WO2005014387A1 - Dispositif servant a nettoyer la surface exterieure de la coque d'un navire de mer - Google Patents

Dispositif servant a nettoyer la surface exterieure de la coque d'un navire de mer Download PDF

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Publication number
WO2005014387A1
WO2005014387A1 PCT/NO2004/000233 NO2004000233W WO2005014387A1 WO 2005014387 A1 WO2005014387 A1 WO 2005014387A1 NO 2004000233 W NO2004000233 W NO 2004000233W WO 2005014387 A1 WO2005014387 A1 WO 2005014387A1
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WO
WIPO (PCT)
Prior art keywords
cleaning machine
hull
cleaning
disclosed
exterior
Prior art date
Application number
PCT/NO2004/000233
Other languages
English (en)
Inventor
Ziad Badarneh
Benedict J. M. Hansen
Torbjørn MOLLATT
Campbell Ellis
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Company Ex As
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 Company Ex As filed Critical Company Ex As
Publication of WO2005014387A1 publication Critical patent/WO2005014387A1/fr

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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
    • 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

Definitions

  • the present invention relates to an apparatus for cleaning the hull of vessels such as boats and ships, as disclosed in the preamble of attached claims 1 and 14.
  • the application represents a new way of cleaning the hull of vessels when they are in the water.
  • US 4,372,242, Hans G. Lundberg teaches an apparatus having abrasive discs/brushes that are motorised for cleaning ship hulls under water.
  • the apparatus is attached to an arm that moves the apparatus across the hull.
  • US 4,401,048, Robert C. Rogers also teaches an apparatus for cleaning a ship's hull under water where the apparatus has motorised brushes and is attached to guides that run between a frame mounted on each side of the hull.
  • the frame which is preferably mobile, has means for moving the guides in the depth direction of the hull whilst the apparatus moves along the hull.
  • cleaning of hulls on ships cannot be done in all waters or ports of call because of pollution of seas, canals and fjords.
  • GB 2 038 721 Vincent P. Bingham, teaches an apparatus that cleans ship hulls which is used whilst the ship is moving.
  • the apparatus has spiral brushes that are operated by water pressure and has fins which guide the apparatus in towards and across the hull.
  • the invention seeks to provide a simple, safe and economical method of cleaning the hull of vessels such as boats and ships.
  • a major advantage of the invention is that, like GB 2 038 721, the invention can be used when the vessel is moving through the water. This means that the hull can be cleaned whilst the vessel is in service. At the same time, the cleaning of the vessel can take place at sea, thereby avoiding pollution of harbours and ports of call where the water is still and there is a danger of pollution of, for example, adjacent beaches inside fjords.
  • the invention comprises a machine which is so constructed that as a result of the speed of the vessel it is supplied with a water pressure that steers it against the hull where associated means are for cleaning such as rotating brashes, and performs movements against accumulated marine growth on the hull and the removal thereof.
  • the principle of the invention will be illustrated in the form of machines in two main variants.
  • One of the machines has motor-operated brashes, means for guiding the machine, and pressure adjustment of the cleaning brashes.
  • the other machine is turbine-operated as a result of water flow in the turbine when the vessel is moving, and is generally of a simpler design with regard to capacity because of adjustments of pressure variation and navigation.
  • Figs, la and lb show the invention from the carriage end and from the side
  • Figs, lc and Id are perspective views of the invention from above and below.
  • Fig. 2 shows the cleaning machine with a wire length extending from the carriage.
  • Figs. 3a and 3b show examples of the working area of the invention.
  • Figs. 4a and 4b show typical positioning of rails on the hull of a tanker.
  • Figs. 5a and 5b show typical positioning of rails on the hull of a smaller vessel.
  • Figs. 6a and 6b show a second aspect of the invention in an additional embodiment.
  • Figs. 7a and 7b show turbines as shown in Fig. 6.
  • Figs. 8a-d show an example of a wire length with associated bars or guides for manoeuvring the cleaning machine on the hull of a vessel.
  • Figs. 9a-d show another solution for a wire length with associated carriage for manoeuvring the cleaning machine on the hull of a vessel.
  • Figs. 10a- 10c show a carriage in connection with the wire length illustrated in Fig. 9.
