EP4737022A1

EP4737022A1 - A tank cleaning system

Info

Publication number: EP4737022A1
Application number: EP24209910.9A
Authority: EP
Inventors: Joacim Cronholm; André LILJEGREN; Niklas FALKMER
Original assignee: Alfa Laval Corporate AB
Current assignee: Alfa Laval Corporate AB
Priority date: 2024-10-30
Filing date: 2024-10-30
Publication date: 2026-05-06
Also published as: WO2026093087A1

Abstract

The disclosure relates to a tank cleaning system (1) comprising: a tank cleaning device (2) comprising at least one controllable spraying nozzle (4) for spraying the interior of a first tank (6) with a cleaning fluid (8); an actuator (14) connected to the at least one spraying nozzle (4) for changing the position of the at least one spraying nozzle (4) in relation to the interior of the first tank (6); and a control device (200) configured to control the movement of the actuator (14), and thus the position of the at least one spraying nozzle (4), based on data (D) related to at least one interior feature of the first tank (6). The control device (200) is configured to control the movement of the actuator (14) further based on data (D) related to surrounding conditions (20, 22, CO, T1, T2) adjacent to the first tank (6). The disclosure further relates to a tank storage system (32), a ship (28), a method for cleaning a first tank (6) by a tank cleaning system (1), a computer program (P) stored on a computer-readable medium (202) and and a computer-readable medium (202) having stored thereon the computer program (P).

Description

Technical field

The present disclosure relates to a tank cleaning system. More specifically, the disclosure relates to a tank cleaning system, a tank storage system, a ship, a method for cleaning a first tank by a tank cleaning system, a computer program stored on a computer-readable medium and a computer-readable medium having stored thereon the computer program as defined in the introductory parts of the independent claims.

Background art

A tank cleaning system may be used for cleaning the interior of tanks. Tanks may for example be used in industrial processes such as food, chemical and pharmaceutical manufacturing and processing. In order to achieve a proper handling in such processes the interior of the tank should be free of unwanted debris and contaminants. The walls and equipment within such tanks may trap debris via a coating or other deposit. Tanks may also be arranged in ships for storing and transportation of goods, such as oil, chemicals and other fluids. A number of tanks may be arranged adjacent to each other. Further, the tanks may be arranged with inner walls for separating different volumes in the tank.
There are known tank cleaning systems comprising tank cleaning devices provided with controllable spraying nozzles for spraying the interior of the tank with cleaning fluids. An actuator, such as a drive unit is connected to the spraying nozzle, so that the position of the spraying nozzle can be changed in relation to the interior of the tank. The controllable spraying nozzle of the known tank cleaning systems rotates with a constant rotation speed within the tank, which results in that the velocity of the cleaning fluid travelling over the internal surface to be cleaned is varying depending on the distance of the spraying nozzle to the internal surface. The rotation speed is set to be optimized for the longest distance of the spraying nozzle to the internal surface, which results in that the speed of the cleaning fluid travelling over the internal surface is slower than necessary over surfaces closer to the position of the tank cleaning device and the spraying nozzle. Further, the pressure of the cleaning fluid, which affects the jet length of the cleaning fluid from the nozzle is not optimized for the cleaning process.
It is also known that the status of the surrounding tanks in a multi tank system with tanks arranged adjacent to each other or provided with inner walls, has high impact on how hard it is to clean an internal surface in a specific tank. If there is an adjacent tank or a volume which is empty or contains a fluid of a low temperature, like a ballast tank, next to the tank or volume to be cleaned, the surface towards that tank is harder to clean. Vice versa, it may be easier to clean a surface if there is an adjacent tank or a volume which contains a fluid at high temperature next to the tank being cleaned.
Document US9302301 B2 discloses a tank cleaning system comprising a tank cleaning device.

