Vessel hull robot navigation subsystem
First Claim
1. A vessel hull robot navigation subsystem comprising:
- a drive subsystem onboard the robot for driving and maneuvering the robot about the hull, wherein the robot is adapted to move and navigate about the vessel and is subject to sea state conditions while the vessel is underway;
a sensor subsystem onboard the robot outputting data combining robot and vessel motion;
a memory onboard the robot including data concerning the configuration of the hull and a desired path of travel for the robot;
a fix subsystem communicating position fix data to the robot;
means for determining vessel motion; and
a navigation processor onboard the robot and responsive to the memory data, the sensor subsystem, the position fix data, and the means for determining the vessel motion, the navigation processor configured to;
determine the position of the robot on the hull by canceling, from the sensor subsystem output data combining both robot and vessel motion, the determined vessel motion to maintain navigation accuracy of the robot, andcontrol the drive subsystem to maneuver the robot on the hull based on the fix data, the configuration of the hull, the desired path of travel for the robot, and the determined position of the robot on the hull.
4 Assignments
0 Petitions
Accused Products
Abstract
A vessel hull robot navigation subsystem and method for a robot including a drive subsystem onboard the robot for driving the robot about the hull. A sensor subsystem onboard the robot outputs data combining robot and vessel motion. A memory onboard the robot includes data concerning the configuration of the hull and a desired path of travel for the robot. A fix subsystem communicates position fix data to the robot. A navigation processor onboard the robot is responsive to the memory data, the sensor subsystem, the position fix data, and the data concerning vessel motion. The navigation processor is configured to determine the position of the robot on the hull by canceling, form the sensor subsystem output data combining both robot and vessel motion, the determined vessel motion. The navigation processor controls the drive subsystem to maneuver the robot on the hull based on the fix data, the configuration of the hull, the desired path of travel for the robot, and the determined position of the robot on the hull.
-
Citations
22 Claims
-
1. A vessel hull robot navigation subsystem comprising:
-
a drive subsystem onboard the robot for driving and maneuvering the robot about the hull, wherein the robot is adapted to move and navigate about the vessel and is subject to sea state conditions while the vessel is underway; a sensor subsystem onboard the robot outputting data combining robot and vessel motion; a memory onboard the robot including data concerning the configuration of the hull and a desired path of travel for the robot;
a fix subsystem communicating position fix data to the robot;means for determining vessel motion; and a navigation processor onboard the robot and responsive to the memory data, the sensor subsystem, the position fix data, and the means for determining the vessel motion, the navigation processor configured to; determine the position of the robot on the hull by canceling, from the sensor subsystem output data combining both robot and vessel motion, the determined vessel motion to maintain navigation accuracy of the robot, and control the drive subsystem to maneuver the robot on the hull based on the fix data, the configuration of the hull, the desired path of travel for the robot, and the determined position of the robot on the hull. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 11)
-
-
9. A vessel hull robot navigation subsystem comprising:
-
a drive subsystem onboard the robot for driving the robot about the hull, wherein the robot is adapted to move and navigate about the vessel and is subject to sea state conditions while the vessel is underway; a sensor subsystem onboard the robot outputting robot motion data; a memory onboard the robot including data concerning the configuration of the hull and a desired path of travel for the robot; a fix subsystem communicating position fix data to the robot; and a navigation processor onboard the robot and responsive to the memory data, the sensor subsystem, and the position fix data, the navigation processor configured to control the drive subsystem to maneuver the robot on the hull based on the fix data, the configuration of the hull, the desired path of travel for the robot, and the determined position of the robot on the hull, wherein the navigation processor is furthered configured to control the drive subsystem to periodically maneuver the robot above the water line to receive the position fix data. - View Dependent Claims (10, 12)
-
-
13. A vessel hull robot navigation subsystem comprising:
-
a drive subsystem onboard the robot for driving the robot about the hull, wherein the robot is adapted to move and navigate about the vessel and is subject to sea state conditions while the vessel is underway; a sensor subsystem onboard the robot outputting data combining robot and vessel motion; a memory onboard the robot including data concerning the configuration of the hull and a desired path of travel for the robot; means for determining vessel motion comprising a multi-axis sensing subsystem on the vessel outputting data representing motion of the vessel, a transmitter on the vessel for transmitting said data, and a receiver on the robot for receiving said data; and a navigation processor onboard the robot and responsive to the memory data, the sensor subsystem, and the means for determining the vessel motion, the navigation processor configured to; determine the position of the robot on the hull by canceling, from the sensor subsystem output data combining both robot and vessel motion, the determined vessel motion to maintain navigation accuracy of the robot, and control the drive subsystem to maneuver the robot on the hull based on the configuration of the hull and the desired path of travel for the robot, and the determined position of the robot on the hull. - View Dependent Claims (14, 15, 16, 17, 18, 19)
-
-
20. A vessel hull robot navigation subsystem comprising:
-
a drive subsystem onboard the robot for driving the robot about the hull, wherein the robot is adapted to move and navigate about the vessel and is subject to sea state conditions while the vessel is underway; a sensor subsystem onboard the robot outputting data combining robot and vessel motion;
a fix subsystem communication position fix data to the robot;means for determining vessel motion; and a navigation processor onboard the robot and responsive to the sensor subsystem, the position fix data, and the means for determining the vessel motion, the navigation processor configured to; determine the position of the robot on the hull by canceling, from the sensor subsystem output data combining both robot and vessel motion, the determined vessel motion to maintain navigation accuracy of the robot, and control the drive subsystem to maneuver the robot on the hull based on the fix data and the determined position of the robot on the hull. - View Dependent Claims (21)
-
-
22. A vessel hull robot navigation subsystem, comprising:
-
a drive subsystem onboard the robot for driving the robot about the hull, wherein the robot is adapted to move and navigate about the vessel and is subject to sea state conditions while the vessel is underway; a sensor subsystem onboard the robot outputting data combining robot and vessel motion; a memory onboard the robot including data concerning the configuration of the hull and a desired path of travel for the robot; means for determining vessel motion comprising the sensor onboard the robot outputting vessel motion data alone when the robot is not moving, the navigation processor configured to periodically stop movement of the robot to acquire the vessel motion data; and a navigation processor onboard the robot and responsive to the memory data, the sensor subsystem, and the means for determining the vessel motion, the navigation processor configured to; determine the position of the robot on the hull by canceling, from the sensor subsystem output data combining both robot and vessel motion, the determined vessel motion to maintain navigation accuracy of the robot, and control the drive subsystem to maneuver the robot on the hull based on the configuration of the hull and the desired path of travel for the robot, and the determined position of the robot on the hull.
-
Specification