  • Figs. 1 la- 1 Id show a combination solution of wire length as shown and described in connection with Figs. 8 and 9.
  • Figs. 12a and 12b shows alternative cleaning means for the cleaning machine.
  • the core subject matter of the invention consists of machines or apparatus for cleaning a vessel, boat or ship hull whilst the vessel is moving through the water.
  • Fig. 1 shows the invention in the form of a machine with motor-operated cleaning discs 3 and 4 which will have a surface consisting of brushes or other appropriate means for cleaning algae growth and the like from the hull exterior 2 of a vessel.
  • the discs 3, 4, also called cleaning discs or in general "cleaning means" are operated in a way that is known per se by a motor 1 via shafts that are inside respective movable supporting arms 7, 8.
  • the supporting arms 7, 8 are hinged to a frame member 10 that is fastened to the motor 1.
  • the arms 7, 8 are movable, as indicated by arrows 11 and 12, where the movement is controlled by piston cylinders 16 and springs 17.
  • the piston cylinders 16 hold the cleaning discs against the hull.
  • the motor 1 forms a mount for a central frame member 19.
  • an upper guide fin 20 which adjusts the direction of the machine.
  • Guide fins 21, 22 and 23 adjust the position and force from the cleaning means of the machine against the hull.
  • Mounted on the frame member 19 on each side are movable bars 24, 25. Wheels 26 and 27 are mounted at the end of the bars.
  • the piston cylinders 28 and 29 are secured to the frame and to the bars and hold the wheels against the hull. The pressure in the piston cylinders can be measured via sensors so as to be able to adjust the pressure of the machine and the cleaning discs against the hull.
  • Sensors that are connected to piston cylinders 17 and 18 give signals to a unit which controls pressure in cylinder 21' for movement of a fin 21 (spoiler), and sensors connected to piston cylinders 28 and 29 give signals to a control unit for fins 22 and 23, which together move fins and control the movement of the water and thus the force applied to the machine and its cleaning discs against the hull of the vessel.
  • a magnet 44 mounted on the central frame below the motor is a magnet 44 which, when needed, can be activated to hold the machine against the hull, for example, if the vessel stops and its movement in the water no longer produces the pressure the machine needs to maintain its position against the hull.
  • the central frame has at an end portion 35 attached thereto a wire 43.
  • the wire 43 runs through a ring 31 that is secured to a carriage 32 and a wire drum 33 placed on the carriage.
  • the carriage 32 has a shoe 32' which runs on rail 42 that will be fastened to the exterior 2 of the vessel's hull, and supported by wheels 38-41.
  • Fig. 1 shows the machine in a "docking" situation where the dram has drawn in the wire, e.g., by means of a motor 33' incorporated into or connected to the drum, and the cleaning machine is in engagement with the wire 43 at an end portion 35.
  • Fig. 2 shows a carriage and machine in a separate situation that would be natural in a working situation.
  • the rail 42 will be secured to the outside of the vessel's hull and form a travelling path for the carriage.
  • the dram 33 will let out the necessary wire length 43 to the machine so as to allow it to move across the hull.
  • the wire 43 runs inside a ring-shaped tube 31.
  • the tube 31 is fastened to a turning platform 36 on the carriage 32.
  • the turning platform 36 has an angle reader 49 which indicates the direction in which the machine is moving relative to the carriage 32, as can be seen from Fig. 2.
  • the direction of water flow is indicated by the arrow 45.
  • a control element 48 connected to the fin 20 receives signals from the angle reader 49 on the carriage in order to guide and hold the machine in the right direction relative to the working area across the hull.
  • the drum 33 on the carriage 32 is operated by means of a motor 33' and will let out wire length for the machine so that it can work across the hull, and with gradually varying distance from and angle to the movement path of the carriage.
  • the movement of the carriage 50 along a rail 51 could cause the cleaning machine 53 to move in a stepwise manner along the rail, so that cleaning takes place in successive sectors, and with a curvilinear motion whose radius of curvature is a function of the distance between the cleaning machine and the carriage.
  • Wire 54 holds the machine anchored to the ship via carriage 50 and rail 51.
  • Fin 55 guides the machine through the water.
  • Fig. 3a shows by means of curves 56 how the machine can move in sectors in pendulum movements. The size of the curve is determined by the length of the wire 54.
