Hull robot with rotatable turret
First Claim
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1. A hull robot comprising:
- a turbine subsystem actuatable by fluid moving past the hull;
a drive subsystem for maneuvering the robot about the hull;
an adjustment subsystem for either the turbine subsystem or the drive subsystem; and
a controller configured to operate the adjustment subsystem to adjust the position of the turbine subsystem relative to the drive subsystem until fluid flowing past the hull results in an optimal flow of fluid with respect to the turbine subsystem.
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Abstract
A hull robot includes a turbine subsystem actuatable by fluid moving past the hull, a drive subsystem for maneuvering the robot about the hull, and an adjustment subsystem for either the turbine subsystem or the drive subsystem. A controller is configured to operate the adjustment subsystem to adjust the position of the turret subsystem relative to the drive subsystem until fluid flowing past the hull results in an optimal flow of fluid with respect to the turbine subsystem.
116 Citations
26 Claims
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1. A hull robot comprising:
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a turbine subsystem actuatable by fluid moving past the hull; a drive subsystem for maneuvering the robot about the hull; an adjustment subsystem for either the turbine subsystem or the drive subsystem; and a controller configured to operate the adjustment subsystem to adjust the position of the turbine subsystem relative to the drive subsystem until fluid flowing past the hull results in an optimal flow of fluid with respect to the turbine subsystem. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A hull cleaning robot comprising:
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a robot body; at least one cleaning brush rotatable with respect to the robot body; at least one turbine attached to the robot body for operating the at least one cleaning brush; a turret rotatable with respect to the robot body; a drive track mounted to the turret for maneuvering the robot about the hull; an actuator for adjusting the position of the turret relative to the robot body; a sensor subsystem for measuring an output of the at least one turbine; and a controller responsive to the sensor subsystem configured to control the actuator to adjust the position of the turret until the output of the turbine is optimized. - View Dependent Claims (18, 19, 20, 21, 22)
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23. A hull robot comprising:
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a drive subsystem for maneuvering the robot about the hull; a turbine subsystem responsive to fluid flowing past the hull and operating the drive subsystem; and the drive subsystem and the turbine subsystem moveable with respect to each other to maintain the turbine subsystem aligned with the fluid flowing past the hull. - View Dependent Claims (24, 25, 26)
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Specification