The present invention relates to a vibrating apparatus for use with containers formed of geotextile material to dewater slurries and/or sludges within the container by allowing water to pass through the geotextile material while trapping fine particles on an inner surface of the geotextile material, and more particularly the present invention relates to an apparatus which applies an external vibration to the geotextile material to liberate the geotextile of the particles accumulated on the inner surface of the geotextile material.

BACKGROUND

Geotextile dewatering tubes or containers, also known as Geotubes®, are used to collect and dewater very fine silts and particles from slurry, often associated with recovering such slurry from an industrial process or from slurry recovered in a dredging operation when cleaning ponds such as tailing ponds, sewage lagoon or stormwater management facilities. A typical geotextile dewatering containers is a permeable system fabricated from an engineered textile specifically designed for containment and dewatering of high moisture content sludge and sediment by allowing water to permeate through the textile externally of the container while retaining the sludge and sediment within the container. When slurry is pumped to a geotube, it is typically treated with a coagulant or a flocculant prior being discharged into the geotube, which assists fines to settle in the geotube. Once the geotubes have a measure of material in them, a person operating a plate tamper must walk along the top of the geotube constantly as the tamping action liberates the silts from sticking to the geotube fabric whereby it clogs it and prevents dewatering.

When there has been inadequate cleaning/tamping of the geotube fabric and the fabric becomes clogged, the geotube can quickly become overpressured, and there is a risk of rupture. If personnel are on top of the geotube when a rupture occurs, there is risk of considerable injury or death. SUMMARY OF THE INVENTION

According to one aspect of the invention there is provided a vibrating apparatus for use with a geotextile dewatering container having an upper surface extending in a longitudinal direction between two opposing ends of the container, the apparatus comprising: a shuttle frame arranged to be supported on the upper surface of the container so as to be movable along the container in the longitudinal direction between the opposing ends of the container; a drive mechanism operatively connected to the shuttle frame so as to be arranged to controllably displace the shuttle frame across the upper surface of the container; a vibrator assembly supported on the shuttle frame including a vibrator plate arranged to abut the upper surface of the container and a vibrator motor arranged to drive vibrating motion of the vibrator plate; and a control assembly arranged to actuate the drive mechanism so as to displace the shuttle frame across the upper surface along a prescribed path dictated by the control assembly.

The control assembly include the use of a guide member spanning across a length of the container to dictate the prescribed path along which the shuttle frame is driven, or alternatively, a positioning system to collect position data may be used to guide the steering and propulsion of the shuttle frame along the prescribed path across the container.

More particularly, according to one exemplary embodiment there is provided a vibrating apparatus for use with a geotextile sludge dewatering container extending in a longitudinal direchon between two opposing ends of the container, the apparatus comprising a first frame and a second frame arranged to be supported at the opposing ends of the container; a guide member extending in the longitudinal direchon between the first frame and the second frame; a shuttle frame operatively connected to the guide member so as to be movable along the container in the longitudinal direchon between the opposing ends of the container along a path dictated by the guide member; a drive mechanism connected to the guide member so as to be arranged to displace the shuttle frame in the longitudinal direchon between the first frame and the second frame along said path dictated by the guide member; a vibrator assembly supported on the shuttle frame including a vibrator plate arranged to abut an exterior surface of the container and a vibrator motor arranged to drive vibrahng mohon of the vibrator plate; a mechanism to accelerate the shedding of liberated sludges from the surface of the container and sensors and camera units to automate operahon of the vibrator assemblies, automate valving and water treatment dosing, prevent overfilling, prevent stress on container seams, inspect ports and membranes.

According to an alternahve exemplary embodiment of the present invenhon, there is provided a vibrahng apparatus for use with a geotexhle sludge dewatering container, the apparatus comprising a vibrator assembly including a vibrator plate arranged to maneuver on the exterior surface of the container and a vibrator motor arranged to drive vibrahng mohon of the vibrator plate; a self-propelled undercarriage complete with wheels or track drive system (similar to a skid steer frame) which supports the operating vibrator assembly; a positioning system which controls the positioning, speed and operation of the self- propelled undercarriage to maneuver the vibrator assembly so as to be movable along the container in the longitudinal direction between the opposing ends of the container along a path dictated by the positioning system; a vibrator assembly supported on the shuttle frame including a vibrator plate arranged to abut an exterior surface of the container and a vibrator motor arranged to drive vibrating motion of the vibrator plate; a mechanism to accelerate the shedding of liberated sludges from the surface of the container; and sensors and camera units to automate operation of the vibrator assemblies, automate valving and water treatment dosing, prevent overfilling, prevent stress on container seams, inspect ports and membranes.

This patent application describes a system and method to operate an autonomous tamping/monitoring system. Operation of the system includes the following steps.

Slurry is pumped from an industrial process or a dredge, and typically treated with flocculant to accelerate the settling of fines. The treated slurry proceeds along the fill pipe to one of various fill ports.

Pressure indicators can be set up on the manifold, fill pipes, or fill ports to the geotube to indicate building pressure, which would signal the autonomous tamper to start operation, or to signal the operator to engage the autonomous tamper to start operation. The system may also have a valve on the manifold or the fill pipe or fill ports which would be tied to the pressure gauge in order to automatically close the valve to prevent the geotube from becoming over-pressurized.

Other sensors and camera units can be used to analyze the tailings and optimize water treatment dosing to, together with similar analysis of the recycled water to adjust dosing accordingly.

Sensors such as lasers can also be used to control manifold valving controlling flow to the container ports to prevent overfilling the containers beyond specified operating heights. Sensors such as ground penetrating radar may also be used to determine density of the settled sludge to determine which ports should be in operation, or when the container is operating at maximum fill conditions.

Sensors or cameras may be used to ensure operation of the vibrating mechanism to prevent stress on container seams, or to be used with positioning systems to automate the drive mechanism.

An autonomous tamper system is set up using an automatically operated winch on a cable. The winch cable which extends lengthwise is connected on each end to other lateral control cables on each end, which allows the tamper system to shuttle along the entire width of the geotube. The cables on each end of the winch cable may have physical stoppers mounted on the cables to ensure that the operator does not position the tamper too close to the edge of the geotube whereupon the tamper could fall off the side of the geotube.

The lateral control cables may also have physical stoppers mounted to ensure that the tamper does not get positioned too close to the edge of the circumference of the geotube whereupon it may fall off the geotube edge.

When the operator wants to cross the tamper to the other side of the fill tube, the operator will shuttle the tamper to the end opposite the slurry manifold, and shall reposition that side of the winch cable first, and then reposition the cable on the end nearest the slurry manifold on the corresponding side of the slurry fill pipe.

The tamper is attached to the winch cable and may be configured in a number of ways.

The apparatus preferably has a camera affixed to it, together with isolation mats or other vibration-eliminating mechanisms. The camera is used so the operator can monitor each of the tamper units and the geotubes, ensuring: (i) there are no signs of fatigue of the fabric; or (ii) the water dewatering from the geotubes has adequate clarity reflecting appropriate dosing of flocculants and adequate tamping. This is particularly important because the geotubes should only be subjected to the minimum tamping required to produce clear water, so visual attention is necessary.

