WO2020088733A1 - Method and system for cleaning a surface of a receptacle - Google Patents

Method and system for cleaning a surface of a receptacle Download PDF

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Publication number
WO2020088733A1
WO2020088733A1 PCT/EP2018/079540 EP2018079540W WO2020088733A1 WO 2020088733 A1 WO2020088733 A1 WO 2020088733A1 EP 2018079540 W EP2018079540 W EP 2018079540W WO 2020088733 A1 WO2020088733 A1 WO 2020088733A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
cleanliness
medium
receptacle
indication value
Prior art date
Application number
PCT/EP2018/079540
Other languages
French (fr)
Inventor
Thomas JINBÄCK
Joacim Cronholm
Niklas FALKMER
Original Assignee
Scanjet Marine Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scanjet Marine Ab filed Critical Scanjet Marine Ab
Priority to PCT/EP2018/079540 priority Critical patent/WO2020088733A1/en
Publication of WO2020088733A1 publication Critical patent/WO2020088733A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/08—Cleaning containers, e.g. tanks
    • B08B9/46—Inspecting cleaned containers for cleanliness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/08—Cleaning containers, e.g. tanks
    • B08B9/0804—Cleaning containers having tubular shape, e.g. casks, barrels, drums
    • B08B9/0813—Cleaning containers having tubular shape, e.g. casks, barrels, drums by the force of jets or sprays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/08—Cleaning containers, e.g. tanks
    • B08B9/093—Cleaning containers, e.g. tanks by the force of jets or sprays
    • B08B9/0936—Cleaning containers, e.g. tanks by the force of jets or sprays using rotating jets

Definitions

  • the present invention relates to the field of cleaning of receptacles, as for example containers or tanks.
  • a receptacle such as a container or a tank, may be cleaned by using a cleaning system adapted for cleaning of the surface of the receptacle.
  • the document EP2626148A1 discloses a monitoring arrangement for a cleaning system for cleaning a container.
  • the system comprises a sensor unit arranged to detect liquid impact within a sensing surface and a processing unit arranged to process the sensor signal to determine a distribution of liquid impact on the sensing surface in order to control the cleaning of a container.
  • W02016004005A1 concerns a method for cleaning of a tank.
  • the method comprises a step of scanning an interior of the tank to obtain a tank rendering. Based on the tank rendering, a minimum number of tank cleaning machines and a corresponding position for each of the tank cleaning machines is determined.
  • An aim of the present invention is to obtain an improved method for cleaning a surface of a receptacle.
  • a method for cleaning a surface of a receptacle is provided.
  • the method is performed by a cleaning system arranged to clean the surface according to a cleaning procedure which is controlled by at least one cleaning parameter.
  • the at least one cleaning parameter decides a characteristic of the cleaning procedure.
  • the method comprises the following steps: receiving data comprising at least one cleanliness indication value, wherein the at least one cleanliness indication value is indicative of a cleanliness level of at least a portion of the surface and relates to residues of uncleanness on the at least portion of the surface; and adjusting the at least one cleaning parameter at least when the at least one cleanliness indication value is below a first predetermined cleanliness threshold value.
  • the at least one cleaning parameter may be adjusted when the at least one cleanliness indication value is below, is equal or is above the first predetermined cleanliness threshold value.
  • the at least one cleaning parameter may be adjusted depending on the progress of a cleaning procedure of the surface.
  • the at least one cleaning parameter may comprise a parameter that relates to, for example a movement and/or a speed during a cleaning procedure of the surface.
  • the first predetermined cleanliness threshold value may correspond to an expected cleanliness indication value that is expected to be reached during the cleaning procedure, for example after a certain period of time from the start of the cleaning procedure.
  • the at least one cleanliness indication value may be indicative of e.g. the amount of residues, which may also be called dirt, collected on the at least portion of the surface. Accordingly, by receiving the data comprising the at least one cleanliness indication value, the level of cleanliness of the at least portion of the surface is determined.
  • the at least one cleaning parameter is adjusted, based on the data and when the at least one cleanliness indication value is at least below a first predetermined cleanliness threshold value.
  • the data may be regarded as being received in a feedback manner and the at least one cleaning parameter is adjusted based on the data, which data may also be called feedback data.
  • the first predetermined cleanliness threshold value may represent a boundary of the cleanliness indication value at which, the at least portion of the surface is considered to be cleaned as expected during a cleaning procedure.
  • the at least one cleaning parameter is adjusted based on information received from the comparison of the at least one cleanliness indication value with the first predetermined cleanliness threshold value.
  • the cleaning procedure may be controlled simply by monitoring the at least one cleanliness indication value during the cleaning procedure and compare it to the first predetermined cleanliness threshold value.
  • an improved method for cleaning of a surface of a receptacle is provided because the at least one cleaning parameter of the cleaning procedure may be adjusted based on information about the cleanliness level of the at least portion of the surface, which information may be received in a feedback manner.
  • the at least one cleaning parameter may be adjusted when the at least one cleanliness indication value is below said first predetermined cleanliness threshold value. Further, an increase of the at least one cleanliness indication value may indicate that at least a portion of the surface has become cleaner during the cleaning procedure.
  • the at least one cleaning parameter is adjusted depending on the at least one cleanliness indication value.
  • the at least one cleanliness indication value below the first predetermined cleanliness threshold value may indicate that the at least a portion of the surface comprises residues of uncleanness that need to be cleaned, i.e. that need to be removed from the at least portion of the surface. This because the at least one cleanliness indication value below the first predetermined cleanliness threshold value indicates that the at least a portion of the surface has not been cleaned enough and/or as expected.
  • the at least one cleaning parameter may be adjusted when the at least one cleanliness indication value is below the first predetermined cleanliness level.
  • the data is received before the cleaning procedure has started and/or when the cleaning procedure has progressed during a predetermined time period.
  • the data may be received, e.g. may be collected and processed, before the cleaning procedure has started and by this, the status of the cleanliness level of the at least portion of the surface may be determined before starting i.e. before initiating the cleaning procedure.
  • the cleaning parameters may be based on the data received before starting the cleaning procedure and may be adjusted before starting the cleaning procedure in order to adapt the cleaning procedure to the current data describing the status of the surface relating to residues of uncleanness on the at least portion of the surface before initiating the cleaning procedure.
  • the data may be received when the cleaning procedure has progressed during a predetermined time period i.e. during predetermined time duration of the cleaning procedure.
  • a predetermined time period i.e. during predetermined time duration of the cleaning procedure.
  • the cleaning procedure may be controlled by cleaning parameters that may be adjusted based on the cleanliness level of at least a portion of said surface, which cleanliness level is determined with improved accuracy. Consequently, an improved method for cleaning a surface of a receptacle is provided.
  • the first predetermined cleanliness threshold value may be a time dependent function and for example a linear function, a step function or a logarithmic function.
  • the first predetermined cleanliness threshold value may be defined by a function, allowing the first cleanliness threshold value to change over time. For example, during the progression of the cleaning procedure the first predetermined cleanliness threshold value may increase, indicating cleaner at least a portion of the surface.
  • the cleaning procedure may be controlled simply by monitoring the at least one cleanliness indication value during the cleaning procedure and compare it to the first predetermined cleanliness threshold value and its progression.
  • the cleaning procedure may be controlled simply by monitoring the at least one cleanliness indication value and compare it with the first predetermined cleanliness threshold value it may be evaluated if at least a portion of the surface of a receptacle has been cleaned as expected or not.
  • at least one cleaning parameter may be adjusted depending on the measured the at least one cleanliness indication value that is compared with the progression of the first
  • the first predetermined cleanliness threshold value may be constant during the cleaning procedure.
  • the aforementioned steps may be repeated continuously during the cleaning procedure of the surface.
  • the data comprising the at least one cleanliness indication value may be received continuously, i.e. repeatedly during the cleaning procedure of the surface.
  • the at least one cleaning parameter may be adjusted continuously, i.e. repeatedly adjusted based on the received data when the at least one cleanliness indication value is below a first predetermined cleanliness threshold value.
  • the steps of receiving data comprising at least one cleanliness indication value and adjusting the at least one cleaning parameter at least when the at least one cleanliness indication value is below a first predetermined cleanliness threshold value may be repeated continuously in a loop during the cleaning procedure of the surface.
  • an improved method for cleaning a surface of a receptacle is provided as the steps mentioned above may be repeated continuously and in a closed loop until the at least one cleanliness indication value reaches the first predetermined cleanliness threshold value.
  • the method may comprise the step of stopping the cleaning procedure when the at least one cleanliness indication value has reached or is above a second
  • the cleaning procedure may be interrupted when the at least one cleanliness indication value has reached or is above the second predetermined cleanliness threshold value. Accordingly, a better control over the cleaning procedure is achieved and by this an improved method for cleaning a surface of a receptacle is provided by which energy and/or time for the cleaning procedure may be saved.
  • the surface may be cleaned by using a cleaning medium supplied by the cleaning system.
  • the cleaning medium is a medium suitable for cleaning of a receptacle.
  • the cleaning medium may have different states and may comprise different state components as for example a solid state component, a liquid state component or a gas state component, or a mixture of different components.
  • the solid state component may for example comprise powder.
  • the cleaning parameter may further comprise at least one of direction of a supplying of the cleaning medium, temperature of the cleaning medium, pressure of the cleaning medium, supplied volume per time unit of the cleaning medium, spread of the supplying of the cleaning medium and speed of movement of at least a part of the cleaning system.
  • the cleaning parameter may relate to characteristics of the cleaning medium as well as to factors or parameters describing the process of supplying of the cleaning medium.
  • the way of supply of the cleaning medium and the characteristics of the cleaning medium may be regulated and controlled in an improved manner considering the cleanliness level of the at least a portion of the surface intended to be cleaned.
  • the cleanliness indication value may relate to a chemical characteristic of the cleaning medium after the cleaning medium has been supplied onto the at least portion of the surface.
  • chemical characteristic of the cleaning medium is meant a chemical composition of the cleaning medium that may be analysed after the cleaning medium has been supplied onto the at least portion of the surface
  • the chemical characteristic of the cleaning medium may be analysed regarding e.g. chemical substances in the cleaning medium after the cleaning medium has been used for cleaning of the at least portion of the surface. By this, it may be determined if and/or how much of the residues of uncleanness from the at least portion of the surface that follow with the cleaning medium after the cleaning medium has been used for cleaning of the at least portion of the surface.
  • the cleanliness indication value may be determined in a simple manner
  • an improved method for cleaning of a surface of a receptacle is achieved.
  • a medium that may be present in a receptacle before start of a cleaning procedure may be analysed in order to provide a chemical characteristic of said medium. By this, it may be determined if and/or how much of the residues of uncleanness from the at least portion of the surface are present in the medium before start of a cleaning procedure. Thereby, at least one cleaning parameter may be adjusted before start of the cleaning procedure depending on the determined chemical characteristic of said medium present in the receptacle.
  • medium that is present in the receptacle before start of the cleaning procedure is meant, for example a medium that is supplied to the receptacle before start of the cleaning procedure in order to at least partly fill up the receptacle. 7
  • the medium that is present in a receptacle before start of a cleaning procedure may be used as cleaning medium for cleaning of the at least portion of the surface.
  • the medium may be analysed in order to provide achemical characteristic of the medium after the medium has been used for cleaning of the at least portion of the surface.
  • the cleaning medium may comprise a cleaning liquid or a cleaning gas
  • the data may be achieved by using at least one device arranged to create a three dimensional image of at least a portion of the surface, for example a three dimensional topography of at least a portion of the surface, such as at least one of a sonar device, a radar device and an optical device, wherein the cleanliness indication value is based on the three dimensional image of the at least portion of the surface.
  • the cleanliness indication value may be determined in a simple and effective way by analysing the three dimensional image.
  • the cleanliness indication value is indicative of a cleanliness level of at least a portion of said surface and relates to residues of uncleanness on said at least portion of said surface
  • the three dimensional image indicates a level of residues of uncleanness that may need to be removed.
  • the surface may be an interior surface of the receptacle, such as an interior surface of a tank.
  • a further aim of the invention is to obtain improved cleaning system for cleaning a surface of a receptacle.
  • a cleaning system for cleaning a surface of a receptacle comprises:
  • control unit configured to perform the steps of the method as described herein, and a cleaning device arranged to clean the surface.
  • the control unit is configured to receive data and based on the received data to control the cleaning device.
  • the data may be regarded as being received in a feedback manner and the at least one cleaning parameter is adjusted based on the data, which data also may be called feedback data.
  • the cleaning system comprises the control unit configured to receive the data comprising the at least one cleanliness indication value, and configured to adjust the at least one cleaning parameter when the at least one cleanliness indication value is below a first predetermined cleanliness threshold value, the cleaning device is controlled by the control unit in an improved manner.
  • an improved cleaning system is provided and thereby the above mentioned aim is achieved.
  • the cleaning device may comprise at least one adjustable nozzle for directing a cleaning medium to clean the surface.
  • adjustable nozzle is meant a nozzle arranged to enable adjustment, i.e. control or regulation of for example the direction of the cleaning medium supplied by the nozzle.
  • the nozzle may move in at least one direction, preferably in several directions wherein the movement in the at least one direction may be controlled and regulated.
  • the cleaning medium may be directed in at least one direction by using the adjustable nozzle during a cleaning procedure.
  • the at least one adjustable nozzle may be arranged to move with a speed during the cleaning procedure, wherein the cleaning parameter comprises at least the speed of the movement of the at least one adjustable nozzle.
  • the speed of the movement of the adjustable nozzle may be adjusted, i.e. may be controlled and regulated.
  • the speed of the movement of the at least one adjustable nozzle has impact on for example the pattern a cleaning liquid is supplied by the at least one adjustable nozzle.
  • the pattern of the cleaning medium may be controlled and regulated.
  • the adjustable nozzle may be arranged to rotate with respect to at least one axis, preferably with respect to a first and second axis which are arranged at an angle with respect to each other.
  • the cleaning medium may therefore be directed according to different patterns that may be created and regulated because of the at least one axis of rotation of the adjustable nozzle. Thus, an improved cleaning procedure may be achieved.
  • the cleaning system may further comprise a device arranged to create a three- dimensional image of the surface, as for example a three dimensional topography, such as at least one of a sonar device, a radar device and an optical device.
  • a device arranged to create a three- dimensional image of the surface, as for example a three dimensional topography, such as at least one of a sonar device, a radar device and an optical device.
  • the cleaning system may further comprise an analysis device arranged to analyse a chemical characteristic of the cleaning medium after the cleaning medium has been supplied onto the at least portion of the surface.
