Robot for operating and maintaining a metal device

Abstract

A robot for operating and maintaining metal equipment in a hydrocarbon refinery, the robot comprising a robot body. The robot includes a body and a plurality of magnetic wheels operably attached to the body, the magnetic wheels being operable to attach the robot to a metal surface of the metal equipment. The robot also includes a plurality of propellers connected to the robot body.

Description

Cross-references to related applications

[0001] This application claims priority to U.S. Application No. 18 / 501,631, filed November 3, 2023, the entire disclosure of which is incorporated herein by reference. Technical Field

[0002] This disclosure relates to robots for the operation and maintenance of metal equipment, and more specifically, to robots for detecting, removing, or both detecting and removing solid deposits inside hollow structures. Background Technology

[0003] Solid deposits can accumulate on the inner surfaces of containers or pipelines in chemical processing systems, such as those located in hydrocarbon refineries, petrochemical industries, power plants, or desalination plants. Furthermore, the accumulation of solid deposits can cause increased pressure drop and decreased heat exchange performance, thereby reducing system efficiency. Solid deposits can be removed using high-pressure water or other mechanical tools. They can also be removed using chemical solutions. However, typical methods for removing solid deposits from the inner surfaces of containers and pipelines using mechanical tools require a complete shutdown and isolation of the system, which is time-consuming and costly. Typical methods using chemical solutions require extremely high temperatures and cannot completely remove all solid deposits. In addition, chemical processing systems may include containers or pipelines extending or suspended hundreds of feet in the air, making manual inspection or cleaning difficult or even impossible. Summary of the Invention

[0004] Therefore, there has been a persistent need for the maintenance of metal equipment, and particularly for robots and robotic systems used to assist in the detection and removal of solid deposits from the inner surfaces of chemical processing units and equipment. Furthermore, there is an ongoing need for systems and methods for automatically determining the location of solid deposit accumulations, and for operating these systems by using drones detachably attached to robots.

[0005] According to embodiments of this disclosure, a robot for operating and maintaining metal equipment in a hydrocarbon refinery may include a body and a plurality of magnetic wheels operably attached to the body, wherein the plurality of magnetic wheels are operable to attach the robot to a metal surface of the metal equipment. The robot may also include a plurality of propellers connected to the body.

[0006] A system for moving along a metal surface of a metal device, the system comprising a hollow structure including an inner cavity and an inner surface; a plurality of robots configured to move along the metal surface of the metal device; a metal object disposed within the hollow structure; and one or more detection sensors operable to generate signals indicating one or more states of the metal device. The system may further include at least one position sensor connected to each of the plurality of robots; and a control system communicatively connected to the plurality of robots, wherein the control system may include a processor, communicatively connected to the plurality of robots, and at least one memory module communicatively connected to the processor, the at least one memory module storing machine-readable and executable instructions, wherein the machine-readable and executable instructions, when executed by the processor, cause the system to automatically perform the following operations: activating a plurality of propellers of at least one of the plurality of robots; positioning the plurality of robots on the metal surface; and activating the one or more detection sensors.

[0007] A process for moving on a metal surface may include: activating multiple propellers of at least one of a plurality of robots, wherein at least one position sensor may be connected to each of the plurality of robots. The process may further include positioning the plurality of robots on the metal surface.

[0008] Other features and advantages of the technology disclosed herein will be set forth in the following detailed description. Those skilled in the art can easily understand or learn of some of the features and advantages by reading the following detailed description or by implementing the technical solutions described herein (including the following detailed description, claims and drawings). Attached Figure Description

[0009] The following detailed description of specific embodiments of this disclosure is best understood when read in conjunction with the following drawings, in which the same structures are indicated by the same reference numerals, and in the drawings: Figure 1 A side view of a robot for operating and maintaining metal equipment according to embodiments shown and described in this disclosure is schematically depicted; Figure 2 The embodiments shown and described in this disclosure are illustrated schematically. Figure 1 A side view of a robot used for the maintenance of metal equipment, with the arm in the retracted position; Figure 3A top view schematically depicting another embodiment of a robot for operating and maintaining metal equipment according to the embodiments shown and described in this disclosure; Figure 4 The embodiments shown and described in this disclosure are illustrated schematically. Figure 1 A side view of the docking structure between the robot used for the maintenance of metal equipment and the drone of the robot; Figure 5 A top cross-sectional view of a robot and a spherical metal object for operating and maintaining metal equipment in a hydrocarbon refinery, according to embodiments shown and described in this disclosure, is schematically depicted. Figure 6A An injection system for introducing a metal object into the cavity of a metal device according to embodiments shown and described in this disclosure is schematically depicted; Figure 6B The embodiments shown and described in this disclosure are illustrated schematically. Figure 6A The situation of the injection system during the introduction of solvent into the cavity of the metal device; Figure 7 A distributed computing environment having a control system communicatively connected to multiple components is schematically depicted according to embodiments shown and described in this disclosure; Figure 8 A schematic diagram of a hollow structure having multiple robots deployed at a first set of points is depicted according to embodiments shown and described in this disclosure; Figure 9 The embodiments shown and described in this disclosure are depicted. Figure 8 A schematic diagram of a hollow structure, wherein the plurality of robots are positioned at a second set of points; and Figure 10 A schematic diagram of a metal object having an inner layer and an outer layer according to embodiments shown and described in this disclosure is depicted. Detailed Implementation

[0010] Embodiments of this disclosure are described in the detailed description below. This disclosure relates to robots for the operation and maintenance of metal equipment. More specifically, this disclosure relates to systems and methods for the operation and maintenance of metal equipment using robots in hydrocarbon refineries. Reference is now made to... Figure 1 One embodiment of a robot 100 disclosed herein for operating and maintaining metal equipment 200 in a hydrocarbon refinery may include a body 102 and a plurality of magnetic wheels 104 operably attached to the body 102. The plurality of magnetic wheels 104 are operable to attach the robot 100 to a metal surface 202 of the metal equipment 200. The robot 100 may also include a plurality of propellers 106 connected to the body 100.

[0011] As used throughout this disclosure, the term "axial" refers to a direction in a cylindrical coordinate system that is substantially parallel to the central axis A of the hollow structure or metal device.

[0012] As used throughout this disclosure, the term "circumferential" refers to a direction in cylindrical coordinates that is a cylindrical coordinate direction around the circumference of the hollow structure, such as around the outer perimeter OP of the hollow structure.

[0013] As used throughout this disclosure, the term “radial” refers to a direction in a cylindrical coordinate system that is perpendicular to and extends outward from the central axis A of the hollow structure.

[0014] As used throughout this disclosure, "solid sediment" means salt, coke, bituminous material, carbon, or any other byproduct of hydrocarbon chemical reactions or hydrocarbon processing that may be disposed on the inner surface of a hollow structure.

[0015] As used throughout this disclosure, the terms "upstream" and "downstream" refer to the relative position of a unit operation with respect to the direction of process fluid flow. If the process fluid flows through the system, passing through a first unit operation before a second unit operation, then the first unit operation can be considered "upstream" of the second unit operation. Similarly, if the process fluid passes through a first unit operation before a second unit operation, then the second unit operation can be considered "downstream" of the first unit operation.

[0016] Systems used for chemical processing (such as, but not limited to, petrochemical reactors, heaters, heat exchangers, transfer pipelines, catalyst regenerators, separation units, or other chemical processing units) may include hollow structures, such as, but not limited to, pipes, tanks, pressure vessels, or other hollow structures; these hollow structures have an inner surface that comes into contact with process fluids during chemical processing. During operation of the system, solid deposits may accumulate on the inner walls of the hollow structures, including but not limited to coke, salts, bituminous substances, or combinations thereof. The accumulation of solid deposits on the inner walls can lead to increased pressure drop, impaired heat transfer, flow restriction, or a combination thereof, thereby reducing system efficiency and causing a decline in product quality.

[0017] Systems and methods have been developed for monitoring and removing solid deposits in systems used in such chemical processing. Conventional methods for removing solid deposits involve using mechanical tools or chemical solutions to monitor and remove them. However, conventional mechanical tools require complete shutdown and isolation of the target system, while the use of chemical solutions requires extremely high temperatures and cannot remove more firmly bound solid deposits (such as hard coke), which require even higher dissociation energies to break down. The use of mechanical tools typically requires manual intervention, making solid deposit removal difficult. The use of chemical solutions can also cause corrosion of hollow structures and other equipment and piping systems.

[0018] This disclosure solves the above problems by providing a robot for the maintenance of metal equipment, which is capable of monitoring and removing solid deposits on the inner surfaces of metal equipment. (See again...) Figure 1 A robot 100 used for operating and maintaining metal equipment 200 in a hydrocarbon refinery may include a body 102, a plurality of magnetic wheels 104 operably attached to the body 102, and a plurality of propellers 106 connected to the body 102.

[0019] In one embodiment, the body 102 may include a chassis 101 and an outer casing 103 connected to the chassis, with a plurality of magnetic wheels 104 operably connected to the chassis 101. The plurality of magnetic wheels 104 are operable to attach the robot 100 to a metal surface 202 of a metal device 200. The metal device 200 may include at least one sidewall 206 having an inner surface 208 defining an inner cavity 210 of the metal device 200; and, as Figure 5 As shown in the cross-sectional view of the metal device 200, the metal surface 202 may be the outer surface of the at least one sidewall 206. The metal device 200 may have a central axis A, an axial length L measured parallel to the central axis A, and an outer perimeter OP; wherein the outer perimeter OP is the outline shape of the metal surface 202 of the at least one sidewall 206 of the metal device 200 in a plane perpendicular to the central axis A.