An electric winch with either a fixed or variable speed control, is attached to the tamper, complete with a physical stopper at the point on the cable in which the tamper should not pass in order to avoid the tamper from proceeding off the end of the geotube.

In alternate aspects of the invention, the vibrator assembly may instead be driven by a self-propelled undercarriage complete with complete with wheels or track drive system (similar to a skid steer frame) which operation, speed and positioning is controlled by a positioning system, such as any combination of positioning devices such as radio control, GPS or lidar. A sensor, such as a limit switch, may be attached to the tamper in order to shut the tamper off as it reaches the physical stopper on the winch cable in order to prevent premature wear on the geotube.

Many tampers are readily available on the market, and may be used if affixed to the winch line with existing equipment or by building a custom attachment.

Alternatively, a custom-made tamper unit could be built and affixed to the winch line or the self-propelled unit. The vibrator assembly may include a plurality of vibrating tamper units.

The power plant may be either electric or fuel-powered. If a fuel powered generator is used, a preferred model would be an inverter generator due to the lower noise levels generated by an inverter generator.

The power plant operates one or more vibrators and the automatic winch.

An isolation mat or other suspension mechanism is used to remove the vibration from the power plant in order to avoid premature failure of the power plant.

The plate tamper should be configured with a plate in which all four edges are curved upwards so that as the tamper is moving across the geotube, it moves seamlessly on the fabric without applying undue pressure or dragging or rippling the fabric of the geotube. The plate tamper may be used where more than one plate tamper is affixed to the same autonomous tamper sled, regardless if driven by winch or self-propelled driving mechanism. More particularly, one or more vibrating motors may be used to drive one or more vibrating mechanisms that are operatively connected to the vibrator plate to drive vibration of the plate as it moves across the geotextile material. Two or more vibrators are desirable when the vibrator plate is large.

A sensor may be attached to the tamper in order to signal if the tamper fails to continue to operate, thus shutting off the winch mechanism until such time as the operator can repair or replace the tamper.

A sensor, such as a tilt sensor, may also be stationed on the tamper unit to shut the tamper unit down together with shutting down the winch at any time in which the sensor senses that the tamper is tilted, signalling that it is too close to the edges of the geotube.

SUMMARY OF DEPENDENT CLAIMS TO BE INSERTED

The apparatus preferably includes a vibration sensor arranged to determine if the vibrator assembly is in an inactive condition or an active condition in which the control assembly is arranged to deactivate the drive mechanism in response to the vibration sensor detecting the vibrator assembly being in the inactive condition.

When a tilt sensor is arranged to determine if the shuttle frame has been tilted away from a horizontal orientation of the vibrator plate by a tilt angle which exceeds a prescribed tilt limit, the control assembly is preferably arranged to deactivate at least one or both of the drive mechanism and the vibrator motor in response to determination by the tilt sensor that the hit angle exceeds the prescribed hit limit.

The apparatus may include a pressure sensor arranged to sense an internal pressure within the container, in which the control assembly is arranged to achvate the vibrator motor and the drive mechanism in response to detechon by the pressure sensor of a pressure within the container which exceeds an upper pressure limit stored on the control assembly.

The apparatus may include a subsurface radar sensor arranged to detect radar signals reflected from subsurface material of the container, in which the control assembly being arranged to activate the vibrator motor and the drive mechanism in response to detection by the subsurface radar sensor of a density within the container which exceeds a density limit stored on the control assembly.

When the vibrator motor is an electric motor receiving electrical power from an electrical generator supported on the shuttle frame, the generator and the vibrator plate are preferably isolated from one another by at least one vibration isolator operatively connected therebetween. The generator may be driven by a fuel combustion motor also supported on the shuttle frame, in which the combustion motor and the vibrator plate are isolated from one another by at least one vibration isolator operatively connected therebetween.

The vibrator plate preferably includes flat bottom surface and a perimeter edge extending upwardly from the bottom surface at an outward slope about a full perimeter of the vibrator plate. The perimeter edge may be curved upwardly and outwardly from the flat bottom surface about the full perimeter of the vibrator plate.

When a pressure sensor is arranged to sense an internal pressure within the container, the control assembly may be arranged to generate an alert in response to detection by the pressure sensor of a pressure within the container which exceeds an upper pressure limit stored on the control assembly.

When a subsurface radar sensor is arranged to detect radar signals reflected from subsurface material of the container, the control assembly may be arranged to generate an alert in response to detection by the subsurface radar sensor of a density within the container which exceeds a density limit stored on the control assembly.

When used with a supply pipe feeding wet material into the geotextile dewatering container and a shut-off valve in series with the supply pipe, the apparatus may further include one or more condition sensors to sense an operating condition of the apparatus, in which the control assembly is arranged to actuate the shut-off valve if the sensed operating condition meets an operating criterium stored on the control assembly.

The one or more condition sensors may include a pressure sensor arranged to sense an internal pressure within the container in which the operating criterium is a pressure limit, whereby the control assembly is arranged to close the shut-off valve in response to detection by the pressure sensor of a pressure within the container which exceeds the pressure limit stored on the control assembly.

The one or more condition sensors may include a subsurface radar sensor arranged to detect radar signals reflected from subsurface material of the container in which the operating criterium is a density limit, whereby the control assembly is arranged to close the shut-off valve in response to detection by the radar sensor of a density within the container which exceeds the density limit stored on the control assembly.

The one or more condition sensors may include a height sensor arranged to measure an operating height of the container in which the operating criterium is a height limit, whereby the control assembly is arranged to close the shut-off valve in response to detection by the height sensor of a height of the container which exceeds the height limit stored on the control assembly.

Preferably a camera is supported on the shuttle frame which is arranged to capture video images of the container upon which the vibrator plate is engaged. The camera is preferably supported on the shuttle frame such that the camera and the vibrator plate are isolated from one another by at least one vibration isolator operatively connected therebetween. A remote monitoring station may be provided to receive captured video images from the camera and display the captured video images to an operator at the remote monitoring station.

When a remote monitoring station receives the captured video images from the camera, the control assembly may compare the capture video images to image criteria stored on the control assembly and determine an alert condition if the image criteria has been met. The captures images may relate to images of the container in which the image criteria comprise image features representative of damage to the container. The control assembly may be arranged to (i) close a shut-off valve in series with a supply pipe that feeds wet material into the container in response to determination of the alert condition, and/or (ii) alter an activation state of the vibrator assembly and the drive mechanism in response to determination of the alert condition.

When a condition sensor is arranged to sense a condition of wet material within a supply pipe feeding the wet material into the container and a treatment chemical dispenser is arranged to dispense a treatment chemical into the wet material entering the container, the control assembly may also be arranged to actuate the dispenser according to the condition sensed by the condition sensor.

When a condition sensor is arranged to sense a condition of water exiting the container and a treatment chemical dispenser arranged to dispense a treatment chemical into wet material entering the container, the control assembly may also be arranged to actuate the dispenser according to the condition sensed by the condition sensor.