Summary

A problem with known tank cleaning systems is that they are not optimized for cleaning the interior of the tank efficiently.
A further problem with the known tank cleaning systems is that the rotation speed of the cleaning nozzle and the jet length of the cleaning fluid is set to properly clean the surface coated and contaminated with deposits hardest to clean. This means that the rest of the surfaces in the tank are not cleaned in an optimal way.
There is thus a need for an improved tank cleaning system and a tank storage system comprising such a tank cleaning system.
It is an objective of the present disclosure to mitigate, alleviate or eliminate one or more of the above-identified deficiencies and disadvantages in the prior art and solve at least the above-mentioned problem.
This objective is achieved by an improved tank cleaning system and a tank storage system comprising such a tank cleaning system according to the appended claims. These objectives are also achieved by a ship according to the appended claims. Further, these objectives are also achieved by a method, a computer program and a computer-readable medium according to the appended claims.
According to a first aspect there is provided a tank cleaning system comprising: a tank cleaning device comprising at least one controllable spraying nozzle for spraying the interior of a first tank with a cleaning fluid; an actuator connected to the at least one spraying nozzle for changing the position of the at least one spraying nozzle in relation to the interior of the first tank; and a control device configured to control the movement of the actuator, and thus the position of the at least one spraying nozzle, based on data related to at least one interior feature of the first tank. The control device is configured to control the movement of the actuator further based on data related to surrounding conditions adjacent to the first tank. The tank cleaning system may comprise components arranged inside and outside of the first tank. The controllable spraying nozzle is arranged in the first tank. The controllable spraying nozzle may eject the cleaning fluid at a pressure and at a volume flow. The pressure and volume flow of the cleaning fluid may be high. The interior of the first tank may have any shape. The cleaning fluid may have any suitable temperature. The type of cleaning fluid may be adapted to the type of product that has been held or stored in the first tank. The actuator may be arranged outside of the first tank. Changing the position of the at least one spraying nozzle in relation to the interior of the first tank may include a movement of the spraying nozzle from one position to another position. Changing the position of the at least one spraying nozzle in relation to the interior of the first tank may include a continuous movement of the spraying nozzle at one speed or at different speeds. The actuator may change the position of the at least one spraying nozzle in relation to the interior of the first tank at a continuous movement of the spraying nozzle at one speed or at different speeds. The control device may receive and store data related to at least one interior feature of the first tank. The tank cleaning system may comprise at least one second tank. The tank cleaning system may comprise components arranged inside and outside of the at least one second tank. Data related to surrounding conditions adjacent to the first tank may be stored in a memory. Data related to surrounding conditions adjacent to the first tank may be stored in a memory in the control device. The tank cleaning system, which comprises a tank cleaning device may have a dynamic control of the movement and positioning of the spraying nozzle and where the movement and positioning could be optimized based on the physical factors of the first tank where it is installed. The tank cleaning system may be controlled so that the spraying nozzle of the tank cleaning device has a velocity over the wall in the first tank adapted to the physical features of the first tank. The movement and positioning of the spraying nozzle may also be based on the known status of the second tank next to or adjacent to the tank being cleaned. If the second tank for example is a cold ballast tank the movement and positioning of the spraying nozzle may be set to be a lower movement or speed and if the second tank is a hot tank the movement and positioning of the spraying nozzle may be is set to be higher movement or speed. This is not possible to achieve based on existing technology that a tank cleaning machines is based on and the existing possibilities to program the machines. This may optimize the tank cleaning system for efficiently cleaning the interior of the first tank. Thus, the movement and positioning of the spraying nozzle results in a properly cleaning of the surface coated and/or contaminated with deposits hardest to clean, and the rest of the surfaces may also be cleaned in an optimal way.
