ROBOTIC SUBMERSIBLE CLEANING SYSTEM

• US 20120006352A1
• Filed: 11/23/2010
• Published: 01/12/2012
• Est. Priority Date: 11/23/2009
• Status: Active Grant

• Current Assignee: Searobotics Corporation
• Original Assignee: Searobotics Corporation
• Inventors: HOLAPPA, Kenneth W., DARLING, Donald Thomas, HERTEL, William Martin III
• Granted Patent: US 8,506,719 B2
• Time in Patent Office: Days
• US Class Current: 134/6
• CPC Class Codes: B08B 1/30 by movement of cleaning members over a surface
• CPC Class Codes: B08B 17/00 Methods preventing fouling preventing accumulation of deposits in pneumatic conveyors B65G53/521
• CPC Class Codes: B60B 19/006 Magnetic wheels
• CPC Class Codes: B60Y 2200/40 Special vehicles
• CPC Class Codes: B60Y 2200/42 Amphibious vehicles
• CPC Class Codes: B63B 2231/30 Magnetic materials
• CPC Class Codes: B63B 59/08 of underwater surfaces while afloat B63B59/10 takes precedence
• CPC Class Codes: B63B 59/10 using trolleys or the like driven along the surface
• CPC Class Codes: B63G 2008/004 autonomously operating
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0253 extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow determining position or orientation from images G06T7/70
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93

Abstract

A cleaning system includes a chassis supporting a propulsion system for propelling the cleaning system across a surface. At least one sensor of a first type is coupled to the chassis, and a surface engagement mechanism is configured to maintain the cleaning system coupled to the surface as the propulsion system propels the cleaning system across the surface. A cleaning device is coupled to the chassis and configured to abrade the fouling from the surface, and a controller coupled to the chassis and in signal communication with the propulsion system and the first sensor. The controller is configured to receive a signal from the at least one sensor of the first type and control the propulsion system in response to the signal.

Claims

21. A cleaning system for cleaning hull of a vehicle beneath a surface of a liquid in which the hull is submerged, comprising:

a chassis;

a drive system supported by the chassis configured to move the cleaning system along the hull;

a surface engagement mechanism configured to maintain the cleaning system coupled to the hull of the vehicle as the propulsion system propels the cleaning system across the hull;

a first sensing system supported by the chassis and configured to measure a level of chlorophyll and determine a level of fouling on the hull based on the level;

a cleaning device coupled to the chassis and configured to abrade the biofouling from the hull as the cleaning system; and

a controller coupled to the chassis and in signal communication with the propulsion system, the first sensing system, and a plurality of navigation sensors, the controller configured to receive data from the first sensing system and the plurality of navigation sensors and control the propulsion system in response to the signal received from the sensor.

1. A cleaning system, comprising:

a chassis supporting a propulsion system for propelling the cleaning system across a surface;

at least one sensor of a first type coupled to the chassis;

a surface engagement mechanism configured to maintain the cleaning system coupled to the surface as the propulsion system propels the cleaning system across the surface;

a cleaning device coupled to the chassis and configured to abrade the fouling from the surface; and

a controller coupled to the chassis and in signal communication with the propulsion system and the first sensor, the controller configured to receive a signal from the at least one sensor of the first type and control the propulsion system in response to the signal.

2. The cleaning system of claim 1, wherein the surface engagement mechanism includes a magnet coupled to the chassis.

3. The cleaning system of claim 1, wherein the surface engagement mechanism includes at least one magnet disposed within a wheel of the propulsion system.

4. The cleaning system of claim 1, wherein the surface engagement mechanism includes a system for creating a smaller pressure between the surface and an underside of the chassis compared to a pressure at an upper side of the chassis whereby the chassis clings to the surface.

5. The cleaning system of claim 1, wherein the surface engagement mechanism includes at least one thruster configured to accelerate a fluid from a first side of the thruster to a second side of the thruster.

6. The cleaning system of claim 1, wherein the at least one sensor of the first type includes a set of light detectors configured to identify a level of chlorophyll present in a biofilm in response to the biofilm being illuminated by a light source.

7. The cleaning system of claim 1, wherein the at least one sensor of the first type is configured to detect a fouling on the surface.

