DESC:TECHNICAL FIELD
[001] Embodiments of the present disclosure are generally directed to the field of cleaning an in-service storage tank, and more particularly relate to a method and system for optimizing the operation of a cleaning apparatus for cleaning an in-service oil storage tank.
BACKGROUND
[002] An in-service storage tank is a tank that is used to store liquid or gas. These tanks are typically found in industrial, commercial, and residential settings. In-service storage tanks may be periodically inspected and maintained to ensure that they are safe and compliant with applicable regulations. This includes inspections for leaks, corrosion, and structural damage. Such storage tanks may also be cleaned regularly to remove contaminants that can build up over time. The contaminants may enter the storage tanks through a variety of ways, including leaks, spills, and improper maintenance. The contaminants may include internal moisture build-up, microbial contamination, and sludge.
[003] The contaminants either contaminate the stored products rendering them unusable and unsafe or corrode the storage tank thereby causing a leak or rupture in the storage tank. In worst case scenarios, the contaminants may react with each other or with the stored product, and may cause a fire or explosion. Thus, cleaning apparatus is employed inside the in-service oil storage tank for cleaning and maintenance thereof. However, there are several limitations associated with the in-service oil storage tanks some of which are discussed in the forthcoming paragraph.
[004] Typically, the in-service storage tanks often have complex geometries and internal structures, making it challenging for cleaning apparatus to reach all areas within the storage tanks. Since the storage tanks have various shapes, sizes, and materials, the design of the cleaning apparatus that allows access to the remote or inaccessible areas of the storage tanks without compromising the stability of the cleaning apparatus is desirable. Each storage tank may require a different approach for stabilization of the cleaning apparatus during a cleaning operation as existing cleaning apparatuses may not be universally compatible with all tank types, leading to limited applicability and effectiveness. For example, existing cleaning apparatus may not be able to effectively remove all types of contaminants or residues from the inner surfaces of the storage tank resulting in the accumulation of sludge or deposits over time, leading to reduced tank capacity and potential contamination of stored materials. Moreover, in-service storage tanks may have fluctuating levels of contaminants or residues, and their physical conditions may change over time. Therefore, a cleaning apparatus that is capable of adapting to these variations to ensure consistent performance of the cleaning apparatus, is desirable. However, existing cleaning apparatus methods do not provide sufficient flexibility or adjustability to accommodate such changes.
[005] Accordingly, there lies a need to provide a solution for the above-mentioned problems. Further, there is a need to provide a mechanism for optimizing the operation of the cleaning apparatus within the in-service storage tank.
SUMMARY
[006] This summary is provided to introduce a selection of concepts, in a simplified format, that are further described in the detailed description of the invention. This summary is neither intended to identify essential inventive concepts of the invention nor is it intended for determining the scope of the invention.
[007] According to one embodiment of the present disclosure, disclosed herein is a method for optimizing the operation of a cleaning apparatus, the cleaning apparatus includes at least one of a sludge stirrer and a maneuvering unit having a plurality of maneuvering mechanisms for cleaning sludge inside a storage tank. The method includes determining at least one of one or more motion parameters associated with the movement of the cleaning apparatus based on a deviation in an orientation of the cleaning apparatus from a predefined orientation exceeding a predefined deviation threshold, such that the cleaning apparatus moves using a first maneuvering mechanism of the plurality of maneuvering mechanisms and one or more blade parameters associated with at least one configuration of a set of sludge-cutting blades of the sludge stirrer based on a first force exerted on the set of sludge-cutting blades exceeding a predefined force threshold and stabilizing the cleaning apparatus by adjusting at least one of movement of the first maneuvering mechanism based on the determined one or more motion parameters; and the at least one configuration of the set of sludge-cutting blades based on the determined one or more blade parameters.
[008] According to another embodiment of the present disclosure, disclosed is a system optimizing the operation of a cleaning apparatus. The cleaning apparatus includes at least one of a sludge stirrer and a maneuvering unit having a plurality of maneuvering mechanisms for cleaning sludge inside a storage tank. The system includes a memory and at least one processor coupled to the memory. The at least one processor is configured to determine at least one of one or more motion parameters associated with the movement of the cleaning apparatus based on a deviation in an orientation of the cleaning apparatus from a predefined orientation exceeding a predefined deviation threshold, such that the cleaning apparatus moves using a first maneuvering mechanism of the plurality of maneuvering mechanisms, and one or more blade parameters associated with at least one configuration of a set of sludge-cutting blades of the sludge stirrer based on a first force exerted on the set of sludge-cutting blades exceeding a predefined force threshold. The processor is further configured to stabilize the cleaning apparatus by adjusting at least one of movement of the first maneuvering mechanism based on the determined one or more motion parameters, and the at least one configuration of the set of sludge-cutting blades based on the determined one or more blade parameters.
