Abstract: A cleaning apparatus includes a nozzle assembly and an arm supporting the nozzle assembly. In some embodiments, the arm includes a first rotatable arm member defining a first axis and a second rotatable arm member defining a second axis and connected to the first rotatable member. In certain examples, the first rotatable arm is rotatable about the first axis and the second rotatable arm is rotatable about the second axis.

Abstract: A cleaning apparatus includes a nozzle assembly and an arm supporting the nozzle assembly. In some embodiments, the arm includes a first rotatable arm member defining a first axis and a second rotatable arm member defining a second axis and connected to the first rotatable member. In certain examples, the first rotatable arm is rotatable about the first axis and the second rotatable arm is rotatable about the second axis.

Abstract: A cleaning system includes a cleaning apparatus that is positionable in a cleaning environment and a cleaning processing device. The cleaning apparatus includes a sensor and a cleaning device. The sensor is configured to measure a depth of a target material on a surface of the vessel, and the cleaning device is configured to generate a cleaning force. The cleaning processing device is configured to receive a plurality of depth measurements of the target material on the surface, determine a cleaning protocol for the cleaning device on the surface based on the plurality of depth measurements, and control the cleaning apparatus to cause the cleaning device to apply the cleaning force to the surface pursuant to the cleaning protocol.

Abstract: A cleaning system includes a cleaning apparatus that is positionable in a cleaning environment and a cleaning processing device. The cleaning apparatus includes a sensor and a cleaning device. The sensor is configured to measure a depth of a target material on a surface of the vessel, and the cleaning device is configured to generate a cleaning force. The cleaning processing device is configured to receive a plurality of depth measurements of the target material on the surface, determine a cleaning protocol for the cleaning device on the surface based on the plurality of depth measurements, and control the cleaning apparatus to cause the cleaning device to apply the cleaning force to the surface pursuant to the cleaning protocol.

Abstract: A cleaning system includes a cleaning apparatus that is positionable in a cleaning environment and a cleaning processing device. The cleaning apparatus includes a sensor and a cleaning device. The sensor is configured to measure a depth of a target material on a surface of the vessel, and the cleaning device is configured to generate a cleaning force. The cleaning processing device is configured to receive a plurality of depth measurements of the target material on the surface, determine a cleaning protocol for the cleaning device on the surface based on the plurality of depth measurements, and control the cleaning apparatus to cause the cleaning device to apply the cleaning force to the surface pursuant to the cleaning protocol.

Abstract: A cleaning apparatus includes a nozzle assembly and an arm supporting the nozzle assembly. In some embodiments, the arm includes a first rotatable arm member defining a first axis and a second rotatable arm member defining a second axis and connected to the first rotatable member. In certain examples, the first rotatable arm is rotatable about the first axis and the second rotatable arm is rotatable about the second axis.

Abstract: Embodiments of the present invention include systems, apparatuses, and methods for cleaning areas. A cleaning apparatus is provided having a programmable, portable, multi axis articulating arm (MAAA). The apparatus may include a base having at least one magnet configured to magnetically mount the apparatus within the areas to be cleaned. The MAAA may have a first end attached to the base and extending away from the base, and a second end attached to a nozzle. The MAAA may have a plurality of connected arm segments. The MAAA may include at least two rotatable joints allowing for manipulation of the nozzle and movement of the apparatus along multiple axes.

Abstract: Embodiments of the present invention include systems, apparatuses, and methods for cleaning interiors of containers. Cleaning systems are provided having a frame, a table attached to the frame, a gantry system secured above the table and attached to the frame; and a cleaning attachment secured to the gantry system and including a cleaning tool. The cleaning attachment may be positionable using the gantry system to fit in an opening of a container placed on the table. The cleaning tool may be remotely operable. The table may be adjustable. The cleaning tool may include a high pressure water line with a gamma jet disposed at one end.

Abstract: A remotely-operable cleaning device having a claw assembly that can manipulate tools and instruments within a vessel. The cleaning device has collapsible tracks allowing it to be placed into small openings and to be expanded once it is passed through the small openings. The claw assembly may include opposing fingerlike projections. The cleaning device may be configured to handle forces from high pressure water lines. The cleaning device may be configured to assembly and disassembly via locking pins. The cleaning device may be transported and/or lowered into a vessel via a lift box or crane of the present invention. The crane may be configured for assembly at a location of interest.

Abstract: The present invention includes apparatuses, systems, and methods for the safe and efficient removal of materials from tanks. An apparatus is provided that includes a chassis and a remotely controllable articulating vacuum assembly attached to the chassis. The vacuum assembly has at least two joints and is configured to remove material from an interior portion of the vessel.

Abstract: A solids removal system for use in removing sand and silt from well production fluids. The system has a manifold assembly provided with jetting nozzles, which is installed in a liquid- and solids-containing vessel, where solids have settled in the walls. The jetting nozzles deliver, in a pre-determined sequence, a solids-dislodging fluid, causing the solids to become suspended in the fluid. The dislodged solids and fluid are then extracted by pump from the vessel and directed to a solid-fluid separator. Solids-free fluid is returned for re-re-circulation through the vessel, while the solids are moved to a containment location.

Abstract: A solids removal system for use in removing sand and silt from well production fluids. The system has a manifold assembly provided with jetting nozzles, which is installed in a liquid and solids-containing vessel, where solids have settled in the walls. The jetting nozzles deliver, in a pre-determined sequence, a solids-dislodging fluid, causing the solids to become suspended in the fluid. The dislodged solids and fluid are then extracted by pump from the vessel and directed to a solid-fluid separator. Solids-free fluid is returned for re-re-circulation through the vessel, while the solids are moved to a containment location.

Abstract: A solids removal system for use in removing sand and silt from well production fluids. The system has a manifold assembly provided with jetting nozzles, which is installed in a liquid- and solids-containing vessel, where solids have settled in the walls. The jetting nozzles deliver, in a pre-determined sequence, a solids-dislodging fluid, causing the solids to become suspended in the fluid. The dislodged solids and fluid are then extracted by pump from the vessel and directed to a solid-fluid separator. Solids-free fluid is returned for re-re-circulation through the vessel, while the solids are moved to a containment location.

Abstract: A method for excavating solid materials within a pressurized storage tank by inserting a flexible lance under pressure within an outlet of the tank, the lance sealed off so that pressure is maintained in the tank, and flowing a pressurized fluid into the storage tank to excavate the solid material from the tank by allowing the material to be sucked out of the outlet port of the tank for collection. The method also includes flowing water under pressure adjacent the exit port for affecting a greater suction on the solids and providing a fluid medium for the solids to easily flow from the tank. The system which undertakes the method of the present invention may be utilized on a skid so as to make the system occupy less space when utilized on the rig floor.