Container cleaner

Abstract

A container cleaner (10) is provided, comprising a fluid pipe (30) and a nozzle (33) tiltably mounted on the fluid pipe to eject cleaning fluid. The fluid pipe is rotationally fixed to a support structure (20) so that the fluid pipe rotates with the support structure. Further, the fluid pipe is slidably supported by the support structure so that axial displacement of the fluid pipe relative to the support structure is possible. A support structure drive (21) is arranged to rotate the support structure and the fluid pipe, and a fluid pipe drive (31) is arranged to slide the fluid pipe relative to the support structure. The tiltably mounted nozzle is connected to the support structure via a mechanical transmission (50). A controller (40) is arranged to control the support structure drive to control nozzle pan (61) and to control the fluid pipe drive to control nozzle tilt (66).

Description

Field of the invention

[0001] The present invention relates to a container cleaner for providing a nozzle inside a container, which nozzle can pan and tilt independently to direct cleaning fluid to any part of an inside surface of the container.Background of the invention

[0002] Containers, for example containers for storing or transporting, for example food, feed, ingredients, raw material, waste, slurry, chemicals, etc., must typically have their inside cleaned or rinsed at a frequency and thoroughness depending on the content and kind of use. Depending on the volume, openings and kind of content of the container, it may be difficult or impossible to send in a person to clean the container manually. Instead, a cleaning fluid hose may be inserted through an opening to rinse the inner surface. In order to provide sufficient power to remove residues, and in order to control the direction of the water jet, a nozzle may be provided at the end of the hose.

[0003] More advanced container cleaners provide their nozzle at the end of a rod or pipe to facilitate placing the nozzle at a distance from the container surface, for example near the centre of the container volume. Some container cleaners provide a nozzle that automatically moves through a pre-determined pattern of directions, powered by the water pressure. Other container cleaners make use of an advanced mechanical solution where rotation applied to the end of the rod outside the container, causes the nozzle to describe a predefined direction pattern inside the container. Some container cleaners have complex actuation mechanisms, e.g. hydraulics powered, located at the nozzle to control nozzle direction. Some container cleaners have dual nozzles to provide water jets in opposite directions simultaneously. GB512651A discloses a tank cleaning device with a sleeve inside a stationary body, allowing nozzles to be rotated by turning a handwheel that rotates the sleeve and tilted by turning another handwheel that moves the sleeve longitudinally. WO2011 / 019492A1 discloses a container cleaner with a rotating mast tube for fluid supply and nozzle rotation, a non-rotating push tube and rack for nozzle pitching, and a swash assembly to decouple these components for independent control of nozzle pitch and rotation.

[0004] Disadvantages of container cleaners for example include complex mechanical designs with several sealed joints to avoid leakage, excessive water consumption due to continuously rinsing all parts of the surface even when only a limited part has residue, excessive water consumption due to non-even water jet power at different parts of the surface, excessive water consumption for repeating cleaning program and / or requirement for manual cleaning after automatic cleaning program, risk of leaking hydraulic fluid inside the container, etc.Summary of the invention

[0005] The inventors have identified the above-mentioned problems and challenges related to container cleaners, and subsequently made the below-described invention which in various embodiments may reduce time and water consumption, provide a more thorough cleaning, facilitate simpler and cheaper production and maintenance, avoid risk of cleaning fluid leakage, avoid hydraulic oil leakage or electric sparks inside the container, facilitate focused cleaning of problem areas, etc.

[0006] The invention relates to a container cleaner comprising an elongated fluid pipe having an inlet to receive cleaning fluid and a nozzle tiltably mounted on the fluid pipe to eject the cleaning fluid. The container cleaner further comprises a support structure, a support structure drive, a fluid pipe drive and a controller. The fluid pipe is rotationally fixed to the support structure so that the fluid pipe rotates with the support structure around a pan rotation axis parallel to the fluid pipe. The fluid pipe is slidably supported by the support structure so that axial displacement of the fluid pipe relative to the support structure along the pan rotation axis is possible. The support structure drive is arranged to rotate the support structure and the fluid pipe around the pan rotation axis. The fluid pipe drive is arranged to slide the fluid pipe along the pan rotation axis relative to the support structure. The nozzle is tiltably mounted on the fluid pipe and connected to the support structure via a mechanical transmission. The controller is arranged to control the support structure drive to control nozzle pan and to control the fluid pipe drive to control nozzle tilt.

[0007] By the present invention, a container cleaner is provided where the nozzle can easily be panned in the XY plane and / or tilted in the Z plane, independently of each other. This is achieved without requiring actuators located at the nozzle-end of the fluid pipe, which means that neither hydraulic oil, electricity or pressurized air are required at the nozzle end or inside the container, and only mechanics and cleaning fluid enters the container volume. The invention is also achieved with reduced complexity in terms of for example the number of movable parts and sealed joints, compared to other advanced container cleaners.

[0008] By the invention, nozzle pan may be achieved by rotating the support structure whereby the fluid pipe including the nozzle is also rotated, and nozzle tilt may be achieved by displacing the fluid pipe relative to the support structure, i.e. sliding the fluid pipe along the support structure. Both can be achieved with independent actuators, drives, located away from the nozzle, for example at the inlet end of the fluid pipe, outside the container to be cleaned. This both facilitates a 'light' nozzle arrangement inside the container, as well as removes the risk of leaking e.g. hydraulic oil or electrical sparks inside the container. The simple mechanical solution of the invention may facilitate simpler and less expensive manufacture of the container cleaner, and reduce the maintenance efforts and costs required, including reducing down time for non-working container cleaners.

[0009] The independent control of nozzle pan and nozzle tilt facilitated by the invention, provides for steering the water jet to any desired container surface position, and thereby for programming any desired cleaning path around the surface. For example, the nozzle can be programmed to go faster or less frequent over cleaner areas and more frequent, or slower, or even linger, over more dirty areas independently of the water pressure and the described pattern. For example, the nozzle can be programmed to go faster or less frequent over surface parts closer to the nozzle, where the water jet hits harder, and go more frequent, or slower, or even linger, over more distant surface parts. Any of this may facilitate reduction of cleaning fluid consumption, e.g. water consumption, and / or time consumption, due to more efficient cleaning. By the invention may be further be achieved a more thorough or reliable cleaning first time, reducing the risk of needing to repeat the cleaning program and thereby double the water consumption. Because of the flexible nozzle control of the present invention, having independent pan and tilt control to describe any desired water jet path and movement speed, a required additional cleaning may even be better focused on the remaining residue to be cleaned, thereby reducing time and water consumption of such additional cleaning.

[0010] An elongated fluid pipe may comprise a piece of pipe, hose or tube, of circular or rectangular cross section, of any suitable material considering the kind of cleaning fluid, content to be cleaned and requirements for tool cleaning, e.g. metal such as stainless steel, galvanized steel, copper, aluminum, plastic such as polyethylene PE, e.g. PEX, polyvinylchloride PVC, other synthetic or semi-synthetic materials such as reinforced rubber, etc. The length of the elongated fluid pipe should advantageously be selected based on the distance from the container center or desired nozzle location to the container opening where the container cleaner is inserted, and then some additional length depending on the arrangement of the drives and inlet coupling. The fluid pipe may advantageously be sufficiently rigid to allow sliding relative to the support structure, and / or may be sustained by a rod or enclosing pipe, e.g. a plastic hose tied to an aluminum rod or placed inside a steel pipe. The inlet of the fluid pipe is suitable for coupling to a supply of cleaning fluid, e.g. a hose or pipe from a pump or a water tap. Any suitable coupling mechanism may be used with different advantages, e.g. click couplings, twist-lock-couplings, screw-couplings, etc. Preferably, the coupling at the fluid pipe inlet is a rotary or swivel coupling, allowing the fluid pipe to rotate with the support structure relative to the connecting hose to avoid hose twisting.

[0011] Cleaning fluid according to the present invention may comprise any fluid suitable for cleaning, and should thus be selected in consideration of the kind of container, the kind of content to be cleaned, the cleaning requirements, e.g. for food containers, etc. The cleaning fluid may preferably be water, water mixed with soap or other cleaning chemicals, or any other suitable cleaning fluid. The cleaning fluid may also comprise non-liquid particles, e.g. sand, metal, synthetic or salt particles for an abrasive effect, etc., however with due consideration of the abrasion sensitivity of the fluid pipe and nozzle of the container cleaner itself. Water may be tap water, rainwater, groundwater, lake water, sea water, treated or purified waste water or other water, demineralized or distilled water, etc., preferably filtered to avoid nozzle clogging.

