Systems, methods and apparatus for in-service tank inspections

A system to inspect a tank containing a flammable fluid, comprising:

• a vehicle comprising a propeller, a battery, a control unit, an inspection device, and a ranging device;
• the battery of the vehicle providing power to the propeller, the control unit, the inspection device, and the ranging device;
• the control unit generating, based on data received from the ranging device, a map of the tank, and determining a first position of the vehicle on the map of the tank;
• the propeller of the vehicle, electrically connected to the battery, moving the vehicle through the flammable fluid in the tank;
• the inspection device, electrically connected to the battery, for obtaining inspection data indicative of a quality of a tank wall;
• the control unit, electrically connected to the battery, the ranging device, the propeller, and the inspection device, configured to:
• cause the propeller to move the vehicle from the first position to a second position within the tank;
• obtain, via the inspection device, first inspection data indicative of the quality of the tank wall at a portion of the tank at the second position within the tank;
• store, in a data structure in memory of the vehicle, the first inspection data corresponding to the second position within the tank;
• an external computing device located external to the tank and configured to:
• receive the inspection data comprising the first inspection data;
• determine, based on the first inspection data, a defect diameter at the second position;
• and
• identify, based on a lookup in a defect table customized for the inspection device, an amount of wall loss.