WO2025190812A1 - Élimination de sédiments à entrée nulle de réservoirs de stockage - Google Patents

Élimination de sédiments à entrée nulle de réservoirs de stockage

Info

Publication number
WO2025190812A1
WO2025190812A1 PCT/EP2025/056312 EP2025056312W WO2025190812A1 WO 2025190812 A1 WO2025190812 A1 WO 2025190812A1 EP 2025056312 W EP2025056312 W EP 2025056312W WO 2025190812 A1 WO2025190812 A1 WO 2025190812A1
Authority
WO
WIPO (PCT)
Prior art keywords
robotic cleaner
steam
sediment
assembly
storage tank
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/EP2025/056312
Other languages
English (en)
Inventor
Aidan Doherty
Colin DOHERTY
Joseph Doherty
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Re-Gen Robotics Ltd
Original Assignee
Re-Gen Robotics Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Re-Gen Robotics Ltd filed Critical Re-Gen Robotics Ltd
Publication of WO2025190812A1 publication Critical patent/WO2025190812A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
    • B08B9/08—Cleaning containers, e.g. tanks
    • B08B9/093—Cleaning containers, e.g. tanks by the force of jets or sprays
    • B08B9/0933—Removing sludge or the like from tank bottoms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
    • B08B9/08—Cleaning containers, e.g. tanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B2230/00—Other cleaning aspects applicable to all B08B range
    • B08B2230/01—Cleaning with steam

Definitions

  • the present invention relates to assembly and method for the removal of sediment from tanks used for storing hazardous chemicals, typically in large distribution centres. More particularly, the invention relates to removal of sediment via a remotely controlled robotic cleaner.
  • the robotic cleaner may be operated by an operator situated in a sealed controlled environment inside an associated control cabin.
  • waste materials can pose a danger to the quality of the materials being stored, or to processes that these chemicals are destined for, by their accidental inclusion in any such deliveries that are dispatched from the storage tank.
  • the operator is situated in a control cabin which can provide a sealed controlled environment, to remove the exposure of the operator to the hazardous zone inside the storage tank or surrounding it.
  • GB2585311A discloses a mobile tank-cleaning assembly for sediment removal from a hazardous-storage tank comprising a road vehicle having an integrated lifting means, a multiple-section vacuum tanker, and a unit, the unit comprising a controlled environment operator workstation and a robotic cleaner, wherein the unit is movable on and off the road vehicle; and wherein the multiple-section vacuum tanker comprises at least a volume-variable cleaning fluid reservoir section and a volumevariable sediment-storage section and a moveable piston, wherein the volume of the cleaning fluid reservoir section and the volume of the sediment-storage section can be altered by moving the piston.
  • the invention is directed to an assembly for removal of sediment from a hazardous- storage tank, comprising: a steam provider, a vacuum tanker, and a unit, the unit comprising a hazardous-controlled environment operator workstation, a robotic cleaner, at least one umbilical hose, and a control centre; wherein the robotic cleaner is remotely controlled by the control centre, and wherein one umbilical hose is extendible in use between the steam provider and the robotic cleaner to supply steam to the robotic cleaner, and wherein one umbilical hose is extendible in use between the robotic cleaner and the vacuum tanker to removal sediment from the storage tank to the vacuum tanker.
  • the invention is also directed to a method of removal of sediment from a hazardous- storage tank comprising: providing a unit comprising a hazardous-controlled environment operator workstation, a robotic cleaner, at least one umbilical hose, and a control centre; operating the robotic cleaner to enter the storage tank via a remote control system contained within the control centre; providing steam to the robotic cleaner via a first umbilical hose; providing a vacuum to the robotic cleaner via a second umbilical hose; steam-cleaning and vacuum removing the sediment in the storage tank.
  • the invention is also directed to a robotic cleaner for an assembly for removal of sediment from a hazardous-storage tank, wherein the robotic cleaner comprises a skirt unit configured to enclose a space between the robotic cleaner and the sediment in the storage tank.
  • Fig. 1 is a representative view of an arrival on site and next to a storage tank of a mobile tank cleaning assembly according to one embodiment of the present invention
  • Fig. 2 is a representative view of a container being deployed from a road vehicle of the assembly shown in Figure 1 via the integrated lifting means;
  • Fig. 3 is a representative view of the assembly of Figures 1 and 2, and Hazardous Area Zones as areas of operation for the assembly;
  • Fig. 4 is a sectional view of the container of Figure 3;
  • Fig. 5 is a sectional view of the storage tank and robotic cleaner of Figure 3;
  • Fig. 6 is a diagrammatic view of the robotic cleaner of Figure 5 in operation inside the storage tank.
  • Fig. 7 is a sectional view of the container in its deployed state within a Zone 1 Hazardous Area
  • Fig. 8 is an isometric view of the container in its deployed state within a Zone 1 Hazardous Area
  • Fig. 9 is a perspective view of the robotic cleaner of Figure 5.
