Systems and methods for cleaning fluid tanks

Abstract

Disclosed herein are systems and methods for cleaning fluid tanks. In a specific embodiment, a tank cleaning system for cleaning drilling fluid tanks and fluid production storage offloading fluid tanks includes; a track and trolley assembly, where the track is mounted within the fluid tank and where the trolley is configured for connection to and movement along the track, an arm assembly, a sprayer assembly, and a submersible pump. In another specific embodiment, a non-transitory computer readable medium comprising instructions which, when implemented by one or more computers, causes the one or more computers to: receive an input of data from a user, receive a signal from one or more sensors, receive a video signal from a camera, operating a fluid tank cleaning system, and at least partially cleaning an inner surface of the tank.

Description

PATENT Attorney Docket No.33494-1PCT SYSTEMS AND METHODS FOR CLEANING FLUID TANKS CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims benefit of priority under 35 U.S.C. §119(e) of U.S. Serial No.63 / 650,585, filed 22-May-2024, the entire contents of which is incorporated herein by reference in its entirety. BACKGROUND Technical Field

[0002] Systems and methods for cleaning fluid tanks, including drilling fluid tanks, aredescribed. Description of the Related Art

[0003] Tanks, reservoirs, containers, and other enclosures are commonly used to store fluidsused in connection with many industries, such as the oil and gas industry. For example, fluid tanks are frequently used in drilling operation to store and transport a variety of well treatment fluids. The well treatment fluids can be added and removed from such tanks with pumping systems. However, convention pumping systems cannot completely remove all the well treatment fluid and residue from the tanks. In fact, cleaning fluid tanks can be a difficult, expensive, and time-consuming process. The cleaning process can be especially difficult when solid additives have separated from the fluids. Often workers must manually clean these tanks by climbing inside and using water hoses, bushes, and other tools to clean the internal surfaces, which can be hazardous.

[0004] Consequently, there is a need for new cleaning systems and methods that can quicklyand effective clean fluid tanks and be operated by a user remotely outside of the tank. SUMMARY

[0005] Provided herein are systems and methods for cleaning fluid tanks. In a specificembodiment, a tank cleaning system for cleaning drilling fluid tanks includes: a track and trolley assembly, where the track and trolley assembly includes: a trolley and at least one track, where the track is mounted to the ceiling of the fluid tank, where the tracks are in a parallel plane with the ceiling of the fluid tank, where the track is mounted within the fluid tank and where the trolley is configured for connection to and movement along the track; an arm assembly, where the arm assembly includes: a first arm, a second arm, and a joint, where the first arm operatively connected to the trolley, where the first arm rotates at least 340° in a horizontal plane relative to the track, where the first arm is operatively connected to a first end of a joint, where the second 1 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT arm is operatively connected to second end of a joint, where the second arm rotates at least 340° in a vertical plane relative to the track; a sprayer assembly, where the sprayer assembly includes: one or more nozzles, one or more gears, one or more valves, a gearbox, an axle, and drive shaft, where the gearbox operatively connected to the housing, where rotations of the driveshaft are transferred through a ratio of gears to an axle offset from the drive shaft and positionally fixed to the gearbox; and a submersible pump, where the submersible pump is mounted to the second arm.

[0006] In another specific embodiment, a non-transitory computer readable mediumcomprising instructions which, when implemented by one or more computers, causes the one or more computers to: receive an input of data from a user, receive a signal from one or more sensors, where the one or more sensors are selected from pressure sensors, flow rate sensors, temperature sensor, positioning sensors, accelerometers, magnetometers, gyroscopes, receive a video signal from a camera; operating a fluid tank cleaning system; and at least partially cleaning an inner surface of the tank. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] For the purposes of promoting an understanding of the principles of the presentdisclosure, reference can be now made to the embodiments illustrated in the drawings, which are described below. The embodiments disclosed herein are not intended to be exhaustive or limit the present disclosure to the precise form disclosed in the following detailed description. Rather, the embodiments are chosen and described so that others skilled in the art can utilize their teachings. Therefore, no limitation of the scope of the present disclosure can be thereby intended.

[0008] FIGURE 1 shows an isometric view of an embodiment of a tank cleaning including atrack trolley assembly, an arm assembly, a sprayer assembly, and a submersible pump.

[0009] FIGURE 2 shows a side view of an embodiment of a tank cleaning system mountedinside a drilling fluid tank with the arm assembly extended to the floor of the tank, the sprayer assembly positioned near the end of the second arm, and submersible pump near the floor tank.

[0010] FIGURE 3 shows a side view of an embodiment of a tank cleaning system mountedinside a drilling fluid tank with the arm assembly extended to the floor of the tank, the sprayer assembly positioned near the distal end of the second arm of the arm assembly, and the submersible pump near the floor of the tank.

[0011] FIGURE 4 shows a side view of an embodiment of a tank cleaning system mountedinside a drilling fluid tank with the arm assembly partially extended and the sprayer assembly positioned near the distal end of the second arm of the arm assembly. 2 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT

[0012] FIGURE 5 shows a side view of an embodiment of a tank cleaning system mountedinside a drilling fluid tank in a stored configuration with the arm assembly full contracted and the sprayer assembly positioned near top of the tank.

[0013] FIGURE 6 shows a top view of an embodiment of a tank cleaning system mountedinside a drilling fluid tank with the arm assembly extended to the floor of the tank.

[0014] FIGURE 7 shows a top view of an embodiment of a tank cleaning system mountedinside a drilling fluid tank in a stored configuration with the arm assembly full contracted and the sprayer assembly positioned near top of the tank.

[0015] FIGURE 8 shows a side view of an embodiment of a tank cleaning system mountedinside a drilling fluid tank with the arm assembly extended to the floor of the tank, five sprayer assemblies positioned along the second arm, and submersible pump near the floor tank.

[0016] FIGURE 9 shows an isometric view of an embodiment of a sprayer assembly of thecleaning system.

[0017] FIGURE 10 shows a front view of an embodiment of a sprayer assembly with a wallremoved to show the inside of the sprayer assembly.

[0018] FIGURE 11 shows a side view of an embodiment of a sprayer assembly with a wallremoved to show the inside of the sprayer assembly.

[0019] FIGURE 12 shows a top view of an embodiment of a sprayer assembly of the tankcleaning system.

[0020] FIGURE 13 shows a bottom view of an embodiment of a sprayer assembly of the tankcleaning system.

[0021] FIGURE 14 shows a side view of an embodiment of a sprayer assembly depicting thespraying envelope.

[0022] FIGURE 15 shows a schematic drawing depicting the flow of the cleaningcomposition within the tank cleaning system.

[0023] FIGURE 16 shows a schematic drawing depicting the flow of the cleaningcomposition within the tank cleaning system.

[0024] FIGURE 17 shows a side view of an embodiment of a suspended sprayer assemblyfor a tank cleaning system.

[0025] FIGURE 18 shows a side view of an embodiment of a tank cleaning system, includinga suspended sprayer assembly and a four cable reels.

[0026] FIGURE 19 shows an isometric view of an embodiment of a suspended sprayerassembly for a tank cleaning system. 3 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT

[0027] FIGURE 20 shows a bottom view of an embodiment a suspended sprayer assemblyfor a tank cleaning system.

[0028] FIGURE 21 shows a side view of an embodiment of a cable reel.DETAILED DESCRIPTION

[0029] In one or more embodiments, the tank cleaning system can include, but is limited to:one or more sprayer assemblies, one or more track and trolley assemblies, one or more arm assemblies, one or more pumps, one or more tracks, one or more trolleys, one or more arms, one or more motors, one or more sprayers, one or more cleaning compositions, one or more fluid lines, one or more tubing, one or more inlets, one or more outlets, one or more nozzles, one or more housings, one or more carriages, one or more fasteners, one or more swivel frames, one or more brackets, one or more flow diverters, one or more valves, one or more propellers, one or more gears, one or more gearboxes, one or more cable reels, one or more wall brackets, one or more pivot pins, one or more reel frames, one or more spools, one or more spool drives, one or more line guides, one or more cables, one or more suspension frame, one or more housings, one or more clamps, one or more spraying tubes, one or more sprayer nozzles, one or more sensors, one or more cameras, one or more computers, one or more computer memories, one or more central processing units, one or more network interfaces, one or more display units, one or more transceivers, and combination thereof.

[0030] The tank cleaning system can clean residue and built-up debris inside of tanks, suchas drilling fluid tanks. The tank cleaning system can provide automated cleaning and increase safety by reducing the need for workers to enter the tanks during cleaning. The tank cleaning system can be releasably mounted inside an enclosure or fluid tank and operated by a user outside of the tank. Sensors, cameras, and computer controls can automate the process of cleaning, circulating fluid, and dispersing chemicals in the tanks. In some embodiments, the tank cleaning system can be used for spraying, viewing, and scanning the interior of the enclosure or fluid tank. In some embodiments, the tank cleaning system can be used for pumping cleaning compositions from a holding tank into the fluid tank. In some embodiments, the tank cleaning system can be used for pumping fluid from the fluid tank. The tank cleaning system can be used in any tank or enclosure and with any kind of fluid. For example, the tank can include conventional drilling fluid tanks measuring 15-foot wide by 20-feet long by 20-feet deep.