[0012] The nozzle being tiltable mounted on the fluid pipe may comprise any suitable nozzle for a desired cleaning fluid distribution, e.g. for producing a focused water jet or a dispersed spray, or anything between. Any nozzle technology in terms of nozzle outlet design, nozzle material or combination of materials, nozzle dimensions, etc. may be used for the invention in consideration of the kind of containers and content to be cleaned. The nozzle material should for example be suitable for both the container content, e.g. according to food health regulations, and be suitable for the intended cleaning fluid, e.g. with respect to chemical resistance, abrasion resistance, etc. The nozzle may be easily replaceable to allow the container cleaner to be used for different purposes requiring different nozzles. The nozzle may in an embodiment be a mixing nozzle receiving a second fluid, e.g. air or chemicals, via a separate hose along the fluid pipe, to mix with the cleaning fluid, e.g. water, at the ejection point to generate e.g. a foam or a slightly foamy water jet.

[0013] The tiltable mounting of the nozzle to the fluid pipe refers to the nozzle being able to tilt, such as rotate, pivot or bend, in a plane parallel to the fluid pipe and the pan rotation axis. The tilting, rotating, pivoting or bending of the nozzle thereby happens around a tilt rotation axis substantially perpendicular to the pan rotation axis. The tiltable mounting may allow for a full rotation (360°), but more preferably, and depending on the mechanical transmission connecting the nozzle to the support structure, the available tilting may comprise for example 180°, 190°, 200°, 170°, 150°, 120°, 100°, 90°, 60° or 45°. A preferred embodiment where the nozzle mounting is arranged for 170° - 190° tilt, for example 175° - 185° tilt or 170° - 180° or 170° - 185°, such as approximately 180° tilt, may allow the nozzle to describe a half circle from being directed along the fluid pipe, through perpendicular to the fluid pipe, to along the fluid pipe direction opposite the initial direction. For example, a container cleaner located on the top surface of a container, with the fluid pipe and nozzle end pointing towards the bottom surface of the container, may by 180° tilt movement allow the nozzle to spray the top, the sides and the bottom of the container. Slightly less than 180° tilt, such as 170°-175° tilt, may prevent the nozzle to spray directly upwards at the container cleaner housing and / or container opening where the container cleaner is inserted. Together with 360° pan movement, any point inside the container, within water jet distance, can be reached. Less than 180° tilt may be sufficient for containers that only need cleaning at certain areas, e.g. the bottom, or where several container cleaners are co-operating to cover a big container volume.

[0014] According to the invention, the support structure supports the fluid pipe in such a way that the fluid pipe can be displaced longitudinally, i.e. along the elongated fluid pipe and along the pan rotation axis, but also in such a way that the fluid pipe cannot rotate around its longitudinal direction, i.e. around the pan rotation axis, without the support structure also rotating correspondingly. In some embodiments, the support structure is elongated along the fluid pipe for a major part of the length of the fluid pipe. Thereby the fluid pipe may advantageously be supported near both ends, and optionally further support points therebetween, to guide the mechanical mechanisms for a robust and reliable container cleaner. To support and protect the fluid pipe even further, the support structure may be enclosing most of the fluid pipe, for example by means of a support structure comprising circular or rectangular pipe or a hollow lattice structure in which the fluid pipe extends. In some embodiments, the support structure is mainly located near one end of the fluid pipe, for example near the inlet end, and may be designed mainly for the rotational fixation of the fluid pipe, and optionally without much support or protection of the fluid pipe towards the nozzle end.

[0015] The rotational fixation of the fluid pipe to the support structure should be configured to allow longitudinal displacement of the fluid pipe. Preferably is provided locking of rotational movement and radial displacement. The fluid pipe may be rotationally fixed to the support structure for example by a longitudinal tongue and groove-system, a pin and channel-system, matching radially extending cogs or teeth, other matching longitudinal profiles, or by any other suitable means. The means for rotational fixation may for example be arranged along the extent of the fluid pipe and / or support structure, e.g. created in connection with extrusion of the fluid pipe and / or support structure, and / or they may be separate components added to the fluid pipe and / or support structure.

[0016] A pan rotation axis is defined as the rotation axis around which the support structure and fluid pipe rotate together due to the rotational fixation. The nozzle mounted on the fluid pipe will rotate with the fluid pipe, and will thereby perform a nozzle pan around the pan rotation direction. In other words, the nozzle can be panned around by rotating the support structure. In a preferred embodiment, the possible rotation, i.e. nozzle pan, is at least 360°, preferably unlimited. Preferably the cleaning fluid inlet of the fluid pipe is arranged to manage rotation past 360° without affecting the supply hose or piping, e.g. by means of a rorary or swivel coupling. In other embodiments the nozzle pan is limited to 360° or less, for example 270°, 225°, 200°, 180°, or less. Limited pan rotation may be advantageous when cleaning a container by means of two or more container cleaners to avoid too much overlapping of the cleaning areas. Limited pan rotation may also be applied where the supply hose or piping do not support rotation beyond a certain amount. Limited pan rotation may also allow for various support structure configurations and / or mechanical transmission configurations that are not compatible with complete panning rotation.

[0017] The rotation of the support structure, and thereby the fluid pipe and nozzle, is performed and controlled by a support structure drive. Any suitable actuator may be employed for this purpose. Preferably the support structure drive is a motor rotating a shaft, which by means of cogwheels, chains, belts, rollers or any other gear system, is arranged to cause rotation of the support structure. Preferably the support structure drive is configured for controlled rotation, e.g. by a step motor, by sensor feedback, etc., so that the nozzle pan can be controlled in terms of speed, direction or preferably both speed and direction. In other words, an advantageous embodiment allows for example pointing the nozzle in any desired pan direction, and / or describing a panning motion at any desired speed within the capabilities of the drive, by controlling the support structure drive. Depending on the type of drive, e.g. motor and motor driver or interface, the controlling of the drive may for example be achieved by controlling the speed, the position, or speed and position, preferably using forward or feedback regulation loops, for example by pulse width modulation, current control, voltage control, hydraulic pressure control, digital parameter input, etc. The support structure drive is preferably fixed to something external to the support structure in order to allow rotation of the support structure without rotation the drive. The support structure drive may for example be fixed relative to the container, e.g. by means of a container mount, scaffolding, a platform, a hoist, or simply by an operator holding the container cleaner in position.

[0018] The fluid pipe is slidably supported by the support structure to allow axial displacement of the fluid pipe relative to the support structure, i.e. displacement along the elongated fluid pipe and thus along the pan rotation axis. The rotational fixation means, and / or the support structure or fluid pipe in general, may preferably comprise means for facilitating the longitudinal displacement, i.e. sliding, of the fluid pipe, e.g. by lubrication, linear bearings such as ball bearings, slide collars, sleeves or bushings, e.g. made from synthetic material or coated with anti-friction material, etc. The fluid pipe and / or support structure may preferably comprise stops to limit the range of linear displacement, for example to avoid disengagement of rotational fixation, linear sliding supports, or the mechanical transmission between the nozzle and the support structure. In preferred embodiments, the available linear displacement range can be relatively short compared to the fluid pipe length, as depending on the configuration of nozzle and mechanical transmission, even a tilt range of for example 180° may be achieved by only a few centimeters linear displacement, for example 20 cm or less, such as 15 cm or less, 10cm or less, or 5 cm or less, for example a displacement of 20% or less, 15% or less, 10% or less, 5% or less, or 3% or less of the fluid pipe length.

[0019] The linear displacement of the fluid pipe relative to the support structure, and thereby the nozzle tilt, is performed and controlled by a fluid pipe drive. Any suitable actuator may be employed for this purpose. Preferably a linear actuator is configured with a suitable transmission to the fluid pipe, e.g. comprising a system of connecting rods, elbows or brackets to achieve a gearing or more compact configuration, but in other embodiments the fluid pipe drive is a motor rotating a shaft and having means for converting the rotation to a linear motion of the fluid pipe, for example by means of a lead screw configuration, a rack-and-pinion gear, a slider-and-crank mechanism, a cam configuration, etc. Both with linear and rotary actuators, a gearing may be used to adapt an optimal controllable range and force of the actuator to the displacement range and force suitable for the fluid pipe displacement to cause a desired tilt range of the nozzle. Preferably the fluid pipe drive is configured for controlled linear displacement, e.g. by motor control, by sensor feedback, etc., so that the fluid pipe displacement can be controlled in terms of speed, distance or preferably both speed and distance, thereby in turn controlling the nozzle tilt in terms of tilt speed, tilt angle, or preferably both tilt speed and tilt angle. In other words, an advantageous embodiment allows for example tilting the nozzle in any tilt angle, and / or describing a tilting motion at any desired speed within the capabilities of the drive, by controlling the fluid pipe drive. Depending on the type of drive, e.g. motor and motor driver or interface, the controlling of the drive may for example be achieved by controlling the speed, the position, or speed and position, preferably using forward or feedback regulation loops, for example by pulse width modulation, current control, voltage control, hydraulic pressure control, digital parameter input, etc. The fluid pipe drive is preferably fixed to something external to the fluid pipe in order to allow displacement of the fluid pipe without displacing the drive, too. The fluid pipe drive may for example be fixed relative to the container, e.g. by means of a container mount, scaffolding, a platform, a hoist, or simply by an operator holding the container cleaner in position. In an embodiment the fluid pipe drive is fixed to the support structure, as the fluid pipe is displaced relative to the support structure. As the fluid pipe is displaced linearly back and forth to control nozzle tilt, it is advantageous to supply cleaning fluid to the inlet of the fluid pipe by means of a hose or other flexible means which can absorb the linear displacement.