  • the chemical characteristic of the cleaning medium is meant a chemical composition of the cleaning medium that may be analysed after the cleaning medium has been supplied onto the at least portion of the surface.
  • the chemical characteristic of the cleaning medium may be analysed after the cleaning medium has been used for cleaning of the at least portion of the surface.
  • Fig. 1 is a flow chart illustrating a method for cleaning a surface of a receptacle according to an example embodiment of the invention.
  • Fig. 2 is an exemplified illustration of a cleaning system for cleaning a surface of a receptacle according to an example embodiment of the invention.
  • Fig. 1 illustrates the steps S1 , S2 and S3 of a method for cleaning a surface of a receptacle by a cleaning system arranged to clean the surface according to a cleaning procedure which is controlled by at least one cleaning parameter, wherein the method comprises the following steps: receiving S1 data comprising at least one cleanliness indication value, wherein the at least one cleanliness indication value is indicative of a cleanliness level of at least a portion of the surface and relates to residues of uncleanness on the at least portion of the surface; and adjusting S2 the at least one cleaning parameter at least when the at least one cleanliness indication value is below a first predetermined cleanliness threshold value.
  • the first predetermined cleanliness threshold value corresponds to an expected cleanliness indication value that is expected to be reached during the cleaning procedure, for example after a certain period of time from the start of the cleaning procedure.
  • the first predetermined cleanliness threshold value refers to a target value at which it is considered that the surface has been cleaned as expected.
  • the first predetermined cleanliness threshold value corresponds to an expected progress of cleaning of the surface during a cleaning procedure, which progress of cleaning of the surface refers to removal of uncleanness on the at least portion of the surface during the cleaning procedure.
  • the cleaning procedure may be controlled be evaluating if an expected first predetermined cleanliness threshold value has been reached or not after a
  • the at least one cleanliness indication value is evaluated.
  • the progress of the cleaning procedure is evaluated.
  • by monitoring the at least one cleanliness indication value and comparing it with the first predetermined cleanliness threshold value it may be evaluated if at least a portion of the surface of a receptacle has been cleaned as expected or not and if and/or how the at least one cleaning parameter may be adjusted.
  • the cleaning procedure may continue with unchanged cleaning parameters because the conclusion is that at least a portion of the surface has been cleaned as expected
  • the conclusion is that at least portion of the surface has not been cleaned as expected and at least one cleaning parameter should be adjusted to speed up the cleaning procedure. For example, pressure and/or temperature of a cleaning medium may be increased,
  • the cleaning procedure may continue with the same cleaning parameters to finish the cleaning procedure earlier or at least one cleaning parameter may be adjusted in order to save energy by for example, lowering pressure and/or temperature of the cleaning medium.
  • the at least one cleaning parameter may be adjusted when the at least one cleanliness indication value is below the first predetermined cleanliness threshold value.
  • the cleaning procedure may be controlled so that the higher at least one cleanliness indication value may indicate the cleaner at least a portion of the surface.
  • the at least one cleanliness indication value below the first predetermined cleanliness threshold value indicates that the at least a portion of the surface has not been cleaned enough and/or not as expected and comprises residues of uncleanness that need to be cleaned, i.e. that need to be removed from the at least portion of the surface.
  • the cleaning procedure may be started with at least one cleaning parameter set as at least one initial cleaning parameter, which at least one initial cleaning parameter may be adjusted before start of the cleaning procedure.
  • the method may comprise a step S01 of starting and/or running the cleaning procedure with the at least one cleaning parameter set to the at least one initial cleaning parameter.
  • several cleaning parameters may be adjusted before start of the cleaning procedure.
  • the data comprising the at least one cleanliness indication value may be collected or possibly the data may be collected and processed in order to obtain the at least one cleanliness indication value from said data.
  • the method may further comprise step S02 of determining of the data.
  • the steps S01 and S02 comprising starting of the cleaning procedure and determining of the data respectively are performed before the step S1.
  • the data may be collected by using for example a device to create a three dimensional image, for example a three dimensional topography, of at least a portion of the surface, such as at least one of a sonar device, a radar device and an optical device.
  • the cleanliness indication value may then be based on the three dimensional image of the at least portion of the surface.
  • the data comprising the cleanliness indication value may also be achieved by implementation of a chemical characteristic of the cleaning medium after the cleaning medium has been supplied onto said at least portion of the surface.
  • the data is determined.
  • the data may be determined directly at the start of the cleaning procedure, i.e. at a first time t1 corresponding to start of the cleaning procedure or the start of the collection of the data may be initiated after predetermined time duration T1 from the time t1.
  • the data may be started to be collected at a second time t2 which appears after the first time t1 for start of the cleaning procedure.
  • the mentioned time duration T 1 may, for example be between 1 minute and 1 hour.
  • the data is then analysed and at least one cleanliness indication value is determined.
  • the at least one cleanliness indication value is then compared with a first predetermined cleanliness threshold value and at least one cleaning parameter is adjusted when the at least one cleanliness indication value is below a first predetermined cleanliness threshold value.
  • the first predetermined cleanliness threshold value may for example be a function of time during ongoing cleaning procedure.
  • the first predetermined cleanliness threshold value may for example be a linear function, a step function or a logarithmic function.
  • the first predetermined cleanliness threshold value may be described as a function and by this, the cleaning procedure may be controlled simply by monitoring the at least one cleanliness indication value and comparing it with the first predetermined cleanliness threshold value and its progression.
  • the steps S1-S2 may be repeated continuously during the cleaning procedure of the surface.
  • the steps of receiving data comprising at least one cleanliness indication value and adjusting the at least one cleaning parameter when the at least one cleanliness indication value is below a first predetermined cleanliness threshold value may be repeated in a loop during the cleaning procedure of the surface.
  • the method may comprise the step of: - stopping S3 the cleaning procedure when the at least one cleanliness indication value has reached or is above a second 14 predetermined cleanliness threshold value.
  • the second predetermined cleanliness threshold value may correspond to a value of the cleanliness indication value that refers to a clean surface of a receptacle.
  • the second predetermined cleanliness threshold value relates to what is considered as a clean surface of a receptacle.
  • values of the cleanliness indication value below the second predetermined cleanliness threshold value indicate that the surface is unclean and need to be cleaned.
  • the second predetermined cleanliness threshold value relates to a certain amount of residues of uncleanness on the at least portion of the surface. Therefore, values of the cleanliness indication value below the second predetermined cleanliness threshold value indicate that there are residues of uncleanness on the at least portion of the surface that need to be removed from the at least portion of the surface.
  • the cleaning procedure may be stopped and finished when the at least one cleanliness indication value has reached or is above the second
  • Fig. 2 illustrates a cleaning system 1 that may for example be used within transport industry to clean a tank for transport of oil or resin or fuels.
  • the tank may for example be a marine-, a rail-, a road-, or depo tank.
  • the cleaning system 1 is arranged for cleaning a surface 2 of a receptacle 4.
  • the receptacle 4 is a closed receptacle, however the receptacle 4 may also be constructed as an open receptacle, for example a closed or open container, a tank or similar.
  • the cleaning system 1 comprises: a control unit 3 configured to perform the steps of the method describes above; and a cleaning device 5 arranged to clean the surface.
  • the control unit 3 may for example be in the form of a computer comprising a processing unit and a memory unit for at least storing the first and the second threshold values.
  • the method may advantageously be implemented in the control unit 3 as a computer program.
