NL2020441B1

NL2020441B1 - Cleaning system and method for cleaning the inside of a container

Info

Publication number: NL2020441B1
Application number: NL2020441A
Authority: NL
Inventors: Adriaan Zwemer Jacobus; Luijendijk Freddy; Van Middendorp Matthias; De Bruin Edwin
Original assignee: Ticcc Holding B V
Priority date: 2018-02-15
Filing date: 2018-02-15
Publication date: 2019-08-22

Abstract

The invention relates to a cleaning system and a method for cleaning the inside of a container, wherein the system comprises a base and an extendable member that is extendable from said base in an entry direction, wherein 5 the system is provided with one or more drives for moving said base jjl a lateral direction, wherein the extendable member is arranged for holding a cleaning tool, wherein the extendable member or the cleaning tool is provided with one or more side detection sensors for detecting the side walls 10 of‘ the container, wherein the SYStEHl further comprises a control unit that is operationally connected to the one or more drives and that is operationally connectable to the one or more side detection sensors, wherein the control unit is arranged for controlling the lateral position of 15 the base in the lateral direction based on the detection signals from the one or more side detection sensors.

Description

BACKGROUND

The invention relates to a cleaning system and a method for cleaning the inside of a container.

US 4,112,533 A discloses an interior-exterior 15 truck body wash, including an elongated extendable boom

structure.	having a	base	and	free	ends. A carriage is
provided	from which	the b	oom	is si_	ipported in horizontal
position	with the ba	se end	of	the b<	30® supported from the

carriage and the free end of the boom, extendable relative 20 to the carriage. The known interior-exterior truck body wash is further provided with a plurality of guide rails on the floor, to guide the trailer into a washing position. The carriage is shiftable back and forth along a horizontal path extending transversely of the boom and may be moved 25 into registry behind a trailer from a position disposed along one side of the trailer. The free end of the boom, which carries a washing head assembly, is extended relative to the base end of the boom and the carriage into the rear of the trailer and forwardly through the interior of the 30 trailer. The washing head assembly is operative to thoroughly wash and rinse the interior of the trailer during its forward movement through the interior thereof and its rearward movement there through upon retraction of the boom.,

EP 2 484 456 Bl discloses a device for the cleaning and maintenance of the inner walls of box bodies and containers, wherein the device is arranged on a telescope-like, extendable sliding arm, wherein the device is formed from a geometric metal cross with vertical and horizontal metal arms, wherein on the free ends of each of the vertical and horizontal metal arms a drive motor and at least one cleaning brush are arranged, wherein the cleaning brush is driven by means of the drive motor. The vertical and horizontal metal arms of the metal cross are steplessly displaceable back and forth by means of a respective hydraulic cylinder. This allows for optimally setting the pressure exerted by the cleaning brushes on the inner walls of the container.

summary of the invention

9, xA disadvantage of the known interior-exterior truck body wash according to US 4,112,533 A is that the trailer may be misaligned with respect to the direction of the boom, meaning that the longitudinal direction of the trailer is at. a slightly oblique angle with respect to the longitudinal direction of the boom. Consequently, although the carriage may be moved into .registry behind the rear of the trailer, this does not ensure that the washing head assembly, once it reaches the front of the trailer is still duly aligned with respect to the trailer. Depending on the angle of misalignment, the washing head assembly may be too far away from a particular surface of the interior to thoroughly wash and rinse said, particular surface and/or the washing head may collide with or get stuck against another surface of the interior.

A disadvantage of the known device according to EP 2 484 456 Bl is that its hydraulically driven, individually adjustable arms make the device unnecessarily complex and subject to maintenance and/or repairs.

	It is an object	of the present	invention	to
ovide	a cleaning system	and a method for	cleaning	the
side	of a container,	wherein one or	more of	the

aforementioned drawbacks of the prior art can be reduced or eliminated.

According to a first aspect, the invention provides a cleaning system for cleaning the inside of a 5 container, wherein the container has a trailing end, a leading end and a box like body formed by at least a first side wall and a second side wall extending in a longitudinal direction between said trailing end and said leading end, wherein the cleaning system comprises a base 10 that is arranged to remain outside of the container and an extendable member that is extendable from, said base in an entry direction through the trailing end into the container towards the leading end. thereof, wherein the cleaning system is provided with one or more drives for moving said 15 base in a lateral direction perpendicular or substantially perpendicular to said entry direction, wherein the extendable member has a base end that is connected to the base and a distal end that is arranged for holding a cleaning tool, wherein the extendable member or the 20 cleaning tool is provided with one or more side detection sensors for detecting the side walls of the container, wherein the cleaning system further comprises a control unit that is operationally connected to the one or more drives and that is operationally connectable to the one or 25 more side detection sensors for receiving detection signals, wherein the control unit is arranged for controlling the lateral position of the base in the lateral direction based on the detection signals from the one or more side detection sensors.

The cleaning system according to the invention can thus effectively clean a container, even when the longitudinal direction of said container is misaligned with the entry direction of the extendable member. Moreover, because the base is movable in the lateral direction, the 35 cleaning tool itself does not have complex drives or actuators to facilitate adjustability in said lateral direction.

In a preferred embodiment the control unit is arranged for controlling the lateral position of the base in the lateral direction such that the cleaning tool is centered between the two side walls. Hence, the cleaning 5 tool can be centered between the two side walls, despite the misalignment of the container.

In a further embodiment the control unit is arranged for determining the center between the side walls at the location of the cleaning tool and for moving the 10 base in the lateral direction towards said determined center position. This embodiment works best when the cleaning tool can easily follow the position of the base in the lateral direction. Hence, a change in the position of the base is immediately reflected in the position of the 15 cleaning tool in the lateral direction. The cleaning tool may for example be provided with swivel wheels to facilitate movement in the lateral direction or the extendable member may be relatively rigid to forcefully impose the position of the base onto the cleaning tool.

In an alternative embodiment the control unit is arranged for determining the center between the side walls at the location of the cleaning tool and for moving the base in the lateral direction away from said determined center position during the extension of the extendable 25 member in the entry direction. This embodiment works best when the cleaning tool is not able to move easily together with the base in the lateral direction. Instead, the position of the base in the lateral direction can be used to counter-steer the cleaning tool such that it pivots towards the determined center and/or into alignment with the center line of the container.

In a preferred embodiment thereof the control unit is arranged for moving the base in the lateral direction towards said determined center position during a retraction of the extendable member in retraction direction opposite to the entry direction.

During the

retraction the direction. Hence, moving the base towards determined awards the determined center can actually cause the cleaning center and/or into the center line of the container.

In a further embodiment the control unit is arranged for continuously controlling the lateral position of the base in the lateral direction based on the detection signals from the one or more side detection sensors. By continuously controlling the lateral position of the base, the cleaning tool can be kept in an optimal position for cleaning throughout its operation.

In an alternative embodiment the control unit is arranged for controlling the lateral position of the base in the lateral direction when the cleaning tool is misaligned with respect to the center of container between the side walls and said misalignment exceeds a predetermined threshold value. By intermittently controlling the lateral position of the base, the one or more drives of the base can be operated less frequently, thus allowing them to cool down between movements. Also, less computing power is required at the control unit. Preferably, the threshold value is set in a range of two to twenty centimeters. Within said threshold value, the cleaning tool is still at an acceptable distance from both side wa11s.

In a further embodiment the cleaning system comprises one or more guiding members for guiding the movement of said base in the lateral direction. The base can be moved over the one or more guiding members more reliably and/or more accurately.

Preferably, the one or more guiding members are two rails extending mutually parallel in the lateral direction. The rails can ensure a linear movement of the base in the lateral direction. In a further embodiment thereof the base is provided with wheels for rolling over said rails, wherein the one or more drives are arranged for driving one or more of said wheels. By driving at least one of the wheels, the base can be moved in the lateral direction. Preferably, at least two wheels are driven to 5 prevent shearing; of the base relative to the rails.

In another embodiment the cleaning system comprises the cleaning tool, wherein the one or more side detection sensors are provided on the cleaning tool and wherein the control unit is operationally connected or 10 connectable to the one or more side detection sensors at said cleaning tool. With the cleaning tool included as part of the cleaning system, the control unit can be securely connected to the one or more side detection sensors.