[0020] A mechanical transmission connects the support structure to the nozzle mounted on the fluid pipe in order to make the nozzle tilt when sliding the fluid pipe relative to the support structure. As described above, the tiltable mounting of the nozzle to the fluid pipe allows the nozzle to rotate or pivot, and the tilting of the nozzle happens around a tilt rotation axis substantially perpendicular to the pan rotation axis, i.e. substantially perpendicular to the linear displacement direction of the fluid pipe. The mechanical transmission may for example comprise means to fixate or limit movement one or more off-axis points on the nozzle with respect to the support structure, so that when the fluid pipe is displaced, the off-axis point does not follow the displacement, at least not to the same degree. The relative position of the mounting point of the nozzle to the fluid pipe, e.g. a swivel coupling forming the tilt rotation axis, and the off-axis point on the nozzle connected to the support structure via the mechanical transmission, may change when the relative displacement between fluid pipe and support structure is changed. As both the mounting point and the off-axis point is on the nozzle, the nozzle tilts, i.e. rotates, pivots or bends, when the relative direction between these points is changed. The mechanical transmission may for example be based on a rack-and-pinion gear, a crank mechanism, a simple connecting rod mounted off-axis, or any other linear-to-rotary or linear-to-pivot motion, or for a bending nozzle a simple connecting rod to push and pull an off-axis point of the nozzle, or the like.

[0021] A controller is provided to control the nozzle direction, i.e. control the pan and tilt of the nozzle, by controlling the support structure drive and the fluid pipe drive as described above. The controller is preferably digitalized or computerized, for example based on a microcontroller, processor, dedicated microchip or PLC, for example dedicated to the container cleaner, or being implemented as software in a general purpose computer such as a smartphone, tablet computer, laptop computer, etc. A suitable digital-to-analog interface is provided between the digital part of the controller and the drives, e.g. comprising relays, contactors, solid-state switching devices, etc. The digital-to-analog interface, or part thereof, may be implement as part of the drives, e.g. as a motor driver with digital or low-voltage analog control inputs. In various embodiments, the controller may also be controlling cleaning fluid flow and / or pressure, cleaning fluid mixture, etc. As the movement speed of the nozzle together with the flow rate and / or pressure of cleaning fluid affects the amount of cleaning fluid reaching each position of the container surface, an advantageous embodiment may comprise the controller controlling both fluid flow / pressure and nozzle movement in dependency of each other, or controlling nozzle movement in dependency of, possibly non-controllable, flow / pressure of supplied cleaning fluid. A further advantage of controlling fluid pressure is to adjust pressure according to container surface resistibility or fragile components, e.g. sensors or user interfaces, mounted inside the container, such as reducing fluid pressure when the nozzle is pointing in the direction of a more vulnerable area.

[0022] In various embodiments the controller may be automatic or manually controlled. By automatic control is referred to controlling the nozzle in a predefined or feedback-regulated way, such that the ejected cleaning fluid, e.g. a water jet, is moved around over for example the container surface according to a path, e.g. a pattern, possibly including also variable movement speed and / or movement pauses. Before cleaning starts, a desired cleaning program defining a pattern or path, possibly including speed designations, is selected in the controller, for example manually, for example among a number of predefined programs. In an embodiment, a model of the container inside surface, possibly including a model of typical soiling degree and spread, is used by the controller or an external cleaning program generator to calculate or select a suitable nozzle movement path or pattern. A user may select a desired container model from a list to cause the controller to automatically perform a suitable cleaning program including suitable nozzle movement. Automatic control may be advantageous as it frees human resources in the meantime and performs substantially identically each time without hesitation or further considerations, which is well suited for containers that are used in substantially the same way each time whereby the dirt or residues are also requiring the same degree and mode of cleaning each time. The controller may receive feedback from sensors, such as cameras, and / or from a human operator, to adjust the execution of the program, e.g. slow down, repeat a passage, stop or pause cleaning, etc.

[0023] By manual control is referred to the controller controlling the nozzle according to user input, for example using a joystick, touchscreen, trackball, mouse, keyboard or voice commands to control the nozzle direction. Manual control may be advantageous for non-typical cleaning, e.g. for non-predictable degree of soiling or residues, for exceptionally sticky dirt, or for new untried cleaning tasks. By means of the controller translating desired nozzle movement speed and direction to corresponding control signals to the support structure drive and fluid pipe drive, the human operator does not need to control or understand the drives directly, but can simply input a desired nozzle direction or movement, optionally including movement speed. Alternatively, the controller may have individual control input for the tilt and pan movements, i.e. requiring the human operator to control those parameters individually.

[0024] The controller may be local to the container cleaner, e.g. built-in to a housing comprising the support structure drive and fluid pipe drive, or located nearby and connected for example via USB, Bluetooth or WiFi connection, or a control signal wire. The controller may alternatively be remote from the container cleaner, e.g. located in nearby building, for example together with a pump supplying cleaning fluid, or in a plant monitoring location together with other controllers and monitoring equipment, and connected to the support structure drive and fluid pipe drive by means of wired or wireless network connection, mobile data such as a GSM module or 5G transceiver, a wired or wireless control signal bus, etc. The controller may for example be comprised in or controlled by an external control or monitoring system such as a SCADA (Supervisory Control and Data Acquisition) or DCS (Distributed Control System) system.

[0025] The container cleaner may be advantageous for cleaning containers, such as confined or semiconfined spaces of any shape, and of a size where one or more surfaces can be reached by a water jet from a central position. Examples of containers which may advantageously be cleaned by a container cleaner of the present invention comprises freight containers, silos, stationary tanks, truck tanks, trailers or semitrailers, possibly refrigerated or freezing, animal transporters, closed or open truck beds, hard side, tarpaulin or curtain side truck beds, storage compartments, industrial refrigerators, freezers, dryers, workshops for particularly dirty work, containers for substances hazardous to health, etc.

[0026] In an embodiment, the container cleaner comprises a housing enclosing the support structure drive and the fluid pipe drive.

[0027] A housing may protect the mechanical and electrical parts of the container cleaner from cleaning fluid splashes, rough treatment, harsh environments, etc. The housing may further provide an integration of the various parts into a single unit, except for the nozzle end of the fluid pipe, mechanical transmission and optionally support structure. Thereby storing and handling is simplified, and robustness improved. The housing may comprise handles for facilitating handling of the container cleaner. The housing preferably further encloses the controller, and encloses or fixates a coupling for the fluid pipe inlet, such as a swivel or rotary coupling as described above for connecting a cleaning fluid supply hose or supply pipe to the fluid pipe inlet.

[0028] In an embodiment, the container cleaner comprises a container mount arranged to maintain, during cleaning of a container, the support structure drive in a fixed position relative to the container.

[0029] By maintaining the support structure drive in a fixed position relative to the container during cleaning, the support structure, and thereby fluid pipe and nozzle, may rotate relative to the container, thereby causing the nozzle to pan around inside the container. Further, relative displacement of the fluid pipe relative to the support structure causes the nozzle to tilt inside the container. In a preferred embodiment, the container mount is part of or connected to a housing of the container cleaner. The container mount may for example comprise magnets to attach to metal containers, flanges for screw bolts, pegs, clamps, lid hooks or finger screws, snap hooks to attach to brackets or shackles of the container, or any other suitable permanent or temporary fastening means. The container mount may in an embodiment simply comprise a base, preferably a relatively heavy base, causing the weight of the container cleaner including drives, etc., to lie relatively stationary on top of a container even during cleaning.

[0030] The container mount may preferably fit a container opening of the container through which the nozzle end of the container cleaner is introduced into the container interior, and the container mount be configured as a lid part matching the container opening so that a lid locking system of the container can be used to maintain the container mount and thereby the container cleaner in position. By a container mount and / or container cleaner covering the container opening, may advantageously also be avoided splashes of cleaning fluid to reach the outside of the container and the environment.

[0031] The container mount is preferably detachable from the container so that the container cleaner can be removed when not in use, and / or be used sequentially for several different containers. In some embodiments, the container mount is not directly mounting the container cleaner to a container, but instead to an auxiliary structure which can be placed in connection with the container, thereby placing the container cleaner in connection with the container. The auxiliary structure may for example be a frame to which the container mount is pivotably mounted. When placing the frame over a container, or a container under the frame, the nozzle end of the container cleaner can be pivoted into the container through a container opening, without requiring direct fixation of the container cleaner to the container.

