WO2018218120A1 | 2018-11-29 |
US20200353491A1 | 2020-11-12 | |||
US20090173362A1 | 2009-07-09 | |||
JPH0994547A | 1997-04-08 | |||
CN209205963U | 2019-08-06 |
CLAIMS 1. Method for monitoring and adjusting the movement of a device (1) rotating around itself, which device is provided with one or more nozzles (8a) spraying pressurized medium and making a rotational movement and is connected with a suspension struc ture (10) for being supported by a rigid arm or hose (9) trans porting the pressurized medium, and for monitoring and adjust ing the movement of the aforementioned nozzles (8a), as well as for transmitting monitoring data and/or adjustment data between the data transmission unit (5) in connection with the device (1) and the external monitoring unit (6) in data trans mission connection with said unit, in which case the monitor ing data and/or adjustment data are sent and received wire lessly between the data transmission unit (5) and the monitor ing unit (6), characterized in that the speed of rotation of the body (la) of the device (1) around itself and the speed of rotation of the axis of rotation (7a) of the nozzle element (7) are wirelessly adjusted by means of the brake by adjusting the brake force resisting the rotation by means of a battery- powered actuator (14). 2. Method according to claim 1, characterized in that the movement of the nozzles (8a) is monitored with a sensing means (3) disposed in connection with the device (1) by monitoring the rotation of the axis of rotation (7a) of the nozzle element (7) supporting the nozzles (8a). 3. Method according to claim 1 or 2, characterized in that the rotation of the body (la) of the device (1) around itself is monitored with a sensing means (4) disposed in connection with the device (1) and rotating along with the body (la) by compar ing the position of the sensing means (4) to the position of the non-rotating rigid arm or hose (9) supporting the device (1), or of its non-rotating suspension structure (10). 4. Method according to claim 1, 2 or 3, characterized in that the swaying of the device (1) in relation to the x-, y-, z. axes is monitored with a gyroscope (2g) disposed in connection with the device, the gyroscope moving along with the device (1). 5. Method according to any of the preceding claims 1-4, char acterized in that the electrical energy needed for the moni toring, adjustment and data transmission functions of the device (1) is taken from a rechargeable power source (12) that is in connection with the device (1), the power source prefer ably being charged wirelessly by means of an induction coil (12a) disposed in connection with the device (1) and in the proximity of the power source (12). 6. Method according to claim 1, characterized in that instruc tions for adjusting the brake are given wirelessly to the data transmission unit (5) either via the monitoring unit (6) or directly from a separate control device. 7. Arrangement for monitoring and adjusting the operation and movement of a device (1) rotating around itself, the device comprising one or more nozzles (8a) fastened to a rotating nozzle element (7), the nozzles moving in relation to the x-, y- and z-axes, which device is connected with a suspension structure (10) for being supported by a rigid arm or hose (9) transporting pressurized medium, which arrangement comprises at least one sensing means (3) for monitoring the movement of a nozzle (8a), a monitoring unit (6) and also a data transmis sion unit (5) for sending the monitoring data of the sensing means (3) to the monitoring unit (6) and for receiving adjust ment data on the functions of the device (1), in which case the data transmission unit (5) comprises a wireless receiver and/or transmitter and is arranged to wirelessly receive ad justment data on the functions of the device (1) and/or to wirelessly send measured monitoring data to the monitoring unit (6), characterized in that the device (1) comprises an adjustable brake for adjusting the speed of rotation of the body (la) of the device and of the axis of rotation of the nozzle means (7), and in that the arrangement comprises an electrically-driven, wirelessly remote-controlled brake ad justment mechanism (13). 8. Arrangement according to claim 7, characterized in that the sensing means (3) is arranged to monitor the rotation of the axis of rotation (7a) of the nozzle element (7), and to wire lessly deliver monitoring data to the monitoring unit (6) via the data transmission unit (5). 9. Arrangement according to claim 7 or 8, characterized in that in connection with the device (1) is a sensing means (4), which is adapted to rotate along with the body (la) of the device (1) and is arranged to monitor the rotation of the body (la) of the device (1) around itself by comparing the rotation of the body (la) in relation to an essentially non-rotating rigid arm or hose (9), or to its suspension structure (10), and in that the sensing means (4) is arranged to wirelessly deliver monitoring data to the monitoring unit (6) via the data transmission unit (5). 