  • the cleaning device 5 is connected to the control unit 3 by a first connection line 6 used to send control signals from the control unit 3 to the cleaning device 5 in order to control the cleaning device 5.
  • the transfer of information is done in a usual way and is therefore not described in more details herein. However, purely by way of example, the transfer of information may e.g.
  • the cleaning device 5 may comprise at least one adjustable nozzle 7 for directing a cleaning medium to clean the surface of a receptacle 4.
  • the cleaning medium is supplied by a supply system in a conventional manner and therefore not shown and not described in details herein.
  • the at least one adjustable nozzle 7 is arranged at a rod or a pipe 8 through a nozzle assembly 10.
  • the adjustable nozzle 7 is arranged at the nozzle assembly 10 that is connected to the rod/pipe 8. Further, the adjustable nozzle 7 is arranged to rotate with respect to a first axis a1 and with respect to a second axis a2. As illustrated in Fig.
  • the first axis a1 is a rotational axis of the rod/pipe 8 that is arranged at an upper portion of the receptacle 4.
  • the second axis a2 refers to an axis which is normal to a plane defined by the cross section of the receptacle 4 shown in the Fig. 2.
  • the second axis a2 may also be arranged with different angles to a plane defined by the cross section of the receptacle 4 shown in the Fig. 2. Further, several nozzle assemblies 10, for example two, may be arranged along the rod/pipe 8 with a distance between the nozzle assemblies 10.
  • the adjustable nozzle 7 may rotate around the first axis a1 with a first angle a that may be in an interval between 0-360 degrees. Thus, the adjustable nozzle 7 may rotate in full circle or it may rotate in a back and forth movement around the first axis a1 .
  • the adjustable nozzle 7 may rotate around the second axis a2 with a second angle b that also may be in an interval between 0-360 degrees.
  • the adjustable nozzle 7 may rotate in full circle or it may rotate in a back and forth movement around the second axis a2.
  • the cleaning device 5 may comprise several rods/pipes (not shown) connected to each other with different angles and several nozzle assemblies comprising several adjustable nozzles. Thereby the at least one adjustable nozzle may rotate with respect to several rotational axis.
  • the cleaning device comprises one nozzle assembly 10 and one adjustable nozzle 7.
  • the number of nozzle assemblies may for example be 1-6.
  • the cleaning medium may comprise a cleaning liquid or a cleaning gas or a mixture of the cleaning liquid or the cleaning gas.
  • the cleaning liquid may for example comprise water or seawater or recirculated cargo and may comprise a detergent.
  • the cleaning gas may for example comprise air or an inert gas.
  • the adjustable nozzle may be adapted for supply of a cleaning medium comprising solid particles as for example sand.
  • the cleaning medium may comprise a mixture of for example a cleaning liquid and solid particles or a cleaning gas with solid particles.
  • the cleaning system 1 may comprise a device 9 arranged to create a three- dimensional image, as for example a three dimensional topography, of the surface of the receptacle 4.
  • the device 9 is configured to create a three-dimensional image of the surface of the receptacle 4, for example through an opening in the receptacle 4.
  • the device 9 may comprise at least one of a sonar device, a radar device and an optical device.
  • the device 9 is connected to the control unit 3 by a second connection line 12 arranged to send signals from the device 9 to the control unit 3. The transfer of information is done in a usual way and therefore not described in details herein. As illustrated in Fig.
  • the device 9 arranged to create a three-dimensional image of the surface of the receptacle 4 is arranged at the upper part of the receptacle 4, more specifically at the top portion of the receptacle 4.
  • the device 9 may for example be arranged on the side portion 14 of the receptacle 4.
  • the cleaning system 1 may also comprise an analysis device 11 , as for example a wash water analyser, arranged to analyse a chemical characteristic of the cleaning medium after the cleaning medium has been supplied onto said at least portion of the surface.
  • the analysis device 11 may for example be arranged at the bottom of the receptacle 4. According to the embodiments illustrated in Fig.
  • the analysis device 11 is arranged outside of the receptacle 4 and is connected to the bottom of the receptacle by a channel 16 to enable the cleaning medium to flow from the receptacle 4 towards the analysis device 1 1 .
  • the analysis device may be arranged inside the receptacle 4.
  • the analysis device 1 1 is connected to the control unit 3 by a third connection line 18 arranged to send signals from the analysis device 1 1 to the control unit 3. The transfer of information is done in a usual way and therefore not described in more details herein.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)

Abstract

A method for cleaning a surface (2) of a receptacle (4) by a cleaning system (1) arranged to clean said surface according to a cleaning procedure which is controlled by at least one cleaning parameter is provided. The method comprises receiving (SI) data comprising at least one cleanliness indication value, wherein the at least one cleanliness indication value is indicative of a cleanliness level of at least a portion of the surface and relates to residues of uncleanness on the at least portion of said surface, and adjusting (S2) the at least one cleaning parameter at least when the at least one cleanliness indication value is below a first predetermined cleanliness threshold value. Further, a cleaning system (1) for cleaning a surface of a receptacle is provided.

Description

I
METHOD AND SYSTEM FOR CLEANING A SURFACE OF A RECEPTACLE
TECHNICAL FIELD
The present invention relates to the field of cleaning of receptacles, as for example containers or tanks.
BACKGROUND
A receptacle, such as a container or a tank, may be cleaned by using a cleaning system adapted for cleaning of the surface of the receptacle.
The document EP2626148A1 discloses a monitoring arrangement for a cleaning system for cleaning a container. The system comprises a sensor unit arranged to detect liquid impact within a sensing surface and a processing unit arranged to process the sensor signal to determine a distribution of liquid impact on the sensing surface in order to control the cleaning of a container.
W02016004005A1 concerns a method for cleaning of a tank. The method comprises a step of scanning an interior of the tank to obtain a tank rendering. Based on the tank rendering, a minimum number of tank cleaning machines and a corresponding position for each of the tank cleaning machines is determined.
Although known methods and systems, there is a need for improved methods and systems for cleaning a surface of a receptacle.
SUMMARY
An aim of the present invention is to obtain an improved method for cleaning a surface of a receptacle.
The above-mentioned aims and other aims are achieved according to the invention by the method described in claim 1 . According to the invention, a method for cleaning a surface of a receptacle is provided. The method is performed by a cleaning system arranged to clean the surface according to a cleaning procedure which is controlled by at least one cleaning parameter. Thus, the at least one cleaning parameter decides a characteristic of the cleaning procedure. The method comprises the following steps: receiving data comprising at least one cleanliness indication value, wherein the at least one cleanliness indication value is indicative of a cleanliness level of at least a portion of the surface and relates to residues of uncleanness on the at least portion of the surface; and adjusting the at least one cleaning parameter at least when the at least one cleanliness indication value is below a first predetermined cleanliness threshold value.
Thereby, the at least one cleaning parameter may be adjusted when the at least one cleanliness indication value is below, is equal or is above the first predetermined cleanliness threshold value. Thus, the at least one cleaning parameter may be adjusted depending on the progress of a cleaning procedure of the surface. The at least one cleaning parameter may comprise a parameter that relates to, for example a movement and/or a speed during a cleaning procedure of the surface.
The first predetermined cleanliness threshold value may correspond to an expected cleanliness indication value that is expected to be reached during the cleaning procedure, for example after a certain period of time from the start of the cleaning procedure.