  • Rail 51 is fastened to the exterior of the ship's hull so that the machine covers the desired working area across the hull. A combination of wire length and the guiding of the machine by fin 55 allows the machine to be moved in a desired direction. Areas on the hull such as propellers can thus be avoided.
  • Fig. 3b shows how the machine can be moved along the rail in paths 57.
  • the reference numeral 58 indicates an obstruction on the hull around which the machine can navigate.
  • the position of rails 42; 51 for movement of the carriage 32; 50 and manoeuvring of the cleaning machine will vary depending upon the ship's hull.
  • the invention thus consists of a cleaning machine which in a first embodiment will be anchored to a wire 43; 54.
  • the wire is arranged on a motor-operated dram 33 on a carriage that can be moved along a rail that is secured to the exterior of the hull.
  • the reason for this embodiment is that the wire length should not be too long, and in particular for large vessels such as freighters, tankers, large ferries and cruise ships, and that precision and safety when using the machine should be optimal.
  • the carriage will move along the rail either at a constant speed or in steps.
  • the movement of the carriage will be controlled by a pulling means, e.g., wire or chain 42' that is movable in the rail and fastened to the rail shoe 32'.
  • the wire 42' and 43 may be a cable with power supply and control signals, a so-called umbilical.
  • the carriage 32 has a motor for operation of the wheels 40-39 or that the carriage motor has pinions that are in engagement with the rail, where the rail has a toothed track.
  • the carriages can thus either be controlled via cable 42", or wirelessly, from the ship.
  • the carriage 32 When the carriage 32 is in position, the carriage lets out wire 43 which gives the machine freedom of movement across the working area as shown in Figs. 2 and 3. When the machine has thus cleaned the hull, the carriage will pull the machine into engagement and move the machine along the rail upwards and out of the water so that it can be placed on deck.
  • the cleaning machine has sensors which give signals to the machine's fins about the direction of the machine and pressure for the cleaning discs.
  • Direction and working area for the machine can be preprogrammed to be adapted to any hull.
  • Transmission of power and signals to the machine and control units on board the vessel will preferably pass via a cable, but some signals may alternatively pass wirelessly.
  • On the machine there may also be mounted a camera, and lights for inspection of the hull. Equipped with a camera, the machine can be ran manually from the vessel.
  • Equipment that assesses the state of the hull for example, by using ultrasound, x-ray and other known art in the field, can be hooked up to the machine.
  • the rail may have several alternative positions on the hull, and this depends on the design and size of the vessel.
  • Figs. 4a-b show a hull that is typical for a tanker.
  • the reference numerals 64 indicates the water line.
  • the hull in this case has a "box" shape which means that rails are required both on the sides and under the hull.
  • Figs. 4a-b show the ship's hull 60 which has rail 62 mounted on the side and rail 63 mounted underneath, forming a travelling path for the carriage 65 of the cleaning machine 61.
  • the number of rails will in the illustrated case have to be increased if the length of wire becomes too long.
  • Fig. 5 shows an embodiment of a vessel where the hull has a more "classical" shape, that is to say where the hull is more N-shaped.
  • the rail 66 could lie along the whole keel.
  • the carriage 67 would be able to pass the cleaning machine 68 to both sides of the hull 69.
  • a variant of the embodiment which would be particularly suitable for smaller vessels will consist in the dram being mounted on the hull of the vessel and moving the cleaning machine around the hull from a fixed position.
  • wires would extend along the exterior of the hull and be secured in the area of the bow and the stern end of the vessel.
  • FIG. 6 shows an apparatus 80 with two rotatable discs 84 and 85, an opening 82 and two "wings" 86 and 87 which form the basis for a cleaning machine for use on a vessel's hull whilst the vessel is moving through water.
  • the machine has two turbines 90 and 91, see Fig.
  • the machine is run down into the water along a vessel's hull in wires that are fastened to suspension points 96 and 97. Wheels 100-102 are mounted on the "abrasive side" 98. These wheels support the machine against the hull.
  • the machine is run down into the water when the vessel is moving forwards at some speed, with the opening 82 in the direction of movement of the vessel. Water will enter in a funnel 104 and then drive the turbines 90 and 91 which in turn transmit power to the discs 84 and 85.