The surrounding conditions comprises characteristics of at least one second tank arranged adjacent to the first tank. The control device may be configured to control the movement of the actuator further based on data related to characteristics of at least one second tank arranged adjacent to the first tank. Data related to characteristics of the at least one second tank arranged adjacent to the first tank may be stored in a memory. Data related to characteristics of the at least one second tank arranged adjacent to the first tank may be stored in a memory in the control device.
The characteristic of the at least one second tank arranged adjacent to the first tank comprises a temperature contained in the at least one second tank. The second tank may comprise a product which has a certain temperature. The temperature of the product may be increased or decreased.
A wall of the first tank arranged adjacent to the at least one second tank has an interior wall surface, and wherein the wall temperature of the interior wall surface of the wall of the first tank arranged adjacent to the at least one second tank is dependent on the temperature in the at least one second tank. The temperature in the second tank may affect the wall temperature of the interior wall surface of the wall of the first tank.
The control device is configured to control the movement of the actuator, and thus the movement of the spraying nozzle, based on the wall temperature of the at least one interior wall surface of the first tank.
A temperature sensor is arranged in the at least one second tank, which temperature sensor is connected to the control device.
The characteristic of the at least one second tank arranged adjacent to the first tank comprises a type of product contained in the at least one second tank. The second tank may comprise a product which has a certain temperature. The temperature of the product may be increased or decreased.
The characteristic of the at least one second tank arranged adjacent to the first tank comprises the level of a product contained in the at least one second tank. The level or the volume of the product in the at least one second tank may affect the wall temperature of the interior wall surface of the wall of the first tank.
The characteristic of the least one second tank arranged adjacent to the first tank is a cleaning operation of the interior of the at least one second tank. The cleaning operation in the second tank may be performed with hot or cool cleaning fluid. The hot or cool cleaning fluid may affect the wall temperature of the interior wall surface of the wall of the first tank.
The surrounding conditions comprises characteristics of a surrounding space adjacent to the first tank. The surrounding space adjacent to the first tank may be any space or volume that surrounding the first tank. The surrounding space may be a space or a volume within an object arranged adjacent to the first tank.
The characteristics of the surrounding space adjacent to the first tank comprises a temperature in the second tank, in the air and/or in water adjacent to the first tank . The air surrounding the first tank may be the surrounding space adjacent to the first tank. Water in the sea or a lake may be the surrounding space adjacent to the first tank. The characteristics of the surrounding space adjacent to the first tank may be the temperature in the air surrounding the first tank. The characteristics of the surrounding space adjacent to the first tank may be the temperature in the second tank, the water adjacent to the first tank. The characteristics of the surrounding space adjacent to the first tank may be a combination of the temperature in the air and the water adjacent to the first tank. The first tank may be a land tank arranged on ground. The first tank may be arranged in a ship or a similar water vessel. The ground may be a wharf, harbor or a quay located by a lake or the sea.
A wall of the first tank arranged adjacent to the second tank, the air and/or the water has an interior wall surface, and wherein the wall temperature of the interior wall surface of the wall of the first tank arranged adjacent to the second tank, the air and/or the water is dependent on the temperature in the second tank, in the air and/or in the water. The temperature in the second tank, in air and/or in water adjacent to the first tank may affect the wall temperature of the interior wall surface of the wall of the first tank. A wall of the first tank arranged adjacent to the air and/or the water has an interior wall surface, and wherein the wall temperature of the interior wall surface of the wall of the first tank arranged adjacent to the air and/or the water is dependent on the temperature in the air and/or in the water. The temperature in air and/or in water adjacent to the first tank may affect the wall temperature of the interior wall surface of the wall of the first tank.
