Patent Description:
This invention relates to breaking up oil and tar, or any other chemical, or hazardous liquid, solid, or sludge waste from inside railcar tank and the like, and more specifically, to manual, automated, or semi-automated, tank cleaning devices, systems and methods for breaking up oil and tar, or any other chemical, radioactive or hazardous liquid, solid, or sludge waste from inside railcar tanks and the like, with nozzles which utilize fluid jets to break up, liquefy, and motivate tank material. The invention can work with tanks having high temperature or low temperature conditions and tanks having hazardous vapors, dusts, or the like.

Railcar tanks used for storage can be cleaned using handheld water nozzles, which is slow, tedious, and inefficient along with having potential danger to those using the water nozzles. Personnel working in these environments would be exposed to hazardous and potentially flammable fluids, dusts and vapors in addition to strenuous conditions due to the requirement of the use of protective gear. Also, this work mostly performed in confined spaces making it cumbersome to use the requisite handheld blast equipment. Handheld blast nozzles produce high velocities and high thrust forces that an operator must counteract. This leads to fatigue and injury.

More sophisticated, remotely controlled systems have been employed but are limited due to visibility. Since the area is dangerous and inaccessible by humans, remotely operated cameras are required. Remotely operated cameras also slow, tedious, and inefficient to use as this only provides a limited viewing area in a dark tank, with limited light, making it difficult for cameras to capture images with adequate detail and contrast. Additionally, mist and airborne particles common in waste storage tanks can obstruct the camera view and render it useless. More challenging is how an operator is required to visually survey the area to determine the appropriate cleaning pattern given the limited visibility of the camera.

Other "Dumb" systems with rotating, oscillating, or self-propelled nozzles have been employed; however, this method cleans everything in its path, <NUM> degrees, in all directions, whether it needs to be or not. Like where waste only resides in the bottom of a tank. This all or nothing method wastes resources, e.g., water, electricity, etc., and induces extensive cycle times. Also, these systems are a set and go method; so if not set properly, isolated areas requiring more extensive cleaning are left with waste still intact. An operator then has to visually survey the area, reset the parameters, and perform the cleaning operation again.

Also, when a stream of waste is flowing towards the drain, a portion of the liquid and particles can flow past the outlet. Once the stream passes the outlet, a secondary operation must be implemented to properly capture the waste increasing operation costs and the overall time to effectively clean a tank.

Thus, the need exists for solutions to the above problems with the prior art.

The present invention seeks to provide an automated solution that solves the above challenges and reduces overall cycle times.

<CIT> discloses a mechanical extended search sluicer for breaking up and retrieving chemical, radioactive, hazardous materials from storage tanks with mechanical arms and nozzles which utilize fluid jets to break up and liquefy in-tank material. An upper assembly attachable to a tank can control the transverse rotations of a vertical mast having a boom with a nozzle assembly. The boom can telescopically retract and extend to different lengths, can elevate up and down or transport left and right.

<CIT> discloses an interior tank car cleaning apparatus using a main solution pipe assembly and a pair of base plate solution arms.

<CIT> discloses a system and methods for inspection and maintenance of hazardous spaces using a robotic system.

The invention describes a hydraulically controlled programmable railcar tank cleaning system with the features defined in appended independent claims <NUM> and <NUM>. Further features of the cleaning system following the invention are described in appended dependent claims.

A primary objective of the present invention is to provide manual, automated, or semi-automated devices, systems and methods incorporating nozzles which utilize fluid jets to break up and liquefy tank material such as oil and tar, or any other chemical, or hazardous liquid, solid, or sludge waste material in railcar tanks.

Furthermore, the present invention will operate in any tanks containing hazardous vapors, dusts, and the like.

A telescoping robotic arm cleaning system can be mounted in manways of railcar tanks as small as approximately <NUM> (<NUM> inches) in diameter (or less). Nozzles mounted on the end of telescoping arms can utilize fluid jets to break up, liquefy and motivate solids.

Opposing telescoping booms can rotate approximately <NUM> degrees from vertical to horizontal and extend and retract high and low-pressure nozzle assemblies up to and over approximately <NUM> (<NUM> feet) to reach each end of the railcar tank. The dual, opposing booms allow for the tank to be cleaned from both ends simultaneously, pushing the waste to the center, thus allowing the maximum amount of waste to be collected at the drain outlet during a single cleaning cycle. The nozzle assembly at the distal end of the boom can be twisted and rotated to direct the liquid stream as needed. As the nozzles break and liquefy the waste material, the booms can be incrementality retracted to direct the waste to the drain in the center of the railcar tank.