The at least one cleanliness indication value may be indicative of e.g. the amount of residues, which may also be called dirt, collected on the at least portion of the surface. Accordingly, by receiving the data comprising the at least one cleanliness indication value, the level of cleanliness of the at least portion of the surface is determined.
Thus, the at least one cleaning parameter is adjusted, based on the data and when the at least one cleanliness indication value is at least below a first predetermined cleanliness threshold value.
Thereby, according to an example embodiment, the data may be regarded as being received in a feedback manner and the at least one cleaning parameter is adjusted based on the data, which data may also be called feedback data.
Further, the first predetermined cleanliness threshold value may represent a boundary of the cleanliness indication value at which, the at least portion of the surface is considered to be cleaned as expected during a cleaning procedure. Thereby, the at least one cleaning parameter is adjusted based on information received from the comparison of the at least one cleanliness indication value with the first predetermined cleanliness threshold value. Thus, the cleaning procedure may be controlled simply by monitoring the at least one cleanliness indication value during the cleaning procedure and compare it to the first predetermined cleanliness threshold value.
Consequently, an improved method for cleaning of a surface of a receptacle is provided because the at least one cleaning parameter of the cleaning procedure may be adjusted based on information about the cleanliness level of the at least portion of the surface, which information may be received in a feedback manner. By this, the above mentioned aim is achieved.
Optionally, the at least one cleaning parameter may be adjusted when the at least one cleanliness indication value is below said first predetermined cleanliness threshold value. Further, an increase of the at least one cleanliness indication value may indicate that at least a portion of the surface has become cleaner during the cleaning procedure.
Thereafter, the at least one cleaning parameter is adjusted depending on the at least one cleanliness indication value.
Thus, the at least one cleanliness indication value below the first predetermined cleanliness threshold value may indicate that the at least a portion of the surface comprises residues of uncleanness that need to be cleaned, i.e. that need to be removed from the at least portion of the surface. This because the at least one cleanliness indication value below the first predetermined cleanliness threshold value indicates that the at least a portion of the surface has not been cleaned enough and/or as expected.
Thereby, the at least one cleaning parameter may be adjusted when the at least one cleanliness indication value is below the first predetermined cleanliness level.
Consequently, the method for cleaning of a surface of a receptacle is controlled in a simple and efficient manner.
According to some embodiments, the data is received before the cleaning procedure has started and/or when the cleaning procedure has progressed during a predetermined time period. Thereby, the data may be received, e.g. may be collected and processed, before the cleaning procedure has started and by this, the status of the cleanliness level of the at least portion of the surface may be determined before starting i.e. before initiating the cleaning procedure. Thereby, the cleaning parameters may be based on the data received before starting the cleaning procedure and may be adjusted before starting the cleaning procedure in order to adapt the cleaning procedure to the current data describing the status of the surface relating to residues of uncleanness on the at least portion of the surface before initiating the cleaning procedure.
Further, the data may be received when the cleaning procedure has progressed during a predetermined time period i.e. during predetermined time duration of the cleaning procedure. Thereby, the accuracy of determining the cleanliness level of at least a portion of said surface may be improved.
Thus, the cleaning procedure may be controlled by cleaning parameters that may be adjusted based on the cleanliness level of at least a portion of said surface, which cleanliness level is determined with improved accuracy. Consequently, an improved method for cleaning a surface of a receptacle is provided.
Optionally, the first predetermined cleanliness threshold value may be a time dependent function and for example a linear function, a step function or a logarithmic function. Thus, the first predetermined cleanliness threshold value may be defined by a function, allowing the first cleanliness threshold value to change over time. For example, during the progression of the cleaning procedure the first predetermined cleanliness threshold value may increase, indicating cleaner at least a portion of the surface.
Therefore, the cleaning procedure may be controlled simply by monitoring the at least one cleanliness indication value during the cleaning procedure and compare it to the first predetermined cleanliness threshold value and its progression. In other words, by monitoring the at least one cleanliness indication value and compare it with the first predetermined cleanliness threshold value it may be evaluated if at least a portion of the surface of a receptacle has been cleaned as expected or not. Further, at least one cleaning parameter may be adjusted depending on the measured the at least one cleanliness indication value that is compared with the progression of the first
predetermined cleanliness threshold value. Consequently, a further improved method for cleaning a surface of a receptacle is provided. Alternatively, the first predetermined cleanliness threshold value may be constant during the cleaning procedure. As an alternative, the aforementioned steps may be repeated continuously during the cleaning procedure of the surface. Thereby, the data comprising the at least one cleanliness indication value may be received continuously, i.e. repeatedly during the cleaning procedure of the surface. Further, the at least one cleaning parameter may be adjusted continuously, i.e. repeatedly adjusted based on the received data when the at least one cleanliness indication value is below a first predetermined cleanliness threshold value. Thus, the steps of receiving data comprising at least one cleanliness indication value and adjusting the at least one cleaning parameter at least when the at least one cleanliness indication value is below a first predetermined cleanliness threshold value may be repeated continuously in a loop during the cleaning procedure of the surface. Thereby, an improved method for cleaning a surface of a receptacle is provided as the steps mentioned above may be repeated continuously and in a closed loop until the at least one cleanliness indication value reaches the first predetermined cleanliness threshold value.
Further, the method may comprise the step of stopping the cleaning procedure when the at least one cleanliness indication value has reached or is above a second
predetermined cleanliness threshold value. Thus, the cleaning procedure may be interrupted when the at least one cleanliness indication value has reached or is above the second predetermined cleanliness threshold value. Accordingly, a better control over the cleaning procedure is achieved and by this an improved method for cleaning a surface of a receptacle is provided by which energy and/or time for the cleaning procedure may be saved. Optionally, the surface may be cleaned by using a cleaning medium supplied by the cleaning system. The cleaning medium is a medium suitable for cleaning of a receptacle. The cleaning medium may have different states and may comprise different state components as for example a solid state component, a liquid state component or a gas state component, or a mixture of different components. The solid state component may for example comprise powder. By this the cleaning medium may be adapted to different needs of cleaning of a receptacle.
The cleaning parameter may further comprise at least one of direction of a supplying of the cleaning medium, temperature of the cleaning medium, pressure of the cleaning medium, supplied volume per time unit of the cleaning medium, spread of the supplying of the cleaning medium and speed of movement of at least a part of the cleaning system. Thus, the cleaning parameter may relate to characteristics of the cleaning medium as well as to factors or parameters describing the process of supplying of the cleaning medium. Thereby, the way of supply of the cleaning medium and the characteristics of the cleaning medium may be regulated and controlled in an improved manner considering the cleanliness level of the at least a portion of the surface intended to be cleaned. By this an improved method for cleaning of a surface of a receptacle is provided.
The cleanliness indication value may relate to a chemical characteristic of the cleaning medium after the cleaning medium has been supplied onto the at least portion of the surface. With the chemical characteristic of the cleaning medium is meant a chemical composition of the cleaning medium that may be analysed after the cleaning medium has been supplied onto the at least portion of the surface
Thus, the chemical characteristic of the cleaning medium may be analysed regarding e.g. chemical substances in the cleaning medium after the cleaning medium has been used for cleaning of the at least portion of the surface. By this, it may be determined if and/or how much of the residues of uncleanness from the at least portion of the surface that follow with the cleaning medium after the cleaning medium has been used for cleaning of the at least portion of the surface.
Thereby, the cleanliness indication value may be determined in a simple manner Thus, an improved method for cleaning of a surface of a receptacle is achieved.
