Hull robot for autonomously detecting cleanliness of a hull

• US 9,061,736 B2
• Filed: 02/17/2013
• Issued: 06/23/2015
• 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.
• Primary Examiner(s): Olson, Lars A
• Application Number:
  US13/769,337
• Publication Number:
  US 20140076224A1
• Time in Patent Office: 856 Days
• Field of Search: 114/221.R, 114/222, 901/1, 901/44
• US Class Current: 1/1
• 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 method of autonomous hull cleanliness detection includes positioning an autonomous cleanliness detection system over a portion of a hull of a vessel. A cleanliness parameter of the portion of the hull is detected using a detector. The detected cleanliness parameter is compared with a stored cleanliness parameter to obtain a cleanliness differential upon which a cleaning operation or routine may be based and initiated.

Claims

1. A method of autonomous hull cleanliness detection, comprising:

positioning an autonomous cleanliness detection system over a portion of a hull of a vessel;

detecting a cleanliness parameter of the portion of the hull using a detector; and

comparing the detected cleanliness parameter with a stored cleanliness parameter to obtain a cleanliness differential, wherein the cleanliness parameter is a friction parameter, the detected cleanliness parameter is friction detected against a surface of the hull by the detector, the detector is a cleaning element, and the stored cleanliness parameter is a clean hull friction standard.

2. The method of claim 1, further comprising determining whether the cleanliness differential is within an acceptable cleanliness range.

3. The method of claim 1, further comprising analyzing the degree of the cleanliness differential to determine whether to initiate a cleaning sequence.

4. The method of claim 1, further comprising initiating a cleaning sequence when the cleanliness differential is greater than a predetermined amount.

5. The method of claim 1, further comprising an optical detector, wherein the cleanliness parameter is an optical parameter, the detected cleanliness parameter is a detected hull paint color, and the stored cleanliness parameter is an actual paint color.

6. The method of claim 1, further comprising an optical detector, wherein the cleanliness parameter is an optical parameter, the detected cleanliness parameter is a detected hull wavelength response, and the stored cleanliness parameter is a clean hull wavelength response.

7. The method of claim 1, further comprising recording cleanliness information pertaining to one or more locations about the hull of the vessel.

8. The method of claim 1, further comprising initiating a cleaning sequence, wherein a plurality of different cleaning elements are deployed.

9. A method of autonomous hull cleanliness detection, comprising:

positioning an autonomous cleanliness detection system over a portion of a hull of a vessel;

detecting a cleanliness parameter of the portion of the hull using a detector; and

comparing the detected cleanliness parameter with a stored cleanliness parameter to obtain a cleanliness differential, wherein the cleanliness parameter is an electrical resistance between two points on the portion of the hull, and the detector is a plurality of electrodes positioned at the two points.

10. A method of autonomous hull cleanliness detection, comprising:

positioning an autonomous cleanliness detection system over a portion of a hull of a vessel;

detecting a cleanliness parameter of the portion of the hull using a detector; and

comparing the detected cleanliness parameter with a stored cleanliness parameter to obtain a cleanliness differential, wherein the cleanliness parameter is a hardness parameter, the detected cleanliness parameter is a hardness of the portion of the hull, and the stored cleanliness parameter is a clean hull surface hardness.

11. A method of autonomous hull cleanliness detection, comprising:

positioning an autonomous cleanliness detection system over a portion of a hull of a vessel;

detecting a cleanliness parameter of the portion of the hull using a detector; and

comparing the detected cleanliness parameter with a stored cleanliness parameter to obtain a cleanliness differential, wherein the cleanliness parameter is an acoustic parameter, the detector is an acoustic detector, the detected cleanliness parameter is an acoustic feedback, and the stored cleanliness parameter is a clean hull acoustic feedback.

12. A method of autonomous hull cleanliness detection, comprising:

positioning an autonomous cleanliness detection system over a portion of a hull of a vessel;

detecting a cleanliness parameter of the portion of the hull using a detector; and

comparing the detected cleanliness parameter with a stored cleanliness parameter to obtain a cleanliness differential, wherein the cleanliness parameter is a chemical parameter, the detector is a chemical detector, the detected cleanliness parameter is a chemistry of the hull and/or a biolayer on the hull, and the stored cleanliness parameter is a clean paint chemistry.