The control device is configured to control the movement of the actuator, and thus the movement of the spraying nozzle, based on the wall temperature of the at least one interior wall surface of the first tank.
A temperature sensor may be arranged in the air and/or in the water, which temperature sensor is connected to the control device. The temperature sensor may be arranged in the at least one second tank, the air and/or in the water, which temperature sensor is connected to the control device.
According to a second aspect there is provided a tank storage system comprising the tank cleaning system according to proceeding claims, wherein the tank storage system further comprising at least one wall element separating the first tank and the at least one second tank from each other. The first tank may have a first volume and the second tank may have a second volume. The first and second volumes may be separated by the at least one wall element. The tank storage system comprising the first and second tank.
According to a third aspect there is provided a ship comprising the tank storage system according to the second aspect. The ship may be a transporting ship for transporting products in the first and second tanks.
According to a fourth aspect there is provided a method for cleaning a first tank by a tank cleaning system according to the first aspect. The method comprises the steps of: determining the position of the at least one spraying nozzle in relation to the interior of the first tank; receiving the data related to the characteristics of the at least one second tank arranged adjacent to the first tank; and controlling the movement of the actuator based on the received data for moving the at least one spraying nozzle in relation to the interior of the first tank during spraying the interior of the first tank with the cleaning fluid. The position of the at least one spraying nozzle in relation to the interior of the first tank may be determined by turning the tank cleaning device about its axis and/or by storing information about the position of the spraying nozzle and from that information determine the position of the spraying nozzle at the beginning of the cleaning process. The step of receiving the data related to the characteristics of the at least one second tank arranged adjacent to the first tank, comprises: receiving data about the temperature in the at least one second tank. Alternatively, or in combination, the step of receiving the data related to the characteristics of the at least one second tank arranged adjacent to the first tank, comprises: receiving data about the type of product in the at least one second tank. Alternatively, or in combination, the step of receiving the data related to the characteristics of the at least one second tank arranged adjacent to the first tank, comprises: receiving data about the level of a product in the at least one second tank. Alternatively, or in combination, the step of receiving the data related to the characteristics of the at least one second tank arranged adjacent to the first tank, comprises: receiving data about a cleaning operation in the at least one second tank.
The present disclosure also relates to a computer program stored on a computer-readable medium and comprising instructions, which when the program is executed by a data processing unit of a control device of a tank cleaning system, cause the control device to carry out the method according to the fourth aspect. The disclosure further relates to a computer-readable medium having stored thereon the computer program. The method may be comprised in pre-programmed software, which may be implemented into a production unit suitable for utilizing the method. The pre-programmed software may be stored in the control device. Alternatively, or in combination, the software may be stored in a memory or in a computer at a distance from the control device.
The present disclosure will become apparent from the detailed description given below. The detailed description and specific examples disclose preferred embodiments of the disclosure by way of illustration only. Those skilled in the art understand from guidance in the detailed description that changes and modifications may be made within the scope of the disclosure.

