DE1556960B2 - REMOTE CONTROLLED MOTOR DRIVEN CLEANER OR OBSERVATION DEVICE - Google Patents

REMOTE CONTROLLED MOTOR DRIVEN CLEANER OR OBSERVATION DEVICE

Info

Publication number
DE1556960B2
DE1556960B2 DE19661556960 DE1556960A DE1556960B2 DE 1556960 B2 DE1556960 B2 DE 1556960B2 DE 19661556960 DE19661556960 DE 19661556960 DE 1556960 A DE1556960 A DE 1556960A DE 1556960 B2 DE1556960 B2 DE 1556960B2
Authority
DE
Germany
Prior art keywords
chamber
observation device
wheels
motor driven
driven
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
DE19661556960
Other languages
German (de)
Other versions
DE1556960A1 (en
Inventor
Winn Russell Edward
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ExxonMobil Technology and Engineering Co
Original Assignee
Exxon Research and Engineering Co
Esso Research and Engineering Co
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
Application filed by Exxon Research and Engineering Co, Esso Research and Engineering Co filed Critical Exxon Research and Engineering Co
Publication of DE1556960A1 publication Critical patent/DE1556960A1/de
Publication of DE1556960B2 publication Critical patent/DE1556960B2/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Cleaning In General (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Description

1 21 2

Die Erfindung betrifft ein Gerät, das auf einer Das erfindungsgemäße Gerät läßt sich aufThe invention relates to a device that is on a The device according to the invention can be on

unter Wasser oder einer anderen Flüssigkeit liegen- Flächen aus beliebigem Material und unterschiedden Fläche manövrierbar ist und beispielsweise zum licher Oberflächenstruktur einsetzen. Da außer-Reinigen von Schiffsrümpfen unter Wasser, zum Rei- dem der mittels der Abpumpvorrichtung erzeugte nigen von Tankinnenseiten oder als Beobachtungs- 5 Druck zum Anpressen benutzt wird, ist der Betrieb plattform, ζ. B. für Unterwasseraufnahmen bzw. des Gerätes unabhängig von der Neigung der je- -vermessungen verwendbar ist. weils zu befahrenden Flächen und damit unab-under water or another liquid - surfaces made of any material and differentiated The surface is maneuverable and can be used, for example, for the licher surface structure. There besides-cleaning from ship hulls under water, to ride the generated by means of the pumping device If the inside of the tank is used or used as observation pressure for pressing down, this is the operation platform, ζ. B. for underwater recordings or the device regardless of the inclination of each - measurements can be used. areas to be driven on and thus independent

Es ist bereits eine Unterwasserreinigungs- und hängig von den jeweils herrschenden Auftriebsver- -bürstvorrichtung bekannt, die mit mehreren teils hältnissen.It is already an underwater cleaning and depending on the prevailing buoyancy -Brushing device known, with several partial ratios.

steuerbaren, teils angetriebenen Rädern versehen ist; io Eine Ausführungsform des erfindungsgemäßen Gedie Vorrichtung ist weiterhin mit Elektromagneten rätes ist im folgenden an Hand der Zeichnungen erausgestattet, die eine Haftung an Schiffswänden und läutert; es zeigtcontrollable, partly driven wheels is provided; io An embodiment of the Gedie according to the invention The device is also equipped with electromagnets in the following on the basis of the drawings, which adheres to ship walls and purifies; it shows

ähnlichen Eisenflächen bewirken sollen. Eine Haf- F i g. 1 das erfindungsgemäße Gerät von der Seite,to effect similar iron surfaces. A Haf- F i g. 1 the device according to the invention from the side,

rung und zugleich Fortbewegung und Steuerung F i g. 2 das Gerät von unten im Schnitt längs dertion and at the same time locomotion and control F i g. 2 the device from below in section along the

mittels Rädern ist jedoch nur dann möglich, wenn 15 Linie II-II der F i g. 1,by means of wheels is only possible if 15 line II-II of FIG. 1,

sowohl die Räder als auch die Magneten an der zu F i g. 3 das Gerät in perspektivischer Sicht mitboth the wheels and the magnets on the FIG. 3 the device in a perspective view

reinigenden Fläche direkt anliegen. Dies soll dadurch einigen im Innern befindlichen Teilen in gestrichelten erreicht werden, daß das vorbekannte Gerät gelenkig Linien.directly on the cleaning surface. This is intended to show some parts inside in dashed lines can be achieved that the previously known device articulated lines.