The nozzle assembly can include a single low pressure, high flow fluid jet operating at pressures up to, but not limited to, approximately <NUM> mPa (<NUM> psig) at a flow rate ranging from approximately <NUM> to <NUM> It/min (<NUM> to approximately <NUM> GPM). In a further embodiment, a high pressure, low flow jet working up to, but not limited to, a pressure range from approximately <NUM> mPa (<NUM>,<NUM> psig) to approximately <NUM> mPa (<NUM>,<NUM> psig), at a flow rate range from <NUM> to approximately <NUM> It/min (<NUM> GPM) can be integrated. In another embodiment, a plurality of high flow, low pressure and high pressure, low flow fluid jets can be incorporated in various combinations and orientations. The fluid jet(s) can be twisted and rotated to direct the liquid stream as needed with two degrees of freedom, transverse and elevation. The first degree of freedom, known as transverse, can be described by approximately <NUM> degrees of rotation about a longitudinal, horizontal axis. The second degree of freedom, known as elevation, can be described by approximately <NUM> degrees of rotation of the fluid jet(s) about an axis perpendicular to the longitudinal, horizontal axis. Each degree of motion is rotated by a hydraulic actuator orientated about its axis. A hydraulic power unit (HPU) provides pressurized fluid to electronically controlled valves which in turn modulates fluid flow to the actuators. The valves can be, but not limited to, servo valves or servo-proportional valves and are mounted on a manifold. The HPU can include, but not limited to, the requisite hydraulic pump driven by an electric motor to supply the system with flow and pressure of hydraulic fluid from an integrated storage reservoir. Supply and return hoses connect between the hydraulic power unit and the hydraulic manifold. The hydraulic manifold can be, but not limited to, a block of steel or stainless steel machined with varying passageways to distribute hydraulic fluid to a plurality of valves mounted along the surfaces of the block. Mounted on the manifold frame, a control panel enclosure houses a motion controller that sends and receives inputs and outputs (I/O) in order to control the above valves.

In the preferred embodiment, a hydraulic valve manifold and control station can reside as close as possible to the tank but out of any classified hazardous area. In one embodiment, the hydraulic valve manifold and control station can be equipped with explosion proof or intrinsically safe components allowing operation in a classified hazardous zone where flammable gases or dust can exist. In an additional embodiment, the invention can be operated from a remote console station up to approximately <NUM> (<NUM> feet) (or more) away. The control station can include, but not limited to, a human machine interface (HMI) housed in an enclosure rated for outdoor operation. The HMI can include, but is not limited to, software, display screen, keyboard, pushbuttons, switches, and joysticks used to control and interact with the nozzle assembly. The HMI will allow an operator to monitor and manipulate the process in real-time. Also, as the programmable railcar tank cleaning system is processing one section, an operator can sit at the HMI and develop the toolpath or program for the next process. Manual manipulation can be done remotely at the human machine interface (HMI) in conjunction with cameras and pointers. In a further embodiment, the nozzle assembly can be manipulated by an operator through controls on a handheld remote control.

In a preferred embodiment, the device uses hydraulic power to manipulate nozzle assembly providing safe operation in environments with flammable vapors or dusts. Another embodiment of the device would use explosion proof linear actuator and/or electric motors to manipulate the nozzle assembly. The motors and actuators would be powered by cables coming from the device within the tank section being cleaned to an electrical motion controller and power supply residing in the control station located outside the classified hazardous area.

Automatic manipulation can be achieved through predetermined motion profiles that are calculated through software using kinematic algorithms. These profiles are interpolated around selected features, surface profiles or areas in the tank.

Using cameras, pointers, distance sensors, and a remote controller, the nozzle assembly can be positioned at specific points relative to the work. By establishing multiple points around a feature or set of features, a list of coordinates can be generated. The remote controller can be, but is not limited to, a handheld box containing the appropriate buttons, switches, and joysticks to control the nozzle from any location. The camera can be integrated into the nozzle assembly and can include, but is not limited to, industrial grade monochromatic or color camera with lighting capable of transmitting a high resolution, live image to a remote screen. In further embodiments, the camera and/or lighting can be intrinsically safe or explosion proof. Features of the camera can include pan, tilt, and zoom. The laser pointer can be, but is not limited to, a device mounted to nozzle assembly capable of projecting a visible dot on a surface of a tank indicating the line of sight of the end effector.