13. A method of autonomous hull cleanliness detection, comprising:

positioning an autonomous cleanliness detection system over a portion of a hull of a vessel;

detecting a cleanliness parameter of the portion of the hull using a detector; and

comparing the detected cleanliness parameter with a stored cleanliness parameter to obtain a cleanliness differential, wherein the cleanliness parameter comprises a friction parameter, and wherein the detected cleanliness parameter comprises a sensor on a cleaning element operable to measure torque on the cleaning element.

14. A method of autonomous hull cleanliness detection, comprising:

positioning an autonomous cleanliness detection system over a portion of a hull of a vessel;

detecting a cleanliness parameter of the portion of the hull using a detector; and

comparing the detected cleanliness parameter with a stored cleanliness parameter to obtain a cleanliness differential, wherein the cleanliness parameter comprises an electrical current, and wherein the detected cleanliness parameter comprises a current measurement for a motor of a cleaning element.

15. A hull robot operable about a hull of a vessel, the robot comprising:

a robot body;

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

an autonomous cleanliness detection module configured to non-destructively detect the cleanliness of the hull by detecting a cleanliness parameter of a portion of the hull using a detector and comparing the detected cleanliness parameter with a stored cleanliness parameter of the portion of the hull to obtain a cleanliness differential, further comprising the detector, the detector comprising a cleaning element, wherein the cleanliness parameter is a friction parameter detected against a surface of the hull by the cleaning element, and the stored cleanliness parameter is a clean hull friction standard.

16. The robot of claim 15, further comprising a comparator for comparing the cleanliness differential with an acceptable cleanliness range.

17. The robot of claim 15, further comprising a cleaning subsystem configured to provide a cleaning sequence when the degree of the cleanliness differential exceeds a predetermined amount.

18. The robot of claim 15, further comprising an optical detector, wherein the cleanliness parameter is an optical parameter, the detected cleanliness parameter is a detected hull wavelength response, and the stored cleanliness parameter is a clean hull wavelength response.

19. A hull robot operable about a hull of a vessel, the robot comprising:

a robot body;

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

an autonomous cleanliness detection module configured to non-destructively detect the cleanliness of the hull by detecting a cleanliness parameter of a portion of the hull using a detector and comparing the detected cleanliness parameter with a stored cleanliness parameter of the portion of the hull to obtain a cleanliness differential, further comprising the detector, the detector comprising a plurality of electrodes positioned at two different points on the hull robot, wherein the cleanliness parameter is an electrical resistance of the portion of the hull between the two points when the robot is positioned adjacent the hull.

20. A hull robot operable about a of a vessel, the robot comprising:

a robot body;

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

an autonomous cleanliness detection module configured to non-destructively detect the cleanliness of the hull by detecting a cleanliness parameter of a portion of the hull using a detector and comparing the detected cleanliness parameter with a stored cleanliness parameter of the portion of the hull to obtain a cleanliness differential, further comprising the detector, the detector comprising a displacement measurement device and a prod, wherein the displacement measurement device detects when the prod is in contact with a surface as well as the degree of force with which the prod contacts the surface;

the cleanliness parameter is a hardness parameter;

the detected cleanliness parameter is a hardness of the portion of the hull as detected by a displacement of the prod against the portion of the hull; and

the stored cleanliness parameter is a clean hull surface hardness.

21. A hull robot operable about a hull of a vessel, the robot comprising:

a robot body;

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

an autonomous cleanliness detection module configured to non-destructively detect the cleanliness of the hull by detecting a cleanliness parameter of a portion of the hull using a detector and comparing the detected cleanliness parameter with a stored cleanliness parameter of the portion of the hull to obtain a cleanliness differential, further comprising the detector, the detector comprising an acoustic detector, wherein the cleanliness parameter is an acoustic parameter, the detected cleanliness parameter is an acoustic feedback, and the stored cleanliness parameter is a clean hull acoustic feedback.

22. An autonomous hull cleanliness detection system, comprising:

a non-destructive detector onboard a device navigable over a hull of a vessel;

a database onboard the device and in communication with the detector and configured to store hull cleanliness data obtained by the detector;

a cleanliness standard module in communication with the detector and the database, the cleanliness standard module being configured to establish a standard of cleanliness by storing the hull cleanliness data obtained by the detector in the database when the hull is substantially clean;

a cleanliness detection module in communication with the detector and the database, the cleanliness detection module being configured to store the hull cleanliness data obtained by the detector in the database when a cleanliness state of the hull is substantially unknown; and

a processor onboard the device and in communication with the database, the processor being configured to compare the hull cleanliness data stored by the cleanliness standard module with the data stored by the cleanliness detection module to obtain a cleanliness differential.