As an alternative a medium that may be present in a receptacle before start of a cleaning procedure may be analysed in order to provide a chemical characteristic of said medium. By this, it may be determined if and/or how much of the residues of uncleanness from the at least portion of the surface are present in the medium before start of a cleaning procedure. Thereby, at least one cleaning parameter may be adjusted before start of the cleaning procedure depending on the determined chemical characteristic of said medium present in the receptacle. With medium that is present in the receptacle before start of the cleaning procedure is meant, for example a medium that is supplied to the receptacle before start of the cleaning procedure in order to at least partly fill up the receptacle. 7
Further, the medium that is present in a receptacle before start of a cleaning procedure may be used as cleaning medium for cleaning of the at least portion of the surface. Thus the medium may be analysed in order to provide achemical characteristic of the medium after the medium has been used for cleaning of the at least portion of the surface.
Optionally, the cleaning medium may comprise a cleaning liquid or a cleaning gas
Optionally, the data may be achieved by using at least one device arranged to create a three dimensional image of at least a portion of the surface, for example a three dimensional topography of at least a portion of the surface, such as at least one of a sonar device, a radar device and an optical device, wherein the cleanliness indication value is based on the three dimensional image of the at least portion of the surface. By creating a three dimensional image of at least a portion of the surface, the cleanliness indication value may be determined in a simple and effective way by analysing the three dimensional image. Because the cleanliness indication value is indicative of a cleanliness level of at least a portion of said surface and relates to residues of uncleanness on said at least portion of said surface, the three dimensional image indicates a level of residues of uncleanness that may need to be removed. Further, the surface may be an interior surface of the receptacle, such as an interior surface of a tank.
A further aim of the invention is to obtain improved cleaning system for cleaning a surface of a receptacle.
The above-mentioned aims and other aims are achieved according to the invention by the cleaning system described in claim 10.
According to the invention, a cleaning system for cleaning a surface of a receptacle is provided. The cleaning system comprises:
a control unit configured to perform the steps of the method as described herein, and a cleaning device arranged to clean the surface. Thus, the control unit is configured to receive data and based on the received data to control the cleaning device. Thus, according to an example embodiment, the data may be regarded as being received in a feedback manner and the at least one cleaning parameter is adjusted based on the data, which data also may be called feedback data. Because the cleaning system comprises the control unit configured to receive the data comprising the at least one cleanliness indication value, and configured to adjust the at least one cleaning parameter when the at least one cleanliness indication value is below a first predetermined cleanliness threshold value, the cleaning device is controlled by the control unit in an improved manner. Thus, an improved cleaning system is provided and thereby the above mentioned aim is achieved.
Optionally the cleaning device may comprise at least one adjustable nozzle for directing a cleaning medium to clean the surface. With adjustable nozzle is meant a nozzle arranged to enable adjustment, i.e. control or regulation of for example the direction of the cleaning medium supplied by the nozzle. Further, the nozzle may move in at least one direction, preferably in several directions wherein the movement in the at least one direction may be controlled and regulated. Thereby, the cleaning medium may be directed in at least one direction by using the adjustable nozzle during a cleaning procedure. By this, an improved cleaning procedure may be achieved because the direction of the cleaning medium has impact on cleaning of a receptacle, and by adjusting for example the direction of supply of the cleaning medium, cleaning of the receptacle may be improved.
The at least one adjustable nozzle may be arranged to move with a speed during the cleaning procedure, wherein the cleaning parameter comprises at least the speed of the movement of the at least one adjustable nozzle. Thus, also the speed of the movement of the adjustable nozzle may be adjusted, i.e. may be controlled and regulated. The speed of the movement of the at least one adjustable nozzle has impact on for example the pattern a cleaning liquid is supplied by the at least one adjustable nozzle. Thus, by regulating the speed of the movement of the at least one adjustable nozzle, the pattern of the cleaning medium may be controlled and regulated. By this an improved method for cleaning a receptacle may be achieved.
The adjustable nozzle may be arranged to rotate with respect to at least one axis, preferably with respect to a first and second axis which are arranged at an angle with respect to each other. The cleaning medium may therefore be directed according to different patterns that may be created and regulated because of the at least one axis of rotation of the adjustable nozzle. Thus, an improved cleaning procedure may be achieved.
The cleaning system may further comprise a device arranged to create a three- dimensional image of the surface, as for example a three dimensional topography, such as at least one of a sonar device, a radar device and an optical device. By creating a three-dimensional image of at least a portion of the surface, the cleanliness indication value may be determined in a simple and effective way by analysing the created three- dimensional image. Thus, an improved cleaning procedure may be achieved because the cleanliness indication value may be based on a result of an analysis of the three- dimensional image.
The cleaning system may further comprise an analysis device arranged to analyse a chemical characteristic of the cleaning medium after the cleaning medium has been supplied onto the at least portion of the surface. With the chemical characteristic of the cleaning medium is meant a chemical composition of the cleaning medium that may be analysed after the cleaning medium has been supplied onto the at least portion of the surface. Thus, the chemical characteristic of the cleaning medium may be analysed after the cleaning medium has been used for cleaning of the at least portion of the surface. By this, it may be determined if and/or how much of the residues of uncleanness from the at least portion of the surface that follow with the cleaning medium after the cleaning medium has been used for cleaning of the at least portion of the surface. Thereby, an improved way of determining the cleanliness indication value is provided. As an effect of that, also an improved cleaning system is provided.
Further features of, and advantages with, the present invention will become apparent when studying the appended claims and the following detailed description. Those skilled in the art will realize that the different features described may be combined to create embodiments other than those described in the following, without departing from the scope of the present invention, as defined by the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS
The various aspects of the invention, including its particular features and advantages, will be readily understood from the following detailed description and the accompanying drawings, in which:
Fig. 1 is a flow chart illustrating a method for cleaning a surface of a receptacle according to an example embodiment of the invention; and
Fig. 2 is an exemplified illustration of a cleaning system for cleaning a surface of a receptacle according to an example embodiment of the invention.
DETAILED DESCRIPTION
The embodiments herein will now be described more fully with reference to the accompanying drawings, in which example embodiments are shown. Disclosed features of example embodiments may be combined. Like numbers refer to like elements throughout. Well-known functions or constructions will not necessarily be described in detail for brevity and/or clarity.
Fig. 1 illustrates the steps S1 , S2 and S3 of a method for cleaning a surface of a receptacle by a cleaning system arranged to clean the surface according to a cleaning procedure which is controlled by at least one cleaning parameter, wherein the method comprises the following steps: receiving S1 data comprising at least one cleanliness indication value, wherein the at least one cleanliness indication value is indicative of a cleanliness level of at least a portion of the surface and relates to residues of uncleanness on the at least portion of the surface; and adjusting S2 the at least one cleaning parameter at least when the at least one cleanliness indication value is below a first predetermined cleanliness threshold value.
The first predetermined cleanliness threshold value corresponds to an expected cleanliness indication value that is expected to be reached during the cleaning procedure, for example after a certain period of time from the start of the cleaning procedure. Thus, the first predetermined cleanliness threshold value refers to a target value at which it is considered that the surface has been cleaned as expected. In other words, the first predetermined cleanliness threshold value corresponds to an expected progress of cleaning of the surface during a cleaning procedure, which progress of cleaning of the surface refers to removal of uncleanness on the at least portion of the surface during the cleaning procedure.
