US Patent 9939215 Automated cleaning system

An automated cleaning system according to an exemplary aspect of the present disclosure includes, among other things, an X-Y positioning system configured to position a lance guide relative to an element to be cleaned. The X-Y positioning system is remotely operated. The system further includes a lance in communication with the lance guide, a drive system configured to drive the lance relative to the element to be cleaned, and a reel configured to manage a slack in the lance.