Hull Cleaning Robot

• US 20140076226A1
• Filed: 02/17/2013
• Published: 03/20/2014
• Est. Priority Date: 09/14/2012
• Status: Active Grant

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Smith, Fraser M.
• Granted Patent: US 9,180,934 B2
• Time in Patent Office: Days
• US Class Current: 114/222
• CPC Class Codes: B62D 55/265 having magnetic or pneumatic adhesion
• CPC Class Codes: B62D 55/32 Assembly, disassembly, repair or servicing of endless-track systems
• CPC Class Codes: B63B 17/00 Vessels parts, details, or accessories, not otherwise provided for vehicle fittings for preventing or indicating unauthorised use or theft of vehicles in general B60R25/00; propeller guards, line cutters or other means for protecting propellers or rudders B63H5/165; protection of power legs of outboard propulsion units B63H20/36; locking devices for boats, surfboards or parts or accessories thereof E05B73/007
• CPC Class Codes: B63B 59/06 Cleaning devices for hulls
• 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: B63B 71/00 Designing vessels; Predicting their performance
• CPC Class Codes: B63G 8/001 Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42
• CPC Class Codes: G05D 1/00 Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots drive control systems specially adapted for autonomous road vehicles B60W60/00
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/41 Tool
• CPC Class Codes: Y10S 901/44 inspection

Abstract

A hull cleaning robot, in accordance with an embodiment of the present technology, includes a robot body and a drive module within the robot body for maneuvering the robot about a hull. The drive module includes a drive element for holding the robot on the hull as the robot maneuvers about the hull. The drive element includes a cleaning function for cleaning the hull of a vessel.

Claims

1. A hull cleaning robot, comprising:

a robot body; and

at least one drive module within the robot body for maneuvering the robot about a hull, the at least one drive module comprising at least one drive element configured to hold the robot on the hull as the robot maneuvers about the hull;

wherein the at least one drive element facilitates at least one cleaning function for cleaning the hull of a vessel.

2. The robot of claim 1, wherein the at least one drive element is configured to oscillate relative to the hull as the robot maneuvers about the hull to provide the at least one cleaning function.

3. The robot of claim 1, wherein the at least one drive element comprises at least two drive elements configured to travel in a different direction relative to one another.

4. The robot of claim 1, wherein the at least one drive element comprises at least two drive elements formed of different materials than one another.

5. The robot of claim 1, wherein the at least one drive element comprises at least two drive elements that rotate at different speeds.

6. The robot of claim 1, wherein the at least one drive element comprises at least two drive elements that rotate in different directions.

7. The robot of claim 1, wherein the drive element further comprises at least one cleaning element supported thereon to facilitate the cleaning function.

8. The robot of claim 7, wherein the cleaning element comprises one or more squeegees, one or more scrapers, one or more brushes, one or more pads, and any combination of these.

9. The robot of claim 1, further comprising one or more ports formed in the robot body, and one or more fluid conduits in fluid communication with the one or more ports, wherein passing fluid is received through the ports and redirected by the fluid conduits to be emitted at a higher pressure from the one or more fluid conduits and directed at the hull to facilitate the cleaning function.

10. The robot of claim 9, further comprising a pump operable with the one or more fluid conduits to further pressurize the fluid directed at the hull.

11. The robot of claim 1, further comprising a pump configured to actively pump water out of the robot and create a low pressure condition between the robot and the hull that urges the robot against the hull.

12. The robot of claim 1, wherein the at least one drive element is configured to oscillate relative to the hull at ultrasonic frequencies as the robot maneuvers about the hull to provide the at least one cleaning function.

13. A method of cleaning a hull of a vessel, comprising:

positioning a robot about the hull of the vessel;

maneuvering the robot about the hull using a drive module within the robot; and

operating the drive module in a manner to effectuate cleaning of the hull, wherein the drive module provides a cleaning function.

14. The method of claim 13, wherein maneuvering the robot about the hull using the drive module within the robot comprises maneuvering the robot about the hull while the vessel is moving within a body of fluid.

15. The method of claim 13, wherein maneuvering the robot about the hull using the drive module within the robot further comprises maneuvering the robot along a substantially vertical path transverse to a flow of fluid past the vessel.

16. The method of claim 13, further comprising redirecting fluid in which the vessel is moving towards the hull as the fluid flows past the robot to facilitate cleaning of the hull.

17. The method of claim 13, further comprising creating a low pressure condition within the robot as compared to without the robot to increase a force of attachment of the robot to the hull.