When the vibrator assembly is arranged to liberate sludge material from an inner surface of a boundary layer of the container, the apparatus may further comprise a shedding device supported on the shuttle frame so as to be arranged to apply an external force to the upper surface of the container to displace liberated sludge material away from the boundary layer. The shedding device may comprise one or more nozzles arranged to apply a jet of fluid to the upper surface of the container to define said external force applied to the upper surface of the container. Alternatively, the shedding device may comprise an elongate flexible member arranged to extend outwardly from the shuttle frame along an upper surface of the container, and an actuator for driving movement of the flexible member relative to the shuttle frame so as to apply said external force to the upper surface of the container. The drive mechanism may comprises (i) one or more drive motors supported on the shuttle frame, (ii) a plurality of rotating members supported on the shuttle frame so as to engage the container in which the plurality of rotating members are driven to rotate by the one or more drive motors to propel movement of the shuttle frame across the container, and (iii) a positioning system arranged to identify position information relating to a position of the shuttle frame relative to the container, the control assembly being arranged to actuate the drive mechanism in response to the position information identified by the positioning system to displace the shuttle frame autonomously across the upper surface of the container.

The positioning system may include a GPS sensor arranged to sense a GPS location of the shuttle frame.

The apparatus may include boundary data stored on the control assembly arranged to identify a location of a boundary of the container in which the control assembly is arranged to operate the drive mechanism so as to maintain the GPS location of the shuttle frame within the defined boundary of the container.

The positioning system may include a scanning sensor arranged to capture image data in which the control assembly is arranged to compare the image data to image criteria so as to identify features on the container.

The positioning system may include boundary sensors arranged to identify a boundary of the container, in which the control assembly is arranged to operate the drive mechanism so as to maintain the shuttle frame within the boundary identified by the boundary sensors.

In one illustrated embodiment, the control assembly includes: (i) a first frame and a second frame arranged to be supported at the opposing ends of the container; and (ii) a guide member extending in the longitudinal direction between the first frame and the second frame so as to define the prescribed path that the shuttle frame is displaced along across the container.

The guide member preferably comprises a flexible member supported under tension between the first frame and the second frame. The apparatus may further include a first stop member and a second stop member operatively connected to the guide member in proximity to the first frame and the second frame respectively, in which the first stop member and the second stop member each prevent displacement of the shuttle frame in the longitudinal direction beyond the stop member.

The drive mechanism may include a drive motor arranged to drive displacement of the shuttle frame along said path dictated by the guide member.

When a first limit switch and a second limit switch are operatively connected to the guide member in proximity to the first frame and the second frame respectively, the first limit switch and the second limit switch may be arranged to deactivate the drive mechanism in response to engagement by the shuttle frame.

Each of the first frame and the second frame may comprise a cross member extending in a lateral direction oriented transversely to the longitudinal direchon, in which the cross members support respective ends of the guide member thereon such that the ends of the guide member are adjustable along the cross members in the lateral direchon. Preferably the cross member comprises a flexible member supported under tension in the lateral direchon.

The drive mechanism may include a longitudinal drive motor arranged to drive displacement of the shuttle frame in the longitudinal direchon along said path dictated by the guide member and two lateral drive motors driving movement of the ends of the guide member along the cross members in the lateral direchon respechvely.

The control assembly is preferably operahvely connected to the longitudinal drive motor and both lateral drive motors so as to be arranged to displace the shuttle frame along sequenhal longitudinally extending rows across the container.

Each cross member may include a first stop member and a second stop member supported thereon, in which the first stop member and the second stop member each prevent displacement of the end of the guide member in the lateral direchon beyond the stop member.

The guide member may be fixed relahve to the first and second frames such that the shuttle frame is movable relahve to the guide member in the longitudinal direchon. In this instance, the drive mechanism includes a drive motor supported on the shuttle frame so as to be arranged to drive displacement of the shuttle frame along the guide member.

Alternahvely, the shuttle frame may be fixed onto the guide member such that the guide member and the shuttle frame are movable together in the longitudinal direchon relahve to the first frame and the second frame. In this instance, the drive mechanism may include a drive motor supported on one or both of the first frame and the second frame to drive displacement of the shuttle frame with the guide member along said path dictated by the guide member.

Alternahvely, the drive mechanism comprises a manually operable winch drum and a winch cable operahvely connected to the shuttle frame so as to be arranged to drive displacement of the shuttle frame along said path dictated by the guide member.

BRIEF DESCRIPTION OF THE DRAWINGS

One embodiment of the invenhon will now be described in conjunchon with the accompanying drawings in which:

Figure 1 is a top plan schemahc representahon of a set of geotexhle containers arranged in a dewatering configuration with the vibrahng apparatus according to a first embodiment of the present invenhon operahvely connected thereto; Figure 2 is a side elevational schematic representation of the vibrating apparatus supported relative to one of the geotextile containers according to the first embodiment of Figure 1;

Figure 3 is a side elevational schematic representation of the primary shuttle of the vibrating apparatus according to the first embodiment of Figure 1 ;

Figure 4 is a top plan schematic representation of one of the secondary shuttles of the vibrating apparatus according to the first embodiment of Figure 1 ;

Figure 5 is a top plan schematic representation of the vibrating apparatus supported relative to the geotextile container according to figure 2;

Figure 6 is a schematic representation of the operative communication between various electrical components of the vibrating apparatus according to the first embodiment of Figure 1;

Figure 7 is a perspective view of the vibrating apparatus according to a second embodiment of the present invention, shown supported on a geotextile dewatering container; and

Figure 8 is a schematic representation of various operating components of the vibrating apparatus according to the second embodiment of Figure 7.

In the drawings like characters of reference indicate corresponding parts in the different figures.

DETAILED DESCRIPTION

Referring to the accompanying figures, there is illustrated a geotextile container vibrating apparatus generally indicated by reference numeral 10. The vibrating apparatus 10 is particularly suited for use with a flexible dewatering container 12 formed of a permeable geotextile material that receives a slurry or sludge therein for containing the solid particles within the container while permitting water content to permeate externally through the geotextile material. The vibrating apparatus 10 mechanically applies a vibration to an external surface of the geotextile material to free solid particles which may form a cake lining an inner surface of the geotextile material over time.

The container 12 generally comprises a flexible envelope comprising a top sheet 14 and a bottom sheet 16 joined about their perimeter edges to form a tubular structure which is elongate in a longitudinal direction between two opposing ends 18 of the container. The top and bottom sheets are also joined to one another across the ends to form a flat seam extending in a lateral direction across each end 18 of the container, wherein the lateral direction is oriented perpendicularly to the longitudinal direction of the container.

The flexible top and bottom sheets of the container comprise a dewatering textile which is permeable to water to allow water to escape externally from the interior of the container to the exterior by permeating through the textile material. The woven textile has a sufficiently tight weave and a suitable thickness so that the textile is able to trap very fine solid particles in suspension in water as a slurry or sludge that has been pumped into the container for treatment. These solid particles tend to accumulate as a cake along the interior surfaces of the textile, which then requires periodic cleaning, for example by application of an external high-pressure spray of wash fluid and/or application of a mechanical vibration to the exterior surfaces of the textile to break the cake layer off of the interior surface of the textile.