[0032] In some embodiments the container cleaner is permanently mounted on a container surface by means of the container mount. In such embodiments, the entire container cleaner, including a container cleaner housing, may preferably be located inside the container, with only cleaning fluid supply hose, power cables, and optionally control wires, extending out of the container.

[0033] In an embodiment, the support structure extends longitudinally in parallel to the fluid pipe.

[0034] Besides transferring rotation to the fluid pipe and supporting linear displacement of the fluid pipe, the support structure may advantageously extend along at least part of the fluid pipe for one or more of improved linear displacement support, support for the mechanical transmission, or better guiding or support of the nozzle position. The support structure may for example comprises one or more of a circular or rectangular pipe, a U-, H-, I- or V-profile or a lattice structure. By circular or rectangular pipe is referred to pipes having circular or rectangular cross section, respectively. By U- H-, I- or V-profile is referred to channels or beams, for example of extruded aluminum or molded plastic, of the respective cross sections. In some embodiments, the support structure comprises a combination of two or more shapes, profiles, materials, etc. A combination of circular and rectangular pipe may for example be advantageous to both engage the support structure drive and rotationally fix the fluid pipe.

[0035] In an embodiment, the fluid pipe is arranged at least partly within the support structure.

[0036] Thereby may be provided a high degree of support for the fluid pipe by relatively simple means, such as a smaller fluid pipe within a wider support structure pipe, while allowing linear displacement of the fluid pipe relative to the support structure.

[0037] In an embodiment, the support structure comprises a non-rotating cover.

[0038] A non-rotating cover may advantageously protect and support the mechanical parts of the support structure and / or reduce leakage of container substances to the outside of the container, or into the container cleaner housing. The non-rotating cover may for example be mounted on the housing and / or container mount.

[0039] In an embodiment, the mechanical transmission is arranged so that the sliding the fluid pipe along the pan rotation axis relative to the support structure causes the nozzle to tilt.

[0040] The mechanical transmission provides a well-defined and predictable relation between the displacement of the fluid pipe and the tilting of the nozzle. Thereby control of the nozzle tilt angle can be controlled in a predictable and robust way by the controller, with reduced complexity of the mechanical system.

[0041] In an embodiment, the nozzle tilt is performed with respect to a tilt rotation axis, and wherein the mechanical transmission is connecting the support structure to the nozzle at an off-axis point with respect to the tilt rotation axis.

[0042] The mechanical transmission provides a well-defined and predictable relation between the displacement of the fluid pipe and the tilting of the nozzle. Thereby control of the nozzle tilt angle can be controlled in a predictable and robust way by the controller, with reduced complexity of the mechanical system.

[0043] In an embodiment, the mechanical transmission comprises one or more of a rack-and-pinion gear with a rack mounted on the support structure and a pinion or pinion-like structure mounted on the nozzle, a crank mechanism with a connecting rod mounted between the support structure and a crank mounted on the nozzle, or a connecting rod connecting the support structure to an off-axis point of the nozzle.

[0044] The mechanical transmission does not have to enable complete rotation of the nozzle around the tilt rotation axis, as a limited tilt angle as described above is sufficient for preferred embodiments. Not requiring complete rotation allow simplifying the mechanical transmission, as some linear-to-rotary motion challenges do not become issues, such as ensuring direction does not change at the top or bottom points, or how a connecting rod passes by an axle. With a rack-and-pinion configuration, it may for example be sufficient to provide a half pinion, i.e. only teeth on a half-circle, thereby allowing a more compact design by using the unused side of the pinion for the nozzle outlet. For a rotating or pivoting nozzle configuration an off-axis point for connecting a connection rod may be on either side of the tilt rotation axis, i.e. the nozzle outlet side or the opposite side. For a bending nozzle configuration, e.g. a nozzle with a body of rubber or silicone and optionally a metal nozzle outlet, the off-axis point should be to the nozzle outlet side of the tilt rotation axis. For a connecting rod configuration with or without a crank, the relationship between the distance traveled by the fluid pipe and the tilt angle can be adjusted by adjusting the distance between the tilt rotation axis and the off-axis point or crank end. For a rack-and-pinion configuration, the relationship can be adjusted by adjusting the pinion diameter.

[0045] In an embodiment, the container cleaner has a single movable coupling sealing zone between the inlet and a tip of the nozzle.

[0046] In an embodiment, the container cleaner has two movable coupling sealing zones, one at the inlet and one at the tiltably mounting of the nozzle, respectively.

[0047] In a particularly advantageous embodiment, the number of critical sealings of movable parts forming part of the fluid distribution system is reduced to a single sealing zone at the connection between the nozzle and the fluid pipe, where the nozzle must be tiltable, and a single sealing zone at the connection between the fluid pipe and a fluid inlet, where a swivel or similar solution should be provided to avoid twisting the hose or other cleaning fluid supply means. Advantageous embodiments of the invention need only a single sealing zone for movable coupling of fluid carrying elements to avoid leakage of cleaning fluid, besides a hose connection at the inlet. As movable couplings, such as swivels or telescopic couplings, place great demands on their sealing configurations and quality to stay reliable over time, it is highly advantageous to only have one such sealing zone in the nozzle end of the container cleaner, and in fact in the entire embodiment, except for a, probably, standard hose-coupling at inlet.

[0048] In an embodiment, a sealing zone is also provided between the container and the rotatable support structure to avoid leaking substances from the container to the outside environment. This may for example be embodied between a container mount of the container cleaner and the support structure of the container cleaner.

[0049] In an embodiment, the support structure drive and / or the fluid pipe drive are electrically driven.

[0050] Electrical powering of the drives, preferably both of them, provides for a robust, energy-efficient, mechanically simple and compact solution, with relatively simple interface to the electronic controller, and possible accurate control and feedback options for precise positioning of the nozzle by well-defined rotation of the support structure and displacement of the fluid pipe. As the container cleaner needs a supply of cleaning fluid, e.g. water, there will typically also be access to electricity at the place of operation. However, electrical powering may even allow for off-grid usage, or just more convenient operation with less connections to be established, by battery-powering in embodiments where the power required for a cleaning operation is limited to what can be provided by contemporary battery solutions of a practical size. The battery may be integrated in the container cleaner housing, or be an external battery pack.

[0051] In an embodiment, the support structure drive and the fluid pipe drive are hydraulically or pneumatically driven.

[0052] This may be advantageous in certain environments where electricity is not allowed, or where hydraulic or pneumatic force is also used for several other purposes at the same operating site. The controller may in this embodiment be battery driven, or driven by a generator also being driven by the hydraulic or pneumatic power.

[0053] In an embodiment, the support structure drive and the fluid pipe drive are driven by the flow of the cleaning fluid.

[0054] In an embodiment the only external connection necessary is to a water supply or other cleaning fluid supply, and the drives are configured to be driven by the flow or pressure of the cleaning fluid. The controller may in this embodiment be battery driven, or driven by a generator also being driven by the cleaning fluid.

[0055] In an embodiment, the container cleaner comprises a cleaning fluid pressure sensor.

[0056] By monitoring the cleaning fluid pressure, the controller may use this information to adjust the nozzle movement. With lower pressure, the nozzle movement should be slower to ensure the desired amount of cleaning fluid reaching each part of the container surface. Monitoring pressure may reveal if a valve or pump of the cleaning fluid supply is malfunctioning and allow the controller to stop the cleaning and / or provide a notification or alarm. In an embodiment the pressure sensor is provided at an external cleaning fluid supply, i.e. where a cleaning fluid hose is connected to a pump or tap, and is configured to control the pump or tap in dependency of the detected cleaning fluid pressure.

[0057] In an embodiment, the container cleaner comprises a valve to control flow of cleaning fluid.

[0058] Being able to control flow of cleaning fluid may be advantageous, as the controller may thereby, in addition to controlling nozzle movement speed, also control the speed of the cleaning fluid jet hitting the container surfaces. This gives additional flexibility in the possible nozzle patterns, and allows for adjustments in unexpected circumstances. It may be particularly advantageous for usage scenarios where the distance between the nozzle and the container surfaces varies significantly, such as in non-spherical containers, in particular oblong containers where one dimension is significantly larger than other dimensions, e.g. a narrow, long container, or a high, narrow silo. Ability to control the cleaning fluid flow also makes it possible to automatically start and stop cleaning fluid flow at the beginning and end of cleaning operations, or in case of problems. This may allow for a completely automatic cleaning system permanently mounted inside a container and automatically performing predefined cleaning operations on a predefined schedule or when certain circumstances are detected by sensors. In an embodiment the valve is provided at an external cleaning fluid supply, i.e. where a cleaning fluid hose is connected to a pump or tap.

[0059] In an embodiment, said cleaning fluid is one or more of water, a cleaning solution or air.