10. Arrangement according to any of the preceding claims 7-9, characterized in that in connection with the device (1) is a gyroscope (2g) moving along with the body (la) of the device (1), which gyroscope is arranged to monitor the swaying of the device (1) in relation to the x-, y- and z-axes and to wire lessly deliver monitoring data to the monitoring unit (6) via the data transmission unit (5). 11. Arrangement according to any of the preceding claims 7-10, characterized in that, for implementing the monitoring, ad justment and data transmission functions of the device (1), a power source (12), such as one or more rechargeable batteries, and a wireless charging device (12a), such as an induction coil, for wireless charging of the power source (12) are in connection with the device (1). 12. Arrangement according to any of the preceding claims 7-11, characterized in that the wireless data transmission unit (5) is provided with a repeater amplifier of the signal, and in that the data transmission units (5) of the devices (1) in the same space are arranged to function as repeater amplifiers of the signals sent by each other to the monitoring units (6) and of the adjustment signals coming to each other. 13. Arrangement according to claim 1, characterized in that the brake adjustment mechanism (13) comprises an actuator (14) provided with a rotating shaft and a sensing means (4a) moni- toring the rotation of the shaft, which sensing means is ar ranged to wirelessly deliver monitoring data to the monitoring unit (6) via the data transmission unit (5). 14. Arrangement according to any of the preceding claims 7-13, characterized in that the device (1) is a cleaning device intended for cleaning the interiors of tanks. |
The object of the present invention is a method as presented in the preamble of claim 1 and an arrangement as presented in the preamble of claim 7 for monitoring the operation of a cleaning device.
The solution according to the invention for monitoring the operation of a cleaning device, preferably the movements of the cleaning device and of its nozzles, can be used e.g. for moni toring the cleaning process of oil tanks in an oil refinery, soda recovery boilers in the paper industry, as well as of the reservoirs and tanks used in many other industrial sectors. It is known in the art to clean the inside surfaces of various containers e.g. with cleaning devices producing a high-pressure (approx. 1000 bar) water jet, such a device being called in the English language a "tank cleaning unit" (TCU), amongst other designations. It is known for these devices to hang freely at the end of a water hose inside the tank to be cleaned and for them to produce e.g. two compressed water jets directed in opposite directions. The opposing jets balance each other, in which case the device remains essentially stationary in the tank and does not begin to sway. If one of the nozzles of the device becomes blocked or otherwise ceases to function, the device starts to sway uncontrollably and the cleaning result is not good.
The cleaning devices used for cleaning tanks are known to com prise a body and, on the side or front of the body, a nozzle element rotating around its shaft. The nozzle element comprises two nozzle arms pointed in opposite directions with a nozzle on the end of each arm. There can be more than two nozzle arms as long as they are adapted in such a way that the kinetic forces produced by the nozzles cancel each other. A body of a cleaning device at the end of a rigid arm or hanging at the end of a flexible hose rotates around its vertical shaft with the force of the kinetic energy of the cleaning water, and the nozzle element rotates with the same force around its horizontal shaft. If the nozzle element does not rotate, or if it rotates too slowly, the high-pressure water jet can break the wall of the tank, or the lining of the wall, or e.g. pipes that run inside the tank. If, on the other hand, a nozzle element ro tates too fast, the cleaning result is not good. It is known in the art that the rotation of a nozzle element is difficult to monitor. According to prior art, it has been monitored e.g. by listening. Listening, however, does not give reliable infor mation about the rotation of the nozzle element, particularly when there is more than one cleaning device in the same tank at the same time.
British patent specification no. GB2050618A discloses a method and an apparatus for monitoring a cleaning device for the interior spaces of tanks. In the solution in question, the rotation of the rotating body of the cleaning device and the amount of cleaning agent fed in are monitored. This solution does not, however, comprise wireless data transmission to the monitoring device nor does it detect swaying of the cleaning device in relation to the x-, y- and z-axes. Wireline data transmission has been awkward or even impossible to realize in high and large tanks. Furthermore, the solution according to the GB specification recognizes only complete revolutions.
