DEVICES, SYSTEMS, AND METHODS FOR CLEANING VESSELS
First Claim
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 plurality of depth measurements of the target material to be cleaned from the surface;
communicating the plurality of depth measurements to a cleaning processing device;
determining, by the cleaning processing device and based at least in part on the plurality of depth measurements, a cleaning protocol for the cleaning device to perform; and
controlling, by the cleaning processing device, the cleaning apparatus by causing the cleaning device to apply the cleaning force to the surface pursuant to the cleaning protocol.
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Accused Products
Abstract
A cleaning system includes a cleaning apparatus that is positionable in a cleaning environment and a cleaning processing device. The cleaning apparatus includes a sensor and a cleaning device. The sensor is configured to measure a depth of a target material on a surface of the vessel, and the cleaning device is configured to generate a cleaning force. The cleaning processing device is configured to receive a plurality of depth measurements of the target material on the surface, determine a cleaning protocol for the cleaning device on the surface based on the plurality of depth measurements, and control the cleaning apparatus to cause the cleaning device to apply the cleaning force to the surface pursuant to the cleaning protocol.
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Citations
20 Claims
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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:
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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 plurality of depth measurements of the target material to be cleaned from the surface; communicating the plurality of depth measurements to a cleaning processing device; determining, by the cleaning processing device and based at least in part on the plurality of depth measurements, a cleaning protocol for the cleaning device to perform; and controlling, by the cleaning processing device, the cleaning apparatus by causing the cleaning device to apply the cleaning force to the surface pursuant to the cleaning protocol. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A cleaning system for cleaning a vessel having a size and an shape and defining a cleaning environment, wherein the vessel comprises a surface having a target material on the surface to be cleaned, the cleaning system comprising:
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a cleaning apparatus positionable in the cleaning environment of the vessel, the cleaning apparatus comprising; a sensor configured to measure a depth of the target material on the surface of the vessel; and a cleaning device, wherein the cleaning device is configured to generate a cleaning force; and a cleaning processing device, wherein the cleaning processing device is configured to receive from the sensor a plurality of depth measurements of the target material on the surface, determine a cleaning protocol for the cleaning device based at least in part on the plurality of depth measurements, and control the cleaning apparatus to cause the cleaning device to apply the cleaning force to the surface pursuant to the cleaning protocol. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification