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WO2014043395A3 - Hull cleaning robot - Google Patents

Hull cleaning robot Download PDF

Info

Publication number
WO2014043395A3
WO2014043395A3 PCT/US2013/059527 US2013059527W WO2014043395A3 WO 2014043395 A3 WO2014043395 A3 WO 2014043395A3 US 2013059527 W US2013059527 W US 2013059527W WO 2014043395 A3 WO2014043395 A3 WO 2014043395A3
Authority
WO
WIPO (PCT)
Prior art keywords
hull
robot
cleaning robot
hull cleaning
cleaning
Prior art date
Application number
PCT/US2013/059527
Other languages
French (fr)
Other versions
WO2014043395A2 (en
Inventor
Fraser M. Smith
Original Assignee
Raytheon Company
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US13/769,344 external-priority patent/US9180934B2/en
Application filed by Raytheon Company filed Critical Raytheon Company
Publication of WO2014043395A2 publication Critical patent/WO2014043395A2/en
Publication of WO2014043395A3 publication Critical patent/WO2014043395A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/24—Tracks of continuously flexible type, e.g. rubber belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/26—Ground engaging parts or elements
    • B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
    • G01M5/0075—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by means of external apparatus, e.g. test benches or portable test systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Transportation (AREA)
  • Acoustics & Sound (AREA)
  • Ocean & Marine Engineering (AREA)
  • Manipulator (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Moulds For Moulding Plastics Or The Like (AREA)

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.
PCT/US2013/059527 2012-09-14 2013-09-12 Hull cleaning robot WO2014043395A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201261701537P 2012-09-14 2012-09-14
US61/701,537 2012-09-14
US13/769,344 2013-02-17
US13/769,344 US9180934B2 (en) 2012-09-14 2013-02-17 Hull cleaning robot

Publications (2)

Publication Number Publication Date
WO2014043395A2 WO2014043395A2 (en) 2014-03-20
WO2014043395A3 true WO2014043395A3 (en) 2014-06-26

Family

ID=50278691

Family Applications (6)

Application Number Title Priority Date Filing Date
PCT/US2013/059550 WO2014062317A2 (en) 2012-09-14 2013-09-12 Autonomous hull inspection
PCT/US2013/059551 WO2014043414A2 (en) 2012-09-14 2013-09-12 Hull robot with hull separation countermeasures
PCT/US2013/059552 WO2014043415A1 (en) 2012-09-14 2013-09-12 Layered rubber magnetic track
PCT/US2013/059546 WO2014043411A1 (en) 2012-09-14 2013-09-12 Hull robot for autonomously detecting cleanliness of a hull
PCT/US2013/059548 WO2014062316A2 (en) 2012-09-14 2013-09-12 Autonomous hull navigation
PCT/US2013/059527 WO2014043395A2 (en) 2012-09-14 2013-09-12 Hull cleaning robot

Family Applications Before (5)

Application Number Title Priority Date Filing Date
PCT/US2013/059550 WO2014062317A2 (en) 2012-09-14 2013-09-12 Autonomous hull inspection
PCT/US2013/059551 WO2014043414A2 (en) 2012-09-14 2013-09-12 Hull robot with hull separation countermeasures
PCT/US2013/059552 WO2014043415A1 (en) 2012-09-14 2013-09-12 Layered rubber magnetic track
PCT/US2013/059546 WO2014043411A1 (en) 2012-09-14 2013-09-12 Hull robot for autonomously detecting cleanliness of a hull
PCT/US2013/059548 WO2014062316A2 (en) 2012-09-14 2013-09-12 Autonomous hull navigation

Country Status (1)

Country Link
WO (6) WO2014062317A2 (en)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2528871A (en) * 2014-07-31 2016-02-10 Reece Innovation Ct Ltd Improvements in or relating to ROVs
GB201420918D0 (en) 2014-11-25 2015-01-07 Rolls Royce Plc Cleaning robot
CN104875217A (en) * 2015-04-30 2015-09-02 芜湖林一电子科技有限公司 Robot vision underwater tracking machine
FR3047261B1 (en) 2016-01-29 2020-06-12 Zodiac Pool Care Europe POOL CLEANER ROBOT AND METHOD OF USING SUCH A ROBOT
WO2017214688A1 (en) * 2016-06-17 2017-12-21 Grd Franmarine Holdings Pty Ltd A vessel hull cleaning system
CN108263556B (en) * 2016-10-09 2020-12-15 嘉兴市龙锋市政建设有限公司 Mobile monitoring device and shell flaw detection system with same
WO2018117919A1 (en) * 2016-12-21 2018-06-28 Telefonaktiebolaget Lm Ericsson (Publ) Devices and methods for indicating an external factor on the hull of a boat
WO2019028562A1 (en) * 2017-08-10 2019-02-14 Jose Alberto Ochoa Disselkoen Self-propelled device or machine, for cleaning hull fouling from the underwater body of large floating ships
CN108508884B (en) * 2018-02-06 2023-04-18 南京永为科技有限公司 Overwater patrol robot
GB2582954B (en) 2019-04-10 2022-10-19 Jotun As Monitoring module
GB2582955B (en) 2019-04-10 2023-02-08 Jotun As Monitoring module
NO345712B1 (en) * 2019-05-10 2021-06-28 Shipshave As A robot and method for underwater monitoring and maintenance of a ship’s hull when the ship is underway
CN112829896A (en) * 2019-11-22 2021-05-25 纳百创新科技有限公司 A hull crawling robot
CN110825088B (en) * 2019-11-29 2021-10-01 燕山大学 A multi-eye vision-guided ship hull cleaning robot system and cleaning method
GB2592921B (en) * 2020-03-09 2024-04-17 Jotun As Hull cleaning robot
NO346573B1 (en) * 2020-07-03 2022-10-17 Probotic As Autonomous cleaning vessel, method and system for cleaning of an aquatic organism containing structure
BR112023017447A2 (en) * 2021-03-22 2023-10-03 Tas Global Co Ltd IMAGE PROCESSING METHOD OF PROCESSING IMAGES FROM A PLURALITY OF CAMERAS ON THE SHIP CLEANING ROBOT INTO A SINGLE IMAGE, COMPUTER READABLE RECORDING MEDIA, COMPUTER PROGRAM AND ROBOT CONTROL METHOD USING THE SAME
GB202107159D0 (en) * 2021-03-23 2021-06-30 Jotun As Monitoring a vessel
KR20230172498A (en) * 2021-03-23 2023-12-22 요툰 에이/에스 Monitoring the cleanliness of underwater surfaces of stationary objects
WO2022268300A1 (en) * 2021-06-22 2022-12-29 John Derek Townson Anti-fouling robot
DE102023122644A1 (en) * 2023-08-23 2025-02-27 Universität Kassel, Körperschaft des öffentlichen Rechts Method for cleaning a surface of a body surrounded by a fluid and cleaning device