The distance sensors can include, but are not limited to, ultrasound, radiofrequency or laser such as a time-of-flight laser sensor that transmits light at a surface. The sensor can then determine the amount of time it takes (time-of-flight) to receive the light reflected off said surface. Using the known speed of light, the sensor can calculate the relative distance.

Dedicated software can draw lines or curves from point to point in such a way to form basic geometries such as squares, rectangles, circles, and so forth. These lines provide a map to be used as path, i.e. toolpaths that the nozzle assembly can follow as programmed.

A controller takes this data and outputs the command signals to corresponding servo valves or servo-proportional valves; therefore, synchronizing the multiple axes and effectively moving the nozzle assembly along the desired path. The controller will also sequence events as needed.

Servo valves can be, but are not limited to, a valve that uses analog electrical signals ranging from, but not limited to, <NUM> to approximately <NUM> milliamps to modulate a spool to precisely control hydraulic fluid flow to a hydraulic cylinder or motor. A servo-proportional valve can be, but is not limited to, a valve that operates on the same principal as a servo valve, but is constructed with looser tolerances and operates with less precision. Servo-proportional valves can also operate on analog electrical signals ranging from, but not limited to, <NUM> to approximately <NUM> milliamps as well as voltage signals ranging from, but not limited to, +/- approximately <NUM> VDC.

Further objects and advantages of this invention will be apparent from the following detailed description of the presently preferred embodiments which are illustrated schematically in the accompanying drawings.

The drawing figures depict one or more implementations in accord with the present concepts, by way of example only, not by way of limitations.

Before explaining the disclosed embodiments of the present invention in detail it is to be understood that the invention is not limited in its applications to the details of the particular arrangements shown since the invention is capable of other embodiments. Also, the terminology used herein is for the purpose of description and not of limitation.

In the Summary above and in the Detailed Description of Preferred Embodiments and in the accompanying drawings, reference is made to particular features (including method steps) of the invention. It is to be understood that the disclosure of the invention in this specification does not include all possible combinations of such particular features. For example, where a particular feature is disclosed in the context of a particular aspect or embodiment of the invention, that feature can also be used, to the extent possible, in combination with and/or in the context of other particular aspects and embodiments of the invention, and in the invention generally within the scope of the appended claims.

In this section, some embodiments of the invention will be described more fully with reference to the accompanying drawings, in which preferred embodiments of the invention are shown. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout, and prime notation is used to indicate similar elements in alternative embodiments.

The term low pressure/high flow can be defined as, but not limited to, a pressure between approximately <NUM>. 007mPa (<NUM> psig) and up to approximately <NUM> mPa (<NUM> psig) at a flow rate ranging between approximately <NUM> It/min (<NUM> gpm) and up to approximately <NUM> lt/min (<NUM> gpm).

The term high pressure/low flow can be defined as, but not limited to, a pressure between approximately <NUM> mPa (<NUM> psig) and up to approximately <NUM> mPa (<NUM>,<NUM> psig) at a flow rate ranging between <NUM> lt/min (<NUM> gpm) and up to approximately <NUM> It/min (<NUM> gpm).

A list of the components will now be described.

Referring to <FIG>, the present invention can:.

Referring to <FIG>, the present invention can include:.

Referring to <FIG>, the upper assembly <NUM> houses the actuators <NUM> for the boom elevation function, as well as the hose reel <NUM> This assembly <NUM> mounts to a manway on the top of the rail car tank through an adjustable manway adapter that allows the invention to gimble and rotate about the manway opening such that invention can be aligned and tilted, such that when deploying the booms <NUM>, any obstructions can be avoided.

The upper assembly <NUM> supports a mast <NUM> which runs vertically down through the tank opening, providing a means to mount the booms <NUM>. Hydraulic cylinders <NUM> can raise and lower the mast <NUM> in order position the boom <NUM> assembly closer to the waste at the bottom of the tank. In further embodiments, a rack and pinion system can drive the mast <NUM> up and down.

The boom <NUM> extends and retracts as well as pivots up and down, in order to position the nozzle assembly <NUM> in the railcar tank <NUM>. <FIG> shows the boom <NUM> also provides a conduit for the low pressure hose <NUM>, high pressure hoses <NUM>, transverse hydraulic hoses <NUM> and elevation hydraulic hoses <NUM> for the nozzle assembly <NUM>.

