Robotic Systems And Methods For Tank Seal Inspection

A system comprising a robot configured to navigate a wall of and inspect a storage enclosure, the robot comprising:

• a drive assembly configured to propel the robot along a wall of the storage enclosure;
• a sensor package comprising at least one sensor;
• and
• a sensor carrier configured to position the sensor package beyond a drive assembly of the robot,
• wherein the robot is configured to physically manipulate a seal of the storage enclosure and operate the sensor package such that at least a portion of the robot extends into a gap between the seal and the wall, the sensor package captures data related to the seal, wherein a computing device is configured to determine a size of the gap using the captured data.

A method of inspecting a storage enclosure, comprising:

• navigating a robot along a wall of the storage enclosure using a drive assembly, the robot comprising a sensor carrier that positions a sensor package beyond a drive assembly of the robot;
• physically manipulating, by the robot, a seal of the storage enclosure;
• operating the sensor package, by the robot, while at least a portion of the robot extends into a gap between the seal and the wall;
• capturing, using at least one sensor of the sensor package, data related to the seal;
• and
• determining, using a computing device, a size of the gap based on the captured data.

A non-transitory computer-readable medium storing instructions that, when executed by one or more processors, cause a robotic inspection system to:

• navigate a robot along a wall of a storage enclosure using a drive assembly, the robot comprising a sensor carrier that positions a sensor package beyond a drive assembly of the robot;
• physically manipulate, by the robot, a seal of the storage enclosure;
• operate the sensor package, by the robot, while at least a portion of the robot extends into a gap between the seal and the wall;
• capture, using at least one sensor of the sensor package, data related to the seal;
• and
• determine a size of the gap based on the captured data.