[009] To further clarify the advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof, which are illustrated in the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. The invention will be described and explained with additional specificity and detail in the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0010] These and other features, aspects, and advantages of the present invention will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:
Figure 1 is a block diagram depicting an environment for employing a cleaning apparatus, according to an embodiment of the present disclosure;
Figure 2 is a block diagram depicting an exemplary flow of optimizing the operation of the cleaning apparatus, according to an embodiment of the present disclosure;
Figure 3 is a flow diagram depicting a method for optimizing the operation of the cleaning apparatus, according to an embodiment of the present disclosure; and
Figures 4a and 4b are pictorial representations of the cleaning apparatus, according to an embodiment of the present disclosure.
[0011] Further, skilled artisans will appreciate that elements in the drawings are illustrated for simplicity and may not have necessarily been drawn to scale. For example, the flow charts illustrate the method in terms of the most prominent steps involved to help to improve understanding of aspects of the present invention. Furthermore, in terms of the construction of the device, one or more components of the device may have been represented in the drawings by conventional symbols, and the drawings may show only those specific details that are pertinent to understanding the embodiments of the present invention so as not to obscure the drawings with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein.
DETAILED DESCRIPTION
[0012] For the purpose of promoting an understanding of the principles of the invention, reference will now be made to the various embodiments and specific language will be used to describe the same. It should be understood at the outset that although illustrative implementations of the embodiments of the present disclosure are illustrated below, the present invention may be implemented using any number of techniques, whether currently known or in existence. The present disclosure is not necessarily limited to the illustrative implementations, drawings, and techniques illustrated below, including the exemplary design and implementation illustrated and described herein, but may be modified within the scope of the present disclosure
[0013] It will be understood by those skilled in the art that the foregoing general description and the following detailed description are explanatory of the invention and are not intended to be restrictive thereof.
[0014] Reference throughout this specification to “an aspect”, “another aspect” or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, appearances of the phrase “in an embodiment”, “in another embodiment” and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment.
[0015] It is to be understood that as used herein, terms such as, “includes,” “comprises,” “has,” etc. are intended to mean that the one or more features or elements listed are within the element being defined, but the element is not necessarily limited to the listed features and elements, and that additional features and elements may be within the meaning of the element being defined. In contrast, terms such as, “consisting of” are intended to exclude features and elements that have not been listed.
[0016] The embodiments herein and the various features and advantageous details thereof are explained more fully with reference to the non-limiting embodiments that are illustrated in the accompanying drawings and detailed in the following description. Descriptions of well-known components and processing techniques are omitted to not unnecessarily obscure the embodiments herein. Also, the various embodiments described herein are not necessarily mutually exclusive, as some embodiments can be combined with one or more other embodiments to form new embodiments. The term “or” as used herein, refers to a non-exclusive or unless otherwise indicated. The examples used herein are intended merely to facilitate an understanding of ways in which the embodiments herein can be practiced and to further enable those skilled in the art to practice the embodiments herein. Accordingly, the examples should not be construed as limiting the scope of the embodiments herein.
[0017] As is traditional in the field, embodiments may be described and illustrated in terms of blocks that carry out a described function or functions. These blocks, which may be referred to herein as units or modules or the like, are physically implemented by analog or digital circuits such as logic gates, integrated circuits, microprocessors, microcontrollers, memory circuits, passive electronic components, active electronic components, optical components, hardwired circuits, or the like, and may optionally be driven by firmware and software. The circuits may, for example, be embodied in one or more semiconductor chips, or on substrate supports such as printed circuit boards and the like. The circuits constituting a block may be implemented by dedicated hardware, by a processor (e.g., one or more programmed microprocessors and associated circuitry), or by a combination of dedicated hardware to perform some functions of the block and a processor to perform other functions of the block. Each block of the embodiments may be physically separated into two or more interacting and discrete blocks without departing from the scope of the invention. Likewise, the blocks of the embodiments may be physically combined into more complex blocks without departing from the scope of the invention.
[0018] The accompanying drawings are used to help easily understand various technical features and it should be understood that the embodiments presented herein are not limited by the accompanying drawings. As such, the present disclosure should be construed to extend to any alterations, equivalents, and substitutes in addition to those which are particularly set out in the accompanying drawings. Although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are generally only used to distinguish one element from another.
