| 主权项 |
1. A system for monitoring a tank cleaning process, the system comprising:
a tank cleaning device having a single shaft linked to a spray head mechanism via a gearing mechanism, said single shaft being driven by an actuator that causes rotation of the single shaft about a drive axis, wherein rotation of the single shaft causes rotation of the spray head mechanism about the drive axis and a second axis disposed perpendicular to the drive axis such that at least one orifice of the spray head mechanism follows a helical path having a circular shape that rotates about the drive axis and that is predetermined based on parameters of the gearing mechanism to provide non-overlapping, equally spaced latitudinal traverses of a spray jet into the interior of the tank; a rotational detector affixed to the single shaft to provide a position signal associated with the single shaft that is translatable to a position of the spray head mechanism about each axis of rotation thereof through multiple complete rotations of the single shaft, wherein the position signal indicates the specific degree of rotation of the single shaft from a starting orientation; a controller programmed and configured to control the rotation of the shaft, and thus the spray head, to adjust, at a given location along the predetermined path, at least one of a stream dwell time and a pressure of the cleaning fluid, and to monitor a tank cleaning cycle by executing the following process:
receive a set of cleaning instructions defining cleaning parameters related to the movement of the spray head;store therein a translation table that correlates the position signal to a particular position and orientation data of the spray head mechanism,determine a starting position and orientation of the spray head within the tank based on the translation table and the starting orientation provided by the rotational detector;determine an actual position of the spray head mechanism in the tank based on the starting position and orientation, the position signal, the parameters of the gearing mechanism and the translation table as primary control parameters;based on the determined position and orientation of the spray head mechanism within the tank, calculate spray impact locations and sweep trajectory of the spray jet emanating from the spray head mechanism,selectively control a rotational speed and a direction of rotation of the single shaft by providing appropriate command signals to the actuator, thus controlling the position, velocity and orientation of the spray head mechanism based on the position signal and the translation table,alter a flow rate of the cleaning fluid as a function of position and orientation of the spray head mechanism within the tank as determined based on the position signal and the translation table,stop the flow rate of the cleaning fluid for certain orientations of the spray head mechanism including orientations when the spray jet may exit an open portion of the tank;initiate a tank cleaning cycle in accordance with the received set of cleaning instructions, and as the tank cleaning cycle proceeds, calculate the position, rotation, angle, and speed of the head;compare the calculated position, rotation, angle, and speed of the head to expected values for such parameters, the expected values being derived from control signals provided to the head based on the received set of cleaning instructions;signal a failed tank cleaning cycle if the calculated values do not substantially match the expected values; andif the calculated values do substantially match the expected values, check a fluid source pressure;compare the fluid source pressure to an expected fluid source pressure and, if the fluid source pressure is substantially different than the expected fluid source pressure, execute a task including at least one of: signaling a failed tank cleaning cycle and recording an error. |
