Systems and methods for tank cleaning

A cleaning system for cleaning an enclosed space, the cleaning system comprising:

• an articulated arm configured to perform a cleaning operation inside the enclosed space;
• a single telescoping boom coupled to the articulated arm, wherein the single telescoping boom is the only telescoping portion between a support base and a nozzle, wherein the single telescoping boom is rotatable about a central vertical axis, and wherein the single telescoping boom is operable to adjust a position of the articulated arm, wherein the articulated arm has a stowed configuration in which the articulated arm is folded upon the single telescoping boom such that the articulated arm extends alongside the single telescoping boom, and a deployed configuration in which the articulated arm is unfolded in a different location;
• a trailer having the support base supporting the single telescoping boom, the single telescoping boom being movable between a retracted position having a first length and an extended position having a second length that is longer than the first length, wherein the single telescoping boom is positioned at least partially above the support base of the trailer in both the retracted position and the extended position, wherein the single telescoping boom extends horizontally with respect to the support base, and wherein the cleaning system is operable from the trailer;
• and
• a frame coupled between the support base and the single telescoping boom, wherein the frame is configured to move the single telescoping boom in three dimensions relative to the support base and wherein the single telescoping boom is coarsely positionable relative to the enclosed space by moving the trailer, and is finely positionable relative to the enclosed space by moving the frame relative to the support base.

A tank cleaning system for cleaning an interior surface of a tank, the tank cleaning system comprising:

• a trailer having a support base transportable by a vehicle, wherein the tank cleaning system is operable from the trailer;
• an articulated arm configured to extend into the tank and perform a cleaning operation;
• a single telescoping boom coupled to the articulated arm, wherein the single telescoping boom is the only telescoping portion between the support base and a nozzle, the single telescoping boom being configured to adjust a position of the articulated arm, the single telescoping boom also being movable between a retracted position having a first length and an extended position having a second length that is longer than the first length, the single telescoping boom also being positioned at least partially above the support base of the trailer in both the retracted position and the extended position, wherein the single telescoping boom is rotatable about a central vertical axis, and wherein the single telescoping boom extends horizontally with respect to the support base;
• a frame coupled between the support base and the single telescoping boom, wherein the frame is configured to move the single telescoping boom in three dimensions relative to the support base and wherein the single telescoping boom is coarsely positionable relative to the tank by moving the trailer, and is finely positionable relative to the tank by moving the frame relative to the support base;
• at least one fluid line;
• and
• the nozzle coupled to the at least one fluid line and the articulated arm, the nozzle being movable by the articulated arm to different positions to discharge fluid to one or more target locations on the interior surface of the tank.