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Devices, systems, and methods for cleaning vessels

  • US 10,632,512 B2
  • Filed: 05/25/2018
  • Issued: 04/28/2020
  • Est. Priority Date: 05/25/2017
  • Status: Active Grant
First Claim
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1. A method of cleaning a vessel having a size and a shape and defining a cleaning environment, wherein the vessel comprises a surface having a target material on the surface to be cleaned, the method comprising:

  • positioning a cleaning apparatus in the cleaning environment of the vessel, wherein the cleaning apparatus comprises a sensor and a cleaning device, wherein the cleaning device generates a cleaning force;

    measuring, with the sensor, a first plurality of depth measurements of the target material to be cleaned from the surface;

    communicating the first plurality of depth measurements to a cleaning controller having a cleaning processing device;

    determining, by the cleaning controller and based at least in part on the plurality of depth measurements, a first cleaning protocol for the cleaning device to perform;

    controlling, by the cleaning controller, the cleaning apparatus by causing the cleaning device to apply the cleaning force to the surface pursuant to the first cleaning protocol;

    removing from the cleaning environment the target material cleaned from the surface by the cleaning apparatus;

    measuring, by the sensor, a dimension of the cleaning environment;

    comparing, by the cleaning controller, the measured dimension to a predefined dimension;

    providing an integrity alert based on the measured dimension being greater than the predefined dimension;

    measuring with the sensor a second plurality of depth measurements along the surface based on the measured dimension being less than the predefined dimension;

    determining, by the cleaning controller, a second cleaning protocol for the cleaning device on the surface based on the second plurality of depth measurements; and

    controlling, by the cleaning controller, the cleaning apparatus by causing the cleaning device provide the cleaning force to the surface pursuant to the second cleaning protocol.

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