One drawback in all the solutions according to prior art is also that adjustment of the speed of rotation of the nozzles is performed manually by rotating the brake adjustment means. In such a case, the adjustment can only be performed when the cleaning device is not in use and is outside the tank.
The purpose of the present invention is to eliminate the aforementioned drawbacks and to provide a new type of method and arrangement, more concisely solution, for monitoring the operation of a cleaning device, by means of which solution the swaying of a cleaning device supported by a hose in relation to the x-, y- and z-axes, as well as the rotation of the cleaning device around its vertical axis and the rotation of the nozzle element around its horizontal axis, can be moni tored. The method according to the invention is characterized by what is disclosed in the characterization part of claim 1. Correspondingly, the arrangement according to the invention is characterized by what is disclosed in the characterization part of claim 7. Other embodiments of the invention are char acterized by what is disclosed in the other claims.
For achieving its purpose, the method according to the inven tion comprises a device rotating around itself, which device is provided with one or more nozzles spraying pressurized medium and making a rotational movement and is connected with a sus pension structure for being supported by a rigid arm or flexi ble hose transporting the pressurized medium, for monitoring and adjusting the movement of the aforementioned nozzles, and also for transmitting monitoring data and/or adjustment data between the data transmission unit in connection with the device and the external monitoring unit in data transmission connection with said unit. Preferably the monitoring data and/or adjustment data are sent and received wirelessly be tween the data transmission unit and the monitoring unit.
The solution according to the invention also comprises an arrangement for monitoring and adjusting the operation and movement of a device rotating around itself and comprising one or more nozzles fastened to a rotating nozzle element, the nozzles moving in relation to the x-, y- and z-axes, which device is connected with a suspension structure for being sup ported by a hose transporting a pressurized medium. The ar rangement comprises at least one sensing means for monitoring the movement of a nozzle, a monitoring unit and also a data transmission unit for sending the monitoring data of the sens ing means to the monitoring unit and for receiving the adjust ment data regarding the functions of the device. Preferably the data transmission unit comprises a wireless receiver and/or transmitter and is arranged to wirelessly receive ad justment data on the functions of the device and/or to wire lessly send measured monitoring data to the monitoring unit. Perhaps the greatest advantage of the solution according to the invention is that by means of it precise and real-time data about the operation of the cleaning device from inside the space to be cleaned is obtained wirelessly. In this case information is obtained about e.g. the rotation of the clean ing device around its vertical shaft and the speed of rotation of the nozzles of the cleaning device around the horizontal shaft of the nozzle element. Furthermore, owing to the gyro scope, precise information about possible swaying of the cleaning device is obtained. Another advantage, amongst oth ers, is also the simplicity of the solution, in which case the cleaning device with its monitoring arrangement is operation ally reliable and also inexpensive in terms of its manufactur ing costs. One advantage is also that adjustment of the brake of the cleaning device can be performed wirelessly when the cleaning device is in operation inside a tank.
In the following the invention will be described in more de tail with reference to the attached simplified drawings, wherein
Fig. 1 presents a diagrammatic front view of one cleaning device, with supervising monitor, to be used in the solution according to the invention, and a monitor ing device belonging to the monitoring arrangement connected into connection with the cleaning device, and with both the cleaning device and the monitoring device partly sectioned,
Fig. 2 presents a side view of the cleaning device and monitoring device according to Fig. 1, and some of the components of the monitoring device, partly sec tioned and presented in the manner of an explosion drawing, and
Fig. 3 presents an oblique top view of a cup-shaped cou pling part of a monitoring device according to one preferred embodiment of the invention for connecting an actuator to the cleaning device for adjustment of the brake of the cleaning device.
Figs. 1 and 2 present a simplified view of one advantageous solution according to the invention for monitoring and adjust ing the operation of a cleaning device 1. In Fig. 1 the clean ing device 1, and the monitoring device 2 of the monitoring arrangement fastened into connection with the cleaning device, are presented as viewed from the front and partly sectioned, and in Fig. 2 the cleaning device 1 is presented as viewed from the side. Additionally, in Fig. 2 the components of the moni toring device 2 are presented as an explosion drawing and part ly sectioned.