[0019] An object of the present disclosure is to provide a method and a system to ensure effective and efficient cleaning of in-service storage tanks, while minimizing operational disruptions. A yet another object of the present disclosure is to overcome the limitations associated with the stabilization of the cleaning apparatus and ensure stable, efficient, and safe tank cleaning operations.
[0020] The present disclosure achieves the above-described objectives by providing a cleaning apparatus, and technique for optimizing the operation of the cleaning apparatus in an in-service storage tank. For the sake of brevity, the phrase ‘in-service storage tank’ may be used interchangeably with the phrase ‘storage tank’. The disclosed cleaning apparatus and the technique for optimizing the operation of the same will be described in detail in the forthcoming paragraphs in conjunction with Figures 1-4.
[0021] Figure 1 is a block diagram depicting an environment 100 for employing a cleaning apparatus 104, according to an embodiment of the present disclosure. The environment 100 may include the cleaning apparatus 104 suspended or lowered inside an in-service storage tank 102 via a crane apparatus 116 during a cleaning process. The crane apparatus 116 may either be a portable stand apparatus or an external lifting crane apparatus that may be powered by one or more power supply devices such as but not limited to hydraulic, pneumatic, or electric power supply devices. The crane apparatus 116 may be positioned outside the in-service storage tank 102 and preferably on a rooftop of the in-service storage tank 102.
[0022] The in-service storage tank may be used to store oil, chemicals, or gases. In an embodiment, the in-service storage tank 102 may be an in-service oil storage tank. The cleaning apparatus 104 may be used to remove contaminants, such as, but not limited to sediment, debris, and sludge, from the in-service storage tank 102. For removing the contaminants, the cleaning apparatus 104 may pump out a mixture containing a product stored in the in-service storage tank 102 along with the contaminants. In an exemplary embodiment when oil is stored in the in-service storage tank 102 and contaminants such as sludge is removed, the mixture can be an oil-sludge mixture. The mixture, for example, the oil-sludge, may be collected in an oil sludge collection and separation apparatus 120.
[0023] The oil sludge collection and separation apparatus 120 may collect and separate sludge from the oil-sludge mixture. The oil sludge collection and separation apparatus 120 may collect the oil-sludge mixture, and then filter the collected mixture to remove the sludge by separating the sludge 124 and the oil. The oil sludge collection and separation apparatus 120 may include a sludge tank, a filtering unit, an oil pumping device, and a sludge pumping device. The filtering unit performs the separation of oil from the oil-sludge mixture and pumps out sludge 124 using the sludge pumping device. The sludge tank may collect the pumped-out sludge 124 to be disposed off or recycled. The oil pumping device may transfer the separated sludge-free oil 122 back to the in-service storage tank 102.
[0024] The cleaning apparatus 104 may also be in communication with a feedback system 118. The feedback system 118 may include a plurality of sensor components, a control panel, and an electric power supply device. The plurality of sensor components may include one or more of, but is not limited to, an inertial measurement unit, an encoder to furnish a dynamic position of the cleaning apparatus 104, a sonar sensor, an ultrasonic proximity sensor, an infra-red sensor, temperature transducers for identification of path obstructing objects for the cleaning apparatus 104. In an embodiment, the plurality of sensor components may also include a combination of sonar sensors, infrared sensors, and the like positioned at different points within the storage tank and external to the cleaning apparatus 104. The plurality of the sensor components both within and external to the in-service storage tank 102 may be used to exchange data associated with the cleaning apparatus 104 to the control panel.
[0025] The control panel may control the cleaning apparatus 104 from outside the in-service storage tank 102 based on the sensor data. The electric power supply device may supply power to the cleaning apparatus 104. In an embodiment, the feedback system 118 may further include a processing unit. The processing unit may be coupled with the above-stated components to enable the cleaning apparatus 104 to commute within the confines of the in-service storage tank 102 automatically based on feedback from the plurality of sensor components. The processing unit may be configured to execute instructions stored in a memory and to perform various operations associated with the feedback system 118 and example embodiments of the present disclosure. The processing unit may be operatively coupled to the memory for processing, executing, or performing a set of operations. The processing unit may include specialized processing units such as integrated system (bus) controllers, memory management control units, floating point units, graphics processing units, digital signal processing units, etc. In one embodiment, the processing unit may include a central processing unit (CPU), a graphics processing unit (GPU), or both. The processing unit may be one or more general processors, digital signal processors, application-specific integrated circuits, field-programmable gate arrays, servers, networks, digital circuits, analog circuits, combinations thereof, or other now-known or later developed devices for analyzing and processing data. The processing unit may execute one or more instructions, such as code generated manually (i.e., programmed) to perform one or more operations disclosed herein throughout the disclosure.