[0031] In some embodiments, the tank cleaning system can include a track and trolleyassembly, an arm assembly, a sprayer assembly, and a submersible pump. The tank cleaning system can be releasably coupled to the ceiling, floor, and / or wall of a tank. The track and 4 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT trolley can include a linear track and a trolly that traverses the track. The arm assembly can be releasably coupled to the trolley. The arm assembly includes articulating arms that can rotate about the trolley and move the sprayer assembly around the interior of the tank for cleaning.

[0032] The tank cleaning system and any of its components can be made from one or moresuitable materials. For example, the one or more components of the tank cleaning system can made from any one or more metals (such as aluminum, steel, stainless steel, brass, nickel), metal alloys, concretes, fiberglass, wood, composite materials (such as ceramics, wood / polymer blends, cloth / polymer blends, etc.), and plastics (such as polyethylene, polypropylene, polystyrene, polyurethane, polyethylethylketone (PEEK), polytetrafluoroethylene (PTFE), polyamide resins (such as nylon 6 (N6), nylon 66 (N66)), polyester resins (such as polybutylene terephthalate (PBT), polyethylene terephthalate (PET), polyethylene isophthalate (PEI), PET / PEI copolymer) polynitrile resins (such as polyacrylonitrile (PAN), polymethacrylonitrile, acrylonitrile-styrene copolymers (AS), methacrylonitrile-styrene copolymers, methacrylonitrile-styrene-butadiene copolymers; and acrylonitrile-butadiene-styrene (ABS)), polymethacrylate resins (such as polymethyl methacrylate and polyethylacrylate), cellulose resins (such as cellulose acetate and cellulose acetate butyrate); polyimide resins (such as aromatic polyimides), polycarbonates (PC), elastomers (such as ethylene-propylene rubber (EPR), ethylene propylene-diene monomer rubber (EPDM), styrenic block copolymers (SBC), polyisobutylene (PIB), butyl rubber, neoprene rubber, halo butyl rubber, and the like)), and mixtures, blends, or copolymers of any and all of the foregoing materials.

[0033] The tank cleaning system can include a wide variety of shapes. For example, the tankcleaning system can include, but is not limited to: a cylindrical shape, cone shape, spherical shape, parallelepiped shape, disc shape, and combinations thereof. The tank cleaning system can include, but are not limited to: a length, height, width, radius, first end, front side, second end, back side, right side, left side, top side, bottom side, outer surface, inner surface, and interiorspace. The sprayer assemblies can include one or more openings. For example, the tankcleaning system can include: a first opening, a second opening, a third opening, a fourth opening, a fifth opening, a six opening, and more openings.

[0034] FIGURES 1-7 illustrates an embodiment of a tank cleaning system 100. The tankcleaning system 100 includes a track and trolley assembly 102, an arm assembly 104, a sprayer assembly 106, a submersible pump 108, and a sensor 116.

[0035] The one or more track and trolley assemblies 102 can include, but is not limited to:one or more trolleys 110, one or more tracks 112, one or more motors 114, one or more fasteners, one or more pivot frames, one or more swivel frames, and combinations thereof. The tank 5 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT cleaning system 100 can be mounted within the tank by attaching the track and trolley assembly 102 within the tank by using fasteners, such as welds or bolts. For example, the tracks 112 of the track and trolley assembly 102 can be releasably mounted across an upper portion of a tank, on a side wall of the tank, or on a bottom surface or floor of the tank. The trolley 110 can be configured to move along the tracks 112 of the track and trolley assembly 102. In some embodiments, the tracks can extend lateral movement in one direction, for example, in oblong tank designs. In some embodiments, the track can include two separated parallel channel beams.

[0036] The one or more tracks 112 of the track and trolley assembly 102 can include a firsttrack, second track, third track, fourth track, fifth track, sixth track, or more tracks. The track 112 can include, but is not limited to: a linear shape, a cylindrical shape, parallelepiped shape, and combinations thereof. The track 112 can include, but are not limited to: a length, height, width, radius, first end, front side, second end, back side, right side, left side, top side, bottom side, outer surface, inner surface, and interior space. The track 112 can include one or more openings. For example, the track 112 can include: a first opening, a second opening, a third opening, a fourth opening, a fifth opening, a six opening, and more openings.

[0037] The one or more trolleys 110 of the track and trolley assembly 102 can include a firsttrolley, second trolley, third trolley, fourth trolley, fifth trolley, sixth trolley, or more trolleys. The trolley 110 can include, but is not limited to: a cylindrical shape, a cone shape, spherical shape, parallelepiped shape, disc shape, and combinations thereof. The trolley 110 can include, but are not limited to: a length, height, width, radius, first end, front side, second end, back side, right side, left side, top side, bottom side, outer surface, inner surface, and interior space. The trolley 110 can include one or more openings. For example, the trolley 110 can include: a first opening, a second opening, a third opening, a fourth opening, a fifth opening, a six opening, and more openings.

[0038] The trolley 110 can be operatively mounted to the one or more tracks 112 of the trolleyand track assembly 102. In some embodiments, a surface of each of the tracks 112 can include slot extending substantially the length of rail 112, and a portion of the trolley 110 can extend through each slot to slidingly mount the trolley 110 to the tracks 112. The motor 114 of the track and trolley assembly 102 can be operatively connected to the trolley 110 and can drive the trolley 110 along the tracks 112. In some embodiments, motor 114 can be operatively connected to the trolley 110 using wheels, gears, lead screws, shafts, or any other mechanism to provide a sliding movement of trolley 110 along the tracks 112. In some embodiments, a frame can be used to attach the arm assembly 102 to the trolley 110. For example, a frame 140 can include a rod rotatably secured to upper portion and a frame fixedly mounted to the rod. In the 6 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT embodiment in which tracks 112 are mounted in an upper portion of a tank, a swivel frame 140 can be suspended from the bottom side of the trolley 110. In some embodiments, a swivel frame 140 can be mounted to trolley 110 in a configuration allowing for movement of first arm 118 and second arm 122 within the tank.

[0039] The one or more motors 114 can include, but is not limited to, an electric motor, ahydraulic motor, and combinations thereof. In some embodiments, the motor 114 can power the trolley 110. For example, the trolley 110 can be coupled to a roller chain. In some embodiments, the motor 114 can power the arm assembly 104. In some embodiments, the motor 114 can power the sprayer assembly 106. In some embodiments, the motor 114 can power the submersible pump 108. In some embodiments, the motor 114 can be mounted at one end of the tracks 112. In some embodiments, the motor 114 can be mounted to the trolley 110. In some embodiments, the motor 114 can be operatively connected to a sprocket for a roller chain. In some embodiments, the motors 114 can be operatively connected idler sprocket. In some embodiments, a roller chain runs a loop from the drive sprocket to the idler.

[0040] In some embodiments, a driving mechanism can include a roller chain, a drivensprocket, and an idler sprocket to create a conveyor loop across the track. With the trolley 110 mechanically fixed to a point on the chain when the motor can be powered to rotate the trolley 110 will slide along the track 112. In some embodiments, limiting switches can be used to actively stop the trolley 110 when its mechanical limit has been reached to prevent system damage. In some embodiments, a sensor 109 can be used to monitor and control the trolley 110 along the track 112. In some embodiments, the linear movement of the sprayer assembly 106 along the one or more arms can be controlled by an open roller chain that runs along the drop arm and a sprocket powered by a motor mounted to the sprayer body.

[0041] The one or more arm assemblies 104 can include, but is not limited to: one or morearms, one or more fasteners, one or more joints, one or more pivot frames, one or more swivel frames, one or more fluid lines, and combinations thereof.

[0042] The arm assembly 104 can include a first arm, second arm, third arm, fourth arm, fiftharm or more arms. The arm assembly 104 can include a wide variety of shapes. For example, the arm assembly 104 can include, but is not limited to: a linear shape, a cylindrical shape, a cone shape, spherical shape, parallelepiped shape, and combinations thereof. The arm assembly 104 can include, but are not limited to: a length, height, width, radius, first end, front side, second end, back side, right side, left side, top side, bottom side, outer surface, inner surface, and interior space. The arm assembly 104 can include one or more openings. For example, the arm 7 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT assembly 104 can include: a first opening, a second opening, a third opening, a fourth opening, a fifth opening, a six opening, and more openings.

[0043] The one or more arms of the arm assembly 104 can include a first arm, second arm,third arm, fourth arm, fifth arm or more arms. The arm can include a wide variety of shapes.For example, the arm can include, but is not limited to: a linear shape, a cylindrical shape, acone shape, spherical shape, parallelepiped shape, and combinations thereof. The arm can include, but are not limited to: a length, height, width, radius, first end, front side, second end, back side, right side, left side, top side, bottom side, outer surface, inner surface, and interior space. The arm can include one or more openings. For example, the arm can include: a first opening, a second opening, a third opening, a fourth opening, a fifth opening, a six opening, and more openings.