  • the discs are advantageously equipped with brushes, scrubbers or the like for cleaning the vessel's hull to remove infestations of algae, shells and the like.
  • Arrow 106 indicates direction of the water. "Wings" or fins 86 and 87 are made and shaped so that the water will press the machine against the hull.
  • FIGS 8a-d show how the machine 109 can be moved along the ship's hull 108 using wire 110 and bars 112 and 113.
  • the bars are movable to be able to ran the cleaning machine in the depth direction, and to keep the wire against the hull.
  • One bar is placed in the bow. This bar has an end member 115 which can be turned to move the wire on both sides of the hull, Astern, it will be necessary to place two bars, or one that can be moved to one side or the other.
  • Electric motors in connection with the bars in the bow and stern will drive wire drums that via bars pull the wire and thus the machine back and forth along the hull, as indicated by arrow 118.
  • Fig. 9 shows another variant for guiding the machine as described in connection with Figs. 6 and 7.
  • carriages 120 and 121 that run on wires or rails 122 and 123.
  • the carriage runs on a wire or rail 123 from one side of the vessel's hull to the other.
  • Wire 124 rans to the carriage 121 and at its other end runs to the carriage 120 at the bow of the vessel.
  • the wire ensures that the machine 125 is able to move in the longitudinal direction of the hull.
  • a motor connected to a drum on each side of the carriages 102, 121 serves to pull the wire back and forth.
  • the carriages will preferably move in the bow and around the stern end and thus move the machine in the depth of the hull.
  • FIG. 10a show carriage 120 that is positioned in the bow.
  • the carriage 120 has a wire dram 128 that adjusts the length of and pulls wire 124 for movement of the cleaning machine.
  • the carriage can either move along a fixed rail 126 connected to a wire or other pulling means such as a chain etc. or move in a fixed wire 127. This applies also to the carriage 121 that is placed in the stern end as shown in Fig. 10c.
  • This carriage also has a dram 128 for pulling wire 124 and thus the cleaning machine back and forth along the hull between the bow and the stern end.
  • a dram 128 for pulling wire 124 and thus the cleaning machine back and forth along the hull between the bow and the stern end.
  • sensors 130 and 131 Connected to the carriages will be sensors 130 and 131 which give signals to the pulling means connected to the wires for changing the direction of pull, and preferably for moving the carriages in the depth direction of the hull. It is conceivable that the cleaning machine will be able to move from bow to stern solely driven by the pushing effect of the water flow on the cleaning machine, whilst pulling means must be present to pull the cleaning machine back to the bow for a new cleaning operation in another cleaning path.
  • sensors When the machine comes to an end position at one of the carriages, sensors will give signals to the carriages to move a step, corresponding to the width of the cleaning device on the machine, in the depth direction, at the bow and stern, and change direction for the wire for longitudinal movement of the machine.
  • Figure 11 shows a combination of that shown and described in connection with Fig. 8 and Fig. 9.
  • a bar 134 which has a function similar to the bar 112 described in connection with Fig. 8.
  • the bar controls the position and guiding of wire 135 from bow to stern where a carriage 136 and system as described in Fig. 8 control the wire length.
  • the machine will have a safety system which enables the machine to float to the surface.
  • the machine can in this case contain a "balloon" that is filled with air.
  • a sensor may be connected to a wire to detect if the wire snaps, or a sensor may be mounted on the machine with a receiver in the vessel which at all times detects the position of the machine and its distance to the hull.
  • the machine advantageously has a tank containing pressurised air which fills a "balloon" with air if the wire snaps or the machine moves away from the vessel. The machine will thus float up to the surface of the water.
  • Fig. 12a shows machine 140 with means for cleaning the hull in the form of a rotating belt 141.
  • Fig. 12b shows a machine with a rotating cylinder 142 for cleaning a hull.
  • the machine illustrated in Fig. 1, among others, is shown having rotatable discs. This should not be understood as limiting for the invention as the machine can be equipped with cylindrical or belt-shaped means for cleaning hulls. What cleaning means the machine is equipped with will depend of the size and shape of the hull to be cleaned.