ausgebildet ist. Trotzdem ist es bei Unregelmäßig- Die Kammer 1 weist eine offene Seite 12 und einenis trained. Nevertheless, it is irregular- The chamber 1 has an open side 12 and a

keiten auf den zu befahrenden Flächen bei dieser 20 Auslaß 2 auf. Innerhalb der Kammer befindet sich Konstruktion unvermeidlich, daß die Räder durch ein wasserdichtes Gehäuse 10, in dem ein Antriebsdie Magneten angehoben werden, so daß das Gerät motor 6, ein Steuermotor 7, ein Reinigungsmotor 8 Steuer- bzw. antriebslos wird. Darüber hinaus sind und ein Pumpenmotor 9 untergebracht skid. Die die zu reinigenden Schiffswände in der Praxis regel- Kabel 14 für die Stromzufuhr zu diesen Motoren vermäßig so stark mit Muscheln, Algen usw. bewachsen, 25 laufen durch eine Stopfbuchse 17 in der Kammer 1 daß hohe Magnetkräfte erforderlich sind, um eine und eine Stopfbuchse 18 im Gehäuse 10.
einigermaßen ausreichende Anpressung zu erreichen. Am Gehäuse 10 sind Bürsten 25 befestigt, dieopportunities on the surfaces to be driven on at this 20 outlet 2. Inside the chamber there is construction inevitable that the wheels through a waterproof housing 10, in which a drive, the magnets are raised, so that the device motor 6, a control motor 7, a cleaning motor 8 is control or driveless. In addition, a pump motor 9 and a skid are housed. The ship walls to be cleaned in practice, cables 14 for the power supply to these motors are so heavily overgrown with mussels, algae, etc., 25 run through a stuffing box 17 in chamber 1 that high magnetic forces are required to get one and a stuffing box 18 in housing 10.
to achieve reasonably sufficient contact pressure. Brushes 25 are attached to the housing 10, which

Derartig starke Magneten mit der erforderlichen durch den Motor 8 betätigt werden. Das lenkbare Feuchtigkeitsisolierung weisen jedoch andererseits Rad 4 wird durch den Antriebsmotor 6 angetrieben ein so hohes Gewicht; auf, daß die Magnetkraft 30 und durch den Steuermotor 7 gesteuert. Wie aus häufig nicht ausreicht, um das Gerät an senkrechten F i g. 2 hervorgeht, ist das Rad frei in einem Winkel Flächen frei tragend zu halten. Naturgemäß versagt von 360° schwenkbar. Außerdem sind noch tragende diese Vorrichtung darüber hinaus vollkommen, wenn Räder 3 vorgesehen, die mitlaufen und nicht frei es sich nicht um eiserne Flächen, sondern z. B. um schwenkbar sind. Der Pumpmotor 9 treibt einen Pro-Hafenbefestigungen aus Beton oder Holz handelt. 35 peller 5 an, der laufend Wasser aus dem Innern der Die in diesen Fällen vorgesehene Ausnutzung des Kammer 1 abzieht und durch den Auslaß 2 abführt, Auftriebes in Wasser stellt keine geeignete Lösung wodurch der Druck innerhalb der Kammer 1 gegendes Problems dar, da eine Anpressung an senkrechte über dem hydrostatischen Außendruck vermindert Flächen ebenso wie an Flächen auf der Sohle eines und das Gerät gegen die unter Wasser liegende Fläche Gewässers auf diese Weise vollkommen unmög- 4° angepreßt wird,
lieh ist. Das Gehäuse 10 enthält außerdem VorrichtungenSuch strong magnets can be actuated by the motor 8 with the required amount. The steerable moisture insulation, on the other hand, wheel 4 is driven by the drive motor 6 so heavy ; on that the magnetic force 30 and controlled by the control motor 7. As is often the case, it is not sufficient to attach the device to vertical F i g. 2 it can be seen, the wheel is to be held freely at an angle to be cantilevered. Naturally fails to pivot from 360 °. In addition, this device is still load-bearing, moreover, completely if wheels 3 are provided that run along and are not free, not iron surfaces, but z. B. are pivotable. The pump motor 9 drives a pro-port fortifications made of concrete or wood. 35 peller 5, which continuously draws water from the interior of the chamber 1 provided in these cases and discharges it through the outlet 2, buoyancy in water is not a suitable solution, whereby the pressure inside the chamber 1 is against the problem, since a pressure surfaces reduced to vertical above the hydrostatic external pressure as well as surfaces on the bottom of a body of water and the device against the surface lying under water in this way is completely impossible 4 °,
is borrowed. The housing 10 also contains devices