Preferably, the cleaning tool is a washing head, 15 wherein the washing head comprises a coupling member for coupling the washing head to the distal end of the extendable member and a first brush assembly and a second brush assembly for cleaning the first side wall and the second side wall, respectively, in the lateral direction 20 and a third brush assembly and a fourth brush assembly for cleaning the bottom wall and the top wall, respectively, in a height direction perpendicular to the entry direction and the lateral direction, wherein each brush assembly comprises a brush and a brush holder for holding the 25 respective brush with respect to the coupling member, wherein either the first brush assembly and the second brush assembly are located in front of the third brush assembly and the fourth brush assembly and are movable with respect to the coupling member in the lateral direction or 30 the third brush assembly and the fourth brush assembly are located in front of the first brush assembly and the second brush assembly in the entry direction and are movable with respect to the coupling member in the height direction.

In a preferred embodiment thereof the third brush 35 assembly and the fourth brush assembly are located in front of the first brush assembly and the second brush assembly in the entry direction and are movable with respect to the coupling member in the height direction.

In a further embodiment the first brush assembly and the second brush assembly are fixed with respect to the coupling member in the lateral direction. As discussed 5 before, as the base is movable in the lateral direction, the cleaning tool itself does not require complex drives or actuators to facilitate adjustability in said lateral direction. In particular, the first brush assembly and the second brush assembly can simply be fixed to the coupling 10 member.

In a further embodiment the brushes of the first brush assembly and the second brush assembly define a first outer width of the washing head in the lateral direction and wherein the brushes of the third brush assembly and the 15 fourth brush assembly define a second outer width of the washing head in the lateral direction equal to or greater than the first outer width.

In a further embodiment the third brush assembly is movable in the height direction into a position in which 20 the brush of the third brush assembly partially extends in the height direction to a level below the lowest point of the brush of the first brush assembly and/or the second brush assembly. When the brush of the third brush assembly extends only partially below the brushes of the first brush 25 assembly and/or the second brush assembly, it. can contribute to cleaning the sidewalls, at least, at or near the bottom wall.

Additionally or alternatively, the fourth brush assembly is movable in the height direction into a position 30 in which the brush of the fourth brush assembly partially extends in the height direction to a level above the highest point of the brush of the first brush assembly and/or the second brush assembly.

In yet another embodiment the container has an 35 inclined bottom wall, wherein the base comprises a frame, wherein, the base end of the extendable member is hingably coupled to the frame so as to be pivotable about a pivot axis parallel or substantially parallel to the lateral direction, wherein the cleaning tool is provided with one or more wheels for running over the bottom wall and following the inclination of the bottom wall as the extendable member pivots about the pivot axis. The cleaning tool can thus automatically follow the inclination of the bottom wall by running with its one or more wheels over said bottom wall. The pivotable extendable member can provide the required freedom of movement.

In an embodiment thereof the base is further provided with a lifting member for pivoting the extendable member with respect to the frame about the pivot axis. By pivoting the extendable member, the height of the cleaning tool supported thereon can be adjusted to match the level of the bottom wall or to reduce the load at the cleaning tool.

In a further embodiment thereof the cleaning tool is provided with a load sensor for measuring the load on the cleaning tool. The measured load can be used as an indication whether the cleaning tool is correctly supported on the. bottom wall of the container.

In a further embodiment thereof the load sensor is arranged for actuating the lifting member when a threshold value for the load has been exceeded. The load increases when the extendable member is extended in the entry direction. The lifting member can compensate for i n c r e a s e d loads.

Preferably, the load sensor is a load cell that is located at the wheels of the cleaning tool. Hence, the

load can be measured	directly at the one or	more	wheels of
the cleaning tool.
According	to	a second	aspect,	I Η θ	invention
provides a method fo	K	cleaning the	inside	of a	container

with the use of the cleaning system according to any one of fore men t i οn e d of operationally ’ f—·

C.

position of the base in the

Γ*Ί L cleaning control un centered between the two

In a further position.

in lateral direction wi lateral such that one or implementation of the same pos ition of c?

side walls.

embodiment the center towards said an alternative embodiment determines the zts r-t f- pi hi between the side walls he base in rom said determined center tne lateral flirecrion away position during the extension of the extendable

base i	n the	lateral dire
center	posit	ion during	3
member	in a	retraction	di
directi	on.
	In	a further	en
control	unit	c o n t i n u o u s 1 y	c<
the ba;	se in	the lateral	di
signals	from	the one or mo	re
	In	an a1ternati	vs
cont r o.l	unit	controls the	1

towards said extendable c:

rection opposite to the entry diment of the method, the embodiment of the method, the ateral position of the base cleaning tool is misaligned exceeds a o threshold value.

Preferably, the threshold value a further embodiment

a.

situation in s positioned with its longitudinal ction offset over direction of the control unit controls the lateral position of the base based on the detection signals from the one or more side detection sensors to compensate for this offset.

In a further embodiment of the method, the container is provided with doors for opening and closing the trailing end of the container, wherein the method comprises the step of fixing the doors relative to the surroundings in a position in which the doors extend parallel or substantially parallel to the respective side walls. By fixing the doors in said position, the doors can be cleaned as the cleaning tool moves into and/or out of the container.

In a further embodiment of the method, the container has an inclined bottom wall, wherein the base comprises a frame, wherein the base end of the extendable member is hingably coupled to the frame so as to be pivotable about a pivot axis parallel or substantially parallel to the lateral direction, wherein the cleaning tool is provided with one or more wheels for running over the bottom wall and following the inclination of the bottom wall as the extendable member pivots about the pivot axis.

In a further embodiment thereof, the method further comprises the step of using a lifting member to pivot the extendable member about the pivot axis and thereby raising or lowering the cleaning tool relative to the base and/or the container.

In a further embodiment thereof the base is

provided	with	3 J. O 3 Ct	sensor for measuring the load on	the
cleaning	tool	-
	Pre	ferably,	the load sensor is arranged	Org γ'
actuating	the	lifting	member when a threshold value for	r 1-, p
load has	been	exceeded	.
	The	various	aspects and features described	and

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be elucidated on the basis of an exemplary embodiment shown in the attached schematic drawings, in which:

figures 1A-1F show side views of a cleaning system during the steps of a method for cleaning the inside of a container according to the invention;

figures 2A-2.C show top views of the cleaning system according to figures 1A-1F during steps of the method for cleaning the container;

figures 3A-3H show top views of the cleaning system according to figures 1A-1F during steps of an alternative method for cleaning the container;

figure 4 shows a side view of a detail of the cleaning system of figure 1A;

figure 5 shows an isometric view of a washing head of the cleaning system according to figure 1A;

	figure	6 shows	a cross	section of	the	washing
head	according to	line VI	- VI in fi	.gure 5; and
	figure	7 snows	a cross	section of	the	washing
head	according to	line VII	- VII in	figure 6.

system

DESCRIPTION

OF THE

system 1 may be used to clean

ion.

shipping containers or

Figure 1A shows a cleaning area 8 and a truck and trailer combination 9 that is positioned in said cleaning area 8 relative to the cleaning system 1. The truck and trailer combination 9 carries a container 90. The container 90 has a trailing end 91, a leading end 92 and a box like body formed by a plurality of walls extending between said trailing end 91 and said leading end 92 in a longitudinal direction L. As shown in top view in figure 2A, the container 90 has a center line C between the side walls 95, 96 parallel to said longitudinal direction L. The plurality of walls comprises a bottom wall 93 and a top wall 94, as shown in figure 1A, and a first side wall 95 and a second side wall 96, as shown in figure 2A. The container 90 may further include two doors 97, as shown in figure 2A, to open and close the trailing end 91 of the container 90. In figures 1A-1F, the second wall 96 has been hidden to expose the cleaning system 1 inside the container 90. Similarly,

in figures 2A--2C and 3A-	3H, the	top wall	94 has	been
hidden, to expose the	cleaning	system 1	inside	the
container 90.
The cleaning ar	•ea 8 comprises a	pit 81	for

receiving the truck and trailer combination 9 and a platform 82 for supporting the cleaning system 1 relative to the truck and trailer combination 9 in the pit 81. As shown in figure 2A, the pit 81 may comprise one or more lanes 83, 84 to receive one or more truck and trailer combinations 9. The truck and trailer combination 9 he trailing end 91 may means, e.g. by reachstacker or another contair case the truck, and trailer combination 9

angle towards the platform 82. As a result,

90, s bot om is same or substantially the same downwardly sloping angle he leading end 92 towards the such water, dirt and cleaning agents flushed influence of gravit the container be olaced on at the same downwardly such a case, there may be no pit or the pit may be level.