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4444146A (en) * 1982-01-13 1984-04-24 Honeywell Inc. Ultrasonic subsurface cleaning
GB2165330A (en) * 1984-10-04 1986-04-09 Remote Marine Systems Ltd Ultrasonic cleansing
US4890567A (en) * 1987-12-01 1990-01-02 Caduff Edward A Robotic ultrasonic cleaning and spraying device for ships' hulls
US20100131098A1 (en) * 2008-11-21 2010-05-27 Rooney Iii James H Hull robot with rotatable turret
US20100126403A1 (en) * 2008-11-21 2010-05-27 Rooney Iii James H Hull Robot
FR2948920A1 (en) * 2009-08-05 2011-02-11 Jean Claude Kempen CLEANING ROBOT OF CARENES OF BOATING (OR WORKING) BOATS WITH FLOT
US20110083599A1 (en) * 2009-10-14 2011-04-14 Kornstein Howard R Hull robot drive system
US20120006352A1 (en) * 2009-11-23 2012-01-12 Searobotics Corporation Robotic submersible cleaning system

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE631318A (en) * 1963-03-27
GB1286203A (en) * 1969-05-16 1972-08-23 Hitachi Metals Ltd Vehicle
JPS5081487U (en) * 1973-11-26 1975-07-14
US5884642A (en) * 1997-08-07 1999-03-23 Broadbent Spray Rentals Remotely controlled pressurized liquid dispensing mobile unit
NO20033501D0 (en) * 2003-08-07 2003-08-07 Kalifen As Hull cleaning device
FR2861457B1 (en) * 2003-10-28 2007-10-19 Marc Serge Brussieux NON-DESTRUCTIVE CONTROL SYSTEM
US20050199171A1 (en) * 2004-03-10 2005-09-15 Ecklund William G. Ship hull cleaning apparatus and method of use
US7934575B2 (en) * 2007-12-20 2011-05-03 Markus Waibel Robotic locomotion method and mobile robot
IT1394625B1 (en) * 2009-05-18 2012-07-05 Terzaghi CLEANER DEVICE FOR BOATS HULLS
US8215435B2 (en) * 2009-08-27 2012-07-10 Edward Leroy Dvorak Adhesion and braking system for a magnetic shipping container crawling apparatus
DE102011003623A1 (en) * 2011-02-03 2012-08-09 Raytheon Anschütz Gmbh Apparatus and method for navigating a mobile device along a surface of a material structure
US8805579B2 (en) * 2011-02-19 2014-08-12 Richard Arthur Skrinde Submersible robotically operable vehicle system for infrastructure maintenance and inspection

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4444146A (en) * 1982-01-13 1984-04-24 Honeywell Inc. Ultrasonic subsurface cleaning
GB2165330A (en) * 1984-10-04 1986-04-09 Remote Marine Systems Ltd Ultrasonic cleansing
US4890567A (en) * 1987-12-01 1990-01-02 Caduff Edward A Robotic ultrasonic cleaning and spraying device for ships' hulls
US20100131098A1 (en) * 2008-11-21 2010-05-27 Rooney Iii James H Hull robot with rotatable turret
US20100126403A1 (en) * 2008-11-21 2010-05-27 Rooney Iii James H Hull Robot
FR2948920A1 (en) * 2009-08-05 2011-02-11 Jean Claude Kempen CLEANING ROBOT OF CARENES OF BOATING (OR WORKING) BOATS WITH FLOT
US20110083599A1 (en) * 2009-10-14 2011-04-14 Kornstein Howard R Hull robot drive system
US20120006352A1 (en) * 2009-11-23 2012-01-12 Searobotics Corporation Robotic submersible cleaning system

Also Published As

Publication number Publication date
WO2014043411A1 (en) 2014-03-20
WO2014043414A9 (en) 2014-07-10
WO2014043414A2 (en) 2014-03-20
WO2014062316A3 (en) 2014-08-21
WO2014062317A3 (en) 2014-07-17
WO2014043395A2 (en) 2014-03-20
WO2014062317A2 (en) 2014-04-24
WO2014043415A1 (en) 2014-03-20
WO2014043414A3 (en) 2014-05-08
WO2014062316A2 (en) 2014-04-24

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