Therefore, the cleaning procedure may be controlled be evaluating if an expected first predetermined cleanliness threshold value has been reached or not after a
predetermined duration of the cleaning procedure. Further, by monitoring the at least one cleanliness indication value and comparing it with the first predetermined cleanliness threshold value the progress of the cleaning procedure is evaluated. Thus, based on the evaluated progress of the cleaning procedure it is decided if and/or how the at least one cleaning parameter need to be adjusted. In other words, by monitoring the at least one cleanliness indication value and comparing it with the first predetermined cleanliness threshold value it may be evaluated if at least a portion of the surface of a receptacle has been cleaned as expected or not and if and/or how the at least one cleaning parameter may be adjusted.
For example:
a) if a monitoring procedure accomplished after, for example 30 min, shows that the at least one cleanliness indication value has reached an expected value of the first predetermined cleanliness threshold value, the cleaning procedure may continue with unchanged cleaning parameters because the conclusion is that at least a portion of the surface has been cleaned as expected,
b) if the at least one cleanliness indication value has not reached the expected value of the first predetermined cleanliness threshold value after, for example 30 min, the conclusion is that at least portion of the surface has not been cleaned as expected and at least one cleaning parameter should be adjusted to speed up the cleaning procedure. For example, pressure and/or temperature of a cleaning medium may be increased,
c) if the at least one cleanliness indication value has passed the expected value of the first predetermined cleanliness threshold value after, for example 30 min, the conclusion is that at least a portion of the surface has been cleaned more or better than expected and then:
the cleaning procedure may continue with the same cleaning parameters to finish the cleaning procedure earlier or at least one cleaning parameter may be adjusted in order to save energy by for example, lowering pressure and/or temperature of the cleaning medium.
Other options may also be possible.
Optionally, the at least one cleaning parameter may be adjusted when the at least one cleanliness indication value is below the first predetermined cleanliness threshold value. The cleaning procedure may be controlled so that the higher at least one cleanliness indication value may indicate the cleaner at least a portion of the surface. Thus, the at least one cleanliness indication value below the first predetermined cleanliness threshold value indicates that the at least a portion of the surface has not been cleaned enough and/or not as expected and comprises residues of uncleanness that need to be cleaned, i.e. that need to be removed from the at least portion of the surface.
The cleaning procedure may be started with at least one cleaning parameter set as at least one initial cleaning parameter, which at least one initial cleaning parameter may be adjusted before start of the cleaning procedure.
Thus, the method may comprise a step S01 of starting and/or running the cleaning procedure with the at least one cleaning parameter set to the at least one initial cleaning parameter. According to some embodiments, several cleaning parameters may be adjusted before start of the cleaning procedure.
After the cleaning procedure has been started, the data comprising the at least one cleanliness indication value may be collected or possibly the data may be collected and processed in order to obtain the at least one cleanliness indication value from said data. Thus, the method may further comprise step S02 of determining of the data. The steps S01 and S02 comprising starting of the cleaning procedure and determining of the data respectively are performed before the step S1. The data may be collected by using for example a device to create a three dimensional image, for example a three dimensional topography, of at least a portion of the surface, such as at least one of a sonar device, a radar device and an optical device. The cleanliness indication value may then be based on the three dimensional image of the at least portion of the surface. The data comprising the cleanliness indication value may also be achieved by implementation of a chemical characteristic of the cleaning medium after the cleaning medium has been supplied onto said at least portion of the surface.
Thus, during the cleaning procedure the data is determined. The data may be determined directly at the start of the cleaning procedure, i.e. at a first time t1 corresponding to start of the cleaning procedure or the start of the collection of the data may be initiated after predetermined time duration T1 from the time t1. The data may be started to be collected at a second time t2 which appears after the first time t1 for start of the cleaning procedure. The mentioned time duration T 1 may, for example be between 1 minute and 1 hour.
The data is then analysed and at least one cleanliness indication value is determined. The at least one cleanliness indication value is then compared with a first predetermined cleanliness threshold value and at least one cleaning parameter is adjusted when the at least one cleanliness indication value is below a first predetermined cleanliness threshold value.
The first predetermined cleanliness threshold value may for example be a function of time during ongoing cleaning procedure. The first predetermined cleanliness threshold value may for example be a linear function, a step function or a logarithmic function. Thus, the first predetermined cleanliness threshold value may be described as a function and by this, the cleaning procedure may be controlled simply by monitoring the at least one cleanliness indication value and comparing it with the first predetermined cleanliness threshold value and its progression.
As an alternative, the steps S1-S2 may be repeated continuously during the cleaning procedure of the surface. Thus, the steps of receiving data comprising at least one cleanliness indication value and adjusting the at least one cleaning parameter when the at least one cleanliness indication value is below a first predetermined cleanliness threshold value may be repeated in a loop during the cleaning procedure of the surface.
Further, the method may comprise the step of: - stopping S3 the cleaning procedure when the at least one cleanliness indication value has reached or is above a second 14 predetermined cleanliness threshold value. The second predetermined cleanliness threshold value may correspond to a value of the cleanliness indication value that refers to a clean surface of a receptacle. In other words, the second predetermined cleanliness threshold value relates to what is considered as a clean surface of a receptacle. Thus, values of the cleanliness indication value below the second predetermined cleanliness threshold value indicate that the surface is unclean and need to be cleaned. The second predetermined cleanliness threshold value relates to a certain amount of residues of uncleanness on the at least portion of the surface. Therefore, values of the cleanliness indication value below the second predetermined cleanliness threshold value indicate that there are residues of uncleanness on the at least portion of the surface that need to be removed from the at least portion of the surface.
Consequently, the cleaning procedure may be stopped and finished when the at least one cleanliness indication value has reached or is above the second
predetermined cleanliness threshold value.
Fig. 2 illustrates a cleaning system 1 that may for example be used within transport industry to clean a tank for transport of oil or resin or fuels. The tank may for example be a marine-, a rail-, a road-, or depo tank. The cleaning system 1 is arranged for cleaning a surface 2 of a receptacle 4. According to the embodiments in Fig. 2, the receptacle 4 is a closed receptacle, however the receptacle 4 may also be constructed as an open receptacle, for example a closed or open container, a tank or similar.
The cleaning system 1 comprises: a control unit 3 configured to perform the steps of the method describes above; and a cleaning device 5 arranged to clean the surface. The control unit 3 may for example be in the form of a computer comprising a processing unit and a memory unit for at least storing the first and the second threshold values. The method may advantageously be implemented in the control unit 3 as a computer program. As illustrated in Fig. 2, the cleaning device 5 is connected to the control unit 3 by a first connection line 6 used to send control signals from the control unit 3 to the cleaning device 5 in order to control the cleaning device 5. The transfer of information is done in a usual way and is therefore not described in more details herein. However, purely by way of example, the transfer of information may e.g. be done via an electrical cable and/or via wireless transmission. The cleaning device 5 may comprise at least one adjustable nozzle 7 for directing a cleaning medium to clean the surface of a receptacle 4. The cleaning medium is supplied by a supply system in a conventional manner and therefore not shown and not described in details herein. According to the embodiments illustrated in Fig. 2, the at least one adjustable nozzle 7 is arranged at a rod or a pipe 8 through a nozzle assembly 10. In other words the adjustable nozzle 7 is arranged at the nozzle assembly 10 that is connected to the rod/pipe 8. Further, the adjustable nozzle 7 is arranged to rotate with respect to a first axis a1 and with respect to a second axis a2. As illustrated in Fig. 2, the first axis a1 is a rotational axis of the rod/pipe 8 that is arranged at an upper portion of the receptacle 4. The second axis a2 refers to an axis which is normal to a plane defined by the cross section of the receptacle 4 shown in the Fig. 2.