As shown in figure 1A, the cleaning system 1 comprises a base 2 that is arranged to remain outside of or external to the container 90 and an extendable member 3 that is extendable from said base 2 in an entry direction E through the trailing end 91 into the container 90 and towards the leading end 92 thereof. In this example, the base 2 comprises a frame 20 for holding various components of the cleaning system 1. The extendable member 3 is supported by and/or connected to the frame 20 of the base 2 in a manner that will be described in more detail hereaf ter .

As shown in figures 1A and 2A, the cleaning system 1 further comprises a cleaning tool 4 that is held by the extendable member 3 with respect to the base 2. In this exemplary embodiment, the cleaning tool 4 is a washing head 40 for washing the container 90. Alternatively, the cleaning system. 1 may be fitted with a different cleaning tool, e.g. a rinsing head or a drying head (not shown) . In yet another alternative embodiment, two or more cleaning systems may be provided (not shown)

may alternate to between rinsing, drying and/or other steps of a method for cleaning

inside of a container.

aid two or more cleaning systems could for example perform parallel cleaning processes in respective lanes 83, 84 in figure 2A.

As further shown in figure 2A, the base 2 is horizontally movable in a lateral direction T transverse, perpendicular or substantially perpendicular to the entry direction E of the extendable member 3 into different lateral positions relative to the container 90. In this example, the cleaning system 1 comprises one or more guiding members 10 for guiding the movement of said base 2 in the lateral direction T. More in particular, the one or more guiding members 10 are two rails 11, 12 extending mutually parallel in the lateral direction T. As best seen 5 in figure 1A, the base 2 is provided with wheels 21 for rolling over said rails 11, 12. Alternatively, the base 2 may be provided with wheels 21 that directly contact and run on the platform 82 of the cleaning area 8. The cleaning system 1 is further provided with one or more drives 22 for 10 driving the wheels 21, and thus the base 2, in the lateral direction T over the rails 11, 12, The base 2 further holds one or more reservoirs 23 for water and/or cleaning agents.

As best seen in figures 1A-1F, the extendable member 3 is steplessly and/or continuously extendable in 15 the entry direction E and retractable in a retraction direction R opposite to the entry direction E. The extendable member 3 has a base end 31 that is connected to the base 2 and a free end or distal end 32 that holds the cleaning tool 4. The base end 31 is preferably hingably 20 coupled to the frame 20 of the base 2 so as to be pivotable about a pivot axis P parallel or substantially parallel to the lateral direction T. The base 2 is further provided with a lifting member 24 for pivoting the extendable member 3 with respect to the frame 2 0 about the pivot axis P. The 25 lifting member 24 is preferably a hydraulic cylinder. By pivoting the extendable member 3 about the pivot axis P, the cleaning tool 4 at the distal end 32 of the extendable member 3 can be raised or lowered with respect to the base 2 and/or the container 90, e.g. to position the cleaning 30 tool 4 at the same level as the bottom wall 93 or to follow the sloping angle of said bottom wall 93 in the entry direction E as a result of the slope of the pit 81.

In this exemplary embodiment, the extendable member 3 is a telescopic boom having a plurality of boom 35 sections 33 that telescopically slide or roll into and out of one another. Each boom section 33 except for the boom section 33 closest to the distal end 32 are provided with a boom sections the the leading end 92 of the

9. The extendable member 3 may alt cl mechanism, for example

In figure member 3 extension of the extendable member 3 c on € airier show the direction owards the leading until the an extended position at said leading is cleaned by the cleaning tool 4. Figure IF shows that the direction R.

shown in figures 1A-1F, 2A-2C and 3A-3H is a washing head member is therefore connected to the via provided with one best seen figures ΊΑ-IF, for runnina or he bottom wall 93 o comprises irs

96, a third brush a part & 1 are additionally arranged for cleaning both side walls 95, 96 at or near the bottom wall 93 and at or near the top wall 94, respectively, in a manner that will be described hereafter in more detail.

As shown in detail in figure 4, the cleaning tool 4 may optionally be provided with a load sensor 63 for measuring the load on the cleaning tool 4. In this example, the load sensor 63 is a load cell that is located at the one or more wheels 62 of the cleaning tool 4, in particular between the one or more wheels 62 and the coupling member

6. Alternatively, the load may be derived from the pressure member member 24 may be actuated automatically when a threshold the tool 4 when the extendable member de ct is pivoted about

As the entry direction

i. f t i n g memb e r the oivot axis member 3 o effectively reduce the snown comprises a brush and a brush to

The brush holder 46 may be provided shield the coupling member 6 from cl _L S O additional spout or nozzles (not shown) for spraying and/or the walls

9.

rst assembly 41 and the second brush assembly 42 are rotatable with respect to their respective brush holders 46 about a first brush axis Bl and a second brush axis B2 parallel to said first brush axis Bl, respectively. Said first brush axis Bl and said second brush axis B2 preferably extend in an upright or vertical direction. The brushes 5 of the third brush assembly 43 and the fourth brush assembly 44

Γ1 holders 4 6 about a third brush axis B3 and a fourth brush axis B4 parallel to the third brush axis B3, respectively,.

Said third brush axis B3 and a fourth brush axis B4 extend perpendicular to the first brush axis Bl and the second brush axis B2, preferably in a level or horizontal 5 direction. Each brush assembly 41-44 further comprises a drive 47 for driving the rotation of the brushes 5 about their respective brush axes B1-B4.

Figure 7 shows the drive 47 in cross section at a center plane M of the brush 5, perpendicular to the brush 10 axis B4. The drive 47 comprises a motor 48 and a transmission member 49, e.g. a chain or belt, that is driven by said motor 48 and engages the brush 5 at the center plane M thereof, in a manner that will be described in more detail hereafter. By driving the brush 5 at the center plane M, the ends of said brush 5 can be kept free of any objects that could interfere with the ability of the brush 5 to clean the container 9.

As best seen in figure 6, the brush holders 46 of the first brush assembly 41 and the second brush assembly 20 42 are directly mounted and/or fixed to the coupling member and thus are arranged to remain stationary with respect to the coupling member 6 during cleaning. In other words, their respective brushes 5 are rotatable about the respective brush axes Bl, B2, while the brush axes Bl, B2 25 themselves do not move and/or translate with respect to the coupling member 6 in the lateral direction T. The first brush assembly 41 and the second brush assembly 42 may be fixed to the coupling member 6 at the position of their respective drives 47 or at any other position along the 30 coup1ing member 6.

In contrast, the brush holders 4 b of the third brush assembly 4 3 and the fourth brush assembly 44, as shown in figure 5, are connected to the coupling member 6 in a way so as to be movable in a height direction H 35 perpendicular to their respective brush axes B3, B4, the entry direction E and/or the lateral direction T. In particular, the coupling member 6 is provided with one or more linear guides 61 extending in the height direction H and the brush holders 46 of the third brush assembly 43 and the fourth brush assembly 44 are arranged to slide in said height direction H along the one or more linear guides 61. In this example, a linear drive (not shown) is provided between the coupling member 6 and the brush holders 46 of the third brush assembly 43 and the fourth brush assembly 4 4 for moving said brush holders 4 6 up and down along the one or more linear guides 61.

The third brush assembly 43 and the fourth brush assembly 44 are arranged in front of the first brush assembly 41 and the second brush assembly 42 in the entry direction E. Consequently, the brushes 5 of the third brush assembly 4.3 and the fourth brush assembly 4 4 are in a position to clean the leading end 92 of the container 90 when the washing head 40 is in the extended position of figures 1D-1F. By moving the third brush assembly 43 and the fourth brush assembly 44 up and down in the height direction H, the entire surface of the leading end 92 of the container 9 can be cleaned.

It will be apparent to one skilled in the art that in an alternative embodiment (not shown) , the third brush assembly 43 and the fourth brush assembly 44 may be fixed to the coupling member 6 and the first brush assembly 41 and the second brush assembly 4 2 are movable in the lateral direction T with respect to the third brush assembly 43 and the fourth brush assembly 44, respectively. In that case, the one or more linear guides 61 extend in the lateral direction T. The first brush assembly 41 and the second brush assembly 42 would be in front of the third brush assembly 43 and the fourth brush assembly 44 to clean the leading end 92 of the container 90.

Figure 6 shows the brush 5 of the fourth brush assembly 44 in cross section. Said brush 5 is exemplary for the brushes 5 of the other brush assemblies 41-43. Said brush 5 comprises a brush core 50 extending in and/or defining the direction of the respective brush axis B4.

