METHODS FOR SCANNING AND CLEANING TANKS
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United States of America Patent
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Jun 30, 2015
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Jun 30, 2014
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Abstract
A method includes scanning an interior of a tank to obtain a tank rendering. Based on the tank rendering, a minimum number of tank cleaning machines and a corresponding position for each of the tank cleaning machines is determined such that substantially all of the interior of the tank is reachable by the tank cleaning machines.
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