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

Abstract

Dispositif servant à nettoyer l'extérieur de la coque d'un navire située sous l'eau quand ce navire progresse vers l'avant dans l'eau. Ce dispositif possède des moyens servant à le guider vers l'intérieur et le long de l'extérieur de la coque et des moyens de nettoyage sous forme de brosses qui se déplacent contre l'extérieur de la coque. Ces moyens de nettoyage sont entraînés par une turbine alimentée par le déplacement de l'eau ou par un moteur entraîné par la puissance alimentée par le navire. Dans un mode de réalisation préféré, une machine de nettoyage est accouplée à un chariot se déplaçant solidaire d'un rail fixé à la coque du navire.
PCT/NO2004/000233 2003-08-07 2004-07-30 Dispositif servant a nettoyer la surface exterieure de la coque d'un navire de mer WO2005014387A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20033501 2003-08-07
NO20033501A NO20033501D0 (no) 2003-08-07 2003-08-07 Anordning for rensing av skrog

Publications (1)

Publication Number Publication Date
WO2005014387A1 true WO2005014387A1 (fr) 2005-02-17

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WO (1) WO2005014387A1 (fr)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009110802A1 (fr) * 2008-03-04 2009-09-11 Brynjar Berg Dispositif de nettoyage pour une structure sous-marine et son procédé d'utilisation
WO2010059195A1 (fr) * 2008-11-21 2010-05-27 Raytheon Company Robot de coque
ITTO20090381A1 (it) * 2009-05-18 2010-11-19 Andrea Rizzo Dispositivo pulitore per scafi di imbarcazioni
CN102431630A (zh) * 2011-10-26 2012-05-02 南通市海鸥救生防护用品有限公司 清除水下船体附着物机器人
US8342281B2 (en) 2008-11-21 2013-01-01 Raytheon Company Hull robot steering system
US8386112B2 (en) 2010-05-17 2013-02-26 Raytheon Company Vessel hull robot navigation subsystem
US8393286B2 (en) 2009-09-18 2013-03-12 Raytheon Company Hull robot garage
US8393421B2 (en) 2009-10-14 2013-03-12 Raytheon Company Hull robot drive system
KR101337656B1 (ko) * 2011-09-30 2013-12-05 삼성중공업 주식회사 주행 장치
KR101337653B1 (ko) * 2011-09-30 2013-12-05 삼성중공업 주식회사 주행 장치
WO2014043414A3 (fr) * 2012-09-14 2014-05-08 Raytheon Company Robot pour coque à contre-mesures de séparation de coque
US9038557B2 (en) 2012-09-14 2015-05-26 Raytheon Company Hull robot with hull separation countermeasures
US9254898B2 (en) 2008-11-21 2016-02-09 Raytheon Company Hull robot with rotatable turret
WO2020229091A1 (fr) 2019-05-10 2020-11-19 Shipshave As Robot, système et procédé de surveillance et de maintenance sous-marine d'une coque de navire
WO2021022368A1 (fr) * 2019-08-06 2021-02-11 Offshore Designs Ltd. Système et procédé de nettoyage de coque
DE102021103313B3 (de) 2021-02-12 2022-04-07 Universität Kassel, Körperschaft des öffentlichen Rechts Verfahreinrichtung zur Fortbewegung auf der Oberfläche eines mit einem Fluid umströmten Körpers
KR20230089239A (ko) * 2021-12-13 2023-06-20 한화오션 주식회사 적응형 날개를 가진 수중청소로봇, 동 수중청소로봇을 포함하는 수중청소시스템 및 수중청소방법

Citations (4)

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Publication number Priority date Publication date Assignee Title
GB2038721A (en) * 1978-12-01 1980-07-30 Bingham V P Apparatus for cleaning ship's hulls
US4279212A (en) * 1978-06-01 1981-07-21 Marinkonsult Hans Lundberg Ab Assembly for treating vessel hulls
SE509857C2 (sv) * 1997-10-22 1999-03-15 Ragnar Winberg Anordning för uppbärande av ytbehandlingsorgan på fartyg
WO2002096748A1 (fr) * 2001-05-30 2002-12-05 Van Rompay Boudewijn Gabriel Dispositif pour eliminer les salissures de la coque d'un bateau

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4279212A (en) * 1978-06-01 1981-07-21 Marinkonsult Hans Lundberg Ab Assembly for treating vessel hulls
GB2038721A (en) * 1978-12-01 1980-07-30 Bingham V P Apparatus for cleaning ship's hulls
SE509857C2 (sv) * 1997-10-22 1999-03-15 Ragnar Winberg Anordning för uppbärande av ytbehandlingsorgan på fartyg
WO2002096748A1 (fr) * 2001-05-30 2002-12-05 Van Rompay Boudewijn Gabriel Dispositif pour eliminer les salissures de la coque d'un bateau

