Hull cleaning robot
First Claim
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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; and
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,wherein the at least one drive element facilitates at least one cleaning function for cleaning the hull of a vessel.
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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.
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Citations
55 Claims
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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; and 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, wherein the at least one drive element facilitates at least one cleaning function for cleaning the hull of a vessel. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of cleaning a hull of a vessel, comprising:
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positioning a robot about the hull of the vessel; maneuvering the robot about the hull using a drive module within the robot; operating the drive module in a manner to effectuate cleaning of the hull, wherein the drive module provides a cleaning function; and 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. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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19. A hull cleaning robot, comprising:
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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 comprising cleaning functionality and operable to move relative to the hull to facilitate cleaning of 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.
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20. A hull robot comprising:
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a robot body; one or more ports formed in the robot body for receiving passing fluid; 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; and 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. - View Dependent Claims (21, 22, 23)
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24. A hull robot comprising:
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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 hull. - View Dependent Claims (25, 26, 27, 28)
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29. A hull cleaning robot, comprising:
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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. - View Dependent Claims (30)
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31. A method of cleaning a hull of a vessel, comprising:
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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. - View Dependent Claims (32)
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33. A hull robot, comprising:
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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, 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, and wherein the outlet ports are recessed from a face of the side wall. - View Dependent Claims (34, 35, 36, 37, 38, 39)
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40. A method of creating a hull robot, comprising:
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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; 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, 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. - View Dependent Claims (41, 42)
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43. A hull robot, comprising:
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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. - View Dependent Claims (44, 45, 46, 47, 48, 49, 50, 51)
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52. A method for operating a hull robot, comprising:
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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. - View Dependent Claims (53, 54, 55)
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Specification