  • Fig.s 10a and 10b are enlarged views of one end of the robotic cleaner of Figure 9, with a full skirt unit, and with a skirt-part-cutaway, respectively;
  • Figures 11a and 11b are alternate perspective views of Fig. 10b.
  • GB2585311A discloses a mobile tank-cleaning apparatus for sediment removal from a hazardous-storage tank comprising a road vehicle having an integrated lifting means, a multiple-section vacuum tanker, and a unit, the unit comprising a controlled environment operator workstation and a robotic cleaner, The unit is movable on and off the road vehicle; and the multiple-section vacuum tanker comprises at least a volume-variable cleaning fluid reservoir section and a volumevariable sediment-storage section and a moveable piston, wherein the volume of the cleaning fluid reservoir section and the volume of the sediment-storage section can be altered by moving the piston.
  • the present invention provides an assembly for removal of sediment from a hazardous-storage tank, comprising: a steam provider, a vacuum tanker, and a unit, the unit comprising a hazardous-controlled environment operator workstation, a robotic cleaner, at least one umbilical hose, and a control centre; wherein the robotic cleaner is remotely controlled by the control centre, and wherein one umbilical hose is extendible in use between the steam provider and the robotic cleaner to supply steam to the robotic cleaner, and wherein one umbilical hose is extendible in use between the robotic cleaner and the vacuum tanker to removal sediment from the storage tank to the vacuum tanker.
  • the sediment can be the remains or remainder in a petroleum refining, or, petrochemical or chemical industries, etc., storage tank for hazardous materials, which is typically surrounded by a bund wall.
  • Various processes may result in the creation of waste materials, both solid and liquid, alongside the desired products. These waste materials accumulate over time in the bottom of the storage tank and become more concentrated and stolid or even (relatively) solid, as the level of material stored in the tank decreases.
  • the term “sediment” as used herein includes both the material in a hazardous- storage tank prior to removal by the present invention, as well as the material removed from the hazardous-storage tank by the present invention, which may include at least some water, cleaning fluids, et al, in a ‘mix’ or mixture.
  • the robotic cleaner includes a skirt unit configured to enclose a space between the robotic cleaner and the sediment in the storage tank.
  • the sediment-removal nozzle comprises a perforated drum-head.
  • the perforated drum-head is perforated to restrict the size of sediment able to be removed at that time by the assembly, to avoid any restrictions in the transportation of the removed sediment along the attached umbilical to the vacuum tanker.
  • the supply of hot water may be form a pre-heated supply, or from a supply of water to be heated.
  • Water to be heated can be provided in a tank also designated as a hot water tank.
  • a hot water tank (or the water therein) provided as part of the assembly of the present invention can be heated (in order to provide the supply of hot water) by the steam provider.
  • the assembly of the present invention includes a steam manifold.
  • the steam manifold is configured to distribute steam to the robotic cleaner.
  • the steam manifold is also configured to distribute steam to a hot water tank, so as to provide a supply of hot water to the robotic cleaner.
  • the supply of hot water to the robotic cleaner can be provided by a suitable umbilical hose, extendable in use between at least the source or supply of hot water, and the robotic cleaner.
  • the umbilical hose comprises one or more umbilical hoses, parts or sections.
  • the present invention includes at least one umbilical hose between a source of hot water and the control centre, and at least one umbilical hose between the control centre and the robotic cleaner.
  • the supply of hot water to the robotic cleaner is controllable by the control centre.
  • an operator in the hazardous-controlled environment operator workstation is able to control the supply of hot water to the robotic cleaner.
  • the control of the supply of hot water to the robotic cleaner involves the use of one or more valves located between the source of hot water and the robotic cleaner.
  • the vacuum tanker contains a hot water tank.
  • the hot water tank can be connected to a source of water, and connected to a source of heating to create the provision of hot water that can be supplied by the steam provider.
  • the hot water supplied to the robotic cleaner can assist with increasing the removal, break-up or otherwise fluidization of the sediment to be removed.
  • the operator or the present invention can control the supply of hot water to the robotic cleaner as part of operation of the assembly, where the supply of hot water would assist in fluidizing and removing the sediment in the storage tank.
  • the assembly of the present invention further comprises a supply of compressed air to the robotic cleaner.
  • the supply of compressed air can be provided by any suitable source.
  • One source may be an air compressor, on or nearby the storage tank.
  • a compressed air compressor may be available on site with the storage tank.
  • the assembly of the present invention includes the provision of an air compressor.
  • the compressed air is provided to the robotic cleaner by a suitable umbilical hose, extendable in use between at least the source or supply of compressed air, and the robotic cleaner.
  • the umbilical hose comprises one or more umbilical hoses, parts or sections.