[0020] The robot, system, and method may include: moving the robot 100 to various locations on the metal surface 202 to scan the inner surface 208, and adsorbing the metal object 114 to various points on the inner surface 208 to loosen solid deposits 201 on the inner surface 208 (see description below). The robot, system, and method of this disclosure may include moving the robot 100 on the metal surface 202 using magnetic wheels 104. Additionally or alternatively, in embodiments, the robot 100, system, and method of this disclosure may include moving the robot 100 using propellers 106 or by means of a drone 400 (see description below). Figure 4Using robot 100 to inspect metal equipment 200 can reduce or even eliminate human intervention when cleaning and / or inspecting the inner surface 208 of metal equipment 200. Additionally or alternatively, robot 100 and the method of using robot 100 to inspect metal equipment 200 can enable the inspection of equipment that is otherwise inaccessible without constructing additional access devices or removing the metal equipment 200. Furthermore, the systems and methods of this disclosure eliminate the need for system shutdown to remove solid deposits 201 from the inner surface 208. Thus, solid deposits 201 can be removed during system operation while the equipment is maintained at operating temperature and pressure, thereby improving efficiency and eliminating the equipment heating and cooling processes required when removing solid deposits using conventional mechanical tools. The systems and methods of this disclosure can also support solid deposit removal operations during shutdown.

[0021] refer to Figures 1 to 3 In an embodiment, the robot 100 may include multiple sets of magnetic wheels 104, such as a first set of magnetic wheels 104A, a second set of magnetic wheels 104B, and a third set of magnetic wheels 104C attached to the metal surface 202. Although Figures 1 to 3 Three sets of magnetic wheels 104 are shown, but it should be understood that any number of sets of magnetic wheels, such as 1, 2, 3, 4, 5, 6, or more, can be attached to the body 102 of the robot 100. It should also be noted that... Figure 1 and Figure 2 Only one side of robot 100 is visible in the image. Figure 3 Top view and Figure 5 The cross-sectional view shows the other side of each group of the plurality of magnetic wheels 104.

[0022] The plurality of magnetic wheels 104 can be of any shape to achieve attachment of the robot 100 to the metal surface 202. In an embodiment, the magnetic wheels 104 do not rotate, but only serve to attach the robot 100 to the metal surface 202. In an embodiment, the magnetic wheels 104 can rotate relative to the body 102 of the robot 100. The magnetic wheels 104 can rotate freely relative to the robot 100, thereby enabling the robot 100 to move along the metal surface 202 driven by the propeller 106. In an embodiment, the magnetic wheels 104 can be connected to a wheel drive 110, which is operable to rotate each of the plurality of magnetic wheels 104 relative to the chassis 101. When driven, the magnetic wheels 104 can operate independently or in conjunction with the propeller 106 to move the robot 100 along the metal surface 202 of the metal device 200.

[0023] In this embodiment, each of the magnetic wheels 104 may include a permanent magnet. Permanent magnets can be used when the interior of the metal device 200 undergoes low-temperature chemical processing (e.g., below 100°C). The magnetic wheels 104 may also include an electromagnet; an electric current can be supplied to the electromagnet to activate it. The current supplied to the electromagnet activates it and generates an electromagnetic field in the magnetic wheel 104. The electromagnetic force generated by this electromagnetic field is sufficient to attach the robot 100 to the metal surface 202. When the current is no longer supplied to the magnetic wheel 104, the magnetic wheel 104 can be deactivated, and the robot 100 is no longer magnetically attached to the metal surface 202.

[0024] In this embodiment, the magnetic wheel 104 may be an electromagnet, and the magnitude of the electromagnetic force it generates is adjustable. In this embodiment, the strength of the electromagnetic force generated by the magnetic wheel 104 may be adjusted based on the amount of current flowing through the electromagnet. The required strength of the electromagnetic force may depend on the weight of the robot 100, whether the metal device 200 is located outdoors, and / or the number of magnetic wheels 104. For example, the outdoor metal device 200 is subject to wind, rain, or other severe weather. Therefore, the heavier outdoor 4-wheeled robot 100 requires a stronger electromagnetic force to attach to the metal device 200 compared to a lighter indoor 10-wheeled robot 100. In this embodiment, the propeller 106 may be adjusted and operated to provide additional force, maintaining contact between the robot 100 and the metal surface 202 of the metal device 200.

[0025] Refer again Figure 1 In embodiments where the magnetic wheels 104 include electromagnets, the robot 100 may further include a power supply 108 electrically connected to each of the magnetic wheels 104. The power supply 108 may provide current to the magnetic wheels 104 to activate the electromagnets. The power supply 108 may include a rechargeable battery, a disposable battery, or any other suitable power source. The power supply 108 can be connected to a charging station (such as a charging station combined with...) Figure 9 The charging station 902 is used for charging. The power supply 108 can also power other components of the robot 100, such as the propeller 106, wheel drive 110, arm actuator 120, or combinations thereof.

[0026] In an embodiment, robot 100 may further include wheel drives 110 operably connected to a body 102 of robot 100. Wheel drives 110 may extend substantially perpendicular to the sides, front, and / or rear of robot 100. Wheel drives 110 are operable to rotate each of the magnetic wheels 104 relative to the body 102, thereby moving robot 100 relative to the metal surface 202 of metal device 200. Wheel drives 110 may move robot 100 forward or backward. Robot 100 may include one, two, three, four, or more than four wheel drives 110. Wheel drives 110 may be attached to all or only some of the magnetic wheels 104. Wheel drives 110 are operable to rotate the magnetic wheels 104 at different rotational speeds, thereby moving robot 100 at different speeds on the metal surface 202. The magnetic wheel 104 can make the robot 100 move in a straight line, and the magnetic wheel 104 can also make the robot 100 turn in different directions. The turning methods include turning some of the magnetic wheels 104 while keeping the rest of the magnetic wheels 104 stationary, or turning different magnetic wheels 104 at different speeds.

[0027] In one embodiment, the magnetic wheels 104 are operable to pivot relative to the body 102 to drive the robot 100 to move vertically, horizontally, or both vertically and horizontally relative to the metal surface 202. The first set of magnetic wheels 104A is operable to pivot, while the second set of magnetic wheels 104B and the third set of magnetic wheels 104C are not pivotable. Thus, pivoting the first set of magnetic wheels 104A can turn the robot 100 to move in a specific direction. In another embodiment, the second set of magnetic wheels 104B and the third set of magnetic wheels 104C are also operable to pivot, so that when all sets of magnetic wheels 104 pivot in the same direction, the robot 100 can travel diagonally. The power provided by the wheel drive 110 is sufficient to move the robot 100. However, in another embodiment, the propeller 106 can cooperate with the magnetic wheels 104 to assist the robot 100 in its movement.

[0028] Refer again Figures 1 to 3 The plurality of propellers 106 manipulate the position of the robot 100 on the metal surface 202 of the metal device 200. The propellers 106 provide propulsion to the robot 100 to assist the wheel drive 110 in moving the robot 100 along the metal surface 202. The propellers 106 can provide sufficient propulsion to the robot 100 to move it along the metal surface 202 without the need for a wheel drive 110. In such embodiments, the propellers 106 can rotate to provide propulsion to the robot 100, and the magnetic wheel 104 can pivot to change the orientation of the robot 100, as described above. The propellers 106 can be electrically connected to a power supply 108.

[0029] In this embodiment, depending on the size of the robot 100 and / or the attachments mounted on it, the robot 100's own weight can be 1 kg, 2 kg, 4 kg, 10 kg, 25 kg, 50 kg, or heavier. When the robot 100 is attached to the metal device 200, the robot 100 can apply a force to the metal device 200, and the force transmitted to the metal device 200 can be equal to the robot 100's own weight. In this embodiment, the force transmitted by the robot 100 to the metal device 200 may exceed the metal device 200's force limit. For example, the metal device 200 can withstand a force of up to 10 kg without deformation. If the robot 100's own weight exceeds 10 kg, its own weight will damage the metal device 200 when it is attached to the metal surface 202 of the metal device 200.

[0030] To this end, the plurality of propellers 106 can also be operated to generate lift to offset a portion of the robot 100's own weight. The plurality of propellers 106 can be operated to generate lift to offset 10%, 20%, 40%, 60%, 80%, or 100% of the robot 100's own weight. Thus, the lift generated by the propellers 106 allows the robot 100, whose own weight exceeds the force limit of the metal device 200, to still be attached to the metal device 200.

[0031] The robot 100 can also change its direction of travel by altering the orientation of the propellers 106. For this purpose, each of the propellers 106 can be attached to and rotate relative to the body 102 of the robot 100. In an embodiment, one or each propeller 106 may include a propeller positioner 112 operable to change the orientation of the propeller 106. The propeller positioner 112 is operable to rotate one or all of the propellers 106 360 degrees relative to the body 102 of the robot 100, thereby allowing the propellers 106 to provide propulsion to the robot 100 in any direction. As described above, the propellers 106 can operate to apply a force that rotates the magnetic wheel 104, causing the robot 100 to move along the metal surface 202. The propellers 106 can also lift the robot 100 away from the metal surface 202.