18. The method of claim 17, wherein creating the low pressure condition comprises using a pump to pump fluid from within the robot to without the robot.

19. The method of claim 13, wherein operating the drive module comprises rotating different drive elements of the drive module at different speeds or in different directions, at least two drive elements of the drive module comprising different materials.

20. The method of claim 13, further comprising scraping the hull with a plurality of scrapers having different hardness properties to facilitate cleaning of the hull.

21. A hull cleaning robot, comprising:

a robot body; and

at least one drive module within the robot body for maneuvering the robot about a hull, the at least one drive module comprising;

at least one drive element configured to hold the robot on the hull as the robot maneuvers about the hull, and to facilitate locomotion; and

at least one drive element configured to clean the hull as the robot maneuvers about the hull,

wherein the drive elements rotate in at least one of a different direction and a different speed relative to one another.

22. A hull robot comprising:

a robot body;

one or more ports formed in the robot body for receiving passing fluid; and

one or more fluid conduits in fluid communication with the one or more ports, wherein the fluid conduits are configured to redirect the passing fluid received through the ports toward the hull.

23. The hull robot of claim 22, further comprising a nozzle operable with the one or more fluid conduits, wherein the nozzle is configured to cause the redirected fluid to be emitted at a higher pressure from the one or more fluid conduits to facilitate a cleaning function about the hull.

24. The hull robot of claim 22, further comprising at least one pump operable to further pressurize the passing fluid.

25. The hull robot of claim 22, wherein the ports are selectively openable and closeable.

26. The hull robot of claim 25, further comprising an energy extraction device in fluid communication with the one or more fluid conduits, wherein at least one pump is in between the energy extraction device and the fluid one or more conduits.

27. A hull robot comprising:

a suction fixation system operable to help adhere the hull robot to a hull of a vessel, the suction fixation system comprising;

a deployable skirt configured to be deployed against a vessel hull to create at least a partial seal against the hull; and

a negative pressure activator operable to create a low pressure area within an area defined by the skirt, wherein a suction effect is created between the robot and the full.

28. The hull robot of claim 27, wherein the negative pressure activator comprises a pump operable to actively pump water from within the skirt.

29. The hull robot of claim 27, wherein the negative pressure activator comprises one or more orifices formed in the robot in fluid communication with an interior portion of the skirt, such that passing water over the orifices creates the suction effect.

30. The hull robot of claim 29, wherein the one or more orifices are formed in an external surface of the robot.

31. The hull robot of claim 29, wherein the negative pressure activator further comprises one or more ports formed in the robot, and one or more orifices in fluid communication with the one or more ports and the interior portion of the skirt, wherein passive water flow within the one or more ports is redirected over the one or more orifices to create the suction effect.

32. A hull cleaning robot, comprising:

a robot body;

at least one drive module supported by the robot body for maneuvering the robot about a hull of a vessel, the at least one drive module comprising at least one drive element configured to at least partially secure the robot to the hull as the robot maneuvers about the hull; and

an ultrasonic cleaning element configured to oscillate relative to the hull at ultrasonic frequencies as the robot maneuvers about the hull to provide a cleaning function for cleaning the hull of a vessel.

33. The hull cleaning robot of claim 32, wherein the ultrasonic cleaning element is powered by energy extracted from a flow of fluid resulting from motion of the vessel within the fluid.

34. A method of cleaning a hull of a vessel, comprising:

operating a vessel within a fluid so as to generate a fluid flow relative to a hull of the vessel;

securing a hull robot about the hull of the vessel;

maneuvering the hull robot about the hull using a drive module supported within the hull robot; and

operating an ultrasonic cleaning element configured to oscillate relative to the hull at ultrasonic frequencies as the robot maneuvers about the hull to provide a cleaning function.

35. The method of claim 34, wherein operating the ultrasonic cleaning element comprises powering the ultrasonic cleaning element with energy extracted from the fluid flow.

36. A hull cleaning robot, comprising:

a robot body;

at least one drive module supported by the robot body for maneuvering the robot about a hull of a vessel, the at least one drive module comprising at least one drive element configured to at least partially secure the robot to the hull as the robot maneuvers about the hull; and

at least one non-rotating cleaning element supported about the robot body that facilitates at least one cleaning function for cleaning the hull of a vessel.