[0026] The cleaning apparatus 104 may be a robotic cleaning apparatus which may be an automated device configured to perform a cleaning operation in the in-service storage tank 102. In an embodiment, the cleaning apparatus 104 may be artificial intelligence (AI) enabled. The cleaning apparatus104 may further include a maneuvering unit 106, an adaptive stirrer unit 108, memory 110, sensors 112, and a processor 114.
[0027] The maneuvering unit 106 may be configured to provide the capability to control and alter the movement, direction, and position of the cleaning apparatus 104 in a controlled manner. The maneuvering unit 106 ensures effective navigation during the operation of cleaning apparatus 104. The maneuvering unit 106 provides a plurality of maneuvering mechanisms for the transportation of the cleaning apparatus 104. The plurality of maneuvering mechanisms may include propellers, tracks, sets of mechanical legs, wheels, or any combination thereof. A suitable maneuvering mechanism may be selected from the plurality of maneuvering mechanisms based on various factors such as, but not limited to, one or more sensor data provided by the sensors 112, a storage tank configuration, accessibility of the area to be cleaned, and the like.
[0028] The adaptive stirrer unit 108 may include a set of sludge cutting blades for cutting and mixing the sludge, a shaft on which the set of sludge cutting blades is mounted, a rotary mechanism to rotate the shaft and provide torque, and the sensors 112. In an embodiment, the sensors 112 are adapted to measure a plurality of parameters such as force, torque, and pressure exerted on the sludge-cutting blades. In an embodiment, the rotary mechanism rotating the shaft may be rotary actuators with torque multipliers, mechanisms using linear actuators, belt drives, or other mechanisms to provide the required torque and rotation speed to the shaft. The set of sludge cutting blades may have different configurations with respect to sharpness, a cutting angle, a cutting configuration, and an orientation of the set of sludge cutting blades. The configuration of the set of sludge-cutting blades may be adjusted based on various parameters such as but not limited to sludge hardness, density, and other parameters provided by the sensors 112.
[0029] The sensors 112 may be mounted on multiple points of the cleaning apparatus 104 and may be configured to measure a load, such as force, pressure, reaction torque, and the like on the set of stirrer blades and the cleaning apparatus 104 due to a hindrance appearing in the path of the cleaning apparatus 104. Further, the sensors 112 may be configured to monitor the reaction forces acting on the cleaning apparatus 104 during cleaning operation due to the hindrance. The sensors 112 may include load cells (force sensor), impact force sensor, pressure sensor, torque sensor, inertial measurement unit (IMU), sonar sensor, any other suitable sensor, or a combination thereof.
[0030] The memory 110 stores instructions to be executed by the processor 114. The memory 110 may include one or more computer-readable storage media. The memory 110 may include non-volatile storage elements. Examples of such non-volatile storage elements may include magnetic hard discs, optical discs, floppy discs, Solid State Drives (SSDs), Non-Volatile Memory Express (NVMe), Non-volatile Dual In-line Memory Module (NVDIMM), Non-Volatile Random Access Memory (NVRAM), Non-volatile SRAM (NVSRAM), flash memories, or forms of electrically programmable memories (EPROM) or electrically erasable and programmable (EEPROM) memories. In addition, the memory 110 may, in some examples, be considered a non-transitory storage medium. The term “non-transitory” may indicate that the storage medium is not embodied in a carrier wave or a propagated signal. However, the term “non-transitory” should not be interpreted that the memory 110 is non-movable. In some examples, the memory 110 can be configured to store larger amounts of information. In certain examples, a non-transitory storage medium may store data that can, over time, change (e.g., in Random Access Memory (RAM) or cache).
[0031] The processor 114 may be a general-purpose processor, such as a central processing unit (CPU), an application processor (AP), or the like, a graphics-only processing unit such as a graphics processing unit (GPU), a visual processing unit (VPU), and/or an AI-dedicated processor such as a neural processing unit (NPU). The processor 114 may control the movement and operation of the cleaning apparatus 104 by processing sensor data obtained from the sensors 112 in accordance with a predefined operating rule or artificial intelligence (AI) based model stored in the non-volatile memory and the volatile memory, i.e., memory 110. The predefined operating rule or AI-based model is provided through training or learning. In an embodiment of the present disclosure, the AI-based model may be trained using pre-defined neural network architectures. Additionally, the cleaning apparatus 104 may include a pumping device configured to pump out the contaminants in the oil-sludge mixture from the in-service storage tank 102. Alternatively, the pumping device may be positioned outside the cleaning apparatus 104.
