Method and apparatus for launching and recovering a remote inspection device from a volatile liquid storage tank

Patent metadata

Field	Value
Publication number	US-11925824-B2
Application number	US-201916539697-A
Country	US
Kind code	B2
Filing date	Aug 13, 2019
Priority date	Aug 13, 2018
Publication date	Mar 12, 2024
Grant date	Mar 12, 2024

Abstract

Methods and apparatus for launch and recovery of a remote inspection device within a liquid storage tank are described herein. In one embodiment, the tank is accessed by opening an entrance hatch and then injecting a vapor suppression foam across a surface of a stored liquid mass to form a foam layer. A launching system having a remote inspection device is attached to the entrance hatch to define a launch and recovery space sealed from an external environment and isolated from the stored liquid mass in the tank via a valve and the foam layer. The launch and recovery space is purged of hazardous vapors by injection of an inert gas prior to launch and recovery of the remote inspection device. Prior to removal of the launching system, the surface of the stored liquid mass is re-coated with vapor suppression foam.

First claim

What is claimed is:

1. An apparatus for inspection of a storage vessel, the apparatus comprising:
a chamber body having an internal volume partially defined by one or more sidewalls and a lid;
a closure coupled to the chamber body opposite of the lid and further defining the internal volume;
a gas injection port disposed through the chamber body for delivering an inert gas into the internal volume; and
a lifting system within the internal volume for transporting an inspection device through the closure.

2. The apparatus of claim 1 , further comprising the inspection device coupled to the lifting system and configured to perform tetherless inspection.

3. The apparatus of claim 2 , further comprising one or more device guides disposed within the internal volume, the one or more device guides configured to position and prevent the inspection device from excessive movement within the internal volume.

4. The apparatus of claim 3 , wherein the lifting system comprises a winch and a cable for transporting the inspection device.

5. The apparatus of claim 1 , further comprising a pressure relief port, the pressure relief port and the gas injection port configured to maintain a slight overpressure of gas above ambient atmospheric pressure within the internal volume.

6. The apparatus of claim 1 , further comprising a wash port for providing one or more cleaning fluids to the internal volume.

7. The apparatus of claim 6 , further comprising a spray device coupled to the wash port and disposed below the lifting system, the spray device configured to distribute the one or more cleaning fluids within the internal volume.

8. The apparatus of claim 1 , further comprising:
a transport system configured to facilitate vertical and horizontal transport of the chamber body, the transport system further comprising:
a frame coupled to the chamber body;
one or more wheel assemblies;
one or more wheel mounts, each wheel mount coupling one of the one or more wheel assemblies to the frame; and
a vertical actuator, the vertical actuator configured to vertically displace the chamber body for securing and unsecuring the closure to an access opening of the storage vessel.

9. The apparatus of claim 1 , further comprising a pressure relief port disposed in the chamber body, wherein the pressure relief port and the gas injection port configured to maintain a slight overpressure of gas above ambient atmospheric pressure within the internal volume.

10. An apparatus for use with inspection of a storage vessel, the apparatus comprising:
an inspection device launching system configured to attach to a storage vessel opening, the inspection device launching system comprising:
a chamber body having an internal volume partially defined by one or more sidewalls and a lid, the lid disposed at a first end of the chamber body;
a closure further defining the internal volume and coupled to the chamber body at a second end opposite the first end, the closure facilitating opening and closing of the internal volume to an external environment;
a storage vessel adapter coupled to the closure, the storage vessel adapter for coupling the inspection device launching system to the storage vessel opening;
a gas injection port disposed in the chamber body for delivering an inert gas into the internal volume; and
a lifting system within the internal volume for transporting an inspection device through the closure.

11. The apparatus of claim 10 , further comprising the inspection device coupled to the lifting system and configured to perform tethered or tetherless inspection of the storage vessel.

12. The apparatus of claim 10 , wherein the closure comprises a gate valve comprising a frame and a gate blade.

13. The apparatus of claim 10 , wherein the storage vessel adapter comprises a bolt pattern for bolting of the storage vessel adapter to the storage vessel opening.

14. The apparatus of claim 10 , wherein the storage vessel adapter comprises a pull-action latch or toggle clamp for clamping of the storage vessel adapter to the storage vessel opening.

15. The apparatus of claim 13 or claim 14 , wherein the storage vessel adapter comprises an inner diameter less than an inner diameter of the chamber body.

16. The apparatus of claim 10 , wherein the storage vessel adapter comprises a seal on a lower surface thereof for hermetically sealing the inspection device launching system and the storage vessel.

17. The apparatus of claim 10 , wherein the storage vessel adapter comprises one or more fluid ports for injecting or releasing gases from an intermediate volume formed between the inspection device launching system and the storage vessel during operation.

18. The apparatus of claim 10 , further comprising one or more device guides disposed within the internal volume, the one or more device guides configured to position and prevent the inspection device from excessive movement within the internal volume.

19. The apparatus of claim 18 , wherein the one or more device guides comprise rails, tracks, or slots.

20. An apparatus for use with inspection of a storage vessel, the apparatus comprising:
an inspection device launching system configured to attach to a storage vessel opening, the inspection device launching system comprising:
a chamber body having an internal volume partially defined by one or more sidewalls and a lid, the lid disposed at a first end of the chamber body;
a closure further defining the internal volume and coupled to the chamber body at a second end opposite the first end, the closure comprising a gate valve for facilitating opening and closing of the internal volume to an external environment;
a storage vessel adapter coupled to the closure, the storage vessel adapter for coupling the inspection device launching system to the storage vessel opening;
one or more ports disposed in the chamber body for delivering or removing gases from the internal volume; and
a lifting system within the internal volume for transporting an inspection device through the closure; and

an inspection device coupled to the lifting system and configured to perform tethered or tetherless inspection of the storage vessel.

Assignees

• Phillips 66 Co

Inventors

• Staires Troy L
• Moore Benjamin C
• Vaganay Jerome
• Levitt Eric
• O'Halloran William

Classifications

• A62C3/065 Primary

  for containers filled with inflammable liquids · CPC title

• A62C99/0036

  using foam · CPC title

• B08B3/02

  Cleaning by the force of jets or sprays · CPC title

• B08B9/027

  Cleaning the internal surfaces; Removal of blockages · CPC title

• B63C3/06

  by vertical movement of vessel, i.e. by crane · CPC title