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LUNAR ROVER
Robotic Tank Cleaning Unit

Innovative solution for cleaning above ground storage tanks from oil products, sludge and sediments
LUNAR ROVER
Robotic Tank Cleaning Unit

Innovative solution for cleaning above ground storage tanks from oil products, sludge and sediments
Lunar Rover

The design of our robot was inspired by the first self-propelled space vehicle, the Lunokhod. Our unit is similar to the space unit in terms of dimensions, steering control (accomplished by stopping or reversing all wheels of a side), operation in exotic conditions, complete isolation, and control under a wide distance range. Like the Lunokhod, our robot has a frameless load-bearing structure and uses the chassis not to carry a cargo, but to move the working bodies on a responsible mission.
About the Robot
The Robotic Tank Cleaning Unit is a remotely controlled, explosion-protected, hydraulically driven, all-wheel drive chassis. The Robot equipped with the washout system (by the use of the hot pressure water) and collection system, consisting of the auger and internal buffer tank. The oil products, liquefied to condition of emulsion, and collected in buffer tank are sucked out by a sludge pump. Special equipment allows both horizontal and vertical surfaces up to 13 feet (4 m) to be quickly cleaned in a wide range of temperatures and viscosities of the products.

Remote control is possible via pneumatic signals, while remote monitoring is possible via explosion-proof CCTV.

The robot differs from its peers primarily in its capacity of up to 3,000 cubic feet (75 m3) of sludge per hour at a cleaning front of 4 feet (1.2 m) and a distance of up to 650 feet (200 m) from the Complex's base.
LUNAR ROVER Video
Bench testing
Demonstration
Gallery
Gallery
Photos
Parts
Operation
The Robotic Unit is delivered to the site in a disassembled state. The distance from the base of the Complex to the Storage Tanks is up to 650 feet (200 m):



  • control — via pneumatic tubes from the remote control;
  • the heated pressure water — through the high pressure hose from the pump module (located at the base);
  • vacuum — through a hard suction hose from the outside vacuum module (located at the base);
  • remote CCTV cameras on the Robot and on the wall or roof of the storage tank — by cable.

The Robot is remotely controlled from the base of the Complex.

  • The Pressure module is triggered, comprising a Water Heater and a Vacuum Module.
  • The auger and the wheels drive are connected and the water blasting jet nozzles are activated.
  • The flow of heated pressure water dilutes and liquefies the oil products to emulsion consistency, allowing them to be conveyed by a rotating auger to the vacuum pump inlet and further transported through the hose to the collection tank. The operator controls collection of the oil-emulsion with the help of control panel, observing the picture from the video cameras located on the Robot and on the wall of the storage tank.
Outline and assembly drawings
Operation, control and layout flowcharts
Benefits
Benefits
Explanation
Pressure water pump (for water blasting and for propulsion) at the base station
  • Same pressure pump for propulsion of the unit, water blasting and collection the sludge.
  • There is no need in hydraulic station and round-trip hydraulic hoses on top.
  • Possibility to operate from a safe area due to the longer operating distance on pressure water rather than on a more viscous oil.
Less water for the same cleaning capacity
  • Water pressure no less than 1,450 psi (100 bar);
  • Water temperature no less than 140 °F (60 °С).
Versatile platform for delivering high energy to hazardous atmosphere – large dimensions and weight:

  • auger width 3' 9" (1,150 mm);
  • track gauge 3' 5" (1,050 mm);
  • full weight 1,200 lb. (540 kg).
  • Large cleaning capacity – up to 3,000 cubic feet (75 m3/h).
  • High maneuverability – easy turns due to the significant width of the unit.
  • Capability to use up to 800 hp pressure pump (able to withstand reaction force of water jets).
  • The capability of towing a vacuum hose of a larger diameter and range.
  • Allows mechanized stripping (way faster than manual).
6 х 6 AWD
  • Greater efficiency and reliability than a tracked drive.
  • Easier to self-maintain by the operator.
Technical Data Sheet
Technical Data Sheet
Value
Parameter
Dimensions (L х W х H)
60" x 45" x 28" (each of 12 parts gets through 24" manway)
1,500 х 1,150 х 700 mm
Full weight
1,200 lb. (540 kg; every part can be moved manually by 2 men)
Body and rotor material
Stainless steel, brass
Propulsion type, wheels formula
Solid rubber wheels, 6 х 6
Travel speed
0,05..1,5 mph (0,1 ... 2 km/h)
Motion control type
Pneumatic
Cleaning medium / pressure and temp
Water / more than 1,450 psi (100 bar) / more than 140°F (60°С)
Collection of sludge / diluted oil
Up to 3,000 cubic feet (75 m3) of sludge per hour
CCTV
A wired explosion-proof wide-angle camera is placed directly on the robotic unit.
An additional explosion-proof camera with a zoom lens can be placed near the manhole or on the roof of the oil storage tank to allow zoom in.

The cameras produces the image on the surveillance monitor without delay. Cable length (on the coil) is 500 feet (150 m).
The image is transmitted via explosion-proof cable to a video recorder, to which a monitor is connected, divided into the required number of segments.
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