[0032] In an embodiment, during the cleaning operation inside the storage tank 102, the cleaning apparatus 104 may get stuck due to a hindrance in the path of the cleaning apparatus 104. The hindrance may be at least one of the fluid stored inside the in-service storage tank 102, the sludge in the stored fluid, and an obstacle affecting the operation of the cleaning apparatus 104.
[0033] In an embodiment, during the movement, cutting, mixing, or collision with one or more hindrances, the orientation of the cleaning apparatus 104, moving using a first maneuvering mechanism, for example, wheels, may change from a default orientation due to an unbalanced reaction load on the cleaning apparatus 104 caused by the one or more hindrances. In such a scenario when the deviation is greater than a predefined deviation threshold, the cleaning apparatus 104 may be stabilized by adjusting the movement of the first maneuvering mechanism. The present disclosure describes determining, by the processor 114, one or more motion parameters associated with the movement of the cleaning apparatus 104, that may be required to stabilize the cleaning apparatus 104. The one or more motion parameters may include at least one of torque, speed, pressure, and readings obtained from the sensors 112, for example, force sensor, pressure sensor, torque sensor, impact force sensor, or other sensors which can measure the dynamic load on the cleaning apparatus 104.
[0034] In an exemplary embodiment, when the cleaning apparatus 104 tries to move, using the first maneuvering mechanism, forward in a stuck position due to the hindrance, the sensors 112 on the cleaning apparatus 104 unit may sense and measure high load variations in the system. The processor 114 may be configured to obtain the sensor data and identify that the cleaning apparatus 104 has encountered a stuck position. Thereafter, the processor 114 may determine the one or more motion parameters, for example, torque, speed, and movement to stabilize the cleaning apparatus 104. The determined one or more motion parameters may be used to restore angle and position coordinates of the cleaning apparatus 104. Based on the determined one or more motion parameters, the translational and rotational displacement required for the cleaning apparatus 104 is determined. Further, based on the determined translational and rotational displacement, an adjustment in the movement of the first maneuvering mechanism is determined. For example, the speed of the first maneuvering mechanism required to provide a required thrust and displacement to the cleaning apparatus 104 is determined.
[0035] In an alternate embodiment, the cleaning apparatus 104 moving using the first maneuvering mechanism may be stabilized by changing the maneuvering mechanism. Firstly, one or more storage tank parameters associated with the in-service storage tank 102 may be determined. The one or more storage tank parameters may include at least one of a geometrical configuration of the in-service storage tank 102, a distance of a sidewall of the storage tank 102 from the cleaning apparatus 104, a distance of the hindrance from the cleaning apparatus 104, and a distance of the floor of the storage tank 102 from the cleaning apparatus 104. Thereafter, the cleaning apparatus 104 may be stabilized by changing movement from the first maneuvering mechanism to a second maneuvering mechanism of the plurality of maneuvering mechanisms based on the determined one or more storage tank parameters. In an embodiment, the second maneuvering mechanism is different from the first maneuvering mechanism. For example, if the first maneuvering mechanism used by the cleaning apparatus 104 is wheels, the second maneuvering mechanism may be either of the tracks, propellers, set of mechanical legs or a combination thereof.
[0036] In another embodiment, one or more types of forces may be exerted on the set of sludge-cutting blades of the adaptive stirrer unit 108, during cutting or mixing of the sludge. In an example, the one or more type of forces may be exerted due to thick sludge or any other hindrance affecting the operation of the set of sludge-cutting blades. In such scenario when the exerted force is greater than a predefined force threshold, the configuration of the set of sludge-cutting blades may be adjusted. Firstly, one or more blade parameters are determined associated with at least one configuration of a set of sludge-cutting blades of the sludge stirrer. The one or more blade parameters may be required torque, speed, pressure, or any other parameter associated with the movement of the set of sludge-cutting blades. The configuration of the set of sludge-cutting blades may be defined in terms of sharpness, a cutting angle, a cutting configuration, and an orientation of the set of sludge-cutting blades. Thereafter, the at least one configuration of the set of sludge-cutting blades may be adjusted based on the determined one or more blade parameters.