Four basic degrees of freedom per boom <NUM> (<NUM> total). First, the boom elevation cable <NUM> raises and lowers the boom <NUM>. Second, hydraulic cylinders <NUM> in the boom extend and retract to adjust the overall length of the boom <NUM>. Third, the nozzle elevation axis <NUM> rotates the low and/or high pressure nozzles either clockwise or counterclockwise abut an axis perpendicular to the longitudinal boom axis. Lastly, the nozzle transverse axis <NUM> directs the nozzle assembly <NUM> either clockwise or counterclockwise about the longitudinal axis of the boom <NUM>.

Boom elevation actuators <NUM> (cylinders, winches, or the like) located in the upper assembly <NUM>, outside the railcar tank <NUM>, actuate the boom <NUM> elevation via cables <NUM>. The boom elevation cable(s) <NUM> are routed along the mast <NUM>, guided via cable guide pulley(s) <NUM>, and fastened to the boom <NUM>. Retracting these cable(s) <NUM> causes the boom <NUM> to be raised relative to mast <NUM> via boom elevation pivot <NUM>, and extending these cable(s) <NUM> causes the boom <NUM> to be lowered relative to the mast <NUM> via boom elevation pivot <NUM>.

The boom <NUM> sections telescope inside the next corresponding section and are supported by low-friction slide pads <NUM>. In some applications it will also be beneficial to replace the boom slide pads <NUM> with rollers to carry the load with reduced friction.

Flexible hoses are used to route wash water and liquefier through the pivoting elbow and to the nozzle assemblies <NUM> with a single combination hose reel <NUM> or two individual hose reels <NUM> to take up the hose(s) as the boom <NUM> extends and retracts. Alternatively, telescopic sections of metal tubing or conduit can be used to accommodate the boom extend and retract movement eliminating the need for the hose reel(s). In a further embodiment, a combination of flexible hose and metal tubing or conduit can be used.

The hydraulic actuators <NUM> that operate the boom raise/lower movement are located at the top of the unit, outside the tank, where traditional materials can be used in a less aggressive environment. These actuators <NUM> are coupled to the rotating booms <NUM> via metal cables <NUM> raising the boom up. Lowering the boom <NUM> can be via a second cable, opposing spring tension, gravity, or other returning mechanism. Alternatively, a push-pull cable mechanism (such as a cable in a sheath) can be used to handle operation in both directions from a single cable.

The low pressure hose/conduit <NUM> can be made of a flexible metal conduit, convoluted metal hose, or flexible rubber hose and is routed down along the mast <NUM> and boom <NUM> to meet the Nozzle Assembly <NUM> at the forward end of the boom final stage <NUM>. The low pressure hose/conduit <NUM> can be flexible to allow for bending at the boom elevation pivot <NUM>, and to wrap around the Hose Reel <NUM>. In order to provide take-up when the boom <NUM> is retracted the low pressure hose <NUM> is accumulated on a hose reel <NUM> in the Upper Assembly <NUM>. As the boom <NUM> is retracted the excess hose is reeled onto the hose reel <NUM> and as the boom <NUM> is extended the hose is reeled off.

The smaller, high pressure hose/conduit <NUM>, also made out of a flexible metal conduit, convoluted metal hose, or rubber hose can have its' own hose reel <NUM>. The hose reel <NUM> can have a second circuit allowing high pressure water to be fed through the hose reel <NUM> to the high pressure hose/conduit <NUM>. The high pressure hose/conduit <NUM> can be retracted and accumulated on the hose reel <NUM> along with the low pressure hose/conduit <NUM>.

In the preferred embodiment, <FIG> shows the high pressure hose/conduit running through the center of the product hose/conduit <NUM> in order to save space and simplify hose management.

Feeding the nozzle assembly <NUM>, and running along the rectangular mast <NUM> and telescopic boom sections <NUM>, supported by an outer energy chain <NUM> and an inner energy chain <NUM>, can be the low pressure hose <NUM> that leads to a hose reel <NUM> in the upper assembly <NUM>.

Along the telescopic boom section <NUM>, a hose management system consisting of an inner energy chain <NUM> and an outer energy chain <NUM> can guide and support the hydraulic hoses during extension and retraction.

In reference to <FIG>, the railcar tank cleaning system <NUM> can be mounted in an area with hazardous dust and vapors where the hydraulic power unit (HPU) <NUM>, hydraulic manifold <NUM> and control station <NUM> can be located adjacent the classified area as close to the railcar tank cleaning system <NUM> as possible, but outside any classified, hazardous area. In certain embodiments, a remote control station <NUM> can be mounted up to approximately <NUM> (<NUM> feet) away (or more). Low and high pressure fluid supply <NUM> can be connected to a dedicated process skid or connection to an onsite fluid processing system.