[0032] like Figure 3 As shown, the propeller 106 can rotate relative to the body 102, so that the propulsion direction of the propeller 106 is substantially perpendicular to the axial direction (i.e., towards the magnetic wheel 104). When the magnetic wheel 104 is a permanent magnet or an electromagnet in an energized state, the propeller 106 can provide sufficient propulsion to separate the magnetic wheel 104 from the metal surface 202. When the electromagnet is in the off state (i.e., no current is being supplied to the electromagnet), the propeller 106 can only provide sufficient propulsion to lift the robot 100 away from the metal surface 202.

[0033] The propeller 106 can lift the robot 100 away from the metal surface 202 and then move the robot 100 to another position on the metal surface 202. When the propeller 106 brings the robot 100 close enough to the metal surface 202, the robot 100 can attach to the metal surface 202, and the magnetic wheel 104 will attract the robot 100 to the metal surface 202, achieving reattachment. When the magnetic wheel 104 is an electromagnet, the robot 100 will not attach to the metal surface 202 until the electromagnet is re-energized.

[0034] Now for reference Figure 4 In this embodiment, robot 100 may further include drone 400 having drone body 402, such as Figure 4 As shown. The drone 400 is operable to move the robot 100 to different locations on the metal surface 202. The drone 400 may include a propeller 106, such as a drone propeller 405, attached to the drone body 402, thereby providing propulsion to the drone 400 and enabling it to fly. Similar to the propeller 106 attached to the body 102 of the robot 100, the drone propeller 405 attached to the drone body 402 of the drone 400 may also include a propeller positioner 112 operable to allow the propeller 106 to rotate 360 ​​degrees relative to the drone body 402.

[0035] The drone body 402 may include drone legs 404. The drone legs 404 are operable to allow the drone 400 to dock onto a metal surface 202. The drone legs 404 can rest against the metal surface 202, thereby stopping the drone propellers 405 and allowing the drone 400 to dock on the metal surface 202. In an embodiment, the drone legs 404 may include drone leg magnets 405 to attract the drone legs 404 to the metal surface 202. The drone leg magnets 405 may include permanent magnets or electromagnets.

[0036] The drone body 402 of the drone 400 can be detached from the body 102 of the robot 100. The drone body 402 can be releasably connected to the robot body 102 via a drone attachment 406 extending from the drone body 402. The drone attachment 406 can be disposed on the underside of the drone body 402, allowing the drone 400 to hover above the robot 100 and connect to the robot 100 via the drone attachment 406. The drone attachment 406 may include a drone attachment magnet 407, which can be attracted to the body 102 of the robot 100. The attachment magnet 407 may include a permanent magnet or an electromagnet. The drone attachment 406 can attach the drone 400 to the body 102 of the robot 100 in various ways, such as including but not limited to hook connection, snap connection, suction cup connection, threaded connection, or any other suitable connection method.

[0037] In this embodiment, both the drone legs 404 and the drone attachments 406 are retractable relative to the drone body 402. When not in use, such as when the drone 400 is not carrying the robot 100 and is flying to another location on the metal surface 202, both the drone legs 404 and the drone attachments 406 can retract into the drone body 402. When the drone 400 reaches the location of the robot 100 on the metal surface 202, the drone legs 404 and / or the drone attachments 406 can extend from the drone body 402 to allow the drone to dock on the metal surface 202 and connect to the body 102 of the robot 100.

[0038] The drone may include a drone power supply 410 electrically connected to the drone propeller 405, drone legs 404, drone leg magnets 405, drone attachments 406, and / or drone attachment magnets 407. The drone power supply 410 may include a rechargeable battery, a disposable battery, or any other suitable power source.

[0039] Refer again Figure 1 The robot 100 may also include a magnet 116 attached to the body 102. The magnet 116 is operable to attract a metal object 114 to a first position 251 on the metal surface 202 (see description below). Figure 1 As shown, magnet 116 may extend at least partially around metal surface 202.

[0040] Such as combination Figure 5To further explain, magnet 116 can guide the movement of metal object 114 within metal device 200. Magnet 116 can be an electromagnet, a permanent magnet, or any other compatible type of magnet. If low-temperature chemical processing (such as below 100°C) is performed inside metal device 200, magnet 116 can be a permanent magnet. If magnet 116 is an electromagnet, an electric current can be supplied to it; the current supplied to the electromagnet will activate it and generate a magnetic field 117 around it. When the current supplied to magnet 116 is no longer available, magnet 116 can be turned off. The current supplied to magnet 116 can be independent of the current supplied to magnetic wheel 104, so that when magnet 116 is turned off, magnetic wheel 104 can be activated, or when magnet 116 is activated, magnetic wheel 104 can be turned off.

[0041] Magnet 116 can be attached to body 102 in various ways. In one embodiment, magnet 116 can be attached to body 102 via telescopic arm 118. Telescopic arm 118 can have a proximal end 118A and a distal end 118B. Proximal end 118A can be attached to body 102, such as by attaching to body 102 at a pivot point, allowing arm 118 to rotate relative to body 102 about the pivot point. Distal end 118B can be attached to magnet 116, such as by rigid attachment to magnet 116. The portion of telescopic arm 118 between proximal end 118A and distal end 118B can be straight, curved, or any other suitable shape.

[0042] like Figure 2 As shown, the robot 100 may also include an arm actuator 120. The arm actuator 120 is operatively connected to the telescopic arm 118, thereby enabling the arm actuator 120 to lower and raise the telescopic arm 118 relative to the body 102, causing the magnet 116 to engage or disengage from the metal surface 202 of the metal device 200. The arm actuator 120 may be an electric rotary actuator, a pneumatic rotary actuator, any other suitable actuator, or a motor.

[0043] Figure 1 The telescopic arm 118 is shown in the engaged position. In the engaged position, the magnet 116 engages with the metal surface 202. In contrast, Figure 2 The telescopic arm 118 in its retracted position is shown. In the retracted position, the magnet 116 is separated from the metal surface 202. When in the retracted position, the telescopic arm 118 can lift the magnet 116 away from the metal surface 202 by any distance. In an embodiment, when the telescopic arm 118 is in the retracted position, the telescopic arm 118 can be partially or completely accommodated in the cavity 122 inside the body 102, such as... Figure 2 As shown. Figure 4As shown and described above, cavity 122 can be used, for example, to house the telescopic arm 118 inside body 102 when drone 400 is attached to robot 100 to move robot 100. Cavity 122 can also be large enough to partially or completely house magnet 116, and cavity 122 can also accommodate arm actuator 120.

[0044] In one embodiment, robot 100 may include a single magnet 116 attached to the distal end 118B of telescopic arm 118. In another embodiment, robot 100 may include multiple magnets 116 attached to the distal end 118B of telescopic arm 118, such as... Figure 1 As shown. Each of the magnets 116 can be activated independently, such as to attract a metal object 114 to a point on the inner surface 208 corresponding to the position of the magnet 116 on the metal surface 202.

[0045] Now for reference Figure 5 In one embodiment, the robot 100 may include a hollow magnet housing 130 having an inner surface 131, and a magnet 116 may be disposed inside the hollow magnet housing 130. The hollow magnet housing 130 may extend at least partially around a metal surface 202. The magnet 116 may be disposed inside the hollow magnet housing 130, thereby allowing it to slide within the hollow magnet housing 130. The hollow magnet housing 130 may extend along the outer periphery OP of the metal device 200 at angles of 20 degrees, 30 degrees, 60 degrees, 120 degrees, 180 degrees, or even greater, thereby allowing the magnet 116 to slide along the outer periphery OP of the metal device 200.

[0046] Still referencing Figure 5 In one embodiment, a system for maintaining metal equipment may include multiple robots 100 connected to multiple magnets 116. The multiple robots 100 can be positioned at different locations on the metal surface 202 of the metal equipment 200. The robots 100 can use the magnets 116 to attract metal objects 114 to the inner surface 208 of the metal equipment, thereby reducing the accumulation of solid deposits 201 on the inner surface 208. The robots 100 can achieve the above functions by activating and deactivating the magnets 116.

[0047] A metal object 114 may be disposed within the inner cavity 210 of the metal device 200. The metal object 114 may be detached from the inner surface 208 of the metal device 200, thereby allowing the metal object 114 to move freely relative to the metal device 200 within the inner cavity 210. A magnet 116 may generate an electromagnetic force sufficient to cause the metal object 114 inside the metal device 200 to pass through the inner cavity 210 and impact a position on the inner surface 208 of the metal device 200 near the magnet 116. In an embodiment, the magnet 116 may be an electromagnet, and the magnitude of the electromagnetic force generated by the magnet 116 may be adjustable. In an embodiment, the intensity of the electromagnetic force generated by the magnet 116 may be adjusted based on the amount of current flowing through the electromagnet. The required intensity of the electromagnetic force by the magnet 116 may depend on the distance between the two magnets 116, which may depend on the inner radius R of the metal device 200 or the position of each of the robots 100. For a metal device 200 with a larger inner radius R, or for robots 100 that are further apart on the metal surface 202, magnet 116 can operate to generate a greater electromagnetic force compared to the force exerted by magnet 116 on a metal device 200 with a smaller inner radius R or on robots 100 that are closer together on the metal surface 202.

