Robotic Systems And Methods For Tank Seal Inspection

Abstract

Robotic systems and methods for tank seal inspection. A tank inspection robot includes a housing containing a drive assembly, and wheels disposed outside of the housing and operably coupled to the drive assembly. The tank inspection robot also includes at least one sensor coupled to, or disposed in or on a portion of the robot, for collecting data sufficient to evaluate a health, mechanical integrity or effectiveness of one or more circumferential seals between a floating roof, and an interior wall, of a storage tank. The disclosed robot and associated method enable safer and more efficient seal inspection routines as compared to conventional techniques.

1 - 83 . (canceled) 
     
     
         84 . A tank inspection method comprising:
 actuating, by a drive assembly of a robot, wheels of the robot to navigate the robot to one or more circumferential seals positioned proximate to an interior wall of a storage tank; and   collecting, by at least one sensor of the robot, data sufficient to evaluate a health, integrity, or effectiveness of the one or more circumferential seals between a floating roof, and the interior wall of the storage tank.   
     
     
         85 . The tank inspection method of  claim 84 , wherein the collecting comprises:
 collecting, using the at least one sensor, data representative of a physical condition, or a mechanical integrity, of the one or more circumferential seals; and   determining, based at least in part on the data representative of a physical condition or mechanical integrity of the one or more circumferential seals, an indication resulting from a deterioration of: the physical condition, or the mechanical integrity.   
     
     
         86 . The tank inspection method of  claim 84  further comprising magnetically coupling the robot to the interior wall of the storage tank before, or concurrent with, the actuating. 
     
     
         87 . The tank inspection method of  claim 84 , wherein the collecting comprises collecting, using at least one camera of the robot, at least one of: visual, and pointcloud, data sufficient to plan a path or trajectory for the actuating. 
     
     
         88 . The tank inspection method of  claim 87 , wherein:
 the data sufficient to plan the path or trajectory includes data representative of one or more physical characteristics of the one or more circumferential seals; and   the actuating comprises causing the robot to navigate along the path or trajectory to a starting position for a tank inspection routine based on the data representative of one or more physical characteristics.   
     
     
         89 . The tank inspection method of  claim 87 , wherein:
 the data sufficient to plan the path or trajectory includes data representative of at least one obstacle present between the robot and the one or more circumferential seals; and   the actuating comprises causing the robot to navigate along a trajectory in such a manner so as to avoid interference with the at least one obstacle.   
     
     
         90 . The tank inspection method of  claim 84 , wherein the at least one sensor includes at least one depth camera, and wherein the collecting comprises:
 collecting, using the at least one depth camera of the robot, pointcloud data; and   generating, based on the pointcloud data, a two- or three-dimensional model of at least one of: the one or more circumferential seals, and a portion of the interior wall, to facilitate evaluation of the health, integrity or effectiveness of the one or more circumferential seals.   
     
     
         91 . The tank inspection method of  claim 84 , wherein:
 the at least one sensor is positioned on, or in, a sensor package of the robot; and   the method further comprises inserting at least a portion of the sensor package between the one or more circumferential seals and the interior wall of the storage tank before, or concurrent with, the collecting.   
     
     
         92 . The tank inspection method of  claim 91 , wherein the robot includes a connector bridge coupled to and between the drive assembly and the sensor package to thereby position the sensor package including the at least one sensor apart and spaced from the drive assembly, and wherein the method further comprises:
 after, or concurrent with, the inserting, moving the sensor package around the tank while the connector bridge is positioned between the one or more circumferential seals and the interior wall with the active or passive roller elements in contact with the interior wall to thereby reduce friction during the moving as compared to the moving in the absence of the active or passive roller elements.   
     
     
         93 . The tank inspection method of  claim 92  further comprising:
 determining, by a motion controller of the robot before or concurrent with at least one of: 
 the actuating, the inserting, and the moving, at least one factor for compensating for frictional or other disturbances whilst the at least a portion of the sensor package is inserted between the one or more circumferential seals and the interior wall of the storage tank; and 
 applying the at least one factor for use by the drive assembly for the at least one of: the actuating, the inserting, and the moving, to compensate for the frictional or other disturbances. 
 
     
     
         94 . The tank inspection method of  claim 84 , wherein the collecting comprises:
 deploying a sensor package including the at least one sensor into a gap between the interior wall and the one or more circumferential seals; and   measuring one or more dimensions of the gap using the at least one sensor.   
     
     
         95 . The tank inspection method of  claim 84 , wherein the at least one sensor includes a gas monitor, and wherein the collecting comprises collecting, using the gas monitor, data representative of at least one of: a concentration, and a leakage rate, of one or more gases inside the storage tank above or below a secondary vapor seal of the storage tank. 
     
     
         96 . The tank inspection method of  claim 84  further comprising transmitting, using a communications interface of the robot, the data sufficient to evaluate the health, integrity, or effectiveness of the one or more circumferential seals to at least one of: an operator, a computer, and a subsystem, of, or communicably coupled to, the communications interface to facilitate evaluating the health, integrity, or effectiveness of the one or more circumferential seals or the seal assembly including the one or more circumferential seals. 
     
     
         97 . A tank inspection robot comprising:
 a drive assembly;   wheels disposed outside of, and operably coupled to, the drive assembly, the wheels configured to be actuated by the drive assembly to navigate the robot to one or more circumferential seals positioned proximate to an interior wall of a storage tank;   at least one sensor disposed in or on a portion of the robot, and configured to collect data sufficient to evaluate a health, integrity, or effectiveness of the one or more circumferential seals between a floating roof, and an interior wall, of the storage tank; and   a connector bridge coupled to and between the drive assembly and the at least one sensor to thereby position the at least one sensor apart and spaced from the drive assembly.   
     
     
         98 . The tank inspection robot of  claim 97  further comprising one or more magnets for magnetically coupling the robot to the interior wall of the storage tank. 
     
     
         99 . The tank inspection robot of  claim 97 , wherein the wheels include four wheels disposed outside opposing sides of the drive assembly, the robot further comprising two tracks including: a first track operable coupled to a first pair of wheels of the four wheels, and a second track operably coupled to a second pair of wheels of the four wheels. 
     
     
         100 . The tank inspection robot of  claim 99  further comprising a plurality of magnets operably coupled to each of the first and second tracks. 
     
     
         101 . The tank inspection robot of  claim 97  further comprising at least one light disposed on or in a portion of the robot, and configured to illuminate an area of interest outside of the robot. 
     
     
         102 . The tank inspection robot of  claim 97  further comprising a communications interface configured to transmit the data sufficient to evaluate the health, integrity, or effectiveness of the one or more circumferential seals to at least one of: an operator, a computer, and a subsystem, of, or communicably coupled to, the communications interface to facilitate an evaluation of the health, integrity, or effectiveness of the one or more circumferential seals or the seal assembly including the one or more circumferential seals. 
     
     
         103 . A robotic tank inspection system comprising:
 the tank inspection robot of  claim 97 ;   a tether assembly including a power and/or communication tether couplable, or coupled, to the robot; and   means for managing a delivery mechanism for the tether assembly to facilitate preventing entanglement of the tether with one or more features of the storage tank.   
     
     
         104 . One or more non-transitory computer readable media having program instructions stored thereon which, when executed by at least one processor, cause a machine to:
 direct a drive assembly of a tank inspection robot to actuate wheels of the robot to navigate the robot to one or more circumferential seals positioned proximate to an interior wall of a storage tank; and   direct at least one sensor of the robot to collect data sufficient to evaluate a health, integrity or effectiveness of the one or more circumferential seals between a floating roof, and the interior wall of the storage tank.