The present invention can be connected to a hydraulic power unit (HPU) <NUM> that is comprised of, but not limited to, the requisite hydraulic pump driven by an electric motor to supply the system with flow and pressure of hydraulic fluid from an integrated storage reservoir. Supply and return hoses connect between the.

hydraulic power unit <NUM> and the hydraulic manifold <NUM>. Flexible cables provide electrical and control signals between the control station <NUM>, HPU <NUM>, and hydraulic manifold <NUM>. In a further embodiment, interconnect wiring can allow communication and/or discreet l/O between the programmable railcar tank cleaning system and any fluid supply system. Communication could include, but not limited to, Ethernet®, Profibus®, DeviceNet®, or any other network protocol or fieldbus communication protocol.

<FIG> shows a preferred control layout where <NUM> axes with closed loop control from a hydraulic controller receives commands from the control station to drive either a servo valve, a proportional servo valve, corresponding with each axis. The HPU provides a constant supply of hydraulic oil to valves on a manifold <NUM> that in turn modulates the flow to corresponding hydraulic motors and/or actuators based on encoder feedback and toolpaths developed by software at the control station. Encoder feedback can be, but not limited to, absolute positional data sent to the motion controller through a serial interface for closed loop control of the hydraulic actuators. For operation in classified hazardous areas, the preferred embodiment incorporates fiber optic encoders. In an alternative embodiment, encoders can be wired to isolation barriers for intrinsically safe operation.

A third party interface can be integrated for communication and/or discreet l/O between the programmable railcar tank cleaning system and any fluid supply system, robotic arm, boom, or ancillary control system from an outside source. Communication could include, but not limited to, Ethernet®, Profibus®, DeviceNet®, or any other network protocol or fieldbus communication protocol. Discreet I/O
could include, but not limited to, run/stop signals, on/off signals, safety interlocks, and the like.

<FIG>, <FIG>, and <FIG> depict a nozzle assembly comprised of <NUM> hydraulic motors <NUM> and <NUM>, a fluid jet nozzles <NUM>, <NUM>, <NUM>, and <NUM> a mounting plate <NUM>, <NUM> or more rotary joints, and <NUM> or more rotary housing <NUM> and <NUM>, and <NUM> or more rotary encoders <NUM> and <NUM>.

Each rotary housing <NUM> and <NUM> are coupled through rotary actuators to provide two degrees of freedom comprised of one axis <NUM> known as transverse and one axis <NUM> known as elevation. Transverse can be described by <NUM> degrees of rotation about the longitudinal, horizontal axis <NUM>. Elevation can be described by <NUM> degrees of rotation of the fluid jet(s) about an axis <NUM> perpendicular to the longitudinal, horizontal axis <NUM>.

On the distal end of the nozzle assembly is a low pressure/high flow fluid jet nozzle <NUM> and <NUM>. From here on out, in the descriptions of the preferred embodiments, low pressure/high flow water is defined as, but not limited to, a pressure of up to approximately <NUM> mPa (<NUM> psig) at a flow rate ranging from approximately <NUM> to <NUM> lt/min (<NUM> to approximately <NUM> gpm). In another embodiment, the fluid jet <NUM> and <NUM> can be high pressure/low flow. From here on out, in the descriptions of the preferred embodiments, high pressure/low flow is defined as, but not limited to, a pressure range from approximately <NUM> mpa (<NUM>,<NUM> psig) to approximately <NUM> mPa (<NUM>,<NUM> psig) at a flow rate range from <NUM> to approximately <NUM> lt/min (<NUM> gpm). In another embodiment, a plurality of high flow, low pressure <NUM> and <NUM> and high pressure, low flow fluid jets <NUM> and <NUM> can be incorporated in various combinations and orientations.

Rotary joints <NUM> and <NUM>, are comprised of seals <NUM> and bushings/bearings <NUM> that permits the passage of high pressure, low flow liquids and/or low pressure, high flow fluids while simultaneously allowing <NUM> degrees of rotation at each axis.

