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1. (WO2019005939) PROCÉDÉ ET APPAREIL DE POSITIONNEMENT AUTONOME D'UN ROBOT MOBILE À L'INTÉRIEUR D'UN RÉSERVOIR
Note: Texte fondé sur des processus automatiques de reconnaissance optique de caractères. Seule la version PDF a une valeur juridique

WHAT IS CLAIMED IS:

1. A method for positioning of an autonomous or remotely operated vehicle in a vertical cylindrical storage tank filled with a liquid, wherein the tank has a known diameter and includes a shell and a floor containing an interior of the tank, the method comprising the steps of:

directing movement of a vehicle within the tank either in contact with or above the floor of the tank, wherein the vehicle includes one or more sensors for measuring roundtrip travel time of an acoustic wave between the vehicle and the tank shell, one or more sensors for measuring a speed of sound in the liquid, means of measuring heading, pitch and roll of the vehicle, and one or more sensors for measuring speed of the vehicle relative to the floor of the tank independent of vehicle movement slippage;

calculating an acoustic fix of a location of the vehicle in the tank by processing acoustic travel times between the vehicle and the shell obtained by gathering acoustic information through at. least a portion of the circumference of the tank, wherein the processing includes use of the known diameter of the tank; and

correcting for current vehicle position estimate with a single acoustic travel time using a navigation filter.

2. The method of Claim 1 wherein the one or more sensors for measuring heading, pitch and roll of the vehicle include a magnetic compass.

3. The method of Claim 1 wherein the one or more sensors for measuring heading, pitch and roll of the vehicle include a gyro compass.

4. The method of Claim 1 wherein the one or more sensors for measuring heading, pitch and roll of the vehicle form part of an inertial navigation system.

5. The method of Claim 1 wherein the one or more sensors for measuring speed of the vehicle include one or more wheel encoders.

6. The method of Claim 1 wherein the one or more sensors for measuring speed of the vehicle include the use of an acoustic velocity log.

7. The method of Claim Ϊ wherein the one or more sensors for measuring speed of the vehicle form part of an inertia! navigation system .

8. The method of Claim 1 wherein the one or more sensors for measuring speed, heading, pitch and roil of the vehicle are configured for dead reckoning position determination.

9. The method of Claim 1 wherein position is determined using an acoustic fix computation.

10. The method of Claim 1 including the use of one or more single-beam echo sounders for ranging when the vehicle is capable of spinning in place.

11. The method of Claim 1 including the use of a pencil beam acoustic profiler when the vehicle is unable to spin in place or' for' supplemental ranging without vehicle rotation.

12. The method of Claim 1 wherein the step of gathering acoustic information through at least a portion of the circumference of the tank includes rotating the vehicle in the tank.

.13. The method of Claim 1 wherein the step of gathering acoustic information through at least a portion of the circumference of the tank includes scanning around the vehicle with a 360 deg acoustic profiler.

14. An apparatus for positioning of an autonomous or remotely operated vehicle in a vertical cylindrical storage tank filled with a liquid, wherein the tank has a known diameter and includes a shell and a floor containing an interior of the tank, the apparatus comprising:

a vehicle capable of functioning within the fluid in the tank and that may be in contact with the floor of the tank or that may hover above the floor of the tank or both, wherein the vehicle includes one or more sensors for measuring roundtrip travel time of an acoustic wave between the vehicle and the tank shell, one or more sensors for

measuring a speed of sound in the liquid, means of measuring heading, pitch and rol l of the vehicle, and one or more sensors for measuring speed of the vehicle relative to the floor of the tank independent of vehicle movement slippage; and

a controller configured to calculate an acoustic fix of a location of the vehicle in the tank by processing acoustic travel times between the vehicle and the shell obtained by gathering acoustic information through at least a portion of the circumference of the tank, wherein the processing includes use of the known diameter of the tank, and to correct for current vehicle position estimate with a single acoustic travel time using a navigation filter.

15. The apparatus of Claim 14 wherein the one or more sensors for measuring heading, pitch and roll of the vehicle include a magnetic compass.

16. The apparatus of Claim 14 wherein the one or more sensors for measuring heading, pitch, and roll of the vehicle include a gyro compass.

17. The apparatus of Claim 14 wherein the one or more sensors for measuring heading, pitch and roll of the vehicle form part of an inertia! navigation system.

18. The apparatus of Claim 14 wherein the one or more sensors for measuring speed of the vehicle include o e or more wheel encoders.

19. The apparatus of Claim 14 wherein the one or more sensors for measuring speed of the vehicle include the use of an acoustic velocity log.

20. The apparatus of Claim 14 wherein the one or more sensors for measuring speed of the vehicle form part of an inertia! navigation system.

21. The apparatus of Claim 14 wherein the one or more sensors for measuring speed, heading, pitch, and ro!! of the vehicle are configured for dead reckoning position determination.

22. The apparatus of Ciaira 14 wherein position is determined using an acoustic fix-computation.

23. The apparatus of Claim 14 including the use of one or more single-beam echo sounders for ranging when the vehicle is capable of spinning in place.

24. The apparatus of Claim 14 including the use of a. pencil beam acoustic profiler when the vehicle is unable to spin in place or for supplemental ranging without vehicle rotation.

25. The apparatus of Ciaira 14 wherein the step of gathering acoustic information through at least a portion of the circumference of the tank includes rotati g the vehicle in the tank.

26. The apparatus of Claim 14 wherein the step of gathering acoustic information through at least a portion of the circumference of the tank includes scanning around the vehicle with a 360 deg acoustic profiler.