[0048] The strength of the electromagnetic force required for magnet 116 can also be adjusted based on the resistance experienced by the metal object 114 inside the metal device 200. This resistance can depend on the temperature of the chemical processing, the flow rate of the solvent 215 flowing through the metal device 200 (discussed in conjunction with Figure 6), the type of solvent 215 flowing through the metal device 200, or any other factors that may affect the resistance experienced by the metal object 114 as it moves through the inner cavity 210 from the position of the first magnet 116A to the position of the second magnet 116B (this movement roughly corresponds to the position from the first robot 100A to the second robot 100B, as detailed below). Figure 8 and Figure 9 (Discussion). Metal object 114 can be inserted into a metal device using injection system 600 (see... Figure 6A and Figure 6B ).

[0049] Now for reference Figure 6A and Figure 6BThe figure illustrates an injection system 600 for injecting a metal object 114 into the cavity 210 of a metal device 200. The injection system 600 can be used to inject a metal object 114, a solvent 115, or both into the cavity 210 of the metal device 200 through at least one inlet 205. The injection system 600 may include a first channel 226 in fluid communication with the cavity 210, and a first valve 228 separating the first channel 226 from the cavity 210. When the first valve 228 is in the open position, the metal object 114 can be introduced into the cavity 210 through the first channel 226. Conversely, when the first valve 228 is in the closed position, the metal object 114 cannot enter the cavity 210 of the metal device 200. Figure 6A In the middle, the first valve 228 is in the open position, so that the metal object 114 is introduced into the inner cavity 210 of the metal device 200.

[0050] Refer again Figure 6A and Figure 6B The injection system 600 may further include a second channel 234 in fluid communication with the cavity 210, and a second valve 236 separating the second channel 234 from the cavity 210. When the second valve 236 is in the open position, solvent 115 can enter the cavity 210 of the metal device 200 through the second channel 234. The first valve 228, the second valve 236, or both may be a gate valve, a ball valve, or any other suitable valve; such a valve, when closed, prevents metal object 114 or solvent 115 from passing through the first valve 228 and the second valve 236 respectively, and when open, allows metal object 114 and solvent 115 to pass through the first valve 228 and the second valve 236 respectively. Figure 6B In this configuration, both the first valve 228 and the second valve 236 are in the open position, allowing the metal object 114 and the solvent 115 to enter the inner cavity 210 of the metal device 200.

[0051] Solvent 115 can be a water-based solvent, a carbon disulfide solvent, or any other suitable solvent. As further detailed below, solvent 115 can serve as a carrier for solid deposit 201, carrying solid deposit 201 loosened from the inner surface 208 of the sidewall 206. Solvent 115 can also dissolve solid deposit 201, or further loosen solid deposit 201 that remains on the inner surface 208 even after impact with the metal object 114. In an embodiment, circumferential translation of magnet 116 can generate eddies in solvent 115 to accelerate the dissolution rate of solid deposit 201 in solvent 115.

[0052] For further details on other embodiments of the injection system and / or the use of metallic objects to remove solid deposits, see co-pending U.S. Patent Application No. 18 / 344,498, filed June 29, 2023, entitled “System and Method for Chemical Processing,” the entire contents of which are incorporated herein by reference.

[0053] Refer again Figure 1 The robot 100 may also include a camera 124 connected to the body 102. The camera 124 can acquire image data of the metal surface 202. The image data can detect the metal surface 202. In embodiments, the image data can be used to determine the relative distance or position of the robot 100, the drone 400, or both relative to the metal surface 202 of the metal device 200. The image data from the camera 124 can serve as a navigation basis for the robot 100 or the drone 400. The image data can also detect the curvature of the metal surface 202, thereby enabling the magnetic wheel 104 of the robot 100 to be accurately placed onto the metal surface 202 of the metal device 200.

[0054] Robot 100 may also include a position sensor 126. Position sensor 126 is operable to generate a signal indicating the position of robot 100. The position of robot 100 may correspond to its position on metal surface 202; the position of robot 100 may also correspond to its position away from metal surface 202, such as when robot 100 leaves metal surface 202 via propeller 106 or drone 400. Position sensor 126 may be a Global Positioning System (GPS), a geomagnetic field sensor, a Hall effect position sensor, or any other suitable position sensor. In embodiments, position sensor 126 may be a radar or lidar sensor capable of determining the position of robot 100, drone 400, or both relative to other objects such as metal device 200, other robots 100 or drone 400, or other fixed or mobile devices. Position sensor 126 may be used to provide guidance as robot 100, drone 400, or both move relative to metal device 200.

[0055] In this embodiment, the robot 100 may further include one or more detection sensors 128. The detection sensors 128 can detect surface characteristics of the inner surface 208 of the sidewall 206 without extending into the cavity 210 of the metal device 200. The detection sensors 128 can also detect anomalies in the surface characteristics of the inner surface 208, such as solid deposits 201 on the inner surface 208. The detection sensors 128 may be attached to the body 102 or to the distal end 118B of the telescopic arm 118.

[0056] In one embodiment, the detection sensor 128 may be a gamma scanner. In another embodiment, the detection sensor 128 may include a radiation emitter 131 that emits electromagnetic waves (such as, but not limited to, gamma rays) into the interior of the metal device 200. On the opposite side of the metal surface 202, the detection sensor 128 may also include a radiation sensor 132 that detects radiation emitted from the radiation emitter 131. The radiation sensor 132 may be connected to the robot 100, or the radiation sensor 132 may be carried by another robot 100 opposite to the robot 100 carrying the radiation emitter 131.

[0057] Based on the detected radiation, the detection sensor 128 can detect anomalies in the surface properties of the inner surface 208. In embodiments, the detection sensor 128 may be a gamma ray sensor or an X-ray sensor, or any other suitable sensor for detecting the inner surface properties of the metal device 200. In embodiments, the robot 100 may include a single detection sensor 128 or multiple detection sensors 128. The detection sensor 128 may include mechanical / physical sensors, electromagnetic sensors, thermal sensors, acoustic / ultrasonic sensors, and / or radiation sensors.

[0058] Now for reference Figure 7 The figure illustrates a system 700 for movement on a metal surface 202 in conjunction with the robot 100 described above. System 700 may include a control system 701 communicatively connected to the robot 100, the drone 400, or both, and further communicatively connected to multiple components (see below) connected to the robot 100, the drone 400, or both, including a position sensor 126. Control system 701 may include one or more processors 702 and at least one memory module 704 communicatively connected to the processors 702, and storing machine-readable and executable instructions 706. Processor 702 may be any device capable of executing machine-readable instructions. When executed by processor 702, the machine-readable and executable instructions 706 may cause system 700 to automatically perform one or more of the functions described herein.

[0059] The propellers 106 of robot 100 are communicatively connected to control system 701. Machine-readable and executable instructions 706, when executed by processor 702, can cause system 700 to automatically activate the propellers 106 of at least one of the plurality of robots 100. In embodiments, system 700 can activate one, two, three, four, or all of the propellers 106 of robot 100.

[0060] System 700 can generate a position map of robot 100 relative to metal surface 202 using position sensor 126. Furthermore, system 700 can generate a relative position map between robots 100. Therefore, once propeller 106 is activated, machine-readable and executable instructions 706, when executed by processor 702, can also enable system 700 to automatically position robot 100 on metal surface 202. System 700 can enable robot 100 to detach and attach between multiple different points on metal surface 202.

[0061] When the machine-readable and executable instruction 706 is executed by the processor 702, it enables the system 700 to automatically detach the robot 100 from the first set of points 800, such as... Figure 8 As shown. System 700 can also use propeller 106 to fly and transport robot 100 to the second set of points 900, and attach robot 100 to the second set of points 900 on metal surface 202, as shown. Figure 9 As shown. Subsequently, the robot 100 can continue to repeat the separation and attachment operations between various points on the metal surface 202. In this embodiment, the robot 100 can be attached to all points on the metal surface 202. The robot 100 can be attached to the metal surface 202 via magnetic wheels 104.

[0062] The magnetic wheel 104 can attach the robot 100 to the metal surface 202. When the magnetic wheel 104 is a permanent magnet (as described above), when the propeller 106 guides the robot 100 to a position sufficiently close to the metal surface 202, the magnetic force of the permanent magnet will cause the robot 100 to automatically attach to the metal surface 202. When the magnetic wheel 104 is an electromagnet, the magnetic wheel 104 can be started / stopped to attach / detach the robot 100 from the metal surface 202 of the metal device 200.

[0063] The magnetic wheels 104 and wheel drive 110 are also communicatively connected to the control system 701, so that the machine-readable and executable instructions 706, when executed by the processor 702, can cause the system 700 to automatically operate the wheel drive 110 to drive each rotation of the magnetic wheels 104, thereby moving the robot 100 relative to the metal surface 202 of the metal device 200. The robot 100 can travel in an axial direction, a circumferential direction, or both simultaneously. The axial and circumferential directions can be relative to the central axis A of the metal device 200, that is, relative to the central axis A of the hollow structure 203.

[0064] When the machine-readable and executable instruction 706 is executed by the processor 702, it can also cause the system 700 to automatically operate the propeller 106 to generate lift to counteract the weight of the robot 100, as described above.

[0065] System 700 may include a hollow structure 203 as a metal device 200, the hollow structure 203 including an inner cavity 210 and an inner surface 208. A metal object 114 may also be disposed inside the hollow structure 203, as described above in conjunction with the metal device 200.