The transverse axis is comprised of a hydraulic motor <NUM> driving a gear set comprised of spur gears <NUM> and mating pinion gears <NUM>. The motor rotates the lower rotating housing <NUM> of the nozzle assembly <NUM> containing the fluid jet(s) in a twisting motion about the axis <NUM> to achieve up to <NUM> degrees of motion. The pinion gear <NUM> is driven from the motor <NUM> though a parallel shaft arrangement with the corresponding spur gear <NUM> The motor is affixed to the upper rotating housing <NUM> which is coupled to the lower rotating housing <NUM> through a set of bearings <NUM> and <NUM>. The bearings can be ball, roller, or plain bearings or bushings.

In another embodiment, the gear set can be comprised of a worm with the worm wheel mounted to lower rotating housing <NUM> is coupled to the upper rotating housing <NUM> through a bearing set <NUM> and <NUM>. A rotary union is plumbed with one or more passages to the end of the shaft of the lower rotating housing <NUM> allowing flow of high pressure, low flow liquids and/or low pressure, high flow fluids while simultaneously allowing approximately <NUM> degrees of rotation at each axis. A further embodiment can incorporate the alternate rotary union. An encoder is coupled to the hydraulic motor for positional feedback for closed loop control. For operation in classified hazardous areas, the preferred embodiment incorporates fiber optic encoders. In an alternative embodiment, encoders can be wired to isolation barriers for intrinsically safe operation.

In alternate embodiment, the transverse axis can be comprised of the lower arm structure <NUM> supporting a hydraulic gear motor <NUM> with drive sprocket <NUM> mounted on the output shaft coupled to a sprocket <NUM> through a roller chain <NUM>. The sprocket rotates the fluid jet(s) <NUM>, <NUM>, <NUM>, and <NUM> approximately <NUM> degrees. The fluid jet(s) <NUM>, <NUM>, <NUM>, <NUM> is supported by a set of bearings <NUM>. A rotary union <NUM> is plumbed with one or more passages to the end of the shaft of the fluid jet(s) <NUM>,<NUM>,<NUM>, and <NUM> allowing flow of high pressure, low flow liquids and/or low pressure, high flow fluids while simultaneously allowing approximately <NUM> degrees of rotation at each axis. An absolute encoder <NUM> is coupled to the hydraulic motor <NUM> for positional feedback for closed loop control. For operation in classified hazardous areas, the preferred embodiment incorporates fiber optic encoders. In an alternative embodiment, encoders can be wired to isolation barriers for intrinsically safe operation.

<FIG> depicts an alternate embodiment with an alternate rotary union <NUM> of <FIG> integrated with axis at the fluid jet <NUM>,<NUM>,<NUM>, and <NUM> of <FIG>. The rotary union is comprised of an inlet pipe <NUM>, an outlet pipe <NUM>, <NUM> or more seals <NUM> and two or more sets of ball bearings <NUM> where the outlet pipe <NUM> can rotate independently about the longitudinal axis of the inlet pipe <NUM> but still allowing passage of high pressure, low flow liquids and/or low pressure, high flow fluids while simultaneously allowing <NUM> degrees of rotation at each axis.

An alternate embodiment of the elevation axis of <FIG> replaces the chain and sprocket arrangement with hydraulic gear motor <NUM> driving a gear set <NUM> and <NUM> that rotates the fluid jet(s) to achieve up to approximately <NUM> degrees of motion about a plane parallel to the longitudinal, vertical axis. The gear set <NUM> and <NUM> is comprised of a pinion gear <NUM> on the end of a motor <NUM> shaft with a corresponding spur gear <NUM> driving the fluid jet assembly <NUM>. The motor <NUM> is affixed to a bracket on the lower arm structure <NUM> and drives the spur gear <NUM> coupled to the fluid jet assembly <NUM>. The jet assembly is supported by a set of bearings <NUM>. In another embodiment, the gear set can be comprised of a worm with the worm wheel mounted to fluid jet(s) supported by set of bearings.

In further embodiments, the lower arm structure <NUM> and fluid jet assembly <NUM> can each be directly coupled to the output of hydraulic gear motors <NUM> and <NUM>, or similarly, a hydraulic actuator. A hydraulic actuator can have a hollow bore construction which allows for more efficient, compact, and robust routing of hoses and cables.

Another embodiment of the device would use explosion proof electric motors to manipulate the nozzle assembly <NUM>. The motors and actuators would be powered by cables coming from the device within the tank section being cleaned to an electrical motion controller and power supply residing in the control station located outside the classified hazardous area. In another embodiment, the control station can be equipped with explosion proof or intrinsically safe components allowing operation in a classified hazardous zone where flammable gases or dust may exist. An alternate embodiment has the control station purged and pressurized for use in hazardous and explosive locations.