The cleaning device 1 can be e.g. any commercial cleaning de vice whatsoever. Preferably the cleaning device 1 comprises at least a body la, supported pendant from a hose 9, and a nozzle element 7 rotating around its shaft, which shaft is in an es sentially horizontal position, the nozzle element being provid ed with nozzle arms 8 as well as with nozzles 8a acting in essentially opposite directions to each other at the ends of the nozzle arms 8. The cleaning device 1 can also be installed at the end of a rigid arm instead of at the end of a hose 9. Additionally, the cleaning device 1 preferably comprises, in connection with the juncture of the body la of the cleaning device 1 and the hose 9 supporting the cleaning device 1, a suspension structure 10 of the cleaning device and a gear mech anism 11, which is arranged to rotate the body la around its vertical shaft with the force of the kinetic energy of the washing fluid flowing in the hose 9. The suspension structure 10 is e.g. a conventional structure for use in this type of cleaning device, preferably provided with bearings, and in Figs. 1 and 2 only the suspension nut 10a of it can be seen, which suspension nut together with the hose 9 is essentially non-rotating but which enables rotation of the body la around its vertical axis in relation to itself and to the hose 9. Preferably there is also an adjustable magnetic brake in the cleaning device 1, by means of which brake the speed of rota tion of the body la and of the nozzle element 7 is adjusted. The adjustment is performed by means of the brake adjustment means 16 on the base of the body la by rotating the adjustment nut 17 for moving the magnets of the brake closer to the rotat ing shaft or farther from it. This adjustment of the speed of rotation of the nozzle element 7 is, according to prior art, performed manually by rotating the brake adjustment means 16, in which case the adjustment can only be performed when the cleaning device is not in use. In the solution according to the invention, adjustment of the magnetic brake can be performed, if necessary, also when the cleaning device is in operation inside a tank. The brake, brake adjustment means 16 and brake adjustment mechanism 13 can also be situated elsewhere than on the base of the body la and, likewise, some other method than a brake based on magnets, such as e.g. a brake based on friction, can be used for adjustment of the brake.
The monitoring device 2 of the arrangement according to the invention is detachably fastened to the body la of the cleaning device 1, the monitoring device comprising a device enclosure 2a, the lid 2b of said enclosure and also a base part 2c, which is preferably detachably fastened to the base of the body la of the cleaning device 1. The monitoring device 2 comprises a gyroscope 2g, preferably at least three sensing means 3, 4 and 4a, such as inductive sensors, a wireless data transmission unit 5, such as a radio transmitter and receiver, and also a separate monitoring unit 6, which is connected to wirelessly receive data from the transmitter of the data transmission unit 5.
The device enclosure 2a of the monitoring device 2 in Fig. 1 is partly sectioned, in which case the actuators, such as the gyroscope 2g, inductive sensors 3, 4 and wireless data trans mission unit 5, disposed inside the device enclosure are visi ble. Likewise, the base part 2c of the monitoring device 2 is partly sectioned, in which case the brake adjustment mechanism 13 and the inductive sensor 4a monitoring its rotation are visible.
The gyroscope 2g is adapted to monitor the swaying of the body la of the cleaning device 1 in relation to the x-, y- and z- axes and to deliver the monitoring data to the wireless data transmission unit 5 for sending to the monitoring unit 6. The first inductive sensor 3 is situated within operating range of the nozzle element 7 to monitor the speed of rotation of the nozzle element 7 around its horizontal shaft and to deliver the monitoring data to the wireless data transmission unit 5 for sending to the monitoring unit 6. The first inductive sensor 3 is arranged to detect the rotation of a nozzle element 7 from the nozzle arms 8 as they pass the inductive sensor 3. Since there are two units of the nozzle arm 8 in the solution accord ing to the embodiment, the inductive sensor 3 performs two detections on each revolution of the nozzle element 7. This enables precise determination of the speed of rotation. The gyroscope 2g is an advantageous solution for controlling the swaying of the body la of the cleaning device 1 because the cleaning device is supported on a flexible hose 9 instead of on a rigid support structure. Inspection of the swaying of the cleaning device 1 is extremely important when there are dis turbances in the operation of a nozzle element 7 and the sway ing motion of the body la inside the tank gathers strength. In such a case the washing pressure can drop, or alternatively the cleaning procedure can even be aborted before the cleaning device 1 becomes more damaged.