[0037] In an exemplary embodiment, when the sludge quantity is high, a load or force, greater than the predefined force threshold, on the set of sludge-cutting blades and the shaft of the adaptive stirrer unit 108 may be determined. The exerted force may be determined by the processor 114 based on reading obtained from the sensors 112. The processor 114 may be configured to increase power supply by adjusting one or more parameters associated with the movement of the set of sludge-cutting blades, for example, the speed of the set of sludge-cutting blades. In another example, when the torque sensor detects a reaction torque on the shaft greater than a predefined torque threshold, the processor 114 may be configured to increase the torque input accordingly. In yet another example, the sensors 112 may detect sludge hardness, density, and other properties of the sludge 124. In another example when the sludge 124 or any other hindrance is thick in a particular portion of the storage tank 102, the sensor 112 may detect hardness, density, and other properties of the hindrance encountered by the cleaning apparatus 104. Thereafter, at least one configuration of the set of sludge-cutting blades is adjusted. For example, different configurations of blade angles may be defined to provide variable cutting force for cutting or mixing the sludge to improve the sludge removal efficiency of the cleaning apparatus 104. In another example, different configurations of blade sharpness may also be defined.
[0038] In an embodiment, when the cleaning apparatus 104 gets stuck due to hindrance in the progression, the hindrance may cause either deviation in the orientation of the cleaning apparatus 104, or a force to be exerted on the set of sludge-cutting blades. In another embodiment, the hindrance may cause both deviation in the orientation of the cleaning apparatus 104, and the force to be exerted on the set of sludge-cutting blades. An exemplary flow of optimizing the operation of the cleaning apparatus 104 is described below in conjunction with Figure 2.
[0039] Figure 2 is a block diagram 200 depicting an exemplary flow of optimizing the operation of the cleaning apparatus 104, according to an embodiment of the present disclosure. At step 202, a hindrance in the path of the cleaning apparatus 104 generates at least one of a deviation in the orientation of cleaning apparatus 104, and a first force exerted on the set of sludge-cutting blades is detected. Thereafter, any one of the cases may apply, i.e., either the deviation in an orientation of the cleaning apparatus 104 may happen or the force is exerted on the set of sludge-cutting blades. In an embodiment, both cases may apply simultaneously, i.e., deviation in the orientation of the cleaning apparatus 104 and the force exerted on the set of sludge-cutting blades.
[0040] For stabilizing the cleaning apparatus 104 due to deviation in the orientation, the processor 114 determines whether the deviation of the cleaning apparatus 104 is greater than a predefined deviation threshold, as depicted at step 204. Thereafter, as shown at step 206, the processor 114 determines motion parameters associated with the movement of the cleaning apparatus 104. Finally, as shown at step 208, the movement of the cleaning apparatus 104 is adjusted based on the determined motion parameters.
[0041] For stabilizing the cleaning apparatus 104, the processor 114 determines whether the force exerted on the set of sludge-cutting blades is greater than a predefined force threshold, as depicted at step 210. Thereafter, as shown at step 212, the processor 114 determines blade parameters associated with the configuration of set of sludge-cutting blades of the adaptive stirrer unit 108. Finally, as shown at step 214, the processor 114 adjusts the movement of the cleaning apparatus 104 by adjusting configuration of the set of sludge-cutting blades of the adaptive stirrer unit 108 based on determined blade parameters.
[0042] Figure 3 is a flow diagram depicting a method 300 for optimizing the operation of the cleaning apparatus 104 by the processor 114, according to an embodiment of the present disclosure. The method 300 includes at step 302, determining, at least one of one or more motion parameters associated with the movement of the cleaning apparatus 104 based on a deviation in an orientation of the cleaning apparatus 104 from a predefined orientation exceeding a predefined deviation threshold. In an embodiment, the cleaning apparatus 104 moves using a first maneuvering mechanism of the plurality of maneuvering mechanisms, and one or more blade parameters associated with at least one configuration of a set of sludge-cutting blades of the sludge stirrer based on a first force exerted on the set of sludge-cutting blades exceeding a predefined force threshold. In an embodiment, during an operation of the cleaning apparatus 104, a hindrance in a path of the cleaning apparatus 104 generates at least one of the deviation in the orientation of the cleaning apparatus 104, and the first force exerted on the set of sludge-cutting blades. The hindrance may include at least one of the fluids stored inside the storage tank 102, the sludge in the stored fluid, and an obstacle affecting the operation of the cleaning apparatus 104. In an embodiment when the first force exerted on the sludge-cutting blades is due to the sludge in the stored fluid, the one or more blade parameters are determined based on properties associated with the density and thickness of the sludge. In another embodiment, the at least one configuration includes sharpness, a cutting angle, a cutting configuration, and an orientation of the set of sludge cutting blades.