A preferred embodiment uses servo valve (or proportional servo valve) control signals that can range from <NUM> to approximately <NUM> milliamps. In one embodiment, the signal could be up to, but not including, approximately +/- <NUM> volts. In another embodiment, the control signal could be transmitted over Ethernet, Profibus, DeviceNet, or any other network protocol or field bus communication protocol.

The HPU <NUM> can include, but is not limited to, the requisite hydraulic pump driven by an electric motor to supply the system with flow and pressure of hydraulic fluid from an integrated storage reservoir. Supply and return hoses connect between the hydraulic power unit and the hydraulic manifold.

In reference to <FIG>, the hydraulic control system can include an HPU <NUM> and manifold block <NUM> populated with precision servo valves <NUM> used to control the nozzle assembly <NUM> and boom <NUM> elevation. Other hydraulic circuit components <NUM> can also be mounted to the manifold. Hydraulic circuit components <NUM> can include, but not limited to, servo-proportional valves, solenoid valves, pressure relief valves, fittings, accumulator, a manifold block, gauges, filters, or any devices required to control the nozzle assembly <NUM> and boom elevation. The manifold <NUM> and corresponding electrical panel <NUM> will be mounted onto a common frame structure <NUM> and remotely located outside the classified hazardous area. In another embodiment, the electrical circuits will be connected to intrinsically safe barriers and the electronic components will be rated for use in classified hazardous areas.

In another embodiment, the electrical panel <NUM> can be positively purged and monitored with a safety pressure switch interlocked into the control system. If the enclosure does not see adequate pressure, then the enclosure cannot be energized. Housed in the electrical panel <NUM>, can be a motion controller that sends signals to the servo valves <NUM> in order to manipulate all axes.

<FIG> depicts a human machine interface (HMI) comprised of a user screen <NUM>, keyboard <NUM>, mouse <NUM>, central processing unit (CPU) <NUM>, operating system, control software, one or more pushbuttons <NUM>, one or more switches <NUM>, and/or one or more joystick controllers <NUM> all housed in a portable control station <NUM>. In certain embodiments, a portable stand <NUM> can be implemented. In one embodiment, multiple screens <NUM> are incorporated. In one embodiment, a real-time operating system can be used.

A handheld remote control is illustrated in <FIG> where certain embodiments can be used to control the nozzle assembly <NUM>. The handheld remote control is comprised of a touchscreen <NUM>, one or more pushbuttons <NUM>, one or more switches <NUM>, and/or one or more joystick controllers <NUM> all housed in a durable, hand held case <NUM>. The handheld remote control is tethered to the control station through a flexible electrical cable <NUM>. In one embodiment, the handheld remote control is wireless in which a local router is tethered to the handheld control station through a flexible electrical cable. In certain embodiments, the invention can be operated from a handheld remote control up to approximately <NUM> (<NUM> feet) away (or more).

The control software can include predefined tank profiles. At the HMI, an operator selects the required profile and inputs diameters, lengths, widths, heights, waste depths, etc. to configure the tank to the application. Locations of features, pumps, manways, etc. can also be entered. The nozzle assembly can then be positioned into this configuration. An operator can then select from predefined recipes based on the desired operation. User inputs, e.g., feed rate, pressure, flow, dwell times, etc., allow these recipes to be modified and saved as new recipes. Once a configuration is finalized, the kinematic algorithms determine the coordinates and angles of each axis to form a motion profile dictating the nozzle's motions. From this data, the control programs compile output commands to the motion controller. In certain embodiments, these profiles can be evaluated and edited at the HMI. In further embodiments, the motion profiles are entered into a simulation model for evaluation.

In reference to the preferred embodiment, the HMI can display the cleaning progress real time based on feedback from the control system. Alternately, an inspection system comprising, a camera, housing, lighting, and protective glass could be integrated into the nozzle assembly. In a further embodiment, the camera includes pan, tilt, and zoom functions. In certain embodiments, the camera can transmit an image to a display over a fiber optic cable allowing operation in an area with hazardous and explosive vapors and dusts.