In a typical dewatering configuration, a plurality of identical containers 12 are positioned adjacent to one another in a row extending in the lateral direction such that the containers all extend longitudinally between the opposing ends thereof in parallel with one another. A filling manifold 20 is used to supply slurry or sludge to be treated into the interior of the containers 12. The filling manifold 20 includes a main manifold pipe 22 extending in the lateral direction across the full row of containers. A primary tee connector 24 is connected in series with the manifold pipe 22 in alignment with each container for open connection of a respective branch line 26 from the main manifold pipe 22 to each container 12 respectively. When the container 12 includes a plurality of fill ports 28 communicating through the top sheet 14 of the container at longitudinally spaced positions relative to one another, a secondary tee connector 30 is connected in series with the branch line 26 for alignment with each respective fill port 28. The slurry of sludge material can thus be freely pumped from the main manifold pipe 22, through the branch lines 26 and into the open fill ports 28.

A shut off valve 32 is connected in series with each branch line 26 in proximity to the associated primary tee connector 24. The shut off valve 32 is operable between a closed position preventing discharge of materials from the main manifold pipe 22 into the container 12 through the respective branch line 26, and an open position allowing open discharge of material from the main manifold pipe 22 into the respective container.

Pressure is monitored within each of the containers 12 and the monitored pressures are communicated to a main control station 34 for monitoring by an operator of the main control station. Pressure can be sensed by placement of various pressure condition sensors 36 at one or more locations relative to the containers 12. A pressure sensor 36 in communication with the main manifold pipe 22 can be used to sense internal pressure within the main manifold pipe which in turn provides an indication of pressure within a downstream container 12 that is an open communication with the main manifold pipe. Pressure sensors 36 may also be provided within each of the branch lines 26 of the manifold for monitoring pressures associated with specific containers relative to one another. Pressure sensors may be further associated with each container by being specifically located at the locations of the fill ports 28 to more accurately measure internal pressure within the associated container. Monitoring of the pressures can be used as an indicator as to the degree that the textile material of the dewatering container 12 has been lined with a filter cake that requires clearing. Application of an external vibration by the vibrating apparatus 10 is used to clear the material lining the textile. Various additional condition sensors 33 may also be associated with each container that provide further information with regard to the condition of the container. An overall control assembly may be arranged to actuate the shut-off valve 32 associated with one container and/or open the shut-off valve 32 associated with another container if the sensed operating condition of each container meets respective operating criterium stored on the control assembly. Alternatively, the control assembly may be arranged to generate an alert if the sensed operating condition of each container meets respective operating criterium stored on the control assembly. In a further instance, the sensed condition may be compared to activation or deactivation criteria so that operation of vibration and drive mechanisms of a shuttle of the system to perform a vibration procedure to loosen caked materials from the inner surfaces of the container as described below may be activated or deactivated according to the criteria being met.

In one example, the additional condition sensors 33 include a subsurface radar sensor may direct primary signals into the container while detecting reflected radar signals that are reflected from subsurface material of the container so as to provide a measure of density to the main controller that is indicative of the mass of sludge lining the inner surface of the boundary material of the container. The control assembly thus determines an actionable condition in response to detection by the subsurface radar sensor of a density within the container which exceeds a density limit stored on the control assembly.

In another example, the additional condition sensors 33 include water quality sensors that sample and measure density and/or clarity of wet material entering the containers through the inlet branch lines 26 to each container, and or the liquid exiting through the boundary material of the container. The measured quality of the sample fluids is then compared by the control assembly to various quality criteria stored on the control assembly to determine one or more actionable conditions as noted above. In one instance, a treatment chemical dispenser 35 is arranged to dispense a treatment chemical, for example a flocculant, into the wet material entering the container. The rate of dispensing can be controlled by the control assembly in response to the measured quality or other conditions that meet certain criteria stored on the control assembly. In this manner, water going to the tubes will be automatically sampled and the flocculant dosed accordingly. Water discharging from the tubes can be similarly automatically tested. The test will be the same, but if it is too clean or too dirty, it would affect the dosing choices similarly.

In another example, the one or more condition sensors include a height sensor arranged to measure an operating height of the container. In this instance, the operating criterium stored on the control assembly is a height limit, whereby the control assembly is arranged to determine an actionable condition in response to detection by the height sensor of a height of the container which exceeds the height limit stored on the control assembly. The preferred actionable condition in this instance would be to close the shut-off valve. The height sensor may involve a laser projected horizontally across the container to a receiver at the desired maximum height so that the control assembly can determine if the height limit has been exceeded if the laser beam is broken by the container expanding above the height limit.

The condition sensors 33 may also include a plurality of cameras or other imaging tools that capture image data relating to various connecting ports, seams of the material forming the container, or the general condition of the boundary material of the container. The control assembly captures the image data and compares the image data to various criteria indicative of damage or a potential failure to determine if an actionable condition should be determined and acted upon.

The controller of the main control station can also monitor the pressure and determine if one or more monitored pressures exceeds a respective upper pressure limit stored on the controller as a means of determining an actionable condition must be acted upon, for example generating an alert, operating the shut-off valves 32, or activating/deactivating a vibration procedure to loosen caked materials on the inner surfaces of the container. For example, when a pressure is detected which exceeds the respective upper pressure limit, the controller can take action by sending an alert to an operator, activating an indicator associated with the main control station for viewing by an operator, actuating closing of a respective shut off valve 32 associated with the same container from which the problematic monitored pressure originated from, and/or automatically activating application of the external vibration to the textile by the vibrating apparatus 10 as described in further detail below.

A vibrating apparatus 10 is typically associated with each container 12. The apparatus 10 associated with each container includes a primary shuttle 40 having a respective vibrator plate 42 spanning the bottom side thereof which is supported by the apparatus to move across the exterior surface of the top sheet 14 of the container. According to a first embodiment shown in Figures 1 through 6, a control assembly is provided such that the primary shuttle is supported to move in longitudinally extending rows to be displaced along a prescribed path longitudinally from one end of the container to the other followed by movement in the lateral direchon to the next adjacent longitudinally extending row across the upper surface of the container. The primary shuttle 40 is continued to be displaced along a respective longitudinally extending row in a sequence of adjacent rows until the entire upper surface area of the container has been engaged by the primary shuttle 40 to complete a textile clearing operation. The pattern of displacement is schematically represented in figure 5.

According to the first embodiment, the control assembly includes the main control station 34, a suitable drive mechanism actuated by the control assembly, and a guiding system for displacing the shuttle frame across the upper surface of each container along a prescribed path dictated by the guiding system. The guiding system according to the first embodiment is supported on a first end frame 44 engaged upon the ground at a first end of the container and a second end frame 46 engaged upon the ground at a second end of the container such that the container extends longitudinally between the first and second end frames. Each of the end frames comprises a rigid upright structure which is suitably anchored relative to a ground surface or foundation that supports the containers 12 thereon.

Each of the first and second end frames 44 and 46 includes a pair of upright members 48 at laterally opposing sides of the container, corresponding to laterally opposing ends of the end frame. The upright members 48 extend upwardly from a base structure to a top end which is higher in elevation than the container 12 when the container is full. A cross member 50 is supported on each end frame to extend in the lateral direction of the container between the two upright members 48 of the respective end frame 44 or 46. The cross member 50 is an elongate flexible cable supported under tension between the upright members 48 of the respective end frame. The cross member 50 spans substantially the full width of the container in the lateral direction. The cross members 50 at the opposing ends of the container 12 are supported at a common elevation with one another which is at or spaced above the top of the container 12 when the container is full.