The second inductive sensor 4 is disposed next to the suspen sion means 10 of the cleaning device 1, at the point of connec tion of the hose 9 and the body la of the cleaning device 1, to monitor the speed of rotation of the body la of the cleaning device 1, e.g. in relation to the essentially non-rotating hose 9 or the suspension nut 10a of the suspension means, and to deliver the monitoring data to the wireless data transmission unit 5 for sending to the monitoring unit 6. Preferably the inductive sensor 4 is disposed at the point of the hexagonal suspension nut 10a and is arranged to detect rotation of the body la from the angles of the suspension nut 10a. The monitor ing device 2 comprises means for calculating the speed of rota tion of the body la on the basis of this detection data given by the inductive sensor 4. In this case, therefore, the rota tional speed of one revolution of the body la is calculated on the basis of six detections, which gives a much more accurate and more reliable result than the solution of the aforemen tioned GB specification, which detects only one full revolu tion. A solution according to the invention similar to that described above also works in solutions with a rigid arm.
The gyroscope 2g and also the inductive sensors 3, 4 are pref erably in wired-conductor connection with the wireless data transmission unit 5, but for the sake of clarity the conductors are not presented in Fig. 1.
The radio transmitter of the data transmission unit 5 is ar ranged to send measuring data and monitoring data to the moni toring unit 6 wirelessly. The radio transmitter operates suit ably at a frequency of 850-950 MHz, preferably at a frequency of 868-900 MHz.
The monitoring device 2 of the monitoring arrangement also comprises a brake adjustment mechanism 13, which is preferably on the base part 2c of the monitoring device and connected to the brake adjustment means 16 of the cleaning device 1.
The brake adjustment mechanism 13 preferably comprises an actuator 14, such as a servomotor, for rotating the brake adjustment means 16, and a coupling piece 15 for connecting the actuator 14 to the brake adjustment means 16 of the clean ing device. On the brake adjustment means 16 is a hexagonal adjustment nut 17 extending outwards from the base of the cleaning device 1, downwards on the front end of the device in the operating position, and on the top end of the coupling piece 15 is an upward opening hex socket 15a to be fitted onto the adjustment nut 17 and compatible with it. In addition, on the bottom end of the coupling piece 15 is a hexagonal nut part 15b extending downwards, which is compatible with the hex socket 14b that is on the end of the shaft of the actuator 14 and opens in the direction of the coupling piece 15. Prefera bly the hex socket is in the coupling means 14a which is at the free end of the rotating shaft of the actuator 14. The third inductive sensor 4a is adapted to monitor the adjustment of the brake and for the purpose of this function is arranged to detect the rotation of the brake adjustment means 16. Pref erably the third inductive sensor 4a is disposed e.g. in the base part 2c to detect the rotation of the coupling piece 15 located on top of the brake adjustment means 16, which rota tion matches the rotation of the brake adjustment means 16.
Fig. 3 presents the aforementioned coupling piece 15 in more detail. Preferably the end of the coupling piece 15 on the cleaning device side, i.e. in the operating position, is ring- shaped and opens upwards into a straight cup-shaped space, the internal diameter of which corresponds to the diameter of the circular plate element that is between the adjustment nut 17 on the brake adjustment means 16 of the cleaning device 1 and the body la of the cleaning device in such a way that when placing the hex socket 15a of the coupling piece 15 onto the adjustment nut 17, the cup-shaped space rests on the circular plate element, which facilitates placement of the coupling piece 15 into its position and also supports the coupling piece 15 during operation.
The monitoring device 2 also comprises a power source 12, such as one or more rechargeable batteries, for enabling the opera tion of the gyroscope 2g and sensors 3, 4 as well as of the data transmission unit 5 and actuator 14. The power source 12 is in an enclosed space inside the device enclosure 2a or its base part 2c. The monitoring device 2 also comprises a wire less charging device 12a, such as e.g. an induction coil for wirelessly charging the battery or batteries of the power source 12, inside the device enclosure 2a of the monitoring device 2 or its base part 2c. The wireless charging device 12a can be e.g. on the lid 2b of the device enclosure 2a, prefera bly at the point of the power source 12.