Preferably, the brush core 50 is the same for all of the brushes 5. The brush 5 further comprises one or more bristle sections 51-54 arranged side-by-side in a direction parallel to the respective brush axis B4. Each bristle 5 section 51-54 comprises a plurality of bristles distributed in a circumferential direction about the brush core 50 and extending radially outwards from, said brush core 50. In this exemplary embodiment, the brush core 50 has a core diameter DI in the range of ten to twenty-five centimeters.

The bristles of the bristle sections 51-54, when uncompressed, form a circumferential brush surface with a brush diameter D2 in the range of forty to one-hundred centimeters .

As best seen in figure 5, the brushes 5 of the 15 first brush assembly 41 and the second brush assembly 42

comprise	a main	part 5 5.	The brushes 5 of	the	thi	rd	brush
assembly	4 3 and	the fourt	h brush assembly	4 4 a	re	pre	jvided
with the	same ma	in part 5	5 that is extend	ed on	bo	th	sides
in the dl	.rection	of their	respective brush	axes	B3,	rz	1 with

an additional, separately mountable extension part 56.

Hence, all brushes 5 can be assembled in substantially the same manner out of the same main part 55 and an optional extension part 56, thus significantly simplifying the construction thereof. As shown in figure 6, the main part 25 55 of the brush 5 has a first length XI in a direction parallel to the respective brush axis B4. The combination of the main part. 55 and the extension parts 56 on either side of the main part 55 has a second length X2 in a direction parallel to the respective brush axis B4.

As further shown in figure 6, the brush 5 comprises a central bristle section 51 on either side of the center plane [4, followed on either side by a main

bristle .	section 52, an rei	nforcement bristle	section	53 and
a side b	ristle section 54.	The central bristl	e secti	ons 51,
the main	bristle sections	52 and the reinfor	cement	bristle
sections	53 form the main	part 55 of the bru	sh 5. T	he side
bristle	section 54 forms	the extension part	5 6 on	θ ί r η θ p

side of the main part 55.

The bristles at the central bristle sections 51 are pointed slightly towards each other from, opposite side of the center plane M to substantially close the circumferential brush surface around the connection of the

drive	47 to the brush c	r e 30	at	said center plane M. In
partic	ular, it can be	observed	in figure 6 that the
transm	ission member 49	extends	from	the motor 4 8 to the
brush	core 50 through	a gap	57	ir	ί between the central
bristle sections 51, wh	ich gap	57		5 substantially closed

at the outside of the brush 5 by the at least partially overlapping bristles of the respective central bristle sections 51.

The bristles at the main bristle sections 52 are arranged for cleaning surfaces of the container 90 in or substantially in the circumferential direction of the brush

5. In this particular example, the bristles in the main bristle sections 52 have a cross shaped or X-shaped profile (not shown) so that the bristles not only clean at their respective outer ends, but also at the sides along the length of the bristles.

The bristles at the reinforcement bristle sections 53 are more resilient than the bristles of the adjacently located main bristle sections 52 and are pointed slightly towards said adjacently located main bristle sections 52. At such orientation, the bristles of the reinforcement bristle sections 53 form a less flexible ring at one side of the adjacently main bristle sections 52 that can prevent that the bristles of said adjacently located main bristle sections 52 slack under the influence of gravity. This is particularly relevant for the vertically extending brushes 5 of the first brush assembly 41 and the second brush assembly 42 in figure 5. The bristles at the reinforcement bristle sections s3 are oreferablv mounted to o ü;

X 1 15 again more rigid, less flexible and/or less resilient than

the bristles of the reinforcement bristle contrast to

extend under an oblique angle with respect to the respective brush axis B4 and are pointed in a direction away from the center plane M to clean surfaces of the container 90 both in the circumferential direction and at the sides of the brush 5. Hence, the side bristle sections are particularly useful for cleaning at least part of the sidewalls 95, 96 as shown in figure 2A and/or the

corners	between	said sidewalls	95, 96, the bot/	tom wall	93
and the	top wall	94 in figure 1	A. The bristles	of the si	.de
bristle	sections	54 are mounted	to a detachable	end secti
or end ¹	cap 59 of	the brush core	50.
	As can	be observed in	figure 5, the b	rushes 5	of

the first brush assembly 41 and the second brush assembly d i r ect ion T, i n

width	W1 of the	washing head	40	in the	lateral direct!	Q7-O ψ
from	the brush	5 of the	fir	’St	brush	assembly 41 to	the
brush	5 of the	second br	ush	as	sembly	42, including t	.heir
respective uncompressed	brus	K	diameters D2. Said f	first

the is or width

96.

such that compressed or bend of the brushes with pressure ypical. container, as shown in of a pp r o x i ma t e1y e side

W1 should preferably be

The resilience of the bristles means

θ Ώ t ID Θ t θ y* S

brush assembly 41 and the second brush assembly 42 and/or without the need to make the first brush assembly 41 and the second brush assembly 42 movable.

It can further be observed from figure 5 that the brushes 5 of the first brush assembly 41 and the second brush assembly 42 have a first length XI in the height direction H that is less than the height between the bottom, wall 93 and the top wall 94 of the container 90 in figure 1A. Hence, the first brush assembly 41 and the second brush assembly 42 according to the exemplary embodiment as shown

are not	capable	of cleaning the	entire height	of the	side
walls 94,	95 .
	The th	ird brush assemb	ly 4 3 and the	fourth t	jrusn
assembly	44 are	however movable	in the height	directi	on H

into a position in which their brushes 5 extend partially beyond the brushes 5 of the first brush assembly 41 and the second brush assembly 42 in said height direction H. Moreover, as previously discussed and shown in figure 6, the brushes 5 of the third brush assembly 43 and the fourth brush assembly 44 are provided with extension parts 56 that extend the length of said brushes 5 to the second length

X2. Hence, as shown in figure 5, the brushes 5 of the third brush assembly 43 and the fourth brush assembly 44 define a second outer width W2 of the washing head 4 0 equal to the second length X2 in the lateral direction T. Said second outer width W2 is preferably equal to or greater than the first outer width W1 defined by the brushes 5 of the first brush assembly 41 and the second brush assembly 42. Consequently, the brushes 5 of the third brush assembly 43 and the fourth brush assembly 44 - if positioned correctly

- are capable of cleaning the remaining surfaces of the side walls 94, 95 during the extension of the extendable member 3 in the entry direction E in figures 2A-2C. Hence, in combination, the third brush assembly 43 and the fourth brush assembly 44 supplement the first brush assembly 41 and the second brush assembly 42.

As shown in figure 2A, the cleaning system 1 sensor are operationally connectable to relative to the container detectina the the container cleaning tool to ne control relative position more may add: and/or a detecting particular, the cleaning tne

95,

T.

or tor the

94, bottom /3 are said •~7

72,

3 mav on the extendable member 3 plural laser other of or near tne tool are

4. Preferably, laser sensors.

the

The beams are schematically snow:

wit radar or

The cleaning system 1 may additionally comprise an extension sensor 74 for detecting the distance between the cleaning tool 4 and the base 2 in the entry direction 30 E. Said extension sensor 7 4 may be arranged on either the base 2, the extendable member 3 or the cleaning tool 4.

The control unit 7 is further operationally and/or electronically connected or connectable to the one or more drives 22 of the base 2 for controlling said one or 35 more drives 22 in response to detection signals received from the plurality of sensors 71-74. In particular, said control unit 7 is arranged for controlling the lateral position sensors 7 of the base 2 with respect to the container 90 detection signals from, the one side detection .

The control unit 7 may also be operationally and/or electronically connected or connectable to the load sensor 63 as shown in figure 4 to actively control the angular position of the extendable member 3 about the pivot axis P in. response to the measured load or to determine whether the cleaning tool 4 has been correctly placed and/or supported on the bottom wall 93 of the container 9.

A method for cleaning the inside of a container 90 using the previously discussed cleaning system 1 will be elucidated below’ with reference to figures 1A-1F, 2A-2C and 4-7 .

Figure 1Ά shows the situation in which the base 2 of the cleaning system 1 is positioned opposite to the trailing end 91 of the container 90 and wherein, the cleaning tool 4 is positioned at said trailing end 91 to start the cleaning operation. The doors 97 of the container 90 have been opened and are optionally fixed with respect to the surroundings, preferably in an orientation in. which the cleaning tool 4 can also clean said doors 97. More preferably, the doors 97 are fixed in an orientation in which they extend parallel or substantially parallel to the respective side walls 95, 96.