A secondary shuttle 52 is supported on each of the first and second end frames so as to be slidable in the lateral direction along the respective cross member 50. Accordingly, in further embodiments the cross member 50 may be any suitable form of laterally extending structure including a rigid rail or track structure that is capable of supporting the secondary shuttle 52 thereon for lateral sliding movement.

A first lateral stop 54 and a second lateral stop 56 are fixed onto the cross member adjacent the opposing ends thereof so that the lateral stops define laterally opposing ends of a range of travel of the secondary shuttle 52 along the cross member by preventing displacement of the cross member beyond either of the lateral stops in the lateral direction. The lateral stops are spaced apart from one another to define the overall range of lateral movement permitted of the primary shuttle relative to the container by locating the lateral stops in proximity to respective ones of the upright members 48 situated at laterally opposing sides of the container while remaining spaced slightly inwardly from the lateral boundaries of the container to prevent the primary shuttle from being positioned too close to the edge of the container so as to risk the shuttle falling off of the container.

The secondary shuttles 52, that are movable along the two cross members 50 of each apparatus, support opposing ends of a longitudinal guide member 58 thereon. The guide member 58 is an elongate flexible member supported under tension between the secondary shuttles 52 located at longitudinally opposed ends of the container. The guide member is operatively connected to the primary shuttle 40 such that the primary shuttle is displaced in the longitudinal direction between opposing ends of the container by following a prescribed path dictated by the guide member. In a preferred embodiment, the secondary shuttle 52 on the first end frame 44 supports a first lateral drive motor 60 thereon, whereas the secondary shuttle 52 on the second end frame 46 supports a second lateral drive motor 62 thereon. Each lateral drive motor is arranged to drive lateral movement of the respective secondary shuttle along the cross member. When the cross member comprises an elongate cable, the lateral drive motor is preferably an electrical motor that drives rotation of a winch drum 64 about which a portion of the cross member cable is wound such that rotation of the winch drum displaces the position of the winch drum along the cross member which in turn positions the attached secondary shuttle in the lateral direction along the cross member.

Each secondary shuttle 52 further includes a pair of cable guides at laterally opposing ends of the secondary shuttle frame to support the shuttle frame for sliding movement along the cross member. Each cable guide may comprise a suitable bushing or rollers movable along the cable cross member while supporting the weight of the secondary shuttle frame on the cable. The cable guides 60 engage the first and second lateral stops 54 and 56 to prevent displacement of the secondary shuttle frame in the lateral direchon beyond the stops.

A pair of lateral limit switches 68 are further supported on each secondary shuttle by supporting the switches 68 adjacent the cable guides 66 at laterally opposing ends of the secondary shuttle frame respectively. In this manner the limit switches are arranged to be engaged when the secondary shuttle frame engages the respective stop. Engagement of either limit switch functions to deactivate the respective lateral drive motor to prevent movement of the primary shuttle in the lateral direchon beyond the lateral boundary of the container.

Each secondary shuttle may further include a secondary controller 70 supported thereon in communication with the limit switches and the lateral drive motor to receive inputs from the switches and to control achvahon of the drive motor. The secondary controller 70 may include a processor and a memory storing programming instructions executable by the processor to perform the required funchons of the secondary shuttle. The controller may also include a suitable transceiver for communication with the controller of the primary shuttle and/or a main controller of the main control stahon 34.

The primary shuttle 40 includes a shuttle frame extending longitudinally between primary cable guides 72 at opposing ends of the frame. Each cable guide may comprise a bushing receiving the cable of the guide member 58 therethrough or a suitable roller assembly capable of supporting the primary shuttle for sliding or rolling movement along the guide member such that the primary shuttle follows the prescribed path dictated by the guide member.

A longitudinal drive motor 74 is supported on the shuttle frame of the primary shuttle 40 to drive longitudinal displacement of the primary shuttle relative to the guide member and relative to the container 12. In the illustrated embodiment, the drive motor 74 drives rotation of a winch drum 76 in which the cable of the guide member 58 is wound about the drum in a manner that results in rotation of the drum causing the drum to be linearly displaced along the path of the guide member. The drive motor and the winch drum associated therewith are rotatably supported on the shuttle frame of the primary shuttle 40.

The guide member 58 includes a pair of longitudinal stops 78 fixed onto the guide member at longitudinally opposed ends adjacent the end frames respectively. More particularly the longitudinal stops 78 are spaced longitudinally inward from the ends of the container so as to be spaced longitudinally inward from respective cross members 50 of the end frames. The longitudinal stops 78 prevent movement of the primary shuttle 40 in the longitudinal direction beyond the stops so as to define the overall longitudinal range of movement of the primary shuttle relative to the container. The longitudinal stops on the guide member together with the lateral stops on each cross member collectively define a bounded rectangular area spanning a majority of the top side of the container where the primary shuttle can be displaced in engagement with the top sheet of the container. The bounded area defined by the stops is spaced inwardly from both ends in the longitudinal direction and from both sides in the lateral direchon of the container to ensure that the primary shuttle cannot be positioned too closely to a corresponding edge of the container that risks the shuttle frame being unsupported by the container so as to potentially fall off of the container.

The shuttle frame of the primary shuttle 40 further includes the vibrator plate 42 fully spanning the bottom side of the shuttle frame. The vibrator plate includes a main portion 80 which is flat and rectangular in shape for forming the primary engagement with the textile material of the container. A perimeter edge portion 82 of the vibrator plate is gradually curved and sloped outwardly and upwardly from the main portion 80 about the full perimeter edge of the vibrator plate. In this manner the vibrator plate is suitable for riding smoothly over the textile material of the container in all direchons of movement of the primary shuttle frame relative to the container.

At least one vibrator motor 84 is operatively connected to the vibrator plate 42 to drive one or more vibrating mechanisms, for example an eccentric weight mounted on a rotating shaft coupled to the vibrator plate, to produce a vibration of the plate relative to the shuttle frame. The vibrator plate is connected to the shuttle frame thereabove using a plurality of vibration isolating mounts 86 connected between the vibrator plate and the shuttle frame so as to isolate transmission of some vibrations from the vibrator plate to the shuttle frame and the components supported on the shuttle frame.

The vibrator motor 84 may comprise an electric motor similarly to the longitudinal drive motor 74. Electrical power may be provided to the motors on the primary shuttle 40 by an electrical generator 88 supported on the shuttle frame and which is driven by a fuel combusting engine 90 also supported on the shuttle frame. Alternatively, electrical power may be provided to the motors on the primary shuttle through transmission cables suspended between the first and second end frames.

A primary controller 92 of the primary shuttle comprises a processing unit and a memory storing programming instructions thereon executable by the processor to perform the various functions described herein. The controller further includes a transceiver component to enable communication of signals and instructions between the primary controller 92, the secondary controllers of the secondary shuttles, and the main control station 34.

