granted, now 10,488,294.
Application 16/025,859 is a continuation of application No. 14/924,567, filed on Oct. 27, 2015, granted, now 10,012,561, issued on Jul. 3, 2018.
Claims priority of provisional application 62/122,911, filed on Nov. 3, 2014.
Prior Publication US 2020/0054379 A1, Feb. 20, 2020
Prior Publication US 2023/0184616 A9, Jun. 15, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G01M 3/24 (2006.01); G01N 29/265 (2006.01); G01N 29/06 (2006.01); G01N 29/26 (2006.01); G01N 29/04 (2006.01); A61B 17/24 (2006.01); A61B 18/14 (2006.01); A61B 18/02 (2006.01); A61N 7/02 (2006.01); G01N 29/07 (2006.01); G01N 29/22 (2006.01); A61B 18/00 (2006.01); A61B 90/00 (2016.01); A61N 7/00 (2006.01)
CPC G01M 3/24 (2013.01) [A61B 17/24 (2013.01); A61B 18/02 (2013.01); A61B 18/1485 (2013.01); A61N 7/02 (2013.01); A61N 7/022 (2013.01); G01N 29/043 (2013.01); G01N 29/0618 (2013.01); G01N 29/265 (2013.01); A61B 2018/0022 (2013.01); A61B 2018/00327 (2013.01); A61B 2018/00434 (2013.01); A61B 2018/00577 (2013.01); A61B 2018/00714 (2013.01); A61B 2018/00791 (2013.01); A61B 2018/00982 (2013.01); A61B 2018/0212 (2013.01); A61B 2018/0268 (2013.01); A61B 2018/143 (2013.01); A61B 2018/1475 (2013.01); A61B 2090/378 (2016.02); A61B 2218/002 (2013.01); A61N 2007/003 (2013.01); G01N 29/07 (2013.01); G01N 29/225 (2013.01); G01N 29/262 (2013.01); G01N 2291/0258 (2013.01); G01N 2291/0289 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A system configured to non-destructively inspect the integrity of an interior of a vessel, the system comprising:
a vessel surveyor comprising at least one ultrasound transducer, tracks configured to assist the vessel surveyor to crawl on an inner surface of the vessel, and a plurality of thrusters configured to assist the vessel surveyor to swim through a liquid contained within the vessel;
an acoustic tracking system configured to track the location of the vessel surveyor in the vessel; and
a telemetry system configured to receive and compile data from the at least one ultrasound transducer and the acoustic tracking system, wherein the telemetry system is pre-loaded with a template of the interior of the vessel, including positions of floor plates or any obstacles.