[0060] As described above, the cleaning fluid may comprise any fluid suitable for cleaning. Water is a preferred main or even sole constituent as it is often readily accessible in large amounts and can be sufficiently clean for treating containers for food or other regulated contents, and the produced waste water may, depending on the cleaned content, be environmentally friendly or easily treated before release. A water jet may also be powerful enough to remove most kinds of residues and dirt without cleaning chemicals or further constituents. However, in some usage scenarios it may be beneficial or required by regulation to supplement with cleaning chemicals, abrasion particles, etc., as described above. By means of the present invention providing for improved nozzle control and advanced cleaning programs, the water consumption may be reduced compared to prior cleaning methods and apparatuses.

[0061] In an embodiment, the container cleaner is configured to control nozzle pan and nozzle tilt via control of the support structure drive and fluid pipe drive, respectively, to execute a predefined cleaning program defining one or more of a predefined nozzle movement pattern and predefined nozzle movement speed profile.

[0062] With the independent control of nozzle pan and nozzle tilt, the present invention allows for defining any desired movement pattern and movement speed profile. Thereby can be predefined cleaning programs particularly designed for specific container shapes, sizes, content, etc. As described above, the predefined cleaning programs may be based on a model of the container shape and size, a typical soiling degree and spread, a desired cleaning efficiency, etc.

[0063] Predefined nozzle movement patterns may comprise a sequence of nozzle pan and nozzle tilt instructions, which together makes the nozzle describe a desired movement pattern, in order to make the ejected cleaning fluid, e.g. a water jet, describe a desired movement pattern on the container surface. Depending on the cleaning task, the nozzle movement pattern may target all portions of the container surface evenly, or target some portions of the container several times, or completely omit some portions of the container, etc. Depending on which spray pattern is most efficient for certain container and / or content type, the nozzle movement pattern may gradually work its way systematically over the container surface from top to bottom, or one end to the other end, etc., or it may describe more complex patterns, such as spiral, helix or zigzag patterns, etc.

[0064] Predefined nozzle movement speed profiles may comprise instructions about the rate of change of nozzle pan and / or nozzle tilt, preferably as a function of nozzle direction. Thereby the ejected cleaning fluid, e.g. water jet, may go faster over some container areas, and slower over other, or even occasionally stand still for a few seconds. The predefined speed profiles may preferably be designed for particular container shapes, especially for varying distances between the nozzle and container surfaces. It may for example be advantageous to employ a speed profile where the nozzle moves faster when the distance to the surface is short, and moves slower when the distance is long, such as in box-shaped containers where typically the corners will be farthest away from the nozzle, and the mid-sections of the container sides will be closest to the nozzle.

[0065] In an embodiment, the container cleaner comprises two or more predefined cleaning programs, of which at last one is a main cleaning program and at least one is a post-treatment program, wherein a post-treatment program comprises a subset of, and is different from, a main cleaning program.

[0066] Advantageously, the container cleaner may provide limited post-treatment programs for selection after a main program has been executed, if additional cleaning is required. Conventionally, if a cleaning program has not provided adequate cleaning, the cleaning program must be executed again or manual post-treatment is required. Running a complete cleaning program again wastes cleaning fluid and time as only a minor part of the container is typically in need of additional cleaning, and doing it manually may be inefficient and inconvenient. With the present invention, post-treatment programs are provided, which only execute a partial, i.e. a subset, of a main cleaning program. Different post-treatment programs may preferably be provided for different purposes, e.g. targeting different areas of the container that may have been inadequately cleaned by the main program. A subset of a main program may for example omit further cleaning of top and upper side surfaces, thereby only include cleaning of the floor and lower side surfaces.

[0067] In an embodiment, the container cleaner comprises a user interface configured for selecting a predefined cleaning program and / or control nozzle pan and nozzle tilt.

[0068] The invention further relates to a method for cleaning a container. The method comprises providing a nozzle inside the container, the nozzle being tiltably mounted on an elongated fluid pipe. The fluid pipe is rotationally fixed to a support structure so that the fluid pipe rotates with the support structure around a pan rotation axis parallel to the fluid pipe, and the fluid pipe is slidably supported by the support structure so the fluid pipe can be axially displaced relative to the support structure along the pan rotation axis. Further, the nozzle is connected to the support structure via a mechanical transmission. The method further comprises providing cleaning fluid to the nozzle via an inlet of the fluid pipe. The method further comprises using a support structure drive to rotate the support structure and the fluid pipe around the pan rotation axis to perform a nozzle pan motion, and using a fluid pipe drive to slide the fluid pipe along the pan rotation axis relative to the support structure to perform a nozzle tilt motion.

[0069] The above method may provide the advantages described in relation to the container cleaner above, and may comprise one or more of the additional features described above. The invention further relates to a container comprising a container cleaner as described above.

[0070] For containers needing regular cleaning and with sufficient headroom, a container cleaner according to the invention may advantageously be permanently mounted, for example in the ceiling of the container. In an embodiment, the container cleaner is mounted on a container cleaner vehicle which may retract the container cleaner towards the ceiling, a corner or a side when cleaning is not required, and move the container cleaner into position during cleaning. The cleaning may be fully automated to execute at regular intervals, for example each night, and according to a predefined cleaning program. The invention further relates to a container cleaning system comprising a container cleaner as described above, and a cleaning fluid supply connected to the inlet.

[0071] The cleaning fluid supply may for example comprise a hose connected to a water tap. In another embodiment, the cleaning fluid supply comprises a cleaning fluid tank and a hose connected to the inlet. In an embodiment, the cleaning fluid supply comprises a pump. The container cleaner or cleaning fluid supply preferably comprises a cleaning fluid valve to allow starting and stopping cleaning fluid flow in accordance with the predefined cleaning program.The drawings

[0072] Various embodiments of the invention will in the following be described with reference to the drawings where: fig. 1 illustrates an embodiment of the invention, fig. 2 illustrates an embodiment of nozzle, fluid pipe and support structure, figs. 3-4 illustrate embodiments of fluid pipe driver and support structure driver, fig. 5 illustrates an embodiment with a housing, fig. 6 illustrates an embodiment of nozzle and mechanical transmission, fig. 7 illustrates tilting and panning the nozzle in an embodiment, figs. 8-10 illustrate embodiments with different fluid pipe configurations, figs. 11-12 illustrate embodiments with two nozzles, figs. 13-16 illustrate embodiments with different mechanical transmissions, and figs. 17-23 illustrate different applications of embodiments of the invention. Detailed description

[0073] Fig. 1 is a sketch of a principle of a container cleaner 10 of the invention. A fluid pipe 30 having an inlet 32 is connected to a nozzle 33 in order to spray cleaning fluid 11 in the direction the nozzle 33 is pointing. The nozzle 33 is tiltably mounted on the fluid pipe 30, meaning that a coupling between nozzle 33 and fluid pipe 30 may for example and preferably be a rotary or swivel coupling, allowing the nozzle 33 to pivot or rotate around a tilt rotation axis 65 in order to achieve nozzle tilt 66. In this drawing, the tilt rotation axis 65 is parallel to the X-axis, and nozzle tilt 66 is thus a movement of the nozzle in the YZ-plane according to this drawing.

[0074] A support structure 20 is also provided in relation to the fluid pipe 30. The support structure 20 is arranged besides or fully or partly around at least a part of the fluid pipe 30. In this example, the support structure is a pipe sufficiently wide to accommodate the fluid pipe 30 inside the support structure 20. Other examples of support structure configurations for the invention are described below. The support structure 20 is configured to be rotated around a pan rotation axis 60, preferably parallel with the longitudinal dimension of the support structure. As indicated in the drawing, the fluid pipe 30 and related support structure 20 may have any length suitable for the intended task, e.g. selected based on the size of the container to be cleaned. In this drawing, the pan rotation axis 60 is parallel to the Z-axis, and nozzle pan is thus a movement of the nozzle in the XY-plane according to this drawing.

[0075] To make the nozzle 33 perform nozzle pan 61 around the pan rotation axis 60, the fluid pipe 30 is rotationally fixed to the support structure 20, meaning that the fluid pipe 30 rotates together with the support structure 20 when the latter is rotated. A support structure drive 21 is schematically shown in the drawing to illustrate in principle how the support structure 20 can be rotated, whereby the fluid pipe 30 will also rotate due to the rotationally fixed relationship, which in turn will make the nozzle 33 perform a nozzle pan 61 around the pan rotation axis 60.

[0076] In order to achieve nozzle tilt 66 around the tilt rotation axis 65, the fluid pipe 30 is slidably supported by the support structure 20, so that it can slide or otherwise be displaced relative to the support structure 20 in parallel with the pan rotation axis 60. This is indicated in the drawing by the linear arrows parallel to the Z-axis. A mechanical transmission 50 connects the fluid pipe 30 with the support structure 20. The task of the mechanical transmission is to cause the nozzle 33 to tilt when the fluid pipe 30 is moved relative to the support structure 20. A fluid pipe drive 31 is schematically shown in the drawing to illustrate in principle how to get the fluid pipe 30 to be displaced or slide along the support structure 20, to achieve nozzle tilt 66.