[0044] The arm assembly 104 can provide articulating arms so the sprayer assembly 106 canbe moved around the interior of the tank for cleaning. For example, the arm assembly 104 can be configured to independently rotate in horizontal and / or vertical planes. In another example, the first arm 118 of the arm assembly 104 can rotate about a horizontal plane, parallel to the tracks 112 from about 1°, about 30°, about 90°, about 120°, about 180°, about 270°, about 330°, about 360°, or any subrange therein. In another example, the second arm 118 of the arm assembly 104 can rotate about a vertical plane, parallel to the first arm 118 from about 1°, about 30°, about 90°, about 120°, about 180°, about 270°, about 330°, about 360°, or any subrange therein.

[0045] Referring to FIGURES 1-7, the arm assembly 104 includes a first arm 118, a joint120, and a second arm 122. In some embodiments, the arm assembly 104 includes a first arm118 that is horizontal and parallel to the celling of the tank and an arm 118 that is vertical and parallel to the walls of the tank. The first arm 118 can be coupled to and / or integrally connected with the trolley 110. In some embodiments, the trolley 110 includes a pivot frame for adjusting the vertical position of the second arm by pivoting the first arm in a vertical plane. In some embodiments, the first arm 118 can be coupled to and / or integrally connected with a lower portion of a swivel frame. For example, the first arm 118 and lower portion of swivel frame can rotate 360° in a horizontal plane relative to trolley 110. In some embodiments, the first arm 118 can include a proximal bracket and distal bracket interconnected by a pivot frame 140. In some embodiments, the frame can include two parallel members each pivotally mounted to proximal bracket and distal bracket.

[0046] The one or more sprayer assemblies 106 can include, but is not limited to: one or moresprayer housings, one or more nozzles, one or more valves, one or more gears, one or more 8 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT gearboxes, one or more valves, an axle, one or more drive shafts, one or more sensors, one or more cameras, and combination thereof. The sprayer assembly 106 can include, but is not limited to: a first sprayer assembly, a second sprayer assembly, a third sprayer assembly, a fourth sprayer assembly, a fifth sprayer assembly, a six sprayer assembly, and more sprayer assemblies. The sprayer assembly 106 can include a wide variety of shapes. For example, the sprayer assembly 106 can include, but is not limited to: a cylindrical shape, a cone shape, spherical shape, parallelepiped shape, disc shape, and combinations thereof. The sprayer assembly 106 can include, but are not limited to: a length, height, width, radius, first end, front side, second end, back side, right side, left side, top side, bottom side, outer surface, inner surface, and interior space. The sprayer assembly 106 can include one or more openings. For example, the sprayer assembly 106 can include: a first opening, a second opening, a third opening, a fourth opening, a fifth opening, a six opening, and more openings. In some embodiments, the sprayer assembly 106 can include mechanically powered to move in three dimensions.

[0047] FIGURES 9-14 illustrates an embodiment of sprayer assembly 106 a tank cleaningsystem 100. The sprayer assembly of the tank cleaning system 100 can include, but is not limited to: one or more housings 124, one or more gearboxes 126, one or more manifolds 128, one or more drive propellers 130, one or more gears 132, one or more sprayer manifolds 134, one or more nozzles 136, one or more fluid lines, one or more mandrels, and combinations thereof.

[0048] The sprayer housing 124 can include, but is not limited to: a first sprayer housing, asecond sprayer housing, a third sprayer housing, a fourth sprayer housing, a fifth sprayer housing, a six sprayer housing, and more sprayer housings. The sprayer housing 124 can include a wide variety of shapes. For example, the sprayer housing 124 can include, but is not limited to: a cylindrical shape, a cone shape, spherical shape, parallelepiped shape, disc shape, and combinations thereof. The sprayer housing 124 can include, but are not limited to: a length, height, width, radius, first end, front side, second end, back side, right side, left side, top side, bottom side, outer surface, inner surface, and interior space. The sprayer housing 124 can include one or more openings. For example, the sprayer housing 124 can include: a first opening, a second opening, a third opening, a fourth opening, a fifth opening, a six opening, and more openings.

[0049] The one or more sprayer housings 124 can include, but is not limited: a driving motorand linear rollers / guides to traverse the one or more arms of the arm assembly 104 and provide a base for the other sprayer components to attach. In some embodiments, the sprayer housings 124 can rotate around a parallel axis to the one or more arms of the arm assembly 104. In some 9 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT embodiments, the sprayer housings 124 can rotate around a perpendicular axis to the one or more arms of the arm assembly 104. In some embodiments, the sprayer assembly 106 can be coupled to and / or integrally connected to the arm assembly 104. In some embodiments, the sprayer assembly 106 can traverse the arm assembly 104.

[0050] The one or more nozzles 136 can concentrate and optimize flow exiting the sprayerassembly 106 for effective spraying and cleaning. The nozzle 136 can include, but are not limited to: a first sprayer housing, a second sprayer housing, a third sprayer housing, a fourth sprayer housing, a fifth sprayer housing, a six sprayer housing, and more sprayer housings. The nozzle 136 can include a wide variety of shapes. For example, the nozzle 136 can include, but is not limited to: a cylindrical shape, a cone shape, spherical shape, parallelepiped shape, disc shape, and combinations thereof. The nozzle 136 can include, but are not limited to: a length, height, width, radius, first end, front side, second end, back side, right side, left side, top side, bottom side, outer surface, inner surface, and interior space. The nozzle 136 can include one or more openings. For example, the nozzle 136 can include: a first opening, a second opening, a third opening, a fourth opening, a fifth opening, a six opening, and more openings.

[0051] In some embodiments, the one or more nozzles 136 and the one or more mandrels canrotate providing a sprayer envelope 138 of cleaning composition. To create different spraying envelopes the rotational axis of the nozzle manifold can be angled away from the central mandrel at a specific degree from 0° to 90° (0 being parallel with the axis and 90 being perpendicular. In combination, the centerline of the nozzle 136 installed to the manifold can be angled from a centerline of the manifold at the same degree chosen. The two angles combined equal half the envelope that will be sprayed by the nozzles 136. The envelope can be completed through combined rotation of the housing and the nozzle manifold. The tank cleaning system 100 can use high velocity fluid flow through the one or more nozzles 136 to clean the tanks. In some embodiments, controlling the nozzles 136 can provide predictable spray envelopes.

[0052] The nozzle 136 can include any nozzle configured for rotation of the nozzle outlet(s)and for high pressure fluid flow. Suitable nozzles can include commercially available nozzles. For example, the commercially available nozzles can include those made by CLOUD SELLERS® headquartered in San Luis Obispo, CA.

[0053] In some embodiments, the tank cleaning system 100 can be operated in an enclosurewhere the vertical depth of the enclosure is greater than the operating distance of the equipment coupled to the arm assembly 104. In such a case, a spraying nozzle 134 can be used for tank cleaning. In some embodiments, a pump can be low enough to the floor to be partially 10 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT submerged and the distance from the nozzle 136 to the ceiling can be further than the operating range of the nozzle.

[0054] Referring to FIGURES 9-14, the sprayer assembly 106 includes a gearbox 126connectively coupled to the housing 124 the rotations of the driveshaft are transferred through a ratio of gears to an axle offset from the drive shaft and positionally fixed to the gearbox. A final spur gear on the parallel axle engages the central mandrel causing the housing to rotate. In some embodiments, the housing 124 can rotate and the nozzle manifold 134 also rotates through geared teeth interlocked between. In some embodiments, the sprayer can direct high velocity fluid in an envelope of coverage through at least two rotating bodies about a single point. In some embodiments, the cleaning composition can be pumped into the sprayer assembly 106 through fluid lines of the central mandrel. The fluid can be ported through the central mandrel 128 into the housing 124 and exits through nozzles 136 from the nozzle manifold 134. As fluid can be flowing through the central mandrel it can be interrupted by the drive propeller. At fluid volumes matched to cleaning needs, the propeller will spin on a driveshaft which transfers rotational mechanical power through central mandrel into the gearbox.

[0055] The tank cleaning system 100 has a spraying envelope 138 can have a radius that varieswidely. For example, the spraying envelope 138 can a radius from a low of about 1 cm, about 2 cm, or about 5 cm, to a high of about 10 cm, about 30 cm, or about 60 cm. In another example, the spraying envelope 138 can a radius from about 1 cm to about 60 cm, about 2 cm to about 20 cm, or about 5 cm to about 40 cm.

[0056] In some embodiments, one or more fluids line can be connected to inlet of the nozzle136. The nozzle 136 can include two outlets mounted on a rotating nozzle manifold 134. In a cleaning configuration of tank cleaning system 100, a cleaning fluid can be fed through the fluid line and to nozzle 136. The pressure of the fluid flow can cause rotating frame to spin as the cleaning fluid flows exists through both outlets. Alternatively, a gear can cause rotating frame to spin. In some embodiments, the spinning of rotating frame allows the tank cleaning system 100 to direct cleaning fluid at all surfaces within a tank. The movement of the trolley 110 along track 112, the rotation of second arm 122 relative to first arm 118, the rotation of first arm 20 relative to trolley 110, and the pivoting movement of primary frame each enhances the ability of tank cleaning system 100 to direct cleaning fluid at all surfaces within the tank.

