To implement robotic inspection of an in-service tank through the lower wall, a launch system is operatively coupled to the in-service tank carrying a multiphase fluid separated into a first fluid phase settled at the bottom of the in-service tank and a second fluid phase floating above the first fluid phase. The launch system includes multiple valves and is coupled to the bottom of the in-service tank. By operating the launch system, a robotic tank inspection device is introduced into the first fluid phase in the in-service tank while bypassing the second fluid phase. By operating the robotic tank inspection device, the bottom of the in-service tank is inspected for corrosion.

A process of repairing a component includes identifying a void in a component; determining at least one approximate physical configuration of the void; inserting borescope into the component in order to view the void; providing a repair rod approximately equivalent to at least one of the least one approximate physical configuration of the void; inserting the repair rod into component; confirming insertion of the repair rod in the void; separating the repair rod to leave a repair plug in the void; and depositing braze paste over the repair plug in the void.

A process of repairing a component includes identifying a void in a component; determining at least one approximate physical configuration of the void; inserting borescope into the component in order to view the void; providing a repair rod approximately equivalent to at least one of the least one approximate physical configuration of the void; inserting the repair rod into component; confirming insertion of the repair rod in the void; separating the repair rod to leave a repair plug in the void; and depositing braze paste over the repair plug in the void.

Tunnel defect detecting method and system using unmanned aerial vehicle (UAV) are provided, and the UAV is equipped with a light-emitting diode (LED) module, a camera, a laser radar, an ultrasonic distance meter and an inertial measurement unit (IMU). The method includes: collecting images in a tunnel based on the LED module and the camera to obtain a training image set; training by using the training image set to obtain a defect detecting model, collecting real-time tunnel images, detecting suspected defects to the real-time tunnel images by the defect detecting model, obtaining pose information of the UAV based on the camera, the laser radar, the ultrasonic distance meter and the IMU to control the UAV to hover. The method can realize accurate pose estimation and defect detection in the tunnel with no GPS signals and highly symmetrical inside.

A scanner assembly is configured to be mounted on a scanner manipulator arm, to be placed in proximity to an opening in a vessel or inserted into an opening in a vessel, and to measure distances from a scanner emitter/sensor within the scanner assembly to a plurality of points on the surface of the refractory lining to characterize the concave interior of the vessel in a single scan. A scanner manipulator having a manipulator arm attached to the scanner assembly maintains the scanner assembly in measurement positions. A control system controls the position of the scanner assembly, the orientation of the emitter sensor, and the acquisition, storage, processing and presentation of measurements produced by the emitter/sensor. The field of view obtained from the scanner assembly in a single scan exceeds a hemisphere.

A scanner assembly is configured to be mounted on a scanner manipulator arm, to be placed in proximity to an opening in a vessel or inserted into an opening in a vessel, and to measure distances from a scanner emitter/sensor within the scanner assembly to a plurality of points on the surface of the refractory lining to characterize the concave interior of the vessel in a single scan. A scanner manipulator having a manipulator arm attached to the scanner assembly maintains the scanner assembly in measurement positions. A control system controls the position of the scanner assembly, the orientation of the emitter sensor, and the acquisition, storage, processing and presentation of measurements produced by the emitter/sensor. The field of view obtained from the scanner assembly in a single scan exceeds a hemisphere.

An inspection and/or cleaning nozzle for operation with liquids under high pressure includes a coupling section coupleable to a high-pressure tube and a camera recess running concentric to a longitudinal axis arranged in a camera-receiving portion. A camera module is accommodated releasably connected to an encapsulated water-tight camera housing. Optics and camera electronics are permanently incorporated in the camera housing such that the optics and camera electronics are protected in the interior of the camera housing and fogging of the optics is prevented. This is achieved in that a bore is made in the wall of camera housing running radially across the longitudinal axis direction, the opening of bore is sealed water-tight and air-tight with a membrane, so that the surface of membrane fully overlaps the opening of bore. This surface of the membrane is made correspondingly larger than bore and the membrane is formed multilayered from a laminate film.

A crack measuring apparatus includes distance-measuring units, an image pickup unit having pixels the positions of which are identified on an imaging device, an infrared image pickup unit having pixels the positions of which are identified on an imaging device and having sensitivity to infrared rays, driving units, angle-measuring units, and an arithmetic control unit, the arithmetic control unit searches for a cracked portion from a temperature difference in an infrared image by turning the infrared image pickup unit, captures an image of the cracked portion by the image pickup unit and identifies a position of the cracked portion from a density difference in the captured image, measures the position of the cracked portion by the distance-measuring units and the angle-measuring units, and acquires three-dimensional absolute coordinates of the cracked portion.

Embodiments of a system and method for endoscope cleaning and inspection are disclosed. In an example, an endoscope cleaning and inspection unit includes cleaning and testing capabilities operated via control equipment and a display screen, to operate leak testing equipment, flush control equipment, and optical inspection equipment for leak testing, flushing, rinsing, and inspection of an endoscope interior chamber (lumen) and exterior surfaces. In a further example, the endoscope cleaning and inspection unit may further operate and receive information from a borescope imaging device or a magnification imaging device, using an imaging sensor to capture images of an endoscope lumen or surface respectively, as captured or output on the display screen. Further embodiments provide for control, monitoring, data collection, data input, and data output with such imaging devices via the endoscope cleaning and inspection unit.

Embodiments of a system and method for endoscope cleaning and inspection are disclosed. In an example, an endoscope cleaning and inspection unit includes cleaning and testing capabilities operated via control equipment and a display screen, to operate leak testing equipment, flush control equipment, and optical inspection equipment for leak testing, flushing, rinsing, and inspection of an endoscope interior chamber (lumen) and exterior surfaces. In a further example, the endoscope cleaning and inspection unit may further operate and receive information from a borescope imaging device or a magnification imaging device, using an imaging sensor to capture images of an endoscope lumen or surface respectively, as captured or output on the display screen. Further embodiments provide for control, monitoring, data collection, data input, and data output with such imaging devices via the endoscope cleaning and inspection unit.