[0066] System 700 may further include a drone 400 having a drone body 402 and drone propellers 405 connected to the drone body 402. Machine-readable and executable instructions 706, when executed by processor 702, can cause system 700 to automatically attach the robot 100's body 102 to the drone body 402. Once the robot 100's body 102 is attached to the drone body 402, system 700 can detach the robot 100 from the metal surface 202 and reposition the robot 100 onto the metal surface 202 (similar to how the robot 100 repositions itself using its own propellers 106, as described above). Figure 8 , Figure 9 (As shown). When the body 102 is separated from the drone body 402, the machine-readable and executable instructions 706, when executed by the processor 702, can enable the system 700 to reattach the robot 100 to the metal surface 202.

[0067] like Figures 8 to 9 As shown, system 700 may include a first robot 100A and a second robot 100B. First robot 100A may include a first magnet 116A, and second robot 100B may include a second magnet 116B. When executed by processor 702, machine-readable and executable instruction 706 can cause system 700 to automatically reposition the first robot 100A to a first position 251 and activate the first magnet 116A. (See again...) Figure 9 Activating the first magnet 116A generates a magnetic field 117, causing the metal object 114 to impact the inner surface 208 of the metal surface 202 at a first point 252. When executed by the processor 702, the machine-readable instruction 706 can also cause the system 700 to reposition the second robot 100B to a second position 253 spaced apart from the first position 251. The system 700 can activate the first magnet 116A, and activate the second magnet 116B after or simultaneously with activating the first magnet 116A. Activating the second magnet 116B generates a magnetic field 117, causing the metal object 114 to pass through the cavity 210 of the hollow structure 203 and impact the inner surface 208 of the metal surface 202 at a second point 254 spaced apart from the first point 252.

[0068] By striking the inner surface 208 of the metal surface 202 with a metal object 114 at a first point 252 and a second point 254, the solid deposits 201 on the inner surface 208 of the metal surface 202 at the first point 252 and the second point 254 can be loosened. The impact can loosen or completely remove the solid deposits 201 from the inner surface 208 of the metal surface 202. Once loosened or removed, when the second valve 236 is opened to introduce solvent 115 into the hollow structure 203, the solid deposits 201 can be completely carried out of the inner cavity 210 (see above for details).

[0069] Refer again Figure 9 In this embodiment, when the machine-readable instruction 706 is executed by the processor 702, it can also cause the system 700 to reposition the first robot 100A to a third position 259, different from the first position 251, and to activate the second magnet 116B. After activating the second magnet 116B, the system 700 can activate the first magnet 116A; activating the first magnet 116A will generate a magnetic field 117, causing the metal object 114 to pass through the inner cavity 210 of the hollow structure 203 and impact the inner surface 208 of the metal surface 202 of the hollow structure 203 at a third point 260 on the inner surface 208. After activating the second magnet 116B, the system 700 can reposition the second robot 100B to a fourth position 263, different from the second position 253, and activate the first magnet 116A. After or simultaneously activating the first magnet 116A, the system 700 can activate the second magnet 116B. Activating the second magnet 116B generates a magnetic field 117, causing the metal object 114 to pass through the inner cavity 210 of the hollow structure 203 and impact the inner surface 208 of the metal surface 202 at a fourth point 164, spaced apart from the third point 160. The impact of the metal object 114 on the inner surface 208 of the metal surface 202 at both the third point 260 and the fourth point 264 can loosen the solid deposits 201 on the inner surface 208 of the metal surface 202 at both points 260 and 264.

[0070] When executed by processor 702, the machine-readable instruction 706 can also cause system 700 to automatically repeat the following steps: repositioning the first robot 100A, repositioning the second robot 100B, and activating and deactivating each of the first magnet 116A and the second magnet 116B, until the metal object 114 impacts the inner surface 208 of the metal surface 202 at multiple points, and the multiple points are fully distributed along the inner periphery of the metal surface 202; wherein the inner periphery is the contour of the inner surface 208 in a plane perpendicular to the central axis A of the hollow structure 203 or the metal device 200. As described above, the first robot 100A and the second robot 100B can be repositioned by activating the wheel drive 110 operably connected to each of the magnetic wheels 104. In an embodiment, the first robot 100A and the second robot 100B are repositioned by connecting and releasing the drone body 402 to the body 102 of the first robot 100A and the second robot 100B. System 700 may include a single drone 400 or multiple drones 400 to reposition robots 100 (such as robots 100A and 100B).

[0071] It should be noted that points 260 and 264 in the figure are shown as being coaxial with points 252 and 254, respectively. However, it should be understood that this is for illustrative purposes only; points 252, 254, 260, and 264 can be located at any position on the inner surface 208. It should also be noted that the robot 100's first position 251, second position 253, third position 259, and fourth position 263 on the metal surface 202 approximately correspond to the first point 252, second point 254, third point 260, and fourth point 264 on the inner surface 208.

[0072] A detection sensor 128, operable to generate signals indicating one or more states of the metal device 200, is communicatively connected to the control system 701. The detection sensor 128 may possess any of the features of the detection sensor 128 described above in this disclosure. In an embodiment, the detection sensor 128 may be a radar sensor operable to determine the location, thickness, or both of location and thickness of a solid deposit 201 formed on one or more surfaces of the metal device 200. The machine-readable instruction 706, when executed by the processor 702, may also cause the system 700 to automatically reposition the first robot 100A to a first position 251; the first position 251 may correspond to the location on one or more surfaces of the metal device 200 where the robot 100 senses the presence of a solid deposit 201 on the inner surface 208. The system 700 may then activate a first magnet 116A to generate a magnetic field 117, causing a metal object 114 to strike the inner surface 208 at a first point 252 on the inner surface 208. The system 700 can then reposition the second robot 100B to a second position 253 spaced apart from the first position 251; the second position 253 may correspond to the location on one or more surfaces of the metal device 200 where the robot 100 senses the presence of solid deposits 201 on the inner surface 208 of the metal surface 202.

[0073] In an embodiment, system 700 may further include machine-readable instructions 706, which, when executed by processor 702, may also cause system 700 to automatically store the historical location of solid deposits 201 in memory module 704. Based on the historical location of solid deposits 201, system 700 may also generate a predicted location for the accumulation of solid deposits 201 on the inner surface 208 of metal device 200. Thus, system 700 may reposition robots 100 (such as first robot 100A and second robot 100B) to the predicted location of solid deposit accumulation.

[0074] As described above, the detection sensor 128 may include an ultrasonic sensor. Furthermore, refer to... Figure 10The metal object 114 may include a high acoustic impedance outer layer 114A and a high ferromagnetic inner layer 114B. Thus, the system can determine the thickness of the solid deposit 201 on the inner surface 208 of the metal device 200. The ultrasonic sensor 128 may include a transducer that emits ultrasonic waves toward the metal surface 202, as discussed above, when the metal object 114 is adsorbed onto the inner surface of the metal device 200 where the solid deposit 201 has accumulated. The system 700 may include machine-readable instructions 706 that, when executed by the processor 702, cause the system 700 to determine the thickness of the solid deposit 201. The system 700 can achieve thickness detection by measuring the time it takes for the ultrasonic waves to return to the ultrasonic sensor 128 after being reflected by the high acoustic impedance outer layer 114A of the metal object 114. For example, when the solid deposit 201 is thicker, the time required for the ultrasonic waves to return to the ultrasonic sensor 128 is longer; conversely, when the solid deposit 201 is thinner, the time required for the ultrasonic waves to return to the ultrasonic sensor 128 is shorter.

[0075] The high acoustic impedance outer layer 114A of the metallic object 114 may include materials such as tungsten, platinum, molybdenum, gold, or any other suitable material. The high ferromagnetic inner layer 114B may be any ferromagnetic material, such as iron, cobalt, or nickel.

[0076] The system 700 may then activate the first magnet 116A, and after or simultaneously with activating the first magnet 116A, activate the second magnet 116B. Activating the second magnet 116B generates a magnetic field 117, causing the metal object 114 to pass through the inner cavity 210 of the hollow structure 203 and strike the inner surface 208 of the metal surface 202 at a second point 254 spaced apart from the first point 252.

[0077] When the machine-readable instruction 706 is executed by the processor 702, the system 700 can also automatically reposition the first robot 100A to a third position 259, different from the first position 251, after activating the first magnet 116A. The third position 259 may correspond to the position on one or more surfaces of the metal device 200 where the robot 100 senses the presence of solid deposits 201 on the inner surface 208. The system can also activate the second magnet 116B and then activate the first magnet 116A. Activating the first magnet 116A generates a magnetic field 117, causing the metal object 114 to pass through the inner cavity 210 of the hollow structure 203 and impact the inner surface 208 of the metal surface 202 of the hollow structure 203 at a third point 260 on the inner surface 208. After activating the second magnet 116B, the machine-readable instruction 706, when executed by the processor 702, can also cause the system 700 to automatically reposition the second robot 100B to a fourth position 263, different from the second position 253; the fourth position may correspond to the location on one or more surfaces of the metal device 200 where the robot 100 senses the presence of solid deposits 201 on the inner surface 208. The system can also activate the first magnet 116A, and activate the second magnet 116B after or simultaneously with activating the first magnet 116A; activating the second magnet generates a magnetic field 117, causing the metal object 114 to pass through the cavity 210 of the hollow structure 203 and impact the inner surface 208 of the metal surface 202 at a fourth position 264 spaced apart from the third position 260.

[0078] When executed by the processor 702, the machine-readable instruction 706 can also cause the system 700 to automatically repeat the following steps: repositioning the first robot 100A, repositioning the second robot 100B, and starting and de-starting each of the first magnet 116A and the second magnet 116B, until the metal object 114 impacts the inner surface 208 of the metal surface 202 at all locations where the robot 100 has sensed the solid deposit 201 by using the inspection sensor 128.