[0057] In some embodiments, the tank cleaning system 100 can include multiple sprayersassemblies 106 along an arm of the arm assembly 104 with slightly overlapping spraying envelopes 138. FIGURE 8 illustrates an embodiment of the tank system 100 with multiple sprayers assemblies 106 along an arm of the arm assembly 104. In some embodiments, at least 11 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT a portion of the tank will be sprayed by the nozzles of the sprayer assemblies 106. In some embodiments, tank cleaning system 100 can include input ports and recirculation nozzles.

[0058] In some embodiments, the cleaning composition can be pumped into the sprayerassembly through fluid lines of the central mandrel. The fluid can be ported through the central mandrel 128 into the housing 124 and exits through nozzles 136 from the nozzle manifold 134. As fluid can be flowing through the central mandrel it can be interrupted by the drive propeller. At fluid volumes matched to cleaning needs, the propeller will spin on a driveshaft which transfers rotational mechanical power through central mandrel into the gearbox.

[0059] In some embodiments, a valve can be coupled to and / or integrally connected withsecond arm 122. In some embodiments, the submersible pump 108 can be in fluid communication between an outlet of submersible pump 108 and an inlet of valve. In some embodiments, the nozzle 136 can be in fluid communication with an outlet of valve and inlet of nozzle 136 and / or submersible pump 108.

[0060] In some embodiments, the submersible pump 108 can be moved by the trolley 110,sliding along the track 112 within the tank with the first arm 118 rotating relative to trolley 110, and by the second arm 122 rotating relative to first arm 118. In some embodiments, at least one nozzle and a submersible pump can be mounted to second arm 122. In some embodiments, submersible pump 108 can be mounted to a distal end of vertical member of second arm 122 and nozzle can be mounted to horizontal member of second arm 122. In some embodiments, the submersible pump 108 can be positioned at least partially within a fluid in the tank, which can be drawn through the pump and pumped through a fluid line. In some embodiments, a valve can direct this fluid flow from pump fluid line to nozzle for mixing fluid within the tank. In some embodiments, the tank cleaning system 100 can mix fluids by recirculating them within the tank. In some embodiments, the fluid does not leave the tank during mixing operations.

[0061] In some embodiments, the one or more flow diverters and / or valves can include, butis not limited to: a proportional selector valve used to control the relationship of fluid flowing to the nozzle 136. In some embodiments, one or more valves can be set to a second position in which only the outlet leading to outlet fluid line can be open. With the submersible pump 108 positioned at least partially within fluid, fluid can be drawn through submersible pump 108 and pump fluid line. The valve directs this fluid flow from pump fluid line to outlet fluid line for pumping fluid out of the tank. For example, tank cleaning system 100 can be used in the pumping configuration to independently pump a fluid from a vessel to onshore or offshore facilities. Tank cleaning system 100 can be configured to remove nearly all the fluid from a tank. For example, tank cleaning system 100 can be configured to remove about 80% to about 12 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT 100% of fluid from the tank. In another embodiment, the tank cleaning system 100 can be configured to remove about 90% to about 95% of fluid from a tank.

[0062] The cleaning composition can be introduced through inlet fluid line to cleaning nozzle.As the cleaning fluid flows through outlets of cleaning nozzle, rotating frame can rotate 360 degrees to spray the cleaning fluid on all surfaces within the tank. If any fluid can be present within the tank, submersible pump 108 can be positioned at least partially within fluid to draw fluid through submersible pump 108, pump fluid line, valve in the second position, and outlet fluid line. In this way, tank cleaning system 100 does not require personnel to enter the tank.

[0063] In some embodiments, the nozzle 136 can be used to introduce another fluid and / orcleaning composition into a tank. For example, the nozzle 136 can be used to introduce a lower density fluid into a tank containing a higher density fluid, in order to facilitate the removal of the fluid from the tank (i.e., to increase the pumpability of the fluid through submersible pump 108).

[0064] The movement of trolley 110 along the track 112 enables the submersible pump 108and the nozzle 136 of tank cleaning system 100 to cover the surfaces of entire inside of the tank or a substantial portion of the entire inside of the tank. In some embodiments, the first arm 118 and the second arm 122 can rotate together in the horizontal direction relative to trolley 110. In some embodiments, the second arm 122 can rotate in the horizontal direction relative to first arm 118 by activating the joint and / or swivel connection the first arm 118 the second arm 122. In some embodiments, the tank cleaning system 100 can pivot the first arm 118 into the upward tilted position, thereby placing tank cleaning system 100 in a storage position. In the storage position, the second arm 122 can be rotated relative to first arm 118 to position submersible pump 108. In some embodiments, the tank cleaning system 100 can be configured into storage position. In some embodiments, the tank cleaning system 100 can be configured minimize the volume within the tank to reduce the impact on tank function. In some embodiments, submersible pump 108 can be lifted between 70 and 99 percent, or any subrange therein, of the height of the tank from the position to the storage position as shown in FIGURES 5 and 7.

[0065] The position of the trolley 110 along the track assembly 102, the rotation of the swivelconnection between swivel frame and trolley 110, the rotation of the swivel connection between first arm 118 and second arm 122, and the position of valve can each be automated and / or controlled remotely. For example, the trolly and submersible pump 108 can be hydraulically controlled, and the nozzle can be controlled by air or electrical means. The tank cleaning system 100 includes a control system for detecting or measuring properties within a tank and for 13 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT adapting the operation of the tank cleaning system to accomplish the necessary functions. For example, the first arm 118 and second arm 122 move in a predefined pattern that covers all areas and / or surfaces within a tank. When the fluid level in the tank drops to a certain level, the submersible pump can automatically stop pumping.

[0066] The one or more pumps 108 can include, but are not limited to: a first pump, a secondpump, a third pump, a fourth pump, a fifth pump, a six pump, and more pumps. The one or more pumps 108 can include, but is not limited to: a dynamic pump, positive displacement pump, centrifugal pump, submersible pump, diaphragm pump, gear pump, rotary vane pump, peristaltic pump, cam pump, piston pump, and combinations thereof. In some embodiments, the pumps can be in fluid communication with the conduit, elevating sleeve, insert, input port, and / or output port. In some embodiments, the tank cleaning system 100 can include a first conduit, a second conduit, a third conduit, a fourth conduit, a fifth conduit, a six conduit, and more conduits. In some embodiments, the conduit(s) can be a fluid conduit, an electrical conduit, an optical fiber conduit, or a combination thereof.

[0067] In some embodiments, a submersible pumps 108 can be mounted on the second arm122. The tank cleaning system 100 can be used to pump a fluid from the tank in a pumping configuration, to mix the fluid within the tank in a mixing configuration, and / or to clean the tank in a cleaning configuration. The tank cleaning system can be used in any tank or other enclosure with any fluid in any industry or application. In some embodiments, the submersible pump 108 can be lifted between 70 and 99 percent, or any subrange therein, of the height of the tank from the position shown in FIGURES 2-4.

[0068] The one or more pumps 108 can pump fluids from and / or to the tank. The pump caninclude a high-volume impeller style pump used to circulate fluid through the system. In some embodiments, fluid lines can be channeled either parallel to a mast or can be ported into the mast, utilizing the horizontal structural body of the mast. The pump's power lines can be run individually and in a similar way. Spraying and inspecting the enclosure a sliding body can be coupled to the mast and travels along the mast. Travel of the pump 108 can be mechanically, electrically, or hydraulically controlled. Rotation can be parallel to the mast. As well a third body can be incorporated to the sliding body, this can be in the form of a pointing arm that pivots perpendicular to the rotating arm. All these axes of movement combined allow the point arm to spray and inspect nearly any single point about the inside of the enclosure in useful proximity relative to the equipment or devices mounted to the point arm. Power, spraying, and data lines are coupled to the trolley 110 and travel up the mast to the arm assembly 104. The junction panel contains sensors, electronics, valves, or other controlling or diverting devices. From the 14 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT junction panel the pump line, and other controlling hydraulic and electric lines are run along the aft spar to the arm pivot, through the trolley, along the ceiling and to the porthole or other designated access points. From the access points the pump and control lines exit the enclosure and run to the relative driving equipment. As a result, the tank cleaning system can be operated from the exterior of the enclosure. Removing the need for operators to be present inside the enclosure during operations.

[0069] In some embodiments, the tank cleaning system 100 includes a trolley 102, swivelframe 140 rotatably coupled to the trolley 110, first arm 118 affixed to swivel frame 140, and second arm 122 rotatably connected to first arm 118. The first arm 118 can be configured to pivot in a vertical direction. In some embodiments, the second arm 122 can be connected to first arm 118 through a pivot frame 140. In some embodiments, the pivot frame 140 can be formed of any connection configured to allow a pivoting motion between the one or more arms. In some embodiments, the pivot frame 140 can include a hinge or pneumatic valve.

[0070] A joint 120 can provide for rotation of second arm 108 relative to first arm 106, alongwith vertical movement of second arm 108 relative to first arm 118. The joint 120 can be formed of any metal bearings, such as a roto bearing. A distal end of second arm 122 can include a mounting bracket 122 configured to secure a submersible pump 108, to the distal end 122. In some embodiments, one or more sprayer assembly 106 can be coupled to the first arm 106 or the second arm 108.