The primary shuttle 40 supports one or more cameras 94 thereon which are capable of capturing video images. In a preferred embodiment, cameras are provided at longitudinally opposed ends of the shuttle frame in which the cameras are supported on the shuttle frame adjacent the top end thereof so as to be spaced above the vibrator plate while being oriented downwardly and outwardly in the lateral direction to capture video images of the exterior surface of the textile material of the container in leading and trailing relationship relative to the movement of the primary shuttle in the longitudinal direction. The captured video images are received by the primary controller in communication with the cameras for transmitting the images to the main control station 34 for display on monitors to an operator of the main control station for example. The cameras may employ electronic image stabilisation algorithms in addition to relying on vibration isolation between the mounting location of the camera on the shuttle frame and the vibrator plate on the primary shuttle.

The primary shuttle 40 can also support various condition sensors that provide further information with regard to the condition of the container. In one example, a subsurface radar sensor 95 is supported on the shuttle 40 to direct primary signals downwardly into the container while detecting reflected radar signals that are reflected from subsurface material of the container so as to provide a measure of density to the main controller that is indicative of the mass of sludge lining the inner surface of the boundary material of the container.

The primary shuttle 40 also supports longitudinal limit switches 96 at longitudinally opposed ends of the shuttle frame in proximity to the cable guides 72 of the shuttle frame. The longitudinal limit switches 96 are arranged to be engaged when the switches engage the respective longitudinal stops 78 as the primary shuttle approaches that end of the container during movement in the longitudinal direction. Engagement of the longitudinal limit switch generates a signal for the primary controller 92 so that the primary controller shuts off or deactivates the longitudinal drive motor to prevent displacement of the primary shuttle in the longitudinal direction beyond the longitudinal stops 78.

A tilt sensor 98 is also supported on the shuttle frame of the primary shuttle 44 measuring an angular orientation of the vibrator plate relative to a horizontal plane. If the angular orientation deviates from horizontal by a measured tilt angle which exceeds a prescribed angle limit stored on the primary controller, the controller determines an alert condition to deactivate the motors of the primary shuttle and to communicate the alert to the main control station 34 for indicating the alert condition to the operator.

The tilt sensor 98, the cameras 94, the primary controller 92, the cable guides 72, the longitudinal drive motor 74, and the generator and engine if provided, are all supported on the shuttle frame so as to benefit from the isolation of vibrations from the vibrator motor and vibrating plate as a result of the vibration isolating mounts 86 between the vibrator plate and the shuttle frame.

A vibration sensor 100 is supported on the vibrator plate, or on the shuttle frame, in a manner which enables the sensor to detect vibration of the vibrator plate. In this manner the vibration sensor can determine if the vibration motor is active or inactive. To ensure that the primary shuttle 40 is only displaced laterally or longitudinally across the exterior surface of the container while the vibrator plate is vibrating, the primary controller 92 may be configured to deactivate the longitudinal drive motor, and/or initiate deactivation of the lateral drive motors by communication through the secondary controllers 70, if no vibration is detected and the vibration motor is determined to be inactive.

The main control station 34 includes a main controller having a processing unit and a memory storing programming instructions arranged to be executed by the processor for executing the various functions of the control station described herein. In particular the main control station includes a transceiver arranged for wireless communication with external devices such as the controller of the primary shuttle and the controllers of the secondary shuttles for receiving data and communicating instruction signals therebetween. The transceiver may also be arranged for communication with an external communications network for sending alerts to an operator, for example in the form of email communications, SMS communications, or other types of notifications. A display monitor 102 of the main control station in communication with the main controller allows video camera feeds to be displayed to an operator.

A single main control station 34 may be associated with a plurality of apparatuses 10 operatively connected to different containers 12 at a common site.

The main control station 34 communicates with the various pressure sensors to activate a vibration mode if a measured pressure exceeds a prescribed upper limit. The main control station 34 may also actuate closing of one of the shut off valves 32 associated with any container having a measured pressure associated therewith which exceeds the respective prescribed upper limit of that container.

Activation of the vibration mode controls the vibrator motor and the various drive motors to displace a vibrating vibrator plate of the primary shuttle 40 in the prescribed pattern shown in figure 5. This is accomplished by initially positioning the primary shuttle 40 at one end of the container. With the vibrator motor active, the longitudinal drive motor is activated to displace the primary shuttle longitudinally along the prescribed path of the guide member between opposing ends of the container. Once a longitudinal row has been completed, the longitudinal drive motor is deactivated and the lateral drive motors at opposing ends of the container are operated in unison to displace the guide member with the primary shuttle 40 carried thereon in the lateral direction to the next adjacent longitudinally extending row. The lateral drive motors are then deactivated and the longitudinal drive motor is reactivated to displace the primary shuttle longitudinally across the length of the container. The lateral drive motors are again used to displace the primary shuttle to the next adjacent longitudinally extending row so that the sequence can continue until the primary shuttle been displaced across the entire surface of the bounded area defined by the lateral and longitudinal stops.

The limit switches enable the controllers to determine when the primary shuttle has reached the end of a row. Displacement of the guide member with the primary shuttle supported thereon in the lateral direchon between adjacent rows can be accomplished by activating the motors for a prescribed duration corresponding to the width of one row in the lateral direchon.

During the vibrahon mode, video images captured by the cameras can provide a visual feed to an operator at the main control stahon of the condition of the exterior surface of the texhle before and after the primary shuttle has passed. Image analysis can be used to monitor the colour of the effluent permeahng through the texhle. A colour which is associated with a clearer effluent can be used as an indicator that sufficient caked solids have been freed from the inner surface of the texhle due to the applicahon of the external vibrahon by the vibrator plate. In the alternahve, a colour which is associated with dirtier effluent carrying more fine particles therewith permeahng through the texhle material may be used as an indicator that too many solids remain trapped on the inner surface of the texhle. Image analysis may also be used to monitor the condition of the texhle material by idenhfying rips or tears which can in turn generate alerts for the operator.

Presumably, upon complehon of the vibrahon mode in which the vibrator plate has been displaced across the enhre surface of the bounded area of movement across the top of the container, the measured pressure will be reduced below the upper pressure limit. If the measured pressure remains above the prescribed upper pressure limit, then the vibrahon mode may be repeated. Alternahvely, the shut off valve 32 associated with the container may be closed to prevent any hlling of further slurry or sludge material into the container unhl the container has been more closely inspected by an operator.

In the above example, the vibrahon mode including the operahon of the drive motors and the vibrator motor is substantially automated; however, in further instances, the actuahon of the motors to displace the vibrator plate longitudinally and/or laterally may be achvated manually by an operator. In yet further instances, some of the movements may be manually driven. For example, an operator may manually displace each secondary shuttle along the respechve cross member to move the guide member and the primary shuttle thereon to the next adjacent longitudinal row while the longitudinal drive motor is still relied upon to displace the primary shuttle longitudinally along the guide member.

