Autonomous Hull Navigation

• US 20140081504A1
• Filed: 02/17/2013
• Published: 03/20/2014
• Est. Priority Date: 09/14/2012
• Status: Abandoned Application

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Smith, Fraser M., Colvin, Glenn
• Application Number:
  US13/769,342
• Publication Number:
  US 20140081504A1
• Time in Patent Office: Days
• US Class Current: 701/23
• 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

An autonomous hull robot navigation subsystem for guiding a hull robot on a hull of a vessel independent of external guidance devices includes a drive subsystem onboard the robot for driving and maneuvering the robot about the hull. A sensor subsystem onboard the robot senses an environmental characteristic. A navigation subsystem onboard the robot is responsive to the sensor subsystem and includes a processor. The processor utilizes the environmental characteristic to determine a position of the robot on the hull.

Claims

21. A method of autonomous hull robot navigation for guiding a hull robot on a hull of a vessel independent of external guidance devices, comprising:

sensing an environmental characteristic near the hull robot using a sensor subsystem onboard the robot;

determining a position of the hull robot on the hull based on the environmental characteristic using a navigation subsystem onboard the robot which is responsive to the sensor subsystem; and

maneuvering the robot about the hull using a drive subsystem onboard the robot based on the position of the hull robot.

22. The method according to claim 21, wherein sensing the environmental characteristic comprises sensing a cleanliness of the hull, and wherein maneuvering the robot comprises maneuvering the robot to a less clean position on the hull when a current position cleanliness is greater than a predetermined threshold.

23. The method according to claim 21, wherein sensing the environmental characteristic comprises sensing an interface between a recently cleaned portion of the hull and a yet-to-be-cleaned portion of the hull.

24. The method according to claim 21, wherein sensing the environmental characteristic comprises sensing a direction of gravity relative to the robot, and determining the position of the hull robot comprises determining a vertical position of the robot on the hull based on a unique gravity vector corresponding to a position on a continuously inclining surface of the hull.

25. The method according to claim 21, wherein sensing the environmental characteristic comprises sensing at least one of a pressure of fluid proximal to the robot and an acoustic characteristic of or near the hull.

26. The method according to claim 21, further comprising harvesting energy from a flow of fluid past the robot, and maintaining an orientation of the robot relative to the flow of fluid to maximize energy harvested from the flow while the robot maneuvers along substantially vertical paths.

27. The method according to claim 21, further comprising fixing a position of the robot relative to the hull when the robot is not being maneuvered using a switchable permanent magnetic fixation device independent of a drive subsystem of the robot.

28. A system for autonomous hull robot navigation on a hull of a vessel independent of external guidance devices, comprising:

a sensor onboard a hull robot and configured to detect an environmental characteristic;

a database onboard the hull robot and configured to store information about the hull of the vessel, including correspondence information relating a position on the hull with the environmental characteristic detected by the sensor;

a processor onboard the hull robot and configured to compare the detected environmental characteristic with the correspondence information in the database to determine the position of the hull robot on the hull.

29. A method for fixing a position of a robot relative to a hull of a vessel when the robot is at rest, the method comprising:

operating a hull robot about a hull of a vessel using a drive subsystem, the hull robot having a fixation device independent of the drive subsystem of the robot; and

selectively actuating the fixation device to at least temporarily secure the robot in place about the hull.

30. A hull robot, comprising:

a robot body;

a drive subsystem supported by the robot body for driving and maneuvering the robot about the hull of a vessel while the vessel is in motion in a fluid;

structure in the robot for directing fluid flow about the hull into a specific fluid flow path within the robot body;

a displacement energy extraction device supported by the robot body within the fluid flow path, and comprising a displaceable member moveable in response to the fluid flow acting upon the displaceable member, the displacement energy extraction device being configured to extract energy from the fluid flow useable by the hull robot.

31. A hull robot comprising:

a robot body;

a drive subsystem supported by the robot body for driving and maneuvering the robot about the hull of a vessel while the vessel is in motion in a fluid;

structure in the robot for directing fluid flow about the hull into a specific fluid flow path within the robot body;

a displacement energy extraction device in the form of a propeller supported by the robot body within the fluid flow path, and comprising a displaceable member moveable in response to the fluid flow acting upon the displaceable member, the displacement energy extraction device being configured to extract energy from the fluid flow useable by the hull robot.

32. A hull robot comprising:

a robot body;

a drive subsystem supported by the robot body for driving and maneuvering the robot about the hull of a vessel while the vessel is in motion in a fluid;

structure in the robot for directing fluid flow about the hull into a specific fluid flow path within the robot body;

a displacement energy extraction device comprising a water wheel supported by the robot body within the fluid flow path, and comprising a displaceable member moveable in response to the fluid flow acting upon the displaceable member, the displacement energy extraction device being configured to extract energy from the fluid flow useable by the hull robot.

33. The robot of claim 32, wherein the water wheel comprises a plurality of blades disposed about a rotor of the water wheel.

34. The robot of claim 32, wherein the water wheel comprises a plurality of fluid containers disposed about a rotor of the water wheel.

35. A hull robot comprising:

a robot body;

a drive subsystem supported by the robot body for driving and maneuvering the robot about the hull of a vessel while the vessel is in motion in a fluid;

structure in the robot for directing fluid flow about the hull into a specific fluid flow path within the robot body;

a displacement energy extraction device comprising a flapper supported by the robot body within the fluid flow path, and comprising a displaceable member moveable in response to the fluid flow acting upon the displaceable member, the displacement energy extraction device being configured to extract energy from the fluid flow useable by the hull robot.

36. A hull robot, comprising:

a robot body;

a drive subsystem supported by the robot body for driving and maneuvering the robot about the hull of a vessel while the vessel is in motion in a fluid;

structure in the robot for directing fluid flow about the hull into a specific fluid flow path within the robot;

an oscillation-based energy extraction device supported by the robot and within the fluid flow path, wherein the oscillation-based energy extraction device oscillates in response to the fluid flow acting upon the oscillation-based energy extraction device, the oscillation-based energy extraction device being configured to extract energy from the fluid flow useable by the hull robot.

37. The robot of claim 36, wherein the oscillation-based energy extraction device comprises a flapper.

38. The robot of claim 37, wherein the flapper is coupled to a rotating hinge and is oscillateable on the hinge.

39. The robot of claim 37, wherein the flapper comprises a piezoelectric element and is oscillateable by flexing.

40. A method of powering a hull robot, comprising:

maneuvering the robot about the hull while the hull of a vessel while the vessel is in motion in a fluid;

directing fluid flow about the hull into a specific fluid flow path within the robot toward a oscillation-based energy extraction device within the robot and within the fluid flow path, the oscillation-based energy extraction device being oscillateable in response to the fluid flow acting upon the oscillation-based energy extraction device; and

extracting energy from the fluid flow with the oscillation-based energy extraction device, the energy being useable to provide to the hull robot.

41. The method of claim 41, further comprising maintaining an orientation of the robot relative to the fluid flow to maximize energy harvested from the flow while driving and maneuvering the robot about the hull.

42. The robot of claim 41, further comprising using the energy extracted from the fluid flow to power a cleaning subsystem of the hull robot to clean the hull of the vessel.

43. The robot of claim 41, further comprising using the energy extracted from the fluid flow to power a drive subsystem of the hull robot to drive and maneuver the robot about the hull of the vessel.

44. A hull robot, comprising:

a robot body;

a drive subsystem supported about the robot body for driving and maneuvering the robot about the hull of a vessel while the vessel is in motion in a fluid;

an energy extraction device operable to extract energy from a fluid flow about the vessel, the fluid flow resulting from the motion of the vessel in the fluid; and

a support structure for positioning and supporting the energy extraction device without the robot body, wherein the energy extraction device is in contact with the fluid flow outside the robot body.

45. The robot of claim 44, wherein the energy extraction device is extendable from a position within the robot body to a position without the robot body, and wherein the energy extraction device is retractable.

46. The robot of claim 44, wherein the support structure supports the energy extraction device in a position beyond a boundary layer of the fluid flow about the robot body.

47. The robot of claim 44, wherein the energy extracted from the fluid flow is useable by the hull robot to clean the hull.

48. The robot of claim 44, wherein the energy extracted from the fluid flow is useable by the drive subsystem to drive and maneuver the robot about the hull.

49. The robot of claim 44, wherein the energy extraction device comprises a turbine.

50. The robot of claim 44, wherein the displacement energy extraction device comprises a propeller.

51. The robot of claim 44, wherein the displacement energy extraction device comprises a water wheel.

52. The robot of claim 44, wherein the displacement energy extraction device comprises a flapper.

53. A method of powering a hull robot, comprising:

maneuvering the robot about the hull of a vessel while the vessel is in motion in a fluid;

positioning an energy extraction device operable to extract energy from a fluid flow relative to a vessel without a body of the robot, the fluid flow resulting from the motion of the vessel in the fluid;

extracting energy from the fluid flow with the energy extraction device, the energy being useable as power by the hull robot.

54. The method of claim 53, further comprising retracting the energy extraction device from without the body of the robot to within the body of the robot to cease extracting the energy.

55. The method of claim 53, further comprising retractably extending the energy extraction device from within the body of the robot to without the body of the robot to begin extracting the energy.

56. The method of claim 53, wherein positioning the energy extraction device comprises positioning the energy extraction device beyond a boundary layer of the fluid flow about the body of the robot.

57. The method of claim 53, further comprising cleaning the hull with the hull robot using the energy extracted from the fluid flow.

58. The method of claim 53, further comprising driving and maneuvering the robot about the hull using the energy extracted from the fluid flow.

59. A hull robot, comprising:

a drive subsystem onboard the robot for driving and maneuvering the robot about a hull of a vessel; and

a robot body having a longitudinal axis extending between longitudinal sides of the robot body and a lateral axis extending between lateral sides of the robot body, the drive subsystem being configured to drive the robot in a direction along the longitudinal axis;

an inlet formed along at least one of the lateral sides of the robot body,

wherein the robot is configured to travel about the hull of the vessel in a direction transverse to a surface of a fluid in which the vessel is operating.

60. The robot of claim 59, further comprising:

a fluid flow path within the robot body generated from fluid being received in the inlet; and

an energy extraction device supported about the robot body and operable within the fluid flow path.

61. The robot of claim 59, wherein the robot body comprises a hydrodynamic configuration tuned in a direction transverse to the longitudinal axis and a direction of travel of the robot, such that the hydrodynamics of the robot while being maneuvered in the direction of travel are enhanced.

62. A hull robot, comprising:

a drive subsystem onboard the robot for driving and maneuvering the robot about a hull of a vessel;

a robot body comprising a hydrodynamic configuration tuned in a direction transverse to a longitudinal axis extending between longitudinal sides of the robot body, the longitudinal axis extending in a direction in which the robot is driven by the drive subsystem;

wherein a fluid flow about the robot body resulting from motion of the vessel travels over the robot body in the tuned hydrodynamic direction to enhance efficiency of driving and maneuvering of the robot.

63. The hull robot of claim 62, wherein the hydrodynamic configuration is tuned in a direction substantially parallel with a lateral axis extending between lateral sides of the robot body.

64. The hull robot of claim 62, further comprising an inlet formed along a lateral side of the hull robot for receiving the fluid flow and for generating a fluid flow path within the robot body.

65. The hull robot of claim 64, further comprising an energy extraction device operable within the fluid flow path.

66. The hull robot of claim 65, wherein the energy extraction device is oriented in the tuned hydrodynamic direction.

68. The robot of claim 62, wherein the robot body is symmetrical about at least a longitudinal axis and a lateral axis to facilitate enhanced efficiency bi-directional driving of the hull robot about multiple axes having different orientations.

69. The robot of claim 62, wherein the robot body is radially symmetrical.

70. A method of enhancing efficient operation of a hull robot about a hull of a vessel, comprising:

configuring a robot body to comprise a hydrodynamic configuration tuned in a direction transverse to a direction of travel of the robot, and substantially in a direction of fluid flow resulting from motion of the vessel within a fluid;

configuring a drive subsystem onboard the robot to maneuver the robot about a hull of a vessel in a direction transverse to a direction of the flowing fluid to enhance the efficiency of the fluid flow about the robot body.