In the method according to one preferred embodiment of the invention the movement of the cleaning device 1 and its nozzles 8a is monitored with the monitoring arrangement according to the invention e.g. in the following manner:
The cleaning device 1 is connected to a source of washing flu id, such as water, via a rigid arm or via a hose 9. The kinetic energy of the washing fluid coming to the cleaning device 1 is arranged to rotate the body la around its vertical shaft via the gear mechanism 11 fastened to the body la. Additionally, the kinetic energy of the washing fluid is arranged also to rotate the nozzle element 7 around its horizontal shaft, either via the gear mechanism 11, or by means of the high-pressure washing fluid discharging from the nozzles 8a in the opposite direction, or by means of their combined effect. The speed of rotation of the nozzle element 7 is arranged to be adjustable by, inter alia, adjusting the pressure of the washing fluid and/or by means of a magnetic brake. The brake can also be different in terms of its operating method than the embodiment described above, e.g. a brake mechanism based on friction, which is adjusted wirelessly.
The display 6a of the monitoring unit 6 is arranged to contin uously show the speed of rotation of the nozzle element 7, which speed of rotation must be greater than 0 and preferably less than 55 revolutions per minute. The speed of rotation is adjusted according to the location. If the speed of rotation is too high, the display 6a of the monitoring unit 6 is ar ranged to notify it. Also, swaying of the cleaning device 1 is arranged to be graphically visible on the display 6a of the monitoring unit 6. For example, if the cleaning device 1 sways, its image is arranged to sway on the display 6a. De pending on the device to be monitored, the speed of rotation of the nozzle element 7 can be higher than the aforementioned 55 rpm. The arrangement can comprise suitably 1-6 cleaning devices, preferably e.g. five cleaning devices, for large tanks, which cleaning devices are all simultaneously e.g. inside the same tank in different locations to each other, and each of which cleaning devices has its own monitoring unit 6, with which the cleaning device 1 is in wireless connection by means of its data transmission unit 5. The number of cleaning devices 1 to be simultaneously monitored is not, however, limited so it can be more than six cleaning devices in the same tank or in dif ferent tanks.
The data transmission units 5 of the cleaning devices 1, or their radio transmitters, are preferably provided with signal amplification and relay means in such a way that they can function as amplifiers of the signals sent by each other to the monitoring units 6, in which case the signals gain strength and better penetrate the wall of the tank being cleaned. If a signal does not penetrate the wall of the tank, one cleaning device 1 can be situated at the mouth of the tank, in which case it amplifies the signals sent by the transmitters of the data transmission units 5 of the other cleaning devices 1 inside the tank being cleaned. In the same way, the signal amplification and relay means of a data trans mission unit 5 are arranged to amplify the signals received by the receivers of the data transmission units 5 of all the cleaning devices 1 in a tank to be cleaned.
The actuator 14 connected to the brake adjustment means 16 that is on the base of the cleaning device 1, or elsewhere on the cleaning device 1, is arranged to adjust the magnetic brake, or other corresponding brake, of the cleaning device 1 by rotating the brake adjustment means 16 within the limits of its adjustment movement, either counterclockwise or clockwise. Information about the adjustment requirement of the brake is received at the monitoring unit 6 preferably from the sensors 3 and 4 monitoring the speed of rotation of the body la of the cleaning device and of the nozzle element 7. Adjustment of the brake can be automatic, in which case it is performed within the framework of pre-defined limit values by sending infor mation about the adjustment requirement of the brake from the monitoring unit 6 to the receiver of the data transmission unit 5. The adjustment instruction can also be sent by means of a separate, preferably wireless, control device. This type of control device can be e.g. a smartphone, or some other remote-control device, provided with an application suitable for the purpose.
It is obvious to the person skilled in the art that the inven tion is not limited solely to the example described above, but that it may be varied within the scope of the claims presented below. Thus, for example, the sensors measuring the rotation of the nozzle can be other sensors than inductive sensors. The sensors can be e.g. light sensors or sound sensors.
It is also obvious to the person skilled in the art that the arrangement can comprise also other components than those de- scribed above, such as e.g. a carbon dioxide meter and a move ment detector.
It is also obvious to the person skilled in the art that, in stead of an induction coil, the arrangement can comprise a separate charging connector, such as a USB connector, via which the power source of the cleaning device can be charged by means of a separate charging device.
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