[0079] As mentioned above and Figure 1As shown, the robot 100 may include a power supply 108, which may include a rechargeable battery 108, which can be charged via a charging station 902. In an embodiment, when the machine-readable instruction 706 is executed by the processor 702, the system 700 can also automatically determine when the rechargeable battery 108 is in a low-charge state. When the rechargeable battery 108 is in a low-charge state, when the machine-readable instruction 706 is executed by the processor 702, the system 700 can also automatically separate the magnetic wheel 104 from the metal surface 202, operate the propeller 106 to fly and transport the robot 100 to the charging station 902, and dock the robot 100 at the charging station 902 to charge the rechargeable battery 108. The charging station 902 may have one, two, three, four, or more than four docking positions 904. In an embodiment, the number of docking positions 904 at the charging station 902 is the same as the number of robots 100 on the metal device 200, so that all robots 100 can be charged simultaneously.

[0080] Refer again Figure 1 and Figure 7 The process of moving on a metal surface 202 using the system 700 of this disclosure may include: activating a propeller 106 of at least one robot 100. The robot 100 may include a position sensor 126, and the process may further include positioning the robot 100 on the metal surface 202, as described above. Activating the propeller 106 may generate lift to counteract the weight of the robot 100 itself, as described above.

[0081] The process may further include: separating the robot 100 from the first set of points 800 on the metal surface 202, flying and transporting the robot 100 to the second set of points 900 on the metal surface 202, and attaching the robot 100 to the second set of points 900 on the metal surface 202.

[0082] The process may further include: repositioning robot 100 on the hollow structure 203, positioning the first robot 100A at a first position 251, and attracting the metal object 114 to a first point 252 on the inner surface 208 using a first magnet 116A. The process may subsequently include: positioning the second robot 100B at a second position 253, and attracting the metal object 114 to a second point 254 on the inner surface 208 using a second magnet 116B.

[0083] Repositioning the first robot 100A and the second robot 100B may include activating a wheel drive 110 operably connected to each of the magnetic wheels 104. Furthermore, repositioning the first robot 100A and the second robot 100B may include coupling and releasing the drone body 402 to the two robot bodies 102. The process may also include repositioning the first robot 100A and the second robot 100B to points corresponding to one or more surfaces of the metal device 200, said points being locations where the robot 100 senses the presence of solid deposits 201 on the inner surface 208 via a detection sensor 128.

[0084] The process may further include determining when the rechargeable battery 108 of the robot 100 is in a low-charge state. When the rechargeable battery 108 is in a low-charge state, the process may include: separating the magnetic wheel 104 from the metal surface 202, operating the propeller 106 to fly and transport the robot 100 to the charging station 902, and docking the robot 100 at the charging station 902 to charge the rechargeable battery 108.

[0085] As previously described, system 700 may include one or more processors 702 and one or more memory modules 704. The one or more processors 702 may include any device capable of executing computer-readable and executable instructions stored on a non-transitory computer-readable medium. Therefore, each processor 702 may include an integrated circuit, a microchip, a computer, and / or any other computing device. The one or more memory modules 704 are communicatively connected to the one or more processors 702 via a communication path. The one or more memory modules 704 may be configured as volatile and / or non-volatile memory, and therefore may include random access memory (including SRAM, DRAM, and / or other types of RAM), flash memory, secure digital storage (SD) memory, registers, optical disc (CD), digital versatile optical disc (DVD), and / or other types of non-transitory computer-readable media. The one or more memory modules 704 may be configured to store machine-readable and executable instructions 706 for one or more components of operating system 700.

[0086] Embodiments of this disclosure include logic stored on one or more memory modules 704, the logic comprising machine-readable and executable instructions or algorithms written in any programming language of any generation (such as first-generation, second-generation, third-generation, fourth-generation, and / or fifth-generation languages), such as machine language, assembly language, object-oriented programming (OOP) language, scripting language, microcode, etc., which can be directly executed by one or more processors 702 and can be compiled or assembled into machine-readable instructions and stored on a machine-readable medium. Similarly, the logic and / or algorithms can be written in hardware description languages ​​(HDLs), such as logic implemented via field-programmable gate array (FPGA) configurations or application-specific integrated circuits (ASICs) and their equivalents. Therefore, the logic can be implemented in any conventional computer programming language, pre-programmed hardware elements, and / or a combination of hardware and software components.

[0087] A first aspect of this disclosure may relate to a robot for operating and maintaining metal equipment in a hydrocarbon refinery, the robot including a body and a plurality of magnetic wheels operably attached to the body, wherein the plurality of magnetic wheels are operable to attach the robot to a metal surface of the metal equipment, and the robot may further include a plurality of propellers connected to the body.

[0088] The second aspect of this disclosure may include the features of the first aspect, wherein each of the plurality of magnetic wheels may include a permanent magnet.

[0089] The third aspect of this disclosure may include features of either the first or second aspect, wherein each of the plurality of magnetic wheels includes an electromagnet, and the robot may further include a power supply electrically connected to each of the plurality of magnetic wheels.

[0090] The fourth aspect of this disclosure may include the features of the third aspect, wherein the power supply may be a rechargeable battery.

[0091] The fifth aspect of this disclosure may include features of any one of the first to fourth aspects, wherein the plurality of magnetic wheels are rotatable relative to the body of the robot.

[0092] The sixth aspect of this disclosure may include features of any one of the first to fifth aspects, and further includes a wheel drive operably connected to each of the plurality of magnetic wheels, wherein the wheel drive is operable to rotate each of the plurality of magnetic wheels relative to the body, thereby moving the robot relative to the metal surface of the metal device.

[0093] The seventh aspect of this disclosure may include the features of the sixth aspect, wherein the plurality of magnetic wheels are operable to pivot relative to the body to drive the robot to move vertically, horizontally, or both vertically and horizontally relative to a metal surface.

[0094] The eighth aspect of this disclosure may include features of any one of the first to seventh aspects, wherein the plurality of propellers are operable to reposition the robot on the metal surface of the metal device.

[0095] The ninth aspect of this disclosure may include features of any one of the first to eighth aspects, wherein the plurality of propellers are operable to generate lift to counteract the robot’s own weight.

[0096] The tenth aspect of this disclosure may include the features of the ninth aspect, wherein the lift is equal to the robot's own weight.

[0097] The eleventh aspect of this disclosure may include features of any one of the first to tenth aspects, wherein each of the plurality of propellers may include a propeller positioner operable to change the orientation of the plurality of propellers relative to the body.

[0098] The twelfth aspect of this disclosure may include the features of the eleventh aspect, wherein each propeller positioner is operable to cause one of the plurality of propellers to rotate 360 ​​degrees relative to the fuselage.

[0099] The thirteenth aspect of this disclosure may include the features of any one of the first to twelfth aspects, wherein the plurality of propellers may be attached to the body and rotatable relative to the body.

[0100] The fourteenth aspect of this disclosure may include features of any one of the first to thirteenth aspects, including a drone body, wherein the drone body can be connected to the body of a robot, and the plurality of propellers can be connected to the drone body, and the drone body can be detached from the body of the robot.

[0101] The fifteenth aspect of this disclosure may include features of any one of the first to fourteenth aspects, and further includes a magnet connected to the body, wherein the magnet is operable to attract a metal object to a first position on a metal surface.

[0102] The sixteenth aspect of this disclosure may include the features of the fifteenth aspect, wherein the robot's body may further include a power supply electrically connected to each of the plurality of magnetic wheels and the magnet.

[0103] The seventeenth aspect of this disclosure may include the features of the fifteenth or sixteenth aspect, wherein the magnet may be an electromagnet.

[0104] The eighteenth aspect of this disclosure may include the features of any one of the fifteenth to seventeenth aspects, wherein the magnet may extend at least partially around a metal surface.

[0105] The nineteenth aspect of this disclosure may include features of any one of the fifteenth to eighteenth aspects, and further includes a telescopic arm having a proximal end and a distal end, wherein the proximal end may be connected to a body and the distal end may be connected to a magnet.

[0106] The twentieth aspect of this disclosure may include the features of the nineteenth aspect, and further includes an arm actuator operably connected to the telescopic arm, wherein the arm actuator is operable to lower and raise the telescopic arm relative to the body, thereby engaging or disengaging the magnet from the metal surface of the metal device.

[0107] The 21st aspect of this disclosure may include the features of any one of the 15th to 20th aspects, and further includes a hollow magnet housing having an inner surface, wherein the hollow magnet housing may extend at least partially around a metal surface, and a magnet may be disposed inside the hollow magnet housing so as to slide within the hollow magnet housing.

[0108] The 22nd aspect of this disclosure may include the features of any one of the 15th to 21st aspects, and further includes a plurality of magnets arranged along a curve that at least partially surrounds a metal surface.

[0109] The twentieth aspect of this disclosure may include features of any one of the first to twenty-second aspects, and also includes a camera attached to the body.

[0110] The 24th aspect of this disclosure may include features of any one of the first to 23 aspects, and further includes a position sensor, wherein the position sensor is operable to generate a signal indicating the position of the robot.

[0111] The 25th aspect of this disclosure may include features of any one of the first to 24 aspects, and further includes one or more detection sensors operable to generate signals indicating one or more states of the metal device.

[0112] The 26th aspect of this disclosure may include the features of the 23rd aspect, wherein the one or more detection sensors include radar sensors operable to determine the location, thickness, or both location and thickness of a solid deposit formed on one or more surfaces of the metal device.