67. The hull robot of claim 71, wherein the lateral side extends between the longitudinal sides and is substantially orthogonal to the longitudinal sides.

71. The method of claim 70, wherein the robot is maneuvered in a direction substantially orthogonal to the direction of the flowing fluid.

72. The method of claim 70, further comprising employing an energy extraction device to extract energy from the fluid passing about the robot body.

73. The method of claim 70, further comprising maneuvering the hull robot in a substantially bi-directional manner to avoid turning the hull robot around.

74. The method of claim 70, further comprising maneuvering the hull robot up and down the hull of the vessel while moving from a front of the ship towards a back of the ship.

75. The method of claim 70, further comprising configuring an inlet along a lateral side of the robot body, the inlet configured to receive a portion of the fluid therein and to generate a fluid flow path within the robot body.

76. The method of claim 75, further comprising operatively positioning an energy extraction device within the fluid flow path.

77. A method of enhancing efficient operation of a hull robot, comprising:

configuring a hull robot to comprise a drive system operable to maneuver and drive the hull robot about a hull of a vessel along an axis extending from one of a top and bottom of the hull;

configuring a robot body of the hull robot to comprise a longitudinal axis extending between longitudinal sides of the robot body and a lateral axis extending between lateral sides of the robot body, the drive subsystem being configured to drive the robot in a direction along the longitudinal axis;

forming an inlet along at least one of the lateral sides of the robot body, wherein fluid received in the inlet generates a fluid flow path within the robot body; and

providing an energy extraction device supported about the robot body, the energy extraction device being operably positioned within the fluid flow path.

78. A hull robot, comprising:

a robot body;

a drive subsystem supported about the robot body for maneuvering the robot about a hull of a vessel; and

a magnetic fixation device operable with the robot body and independent of the drive subsystem, the magnetic fixation device being actuatable to securely maintain a position of the robot relative to the hull when the drive subsystem is inactive.

1. An autonomous hull robot navigation system for guiding a hull robot on a hull of a vessel independent of external guidance devices, comprising:

a drive subsystem onboard the robot for driving and maneuvering the robot about the hull;

a sensor subsystem onboard the robot configured to sense an environmental characteristic; and

a navigation subsystem onboard the robot and responsive to the sensor subsystem, the navigation subsystem being configured to determine a position of the robot on the hull and to facilitate navigation based on the environmental characteristic.

2. The system according to claim 1, further comprising a memory onboard the robot including data concerning the configuration of the hull and a desired path of travel for the robot.

3. The system according to claim 1, wherein the sensor subsystem comprises a cleanliness detection system, and the environmental characteristic near the robot is a cleanliness of the hull, and wherein the navigation subsystem is configured to control the drive subsystem to maneuver the robot to a less clean position on the hull when a current position cleanliness is greater than a predetermined threshold.

4. The system according to claim 1, wherein the sensor subsystem comprises a cleanliness detection system, and the environmental characteristic near the robot is an interface between a recently cleaned portion of the hull and a yet-to-be-cleaned portion of the hull.

5. The system according to claim 1, wherein the sensor subsystem comprises a gravity-vector detector configured to sense a direction of gravity relative to the robot, wherein the hull configuration includes a continuously inclining surface, and wherein the navigation subsystem is configured to determine a vertical position of the robot on the hull based on a unique gravity vector corresponding to a position on the continuously inclining surface.

6. The system according to claim 1, wherein the sensor subsystem comprises a pressure sensor configured to sense the fluid pressure about any given location about the hull.

7. The system according to claim 1, wherein the sensor subsystem comprises a flow field detector.

8. The system according to claim 1, wherein the sensor subsystem is an acoustic detection subsystem configured to detect acoustic fiduciaries.

9. The system of claim 8, wherein the acoustic fiduciaries comprise at least one of vessel engine noise, noise generated from fluid contacting a portion of the hull of the vessel, and noise generated from operation of a propeller.

10. The system of claim 8, wherein the noise fiduciaries comprise known audio frequencies specific to identified portions of the vessel.

11. The system according to claim 1, wherein the sensor subsystem comprises an ultrasonic hull signature detector.

12. The system according to claim 1, further comprising an energy harvesting device for harvesting energy generated by movement of the hull through a fluid to provide power to at least one of the autonomous hull robot navigation system, the drive subsystem, the sensor subsystem, and the navigation subsystem.