In further embodiments, the guide member itself may be displaced longitudinally relative to the cross members at opposing ends of the container, for example by supporting the guide member in an endless loop or by supporting opposing ends of the guide member on respective winch drums so that the opposing winch drums can alternately wind the guide member cable thereon or deploy the guide member cable therefrom as the guide member is displaced longitudinally relative to the container. The primary shuttle 40 in this instance can be fixed onto the guide member for movement together with the guide member along the longitudinal path prescribed by the guide member. The longitudinal stops in this instance would remain fixed on the guide member but would be situated in close proximity to the primary shuttle at longitudinally opposed ends thereof such that the stop members engage the cross members at opposing ends of the container as the stop members are displaced with the primary shuttle and the guide member in the longitudinal direction between opposing ends of the container to determine the overall range of longitudinal movement permitted relative to the container.

The apparatus according to the first embodiment, and/or further embodiments, may further include a shedding mechanism attached to the vibrator assembly to accelerate shedding of liberated sludges or slimes from the surface of the container, such as a hose whip which may be dragged from the unit, or a water sprayer which is affixed to the vibrator assembly as described below.

As best shown in Figures 2 and 6, in one example of the shedding mechanism the shuttle frame 40 supports an elongate flexible member 97 thereon such that the flexible member extends outwardly from the shuttle frame longitudinally and/or laterally to he along an upper surface of the container. A shedding actuator 99 supported on the shuttle frame is operatively connected to the flexible member to drive movement of the flexible member relative to the shuttle frame so as to apply an external force to the upper surface of the container that assists in shedding liberated material from the exterior of the container. When presented in the form of a hose whip, the flexible member may be a hose and the actuator 99 may be a compressor that directs a flow of air into the hose that actuates movement of the hose along the surface of the container. Alternatively, the flexible member may include a vibrating head driven to vibrate by a drive motor that defines the actuator 99.

Turning now to Figures 7 and 8, according to a second embodiment, the same functionality and membrane management benefits may be completed without the use of winches, but by instead using an autonomously driven unit with a positioning system to navigate the vibrator assembly along a prescribed path across the container.

In this instance, a shuttle is again provided having a shuttle frame 40 supported for movement across the upper surface of the container upon which there is provided a primary controller 92 of the shuttle which communicates with the main control station 34 as described above to execute the various functions of the apparatus. The controller 92 also acts to actuate the drive mechanism and the vibrating assembly similarly to the previous embodiment. The primary controller 92 also collects various sensor data from the sensors on the shuttle to process the data by the primary controller or communicate the data to the main control station for subsequent processing to execute any of the various functions described herein. The controller 92 in this instance communicates with a transmitter 200 to enable wireless communication to the main control station; however, wired communication may also be provided using a tether 201 communicating between the shuttle and the main control station.

The drive mechanism in the second embodiment differs from the previous embodiments in that two rotary members 202 are provided on the shuttle frame 40 which engage the upper surface of the container and which rotate to drive movement of the shuttle frame along the prescribed path dictated by the control assembly. In the preferred embodiment, the rotary members 202 comprise a pair of endless tracks extending about respective wheels. The tracks are supported parallel to one another to extend longitudinally along the length of the shuttle frame at laterally spaced apart locations. The tracks rotate such that a lower run of each track engages the upper surface of the container with the shuttle frame 40 being entirely supported on the tracks.

The rotary members 202 are each driven to rotate by a respective drive motor 204 actuated by the primary controller 92. The drive motors comprise electric motors in which the power for driving the motors may be derived from an onboard battery or through a transmission cable functioning as a tether between the shuttle and the main control station 34. An onboard generator driven by a combustion engine carried on the shuttle frame may also be used to provide power to the drive motors as described in regard to the previous embodiment. The rotary members 202 can be driven in a skid steer configuration. More particularly the rotary members can be: (i) driven to rotate in the same forward direction to propel the shuttle frame forwardly relative to the container, (ii) driven to rotate in the same rearward direction to propel the shuttle frame rearwardly relative to the container, or (iii) driven in two different configurations with the rotary members rotating in opposite directions relative to one another to rotate the shuttle frame clockwise or counter-clockwise relative to the container.

According to the second embodiment, the vibrating assembly in this instance comprises two separate vibrating modules carried on the shuttle frame in the form of outrigger frames 206 supported at laterally opposing sides of the shuttle frame 40. In further embodiments, the vibration modules may be provided at leading and trailing sides of the shuttle frame or a plurality of vibrating modules may be located about a perimeter of the shuttle frame.

In each instance the outrigger frames 206 are joined to the shuttle frame 40 by suitable vibration isolators 86 as described above to allow some floating movement of the outrigger frames up and downwardly relative to the shuttle frame. Each vibrating module includes a vibrator plate 80 spanning the bottom side thereof in which the plate has a raised edge similarly to the previous embodiment. The floating movement provided by the vibration isolators 86 allows the bottom side of each vibrator plate 80 to be located approximately in the same plane as the bottom surface of the tracks 202 of the drive mechanism such that the vibrator plate 80 and the tracks 202 equally engage the upper surface of the container despite varying contours or a curved contour of the container.

Each vibrating module further includes a vibrating motor 84 actuated by the primary controller 92 of the shuttle to drive vibrating movement of the respective vibrating plate 80 of the module, while the vibration isolators 86 isolate the components on the shuttle frame 40 from the vibrations of the vibrating modules.

Each vibrating module may further include a vibration sensor 100 to confirm that the module is vibrating and a tilt sensor 98 to confirm that the vibration module has not tilted beyond a prescribed tilt limit as an indicator of an approaching edge of the container as described above with regard to the previous embodiment. The vibration sensor 100 is also used similarly to the previous embodiment to confirm that the vibration modules are vibrating before allowing driving movement of the shuttle across the container.

The control assembly for guiding movement of the shuttle across the container along a prescribed path in the second embodiment uses various sensors that collectively define a positioning system to accurately locate the shuttle relative to the boundaries of the container and to steer the shuttle automatically along a prescribed path dictated by the control assembly. Each container includes a defined boundary 208 within which the shuttle is contained to ensure that the shuttle is not operated on the sloped perimeter area of the container which risks the shuttle falling off the container.

The boundary 209 can be defined by various means according to the sensors of the positioning system. In some instances, the boundary is visually marked, for example by painted lines to be visually recognized by appropriate sensors on the shuttle. In other instances, laser lines may be used to define the perimeter which again can be sensed by appropriate sensors on the shuttle. In yet further instances, the boundary may be defined by other types of markers including radiofrequency beacons and the like. In yet further embodiments the boundary is identified solely by GPS coordinates with the control assembly using GPS guidance to maintain the shuttle within the defined boundary.

In each instance the positioning system of the shuttle typically includes GPS sensors 210 carried on the shuttle frame to identify the location of the shuttle frame using GPS coordinates which are then reported back to the main control station 34 such that the main control station can generate appropriate actuating instructions for the drive motors to propel and steer the shuttle frame along a prescribed path according to the identified GPS coordinates.

The shuttle preferably also includes one or more scanning type devices for collecting image type data. In one instance the scanning devices includes LIDAR 212 (light detection and ranging) as a remote-sensing method that uses light in the form of a pulsed laser to measure ranges and variable distances to the surface of the container from the sensor carried on the shuttle frame. By generating a suitable map of the environment about the shuttle, the location of the shuttle can be identified and controlled within appropriate boundaries of the container.