[0077] A controller 40 is provided to control the support structure drive 21 and fluid pipe drive 31, thereby controlling the nozzle pan 61 and nozzle tilt 66. As the two movement dimensions of the nozzle 33, i.e. pan 61 and tilt 66, are completely independent, with independent drives 21, 31, and independent transmission via fluid pipe rotation and fluid pipe sliding, respectively, the controller 40 can direct the nozzle 33 through any movement pattern, with any speed profile, and point it in any direction, within the physical capabilities of the mechanics, of course. The controller 40 contains, or has access to, mapping information to map desired directions and speeds to drive control signals for the support structure drive 21 and the fluid pipe drive 31. The mapping information may for example be a lookup table or a function. For example, mapping information may allow the controller to convert between a desired nozzle pan angle or nozzle pan movement speed and a support structure drive step motor control signal. For example, mapping information may allow the controller to convert between a desired nozzle tilt angle or nozzle tilt movement speed and a fluid pipe drive linear actuator control signal.

[0078] As explained above, the controller 40 may be automatic and go through a predefined cleaning program including movement pattern and speed profile of the nozzle 33. The cleaning program may for example be selected by a user among a set of predefined programs. The controller 40 may in addition or instead allow manual control of the nozzle pan and tilt. The container cleaner may have a user interface for a user to select a cleaning program or manually control the nozzle 33 via the controller 40.

[0079] Fig. 2 illustrates a partial embodiment of the invention showing in more detail an example configuration of a support structure 20, a fluid pipe 30, a nozzle 33 and a mechanical transmission 50.

[0080] In this example, the fluid pipe 30 has an inlet 32 for connecting a hose or further pipe from a cleaning fluid supply. The fluid pipe in this example is a stainless-steel pipe extending from the inlet 32 at the top, all the way down to the nozzle 33. The nozzle 33 is connected to the fluid pipe 30 by means of a swivel coupling which in this example comprises a small coupling box to mount the nozzle 33 tiltably on the fluid pipe 30. The swivel coupling defines a tilt rotation axis 65 about which the nozzle 33 can tilt without losing connection to the fluid pipe.

[0081] The support structure 20 in this example comprises an outer, circular tube accommodating the fluid pipe 30, except for its ends. Slidable support for the fluid pipe 30 is provided by a circular bushing at the top end, i.e. inlet end, and a square bushing at the bottom, i.e. nozzle end. The bushing with square outer profile at the nozzle end of the support structure 20 is among others selected for simple and robust mounting of the mechanical transmission 50 by an angle bracket. In this example, the outer, circular tube of the support structure 20 is a non-rotating cover provided for protecting and supporting the mechanical parts of the support structure and avoiding or reducing leakage of container substances to the outside of the container or into the container cleaner housing. The square profile at the nozzle end and the round, toothed wheel at the top, and connected inside the non-rotating cover, are the rotating part of the support structure 20 in this embodiment.

[0082] The mechanical transmission 50 comprises a rack 51 mounted on the support structure by the angle bracket mentioned above, and a corresponding pinion 52, or simply a set of cogs or teeth, formed on the nozzle opposite the nozzle tip. The rack 51 and pinion 52 engage each other, so that linear sliding of the fluid pipe, coupling box and nozzle coupling, along the rack, i.e. along the Z-axis and the pan rotation axis 60, relative to the support structure 20, will cause the nozzle to tilt because the rack 51, mounted on the support structure 20, does not slide.

[0083] The support structure 20 may be rotated around the pan rotation axis 60. Because the fluid pipe 30 is rotationally fixed to the support structure 20, the fluid pipe, and thereby nozzle, will also rotate about pan rotation axis 60 to cause the nozzle to pan around.

[0084] At the inlet end, a container mount 14 is shown, for mounting the support structure to a container or a housing, etc., as described in more detail below. The container mount 14 contains bearing, bushing or the like to allow the support structure 20 to rotate around pan rotation axis 60 independently of the container.

[0085] Fig. 3 illustrates a partial embodiment of a container cleaner 10 according to the invention, showing in more detail an example configuration a support structure drive 21 and a fluid pipe drive 31.

[0086] The support structure 20, container mount 14, pan rotation axis 60, and a part of the fluid pipe 30 of Fig. 2 can be seen. Further, a part of a support structure drive 21, comprising a belt pulley and a belt, is engaging the support structure 20 to control rotation around the pan rotation axis 60 of the support structure 20 and, as a consequence, the fluid pipe 30. When using a belt configuration for the support structure drive 21, it may preferably be a toothed belt, and matching pulleys, to ensure that motor control, e.g. steps of a step motor, are reliably transferred to the support structure 20 in order to control nozzle pan 61. Other suitable alternatives for support structure drive 21 configurations may comprise sprockets with a chain linkage, rotation of the support structure 20 by a sprockets og pulleys gearing without chains or belts, etc.

[0087] A fluid pipe drive 31 is also shown, in this example in a linear actuator configuration with a system of connecting rods, elbows and joints converting the linear displacement direction, achieving a gearing and a compact configuration. The configuration shown here requires an axle or hinge for fixating the elbow pivot point as shown in Fig. 4 below, omitted here to not further clutter the drawing. Activating the linear actuator of the fluid pipe drive 31 causes the fluid pipe to slide in its longitudinal direction, i.e. along the Z-axis and the pan rotation axis 60, as indicated by the arrows. Other configurations of the linear actuator, for example less complex connection between actuator and fluid pipe, or even direct acting on the fluid pipe, or comprising a rotational driver and a rotation-to-linear conversion connection, may also be suitable for various embodiments. In selecting a configuration for a fluid pipe drive 31, a well-defined relationship between actuator control signals and fluid pipe displacement should be taken into consideration to ensure reliable control of nozzle tilt.

[0088] Fig. 4 illustrates the embodiment of Fig. 3 in more detail. The support structure drive 21 is here shown comprising a relatively powerful, electrical step motor to drive the belt pulley better, seen in Fig. 3, and thereby in turn the support structure 20 rotation. A housing 13 is shown in part, to accommodate the inlet end portion of the container cleaner 10, i.e. the drives 21, 31, and inlet 32. Preferably, a controller may also be accommodated in the housing 13, as well as optionally a pressure sensor and a valve to monitor and control the fluid flow. Further, the fluid pipe drive 31 is here shown comprising an axle fixed between the sides of the housing 13, to fix the elbow pivot point of the fluid pipe drive 31. The configuration of drives 21, 31 of Figs. 3-4 provides a robust, powerful, and compact embodiment of the inlet-end of the invention. Other configurations are within the scope of the invention as defined by the claims, and may be suitable for various other purposes, and / or further improve the shown configuration.

[0089] Fig. 5 illustrates an embodiment of a container cleaner 10, comprising the inlet-end configuration of Figs. 3-4, here shown with the complete housing 13, and the nozzle-end configuration of Fig. 2. In this embodiment, a hole is provided in the side of the housing to allow a cleaning fluid hose to enter and be coupled to the inlet 32 inside the housing. The inlet 32 may alternatively be run to the outside of the housing. Further, a cable for electrical power may be penetrating the housing 13. All penetrations of the housing are preferably configured with appropriate ingress protection for use in wet environments.

[0090] The housing 13 is preferably fixed relative to a container when the container cleaner 10 is in use, for example by means of container mount 14 or other mounting options, for example on the housing 13. Thereby the support structure 20 rotates relative to the housing 13 and container, and the fluid pipe 30 slides relative to the housing 13, container and support structure 20. By the pan and tilt functionality explained above, this provides for the nozzle to pan and / or tilt with a well-defined direction or pattern relative to the housing 13 and container.

[0091] Fig. 6 illustrates from a different direction the nozzle-end configuration described above with reference to Fig. 2. The support structure 20 with the square outside bushing slidably supporting the fluid pipe 30, also has an angle bracket fixed to it, for robustly providing the rack 51 at a well-defined position relative to the pinion 52 part of the nozzle 33. Due to the angle bracket and box-shaped coupling box coupling the fluid pipe 30 to the nozzle 33, rotation of the support structure 20 also causes the fluid pipe 30 and nozzle 33 to rotate around the pan rotation axis 60, to achieve nozzle pan 61. Due to the rack 51 mounted on the support structure 20 via the bracket, and engaging the nozzle 33 via the pinion 52, linear displacement of the fluid pipe 30 also causes the nozzle to rotate around the tilt rotation axis 65, to achieve nozzle tilt 66.

[0092] Further seen in the embodiment in Fig. 6 is a sealing zone 34. By the advantageous configuration of this embodiment of the invention is achieved that the sealing zone 34 is the only movable coupling of fluid carrying elements, besides the hose connection at the inlet 32. As movable couplings, such as swivels or telescopic couplings, place great demands on their sealing configurations and quality to stay reliable over time, it is highly advantageous to only have one such sealing zone 34 in the nozzle end of the container cleaner 10, and in fact in the entire configuration, except for a, probably, standard hose-coupling at inlet 32.