In certain embodiments, distance measuring can be accomplished through a laser sensor mounted on the nozzle assembly <NUM>. In other embodiments, the distance sensor could include an IR (infrared radiation) sensor, LiDAR (light detection and ranging), or any other noncontact technique to obtain distance measurements. In certain embodiments, a laser pointer is utilized to pinpoint a location to be measured. A laser pointer can be mounted on the nozzle assembly <NUM> coordinated with the nozzle's line of sight. Coordinates can be recorded as an operator manipulates the nozzle and selects points with a laser sensor. Repeating as many times as needed. At the user screen, these points can be viewed, edited and linked together to configure the tank.

In a further embodiment, 3D mapping of the tank and waste surface(s) can be accomplished through one or more imaging sensors utilizing ToF (time of flight), stereo vision, structured light, or any imaging technology that can be used to develop 3D point clouds. The preferred embodiment can be equipped with the 3D imaging sensors integrated with nozzle assembly such that an operator can maneuver the 3D imaging sensor to an area in order to take a snapshot. This can be done manually using the remote control or HMI. In one embodiment, the sensors can be handheld. In an alternate embodiment, the sensors can be mounted remotely with a portable mounting structure. In this embodiment, the sensor can be operated independently from the nozzle assembly allowing an operator to scan new areas while the nozzle is cleaning. This increases the efficiency by reducing the overall cycle time. In another embodiment, sensors can be employed in conjunction with remote sensors.

In certain embodiments, scanning can be done real-time as the camera travels through an area. The generated point cloud will show on the touchscreen or HMI. Multiple point clouds can be linked together without external, dedicated targets. This data is loaded into the control software to be analyzed by 3D CAD software. An operator can edit and finalize the CAD rendering to be used as a predefined profile for use as described above. In other embodiments, the software automatically recognizes standard features from the point cloud and populates that region with a 3D surface. The remaining data is rendered and meshed into the existing 3D surfaces. This routine can be repeated until ended.

The safety features can include devices that are electrically connected to the control system that when activated brings all motion to a safe and controlled stop. The safety devices can include, but not limited to, e-stop buttons, e-stop cables, safety mats, light curtains, or scanning lasers. These devices can be employed in plurality and in any combination thereof.

Certain embodiments comprise further safety features that incorporate whisker style limit switches to detect interferences between the nozzle assembly and another object. Once a crash is detected, a signal is sent to the controller that brings any motion to a controlled stop. Whisker style limit switches can be, but not limited to, a limit switch actuated by a rod protruding parallel axially to the nozzle assembly body. A plurality of whisker style limit switches can be mounted radially around the nozzle assembly for approximately <NUM> degrees of detection. Other embodiments can use ultrasonic, laser, infrared (IR), proximity, or 3D scanners.

The programmable railcar tank cleaning system can operate as an independent, standalone unit. In further embodiments, the programmable railcar tank cleaning system can be integrated into existing control systems though hardwire signals, serial communication such as Ethernet®, Profibus®, DeviceNet®, or any other network protocol or fieldbus communication protocol.

The term "approximately" can be +/- <NUM>% of the amount referenced. Additionally, preferred amounts and ranges can include the amounts and ranges referenced without the prefix of being approximately.

Claim 1:
A hydraulically controlled, programmable railcar tank cleaning system (<NUM>) which operates as an independent, standalone unit comprising
an upper assembly (<NUM>) attachable to a tank (<NUM>);
a mast (<NUM>) having an upper end attached to the upper assembly (<NUM>), and a lower end;
a telescoping boom (<NUM>) having a first end pivotally attached to the lower end of the mast (<NUM>), and a second end, the boom (<NUM>) having a retracted position and an extended position, that pivots approximately <NUM> degrees from vertical to horizontal and extends up to and beyond approximately <NUM> (<NUM> feet);
a nozzle assembly (<NUM>) attached to the second end of the boom (<NUM>) with elevation and traverse capability;
a motion controller;
a hydraulic power unit (<NUM>);
a manifold (<NUM>) with adjustable electro-hydraulic valves; and characterised in that
an encoder (<NUM>, <NUM>) transmitting data over fiber optic cables for operation in classified hazardous environments, wherein the hydraulic power unit (<NUM>) provides a constant supply of hydraulic oil to valves on a manifold (<NUM>) that in turn modulates the flow to corresponding hydraulic motors based on encoder feedback and toolpaths developed by software at a control station (<NUM>), the encoder being coupled to the hydraulic motor for positional feedback for closed loop control; and wherein the
system further comprises;
one or more imaging sensors for mapping the inside of the tank to develop 3D point cloud data; and
software that analyzes the point cloud data to recognize standard geometry and then populates missing data to yield a complete feature profile.