37. The robot of claim 36, wherein the cleaning element comprises a scraper.

38. The robot of claim 36, wherein the cleaning element comprises a squeegee.

39. The robot of claim 36, wherein the cleaning element comprises a blade.

40. The robot of claim 36, wherein the cleaning element comprises a brush.

41. A hull cleaning robot, comprising:

a robot body;

at least one drive module supported by the robot body for maneuvering the robot about a hull of a vessel, the at least one drive module comprising at least one drive element configured to contact the hull, and to at least partially secure the robot to the hull as the robot maneuvers about the hull; and

at least one blade-like cleaning element supported about the robot body that facilitates at least one cleaning function for cleaning the hull of the vessel, the cleaning element extending towards the hull at least to a plane defined by a surface of the drive module in contact with the hull.

42. The robot of claim 41, wherein the cleaning element comprises a flexible cleaning element.

43. The robot of claim 41, wherein the cleaning element extends beyond the plane.

44. The robot of claim 41, wherein the cleaning element extends beyond a bottom surface of the robot body.

45. A hull cleaning robot, comprising:

a robot body;

at least one drive module supported by the robot body for maneuvering the robot about a hull of a vessel, the at least one drive module comprising at least one drive element configured to at least partially secure the robot to the hull as the robot maneuvers about the hull; and

at least one rotating cleaning element that rotates substantially parallel to a vessel surface to facilitate a cleaning function for cleaning the hull of the vessel.

46. The robot of claim 45, wherein the at least one rotating cleaning element comprises a roller brush.

47. The robot of claim 45, wherein the at least one rotating cleaning element comprises a squeegee.

48. The robot of claim 45, wherein the at least one rotating cleaning element comprises a scraper.

49. The robot of claim 45, wherein the at least one rotating cleaning element comprises a blade.

50. The robot of claim 45, wherein the at least one rotating cleaning element rotates along an axis transverse to a direction of travel, and in a direction of travel.

51. The robot of claim 45, wherein the at least one rotating cleaning element rotates along an axis transverse to a direction of travel out of a direction of travel.

52. The robot of claim 45, wherein the at least one rotating element rotates along an axis parallel to a direction of travel.

53. A hull robot, comprising:

a robot body;

a downforce generation system operable with the robot body to create a low pressure condition about the robot body and increase a downforce of the hull robot against a hull of a vessel.

54. The hull robot of claim 53, wherein the downforce generation system comprises:

one or more inlet ports formed in the robot body for receiving, within the robot body, a portion of fluid from passing fluid without the robot body;

one or more outlet ports formed in the robot body for expelling the passing fluid from the robot body, the outlet ports being in fluid communication with passing water without the robot body; and

a pre-determined fluid flow path, wherein the fluid within the robot body is redirected to and expelled through the outlet ports.

55. The hull robot of claim 53, wherein the downforce generation system comprises at least one hydrofoil supported about the robot body to be in contact with passing water without the robot body.

56. The hull robot of claim 53, wherein the downforce generation system comprises:

one or more inlet ports formed in a fluid receiving wall of the robot body for receiving, within the robot body, a portion of fluid from passing fluid without the robot body; and

one or more outlet ports formed in a side wall of the robot body transverse to the fluid receiving wall, the outlet ports operable to expel the passing fluid from the robot body.

57. The hull robot of claim 56, wherein the outlet ports are recessed from a face of the side wall.

58. The hull robot of claim 56, wherein the passing fluid flows in a first direction and the outlet ports are oriented to expel the passing fluid from the robot body in a second direction

59. The hull robot of claim 58, wherein the second direction is at an angle with respect to the first direction between 0°

and 90°

.

60. The hull robot of claim 58, wherein the second direction is at an angle with respect to the first direction between 30°

and 60°

.

61. The hull robot of claim 56, wherein the downforce generation system further comprises at least one hydrofoil supported about the robot body to be in contact with passing water without the robot body.

62. A method of creating a hull robot, comprising:

providing a robot body as part of a hull robot;

providing a downforce generation system operable with the robot body to create a low pressure condition about the robot body and increase a downforce of the hull robot against a hull of a vessel.

63. The method of claim 62, wherein providing the downforce generation system comprises:

forming one or more inlet ports in the robot body for receiving, within the robot body, a portion of fluid from passing fluid without the robot body; and

forming one or more outlet ports in the robot body for expelling the fluid from the robot body, the outlet ports being in fluid communication with the passing fluid without the robot body,

wherein the robot body comprises a pre-determined fluid flow path within the robot body for redirecting and expelling the fluid through the outlet ports.