[0093] Fig. 7 illustrates the nozzle end of the embodiment of Figs. 2-6 in three different modes. In sub-figure (a), fluid pipe is pulled up (not seen, but evident by the nozzle and coupling box position). The engagement between the nozzle 33 pinion 52 and rack 51 of the mechanical transmission 50 has caused the nozzle 33 to be tilted upwards, in this example almost vertically. Further, the support structure 20 has a rotation position causing the nozzle 33 to be pointing to the right from the point of view on the drawing. In sub-figure (b), the support structure 20 has rotated about 110° clockwise when seen from above, so that the nozzle pan is now pointing slightly towards the left on the drawing. The fluid pipe 30 has also been lowered, whereby the nozzle has been tilted to a direction of about 45° downwards. In sub-figure (c), the nozzle 33 has been panned further about 70°, i.e. about 180° compared to sub-figure (a). Further, the fluid pipe 30 is now at its lowest position, whereby the nozzle tilt has actually passed vertical and is overshooting a few degrees to ensure that all areas can be reached. In other words, Fig. 7, (a) through (c), illustrates a combined panning and tilting of the nozzle from one position to another, through a nozzle movement pattern.

[0094] For the embodiments described above with reference to Figs. 2-7, the explanations and examples provided above in relation to Fig. 1 also apply, and they may further be combined with one or more of the alternatives described above in the Summary section, or below with reference to Figs. 8-16. The embodiments may for example be use used in any of the applications described below with reference to Figs. 17-23.

[0095] Figs. 8-10 illustrate embodiments with different fluid pipe configurations. Any of these embodiments can be combined with the embodiments of Fig. 1 or 2-7 as an alternative to the fluid pipe-support structure configurations described therein. A mechanical transmission 50 is provided at the nozzle end of all the embodiments in Figs. 8-12 to control nozzle tilt of the nozzle 33. The mechanical transmission may be the mechanical transmission described above with reference to Figs. 1-7, or it may be another mechanical transmission configuration, for example as illustrated in Figs. 13-16, or a different solution.

[0096] Fig. 8 illustrates an embodiment with a support structure 20 accommodating most of the length of the fluid pipe 30, for example as in Fig. 2, however possibly with a different mechanical transmission 50 configuration.

[0097] Fig. 9 illustrates an embodiment with a less accommodating support structure 20, for example just having a strip or rod extending a along the fluid pipe 30 to hold the support structure 20 together. The support structure 20 may have slidably supporting bushing, bearing, collars or the like in one or both ends.

[0098] Fig. 10 illustrates an embodiment where the fluid pipe 30 comprises a rod for stiffness and a hose for cleaning fluid transport, as an alternative to a stiff pipe.

[0099] Figs. 11-12 illustrate embodiments with two nozzles. Fig. 11 illustrates an embodiment where two nozzles 33 are tiltably mounted on the fluid pipe 30 at different distances from the inlet end. The fluid pipe 30 and support structure 20 extends to both nozzles 33. Preferably, the mechanical transmissions 50 are arranged to provide the same tilt angle for both nozzles, and preferably the configuration also provides the same pan angle for both nozzles. Thereby is achieved a container cleaner which can clean two bands of container surface simultaneously. The embodiment can be extended with even further nozzles 33, such as three or four nozzles, in the same way, for example to clean long, narrow containers, e.g. silo-like containers. Note the comment about the mechanical transmissions 50 mentioned above.

[0100] Fig. 12 illustrates an embodiment where two nozzles 33 are tiltably mounted on the fluid pipe 30 at the same distance from the inlet end, but having different pan directions. Preferably, the mechanical transmission 50 is arranged to provide the same tilt angle for both nozzles. In sub-figure (a) the fluid pipe 30 is pulled up, and both nozzles 33 are pointing upwards. In (b) the fluid pipe displacement is in a middle position, and the nozzles 33 points sideways. In (c) the fluid pipe 30 is pushed downwards, causing a downwards tilt of both nozzles. The mechanical transmission 50 may be duplicated, possibly mirrored, for the second nozzle, or parts of the mechanical transmission may be shared for both nozzles, for example a double-sided rack 51 engaging pinions 52 of both nozzles, or a common connecting rod 53 engaging cranks 54 or off-axis points 67 of both nozzles. The embodiment can be extended with even further nozzles 33, such as three or four nozzles, in the same way, for example to have three or four nozzles with pan angles 120° or 90°, respectively, apart to faster clean a band of container surface in the same height, i.e. same tilt angle. Note the comment about the mechanical transmissions 50 mentioned above. Providing a dual nozzle solution or multi nozzle solution with different pan angles but same tilt angle, is advantageous for enabling more control and optimization of water consumption, compared to previous dual nozzle cleaners with opposite pan and opposite tilt.

[0101] Figs. 13-16 illustrate embodiments of different mechanical transmissions 50, for example for use in the embodiments of Fig. 8-12, or as alternatives in the embodiments of Fig. 1 or 2-7. Any of the illustrated embodiments causes nozzle tilt when the fluid pipe 30 is displaced relative to the support structure 20 in the direction of the arrow.

[0102] Fig. 13 illustrates an embodiment similar to that described above, with a rack-and-pinion gear, having a rack 51 mounted on the support structure 20, and engaging a pinion-like part as part of the nozzle 33.

[0103] Fig. 14 illustrates a crank mechanism having a connecting rod 53 mounted on the support structure 20 and engaging a crank 54 mounted on the nozzle. The connecting rod 53, crank 54, and how they are connected, can be configured in several different ways.

[0104] Fig. 15 illustrates a connecting rod 53 connecting the support structure 20 with an off-axis point 67 on the nozzle. By off-axis point is referred to a point radial to the tilt rotation axis 65. The connecting rod 53, and how it is connected to support structure 20 and nozzle 33, can be configured in several different ways.

[0105] Fig. 16 illustrates an alternative embodiment to that of Fig. 15, where the off-axis point 67 is towards the nozzle tip instead of opposite the nozzle tip. The nozzle itself can also be considered a crank, and this embodiment thus being a crank mechanism. As yet an alternative, in an embodiment the nozzle 33 may be made of a flexible material like silicone, possibly with a metal nozzle tip or outlet. Thereby the nozzle may be able to bend when being affected by the connecting rod 53. In embodiments where the mechanical transmission attacks the nozzle tip end instead of the opposite end, i.e. embodiments discussed in relation to Fig. 16, the tilt direction will be opposite the other embodiments, such as tilting upwards when the fluid pipe is pushed downwards.

[0106] Figs. 17-23 illustrate different applications of embodiments of container cleaners 10 of the invention. The container cleaners 10 are illustrates according to the above-described embodiments having fluid pipe 30 with an inlet 32 and a housing 13 in the inlet end, accommodating fluid pipe drive 31 and support structure drive 21, and a controller 40 to control the operation of the container cleaner 10, and the drives in particular. A hose 12 may be connected to the inlet 32 to provide cleaning fluid 11. The fluid pipe 30 extends away from the inlet end, towards a nozzle end, having a nozzle 33 tiltably mounted for ejecting cleaning fluid 11 received at the inlet 32. A support structure 20 rotationally fixes and slidably supports the fluid pipe 30, so that both rotates relative to the housing 13 and container 15 to make the nozzle 33 pan, but only the fluid pipe 30 slides towards and away from the housing 13, to make the nozzle 33 tilt.

[0107] Also, for all the embodiments of container cleaner applications, several container cleaners 10 may be employed to clean a single container simultaneously from different positions. This may be particularly advantageous for long, narrow containers. Two or more container cleaners may be positioned evenly along the length of the container. The controllers 40 may be connected to each other, or to a master controller, to control all the container cleaners in synergy. Alternatively, cleaning programs may be selected in each container cleaner, configured to avoid too much overlapping with another container cleaner to one or both sides. The independent control of pan and tilt enabled by the present invention, allows for optimizing cleaning even with several cooperating container cleaners to reduce overlapping and redundancy, reduce water consumption in container surface areas where several container cleaners can reach efficiently, and instead utilize the additional container cleaners to improve efficiency in the container surface areas hard to reach efficiently with a single container cleaner.

[0108] The containers 15 are confined or semiconfined spaces of any shape, and of a size where one or more surfaces can be reached by a water jet from a central position. Examples of containers which may advantageously be cleaned by a container cleaner 10 of the present invention comprises freight containers, silos, stationary tanks, truck tanks, trailers or semitrailers, possibly refrigerated or freezing, animal transporters, closed or open truck beds, hard side, tarpaulin or curtain side truck beds, storage compartments, industrial refrigerators, freezers, dryers, workshops for particularly dirty work, containers for substances hazardous to health, etc.