Depending on the height of the bottom wall 93 at the trailing end 91 of the container 90 relative to the platform 81, the lifting member 24 may be operated to lift the extendable member 3, and consequently the cleaning tool 4 supported thereon to an appropriate height. The load sensor 63 at the one or more wheels 62 can be used to determine whether the cleaning tool 4 has been correctly placed and/or supported on the bottom wall 93. The same situation is shown in top view in figure 2A. As shown in figure 2A, the truck-trailer combination 9 is not perfectly positioned in the lane 83 and - as a result - the longitudinal direction L or the center line C of the container 90 is offset over a small oblique angle A, e.g. one or two degrees, with respect to the entry direction E of the extendable member 3. The control unit 7 may be configured, programmed or arranged for automatically compensating for this offset by adjusting the lateral position of the base 2 in the lateral direction T based on detection signals from the one or more side detection sensors 71 such that the cleaning tool 4, at least at the start of the cleaning operation, is centered between the 10 two side walls 95, 96 at the trailing end 91 of the container 90. During the approach of the cleaning tool 4 towards the trailing end 91 of the container 9, the cleaning tool 4 may already be activated to clean the doors 97 of the container 90.

Figures IB and 1C show steps of an extension stroke in which the extendable member 3 is extended to move the cleaning tool 4, in this example in the form of a washing head 40, into the container 90 in the entry direction E. During said extension stroke the nozzles (not 20 shown) may be activated to spray cleaning agents onto the inside of the container 90. Optionally, the brushes may already be rotated to apply or at least partially clean the walls of the container 90. In this example however, the brushes are not actively cleaning the inside of the 25 container 90 during the extension stroke.

Figures IB and 1C show two steps of extending the extendable member 3 in the entry direction E over the extension stroke towards the leading end 92 of the container 90 while the cleaning tool 4 moves along the 30 inside of the container 90 to spray cleaning agents on and/or at least partially clean the respective walls 93--96. Figures 2B and 2C show the same two steps in top view.

During the extension of the extendable member 3 in the entry direction E, the one or more side detection sensors 35 71 may intermittently or continuously detect one or both side walls 93 and send corresponding detection signals to the control unit 7. The control unit 7 can subsequently determine the center between the side walls 95, 96 at the position of the cleaning tool 4 at different stages of the extension of the extendable member 3 in the entry direction E. The control unit 7 subsequently determines whether the cleaning tool 4 is still centered between the side walls 95, 96. The control unit 7 is configured, programmed or arranged to continuously control the drives 22 in the base 2 to adjust the lateral position of said base 2 towards the determined center between the side walls 95, 96 such that the cleaning tool 4 continuously remains in the center and/or close to the center line C of the container 90 between the side walls 95, 96. Alternatively, as schematically shown in figures 2B and 2C, the control unit 7 may be configured, programmed or arranged to control the drives 22 in the base 2 to adjust the lateral position of said base 2 only when the misalignment of the cleaning tool 4 with respect to the center of container 90 between the side walls 95, 96 exceeds a predetermined threshold value. Said threshold value may for example be set in the range of two to twenty centimeters.

Figures 1C, ID and IE show the steps of cleaning the leading end 92 of the container 90, specifically when using the cleaning tool 4 in the form of the washing head 40. Once the extendable member 3 is extended such that the third brush assembly 43 and the fourth brush assembly 44 contact the leading end 92 of the container 90, the extension stroke of the extendable member 3 in the entry direction E is completed. The washing head 40 is now ready

to clean t	he 1	ending end 92 of t	he container	9 0	prior to a
retraction	str-.	ske of the washing	head 40 in	the	retraction
direction	R. I	n figure 1C, when	the washing	he a	d 40 first
arrives at	the	leading end 92 of	the containe	r 2,	the third

brush assembly 4 3 and the fourth brush assembly 4 4 may be moved apart in the height direction H into contact with the

bottom wall	93 and t	he top wall 94,	respect	lively, at or
near the lea	ding end	92. The brushes	; 5 ma y	be driven in
rotation -	if not	rotating alread	[y. The	third brush

assembly 4 3 and the moved directly into

4 may also be in figure ID or

IE brush assembly 4 4 has proximity to, at, above or directly above assembly 43 shows he situation in

Clean trie rower half or end 92. It

W.T. 11 be apparent to one skilled t h a t a 11 e r n a t i v e 1 y, be moved upwards into close proximity o, at, below or directly below t both brush assemblies 4 3, 4 4 may subsequently be which has substantially the same result.

the shown sembly 4 3 and the fourth washing head 4 are moved height direction towards and into contact with the bottom detection signals from

94, may be configur espectively. The control unit

ed_z	programmed or	arranged	for
linci	said brush assei	rnblies	43,	44
W a. 1. J_	93 and the top wall 94 t	>ased	on
	bottom detection	sensor	72	and

the third brush brush 5 thereof to a below and the second brush assembly 42, the third brush assembly 43 can simultaneously clean the bottom wall 93, at least part of the side walls 95, 96 and the corners between the side walls 95, 96 and the bottom wall 93. Similarly, by moving the fourth brush assembly 44 into a position in which the brush 5 thereof extends in the height direction H to a level above the highest point of the brushes 5 of the first brush assembly 41 and the second brush assembly 42, the fourth brush assembly 44 can simultaneously clean the top wall 94, at least part of the side walls 95, 96 and the corners between the side walls 95, 96 and the top wall 94.

In other words, with the brushes 5 of the third brush assembly 43 and the fourth brush assembly 44 maximally spaced apart in the height direction H, the height of the washing head 4 0 at the third brush assembly 4 3 and the fourth brush assembly 44 is greater than the first length 0 XI of the brushes 5.

The movability and/or strategic positioning of the third brush assembly 43 and the fourth brush assembly

4 4 relative to the first	: brush assembly	41 and the second
brush assembly 42 means	that	the washing	head 40 according
to the invention can be	easi	ly adapted t	:o clean containers
90 with varying heights.	In	particular,	containers 90 with
heights in the range of	the	length XI of the brushes 5 of

the first brush assembly 41 and the second brush assembly in the height direction H to said length XI plus the extra height covered by the brushes 5 of the third brush assembly 43 and the fourth brush assembly 44 can be cleaned reliably. The extra height is preferably equal to the sum of the two radii of the brushes 5 of the third brush assembly 43 and the fourth brush assembly 44, which is the same as the second diameter D2 of one of said brushes 5, as shown in figure 6. In this particular example, the washing head 40 is capable of washing the entire height of containers 90 have a height in the range of two meters and fifteen centimeters to two meters and seventy centimeters.

Figure IF schematically shows the cleaning tool 4 ready for the retraction stroke in the retraction direction

R. During this retraction stroke, the control unit 7 may similarly control the position of the base 2 in response to the detection signals from the one or more side detection sensors 71 to keep the cleaning tool 4 centered between the side walls 95, 96. During the retraction stroke of the extendable member 3 in the retraction direction R, the rotation direction of the brushes 5 at the washing head 40 may be reversed to aid the flushing out of water, cleaning agents and/or dirt. This flushing out is promoted further by the downwardly sloping angle of the pit 81 towards the platform 82.

In the method above, it is assumed that the cleaning tool 4 can easily follow the position of the base 2 in the lateral direction T towards the determined center between the side walls 95, 96 without substantial friction. In order to reduce friction, the one or more wheels 63 of the cleaning tool 4 may be formed as one or more swivel wheels. Optionally, the extendable member 3 can be made relatively rigid to cause the cleaning tool 4 to follow the movements of the base 2 in the lateral direction T.

In practice however, the one or more wheels 63 are fixed to keep the cleaning tool 4 in the right track. This has the drawback that when the base 2 is moved in the lateral direction T as the cleaning tool 4 is extended into the container 90, corrections of the base 2 away from the side walls 95, 96 towards the determined center between said side walls 95, 96 actually cause a pivoting of the cleaning) tool 4 in the opposite direction, thereby steering said cleaning tool 4 into the side wall 95, 96 from which the base 2 is moving away. Figures 3A-3H show steps of an alternative method in which this pivoting of the cleaning tool 4 is actually used advantageously to steer the cleaning tool 4 away from the side walls 95, 96 and keep it centered or substantially centered within the container 90.