  • the present invention includes at least one umbilical hose between a source of compressed air and the control centre, and at least one umbilical hose between the control centre and the robotic cleaner.
  • the supply of compressed air to the robotic cleaner is controllable by the control centre.
  • an operator in the hazardous-controlled environment operator workstation is able to control the supply of compressed air to the robotic cleaner.
  • the control of the supply of compressed air to the robotic cleaner involves the use of one or more valves located between the source of hot water and the robotic cleaner.
  • the supply of compressed air provides a means to control and/or operate one or more control means, such as valves, in the robotic cleaner. It can be desired to avoid the requirement for specialised electrical equipment in hazardous-storage tank or a zone there around, such as known Zones 0 and 1.
  • control means such as valves
  • the use of compressed air for the control and/or operation of control means such as valves avoids using electrically-operated control means in a Zone 0 environment, such as a hazardous-storage tank.
  • the assembly of the present invention further provides or comprises a steam manifold configured to distribute steam to the robotic cleaner.
  • the steam manifold is an integral part of the assembly, and may be provided as a discrete apparatus, or be wholly or substantially integrated into part of the assembly, such as but not limited to the unit.
  • the steam manifold is further configured to distribute steam to the vacuum tanker.
  • the steam provided to the vacuum tanker is able to heat water in a hot water tank, so as to provide a supply of hot water to the robotic cleaner in a manner described herein.
  • the remote robotic cleaner includes one or more cameras and/or one or more illumination means such as lights.
  • the robotic cleaner includes one or more parts moveable between a retracted position and an expanded position, so as to facilitate installation, storage and an operation mode or modes of the robotic cleaner.
  • the assembly is mobile.
  • the assembly is mobile by means of being based on a road vehicle, optionally being a single road vehicle or being a tractor-trailer unit.
  • the assembly of the present invention comprises a tractor carrying the vacuum tanker, and a trailer carrying the unit.
  • the assembly of the present invention further comprises an integrated lifting means, which lifting means is able to deploy at least the unit of the assembly from a transport position to an in-use position.
  • An integrated lifting means avoids or reduces the need for a separate lifting means, such as a crane, to be provided in order to put the assembly into use.
  • the assembly further comprises a Zone 1 Hazardous Area steam generator to provide the steam.
  • the assembly comprises a vacuum tanker having a holding vacuum tank.
  • the holding vacuum tank can hold sediment upon its immediate removal from the storage tank, prior to offloading such sediment to one or more other units, vehicles, tankers or tanks, able to remove sediment to a further location, in particular for suitable disposal in a long-term manner.
  • a holding vacuum tank can be a suitable means and method of achieving sediment removal from a storage tank and providing such sediment for continuous or intermittent onwards transportation in a more convenient manner or method, such as a dedicated sediment removal tanker or truck.
  • the hazardous-storage tank is in a Zone 0 Hazardous Area (as herein defined), and the unit is operable in a Zone 1 Hazardous Area (as herein defined), and the robotic cleaner is moveable in and out of the Zone 0 hazardous area using the integrated lifting means.
  • the present invention also provides a method of removal of sediment from a hazardous-storage tank comprising: providing a unit comprising a hazardous-controlled environment operator workstation, a robotic cleaner, at least one umbilical hose, and a control centre; operating the robotic cleaner to enter the storage tank via a remote control system contained within the control centre; providing steam to the robotic cleaner via a first umbilical hose; providing a vacuum to the robotic cleaner via a second umbilical hose; steam-cleaning and vacuum removing the sediment in the storage tank.
  • steam-cleaning sediment in the storage tank includes raising the temperature of the sediment to assist making the sediment ‘pumpable’.
  • Some sediments can either have a particular low viscosity, and/or be compacted or otherwise in a matrix or other type of mix which makes the sediment difficult to be moved or shifted.
  • the provision of steam provides heat energy to the cleaning operation. Such heat energy helps fluidize the sediment, easing its removal from the storage tank in a manner described herein.
  • the method of the present invention further comprises the step of providing hot water to the robotic cleaner.
  • the further provision of hot water further assists fluidizing the sediment, and increasing its ease of movement and removability from the storage tank.
  • the provision of hot water to the robotic cleaner is described elsewhere herein, including providing the hot water via one or more suitable umbilical hoses, pipes or pipelines, and optionally from a hot water tank being part of the assembly of the present invention.
  • the method of the present invention further comprises the step of using steam to heat water to provide heating of the hot water.
  • the method of the present invention further comprises the step of comprising compressed air to the robotic cleaner.
  • the provision of compressed air may be via one or more umbilical hoses, pipes or pipelines, and can be used to operate one or more parts of the robotic cleaner, in particular valves, to avoid the need for electrical equipment to be used in or around the hazardous storage tank.
  • the method of the present invention further comprises the step of vacuum removing the sediment in the storage tank to a vacuum tanker.