[0043] Thereafter, the method 300 includes at step 304, stabilizing the cleaning apparatus 104 by adjusting at least one of movement of the first maneuvering mechanism based on the determined one or more motion parameters, and the at least one configuration of the set of sludge-cutting blades based on the determined one or more blade parameters. In an embodiment, adjusting the movement of the first maneuvering mechanism includes determining one or more storage tank 102 parameters associated with the storage tank 102, the one or more storage tank 102 parameters including at least one of a geometrical configuration of the storage tank 102, a distance of a sidewall of the storage tank 102 from the cleaning apparatus 104, a distance of the hindrance from the cleaning apparatus 104, and a distance of the floor of the storage tank 102 from the cleaning apparatus 104, and stabilizing the cleaning apparatus 104 by changing movement from the first maneuvering mechanism to a second maneuvering mechanism of the plurality of maneuvering mechanisms based on the determined one or more storage tank parameters. In an embodiment, the second maneuvering mechanism is different from the first maneuvering mechanism. In another embodiment, adjusting the movement of the first maneuvering mechanism includes at least one of reducing the determined one or more motion parameters of the cleaning apparatus 104 to restrict the deviation below the predefined deviation threshold and increasing the determined one or more motion parameters of the cleaning apparatus 104 to restrict the deviation below the predefined deviation threshold.
[0044] Figures 4a and 4b are pictorial representations of the cleaning apparatus 104, according to an embodiment of the present disclosure. In Figure 4a, the pumping device is depicted by reference numeral 402, 404 depicts propellers as one of the maneuvering mechanism, and 406 depicts the set of sludge-cutting blades. The propellers 404 may be used for providing thrust force to move the cleaning apparatus. The propellers 404 may control different degree of freedoms (DOFs) of the cleaning apparatus. In Figure 4b, 408 depicts the mechanical legs of the cleaning apparatus 104, and 410 depicts the tracks of the cleaning apparatus 104. The mechanical legs 408 are actuated using linear actuators. The function of the mechanical legs 408 is to assist the movement of the cleaning apparatus when stuck in sludge or bottom and to move the cleaning apparatus 104 through a specific distance. The tracks 410 may be used in the cleaning apparatus 104 to provide good traction so that it can move on the tank floor. The track may be actuated using rotary actuators such as hydraulic motors, electric motors, and pneumatic motors. The wheels 412 may be used to provide movement to the cleaning apparatus. The wheels may be rotated using rotary actuators such as hydraulic motors, electric motors, and pneumatic motors.
[0045] At least by virtue of aforesaid, the present subject matter at least provides the following advantages:
[0046] The method described in the embodiments herein provides better control over the cutting process of the set of sludge cutting blades, reduces the risk of damage to the storage tank 102 structure, provide better accessibility to the cleaning apparatus 104. Finally, the method provides real-time feedback and adjustments to the cleaning apparatus 104, improving the e?ciency and effectiveness of the cleaning process, and thereby the operation of the cleaning apparatus 104.
[0047] While specific language has been used to describe the present subject matter, any limitations arising on account thereto, are not intended. As would be apparent to a person in the art, various working modifications may be made to the method in order to implement the inventive concept as taught herein. The drawings and the foregoing description give examples of embodiments. Those skilled in the art will appreciate that one or more of the described elements may well be combined into a single functional element. Alternatively, certain elements may be split into multiple functional elements. Elements from one embodiment may be added to another embodiment.
,CLAIMS:1. A method for optimizing operation of a cleaning apparatus (104), the cleaning apparatus (104) comprising at least one of a stirrer unit (108) and a maneuvering unit (106) having a plurality of maneuvering mechanisms for cleaning sludge inside a storage tank (102), the method comprising:
determining at least one of:
one or more motion parameters associated with the movement of the cleaning apparatus (104) based on a deviation in an orientation of the cleaning apparatus (104) from a predefined orientation exceeding a predefined deviation threshold, wherein the cleaning apparatus (104) moves using a first maneuvering mechanism of the plurality of maneuvering mechanisms; and
one or more blade parameters associated with at least one configuration of a set of sludge-cutting blades of the stirrer unit (108) based on a first force exerted on the set of sludge-cutting blades exceeding a predefined force threshold; and
stabilizing the cleaning apparatus (104) by adjusting at least one of:
movement of the first maneuvering mechanism based on the determined one or more motion parameters; and
the at least one configuration of the set of sludge-cutting blades based on the determined one or more blade parameters.
2. The method as claimed in claim 1, wherein, during an operation of the cleaning apparatus 104, a hindrance in a path of the cleaning apparatus (104) generates at least one of the deviation in the orientation of the cleaning apparatus (104) and the first force exerted on the set of sludge-cutting blades.
3. The method as claimed in claim 2, wherein the hindrance includes at least one of fluid stored inside the storage tank (102), the sludge in the stored fluid, and an obstacle affecting the operation of the cleaning apparatus (104).