The scanning devices may further include one or more cameras 94 supported on the shuttle frame similarly to the previous embodiment for capturing additional image data. The images collected by the camera in the form of video images can be compared to stored image data on the primary controller or the main control station of the control assembly in which the image data identify the various features of the container such as boundaries. This image data can be used for assistance in identifying boundaries and appropriately steering the shuttle frame with appropriate drive instructions generated by the main control station or primary controller for actuating the drive motors appropriately.

The collected images from the camera may also be compared to image data representative of damage to the container such as damaged seams or damaged textile material forming the exterior boundary of the container so that an appropriate alert condition can be determined and appropriate action taken in response to the determination of the alert condition such as generating an alert to a user as an alarm, or simply deactivating continued vibration and driving movement of the shuttle frame across the container to prevent further damage. Artificial intelligence software can be used to store various image data and learn from the image data to identify appropriate criteria which determines if the image data represents damaged features on the container or not.

In further instances, the transmitter 200 may be a suitable radio frequency transceiver capable of both sending and receiving radiofrequency signals for communication with the main control station and/or communication with a suitable radiofrequency remote controller operated by an operator at a remote location. The operator can view captured image data from the shuttle while generating suitable instruction signals for the drive motors 204 to steer and drive movement of the shuttle frame across the container along a prescribed path dictated by the drive instructions generated from the remote control units under the direction of the operator.

In further embodiments, the positioning system of the control assembly may comprise any combination of the various sensors for collecting data described above to identify location and/or determine alert conditions.

With regard to determining an alert condition, the shuttle frame may also include additional scanning devices and sensors for sensing various operating conditions for comparison to various criteria stored on the primary controller 92 of the shuttle or the main control station 34. In one example, ground penetrating radar 214 is provided on the shuttle frame similarly to the ground penetrating radar 95 noted above for generating primary signals directed into the container and for capturing reflected signals for measuring density of material lining the exterior boundary of the container or settled within the bottom of the container to make additional judgements as to how to operate the shuttle or the chemical injectors 35 described above.

The camera 94 on the shuttle, and the LIDAR 212 can also be used to capture image data and compare the image data to various image criteria to identify boundaries or damage and the like to determine an actionable condition such as (i) opening or closing the shut off valves 32 directing wet material into one or more containers, (ii) deactivating the vibration and drive of the shuttle if damage or excessive density is detected, (iii) activating the vibration and drive of the shuttle to perform a vibration procedure across the upper surface of the container if density of material lining the exterior boundary of the container exceeds a density limit, or (iv) adjusting the dosing of flocculant by the chemical dispenser according to a measured density.

The shuttle frame 40 according to the second embodiment may further include a shedding mechanism to assist in shedding of caked materials lining the inner surface of the exterior boundary of the container in which the caked materials have already been loosened by vibration. The shedding mechanism may use a flexible member 97 driven by an actuator 99 as described above, or according to the illustrated embodiment of Figures 7 and 8 the shedding may be accomplished using jets of fluid directed onto the exterior surface of the container using a pump 216 which pumps fluid through a manifold to a series of nozzles 218 that direct respective jets of fluid onto the exterior surface of the container. The pump 26 may be fed fluid through a supply line 220 connected to a remote supply tank 222, in which the supply line 220 is a flexible tether communicating between the shuttle 40 and the supply tank 222. In other instances, the shedding mechanism may comprise a hose whip arrange to apply an external force to the exterior of the container similarly to the jets of fluid directed onto the surface of the container by the nozzles 218. In each instance, the external force applied to the container assists in shedding the caked materials that otherwise line the inner surface of the exterior boundary material of the container.

In further embodiments, the shedding mechanism and/or the vibrating modules in the form of outrigger frames 206 may be applied to a shuttle frame 40 which is also guided by a cable or driven by a cable according to the previous embodiments described above.

As described herein according to the second embodiment, the shuttle is autonomously operated and driven, for example by radio control, GPS, and/or lidar. The automated body would be an electric operated and guided vibrating machine. In most cases, the shuttle would be supported on a rubber tracked skid steer drive body, where the vibrator modules are supported on outriggers on each side of the track driven unit, or on each side of a cable guided unit according to the first embodiment. The lidar and/or GPS guided module could also tie into cameras so that painted lines on the container could be learned by the controller as boundaries and then the shuttle is thereafter programmed to stay within the boundaries of the geo-fence. The lines could alternatively be laser defined.

Ground penetrating radar may also be used to understand the density within the container, which would then tell different ports of the manifold between multiple containers to be opened or closed, or that the container is filled to a recommended fill volume. The ground penetrating radar may be an alternate solution to be used to determine how high the silt levels within the container are and how deep the silts are from the top of the bag. Accordingly if there is lots of water it indicates that vibration is needed to liberate the pores of the textile boundary of the container.

The autonomous unit can also be capable of wireless communication, for example WiFi, so that all alarms come back to the main control station 34 and appropriate actions are taken from the main control station. The alarms will also allow automation of various functions such as shutting of certain valves, for example if there was humping within the containers such that the system can determine shutting down the supply valve to the container that is humped relative to the other containers, with continued pumping of fluid being directed to the next available container. Alternatively if ground penetrating radar senses too much water, the system can automatically turn on the activation of the shuttle to initiate a vibrating procedure or send alarms to appropriate personnel to actuate the initiation of a vibration procedure.

The camera can also be used with machine learning to understand how to look at various features that operators normally interact with, for example the ports, the pores of the boundary material of the containers, the general condition of the container, damage such as scratches or snags on the textile of the container and the general condition of the scenes of the container.

Water going into the various containers will typically be automatically sampled so that flocculant can be dosed accordingly in an automated manner. Water discharging from the containers can also be similarly automatically tested. The test will be the same, but if the exiting water is to clean or too dirty, it would affect the dosing choices similarly.

Additional sensors can be used to ensure that the vibrating unit is inspecting seams and operating to protect the seams.

A shedding mechanism such as a water cleaning unit as described above or a hose whip can be attached on any versions of the shuttle to accelerate the shedding of slime and liberated tailings off of the inner surfaces of the container boundaries.

Lasers can also be provided on the couplings to ensure that the containers are never over inflated beyond manufacturer’s recommended fill heights.

Various ramp structures, or bridges formed using rigid structural platforms extending adjacent or above the various containers can be used for servicing of the components of the shuttle or for loading and removing the shuttle relative to the containers.

The ground penetrating radar can also be used directly on the container to understand the density, which would then tell different ports of the manifold to be opened or closed to fill or stop filling various containers or provide notification that a given container has been filled to a recommended fill volume.

With a radiofrequency control, an operator can direct the shuttle by using a remote to generate the appropriate drive instructions. Radiofrequency control can also be used in an automated manner with additional sensors. Use of lidar would allow sensing of slope and identification of edges of the containers to assist in guiding the shuttle to ensure it does not go too close to an edge. GPS can cooperate with the lidar to understand the positioning of the boundary edges of the container and to confirm the travelling direction of the shuttle relative to the container.

Since various modifications can be made in my invention as herein above described, and many apparently widely different embodiments of same made, it is intended that all matter contained in the accompanying specification shall be interpreted as illustrative only and not in a limiting sense.