Abstract: Apparatus for cleaning a tank's inner side includes a tank-mountable frame, a frame-mounted support drivable with respect to the frame about a first rotation axis, a support-mounted nozzle drivable with respect to the support about a second rotation axis transverse to the first axis. The nozzle's spraying direction faces away from the second axis. A controller of the apparatus drives the support and the nozzle, such that the nozzle is rotated about the second axis alternatingly from a start position to a stop position by a predefined cleaning angle smaller than one revolution and from the stop position to the start position. The nozzle angular velocity with respect to the support is smaller than the support angular velocity with respect to the frame within the cleaning angle and smaller than the nozzle angular velocity with respect to the support during movement from the stop position to the leaning start position.

Abstract: Apparatus for cleaning a tank's inner side includes a tank-mountable frame, a frame-mounted support drivable with respect to the frame about a first rotation axis, a support-mounted nozzle drivable with respect to the support about a second rotation axis transverse to the first axis. The nozzle's spraying direction faces away from the second axis. A controller of the apparatus drives the support and the nozzle, such that the nozzle is rotated about the second axis alternatingly from a start position to a stop position by a predefined cleaning angle smaller than one revolution and from the stop position to the start position. The nozzle angular velocity with respect to the support is smaller than the support angular velocity with respect to the frame within the cleaning angle and smaller than the nozzle angular velocity with respect to the support during movement from the stop position to the start position.