The second axis a2 may also be arranged with different angles to a plane defined by the cross section of the receptacle 4 shown in the Fig. 2. Further, several nozzle assemblies 10, for example two, may be arranged along the rod/pipe 8 with a distance between the nozzle assemblies 10.
The adjustable nozzle 7 may rotate around the first axis a1 with a first angle a that may be in an interval between 0-360 degrees. Thus, the adjustable nozzle 7 may rotate in full circle or it may rotate in a back and forth movement around the first axis a1 .
In a similar way the adjustable nozzle 7 may rotate around the second axis a2 with a second angle b that also may be in an interval between 0-360 degrees. Thus, the adjustable nozzle 7 may rotate in full circle or it may rotate in a back and forth movement around the second axis a2.
As an alternative the cleaning device 5 may comprise several rods/pipes (not shown) connected to each other with different angles and several nozzle assemblies comprising several adjustable nozzles. Thereby the at least one adjustable nozzle may rotate with respect to several rotational axis. According to the embodiments illustrated in Fig. 2, the cleaning device comprises one nozzle assembly 10 and one adjustable nozzle 7. The number of nozzle assemblies may for example be 1-6.
The cleaning medium may comprise a cleaning liquid or a cleaning gas or a mixture of the cleaning liquid or the cleaning gas. The cleaning liquid may for example comprise water or seawater or recirculated cargo and may comprise a detergent. The cleaning gas may for example comprise air or an inert gas. Optionally, the adjustable nozzle may be adapted for supply of a cleaning medium comprising solid particles as for example sand. Thus, the cleaning medium may comprise a mixture of for example a cleaning liquid and solid particles or a cleaning gas with solid particles.
Further, the cleaning system 1 may comprise a device 9 arranged to create a three- dimensional image, as for example a three dimensional topography, of the surface of the receptacle 4. Thereby, the device 9 is configured to create a three-dimensional image of the surface of the receptacle 4, for example through an opening in the receptacle 4. The device 9 may comprise at least one of a sonar device, a radar device and an optical device. The device 9 is connected to the control unit 3 by a second connection line 12 arranged to send signals from the device 9 to the control unit 3. The transfer of information is done in a usual way and therefore not described in details herein. As illustrated in Fig. 2, the device 9 arranged to create a three-dimensional image of the surface of the receptacle 4 is arranged at the upper part of the receptacle 4, more specifically at the top portion of the receptacle 4. Optionally, the device 9 may for example be arranged on the side portion 14 of the receptacle 4. The cleaning system 1 may also comprise an analysis device 11 , as for example a wash water analyser, arranged to analyse a chemical characteristic of the cleaning medium after the cleaning medium has been supplied onto said at least portion of the surface. The analysis device 11 may for example be arranged at the bottom of the receptacle 4. According to the embodiments illustrated in Fig. 2, the analysis device 11 is arranged outside of the receptacle 4 and is connected to the bottom of the receptacle by a channel 16 to enable the cleaning medium to flow from the receptacle 4 towards the analysis device 1 1 . As an alternative, the analysis device may be arranged inside the receptacle 4. The analysis device 1 1 is connected to the control unit 3 by a third connection line 18 arranged to send signals from the analysis device 1 1 to the control unit 3. The transfer of information is done in a usual way and therefore not described in more details herein.
Even though embodiments of the various aspects have been described, many different alterations, modifications and the like thereof will become apparent for those skilled in the art. The described embodiments are therefore not intended to limit the scope of the present disclosure.

Claims

1. A method for cleaning a surface of a receptacle by a cleaning system arranged to clean said surface according to a cleaning procedure which is controlled by at least one cleaning parameter, wherein said method comprises the following steps:
- receiving (S1) data comprising at least one cleanliness indication value, wherein said at least one cleanliness indication value is indicative of a cleanliness level of at least a portion of said surface and relates to residues of uncleanness on said at least portion of said surface; and
- adjusting (S2) said at least one cleaning parameter at least when said at least one cleanliness indication value is below a first predetermined cleanliness threshold value.
2. The method according to claim 1 , wherein said data is received before said
cleaning procedure has started and/or when said cleaning procedure has progressed during a predetermined time period.
3. The method according to claim 1 or 2, wherein the steps (S1-S2) are repeated continuously during said cleaning procedure of the surface.
4. The method according to anyone of the preceding claims, further comprising the step of: - stopping (S3) said cleaning procedure when said at least one cleanliness indication value has reached or is above a second predetermined cleanliness threshold value.
5. The method according to any one of the preceding claims, wherein said surface is cleaned by using a cleaning medium supplied by said cleaning system, wherein said cleaning parameter comprises at least one of direction of a supplying of the cleaning medium, temperature of the cleaning medium, pressure of the cleaning medium, supplied volume per time unit of the cleaning medium, spread of the supplying of the cleaning medium and speed of movement of at least a part of said cleaning system.
6. The method according to claim 5, wherein said cleanliness indication value relates to a chemical characteristic of the cleaning medium after the cleaning medium has been supplied onto said at least portion of the surface.
7. The method according to claim 5 or 6, wherein said cleaning medium comprises a cleaning liquid or a cleaning gas.
8. The method according to any one of the preceding claims, wherein said data is achieved by using at least one device arranged to create a three dimensional image of at least a portion of said surface, such as at least one of a sonar device, a radar device and an optical device, wherein said cleanliness indication value is based on said three dimensional image of said at least portion of said surface.
9. The method according to any one of the preceding claims, wherein said surface is an interior surface of said receptacle, such as an interior surface of a tank.
10. A cleaning system (1 ) for cleaning a surface of a receptacle, the cleaning system comprising:
- a control unit (3) configured to perform the steps of the method according to any one of the claims 1 - 9; and
- a cleaning device (5) arranged to clean said surface, wherein said control unit (3) is arranged to control said cleaning device (5).
1 1. The cleaning system (1 ) according to claim 10, wherein the cleaning device (5) comprises at least one adjustable nozzle (7) for directing a cleaning medium to clean said surface.
12. The cleaning system (1 ) according to claim 1 1 , wherein said at least one
adjustable nozzle (7) is arranged to move with a speed during said cleaning procedure, wherein said cleaning parameter comprises at least said speed of the movement of said at least one adjustable nozzle (7).
13. The cleaning system (1 ) according to claim 1 1 or 12, wherein said adjustable nozzle (7) is arranged to rotate with respect to at least one axis, preferably with respect to a first and second axis (a1 , a2) which are arranged at an angle with respect to each other.
14. The cleaning system (1 ) according to any one of claims 10 - 13, further
comprising a device (9) arranged to create a three-dimensional image of said surface, such as at least one of a sonar device, a radar device and an optical device.
15. The cleaning system (1 ) according to any one of claims 10 - 14, further
comprising an analysis device (1 1 ) arranged to analyse a chemical characteristic of the cleaning medium after the cleaning medium has been supplied onto said at least portion of the surface.
PCT/EP2018/079540 2018-10-29 2018-10-29 Method and system for cleaning a surface of a receptacle WO2020088733A1 (en)

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