Abstract: A system for cleaning large storage tanks having a relatively small access opening is disclosed. An insertion chamber housing a dual tracked collapsible robotically operated vehicle is attached to a side entry port of the tank. The dual tracked vehicle is hydraulically powered up and enters the tank, whereupon it expands into its open operating condition. The dual tracked vehicle carries an articulatable nozzle for spraying cleaning fluid in all directions in two planes mutually perpendicular to each other inside the tank. It also carries a closed circuit television camera (CCTV) which is used by a remote operator to monitor its position and to control its movements.

Abstract: A system for cleaning storage tanks is disclosed having a remotely controlled collapsibile tracked robotic tank entry vehicle, a closed circuit television system for observation including controllable light sources and an articulatible nozzle, also remotely controllable. The nozzle is capable of rotation fully 360 degrees in each of two planes perpendicular to each other under hydraulic control fully independent of its source of cleaning fluid for delivery to the tank.