13. The system according to claim 1, further comprising a power scavenging system for converting energy from fluid flow into usable mechanical or electrical power.

14. The system according to claim 13, wherein the power scavenging system is extendable to a region outside of the robot at least beyond a boundary layer of the passing fluid.

15. The system according to claim 1, wherein the drive subsystem is configured to maneuver the robot primarily along vertical paths on a surface of the hull in a direction approximately orthogonal to a direction of flow of a fluid past the hull, wherein the sensor subsystem comprises a flow field detector, and the drive subsystem is configured to maintain an orientation of the robot relative to the flow of the fluid while the robot maneuvers along the vertical paths to maximize energy harvested from the flow.

16. The system according to claim 1, further comprising a switchable permanent magnetic fixation device independent of the drive subsystem and configured to securely maintain a position of the robot relative to the hull when the navigation subsystem is not controlling the drive subsystem to maneuver the robot.

17. The system according to claim 1, wherein the environmental characteristic comprises an edge of the vessel.

18. The system according to claim 1, wherein the sensor subsystem comprises an ultrasonic inspection device and the environmental characteristic comprises an ultrasonic signature of a portion of the hull of the vessel.

19. The system according to claim 18, wherein the ultrasonic signature includes at least one of a hull thickness, integrity of a weld on the hull, a crack in the hull, a fissure in the hull, a change in thickness of the hull and an irregularity of the hull.

20. The system according to claim 18, wherein the ultrasonic inspection device is functional during operation of the vessel and comprises an ultrasonic emitter configured to emit an ultrasonic wave and an ultrasonic detector configured to detect a reflected ultrasonic wave reflected off of the hull, the reflected ultrasonic wave useable to identify the ultrasonic signature.

79. The hull robot of claim 78, wherein the drive subsystem comprises a magnetic device for attaching the robot body to the hull.

80. The hull robot of claim 78, wherein the magnetic fixation device comprises a switchable magnet.

81. The hull robot of claim 78, further comprising a plurality of magnetic fixation devices positioned about the robot body.

82. The hull robot of claim 78, wherein the magnetic fixation device comprises an electromagnet.

83. The hull robot of claim 78, wherein the magnetic fixation device comprises a permanent magnet.

85. The hull robot of claim 78, wherein the magnetic fixation device comprises a non-attachment configuration to enable the drive subsystem to maneuver the robot about the hull of the vessel when not securely maintaining the position of the robot relative to the hull.

83-1. The hull robot of claim 78, wherein the magnetic fixation device restricts maneuvering of the robot by the drive subsystem when securely maintaining the position of the robot relative to the hull.

86. An autonomous hull robot navigation system for guiding a hull robot on a hull of a vessel independent of external guidance devices, comprising:

a drive subsystem for driving and maneuvering the robot about a hull of a vessel;

a paint sensor subsystem onboard the robot configured to sense a paint characteristic about the hull;

a navigation subsystem onboard the robot and response to the paint sensor subsystem, being configured to facilitate navigation based on the paint characteristic.

87. The robot of claim 86, wherein the paint characteristic comprises the presence or lack of paint.

88. The robot of claim 86, wherein the paint characteristic comprises a freshness of a coat of paint.

89. The robot of claim 86, wherein the paint sensor subsystem comprises a camera.

90. A hull robot, comprising:

a robot body;

a drive subsystem supported by the robot body for driving and maneuvering the robot about the hull of a vessel while the vessel is in motion in a fluid;

a cleaning subsystem supported by the robot body and having at least one cleaning element for cleaning the hull of the vessel; and

an energy extraction device supported by the robot body, the energy extraction device being directly coupled to at least one of the drive subsystem and the cleaning element, wherein the energy extraction device is actuated by water passing over the hull of the vessel while the vessel is in motion.

91. The hull robot of claim 90, wherein the energy extraction device comprises a direct mechanical connection to the drive subsystem.

92. The hull robot of claim 90, wherein the energy extraction device supports one or more cleaning elements thereon, such that actuation of the energy extraction device functions to actuate a cleaning function by the energy extraction device.