	As	shown m figures 3A	and 3B, the	cleaning tool
4 is init:	Lal	ly extended into the	container 9	in the entry
direction	E '	without correction in	the lateral	direction L.
In figure	Ό Τ'* s gs	, the cleaning tool	4 starts to	approach the

second side wall 96. The one or more side detection sensors 71 send signals representative of the off-center position of the cleaning tool 4 to the control unit 7. As shown in figure 3C, the control unit 7 subsequently controls the one 02? mo po o^ivos 22 of too base 2 to move said base 2 in the ie determined center between away from th tends to in the

tool 4 remains	in	its off-center position	. The base 2	is
now positioned	at	an angle behind the c	leaning tool	4,
considered in	the	extension direction E.	This causes	the

cleaning tool 4 to pivot slightly towards the determined center position and/or into alignment with the center line is

a.s shown in figures sD and 3E, it is actually steered towards and/or into he container

90, alignment with the center line C of the container 90.

This counter-steering of the base 2 behind cleaning tool container 90 has proven more effective than actually trying to force the cleaning tool 4 to move together with the between pivoted cleaning tool 4 and the ma n u f a ct u ri ng t h e extendable (for example or bv providing tolerances betwe boom sections 32 member 3. In particular, as shown in figures 3C, cleaning tool be increased as more boorn can effectively

It is noted that in this alternative method, the counter-steering of the base 2 behind the cleaning tool 4 does not apply during the retraction stroke in the retraction direction R, as shown in figures 3F, 3G and 3H. During the retraction of the cleaning tool 4, the base 2 is located in front of the cleaning tool 4, considered in the retraction direction R. Hence, the base 2 should now be moved in the lateral direction T towards determined center between the side walls 95, 96 so that the cleaning tool 4 pivots towards and/or into alignment with the center line C of the container 90.

It is to be understood that the above description 5 is included to illustrate the operation of the preferred, embodiments and is not meant to limit the scope of the invention. From the above discussion, many variations will be apparent to one skilled in the art that would yet be encompassed by the scope of the present invention.

Claims

CONCLUSIONS

Cleaning system (1) for the container with a provisional trailing end (92) and a box-shaped end (1) comprising a base (3) which is expandable insertion direction (E) through its leading end (92), (1) or more the or

T.

on the (E), the one connected to the cleaning tool (4), the expandable part or the cleaning tool (4) having a the (90), the one being with the one received ngeric for the hedgehogs in the

On the side of one or more side detection sensors (71)

Schematic diagram wherein the control unit (7) is from the lateral position in the direction (T) such that it is centered between

2, where determining location of r *

2, wherein determining the movement of the v 1 (1) according to claim 1, the two side walls (95, 96).

Cleaning system (1) according to claim the control unit (7) is arranged the center between the side walls (95, the cleaning tool (4) and the base (2) in the lateral direction to the determined center position.

Cleaning system (1) according to claim the control unit (7) is arranged for the center between the side walls (95, 96) at the cleaning tool (4) and for the base (2) in the lateral direction (T)

96) in front of (4) or the determined center position during the expandable part (3) in the insertion direction

A cleaning system wherein the control unit (7) is asis (2) in the lateral claim of

v 3 n the B. from the from it teg engesi

(1) according to arranged for moving direction (T) in the direction during the retracting stretching direction (R) a terur

4, previous to the insertion direction

The cleaning system claims, wherein (1 is the richer

7. Cleaning system (1) according to any of claims 1-5, wherein the control unit is adapted to control the lateral position of the base (2) in the lateral direction (T) when the cleaning tool (4) is misaligned. with respect to the center of the container (90) between the side walls (95, 96) and when the misalignment exceeds a predetermined threshold value.

Cleaning system (1) according to claim 7, wherein the threshold value is set in a range of two to twenty centimeters.

9. Cleaning system (1) according to one of the preceding claims, wherein the cleaning system (1) comprises one or more guide parts (10) for guiding the movement of the base (2) in the lateral direction (T).

10. Cleaning system (1) according to claim 9, wherein the one or more guide parts (10) have two rails (11,

12) which extend parallel to each other in the lateral direction (T).

11. Choo nma a k system (1 ) according to concli Lisie 10, 5 at which is the base (2) to provide of wheels (21) for the roll over the rails / η i η \ wherein the one Or ΙΠΘΘΤ drive (22) furnished for the drive jven from one or more who 1.and (21).

12. Cleaning system (1) according to one of the

Previous claims, wherein the cleaning system (1) comprises the cleaning tool (4), wherein the one or more side detection sensors (71) are provided on the cleaning tool (4) and wherein the control unit (7) is operationally connected or connectable to the one or more side detection sensors (71) at the cleaning tool (4).

The cleaning system (1) according to claim 12, wherein the cleaning tool (4) is a washing head (40), wherein the washing head (40) comprises a coupling part (6) for

30 coupling the washing head (40) to the distal end (32) of the expandable member (3) and a first brush assembly (41) and a second brush assembly (42) for cleaning the first side wall (95) and the second side wall (96) in the lateral direction (T) perpendicular to the insertion direction (E) and a third brush assembly (43) and a fourth brush assembly (44) for cleaning the bottom wall (93) and the top wall (94), respectively a height direction (H) perpendicular to the insertion direction (E) and the lateral direction (T), wherein each brush assembly (41-44) comprises a brush (5), and a brush holder (4 6) for holding the respective brush ( 5) relative to the coupling part (6), wherein either the first brush assembly (41) and the second brush assembly (42) are located in front of the third breast 1. joint 1 (43) and the fourth brush assembly (44) and movable with respect to the coupling part (6) in the lateral direction ng (T) or the third brush assembly (43) and being located in front of the first second brush assembly (42) are movable with respect to the fourth brush assembly (44) and the brush assembly (41) and in the insertion direction (E) and from the coupling member (6) ) in the height direction (H).

A cleaning system (1) according to claim 13, wherein the third brush assembly (43) and the fourth brush assembly (44) are located in front of the first brush assembly (41) and the second brush assembly (42) in the insertion direction (E) and are movable to relative to the coupling part (6) in the height direction (H).

15. Cleaning system. (1) according to claim 14, wherein the first brush assembly (41) and the second brush assembly (42) are fixed relative to the coupling member (6) in the lateral direction (T).

Cleaning system (1) according to claim 14 or

15, wherein the brushes (5) of the first brush assembly (41) and the second brush assembly (42) define a first outer width (W1) of the washing head (40) in the lateral direction (T) and wherein the brushes (5) of the third brush assembly (43) and fourth brush assembly (44) define a second outer width (W2) of the washing head (40) in the lateral direction (T) equal to or larger than the first outer width (W1).

A cleaning system (1) according to any of claims 14-16, wherein the third brush assembly (43) is movable in the height direction (H) to a position in which the brush (5) of the third (43) is the height direction (H) at the lowest point of the second brush assembly 42).

according to one

18. Cleaning system

14-17, wherein the fourth brush assembly (1) is movable in which the bore (5) of the fourth brush extends from level above the second brush assembly (42).

a the fringe (20) the

19. Cleaning system

adjusting assembly (41) and / or it (1) according to a der the container (9) a below (93), wherein the 03 S 1 S near the basic suite in the \ 3 1 /

with the cleaning tool provided with one or more wheels (62) pivoting about the bottom wall (93) and following the angle of the bottom wall around the swivel greenhouse

or

19, wherein the base (2) is further provided (24) for pivoting the expandable member (3)

in comparison to the frame (20) round the pivot axis (P). 30 21 . Cleaning system (1 ) according to one of the conclusions 18-20, where the sc cleaning tool (4) provided of a load sensor (63) for measuring the charge on it; s c h o o nma a kg e r e d s c h ap (4 ). 22 . Cleaning system f 1 ') according to claims 20

and 21, wherein the load sensor (63) is adapted to actuate the lifting member (24) when a threshold value for the load has been exceeded.

3'7

The cleaning system (1) according to claim 21 or 22, wherein the load sensor (63) is a load cell located at the one or more wheels (62) of the cleaning tool (4).

A method of cleaning the inside of a container (90) using the cleaning system (1) according to any of the preceding claims, wherein the method comprises the steps of operatively connecting the control unit (7) to the one or more side detection sensors (71) for receiving detection signals and controlling the lateral position of the base (2) in the lateral direction (T) with the control unit (7) based on the detection signals of the one or more side detection sensors (71).

