Patent ID: 11933692
Assignee: SQUARE ROBOT, INC.
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 8:
9. A method of inspecting a tank containing a flammable fluid, comprising:
lowering, via a cable, a submersible vehicle into the tank containing the flammable fluid, wherein the vehicle comprises a pressure switch, a propeller, a battery, a control unit, an inspection device, a latch, and a ranging device, the control unit and the battery located within the submersible vehicle;
detecting, by the pressure switch, when a pressure of the fluid external to the submersible vehicle is greater than a predetermined pressure threshold;
closing, by the pressure switch, a circuit between the control unit and the battery after detecting that the pressure of the fluid external to the submersible vehicle is greater than the predetermined threshold;
disengaging, by the latch, the cable after the pressure switch detects that the pressure of the fluid external to the submersible vehicle is greater than the predetermined threshold;
retrieving, by the control unit from a memory element, a characteristic of the flammable fluid in the tank;
setting, by the control unit based on the characteristic of the flammable fluid in the tank, a speed of the propeller;
moving, by the propeller, the vehicle through the flammable fluid in the tank in accordance with the speed set based on the characteristic of the flammable fluid retrieved from the memory element;
generating, by the control unit based on data from the ranging device, a map of the tank;
determining, by the control unit, a first position of the vehicle on the map of the tank;
causing, by the control unit of the vehicle, the propeller to move from the first position to a second position within the tank;
determining, via the inspection device, a quality metric for a portion of the tank corresponding to the second position on the map; and
storing, in a data structure in memory of the vehicle, the quality metric corresponding to the second position within the tank.