  • a vacuum tanker useable with the method the present invention is described elsewhere herein, and may be part of a mobile assembly.
  • the vacuum tanker may either be a dedicated sediment removal tanker, or a holding vacuum tank, able to subsequently relocate or distribute removed sediment to one or more other vehicles, tankers for further disposition of the removed sediment.
  • a vacuum can be provided by any suitable vacuum apparatus, optionally being integral or separate from the remaining features of the invention.
  • the vacuum pump is operably connected to the vacuum umbilical and the vacuum tanker and can draw air and sediment through the vacuum umbilical and into the vacuum tanker. The air that is drawn through the vacuum umbilical by the vacuum pump can then be vented to the atmosphere.
  • the method further comprises the step of removing the sediment in the vacuum tanker to a waste tanker.
  • the method of the present invention further comprises the step of providing the unit from a mobile trailer, and providing the vacuum tanker on a tractor. Suitable trailers and tankers are described herein, and may allow the method of the present invention to be provided by a single mobile assembly.
  • the method of the present invention further comprises the step of providing steam from an on-site steam generator.
  • the method of the present invention further comprises the step of providing the steam from a Zone 1 Hazardous Area steam generator.
  • a Zone 1 Hazardous Area steam generator Such steam generators are particularly designed and adapted for use in a Zone 1 hazardous area in a manner known in the art.
  • the method of present invention further comprises the step of providing a steam manifold configured to distribute steam to at least the robotic cleaner.
  • the steam manifold may include one or more inlets and outlets and be controllable from the control centre in a manner described herein.
  • the present invention further comprises the step of providing a skirt unit on the robotic cleaner configured to enclose a space between the robotic cleaner and the sediment in the storage tank; and maintaining steam within the space.
  • the skirt creates a space or chamber in which steam is directly provided, so as to provide heat energy to the sediment covered by the skirt unit, so as to fluidize such sediment, and allow its movement or flow to a suitable other location within the skirt unit for vacuum removal.
  • the skirt unit includes a steam delivery nozzle for the provision of steam for the steam-cleaning step of the present invention.
  • the steam unit includes a sediment removal nozzle, optionally at or near a rear portion or wall of the skirt relative to the usual forward direction of the robotic cleaner, and able to achieve fluidisation and movement of the sediment within the skirt unit, to a suitable place such as to a vacuum tanker.
  • the vacuum removal of the sediment will include removal of the steam cleaning fluid, and optionally any further fluids provided such as hot water as described herein.
  • the combination of the steam, any optional hot water, and the sediment creates a fluidized mix or mixture, able to be directed to a suitable vacuum removal apparatus or means.
  • the present invention includes the use of a skirt unit having a sedimentremoval nozzle, which nozzle is located at or near one end, such as at or near the front end of the skirt unit in use, which is located in the direction of the steam provided into the skirt unit.
  • the method of the present invention includes the use of a scrapper, able to assist direction of sediment to be removed towards its vacuum removal.
  • the scrapper is formed of a relatively hard material, and the robotic cleaner is able to physically manoeuvre the scrapper from behind sediment to be removed, so as to further increase the fluidization and hence removal of the sediment from the storage tank.
  • the use of the skirt unit includes the skirt unit having one or more other walls being made of a relatively flexible material, able to be positioned on or over an area of sediment to be removed from the storage tank, while still creating the sufficiently enclosed space or chamber that allows the heat energy from the steam to heat, preferably rapidly heat, sediment to be removed.
  • an operator in the hazardous-controlled environment operator workstation is able to control, via the control centre, the positioning of the robotic cleaner within the hazardous-storage tank, and to activate the provision of steam to an area for sediment removal, and to activate a vacuum to achieve vacuum removal of the sediment from the storage tank to a suitable vacuum cleaner.
  • the robotic cleaner includes one or more cameras and one or more illumination means, such as lights or spotlights, to allow the operator to suitably control the robotic cleaner around the storage tank.
  • the present invention also provides a robotic cleaner a robotic cleaner for an assembly for removal of sediment from a hazardous-storage tank, wherein the robotic cleaner comprises a skirt unit configured to enclose a space between the robotic cleaner and the sediment in the storage tank.
  • Embodiments of the robotic cleaner, including the skirt unit, are defined herein, and apply equally to the robotic unit and the skirt unit for an assembly for removal of sediment from a hazardous-storage tank.
  • FIG. 1 a representative view is provided of an assembly in the form of a mobile tank cleaning assembly (10) according to one embodiment of the present invention.
  • the tank cleaning assembly comprises a road vehicle (15) having an integrated lifting means (20) and a first unit (25), the unit (25) forming a housing or comprising a controlled environment operator workstation (40) and housing a first robotic cleaner (30), (shown in Figure 3 onwards).
  • the assembly (10) further comprises a vacuum tanker (35) for temporary storage of the sediment removed.
  • This may be a vacuum tanker, being either part of the road vehicle (15) or mobile because of the road vehicle (15).
  • the vacuum tanker (35) is part of a tractor of the road vehicle (15), which also includes a hot water tank (12).
  • the hot water tank (12) may include water to be subsequently heated to provide hot water.
  • the assembly (10) is mobile by means of being based on a road vehicle (15).
  • the road vehicle (15) may be a tractor-trailer unit as shown, or provided by other means or arrangements on site.
  • the tractor carries the vacuum tanker (35) and hot water tank (12), and the trailer carries the unit (25) and the integrated lifting means (20).
  • the mobile tank cleaning assembly (10) arrives on-site as a single assembly before deployment takes place.
  • the lifting means (20) is a crane.
  • the lifting means (20) may be or may include a derrick, hoist, winch and the like, able to deploy the unit (25) on and off the road vehicle (15) as required.
  • the lifting means may be Zone 1 compliant.
  • the unit (25) may have any suitable size, shape or design, optionally being wholly or substantially cuboid.
  • the unit (25) is an adapted ISO 40’ shipping container.
  • the first unit (25) is custom-made or made to order or designed to suit a particular road vehicle or vehicle carrier such as a trailer, or a particular storage tank requirement.
  • the first unit (25) may comprise at least two sections or portions. At least one portion, optionally in two or more parts, of the unit could house the robotic cleaner (30) and any other devices or equipment required, including but not limited to one or more of the group comprising umbilicals, hoses, generators, fuel tanks, ramps, pumps, valves, connectors and ports. At least one other portion can house a control centre.
  • the unit (15) has at least three portions, including a hazardous-controlled environment operator workstation, a robotic cleaner, at least one umbilical hose, typically more than one umbilical hose, and a control centre.
  • Fig. 2 shows the first unit (25) being deployed from the road vehicle (15) via the integrated lifting means (20).
  • the unit (25) is moveable on and off the road vehicle (15) via the integrated lifting means (20).
  • the unit may be deployed within a Zone 1 Hazardous Area.
  • Fig. 3 outlines an example of three hazardous zones that are typical around a chemical storage tank. These are shown Hazardous Area Zones 0, 1 and 2.
  • Zone 0 Hazardous Area defined as a place in which an explosive atmosphere consisting of a mixture with air of flammable substances in the form of gas, vapour or mist is present continuously or for long periods of time.
  • Zone 1 Hazardous Area defined as a place in which an explosive atmosphere consisting of a mixture with air of flammable substances in the form of gas, vapour or mist is likely to occur in normal operation occasionally.
  • Zone 2 Hazardous Area defined as a place in which an explosive atmosphere consisting of a mixture with air of flammable substances in the form of gas, vapour or mist is not likely to occur in normal operation but, if it does occur, persists for a short period only.
  • the storage tank (60) is shown in Figure 3 as being a Zone 0 environment, due to the presence of explosive gases.
  • a bund wall (not shown) may be present around the storage tank in a manner and position known in the art, and not further described herein.
  • Fig. 5 shows deployment of the robotic cleaner (30) into the storage tank (60) through a lower level access point.
  • the robotic cleaner (30) may enter the tank via a ramp system (55).
  • the ramp system (55) may be existing, or be provided as part of the assembly of the present invention.
  • the lifting means (20) of the present invention can position a suitable ramp system (55) in or over or around a suitable tank access point.
  • the ramp system (55) may comprise an external ramp and/or an internal ramp as required.
  • the first robotic cleaner (30) is a tracked vehicle.
  • the robotic vehicle (30) has a set of rubber tracks (65) comprising integrated magnets. The magnets provide additional traction to the robotic cleaner (30) within a storage tank (60).
  • the robotic cleaner (30) is attached to the umbilical hose (50) extending back into the container (25) and connected to the operator workstation (40).
  • the robotic cleaner (30) can then be operated remotely.
  • the robotic cleaner (30) can be deployed from its housing in the container (25) and manoeuvred to the outside of the tank (60), optionally in a contracted configuration so as to fit through the lower level access point.
  • the robotic cleaner may enter the storage tank (60) via a series of adjustable ramps (55) outside and inside the tank (60) at the lower level access point.
  • the integrative lifting means (20) may deploy the robotic cleaner (30) and ramps (55) over the wall.
  • the robotic cleaner (30) enters the tank (60) via a custom- designed ramp system (55).
  • the ramps may be stored in a portion of the container (25) which houses the robotic cleaner (30) and any other equipment.
  • the ramps may be deployed by the integrated lifting means (20).
  • the ramps (55) may be placed in a position at the entrance to the tank (60).
  • the ramp can have a width greater than the tank entrance, such that the ramp will straddle the tank entrance.
  • the ramps may be articulated vertically at both ends. This may be facilitated by manual hydraulic pumps and hydraulic cylinders, or any other suitable means, such that the ramps are moveable up and down. This enables the robotic cleaner to enter and exit the tank easily.