[0113] The 27th aspect of this disclosure may include features of any one of the first to 26 aspects, wherein the body includes a chassis and an outer cover connected to the chassis, and the plurality of magnetic wheels are operatively connected to the chassis.

[0114] The twenty-eighth aspect of this disclosure may include a system for traveling along a metal surface of a metal device. The system may include a plurality of robots according to any one of the first to twenty-seventh aspects. The system may further include at least one position sensor connected to each of the plurality of robots; and a control system communicatively connected to the plurality of robots, wherein the control system may include a processor, at least one memory module communicatively connected to the processor, and the at least one memory module storing machine-readable and executable instructions, wherein the machine-readable and executable instructions, when executed by the processor, cause the system to automatically perform the following operations: activating a plurality of propellers of at least one of the plurality of robots; and positioning the plurality of robots on the metal surface.

[0115] The 29th aspect of this disclosure may include the features of the 28th aspect, wherein the machine-readable and executable instructions, when executed by a processor, may also enable the system to automatically detach the plurality of robots from a first set of points on the metal surface, fly and transport the plurality of robots to a second set of points on the metal surface, and attach the plurality of robots to the second set of points on the metal surface.

[0116] The thirtieth aspect of this disclosure may include the features of the twenty-eighth or twenty-ninth aspect, wherein the plurality of robots further includes a wheel drive operatively connected to each of the plurality of magnetic wheels. The wheel drive is operable to rotate each of the plurality of magnetic wheels relative to the body, thereby moving the robots relative to the metal surface of the metal device. Machine-readable and executable instructions, when executed by a processor, may also cause the system to automatically operate the wheel drive to drive the rotation of each of the plurality of magnetic wheels, thereby moving the robots relative to the metal surface of the metal device.

[0117] The thirty-first aspect of this disclosure may include features of any of the twenty-eighth to thirtieth aspects, and further includes a drone body. The drone body can be attached to the robot body, and the plurality of propellers can be attached to the drone body. The drone body can be detached from the robot body. The machine-readable and executable instructions, when executed by a processor, can also cause the system to automatically attach the robot body to the drone body, detach the robot from the metal surface, reposition the robot on the metal surface, and reattach the robot to the metal surface.

[0118] The thirty-second aspect of this disclosure may include the features of any one of the twenty-eighth to thirty-first aspects, wherein the machine-readable and executable instructions, when executed by a processor, may also cause the system to automatically operate the plurality of propellers to generate lift to counteract the robot's own weight.

[0119] The thirty-third aspect of this disclosure may include the feature of the thirty-second aspect, wherein the lift may be equal to the robot’s own weight.

[0120] The thirty-fourth aspect of this disclosure may include features of any one of the twenty-eighth to thirty-third aspects, wherein the system may include a hollow structure having an inner cavity and an inner surface, and a metal object may be disposed within the hollow structure.

[0121] The thirty-fifth aspect of this disclosure may include the features of the thirty-fourth aspect, wherein the plurality of robots may travel in an axial direction, a circumferential direction, or both simultaneously. The axial and circumferential directions may be relative to the central axis of the hollow structure.

[0122] The thirty-sixth aspect of this disclosure may include the features of the thirty-fourth or thirty-fifth aspect, wherein the plurality of robots may include a first robot and a second robot; the first robot may include a first magnet, and the second robot may include a second magnet. When executed by a processor, the machine-readable and executable instructions may cause the system to automatically reposition the first robot to a first position and activate the first magnet (activating the first magnet generates a magnetic field, causing a metal object to impact the inner surface of the metal surface at a first point on the inner surface); when executed by a processor, the machine-readable and executable instructions may also cause the system to automatically reposition the second robot to a second position spaced apart from the first position, activate the first magnet, and activate the second magnet after or simultaneously with activating the first magnet (activating the second magnet generates a magnetic field, causing a metal object to pass through the cavity of the hollow structure and impact the inner surface of the metal surface at a second point spaced apart from the first point). Imposing the metal object at the first and second points on the inner surface of the metal surface may loosen solid deposits on the inner surface of the metal surface at the first and second points, respectively.

[0123] The thirty-seventh aspect of this disclosure may include the features of the thirty-sixth aspect, wherein the machine-readable and executable instructions, when executed by a processor, may also enable the system to automatically store the historical location of solid deposits in the at least one memory module and generate a predicted location of solid deposit accumulation based on the historical location of the solid deposits.

[0124] The thirty-eighth aspect of this disclosure may include the feature of the thirty-seventh aspect, wherein the machine-readable and executable instructions, when executed by a processor, further cause the system to automatically reposition the first robot and the second robot to the predicted location of the solid deposit accumulation.

[0125] The thirty-ninth aspect of this disclosure may include the features of any one of the thirty-sixth to thirty-eighth aspects, wherein the machine-readable and executable instructions, when executed by a processor, may also cause the system to automatically perform the following operations: after deactivating the first magnet, repositioning the first robot to a third position different from the first position; deactivating the second magnet, and activating the first magnet after deactivating the second magnet (activating the first magnet generates a magnetic field that causes a metal object to pass through the inner cavity of the hollow structure and impact the inner surface of the metal surface of the hollow structure at a third point on the inner surface). When executed by the processor, the machine-readable and executable instructions can also cause the system to automatically perform the following operations: after deactivating the second magnet, reposition the second robot to a fourth position different from the second position; deactivate the first magnet, and after or simultaneously with deactivating the first magnet, activate the second magnet (activating the second magnet generates a magnetic field, causing a metal object to pass through the inner cavity of the hollow structure and impact the inner surface of the metal surface at a fourth point spaced apart from the third point). Impacting the inner surface of the metal surface at the third and fourth points respectively can loosen solid deposits on the inner surface of the metal surface at the third and fourth points respectively.

[0126] The fortieth aspect of this disclosure may include the features of the thirty-ninth aspect, wherein the machine-readable and executable instructions, when executed by a processor, enable the control system to automatically repeat the following steps: repositioning the first robot, repositioning the second robot, and initiating and de-initiating each of the first and second magnets, until a metal object impacts the inner surface of the metal surface at multiple points, and the multiple points are fully distributed along the inner perimeter of the metal surface. The inner perimeter may be the contour of the inner surface in a plane perpendicular to the central axis of the hollow structure.

[0127] The forty-first aspect of this disclosure may include the features of any one of the thirty-sixth to fortieth aspects, wherein the first robot and the second robot further include a wheel drive operatively connected to each of a plurality of magnetic wheels, the operation of which may reposition the first robot and the second robot.

[0128] The forty-second aspect of this disclosure may include the features of any one of the thirty-sixth to forty-first aspects, wherein the drone body can be connected to the robot body, and the plurality of propellers can be connected to the drone body; the drone body can be separated from the robot body, and the repositioning of the two robots can be achieved through the connection and release of the drone body with the first robot and the second robot.

[0129] The forty-third aspect of this disclosure may include features of any one of the thirty-six to forty-two aspects, and further includes one or more detection sensors operable to generate signals indicating one or more states of the metal device.

[0130] The forty-fourth aspect of this disclosure may include the features of the forty-third aspect, wherein the one or more detection sensors are ultrasonic sensors; and the machine-readable and executable instructions, when executed by a processor, also cause the system to automatically determine the thickness of the solid deposit.

[0131] The forty-fifth aspect of this disclosure may include the features of the forty-fourth aspect, wherein the metallic object may include a high acoustic impedance outer layer and a high ferromagnetic inner layer.

[0132] The forty-sixth aspect of this disclosure may include the features of the forty-fifth aspect, wherein the high acoustic impedance outer layer is made of tungsten.

[0133] The forty-seventh aspect of this disclosure may include features of any one of the forty-third to forty-sixth aspects, wherein the one or more detection sensors include radar sensors operable to determine the location, thickness, or both location and thickness of a solid deposit formed on one or more surfaces of the metal device.

[0134] The forty-eighth aspect of this disclosure may include the features of the forty-seventh aspect, wherein the machine-readable and executable instructions, when executed by a processor, enable the system to automatically perform the following operations: repositioning a first robot to a first position (the first position may correspond to a location on one or more surfaces of a metal device where multiple robots sense the presence of solid deposits on the inner surface); activating a first magnet (activating the first magnet generates a magnetic field that causes a metal object to impact the inner surface of the metal surface at a first point on the inner surface); and repositioning a second robot to a second position spaced apart from the first position (the second position may correspond to a location on one or more surfaces of a metal device where multiple robots sense the presence of solid deposits on the inner surface). The machine-readable and executable instructions, when executed by a processor, may also enable the system to automatically perform the following operations: activating the first magnet, and activating a second magnet after or simultaneously with activating the first magnet (activating the second magnet generates a magnetic field that causes a metal object to pass through the cavity of the hollow structure and impact the inner surface of the metal surface at a second point spaced apart from the first point). Impacting the inner surface of the metal surface at the first and second points respectively can loosen the solid deposits on the inner surface of the metal surface at the first and second points, respectively.