64. The hull robot of claim 62, further comprising attaching at least one hydrofoil about the robot body to be in contact with passing fluid without the robot body, the hydrofoil being configured to further enhance the downforce of the robot body against the hull of the vessel.

65. The method of claim 62, further comprising:

forming one or more inlet ports in a fluid receiving wall of the robot body for receiving, within the robot body, a portion of fluid from passing fluid without the robot body; and

forming one or more outlet ports in a side wall of the robot body transverse to the fluid receiving wall, the outlet ports operable to expel the fluid from the robot body.

66. The method of claim 65, wherein forming the one or more outlet ports comprises forming the one or more outlets ports in a recessed configuration such that the outlet ports are recessed from a face of the side wall.

67. A method of at least partially securing a hull robot to a hull of a vessel, the method comprising:

positioning a hull robot about a hull of a vessel in motion within a fluid, wherein the vessel in motion generates passing fluid relative to the hull; and

operating the hull robot about the hull of the vessel to cause a portion of fluid from the passing fluid to interact with a downforce generation system operable with and supported about a robot body of the hull robot, such that a low pressure condition is created about the robot body, whereby a downforce of the hull robot against a hull of a vessel in increased.

68. The method of claim 67, wherein the downforce generation system comprises:

one or more inlet ports formed in the robot body for receiving, within the robot body, a portion of fluid from the passing fluid;

one or more outlet ports formed in the robot body for expelling the portion of fluid from the robot body, the outlet ports being in fluid communication with the passing water without the robot body; and

a pre-determined fluid flow path, wherein the fluid within the robot body is redirected to and expelled through the outlet ports.

69. The method of claim 68, further comprising pumping the portion of fluid out through the one or more outlet ports.

70. The method of claim 68, further comprising redirecting at least some of the portion of fluid within the robot body toward the vessel hull surface to clean the vessel hull surface.

71. A hull robot, comprising:

a subsystem;

a direct drive system operable to at least partially power the subsystem, and comprising a power scavenging device;

an electric motor operable to at least partially power the subsystem; and

a power supply operable to provide power to the electric motor,

wherein the hull robot is operable within passing water generated by a vessel in motion, and

wherein, when in operation with the passing water having a velocity above a velocity threshold as generated by the vessel in motion above a pre-determined threshold speed, the direct drive system supplements power output of the motor to at least reduce a power demand on the motor from the subsystem to operate the subsystem.

72. The hull robot of claim 71, wherein the subsystem comprises a cleaning subsystem to clean a hull of a vessel to which the hull robot is attachable.

73. The hull robot of claim 71, wherein the subsystem comprises a drive subsystem to drive and maneuver the hull robot about a hull of a vessel to which the hull robot is attachable.

74. The hull robot of claim 71, wherein the direct drive system is sufficiently sized and configured to completely power the subsystem and eliminate the power demand on the motor from the subsystem when the hull robot is operated in the passing water having a velocity above the velocity threshold as generated by a vessel in motion above a pre-determined threshold speed.

75. The hull robot of claim 74, further comprising a submersion detection device to detect whether the hull robot is submersed in the passing water.

76. The hull robot of claim 71, wherein the direct drive system further comprises a transmission to generate a desired torque for operation of the subsystem.

77. The hull robot of claim 71, wherein the direct drive system further comprises a governor to limit operation of the subsystem.

78. The hull robot of claim 71, wherein the direct drive system is operable with the power supply to charge the power supply.

79. The hull robot of claim 71, wherein the subsystem comprises a cleaning subsystem including a brush, and the direct drive system comprises a water wheel directly coupled to the brush to rotate the brush against the hull of the vessel.

80. A method for operating a hull robot, comprising:

detecting whether the hull robot is submersed in passing fluid resulting from a vessel in motion;

operating a subsystem of the hull robot using a motor when the hull robot is not submersed in the passing fluid, or when submersed in fluid having a velocity below a velocity threshold; and

operating the subsystem of the hull robot using, at least in part, a direct drive system when the hull robot is submersed in the passing fluid having a velocity above the velocity threshold.

81. The method of claim 80, further comprising operating the subsystem of the hull robot using both the motor and the direct drive system when the hull robot is submersed in the passing fluid having a velocity above the velocity threshold.

82. The method of claim 80, wherein operating the subsystem comprises operating a drive subsystem to drive and maneuver the hull robot about a hull of the vessel.

83. The method of claim 80, wherein operating the subsystem comprises operating a cleaning subsystem to clean a hull of the vessel.