[0071] In some embodiments, the first arm 118 can be swiveled and / or rotated pivoted in ahorizontal plane relative the tracks 112 of the track and trolley assembly 102. In some embodiments, the first arm 118 can be rotated in a vertical plane relative the tracks 112 of the track and trolley assembly 102. The second arm 122 can be rotated in a vertical plane relative to first arm 118. These relative rotations and the movement of the trolley 110 along the track and trolley assembly 102, allowing the submersible pump 108 and a nozzle envelop 138 to reach all areas within the tank. Referring to FIGURES 5 and 7, the tank cleaning system 100 can be placed in a storage position by placing first arm 106 in a parallel or neutral position and by pivoting second arm 108 relative to first arm 106 through pivot connection or joint 120. In some embodiments, the tank cleaning system 100 can be operated in a tank where the vertical depth of the tank is greater than the operating distance of the equipment coupled to the point arm. For example, the pump can be low enough to the floor to be at least partially submerged.

[0072] The tank cleaning system 100 can have a hydraulic power unit (HPU) flow rate thatvaries widely. For example, the tank cleaning system 100 can include hydraulic power unit (HPU) flow rate from a low of about 10 gpm, about 100 gpm, or about 200 gpm, to a high of 15 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT about 700 gpm, about 800 gpm, or about 1,000 gpm. In another example, the tank cleaning system 100 can include hydraulic power unit (HPU) flow rate from about 10 gpm to about 1,000 gpm, about 38 gpm to about 660 gpm, or about 20 gpm to 800 gpm.

[0073] The tank cleaning system 100 can have a hydraulic power unit (HPU) pressure thatvaries widely. For example, the tank cleaning system 100 can have an HPU pressure from a low of about 10 psi, about 100 psi, or about 500 psi, to a high of about 2500 psi, about 3000 psi, or about 4,000 psi. In another example, the tank cleaning system 100 can have an HPU pressure from about 10 psi to about 3,000 psi, about 100 psi to about 1,000 psi, or about 1,000 psi to about 2800 psi.

[0074] FIGURES 17-21 illustrates another embodiment of a tank cleaning system 100 thatincludes a cable reel assembly and a sprayer assembly 106. The one or more cable reels 142 can include, but is not limited to: one or more wall brackets 150, one or more pivot pins 152, one or more reel frames 148, one or more spools 154, one or more spool drives 156, one or more line guides 158, one or more cables 144, and combinations thereof. The sprayer assembly 106 can include, but is not limited to: one or more suspension frames, one or more housings, one or more clamps, one or more spraying tubes, one or more spraying nozzles, one or more sensors, one or more cameras, and combinations thereof.

[0075] Referring to FIGURES 17-21, the sprayer assembly 106 includes a suspension framecoupled to the cables 144 by swivels. The sprayer assembly 106 includes a suspension frame with a four-point connection to the cables using the one or more swivels. The frame can have an opening in its center for positioning the housing of the cable reel 142. The housing can include a partially spherical body coupled to the frame via spherical mounts. The housing can pivot and / or rotate about the suspension frame. In some embodiments, pivoting can allow the nozzle to be vertically balanced has the suspended sprayer assembly maneuvers around the tank. The one or more clamps can be used to couple the frame and the housing together. The spraying tubes can be coupled to the housing. The spraying tubes can include, but is not limited to: bends, curves, and split sections. In some embodiments, the spraying tubes can include rotational controls on two opposing axes, allowing for open movement to direct the nozzle around the enclosure for spraying. The sprayer nozzle can be coupled to an end of the sprayer tube to provide fluid flow for tank cleaning. The camera can be coupled to the sprayer tube parallel to the sprayer nozzle. In some embodiments, the one or more sensors can be coupled to the sprayer tube, facing perpendicular to the floor of the enclosure. The sensors can include, but is not limited to, a radar to be used to map the floor and walls of the tank enclosure. 16 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT

[0076] Referring to FIGURES 17-21, the wall bracket 150 can be releasably coupled to wallof the tank. The pivot pin 152 can be used to couple the wall bracket 150 to the reel frame 148 of the cable reel 142. The reel frame can include a rigid frame 146 coupled to the wall bracket 150. The wall bracket 150 can be coupled to the spool 154, spool drive 156, and / or line guide 158. The spool 154 can be coupled to the reel frame 148. The spool 154 can include an axle and bearings to position the sprayer assembly 106 via the cables 144. The spool drive 152 can be coupled to the reel frame 148 and keyed to the spindle axle. The spool drive 152 can rotate the spindle to extend and retract the cable 144. The line guide 158 can include slides across the axles mounted to the reel frame keeps the cable spooling orderly when reeled and unreeled on the spool. The cable 144 can include stranded wire, pliable, and spooled to the spindle, running through the line guide 158 and mechanically coupled to the sprayer assembly 106.

[0077] The suspended sprayer assembly 106, when can be used in a floating productionstorage and offloading (FPSO) tank, using four cable reels 142 mounted on the walls of the tank enclosure. Cable reels 142 are dispersed on the enclosure walls such that when the cables are connected to the suspension frame of the suspended sprayer assembly 106, an "x" pattern can be created. The cable reels 142 are mounted on the walls elevated from the ground. Mounted height of the cable reels can be dictated by the vertical spraying distance of the cleaning nozzle 136 such that the fluid stream may reach the ceiling of the enclosure at an effective distance when fluid pressure can be applied for cleaning applications. In some embodiments, the suspended sprayer assembly 106 can maneuvers around the tank in horizontal x and y axes and vertically in the z axis. Movement can be achieved when the cable reels are in coordinated spooling and unspooling actions. When traversing the x and y axes, the cable reels 142 in the direction of travel will spool their cables, drawing the suspended sprayer assembly 106 closer. The cable reels 142 in the opposing direction of movement will unspool. Relative to position in the z axis cable reels 142 will collectively spool, hold and unspool cable to create, maintain and relax cable tension to affect the vertical position of the suspended sprayer assembly 106 in the z axis. The cables are coupled to the housing with swivels that maintain the angular intersection of the cables such as to prevent cable binding as the suspended sprayer traverses the enclosure in the x, y, and z directions. The cable reels 142 can adjust the angular position through the pivot pin coupled to the walls through the wall brackets. The cable spool can be axially coupled the cable reel and driven by the spool drive. The pool drive can be a motor, e.g., hydraulic or electric) powering a gear box for mechanical advantage. The gearbox can be mechanically coupled to the cable reel frame and keyed to the axis of the spool. The housing can be coupled to the suspension frame through a spherical connection. This allows the 17 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT suspension frame to angularly adjust when the suspended sprayer assembly 106 nears positional limits on the x, y, and z axes while maintaining the housing’s upright axial orientation. Protruding from the housing can be the spraying tube. With two axes of controlled movement in perpendicular orientation the spraying tube orients the sprayer nozzle in full spherical movement to effectively spray the walls, floor, and ceiling of the tank. Note a central body may have more than one spraying tube and nozzle for effectiveness of full spherical spraying coverage. The force generated from spraying through the nozzle during cleaning may upset the vertically balanced orientation of the central body. In some embodiments, nozzles in the opposing direction of spray can be used to counteract the forces. In some embodiments, a gyroscope sensor and / or active gyroscope system may be used for maintaining balance of the housing. In some embodiments, the sensors can include a light sensor, radar, and / or sonar for tank mapping and detecting obstructions within the enclosure. In some embodiments, one or more load transducers can be used to calculate cable tension for movement controls when the sprayer assembly 106 traversing the cable. To supply cleaning fluid to the central sprayer fluid hose may be integrated into the cable, actively coupled and decoupled to the cable during spooling, or by a separately spooled hose to the central body from a remote location in the tank, which can allow for the fluid from an external power source to feed the sprayer system for cleaning operations. In some embodiments, controlling the sprayer assembly 106 can be done by wireless controls, by integrating power and communication lines into the cables, or actively coupled and decoupled to the cables during spooling.

[0078] The tank cleaning system 100 can each be used in any enclosure and can be configuredfor mixing, pumping, and / or cleaning operations involving any fluid, including solid or gel components. The cleaning composition can include, but is not limited to: sodium lauryl sulfate, n-butyl hydroxy propionate, nonyl phenyl polyethylene, glycol ether, propylene glycol, propylene glycol n-butyl ether, D-limonene, one or more solvents, one or more additives, and mixtures thereof.

[0079] The weight percent of the n-butyl hydroxy propionate in the cleaning compositioncan vary widely. For example, the weight percent of the n-butyl hydroxy propionate in the cleaning composition can be from a low of about 0.1 wt%, about 2.0 wt%, or about 5.0 wt%, to a high of about 50.0 wt%, about 70.0 wt%, or about 90.0 wt%, based on the total weight of the cleaning composition. In another example, the weight percent of the n-butyl hydroxy propionate in the cleaning composition in the cleaning composition can be from about 0.12 wt% to about 0.36 wt%, about 0.12 wt% to about 0.32 wt%, about 0.10 wt% to about 0.40 wt%, about 0.11 wt% to about 0.37 wt%, about 1.0 wt% to about 90.0 wt%, about 2.0 wt% to 18 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT about 10.0 wt%, about 5.0 wt% to about 15.0 wt%, about 7.0 wt% to about 20.0 wt%, about 5.0 wt% to about 60.0 wt%, about 15.0 wt% to about 25.0 wt%, about 17.0 wt% to about 54.0 wt%, about 30.0 wt% to about 54.0 wt%, about 33.0 wt% to about 48.0 wt%, about 51.0 wt% to about 54.0 wt%, or about 50.0 wt% to about 60.0 wt%, based on the total weight of the cleaning composition.