4. The method as claimed in claim 2, wherein when the first force exerted on the sludge-cutting blades is due to the sludge in the stored fluid, the one or more blade parameters are determined based on properties associated with density and thickness of the sludge.
5. The method as claimed in claim 1, wherein the at least one configuration includes sharpness, a cutting angle, a cutting configuration, and an orientation of the set of sludge cutting blades.
6. The method as claimed in claim 1 or 3, wherein adjusting the movement of the first maneuvering mechanism comprises:
determining one or more storage tank parameters associated with the storage tank (102), wherein the one or more storage tank parameters include at least one of a geometrical configuration of the storage tank (102), a distance of a sidewall of the storage tank (102)from the cleaning apparatus (104), a distance of the hindrance from the cleaning apparatus (104), and a distance of the floor of the storage tank (102) from the cleaning apparatus (104); and
stabilizing the cleaning apparatus (104) by changing movement from the first maneuvering mechanism to a second maneuvering mechanism of the plurality of maneuvering mechanisms based on the determined one or more storage tank parameters, wherein the second maneuvering mechanism is different from the first maneuvering mechanism.
7. The method as claimed in claim 1, wherein adjusting the movement of the first maneuvering mechanism comprises at least one of:
reducing the determined one or more motion parameters of the cleaning apparatus (104) to restrict the deviation below the predefined deviation threshold; and
increasing the determined one or more motion parameters of the cleaning apparatus (104) to restrict the deviation below the predefined deviation threshold.
8. A system optimizing operation of a cleaning apparatus (104), the cleaning apparatus (104) comprising at least one of a stirrer unit 108 and a maneuvering unit (106) having a plurality of maneuvering mechanisms for cleaning sludge inside a storage tank (102), the system comprises:
a memory (110);
sensors (112);
at least one processor (114) coupled to the memory (110) and the sensors (112), wherein the at least one processor is configured to:
determine at least one of:
one or more motion parameters associated with the movement of the cleaning apparatus (104) based on a deviation in an orientation of the cleaning apparatus (104) from a predefined orientation exceeding a predefined deviation threshold, wherein the cleaning apparatus (104) moves using a first maneuvering mechanism of the plurality of maneuvering mechanisms; and
one or more blade parameters associated with at least one configuration of a set of sludge-cutting blades of the stirrer unit (112) based on a first force exerted on the set of sludge-cutting blades exceeding a predefined force threshold; and
stabilize the cleaning apparatus (104) by adjusting at least one of:
movement of the first maneuvering mechanism based on the determined one or more motion parameters; and
the at least one configuration of the set of sludge-cutting blades based on the determined one or more blade parameters.
9. The system as claimed in claim 8, wherein, during an operation of the cleaning apparatus (104), a hindrance in a path of the cleaning apparatus (104) generates at least one of the deviation in the orientation of the cleaning apparatus (104) and the first force exerted on the set of sludge-cutting blades.
10. The system as claimed in claim 9, wherein the hindrance includes at least one of a fluid stored inside the storage tank (102), the sludge in the stored fluid, and an obstacle affecting the operation of the cleaning apparatus (104).
11. The system as claimed in claim 9, wherein when the first force exerted on the sludge-cutting blades is due to the sludge in the stored fluid, the one or more blade parameters are determined based on properties associated with density and thickness of the sludge.
12. The system as claimed in claim 8, wherein the at least one configuration includes sharpness, a cutting angle, a cutting configuration, and an orientation of the set of sludge cutting blades.
13. The system as claimed in claim 8 or 10, wherein to adjust the movement of the first maneuvering mechanism, the at least one processor is configured to:
determine one or more storage tank parameters associated with the storage tank (102), wherein the one or more storage tank parameters include at least one of a geometrical configuration of the storage tank (102), a distance of a sidewall of the storage tank (102) from the cleaning apparatus (104), a distance of the hindrance from the cleaning apparatus (104), and a distance of the floor of the storage tank (102) from the cleaning apparatus (104); and
stabilize the cleaning apparatus (104) by changing movement from the first maneuvering mechanism to a second maneuvering mechanism of the plurality of maneuvering mechanisms based on the determined one or more storage tank parameters, wherein the second maneuvering mechanism is different from the first maneuvering mechanism.
14. The system as claimed in claim 8, wherein to adjust the movement of the first maneuvering mechanism, the at least one processor (114) is configured to at least one of:
reduce the determined one or more motion parameters of the cleaning apparatus (104) to restrict the deviation below the predefined deviation threshold; and
increase the determined one or more motion parameters of the cleaning apparatus (104) to restrict the deviation below the predefined deviation threshold.