Brief descriptions of the drawings

The above objects, as well as additional objects, features and advantages of the present disclosure, will be more fully appreciated by reference to the following illustrative and non-limiting detailed description of example embodiments of the present disclosure, when taken in conjunction with the accompanying drawings.

Figure 1 schematically illustrates in a side view, a tank cleaning system according to an example;
Figure 2 schematically illustrates in a side view, a ship comprising the tank storage system according to an example;
Figure 3 schematically illustrates a tank storage system in a side view according to an example;
Figure 4 shows a flowchart of a method for cleaning a first tank by a tank cleaning system according to an example, and
Figure 5 schematically illustrates a control device according to an example.

Detailed description

The present disclosure will now be described with reference to the accompanying drawings, in which preferred example embodiments of the disclosure are shown. The disclosure may, however, be embodied in other forms and should not be construed as limited to the herein disclosed embodiments. The disclosed embodiments are provided to fully convey the scope of the disclosure to the skilled person.
Fig. 1 schematically illustrates in a side view, a tank cleaning system 1 according to an example and Fig. 2 schematically illustrates in a side view, a ship 28 comprising a tank storage system 32 according to an example. The tank storage system 32 in fig. 2 comprises the tank cleaning system 1 in fig. 1. The tank cleaning system 1 comprises a tank cleaning device 2, which comprises at least one controllable spraying nozzle 4 for spraying the interior of a first tank 6 with a cleaning fluid 8. An actuator 14 is connected to the at least one spraying nozzle 4 for changing the position of the at least one spraying nozzle 4 in relation to the interior of the first tank 6. A control device 200 is configured to control the movement of the actuator 14, and thus the position of the at least one spraying nozzle 4 based on data D related to at least one interior feature of the first tank 6. The control device 200 is configured to control the movement of the actuator 14 further based on data D related to surrounding conditions 20, 22, CO, T1, T2, T3 adjacent to the first tank 6. The surrounding conditions 20, 22, CO, T1, T2, T3 comprises characteristics 20, 22, CO, T1, T2, T3 of at least one second tank 16 arranged adjacent to the first tank 6.
The characteristic 20, 22, CO, T1 ,T2, T3 of the at least one second tank 16, which is arranged adjacent to the first tank 6, comprises a temperature T1 contained in the at least one second tank 16.
A wall of the first tank 6 arranged adjacent to the at least one second tank 16 has an interior wall surface 18. The wall temperature wt of the interior wall surface 18 of the wall of the first tank 6 arranged adjacent to the at least one second tank 16 is dependent on the temperature T1 in the at least one second tank 16.
The control device 200 is configured to control the movement of the actuator 14, and thus the movement of the spraying nozzle 4, based on the wall temperature wt of the at least one interior wall surface 18 of the first tank 6.
A temperature sensor 30 is arranged in the at least one second tank 16, which temperature sensor 30 is connected to the control device 200.
The characteristic 20, 22, CO, T1, T2, T3 of the at least one second tank 16, which is arranged adjacent to the first tank 6, comprises a type of product 20 contained in the at least one second tank 16. Alternatively, or in combination, the characteristic 20, 22, CO, T1, T2, T3 of the at least one second tank 16, which is arranged adjacent to the first tank 6, comprises the level 22 of a product 20 contained in the at least one second tank 16. Alternatively, or in combination, the characteristic 20, 22, CO, T1, T2, T3 of the least one second tank 16, which is arranged adjacent to the first tank 6, is a cleaning operation CO of the interior of the at least one second tank 16. In fig. 2 a tank storage system 32 is shown, comprising the tank cleaning system 1, wherein the tank storage system 32 further comprising at least one wall element 34 separating the first tank 6 and the at least one second tank 16 from each other.
The characteristics 20, 22, CO, T1, T2, T3 of the surrounding space S adjacent to the first tank 6 comprises a temperature T2 in air A adjacent to the first tank 6. The air A surrounding the first tank may be the surrounding space S adjacent to the first tank. The characteristics 20, 22, CO, T1, T2, T3 of the surrounding space S adjacent to the first tank 6 comprises a temperature T3 in water W adjacent to the first tank 6. Water W in the sea or a lake may be the surrounding space S adjacent to the first tank. A wall of the first tank 6 arranged adjacent to the air A and/or the water W has an interior wall surface 18, and wherein the wall temperature wt of the interior wall surface 18 of the wall of the first tank 6 arranged adjacent to the air A and the water W is dependent on the temperature T2 in the air A and the temperature T3 in the water W. A temperature sensor 30 is arranged in the air A and/or in the water W, which temperature sensor 30 is connected to the control device 200. The surrounding space S may be a space or a volume within an object, such as the at least one second tank 16 arranged adjacent to the first tank 6.
