Buoyant Tether Retrieval for Autonomous Tank Inspection Platforms
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Solution Overview
Problem
Existing methods for inspecting tanks containing flammable or non-conductive hazardous substances are labor-intensive, pose safety risks due to the need for human intervention, and require extensive preparation and decommissioning, while also facing challenges with electrical charge accumulation and limited access within the tank.
Innovation Solution
A mobile platform configured with an enclosure, control unit, propulsion system, power supply, and retrieval system, including buoyant bodies and tethers, that can operate autonomously within the tank, neutralize electrical charges, and facilitate safe retrieval, allowing for tasks like thickness inspections without human presence and minimizing exposure to hazardous materials.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a remotely operated inspection device with umbilical is used, then human safety is improved by eliminating human entry, but operational complexity increases due to umbilical management and inert gas requirements
Solution Approach 1:
The patent extracts the umbilical and inert gas system from the inspection device, replacing them with autonomous operation capability. The mobile platform performs inspections without physical connection to external equipment, eliminating the complexity of umbilical management and gas supply systems while maintaining safety through remote operation.
Solution Approach 2:
The inspection device is equipped with onboard power supply and autonomous navigation capabilities, allowing it to operate independently without external support. The platform can navigate, inspect, and return to the entry point autonomously, eliminating the need for continuous external control and umbilical connections.
2Reliability
If the tank is emptied and purged for inspection, then safety is improved by reducing explosion risk, but productivity decreases due to extended decommissioning time
Solution Approach 1:
The patent changes the operational parameters by allowing inspection to proceed with the hazardous substance present in the tank, rather than requiring complete emptying and purging. The mobile platform's autonomous operation and remote monitoring capabilities enable safe inspection under these altered conditions, significantly reducing preparation time while maintaining safety through controlled operation.
3Ease of operation
If an opening is created for umbilical access, then operational capability is improved, but safety deteriorates by exposing the environment to hazardous materials
Solution Approach 1:
The patent removes the umbilical connection entirely, replacing it with autonomous operation. This eliminates the need for any opening or penetration in the tank structure, maintaining the integrity of the containment system and preventing exposure of the external environment to hazardous materials while still enabling full operational capability.
4Adaptability or versatility
If manual steering control is used, then operational flexibility is improved, but labor intensity increases
Solution Approach 1:
The mobile platform incorporates autonomous navigation capabilities with onboard sensors and control systems that enable self-steering and self-positioning. The platform can autonomously navigate to inspection points, follow pre-programmed paths, and return to the entry point without continuous manual control, significantly reducing labor intensity while maintaining operational flexibility through programmable adaptability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient and safe inspection of tank structures with reduced operational disruptions, eliminates the need for human entry, and effectively manages electrical charge accumulation, enhancing safety and operational efficiency in hazardous environments.
Implementation Method 1
releasing the at least one buoyant body and the at least one primary tether from the enclosure; positioning the released at least one buoyant body within the buoyant body retrieval zone
Data Source
AI summary
A method of retrieving a mobile platform from a tank having a hatch and at least partially filled with a non-conductive, energetic substance includes configuring the mobile platform to include at least a retrieval system disposed at least partially on an enclosure. The retrieval system includes at least: a primary tether connected to a buoyant body and to the enclosure, and a secondary tether connected to the buoyant body and to the enclosure. The method further includes: predetermining a buoyant body retrieval zone within the tank, and positioning a released buoyant body within the buoyant body retrieval zone by using the primary tether. The method also includes retrieving the primary tether by using the buoyant body; using the primary tether to release the secondary tether; and inserting a retrieval member through the hatch to retrieve the buoyant body, the primary tether, and/or the secondary tether.