[0080] The weight percent of the n-butyl hydroxy propionate in the cleaning compositioncan vary widely. For example, the weight percent of the n-butyl hydroxy propionate in the cleaning composition can be from a low of about 0.1 wt%, about 2.0 wt%, or about 5.0 wt%, to a high of about 50.0 wt%, about 70.0 wt%, or about 90.0 wt%, based on the total weight of the cleaning composition. In another example, the weight percent of the n-butyl hydroxy propionate in the cleaning composition in the cleaning composition can be from about 0.12 wt% to about 0.36 wt%, about 0.12 wt% to about 0.32 wt%, about 0.10 wt% to about 0.40 wt%, about 0.11 wt% to about 0.37 wt%, about 1.0 wt% to about 90.0 wt%, about 2.0 wt% to about 10.0 wt%, about 5.0 wt% to about 15.0 wt%, about 7.0 wt% to about 20.0 wt%, about 5.0 wt% to about 60.0 wt%, about 15.0 wt% to about 25.0 wt%, about 17.0 wt% to about 54.0 wt%, about 30.0 wt% to about 54.0 wt%, about 33.0 wt% to about 48.0 wt%, about 51.0 wt% to about 54.0 wt%, or about 50.0 wt% to about 60.0 wt%, based on the total weight of the cleaning composition.

[0081] The weight percent of the glycol in the cleaning composition can vary widely. Forexample, the weight percent of the glycol in the cleaning composition can be from a low of about 0.1 wt%, about 2.0 wt%, or about 5.0 wt%, to a high of about 50.0 wt%, about 70.0 wt%, or about 90.0 wt%, based on the total weight of the cleaning composition. In another example, the weight percent of the glycol ether in the cleaning composition in the cleaning composition can be from about 0.12 wt% to about 0.36 wt%, about 0.12 wt% to about 0.32 wt%, about 0.10 wt% to about 0.40 wt%, about 0.11 wt% to about 0.37 wt%, about 1.0 wt% to about 90.0 wt%, about 2.0 wt% to about 10.0 wt%, about 5.0 wt% to about 15.0 wt%, about 7.0 wt% to about 20.0 wt%, about 5.0 wt% to about 60.0 wt%, about 15.0 wt% to about 25.0 wt%, about 17.0 wt% to about 54.0 wt%, about 30.0 wt% to about 54.0 wt%, about 33.0 wt% to about 48.0 wt%, about 51.0 wt% to about 54.0 wt%, or about 50.0 wt% to about 60.0 wt%, based on the total weight of the cleaning composition.

[0082] The weight percent of the propylene glycol n-butyl ether in the cleaning compositioncan vary widely. For example, the weight percent of the propylene glycol n-butyl ether in the cleaning composition can be from a low of about 0.1 wt%, about 2.0 wt%, or about 5.0 wt%, to a high of about 50.0 wt%, about 70.0 wt%, or about 90.0 wt%, based on the total weight of 19 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT the cleaning composition. In another example, the weight percent of the propylene glycol n- butyl ether in the cleaning composition in the cleaning composition can be from about 0.12 wt% to about 0.36 wt%, about 0.12 wt% to about 0.32 wt%, about 0.10 wt% to about 0.40 wt%, about 0.11 wt% to about 0.37 wt%, about 1.0 wt% to about 90.0 wt%, about 2.0 wt% to about 10.0 wt%, about 5.0 wt% to about 15.0 wt%, about 7.0 wt% to about 20.0 wt%, about 5.0 wt% to about 60.0 wt%, about 15.0 wt% to about 25.0 wt%, about 17.0 wt% to about 54.0 wt%, about 30.0 wt% to about 54.0 wt%, about 33.0 wt% to about 48.0 wt%, about 51.0 wt% to about 54.0 wt%, or about 50.0 wt% to about 60.0 wt%, based on the total weight of the cleaning composition.

[0083] The weight percent of the sodium lauryl sulfate in the cleaning composition can varywidely. For example, the weight percent of the sodium lauryl sulfate in the cleaning composition can be from a low of about 0.1 wt%, about 2.0 wt%, or about 5.0 wt%, to a high of about 50.0 wt%, about 70.0 wt%, or about 90.0 wt%, based on the total weight of the cleaning composition. In another example, the weight percent of the sodium lauryl sulfate in the cleaning composition in the cleaning composition can be from about 0.12 wt% to about 0.36 wt%, about 0.12 wt% to about 0.32 wt%, about 0.10 wt% to about 0.40 wt%, about 0.11 wt% to about 0.37 wt%, about 1.0 wt% to about 90.0 wt%, about 2.0 wt% to about 10.0 wt%, about 5.0 wt% to about 15.0 wt%, about 7.0 wt% to about 20.0 wt%, about 5.0 wt% to about 60.0 wt%, about 15.0 wt% to about 25.0 wt%, about 17.0 wt% to about 54.0 wt%, about 30.0 wt% to about 54.0 wt%, about 33.0 wt% to about 48.0 wt%, about 51.0 wt% to about 54.0 wt%, or about 50.0 wt% to about 60.0 wt%, based on the total weight of the cleaning composition.

[0084] The weight percent of the additives in the cleaning composition can vary widely. Forexample, the weight percent of the additives in the cleaning composition can be from a low of about 0.01 wt%, about 0.5 wt%, or about 1 wt%, to a high of about 50 wt%, about 70 wt%, or about 90 wt%. In another example, the weight percent of the additives in the cleaning composition can be less than about 5 wt%, less than about 2 wt%, or less than about 1 wt%. In another example, the weight percent of the additives in the cleaning composition can be from about 0.01 wt% to about 90 wt%, 0.1 wt% to about 10 wt%, about 0.5 wt% to about 10 wt%, about 2 wt% to about 20 wt%, about 5 wt% to about 60 wt%, about 15 wt% to about 25 wt%, about 17 wt% to about 54 wt%, about 30 wt% to about 54 wt%, about 33 wt% to about 48 wt%, about 51 wt% to about 54 wt%, or about 50 wt% to about 60 wt%, based on the total weight the cleaning composition. 20 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT

[0085] The one or more solvents for cleaning composition can include, but are not limitedto, water, methanol, ethanol, propanol, isopropanol, acetone, benzene, acetonitrile, chloroform, diethyl ether, methylene chloride, dimethyl formamide, ethylene glycol, propylene glycol, triethylamine, tetrahydrofuran, and combinations thereof.

[0086] The weight percent of the solvents in the cleaning composition can vary widely. Forexample, the weight percent of solvent in the cleaning composition can be from a low of about 50 wt%, about 60 wt%, or about 70 wt%, to a high of about 85 wt%, about 90 wt%, or about 98 wt%, based on the total weight the cleaning composition or based on the total weight of the solvents and additives. In another example, the cleaning composition can have a weight percent of the solvent from about 50 wt% to about 98 wt%, 51 wt% to about 80 wt%, about 60 wt% to about 88 wt%, about 79 wt% to about 96 wt%, about 77 wt% to about 87 wt%, about 85 wt% to about 95 wt%, about 73 wt% to about 86 wt%, about 90 wt% to about 98 wt%, or about 95 wt% to about 98 wt%, based on the total weight the cleaning composition.

[0087] The well treatment composition can have a viscosity that varies widely. For example,the well treatment composition can have a viscosity from a low of about 0.5 centipoise (cP), about 1.0 cP, or about 1.2 cP, to a high of about 10.0 cp, about 1,000.0 cP, or about 100,000.0 cP. In another example, the well treatment composition can have a viscosity from about 0.5 cP to about 1.0 cP, about 0.5 cP to about 100,000 cP, about 1.0 cP to about 2.0 cP, about 1.5 cP to about 2.2 cP, about 1.0 cP to about 100.0 cP, about 2.0 cP to about 10 cP, about 10.0 cP to about 100.0 cP, about 20.0 cP to about 200.0 cP, about 200.0 cP to about 500.0 cP, about 400.0 cP to about 800.0 cP, about 600.0 cP to about 40,000.0 cP, or about 500.0 cP to about 80,000.00 cP.

[0088] The one or more sensors 116 can include, but is not limited to: pressure sensors, flowrate sensors, temperature sensor, positioning sensors, accelerometers, magnetometers, gyroscopes, and combinations thereof. The sensor can be coupled to any surface of the tank cleaning system 100. The sensors 116 can measure and monitor tank fluid flow rate. In some embodiments, the sensors 116 can control the fluid level in the tank, control the flow rate going to the spraying nozzles, control the flowrate of fluid leaving the tank, and control the speed and / or flowrate of fluid pump to meet cleaning and pumping demands. In some embodiments, the sensors 116 can include mechanical limiting switches and / or digital position sensors to control and automate the track and trolley assembly 102.