Fig. 3 schematically illustrates a tank storage system 32 in a side view according to an example. The tank storage system 32 in fig. 3 comprises the tank cleaning system 1 in fig. 1. The tank cleaning system 1 according to this example comprises a tank cleaning device 2, which comprises at least one controllable spraying nozzle 4 for spraying the interior of a first tank 6 with a cleaning fluid 8. An actuator 14 is connected to the at least one spraying nozzle 4 for changing the position of the at least one spraying nozzle 4 in relation to the interior of the first tank 6. A control device 200 is configured to control the movement of the actuator 14, and thus the position of the at least one spraying nozzle 4 based on data D (see fig. 1) related to at least one interior feature of the first tank 6. The control device 200 is configured to control the movement of the actuator 14 further based on data D related to surrounding conditions 20, 22, CO, T1, T2 adjacent to the first tank 6. The surrounding conditions 20, 22, CO, T2 comprises characteristics 20, 22, CO, T1, T2 of a surrounding space S adjacent to the first tank 6. The first tank 6 may be a land tank arranged on ground G. The characteristics 20, 22, CO, T1, T2 of the surrounding space S adjacent to the first tank 6 comprises a temperature T2 in air A adjacent to the first tank 6. The air A surrounding the first tank may be the surrounding space S adjacent to the first tank. A wall of the first tank 6 arranged adjacent to the air A has an interior wall surface 18, and wherein the wall temperature wt of the interior wall surface 18 of the wall of the first tank 6 arranged adjacent to the air A is dependent on the temperature T2 in the air A. The control device 200 is configured to control the movement of the actuator 14, and thus the movement of the spraying nozzle 4, based on the wall temperature wt of the at least one interior wall surface 18 of the first tank 6. A temperature sensor 30 is arranged in the air A, which temperature sensor 30 is connected to the control device 200. The surrounding space S may be a space or a volume within an object, such as the at least one second tank 16 arranged adjacent to the first tank 6. The characteristic 20, 22, CO, T1 of the at least one second tank 16, which is arranged adjacent to the first tank 6, comprises the temperature T1 contained in the at least one second tank 16. The wall of the first tank 6 arranged adjacent to the at least one second tank 16 has an interior wall surface 18. The wall temperature wt of the interior wall surface 18 of the wall of the first tank 6 arranged adjacent to the at least one second tank 16 is dependent on the temperature T1 in the at least one second tank 16.
Fig. 4 shows a flowchart of a method according to an example. The method is performed by the control device 200, for controlling a tank cleaning system 1. The method relates to the tank cleaning system 1 disclosed in figures 1 - 3. The tank cleaning system 1 thus comprises a tank cleaning device 2 comprising at least one controllable spraying nozzle 4 for spraying the interior of a first tank 6 with a cleaning fluid 8; an actuator 14 connected to the at least one spraying nozzle 4 for changing the position of the at least one spraying nozzle 4 in relation to the interior of the first tank 6; and a control device 200 configured to control the movement of the actuator 14, and thus the position of the at least one spraying nozzle 4, based on data D related to at least one interior feature of the first tank 6. The control device 200 is configured to control the movement of the actuator 14 further based on data D related to surrounding conditions 20, 22, CO, T1, T2, T3 adjacent to the first tank 6.
The method comprises the the steps of: determining s101 the position of the at least one spraying nozzle 4 in relation to the interior of the first tank 6; receiving s102 the data D related to the surrounding conditions 20, 22, CO, T1, T2, T3 adjacent to the first tank 6; and controlling s103 the movement of the actuator 14 based on the received data D for moving the at least one spraying nozzle 4 in relation to the interior of the first tank 6 during spraying the interior of the first tank 6 with the cleaning fluid 8.
The step of receiving s102 the data D related to the surrounding conditions 20, 22, CO, T1, T2, T3 adjacent to the first tank 6, comprises receiving data D related to characteristics 20, 22, CO, T1 of at least one second tank 16 arranged adjacent to the first tank 6. The step of receiving s102 the data D related to the characteristics 20, 22, CO, T1 of the at least one second tank 16 arranged adjacent to the first tank 6, comprises: receiving data D about the temperature T1 in the at least one second tank 16. The step of receiving s102 the data D related to the characteristics 20, 22, CO, T1 of the at least one second tank 16 arranged adjacent to the first tank 6, comprises: receiving data D about the type of product 20 in the at least one second tank 16. The step of receiving s102 the data D related to the characteristics 20, 22, CO, T1 of the at least one second tank 16 arranged adjacent to the first tank 6, comprises: receiving data D about the level 22 of a product 20 in the at least one second tank 16. The step of receiving s102 the data D related to the characteristics 20, 22, CO, T1 of the at least one second tank 16 arranged adjacent to the first tank 6, comprises: receiving data D about a cleaning operation CO in the at least one second tank 16.
Fig. 5 schematically illustrates a control device 200 of a tank cleaning system 1 according to an example. The control device 200 comprises at least one data processing unit 201 and a computer-readable medium 202. The control device 200 may be configured to perform the method as described in fig. 3 upon execution of a computer program P by the at least one data processing unit 201. The computer program P comprises computer-readable instructions that may be stored in the computer-readable medium 202, such as a non-transitory hardware memory device of the control device 200.