[0109] Fig. 17 illustrates a container 15, where the container cleaner 10 has its nozzle end inserted into the container 15 through a container opening 16 in the top of the container 15. The inlet end of the container cleaner 10, preferably the housing 13, is thereby outside the container, to reduce exposure to splashing, to reduce risk of contaminating the container inside, and for convenience for the user. The housing may be mounted on the container for robust and reliable cleaning, or just be resting on the container top, relying on its weight or friction to maintain its position. This embodiment, or application in this way of a universally applicable embodiment of a container cleaner 10, may be fast and convenient to use when the same container cleaner 10 are used to clean several containers, or it is not feasible to permanently mount the container cleaner on the container.

[0110] In Fig. 18, the container cleaner 10 is completely inside the container 15, for example mounted on a container ceiling. Thereby the container cleaner is protected from the weather or other environmental circumstances outside the container. This way of applying the container cleaner may be particularly advantageous in setups where the container cleaner can be permanently mounted inside the container. The container cleaner may in various embodiments be mounted on the sides or floor of the container, instead of the ceiling.

[0111] Fig. 19 illustrates, as an alternative to Fig. 17, that the container cleaner 10 can be employed through a container opening 16 in the side of the container 15.

[0112] Fig. 20 illustrates an embodiment where the container 15 is an upright cylinder-shaped container, such as a feed silo or ingredient tank. Fig. 21 illustrates an embodiment where the container 15 is horizontal cylinder-shaped container, such as a tank lorry, oil tank, etc. In other embodiments the containers 15 are rectangular box-shaped containers, such as transport containers, storage boxes, concrete silos or compartments, truck beds, etc. Also box-shaped containers with only 5, 4 or 3 sides, instead of 6, are considered containers herein, such as an open truck bed.

[0113] Fig. 22 illustrates an embodiment where open top truck beds 15 are cleaned by positioning the trailer below a container cover 17, either by moving the trailer and / or the cover. The container cover 17 can be lowered or tilted down to approximately fit the open top container 15. In the container cover 17 is mounted, preferably permanently, a container cleaner 10 according to the present disclosure. Thereby open top truck beds or similar containers 15 can be conveniently cleaned.

[0114] Fig. 23 illustrates a container cleaner 10 according to the present disclosure, mounted on a container cleaner vehicle 18, which may refer to any vehicle or device capable of moving and positioning the container cleaner 10 inside a container 15, for example a refrigerated trailer or semitrailer, animal transporter or freight container. The container cleaner vehicle 18 may for example, as illustrated, comprise a telescopic arm to extend into a container, e.g. from a telescopic loader. Alternatively, the container cleaner vehicle 18 may be an articulating lifting mechanism, robot arm, scissor arm, etc. The container cleaner vehicle 18 may also be a small self-propelled car driving the container cleaner 10 into the container 15 on the floor. The container cleaner vehicle 18 may be used hold the container cleaner 10 in a static position during cleaning as an alternative to mounting the container cleaner 10 on the container 15. The container cleaner vehicle 18 may alternatively or in addition be used to move the container cleaner 10 back and forth, or around, inside the container 15 during cleaning for improved cleaning efficiency. In an embodiment, the container cleaner vehicle 18 is moving the container cleaner 10 according to a predefined program synchronized with the cleaning program executed by the container cleaner 10.

[0115] All the application examples of container cleaners 10 of the invention described above with reference to Figs. 17-23 may employ any of the container cleaner embodiments described in the Summary section above or with reference to Figs. 1-16 above, utilizing the different advantages and characteristics of the different embodiments in the different applications.List of reference signs:

[0116] 10Container cleaner 11Cleaning fluid 12Hose 13Housing 14Container mount 15Container 16Container opening 17Container cover 18Container cleaner vehicle 20Support structure 21Support structure drive 30Fluid pipe 31Fluid pipe drive 32Inlet 33Nozzle 34Sealing zone 40Controller 50Mechanical transmission 51Rack 52Pinion 53Connecting rod 54Crank 60Pan rotation axis 61Nozzle pan 65Tilt rotation axis 66Nozzle tilt 67Off-axis point X, Y, ZX-, Y- and Z-axis, respectively

Claims

1. Container cleaner (10) comprising an elongated fluid pipe (30) having an inlet (32) to receive cleaning fluid (11) and a nozzle (33) tiltably mounted on the fluid pipe (30) to eject the cleaning fluid (11); wherein: the container cleaner (10) further comprises a support structure (20), a support structure drive (21), a fluid pipe drive (31) and a controller (40); the fluid pipe (30) being rotationally fixed to the support structure (20) so that the fluid pipe (30) rotates with the support structure (20) around a pan rotation axis (60) parallel to the fluid pipe (30); the fluid pipe (30) being slidably supported by the support structure (20) so that axial displacement of the fluid pipe (30) relative to the support structure (20) along the pan rotation axis (60) is possible; the support structure drive (21) being arranged to rotate the support structure (20) and the fluid pipe (30) around the pan rotation axis (60); the fluid pipe drive (31) being arranged to slide the fluid pipe (30) along the pan rotation axis (60) relative to the support structure (20); the nozzle (33) tiltably mounted on the fluid pipe (30) being connected to the support structure (20) via a mechanical transmission (50); and the controller (40) being arranged to control the support structure drive (21) to control nozzle pan (61) and to control the fluid pipe drive (31) to control nozzle tilt (66).

2. The container cleaner according to claim 1, wherein the container cleaner (10) comprises a container mount (14) arranged to maintain, during cleaning of a container (15), the support structure drive (21) in a fixed position relative to the container (15).

3. The container cleaner according to any of the preceding claims, wherein the support structure (20) extends longitudinally in parallel to the fluid pipe (30).

4. The container cleaner according to any of the preceding claims, wherein the fluid pipe (30) is arranged at least partly within the support structure (20).

5. The container cleaner according to any of the preceding claims, wherein the support structure (20) comprises a non-rotating cover.

6. The container cleaner according to any of the preceding claims, wherein the mechanical transmission (50) is arranged so that the sliding the fluid pipe (30) along the pan rotation axis (60) relative to the support structure (20) causes the nozzle (33) to tilt.

7. The container cleaner according to any of the preceding claims, wherein the nozzle tilt (66) is performed with respect to a tilt rotation axis (65), and wherein the mechanical transmission (50) is connecting the support structure (20) to the nozzle (33) at an off-axis point (67) with respect to the tilt rotation axis (65).

8. The container cleaner according to any of the preceding claims, wherein the mechanical transmission (50) comprises one or more of a rack-and-pinion gear with a rack (51) mounted on the support structure (20) and a pinion (52) or pinion-like structure (52) mounted on the nozzle (33), a crank mechanism with a connecting rod (53) mounted between the support structure (20) and a crank (54) mounted on the nozzle (33), or a connecting rod (53) connecting the support structure (20) to an off-axis point (67) of the nozzle (33).

9. The container cleaner according to any of the preceding claims, wherein the container cleaner (10) has a single movable coupling sealing zone (34) between the inlet (32) and a tip of the nozzle (33); or wherein the container cleaner (10) has two movable coupling sealing zones (34), one at the inlet (32) and one at the tiltably mounting of the nozzle (33), respectively.

10. The container cleaner according to any of the preceding claims, wherein the support structure drive (21) and / or the fluid pipe drive (31) are electrically driven.

11. The container cleaner according to any of the preceding claims, wherein the container cleaner comprises a valve to control flow of cleaning fluid.

12. The container cleaner according to any of the preceding claims, wherein the container cleaner (10) is configured to control nozzle pan (61) and nozzle tilt (66) via control of the support structure drive (21) and fluid pipe drive (31), respectively, to execute a predefined cleaning program defining one or more of a predefined nozzle movement pattern and predefined nozzle movement speed profile.

13. Method for cleaning a container (15), the method comprising: providing a nozzle (33) inside the container (15), the nozzle (33) being tiltably mounted on an elongated fluid pipe (30); wherein the fluid pipe (30) is rotationally fixed to a support structure (20) so that the fluid pipe (30) rotates with the support structure (20) around a pan rotation axis (60) parallel to the fluid pipe (30); wherein the fluid pipe (30) is slidably supported by the support structure (20) so the fluid pipe (30) can be axially displaced relative to the support structure (20) along the pan rotation axis (60); and wherein the nozzle is connected to the support structure (20) via a mechanical transmission (50); providing cleaning fluid (11) to the nozzle (33) via an inlet (32) of the fluid pipe (30); using a support structure drive (21) to rotate the support structure (20) and the fluid pipe (30) around the pan rotation axis (60) to perform a nozzle pan (33) motion; and using a fluid pipe drive (31) to slide the fluid pipe (30) along the pan rotation axis (60) relative to the support structure (20) to perform a nozzle tilt (66) motion.

14. A container (15) comprising a container cleaner (10) according to any of the claims 1 to 12.

15. A container cleaning system comprising a container cleaner (10) according to any of the claims 1 to 12 and a cleaning fluid supply connected to the inlet (32).

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