The method of claim 24, wherein the control unit (7) controls the lateral position of the base (2) in the lateral direction (T) such that the cleaning tool (4) is centered between the two side walls (95, 96).

A method according to claim 24 or 25, wherein the control unit (7) determines the center between the side walls (95, 96) at the location of the cleaning tool (4) and the base (2) moves in the lateral direction (T) in the direction of the determined center position.

A method according to claim 24 or 25, wherein the control unit (7) determines the center between the side walls (95, 96) at the location of the cleaning tool (4) and the base (2) moves away in the lateral direction (T) of the determined center position during the expansion of the expandable member (3) in the insertion direction (E).

A method according to claim 27, wherein the control unit (7) moves the base (2) in the lateral direction (T) in the direction of the determined center position during the retraction of the expandable part (3) in a retraction direction (R) to the insertion direction (E).

The method according to any of claims 24-28, wherein the control unit (7) continuously controls the lateral position of the base (2) in the lateral direction (T) based on the detection signals of the one or more side detection sensors (71).

30. Method according to any of claims 24-28, wherein the control unit (7) controls the lateral position of the base (2) in the lateral direction (T) when the cleaning tool (4) is misaligned with respect to the center of the container (90) between the 10 side walls (95, 96) and the misalignment exceeds a predetermined threshold value.

The method of claim 30, wherein the threshold value is set within a range of two to twenty centimeters.

32. Method as claimed in any of the claims 24-31, wherein, in a situation in which the container (90) is positioned with the longitudinal direction (L) offset by an oblique angle (A) relative to the insertion direction (E) of the expandable part (3), the control unit (7) the

Controls lateral position of the base (2) based on the detection signals of the one or more side detection sensors (71) to compensate for this shift.

A method according to any of claims 24-32, wherein the container (90) is provided with doors (97) for opening and closing the trailing end (92) of the container (90), the method comprising the step of fixing the doors (97) with respect to a position in which parallel or basically parallel to the walls (95,

96).

34. Method according to

29, has a bottom wall (93), the base (2) including a frame (20), the base end (31) of the expandable

The part (3) is pivotally coupled to the frame (20) so as to be pivotable about a pivot axis (P) parallel or substantially parallel to the lateral direction (T), wherein the cleaning tool (4) is provided with one or more wheels (62) for running over the bottom wall (93) and following the corner of the bottom wall (93) while the expandable part (3) pivots about the pivot axis (P).

35. The method of claim 34, wherein the method further comprises the step of using a lifting member (24) to pivot the expandable member (3) about the pivot axis (P) and thereby lifting or lowering the cleaning tool (4). ) with respect to the base (2) 10 and / or the container (90).

36. Method according to claim 34 or 35, wherein the base (2) is provided with a load sensor (63) for measuring the load on the cleaning tool (4) and for activating the lifting part (24) when a threshold value for the load has been exceeded.

r-> CO «—ι

S η ψ ψ φ

-ΜΦ <- ω

5 / B2 pq

The invention relates to a cleaning system, and a method for cleaning the inside of a. Container, wherein the system comprises a base and an extendable member that is extendable from said base in an entry direction, where 5 the system is provided with one or more drives for moving said base in a lateral direction, the extendable member is arranged for holding a cleaning tool, the extendable member or the cleaning tool is provided with one or more side detection sensors for detecting the side walls 10 of the container, includes the control unit that is operationally connected to the one or more drives and that is operationally connectable to the one or more side detection, sensors, the control unit is arranged for controlling the lateral position of 15 the base in the lateral direction based on the detection signals from the one or more side detection sensors.

COOPERATION TREATY (PCT)

IDENTFICATION OF THE NATIONAL APPLICATION CHARACTERISTICS OF THE APPLICANT OR OF THE AGENT NLP2Ö2584A Dutch application no. ₍ 2020441 submission date 15-02-2018 Called priority daiun · Applicant (Name! WCC Holding B.V. Date of .hei request for an international type examination 24-03-2018 Dog? the body conducts an international investigation The request for an investigation of international type is no. SN70961 I. CLA j of differing classifications. aifs oias ^ ttaffieymtofen cpgevsn) SSIFICATION OF THE SUBJECT (for application) Incidentally, the internations-e c-assimilation (IPCj B60S3 / 00; B08B9 / 08 II. TECHNICAL FIELDS EXAMINED Researched rainimum do-mentation Classification system Cialification Symptoms IPC B60S: B08B Onrfefztxihte awfefs? documentation. then efe mtNtrum riotaj meditation. to the extent that such documents relate to the areas under investigation χψ> 111. NO INVESTIGATION POSSIBLE FOR CERTAIN CONCLUSIONS (see note and on request) IV. LACK OF UNIT OF INVENTION (oprnorki-ngran on supplement sheet)

Form PCT / ISA 2G1 A (11> '2000)

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RESULT OF RESEARCH INTO THE STAND

OF THE TECHNIQUE OF THE INTERNATIONAL TYPE fiUmtnw of t> et v «izöeK for an exploratory search for sla staati vast tte taehntók

A. CLASSIFICATION OF THE PROPERTY. Inv. B60S3 / 00 B08SS / 08 ADD. Voigena d »inteffonate öfassiffcat® of patents (1FC) · or 'both according to d» rustiorisfe oiassrfeafe ai »according to the -iFC .: ft. ^ PE ^ ppHTegSBKP ^ tVANPETSPHWK C-nderzoobic trunwwn ttocymentafia (oiasfteation followed by eisasifesttesymfeoiw) D50S B08B Ondarzashte ajid ^ te d & cufflientatte than <too minimal description, vöö? tferge: ifKe dercumants. to the extent that «at the same time # dwjuntents in the öaderzöiïbte g ^ toteefen ϊφ> taken During the search for orchestras consulted elektraoiscke gegevensbestarüfen (name of the databases and, where practicable, keywords used) EPO-Internal, WPI Data c. va »selang gêaghïê óöcümêntê» Category ¹⁵ (• tented by> you race rites _} eventuee: with indication of specially important passages From beta voyage C5rt <ih, tete nr a a US 4 112 533 A (BRAGER DOUGLAS R) September 12, 1978 (1978 -9-12) * column 3, line 1 - column 6, line 9 * * figures 1 ~ 5 * GB 2 299 77Ö A (SYSTEMS [GB]) October 16, 1996 (1996-10-16) * page 2, line 1 - line 7 * * page 3, line 18 - page 4, line 30 * * figures 1.-3 * 1-31 1-31 Further documents are mentioned in the case of box C LSD & fi of daïelfcia twimoifaniife are verir. ^ IH in etn heJage * Spectate <: ήΐίφο: Ί · && η from .w ^ fthaakfe daaumentoft * p fiicj ^ Diogsdotijmfji tfe vaorongedawm gepubitahtrcte. _A. ₄ K _v , ütemtuur dis with incriminating 1¾ for the wAtooiaanvi sge. A- category X or ƒ concrete taahjw that disregarded the status of the but _ww dt venwid tor ^ of do ttoora or tefinotekbeaehtyfl the principle det grandstay ugt «of the tatetnding 'D ¹ ' in ds ocifcotaa'w ^ i avoided * Χ * the owtoiuete is considered aetriwu * or otet inventive ert * more honestly octtOOiiöA ^ v-aqeX published on orha de indtahihg-sdsfom. inventive protection ton npzidhto T kterawar mentioned for other reasons combining this touristic with other substantiated a 'ÏÏs' ^ Ï'SXSÏXÏX ™ '·' w: fus «fi« M »WwWn ® ^π de iadteningSdaium published fitettsteerde sdocteiftee steo viga desiamstiamdeiamstiamsti ®st «ssiptMaatte ' The date on which the investigation of the international state of affairs was completed 11 October 2Θ18 Protect them from the research of the state of the art vatï intemaikjni ^ ty}> e Name and ad: es van (too instant ^ · E.uropsar · Potent Offioe. P 8.'5818 Patentfean-2 NL · 228Ö HV RWijk Tel. i-HSK'G 340-2040, Pay (+ 31-7Ö) M0-3016 The competent official Heijnen, Philip

Fctwistef Ft'lïl ^ A / Süt (twi-da b & aï page 1 of 2

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OF THE TECHNIQUE OF THE INTERNATIONAL TYPE OF FIUmtnw from t> atveizóeK to take a pleasurable look to be established by feehntók