[0135] The forty-ninth aspect of this disclosure may include the features of the forty-eighth aspect, wherein the machine-readable and executable instructions, when executed by a processor, may also cause the system to automatically perform the following operations: after deactivating the first magnet, repositioning the first robot to a third position different from the first position (the third position may correspond to one or more surfaces of the metal device, where the plurality of robots detect the presence of solid deposits on the inner surface); deactivating the second magnet, and after deactivating the second magnet, activating the first magnet (activating the first magnet generates a magnetic field that causes the metal object to pass through the cavity of the hollow structure and impact the inner surface of the metal surface of the hollow structure at the third point). The machine-readable and executable instructions, when executed by a processor, may also... The system is configured to automatically perform the following operations: after deactivating the second magnet, reposition the second robot to a fourth position different from the second position (the fourth position may correspond to one or more surfaces of the metal device where the plurality of robots detect the presence of solid deposits on the inner surface); deactivate the first magnet, and after or simultaneously with deactivating the first magnet, activate the second magnet (activating the second magnet generates a magnetic field that causes the metal object to pass through the cavity of the hollow structure and impact the inner surface of the metal surface at a fourth point spaced apart from the third point). Impacting the inner surface of the metal surface at the third and fourth points respectively can loosen the solid deposits on the inner surface of the metal surface at the third and fourth points, respectively.

[0136] The fiftieth aspect of this disclosure may include the feature of the forty-ninth aspect, wherein the machine-readable and executable instructions, when executed by a processor, enable the control system to automatically repeat the following steps: repositioning the first robot, repositioning the second robot, and initiating and de-initiating each of the first and second magnets, until the metal object strikes the inner surface of the metal surface at all locations where the multiple robots have sensed the solid deposit.

[0137] The fifty-first aspect of this disclosure may include the features of any one of aspects twenty-eight to fifty, wherein the robot further includes a rechargeable battery and a power sensor operatively connected to the rechargeable battery.

[0138] The fifty-second aspect of this disclosure may include the features of the fifty-first aspect, wherein the machine-readable and executable instructions, when executed by a processor, may also enable the system to automatically determine when the rechargeable battery is in a low-charge state; when the rechargeable battery is in a low-charge state, the plurality of magnetic wheels are separated from the metal surface, the plurality of propellers are operated to fly and transport the robot to a charging station, and the robot is docked at the charging station to charge the rechargeable battery.

[0139] The fifty-third aspect of this disclosure may include a process for moving on a metal surface, the process comprising: activating a plurality of propellers of at least one of a plurality of robots according to any one of the first to twenty-seventh aspects, wherein at least one position sensor may be connected to each of the plurality of robots. The process may further include positioning the plurality of robots on the metal surface.

[0140] The fifty-fourth aspect of this disclosure may include the feature of the fifty-third aspect, wherein activating the plurality of propellers can generate lift to counteract the robot's own weight.

[0141] The fifty-fifth aspect of this disclosure may include the features of the fifty-fourth aspect, wherein the lift may be equal to the robot’s own weight.

[0142] The fifty-sixth aspect of this disclosure may include features of any one of the fifty-third to fifty-fifth aspects, and the process further includes: separating the plurality of robots from a first set of points on the metal surface, transporting the plurality of robots by flight to a second set of points on the metal surface, and attaching the plurality of robots to the second set of points on the metal surface.

[0143] The fifty-seventh aspect of this disclosure may include features of any of the fifty-three to fifty-six aspects, and further includes repositioning the plurality of robots onto a hollow structure, the hollow structure including an inner cavity and an inner surface, and a metal object disposed within the hollow structure. The plurality of robots may include a first robot and a second robot, the first robot including a first magnet and the second robot including a second magnet. The process may further include: positioning the first robot at a first position, and using the first magnet to attract the metal object to a first point on the inner surface (wherein attracting the metal object to the first point on the inner surface causes the metal object to impact the inner surface at the first point, and the impact of the metal object with the inner surface at the first point can loosen solid deposits on the inner surface at the first point). The process may further include positioning the second robot at a second position, and using the second magnet to attract the metal object to a second point on the inner surface (wherein attracting the metal object to the second point on the inner surface causes the metal object to impact the inner surface at the second point, and the impact of the metal object with the inner surface at the second point can loosen solid deposits on the inner surface at the second point).

[0144] The fifty-eighth aspect of this disclosure may include the features of the fifty-seventh aspect, wherein repositioning the first robot and the second robot may include initiating a wheel drive operatively connected to each of a plurality of magnetic wheels.

[0145] The fifty-ninth aspect of this disclosure may include the features of the fifty-seventh or fifty-eighth aspect, wherein repositioning of the first robot and the second robot may be achieved by connecting and releasing the drone body of the drone to the first robot and the second robot, wherein the drone body may be connected to the body of the robot, and the plurality of propellers may be connected to the drone body.

[0146] The sixtieth aspect of this disclosure may include features of any one of the fifty-seventh to fifty-ninth aspects, and further includes determining the position, thickness, or both position and thickness formed on one or more surfaces of the metal device by means of a first robot and a second robot, wherein the first robot and the second robot may include one or more detection sensors operable to generate signals indicating one or more states of the metal device.

[0147] The sixty-first aspect of this disclosure may include the features of the sixtieth aspect, further including repositioning the first robot and the second robot to one or more surfaces that may correspond to the metal device, and the location where the plurality of robots detect the presence of solid deposits on the inner surface.

[0148] The sixty-second aspect of this disclosure may include the features of any one of the fifty-seventh to sixty-first aspects, and further includes determining when the robot's rechargeable battery is in a low-charge state; and when the rechargeable battery is in a low-charge state, separating the plurality of magnetic wheels from the metal surface, operating the plurality of propellers to fly and transport the robot to a charging station, and docking the robot at the charging station to charge the rechargeable battery.

[0149] It should be noted that one or more of the following claims use "wherein" as a transitional phrase. For the purpose of defining this technology, it should be noted that this term is introduced in the claims as an open transitional phrase to introduce a description of a series of structural features, and its interpretation should be similar to that of the more commonly used open prepositional phrase "comprising".

[0150] It should be understood that any two quantized values ​​given for a certain attribute can constitute a range of that attribute, and this disclosure covers all combinations of ranges formed by all quantized values ​​of a given attribute.

[0151] The subject matter of this disclosure has been described in detail above with reference to specific embodiments. However, it should be noted that the various details described herein should not be construed as implying that these details are essential components of the various embodiments of this disclosure, even though specific elements are shown in each of the accompanying drawings. Rather, the appended claims should be considered the sole definition of the scope of protection of this disclosure and the corresponding scope of the various embodiments. Furthermore, it will be apparent that various modifications and variations can be made without departing from the scope of the appended claims.

Claims

1. A robot for operating and maintaining metal equipment in a hydrocarbon refinery, characterized in that, The robot includes: Organism; A plurality of magnetic wheels operably attached to the body, wherein the plurality of magnetic wheels are operable to attach the robot to the metal surface of the metal device; and Multiple propellers are connected to the body.

2. The robot according to claim 1, characterized in that, Each of the plurality of magnetic wheels includes a permanent magnet.

3. The robot according to claim 1 or 2, characterized in that, Each of the plurality of magnetic wheels includes an electromagnet, and the robot also includes a power supply electrically connected to each of the plurality of magnetic wheels.

4. The robot according to claim 3, characterized in that, The power supply is a rechargeable battery.

5. The robot according to any one of the preceding claims, characterized in that, The plurality of magnetic wheels are rotatable relative to the body of the robot.

6. The robot according to any one of the preceding claims, characterized in that, The robot also includes a wheel drive operably connected to each of the plurality of magnetic wheels, wherein the wheel drive is operable to rotate each of the plurality of magnetic wheels relative to the body, thereby moving the robot relative to the metal surface of the metal device.

7. The robot according to claim 6, characterized in that, The plurality of magnetic wheels can pivot relative to the body to drive the robot to move vertically, horizontally, or both vertically and horizontally along the metal surface.

8. The robot according to any one of the preceding claims, characterized in that, The plurality of propellers are operable to reposition the robot on the metal surface of the metal equipment.

9. The robot according to any one of the preceding claims, characterized in that, The multiple propellers are operable to generate lift to counteract the robot's own weight.

10. The robot according to claim 9, characterized in that, The lift is equal to the robot's own weight.

11. A system for moving along the metal surface of a metal device, characterized in that, The system includes: A hollow structure, the hollow structure comprising an inner cavity and an inner surface; Multiple robots configured to move along the metal surface of the metal device; A metal object, wherein the metal object is disposed within the hollow structure; One or more detection sensors, the one or more detection sensors being operable to generate signals indicating one or more states of the metal device; At least one position sensor, said at least one position sensor being connected to each of the plurality of robots; and A control system, communicatively connected to the plurality of robots, includes a processor and at least one memory module communicatively connected to the processor. The at least one memory module stores machine-readable and executable instructions, which, when executed by the processor, cause the system to automatically perform the following operations: Start multiple propellers of at least one of the plurality of robots; Positioning the plurality of robots on the metal surface; and Activate the one or more detection sensors.

12. The system according to claim 11, characterized in that, The one or more detection sensors are ultrasonic sensors, and the machine-readable and executable instructions, when executed by the processor, also cause the system to automatically determine the thickness of the solid deposit on the inner surface of the hollow structure.

13. The system according to claim 11 or 12, characterized in that, The metallic object comprises a high acoustic impedance outer layer and a high ferromagnetic inner layer.

14. The system according to claim 13, characterized in that, The high acoustic impedance outer layer is made of tungsten.

15. The system according to any one of claims 11 to 14, characterized in that, The one or more detection sensors include a radar sensor operable to determine the location, thickness, or both location and thickness of a solid deposit formed on one or more surfaces of the metal device.

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