Es ist auch schon ein Tauchgerät bekannt, das 21 für die Übertragung von Informationen über die wasserdicht gegen eine Unterwasserfläche gepreßt Orientierung des Gerätes und den hydrostatischen und anschließend leergepumpt wird. Eine derartige Druck innerhalb und außerdem der Kammer. Oben Vorrichtung kann jedoch nur als Tauch- oder 45 auf die Kammer 1 ist für Navigations- und Auf-Rettungsgerät Verwendung finden, da es sich an der nähme- oder Vermessungzwecke eine auf die Stirn-Fläche, an der es haftet, nicht mehr weiterbewegen seite des Gerätes ausgerichtete Fernsehkamera 20 läßt. montiert.There is also already a diving device known, the 21 for the transmission of information about the watertight pressed against an underwater surface orientation of the device and the hydrostatic and then pumped out. Such a pressure inside and also the chamber. Above However, the device can only be used as a diving or 45 on the chamber 1 is for navigation and rescue equipment Find use, because it is for the purposes of taking or measuring a on the forehead surface, to which it sticks, do not move any further side of the device aligned television camera 20 leaves. assembled.

Der Erfindung h'egt demgegenüber die Aufgabe zu- Das Gerät ist insbesondere zum Reinigen vonIn contrast, the invention has the task of cleaning

gründe, ein fernsteuerbares, motorgetriebenes Gerät 5° Schiffsrümpfen oder als Plattform an Schiffsrümpfen zu schaffen, das zum Reinigen bzw. Beobachten von für Unterwasseraufnahmen oder -Vermessungen oder unter einer Flüssigkeit wie Wasser liegenden Flächen als feste Plattform zum Ausführen mechanischer Argeeignet ist. beiten unter Wasser geeignet.found a remotely controllable, motor-driven device 5 ° ship hulls or as a platform on ship hulls to create that for cleaning or observing for underwater recordings or measurements or Surfaces lying under a liquid such as water are suitable as a solid platform for performing mechanical tasks is. Suitable for working under water.

Die Erfindung bezieht sich auf ein fernsteuerbares, Beim Einsatz wird das Gerät z. B. nahe an einemThe invention relates to a remotely controllable, When in use the device is z. B. close to one

motorgetriebenes Reimgungs- oder Beobachtungs- 55 Schiffsrumpf bis zu einer geeigneten Tiefe ins Wasgerät, das gegen eine unter einer Flüssigkeit, ins- ser gelassen, die Pumpvorrichtung betätigt, wodurch besondere unter Wasser liegende Fläche anpreßbar sich die Kammer von selbst an den Schiffsrumpf an- und an dieser entlang nach allen Richtungen legt, und der Antriebsmotor betätigt, wodurch das manövrierbar ist, und ein mittels einer Steuervorrich- Gerät über die Oberfläche des Schiffsrumpfes bewegt rung lenkbares, um mindestens 90° schwenkbares 60 wird. Wenn die Schiffseiten gereinigt werden sollen, Rad und weitere Räder aufweist, und ist gekenn- wird die Reinigungsvorrichtung betätigt, nachdem zeichnet durch eine Kammer mit einem Auslaß sowie sich die Kammer an den Schiffsrumpf angelegt hat. einer gegenüber der zu befahrenden Fläche offenen Soll das Gerät aus dem Wasser herausgeholt wer-Seite und durch eine Abpumpvorrichtung zur Auf- den, so wird die Betätigung der Druckreduziervorrechterhaltung eines Unterdrucks in der Kammer 65 richtung unterbrochen und das Gerät aufgeholt, beigegenüber "dem Außendruck, wobei die Laufflächen spielsweise indem man es an die Oberfläche auftreider Räder die Kanten der Kammer an deren offener ben läßt oder an den am Gerät befestigten Kabeln Unterseite überragen. nach oben zieht.motor-driven reimg or observation 55 ship's hull to a suitable depth into the washing machine, that against a liquid, if left, actuates the pumping device, whereby special underwater surface, the chamber can be pressed against the ship's hull by itself. and lays along it in all directions, and actuates the drive motor, whereby the is maneuverable, and moved by means of a Steuervorrich- device over the surface of the ship's hull tion steerable, pivotable by at least 90 ° 60 is. If the sides of the ship are to be cleaned, Has wheel and other wheels, and is marked, the cleaning device is operated after characterized by a chamber with an outlet as well as the chamber has been applied to the ship's hull. an open area opposite the area to be driven on. Should the device be taken out of the water and by means of a pump-out device, the actuation of the pressure-reducing device is maintained a negative pressure in the chamber 65 direction interrupted and caught up with the device, opposite "The external pressure, with the treads for example by pushing it to the surface Wheels the edges of the chamber at their open ben can or on the cables attached to the device Project beyond the underside. pulls up.

Claims (1)

Patentanspruch:Claim: Fernsteuerbares, motorgetriebenes Reinigungsoder Beobachtungsgerät, das gegen eine unter einer Flüssigkeit, insbesondere eine unter Wasser liegende Fläche anpreßbar und an dieser entlang nach allen Richtungen manövrierbar ist und ein mittels einer Steuervorrichtung lenkbares, um mindestens 90° schwenkbares Rad und weitere Räder aufweist, gekennzeichnet durch eine Kammer (1) mit einem Auslaß (2) sowie einer gegenüber der zu befahrenden Fläche offenen Seite (12) und durch eine Abpumpvorrichtung (5) zur Aufrechterhaltung eines Unterdrucks in der Kammer gegenüber dem Außendruck, wobei die Laufflächen der Räder (3, 4) die Kanten der Kammer (1) an deren offener Unterseite (12) überragen.Remotely controllable, motor-driven cleaning or observation device that can be used against an under a liquid, in particular a surface lying under water, and can be pressed along it is maneuverable in all directions and a steerable by means of a control device to has at least 90 ° pivotable wheel and further wheels, characterized by a chamber (1) with an outlet (2) and one opposite the surface to be driven on open side (12) and by a pumping device (5) to maintain a negative pressure in the chamber against the external pressure, the running surfaces of the wheels (3, 4) being the edges of the chamber (1) at their open Project beyond the underside (12). Hierzu 1 Blatt Zeichnungen1 sheet of drawings COPYCOPY
DE19661556960 1965-03-04 1966-03-01 REMOTE CONTROLLED MOTOR DRIVEN CLEANER OR OBSERVATION DEVICE Pending DE1556960B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB9323/65A GB1092133A (en) 1965-03-04 1965-03-04 Apparatus for manoeuvring on a submerged surface
US6544970A 1970-08-20 1970-08-20
US378660A US3906572A (en) 1965-03-04 1973-07-12 Apparatus for maneuvering on a submerged surface

Publications (2)

Publication Number Publication Date
DE1556960A1 DE1556960A1 (en) 1971-08-26
DE1556960B2 true DE1556960B2 (en) 1971-08-26

Family

ID=27255346

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19661556960 Pending DE1556960B2 (en) 1965-03-04 1966-03-01 REMOTE CONTROLLED MOTOR DRIVEN CLEANER OR OBSERVATION DEVICE

Country Status (7)

Country Link
US (1) US3906572A (en)
JP (1) JPS4937160B1 (en)
BE (1) BE695117A (en)
DE (1) DE1556960B2 (en)
GB (1) GB1092133A (en)
MY (1) MY6900011A (en)
NL (1) NL6602770A (en)

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GB124236A (en) * 1918-01-21 1919-03-21 N Odero Fu Aless & Co Improvements in or relating to Submersible Apparatus for Permitting Work on Sunken Vessels and the like.
DE388654C (en) * 1921-06-23 1924-01-17 Thorsen L Device for cleaning ship floors
FR1158786A (en) * 1956-07-25 1958-06-19 Underwater scrubber-cleaner
US3088429A (en) * 1961-06-28 1963-05-07 Johannessen Harry De Fi Brandt Cleaning devices for removing marine growth from ships' hulls

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2657445A1 (en) * 1975-12-18 1977-07-07 Uragami Fukashi DEVICE ADHESIVE TO A WALL SURFACE BY SUCTION AND MOVES ON IT
WO1984003869A1 (en) * 1983-04-06 1984-10-11 John Cameron Robertson Remotely-operable vehicles for use in the cleaning and inspection of marine contact surfaces
WO1986001171A1 (en) * 1984-08-14 1986-02-27 International Robotic Engineering Inc. Apparatus for the observation and/or treatment of an immersed surface

Also Published As

Publication number Publication date
GB1092133A (en) 1967-11-22
DE1556960A1 (en) 1971-08-26
NL6602770A (en) 1966-09-05
BE695117A (en) 1967-09-07
US3906572A (en) 1975-09-23
JPS4937160B1 (en) 1974-10-05
MY6900011A (en) 1969-12-31

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Legal Events

Date Code Title Description
E77 Valid patent as to the heymanns-index 1977