NL 202Θ441

0 {V &! Voig) FROM SSLANG <3LAUGHTER DOCUMENTS Category "" <s «-eii er er: de0Autasrttan,: ®venty & ai BWt-aaeKSMidM'nig ^ vsè.spaeiaaUsii not useful« 4th passages: From betang for ccifichjat »nr. a a a a WO 2011/141354 Al (MICHAUD GROS0ENOIT FREDERIC [FR]) November 17, 2811 (2011-11-17) * page 14, line 28 - page 15, line 1 * * page 15, line 27 - page 17, line 18 * * figures 4,5 * EP 1 156 903 A2 (IWD APS [DK]) January 2, 2002 (2002-91-02) * paragraph [0008] * * paragraph [0014] * * paragraph [0032] - paragraph [0035] * * figures 1.6 * EP 2 Θ08 728 A1 (PROYECTOS Y REALIZACIONES SAN [ES]) 31 December 2908 (2008-12-31) * paragraph [0030] - paragraph [0836] * * figure 4 * EP 0 571 332 A1 (LAVY SA [CH]) November 24, 1993 (1993-11-24) * column 2, line 46 - line 55 * * column 5, line 38 - column 7, line 29 * * figures 3-6 * 1-31 1-31 1-31 1-31

FölWiSitef '* CT / i £ ^; A / 2Ü1 (v & IVOfd page 2 of 2 'rtummêrèanFelvêïJoek crneenonÊfejzeek to the stand coat ·· the teahiiiek

RESEARCH REPORT ON THE RESULT OF THE RESEARCH INTO THE STATE OF THE TECHNOLOGY OF THE INTERNATIONAL TYPE kiSosmate about tenders of da said kfe food-eating family

in the report Öatuni from Corresponding Oafuin from called Bctrooigeschnft publication gesohfiXen » publication US 4112533 a 12-09-1978 NO GB 2299770 a 16-10-1996 NO WO 2011141354 Already 11/17/2011 EP 2569101 Already 20-03-2G13 FR 2959946 ai 11/18/2011 WO 2011141354 Al 11/17/2011 EP 1166903 A2 02-01-2 ( ) 02 DK 173841 81 10-12-2001 EP 1166903 A2 02-01-2002 EP 2008728 Already 31-12-2008 EP 2008728 Already 31-12-2008 ES 2263398 Already 01-12-2006 WO 2007118915 Already 25-10-2007 EP 0571332 Already 11/24/93 AT 128388 T 8 15-10-1995 THE 69300538 Dl 02-11-1995 THE 69300538 T2 09-05-1996 DK 0571332 T3 05-02-1996 EP 0571332 Already 11/24/93 FR 2691451 Already 26-11-1993 -: --- - * ""

WRITTEN OPINION i Fife No. i Fifing date / day-mpn / ftfead i PrierityLdate / dayWenihyeSd i Application Nd.

SN70961 15 02.2018 | NL2020441 Irrtemafemsf _: Patent Classics (! PG) i INV. B60S3.10 B08B9T8 i

i ................................................. .................................................. .................................................. .................................................. .................................

: Applicant i TICCC Holding B.V.

i ^a

This opinion contains indications rotating to the following items:

:

i i

: i i i i

E3 Box I □ Box No. II □ Box No. ill □ Box No. IV

H Box No. V □ Box 'No. VI

Sasic of the opinion

Priority

Non-es ^ ablishmenl or opinion with regard to safety, inventive step and industrial applicability

Lack of unity of invention

Reasoned statement with regard to novelty, inventive step or industrial aopficabfiiry: citations and explanations supporting such statement

Certain documents erred

S Box No. VI:

□ Box No. VI: I

Certain detects in ths application

Certain observations on rhe application • Examiner: r

i.He-ijnen, Philip

i ................................................. .................................................. ................................... L

Form NL237A (Gekdladi (July £ 006})

AppJfcafcn riürrtbér

WRITTEN OPINION

Box No. IBasis of this opinion

T, This opinion has been established on the basis of the latest set of claims before the start of the search.

2. With regard to any nucleotide and / or amino acid sequence disclosed in the application and necessary to the claimed invention, this opinion has been established on the basis of:

a, type of material:

O a sequence listing o tablets) related to ths sequence listing b <format of material:

On paper in electronic: form

c. time of filihgiurnishing:

□ contained in the application as filed.

□ filed together with the application in electronic form.

Furnished further for the purposes of search.

3. □ In addition, in tire case that more than one version or copy of a sequence listing andbr table related thereto has been filed or furnished., The required statements that the information in the subsequent or additional copies is identical to that in the application as it does or does not go beyond the application as filed, as appropriate, were furnished.

4. Additional comments:

Bex no. V Reasoned statement with regard to novelty, inventive step or industrial applicability; Citations and explanations supporting such statement

I, Statement Novelty Yes: Claims No 'Claims 1 31 Inventive step Yes' Claims No; Claims 1-31 Industrial applicability Yes. Claims Nd; Claims Hi

.2., Citations and explanations see separate sheet

MLK37B (July 2006)

AppjfCafcn riurrtber

WRITTEN OPINION

Box No; VII Certain detects in the application see separate sheet

NL23ZB (July 2006}

WRITTEN OPINION Appifcation number (SEPARATE SHEET) NL2020441

Re Item V

Reasoned statement with regard to novelty, inventive step or industrial applicability; citations and explanations supporting such statement

Reference is made to the following documents:

DI US 4 112 533 A (BRAGER DOUGLAS R) 12 September 1978 (1978-09-12)

D2 GB 2 299 770 A (SYSTEMS [GB]) October 16, 1996 (1996-10-16)

D3 WO 2011/141354 A1 (MICHAUD GROSBENOIT FREDERIC [PR]) November 17, 2011 (2011-11-17)

D4 EP 1 166 903 A2 (IWD APS [DK]) 2 January 2002 (2002-01-02)

D5 EP 2 008 723 A1 (PROYECTOS Y REALIZACIONES SAN [ES]) 31 December 2008 (2008-12-31)

D6 EP 0 571 332 A1 (LAVY SA [CH]) November 24, 1993 (1993-11-24)

D1 is considered as being the prior art closest to the subject matter of claim 1, and discloses (figures 1-2) a Cleaning system for cleaning the inside of a container (40), the container (40) having a trailing end has a leading end and a box-shaped body formed by at least a first side wall and a second side wall extending in a longitudinal direction between the trailing end and the leading end, the cleaning system comprising a base (150) arranged to be outside the container (40) and an expandable portion (140) extendable from the base (150) in an insertion direction through the trailing end into the container (40) toward the leading end thereof, the cleaning system being provided of one or more drives (139) for moving the base (150) in a lateral direction perpendicular or substantially perpendicular to the insertion direction, the The expandable member (140) has a base end (142) connected to the base (150) and a distal end (148) adapted to hold a cleaning tool (182) ''.

"ÜM NES37 ~ 3" isupsrste-'sóéist) (July · gfiSSjiVefeei j

WRITTEN OPINION Application number (SEPARATE SHEET) NL2020441

The subject-matter of claim 1 therefore differs from this known D1 in that the expandable dee! or the cleaning tool is provided with one or more side detection sensors for detecting the side walls of the container, the cleaning system further comprising a control unit operatively connected to the one or more drives and operably connectable to. the one or more side detection sensors for receiving detection signals, the control unit being adapted to control the lateral position of the base in the lateral direction based on the detection signals of the one or more side detection sensors, and is therefore new.

The problem to be solved by the present invention may be considered as control the lateral position of the cleaning tool in the container.

The solution to this problem proposed in claim 1 or the present application is considered as involving an inventive step for the following reasons D2 and D3 quote the application of sensing bars or feelers to avoid clashing with the back end of the container or objects in the container , focusing on the longitudinal position of the cleaning tool. D2 controls the lateral and vertical position of the cleaning tools versus the head of the extension arm, not of the base. the rails II is running on. None of the documents D1-D6 suggest the use of a sensor to laterally move the base, nor would any combination of D1-D6 lead the person skilled in the art to the centering solution of the invention.

The same reasoning applies, mutatis mutandis, to the subject matter of the corresponding independent claim 19, which is therefore also considered new and inventive,

Claims 2-18 and 20-31 are dependent and as such also meet the requirements of novelty and inventive step.

Re item VII

Independent claims 1 and 19 are not in the two-part photo, which in the present case would be appropriate, with those features known in combination from the prior art being placed in the preamble and the remaining features being included in the characterizing part.

Form (sefjatsta jsHood rJuly fififiS) (sheet fit