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 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.
4 Assignments
0 Petitions
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.
55 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 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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A cleaning system for cleaning a vessel having a size and a shape 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 adapted to be positioned within the cleaning environment of the vessel, the cleaning apparatus comprising; a cleaning apparatus base; a first sensor supported on the cleaning apparatus base and configured to measure a depth of the target material on the surface of the vessel; a cleaning device coupled to the cleaning apparatus base, wherein the cleaning device is configured to generate a cleaning force; and a second sensor supported on the cleaning apparatus base and configured to detect a position of the cleaning device, wherein the second sensor comprises a wireless sensor; and a cleaning controller, wherein the cleaning controller is configured to; receive from the first 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 (11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification