DEVICE FOR IN-CONTAINER OPERATIONS

1 . A processing device for use within a storage container with an interior surface, the processing device comprising:

a chassis including one or more support assemblies; and

one or more motive assemblies supported by the chassis and configured to engage the interior surface for movement of the chassis relative to the interior surface;

the one or more support assemblies being configured to support one or more tools, the one or more tools being configured to execute one or more processes on the interior surface when the processing device is within the storage container.

2 . The processing device of claim 1 , wherein the chassis includes one or more leg assemblies configured to support the one or more motive assemblies in engagement with the interior surface.

3 . The processing device of claim 2 , with the storage container including a manhole, wherein the one or more leg assemblies are configured to be at least one of telescoping, collapsible, and foldable, to pass through the manhole.

4 . The processing device of claim 2 , wherein the one or more leg assemblies include one or more suspensions.

5 . The processing device of claim 2 , wherein the one or more support assemblies to support the one or more tools are distinct from the one or more leg assemblies.

6 . The processing device of claim 1 , wherein the one or more motive assemblies include one or more Mecanum wheels.

7 . The processing device of claim 1 , further comprising:

at least one input device; and

wherein, based upon input from the at least one input device, the processing device is configured to one or more of execute the one or more processes, move axially within the storage container, and move circumferentially within the storage container.

8 . The processing device of claim 1 , wherein the one or more tools includes at least one of: a grinder, a cleaning system, a carbide tool, a wide buffing head, welding equipment, and inspection equipment.

9 . The processing device of claim 8 , wherein the one or more tools includes a plurality of grinders, with at least two of the grinders being positioned at a predetermined distance from each other and configured to simultaneously execute grinding on different portions of the interior surface.

10 . The processing device of claim 1 , wherein the processing device is configured to be controlled by an operator disposed within the storage container.

11 . A processing device for use with a cylindrical storage tank with an interior surface, the processing device comprising:

a chassis that includes a plurality of leg assemblies and a support assembly, the support assembly being configured to support at least one tool for in-tank operation; and

a plurality of motive assemblies supported by the leg assemblies and configured for movement of the chassis relative to the interior surface;

the processing device being configured to be movably disposed within the cylindrical storage tank;

the leg assemblies being configured to extend and to retract, to selectively engage the motive assemblies with the interior surface; and

the motive assemblies, when engaging the interior surface, supporting the at least one tool, via the chassis, for executing one or more in-tank processes on the interior surface.

12 . The processing device of claim 11 , wherein at least one of the leg assemblies is a telescoping leg assembly with at least two telescoping legs; and

wherein at least one of the motive assemblies includes a first Mecanum wheel supported by a first one of the telescoping legs and a second Mecanum wheel supported by a second one of the telescoping legs.

13 . The processing device of claim 11 , for use with a grinder, the processing device further comprising:

an articulated support that is configured to secure and selectively position the grinder for a grinding operation on the interior surface.

14 . The processing device of claim 11 , for use with a first grinder and a second grinder, wherein the support assembly is configured to support the first and second grinders at a predetermined distance from each other to execute simultaneous grinding operations on separated portions of the interior surface.

15 . The processing device of claim 11 , wherein the support assembly is configured to selectively release the at least one tool to be replaced by at least one different tool.

16 . A method of using a processing device to perform a process in a cylindrical storage tank having an interior surface, the processing device including a chassis, a support assembly that supports a tool, and a plurality of leg assemblies that support one or more motive assemblies, the method comprising:

disposing the chassis within the cylindrical storage tank;

adjusting the plurality of leg assemblies to engage the one or more motive assemblies with the interior surface;

adjusting the support assembly to operatively engage the tool with the interior surface; and

moving the processing device within the cylindrical storage tank to move the tool relative to the interior surface.

17 . The method of claim 16 , wherein moving the processing device includes rotating the processing device to move the tool circumferentially about the interior surface.

18 . The method of claim 17 , wherein moving the processing device further includes axially translating the processing device to helically move the tool within the cylindrical storage tank.

19 . The method of claim 16 , wherein the tool is a grinder.

20 . The method of claim 16 , with the support assembly further supporting a second tool, the method further comprising:

adjusting the support assembly to operatively engage the second tool with the interior surface; and

moving the processing device within the cylindrical storage tank to move the second tool relative to the interior surface.