Claims

A tank cleaning system (1) comprising:
a tank cleaning device (2) comprising at least one controllable spraying nozzle (4) for spraying the interior of a first tank (6) with a cleaning fluid (8);

an actuator (14) connected to the at least one spraying nozzle (4) for changing the position of the at least one spraying nozzle (4) in relation to the interior of the first tank (6); and

a control device (200) configured to control the movement of the actuator (14), and thus the position of the at least one spraying nozzle (4), based on data (D) related to at least one interior feature of the first tank (6), wherein

the control device (200) is configured to control the movement of the actuator (14) further based on data (D) related to surrounding conditions (20, 22, CO, T1, T2, T3) adjacent to the first tank (6).
The tank cleaning system (1) according to claim 1, wherein the surrounding conditions (20, 22, CO, T1) comprises characteristics (20, 22, CO, T1) of at least one second tank (16) arranged adjacent to the first tank (6).
The tank cleaning system (1) according to claim 2, wherein the characteristic (20, 22, CO, T1) of the at least one second tank (16) arranged adjacent to the first tank (6) comprises a temperature (T1) contained in the at least one second tank (16).
The tank cleaning system (1) according to any one of the claims 2 and 3, wherein the characteristic (20, 22, CO, T1) of the at least one second tank (16) arranged adjacent to the first tank (6) comprises a type of product (20) contained in the at least one second tank (16).
The tank cleaning system (1) according to any one of the claims 2 - 4, wherein the characteristic (20, 22, CO, T1) of the at least one second tank (16) arranged adjacent to the first tank (6) comprises the level (22) of a product (20) contained in the at least one second tank (16).
The tank cleaning system (1) according to any one of the claims 2- 5, wherein the characteristic (20, 22, CO, T1) of the least one second tank (16) arranged adjacent to the first tank (6) is a cleaning operation (CO) of the interior of the at least one second tank (16).
The tank cleaning system (1) according to any one of the preceding claims, wherein the surrounding conditions (20, 22, CO, T2, T3) comprises characteristics (20, 22, CO, T2, T3) of a surrounding space (S) adjacent to the first tank (6).
The tank cleaning system (1) according to claim 7, wherein the characteristics (20, 22, CO, T2, T3) of the surrounding space (S) adjacent to the first tank (6) comprises a temperature (T2, T3) in air (A) and/or in water (W) adjacent to the first tank (6).
The tank cleaning system (1) according to any of the claims 2-6 and 8, wherein a wall of the first tank (6) arranged adjacent to the second tank, the air (A) and/or the water (W) has an interior wall surface (18), and wherein the wall temperature (wt) of the interior wall surface (18) of the wall of the first tank (6) arranged adjacent to the second tank, the air (A) and/or the water (W) is dependent on the temperature (T1, T2, T3) in the second tank (16), the air (A) and/or in the water (W).
The tank cleaning system (1) according to claim 9, wherein the control device (200) is configured to control the movement of the actuator (14), and thus the movement of the spraying nozzle (4), based on the wall temperature (wt) of the at least one interior wall surface (18) of the first tank (6).
The tank cleaning system (1) according to any of the claims 2-6 and claim 8 or according to any of the claims 9-10, wherein a temperature sensor (30) is arranged in the at least one second tank (16), the air (A) and/or in the water (W), which temperature sensor (30) is connected to the control device (200).
A tank storage system (32) comprising the tank cleaning system (1) according to any one of the preceding claims, wherein the tank storage system (32) comprising the first tank (6).
The tank storage system (32) according to claim 12, wherein the tank storage system (32) further comprising at least one second tank (16) arranged adjacent to the first tank (6).
A method for cleaning a first tank (6) by a tank cleaning system (1) according to any one of the claims 1-13, wherein the method comprises steps of:
determining (s101) the position of the at least one spraying nozzle (4) in relation to the interior of the first tank (6);

receiving (s102) the data (D) related to the surrounding conditions (20, 22, CO, T1, T2, T3) adjacent to the first tank (6); and

controlling (s103) the movement of the actuator (14) based on the received data (D) for moving the at least one spraying nozzle (4) in relation to the interior of the first tank (6) during spraying the interior of the first tank (6) with the cleaning fluid (8).
A computer program (P) stored on a computer-readable medium (202) and comprising instructions, which when the program (P) is executed by a data processing unit (201) of a control device (200) of a tank cleaning system (1), cause the control device (200) to carry out the method according to claim 14.
A computer-readable medium (202) having stored thereon the computer program (P) of the claim 15.