[0089] In one or more embodiments, the method of using a tank cleaning system 100 caninclude, but is not limited to: mounting the tank cleaning system 100 inside a fluid tank, moving the trolley 110 of the tank cleaning system 100, moving the sprayer assembly 106 of the tank 21 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT cleaning system 100, spray a cleaning composition to at least partially clean a surface of the tank, or combinations thereof. In some embodiments, the method can include, but is not limited to: positioning of the trolley 110 along the track assembly 102, rotating the swivel connection between the trolley 110 and the first arm 118, rotating the joint connection between first arm 118 and second arm 122, engaging and disengaging valves, engaging and disengaging sprayers, and combination thereof.

[0090] The tank cleaning system 100 can include a software program operating in a CPU(central processing unit) for controlling the movement and operation of the tank cleaning system 100. The dimensions and other characteristics of a tank can be inputted from the one or more sensors into the software program. The level and features, such as density, of the tank contents can be detected by a detection mechanism and inputted into the software program. The detection system can be an infrared system, an acoustic system, a seismic system, or any other system configured to detect characteristics of the tank contents and automatically input the measurements into the software program. For example, the sensors can detect the level of the tank contents and input the level measurement into the software program, which directs the control system to adjust the settings of the tank cleaning system 100 to raise or lower the submersible pump 108. In some embodiments, the sensors can detect the density of the tank contents and input the density measurement into the software program, which directs the control system to adjust the settings of the tank cleaning system 100 to place the tank in the mixing configuration. In some embodiments, the sensors can detect a non-level surface of the tank contents (indicating solid contents extending above a liquid surface, if the tank can be level) and input the non-level measurement into the software program, which directs the control system to adjust the settings of the tank cleaning system to mix or clean the tank completely.

[0091] The one or more valves can include, but is not limited to, two-way valve, three-wayvalve, four-way valve, a pressure relief valve, plug valve, ball valve, butterfly valve, check valve, gate valve, knife valve, glove valve, needle valve, pinch valve, and combinations thereof. The one or more valves can include, but are not limited to: a first valve, a second valve, a third valve, a fourth valve, a fifth valve, a six valve, and more valve. The one or more valves can include, but are not limited to: a length, height, width, radius, first end, front side, second end, back side, right side, left side, top side, bottom side, outer surface, inner surface, and interior space. In some embodiments, one or more valves can be used in the sprayer assembly 106 to allow and direct the flow of the cleaning composition from a holding tank to the nozzle. In some embodiments, one or more valves can be used in the sprayer assembly 106 to allow and direct the flow of the fluid from the fluid tank through the nozzle 136 to a holding tank. 22 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT FIGURE 15 is schematic diagram of the fluid flow through a three-way valve of the tank cleaning system 100. FIGURE 16 is schematic diagram of the fluid flow through two two-way valves of the tank cleaning system 100. In some embodiments, the valve can be opened and closed using computer control.

[0092] The one or more sensors can include, but are not limited to: one or more pressuresensors, one or more laser sensor, one or more distance sensors, one or more thermometers, one or more flow rate sensors, one or more weight sensors, one or more temperature sensors, one or more sonar sensors, one or more light detection and ranging sensors, one or more infrared sensors, one or more positioning sensors, one or more accelerometers, one or more magnetometers, one or more gyroscopes, and combinations thereof. The one or more sensors can include, but are not limited to: a first sensor, a second sensor, a third sensor, a fourth sensor, a fifth sensor, a six sensor, and more sensor. The one or more sensors can include, but are not limited to: a length, height, width, radius, first end, front side, second end, back side, right side, left side, top side, bottom side, outer surface, inner surface, and interior space. For manually operated cleaning arms, Programable Logic Control can be used to program control of valves, motors, and other implements on the cleaning arm. In one or more embodiments, the interior of the fluid tank can be at least partially coated and / or painted with a coating or paint that contains a substance that can detected by the one or more sensors. For example, the one or more sensors can

[0093] In one or more embodiments, the method of cleaning a tank can be implemented on acomputer in one or more software modules. The one or more software modules of a method of cleaning a fluid tank can include, but is not limited to: moving the trolley 110 of the tank cleaning system 100, moving the sprayer assembly 106 of the tank cleaning system 100, spray a cleaning composition to at least partially clean a surface of the tank, or combinations thereof. In some embodiments, the method can include, but is not limited to: positioning of the trolley 110 along the track assembly 102, rotating the swivel connection between the trolley 110 and the first arm 118, rotating the joint connection between first arm 118 and second arm 122, engaging and disengaging valves, engaging and disengaging sprayers, and combination thereof.

[0094] The above-described features and applications can be implemented as softwareprocesses that are specified as a set of instructions recorded on a computer readable storage medium (also referred to as computer readable medium). When these instructions are executed by one or more processing unit(s) (e.g., one or more processors, cores of processors, or other processing units), they cause the processing unit(s) to perform the actions indicated in the instructions. Examples of computer readable media include, but are not limited to, CD-ROMs, 23 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT flash drives, RAM chips, hard drives, EPROMs, etc. Some implementations include electronic components, for example microprocessors, storage and memory that store computer program instructions in a machine-readable or computer-readable medium (alternatively referred to as computer-readable storage media, machine-readable media, or machine-readable storage media, any or all of which can be non-transitory). Some examples of such computer-readable media include RAM, ROM, read-only compact discs (CD-ROM), recordable compact discs (CD-R), rewritable compact discs (CD-RW), read-only digital versatile discs (e.g., DVD-ROM, dual- layer DVD-ROM), a variety of recordable / rewritable DVDs (e.g., DVD-RAM, DVD-RW, DVD+RW, etc.), flash memory (e.g., SD cards, mini-SD cards, micro-SD cards, etc.), magnetic or solid state hard drives, read-only and recordable Blu-Ray® discs, ultra-density optical discs, any other optical or magnetic media, and floppy disks. The computer-readable media can store a computer program that can be executable by at least one processing unit and includes sets of instructions for performing various operations. Examples of computer programs or computer code include machine code, for example can be produced by a compiler, and files including higher-level code that are executed by a computer, an electronic component, or a microprocessor using an interpreter.

[0095] While the above discussion primarily refers to microprocessor or multi-coreprocessors that execute software, some implementations are performed by one or more integrated circuits, for example application specific integrated circuits (ASICs) or field programmable gate arrays (FPGAs). In some implementations, such integrated circuits execute instructions that are stored on the circuit itself.

[0096] To provide for interaction with a user, implementations of the subject matter describedin this specification can be implemented on a computer having a display device, e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor, for displaying information to the user and a keyboard and a pointing device, e.g., a mouse or a trackball, by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback, e.g., visual feedback, auditory feedback, or tactile feedback; and input from the user can be received in any form, including acoustic, speech, or tactile input. In addition, a computer can interact with a user by sending documents to and receiving documents from a device that can be used by the user; for example, by sending web pages to a web browser on a user's client device in response to requests received from the web browser.

[0097] In this specification, the term "software" can be meant to include, but is not limited to,firmware residing in read-only memory or applications stored in magnetic storage or flash 24 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT storage, for example, a solid-state drive, which can be read into memory for processing by a processor. Also, in some implementations, multiple software technologies can be implemented as sub-parts of a larger program while remaining distinct software technologies. In some implementations, multiple software technologies can also be implemented as separate programs. Finally, any combination of separate programs that together implement a software technology described here can be within the scope of the subject technology. In some implementations, the software programs, when installed to operate on one or more electronic systems, define one or more specific machine implementations that execute and perform the operations of the software programs.

[0098] A computer program (also known as a program, software, software application, script,or code) can be written in any form of programming language, including compiled or interpreted languages, declarative or procedural languages, and it can be deployed in any form, including as a standalone program or as a module, component, subroutine, object, or other unit suitable for use in a computing environment. A computer program may, but need not, correspond to a file in a file system. A program can be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub programs, or portions of code). A computer program can be deployed to be executed on one computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communication network.

[0099] These functions described above can be implemented in digital electronic circuitry, incomputer software, firmware or hardware. The techniques can be implemented using one or more computer program products. Programmable processors and computers can be included in or packaged as mobile devices. The processes and logic flows can be performed by one or more programmable processors and by one or more programmable logic circuitry. General and special purpose computing devices and storage devices can be interconnected through communication networks.

[0100] As used in this specification and any claims of this application, the terms "computer","server", "processor", and "memory" all refer to electronic or other technological devices. These terms exclude people or groups of people. For the purposes of the specification, the terms display or displaying means displaying on an electronic device. As used in this specification and any claims of this application, the terms "computer readable medium" and "computer readable media" are entirely restricted to tangible, physical objects that store information in a 25 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT form that can be readable by a computer. These terms exclude any wireless signals, wired download signals, and any other ephemeral signals.

[0101] The subject matter described in this specification can be implemented in a computingsystem that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a client computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the subject matter described in this specification, or any combination of one or more such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network ("LAN") and a wide area network ("WAN"), an inter-network (e.g., the Internet), and peer-to- peer networks (e.g., ad hoc peer-to-peer networks).

[0102] The computing system can include clients and servers. A client and server aregenerally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. In some aspects of the disclosed subject matter, a server transmits data (e.g., an HTML page) to a client device (e.g., for purposes of displaying data to and receiving user input from a user interacting with the client device). Data generated at the client device (e.g., a result of the user interaction) can be received from the client device at the server.