  • the robotic cleaner (30) may be controlled via a series of separate umbilicals or hoses within the general umbilical hose (50), that provides steam, vacuum, and/or operates hydraulic functions on the robotic cleaner.
  • Hydraulic lines allow for safe operation of the robotic cleaner within the storage tank, which is a Zone 0 Hazardous Area, as they prevent creation of a spark.
  • Other lines within the same umbilical hose may provide high pressure water to the robotic cleaner, such as suitable steam heads (75) thereon.
  • another line within the umbilical hose provides a vacuum or negative pressure to a sediment removal head, and one or more other lines carry the signals from the cameras on the robotic cleaner back to suitable workstation monitors.
  • the vacuum umbilical for sediment removal may be provided as a separate umbilical.
  • Fig. 6 shows the robotic cleaner (30) inside the tank (60) in an expanded position, wherein an arm (70) is raised to position one or more cameras at the end of the arm (70) into an overhead or ‘bird’s eye’ view relative to the front of the robotic cleaner (30).
  • the robotic cleaner (30) may have one or more steam washer heads (75) to provide steam for cleaning the storage tank (60), and a sediment removal head.
  • the sediment removal head may use a negative or vacuum pressure arrangement, optionally provided by a connection to a vacuum-based tanker (35) on the tractor part of the road vehicle, as shown in Figures 1 and 2.
  • the vacuum provided from the vacuum waste tanker serves to remove the mixture of water and sediment via another of the umbilical lines simultaneously. This mixture is then held in the waste tank until the process is complete, at which point the road vehicle can transfer the mixture into another suitable tanker vehicle which will transport the mixture to a licenced recycling or disposal facility.
  • the deployment steps are carried out in reverse order until all components are in their allocated storage positions and the tank cleaning assembly is recombined into the single mobile assembly ready for transport to another site to repeat the process.
  • Fig. 7 provides a sectional view of a second unit (25a), similar to the first unit (25) described herein, in its deployed state within a Zone 1 Hazardous Area.
  • the second unit (25a) has three sections including an operator workstation (40a), a section for housing the robotic cleaner (30a), and a section for housing other equipment (32a).
  • the operator workstation area (40a) may house furniture or office equipment.
  • the section for housing the robotic cleaner (30a) may further comprise a high pressure connection.
  • Part of the umbilical (50) which connects to high pressure jets on a robotic cleaner (30a), carries high pressure water or cleaning fluid to the robotic cleaner during operation, which can be expelled to loosen the sediment present at the bottom of the storage tank.
  • An integral high-pressure pump on a road vehicle may be used to pump cleaning fluid from a vacuum tanker to the robotic cleaner as discussed in more detail hereinafter.
  • the cleaning fluid may be pumped via a valve (80) present in the unit container. Pumps located on the mobile assembly can be powered by the engine and power train of the road vehicle.
  • An umbilical (50a) further comprises hydraulic lines for controlling the robotic cleaner, which are operable by the operator via a control centre in the operator workstation (40a).
  • the hydraulic lines may be used to control movement of the robotic cleaner, as well as further functions such as cameras, lights, jet heads and vacuum heads.
  • the control centre may have a control interface.
  • the control centre provides a sealed and controlled environment for the remote operator during the cleaning and sediment-removal stages of the present invention.
  • a vacuum umbilical used for wholly or partly for the sediment removal from the storage tank (60) may be stored in the second unit (25a) as a separate umbilical (85a).
  • This vacuum umbilical is connectable to the robotic cleaner and the vacuum tanker during use to provide the removal of sediment from the storage tank into the vacuum tanker.
  • a vacuum pump (not shown) is located on the road vehicle (15). The vacuum pump may be located on the first unit (25) or second unit (25a), or otherwise located on the road vehicle (15).
  • the vacuum pump is operably connected to the vacuum umbilical and the vacuum tanker and can draw air and sediment through the vacuum umbilical and into the vacuum tanker. The air that is drawn through the vacuum umbilical by the vacuum pump can then be vented to the atmosphere.
  • the second unit (25a) may further comprise a diesel tank (90a), which serves as a fuel supply for an on-board power pack (95a) such as a diesel generator for the control centre.
  • a diesel tank 90a
  • an on-board power pack 95a
  • a diesel generator for the control centre.
  • a ramp (55a) may be connected to the second unit (25a) to assist with deployment of the robotic cleaner (30a).
  • Fig. 8 provides an isometric view of the second unit (25a) of Fig. 7 in its deployed state within a Zone 1 Hazardous Area.
  • the section of the unit for housing the robotic cleaner (30a) also houses one or more further umbilical hoses (50a).
  • the tank-cleaning assembly (10) may include one or more cleaning fluid reservoirs or tanks in addition to the vacuum tanker (35) In this way, separate supply or delivery of cleaning fluid is not required.
  • Figure 9 shows a second robotic cleaner (100), also being in the form of a tracked vehicle, and usable with or as part of the present invention in the same manner as described herein for the first robotic cleaner (30) described hereinabove.
  • the second robotic cleaner (100) also has an expanded position as shown in Figure 9, wherein an arm (102) or frame is raised to a working position, wherein one or more cameras and/or lights at the end of the arm (102) is in an overhead or birds eye view, relative to the front of the second robotic cleaner (100).
  • the arm (102) can be moved to a contracted position (not shown) to assist manoeuvrability of the second robotic cleaner (100) into and out of a storage tank (not shown).
  • Figure 9 shows the second robotic cleaner (100) with a skirt unit (110).
  • Figures 10a and 10b show the skirt unit (110) in enlarged form.
  • the skirt unit comprises a top cover (112), a back wall (114), and a series of other walls (116), such that the top cover, back wall and other walls together define a space that can be created, which space is further defined either by the level of the sediment in the storage tank forming a bottom or base level, and/or the bottom or base of the storage tank forming such base level.
  • the back wall (114) is formed of a relatively hard-material to form a scrapper, so as to scrap sediment forwardly as the second robotic vehicle (100) is moved in a forward direction.
  • the term ‘forward’ and ‘backwards’ relate to the relative positions of the skirt unit (110) in front of the robotic cleaner (100), and the usual expected movement of the robotic cleaner (100) in a forward manner using its tracks.
  • the other walls (116) are formed of a relatively flexible material, such as a suitable rubber or hard plastic, which is able to provide some flexibility as it travels forwardly and over sediment to be removed, which sediment to be removed then becomes enclosed within the confines of the skirt unit (110) as described above.
  • Figure 10b shows a part cut away skirt unit (110), with Figures 11a and 11b showing other perspective views of the cut away view of Figure 10b to help illustrate further inside portions of the skirt unit (110).
  • Figures 10b, 11a and 11b show a steam delivery nozzle (120) having its outlet within the space created by the skirt unit (110), and in particular being in a downwardly and forwardly direction so as to direct steam (not shown) exiting from the steam delivery nozzle (120) towards sediment in the storage tank.
  • FIGS 10a, 11a and 11b also show a sediment removal nozzle (124) comprising perforated drum head (126) and a connected vacuum removal outlet (128) passing through the top cover (112) of the skirt unit (110).
  • the sediment removal nozzle (124_ is provided with a vacuum via a suitable vacuum pump (not shown) and is located at or near the front of the skirt unit (110) in use.
  • Figures 10b, 11a and 11b also show the provision of a plurality of hot water jets (130), for the provision of a supply of hot water there through, and also directed towards sediment located within the confines of the space of the skirt unit (110), to further assist fluidization of the sediment if required.
  • the operator in a hazardous-controlled environment operator workstation can operate the second robotic cleaner (100) in a manner as described herein in relation to the first robotic cleaner (30).
  • the operator can also operate the provision of steam through the steam nozzle (120), the provision of hot water through the hot water nozzles (130), and the provision of vacuum to the sediment removal means (124).
  • the sediment fluidizes rapidly and flows to the other end of the skirt unit (110), where the attached vacuum removes the sediment and the cleaning fluids, typically in a mix or mixture, and conveys them to a vacuum tanker, such as the vacuum tanker (35) shown in Figure 1.
  • the provision of hot water through the hot water nozzles (130) may be at a suitable pressure, in particular a high pressure, to assist the sediment removal or fluidization process, and to help mix the sediment with the cleaning fluids, in particular to speed the fluidization process.
  • the vacuum and sediment-removal means (124) may be moveable within the skirt unit (110), so as to be adjustable to allow for different depths of sediment to be removed.
  • the back wall (114) an side walls (116) together help form a seal to contain and focus the steam and/or hot water to the area of sediment being removed, to increase the fluidization and therefore overall sediment removal process.
  • the present invention provides a method of steam cleaning sediment from a storage tank able to achieve a sediment removal temperature of more than 40°C, such as 40-50°C, in a matter of seconds, so as to fluidize the sediment for easy removal.
  • vacuum removal also assists keeping clean and avoiding blockages in the vacuum removal umbilical, pipe work or other passageways.
  • steam is also provided to the vacuum tanker (35), so as to maintain a pre-determined or desired level of fluidization of the removed sediment (and other fluids) from the storage tank, prior to subsequent disposal of such removed sediment from the vacuum tanker.
  • the vacuum tanker (35) may have or act as a holding vacuum tank, intended to subsequently distribute the removed sediment to another vehicle, tanker or other onsite disposal means or method
  • the provision of steam to the vacuum tanker assists maintaining the required level of fluidization of removed material in the vacuum tanker during the time of filling of the vacuum tanker, prior to subsequent transportation of the removed material out of the vacuum tanker.
  • steam can be provided onsite, especially where a storage tank may already comprise one or more internal heating pipes intended to assist heating of the material held in the storage tank, typically at or near its bottom or base.
  • the present invention may be able to take advantage of an existing provider of steam, without requiring the need for provision of a separate steam generator.
  • Figures 9-11b also show the second remote cleaner (110) having a single pipe (150), which can be used to house one or more umbilicals, pipes and pipework, required to provide suitable steam and hot water for carrying out the present invention.
  • Figure 12 is a schematic plan for an assembly and method according to the present invention, further showing an outline of a steam manifold (160) able to control distribution of steam from a suitable steam generator (162), having a water tank supply (164) and a fuel tank supply (166).
  • the steam manifold (160) can provide steam in a suitable manner both to the remote cleaner (170), and to a vacuum tanker (172) on a suitable tractor unit (174), as well as to the hot water tank (176).
  • Figure 12 also shows a control cabin (178), operable within Zone 1 , and further having a supply of compressed air (180) from a suitable air compressor (182).
  • the control cabin (178) serves to control supply of steam, compressed air and hot water to the remote operated vehicle (170), to carry out the method of removal of sediment from a hazardous-storage tank (not shown), and vacuum removing the sediment to the vacuum tanker (172) in a method as described herein.
  • the steam cleaning fluid is removed with the sediment.
  • removal of the sediment and any other fluids is carried out in one or more operations depending upon the relative volume of the vacuum tanker and the material to be removed from the hazardous-storage tank.
  • the vacuum tanker may then be driven off-site to dispose of the sediment at an appropriate treatment facility, or for storage off-site.
  • the vacuum tanker may be connected to another tank, vehicle or an on-site pipe network to facilitate disposal of the sediment from the vacuum tanker.
  • the present invention provides an ‘all-in-one’ tank cleaning assembly, optionally as a single tractor-trailer road vehicle.
  • This assembly is capable of facilitating every step of steam cleaning a storage tank and sediment removal, without the need for delivery of any other assembly or equipment.
  • the assembly can arrive on-site, carry out the process of sediment removal from the storage tank, and transport the sediment elsewhere for off-site disposal or storage.
  • the assembly also meets with to the regulations on maximum legal road weight and physical dimensions.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)

Abstract

La présente invention concerne un ensemble pour l'élimination de sédiments d'un réservoir de stockage dangereux, comprenant : un fournisseur de vapeur, une citerne à vide et une unité, l'unité comprenant un poste de travail d'opérateur en environnement dangereux contrôlé, un robot nettoyeur, au moins un tuyau ombilical et un centre de commande ; le robot nettoyeur étant commandé à distance par le centre de commande, et un tuyau ombilical pouvant être étendu lors de l'utilisation entre le fournisseur de vapeur et le robot nettoyeur pour fournir de la vapeur au robot nettoyeur, et un tuyau ombilical étant extensible lors de l'utilisation entre le robot nettoyeur et le citerne à vide pour éliminer les sédiments du réservoir de stockage vers la citerne à vide. L'invention concerne également un procédé d'élimination de sédiments d'un réservoir de stockage dangereux.
PCT/EP2025/056312 2024-03-11 2025-03-07 Élimination de sédiments à entrée nulle de réservoirs de stockage Pending WO2025190812A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB2403458.9A GB202403458D0 (en) 2024-03-11 2024-03-11 Zero entry sediment removal from storage tanks
GB2403458.9 2024-03-11

Publications (1)

Publication Number Publication Date
WO2025190812A1 true WO2025190812A1 (fr) 2025-09-18

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Application Number Title Priority Date Filing Date
PCT/EP2025/056312 Pending WO2025190812A1 (fr) 2024-03-11 2025-03-07 Élimination de sédiments à entrée nulle de réservoirs de stockage

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GB (1) GB202403458D0 (fr)
WO (1) WO2025190812A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5205174A (en) * 1991-05-24 1993-04-27 Silverman Eugene B Scavenger submersible visual and acoustical tank inspection system and method
CA2746381A1 (fr) * 2011-07-25 2013-01-25 John K. Rollins Systeme de nettoyage de reservoir sans ouverture pour le petrole en vrac
GB2585311A (en) 2019-09-23 2021-01-06 Re Gen Robotics Ltd Zero entry sediment removal from storage tanks

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5205174A (en) * 1991-05-24 1993-04-27 Silverman Eugene B Scavenger submersible visual and acoustical tank inspection system and method
CA2746381A1 (fr) * 2011-07-25 2013-01-25 John K. Rollins Systeme de nettoyage de reservoir sans ouverture pour le petrole en vrac
GB2585311A (en) 2019-09-23 2021-01-06 Re Gen Robotics Ltd Zero entry sediment removal from storage tanks

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Publication number Publication date
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