8. The cleaning system of claim 1, wherein the controller is disposed within the chassis.

9. The cleaning system of claim 1, wherein the controller is remotely coupled to the chassis through a wireless communication.

10. The cleaning system of claim 1, further comprising at least one of:

at least one sensor of a second type coupled to the chassis and configured to optically detect movement of the cleaning system relative to the surface;

at least one sensor of a third type coupled to the chassis and configured to detect a change in pressure,

wherein each of the sensors of the second and third types are configured to transmit signals to the controller, and the controller is configured to control the propulsion system in response thereto.

11. The cleaning system of claim 10, further comprising at least one sensor of a fourth type coupled to the chassis and configured to detect a change in flow at a peripheral surface of the chassis.

12. The cleaning system of claim 10, further comprising at least one sensor of a fourth type coupled to the chassis and configured to identify an irregularity of the surface at a distance from the at least one sensor of the fourth type, wherein the irregularity is one of a wall, a cliff, and a chine.

13. The cleaning system of claim 1, further comprising an acoustic ranging system coupled to the chassis and in signal communication with the controller, the acoustic ranging system configured to echo locate an object disposed in front of the chassis and provide a signal to the controller in response thereto.

14. The cleaning system of claim 1, wherein the surface is an underwater surface of a hull of a vehicle.

15. The cleaning system of claim 1, further comprising at least one of a depth sensor, a yaw rate sensor, an accelerometer, an odometer, and a Doppler sensor.

16. The cleaning system of claim 1, wherein the cleaning device includes at least one of a squeegee, a brush, or a jet.

17. A method of cleaning a surface of a hull disposed under a surface of a liquid, comprising:

a) determining a first frequency with which to clean a surface of the hull;

b) coupling a cleaning system according to claim 1 to the surface of the hull;

c) powering on the cleaning system; and

d) repeating steps b) and c) in accordance with the first frequency.

18. The method of claim 17, wherein the first frequency is based on at least one of a coating on the surface, an average temperature of the liquid, and a fouling pressure.

19. The method of claim 17, further comprising:

e) determining a second frequency with which to clean a surface of a the hull;

f) repeating steps b) and c) in accordance with the second frequency; and

g) modifying the second frequency based on level of growth of a fouling on the hull to provide the first frequency.

20. The method of claim 17, wherein a plurality of cleaning systems according to claim 1 are coupled to the surface of the hull and powered on.

22. The cleaning system of claim 21, wherein the navigation sensors include at least one of an acoustic ranging sensor, a global positioning system sensor, a pressure sensor, a yaw sensor, a depth sensor, an odometer, an optical flow sensor, a complementary metal oxide semiconductor image sensor, a gravity vector sensor, a pressure sensor, and a structure laser lighting sensor.

23. The cleaning system of claim 21, wherein the surface engagement mechanism includes at least one of a magnet and a system for creating a smaller pressure between the surface and an underside of the chassis compared to a pressure at an upper side of the chassis.

24. The cleaning system of claim 23, wherein the magnet is coupled to the underside of the chassis or is disposed within a wheel of the drive system.

25. The cleaning system of claim 21, wherein the surface engagement mechanism includes at least one thruster configured to accelerate a fluid from a first side of the thruster to a second side of the thruster.

26. The cleaning system of claim 21, wherein the cleaning device includes at least one of a squeegee, a brush, or a jet.

27. A method of cleaning a surface of a hull disposed under a surface of a liquid, comprising:

a) maintaining a cleaning device coupled to a chassis in contact with the surface of the hull using a surface engagement mechanism supported by the chassis;

b) propelling the chassis across the surface of the hull by a propulsion system supported by the chassis; and

c) abrading the surface of the hull with a cleaning device coupled to the chassis.

28. The method of claim 27, further comprising:

g) determining a frequency with which to clean the surface of the hull based on the level of fouling and a period of time between consecutive cleanings; and

h) cleaning the surface of the hull in accordance with the frequency.

27-1. The method of claim 26, further comprising:

d) sensing a level of chlorophyll on the surface of the hull;

e) determining a level of fouling based on the level of chlorophyll; and

f) modifying a direction in which the chassis is propelled based on the level of fouling.