[0103] It can be understood that any specific order or hierarchy of steps in the processesdisclosed can be an illustration of example approaches. Based upon design preferences, it can be understood that the specific order or hierarchy of steps in the processes can be rearranged, or that all illustrated steps be performed. Some of the steps can be performed simultaneously. For example, in certain circumstances, multitasking and parallel processing can be advantageous. Moreover, the separation of various system components illustrated above should not be understood as requiring such separation, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0104] One of ordinary skill in the art will readily appreciate that alternative but functionallyequivalent components, materials, designs, and equipment can be used. The inclusion of additional elements can be deemed readily apparent and obvious to one of ordinary skill in the art. Specific elements disclosed herein are not to be interpreted as limiting, but rather as a basis 26 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT for the claims and as a representative basis for teaching one of ordinary skill in the art to employ the present invention.

[0105] Various modifications to these aspects will be readily apparent, and the genericprinciples defined herein can be applied to other aspects. Thus, the claims are not intended to be limited to the aspects shown herein, but can be to be accorded the full scope consistent with the language claims, where reference to an element in the singular is not intended to mean "one and only one" unless specifically so stated, but rather "one or more." Unless specifically stated otherwise, the term "some" refers to one or more. Headings and subheadings, if any, are used for convenience only and do not limit the subject technology.

[0106] As used herein, the singular forms "a", "an", and "the" are intended to include theplural forms as well, unless the context clearly indicates otherwise. Furthermore, to the extent that the terms "including", "includes", "having", "has", "with", or variants thereof are used in either the detailed description and / or the claims, such terms are intended to be inclusive in a manner similar to the term "comprising". As used herein, use of the term "including" as well as other forms, such as "includes," and "included," is not limiting.

[0107] The terms "couples", "coupled", "coupler", and variations thereof are used to includeboth arrangements wherein the two or more components are in direct physical contact and arrangements wherein the two or more components are not in direct contact with each other (e.g., the components are "coupled" via at least a third component), but yet still cooperate or interact with each other.

[0108] Various terms have been defined above. To the extent a term used in a claim is notdefined above, it should be given the broadest definition persons in the pertinent art have given that term as reflected in at least one printed publication or issued patent. Furthermore, all patents, test procedures, and other documents cited in this application are fully incorporated by reference to the extent such disclosure is not inconsistent with this application.

[0109] Certain embodiments and features have been described using a set of numerical upperlimits and a set of numerical lower limits. It should be appreciated that ranges including the combination of any two values, e.g., the combination of any lower value with any upper value, the combination of any two lower values, and / or the combination of any two upper values are contemplated unless otherwise indicated. It should also be appreciated that the numerical limits can be the values from the examples. Certain lower limits, upper limits and ranges appear in at least one claims below. All numerical values are "about" or "approximately" the indicated value, and consider experimental error and variations that would be expected by a person having ordinary skill in the art. 27 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT

[0110] Various modifications to these aspects will be readily apparent, and the genericprinciples defined herein can be applied to other aspects. Thus, the claims are not intended to be limited to the aspects shown herein, but can be to be accorded the full scope consistent with the language claims, where reference to an element in the singular is not intended to mean "one and only one" unless specifically so stated, but rather "one or more."

[0111] All patents, patent applications, provisional applications, and publications referred toor cited herein are incorporated by reference in their entirety, including all figures and tables, to the extent they are not inconsistent with the explicit teachings of this specification. 28 4904-3794-0801 v.1

Claims

PATENT Attorney Docket No.33494-1PCT CLAIMS What is claimed is:

1. A tank cleaning system for cleaning drilling fluid tanks and fluid production storageoffloading fluid tanks comprising: a track and trolley assembly, wherein the track and trolley assembly comprises: a trolley and at least one track, wherein the track is mounted to the ceiling of the fluid tank, wherein the tracks are in a parallel plane with the ceiling of the fluid tank, wherein the track is mounted within the fluid tank and wherein the trolley is configured for connection to and movement along the track; an arm assembly, wherein the arm assembly comprises: a first arm, a second arm, and a joint, wherein the first arm operatively connected to the trolley, wherein the first arm rotates at least 340° in a horizontal plane relative to the track, wherein the first arm is operatively connected to a first end of a joint, wherein the second arm is operatively connected to second end of a joint, wherein the second arm rotates at least 340° in a vertical plane relative to the track; a sprayer assembly, wherein the sprayer assembly comprises: one or more nozzles, one or more gears, one or more valves, a gearbox, an axle, and drive shaft, wherein the gearbox operatively connected to the housing, wherein rotations of the driveshaft are transferred through a ratio of gears to an axle offset from the drive shaft and positionally fixed to the gearbox; and a submersible pump, wherein the submersible pump is mounted to the second arm.

2. The tank cleaning system of claim 1 further comprising a swivel frame mounted to thetrolley and coupled to the first arm.

3. The tank cleaning system of claim 1, further comprising a central mandrel connectedto two nozzles, wherein a rotational axis of the nozzles can be angled away from the central mandrel at an angle from 0° to 90° to produce a spray envelop.

4. A method for cleaning a drilling fluid tank comprising:mounting a tank cleaning system for cleaning drilling fluid tanks comprising: a track and trolley assembly, wherein the track and trolley assembly comprises: a trolley and at least one track, wherein the track is mounted to the ceiling of the fluid tank, wherein the tracks are in a parallel plane with the ceiling of the fluid tank, wherein 29 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT the track is mounted within the fluid tank and wherein the trolley is configured for connection to and movement along the track; an arm assembly, wherein the arm assembly comprises: a first arm, a second arm, and a joint, wherein the first arm operatively connected to the trolley, wherein the first arm rotates at least 340° in a horizontal plane relative to the track, wherein the first arm is operatively connected to a first end of a joint, wherein the second arm is operatively connected to second end of a joint, wherein the second arm rotates at least 340° in a vertical plane relative to the track; a sprayer assembly, wherein the sprayer assembly comprises: one or more nozzles, one or more gears, one or more valves, a gearbox, an axle, and drive shaft, wherein the gearbox operatively connected to the housing, wherein rotations of the driveshaft are transferred through a ratio of gears to an axle offset from the drive shaft and positionally fixed to the gearbox; and a submersible pump, wherein the submersible pump is mounted to the second arm; and at least partially cleaning an inner surface of the tank.

5. The method of claim 4, wherein the cleaning compositions comprises lauryl sulfate, n-butyl hydroxy propionate, one or more solvents, and one or more additives.

6. The method of claim 4, wherein the cleaning compositions comprises about 0.5 cP toabout 100,000 cP.

7. A non-transitory computer readable medium comprising instructions which, whenimplemented by one or more computers, causes the one or more computers to: receive an input of data from a user; receive a signal from one or more sensors, wherein the one or more sensors are selected from pressure sensors, flow rate sensors, temperature sensor, positioning sensors, accelerometers, magnetometers, gyroscopes; receive a video signal from a camera; operating a fluid tank cleaning system, wherein the fluid tank cleaning system comprises: a track and trolley assembly, wherein the track and trolley assembly comprises: a trolley and at least one track, wherein the track is mounted to the ceiling of the fluid tank, wherein the tracks are in a parallel plane with the ceiling of the fluid tank, wherein the track is mounted within the fluid tank and wherein the trolley is configured for connection to and movement along the track; 30 4904-3794-0801 v.1PATENT Attorney Docket No.33494-1PCT an arm assembly, wherein the arm assembly comprises: a first arm, a second arm, and a joint, wherein the first arm operatively connected to the trolley, wherein the first arm rotates at least 340° in a horizontal plane relative to the track, wherein the first arm is operatively connected to a first end of a joint, wherein the second arm is operatively connected to second end of a joint, wherein the second arm rotates at least 340° in a vertical plane relative to the track; a sprayer assembly, wherein the sprayer assembly comprises: one or more nozzles, one or more gears, one or more valves, a gearbox, an axle, and drive shaft, wherein the gearbox operatively connected to the housing, wherein rotations of the driveshaft are transferred through a ratio of gears to an axle offset from the drive shaft and positionally fixed to the gearbox; and a submersible pump, wherein the submersible pump is mounted to the second arm; and at least partially cleaning an inner surface of the tank.

8. The non-transitory computer readable medium of claim 9, wherein the tank cleaningsystem further comprises a swivel frame mounted to the trolley and coupled to the first arm.

9. The non-transitory computer readable medium of claim 9, wherein tank cleaningsystem further comprising a central mandrel connected to two nozzles, wherein a rotational axis of the nozzles can be angled away from the central mandrel at an angle from 0° to 90° to produce a spray envelop.

10. The non-transitory computer readable medium of claim 9 further comprising sending avalue of a pressure of the internal space to a display unit.

11. An integrated system for cleaning drilling fluid tanks and fluid production storageoffloading fluid tanks comprising: a sprayer assembly, wherein the sprayer assembly comprises: one or more suspension frames, one or more housings, one or more spraying tubes, one or more spraying nozzles, one or more sensors, one or more cameras; and one or more cable reels, wherein the one or more cable reels comprises one or more wall brackets, one or more pivot pins, one or more reel frames, one or more spools, one or more spool drives, one or more line guides, and one or more cables. 31 4904-3794-0801 v.1

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