Cited By (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009110802A1 (fr) * 2008-03-04 2009-09-11 Brynjar Berg Dispositif de nettoyage pour une structure sous-marine et son procédé d'utilisation
TWI391295B (zh) * 2008-11-21 2013-04-01 Raytheon Co 船身用機器人
WO2010059195A1 (fr) * 2008-11-21 2010-05-27 Raytheon Company Robot de coque
EP2349828A4 (fr) * 2008-11-21 2014-05-21 Raytheon Co Robot de coque
EP2349828A1 (fr) * 2008-11-21 2011-08-03 Raytheon Company Robot de coque
CN102224067A (zh) * 2008-11-21 2011-10-19 雷斯昂公司 船体用机器人
US9440717B2 (en) 2008-11-21 2016-09-13 Raytheon Company Hull robot
US8342281B2 (en) 2008-11-21 2013-01-01 Raytheon Company Hull robot steering system
US9254898B2 (en) 2008-11-21 2016-02-09 Raytheon Company Hull robot with rotatable turret
CN102224067B (zh) * 2008-11-21 2014-10-08 雷斯昂公司 船体用机器人
WO2010134022A1 (fr) * 2009-05-18 2010-11-25 Andrea Rizzo Dispositif de nettoyage pour coques de bateaux
ITTO20090381A1 (it) * 2009-05-18 2010-11-19 Andrea Rizzo Dispositivo pulitore per scafi di imbarcazioni
US8393286B2 (en) 2009-09-18 2013-03-12 Raytheon Company Hull robot garage
US8393421B2 (en) 2009-10-14 2013-03-12 Raytheon Company Hull robot drive system
US9233724B2 (en) 2009-10-14 2016-01-12 Raytheon Company Hull robot drive system
TWI421196B (zh) * 2010-05-10 2014-01-01 Raytheon Co 船身機器人操縱系統
US8386112B2 (en) 2010-05-17 2013-02-26 Raytheon Company Vessel hull robot navigation subsystem
KR101337656B1 (ko) * 2011-09-30 2013-12-05 삼성중공업 주식회사 주행 장치
KR101337653B1 (ko) * 2011-09-30 2013-12-05 삼성중공업 주식회사 주행 장치
CN102431630A (zh) * 2011-10-26 2012-05-02 南通市海鸥救生防护用品有限公司 清除水下船体附着物机器人
US9051028B2 (en) 2012-09-14 2015-06-09 Raytheon Company Autonomous hull inspection
US9180934B2 (en) 2012-09-14 2015-11-10 Raytheon Company Hull cleaning robot
US9061736B2 (en) 2012-09-14 2015-06-23 Raytheon Company Hull robot for autonomously detecting cleanliness of a hull
WO2014043414A3 (fr) * 2012-09-14 2014-05-08 Raytheon Company Robot pour coque à contre-mesures de séparation de coque
US9038557B2 (en) 2012-09-14 2015-05-26 Raytheon Company Hull robot with hull separation countermeasures
WO2020229091A1 (fr) 2019-05-10 2020-11-19 Shipshave As Robot, système et procédé de surveillance et de maintenance sous-marine d'une coque de navire
CN113874281A (zh) * 2019-05-10 2021-12-31 船舶拥有有限公司 一种用于船体水下监测和维护的机器人、系统和方法
WO2021022368A1 (fr) * 2019-08-06 2021-02-11 Offshore Designs Ltd. Système et procédé de nettoyage de coque
DE102021103313B3 (de) 2021-02-12 2022-04-07 Universität Kassel, Körperschaft des öffentlichen Rechts Verfahreinrichtung zur Fortbewegung auf der Oberfläche eines mit einem Fluid umströmten Körpers
KR20230089239A (ko) * 2021-12-13 2023-06-20 한화오션 주식회사 적응형 날개를 가진 수중청소로봇, 동 수중청소로봇을 포함하는 수중청소시스템 및 수중청소방법
KR102617772B1 (ko) * 2021-12-13 2023-12-27 한화오션 주식회사 적응형 날개를 가진 수중청소로봇, 동 수중청소로봇을 포함하는 수중청소시스템 및 수중청소방법

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