WO2011015786A1 - Automatic hull-cleaning robot - Google Patents

Automatic hull-cleaning robot Download PDF

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Publication number
WO2011015786A1
WO2011015786A1 PCT/FR2010/051654 FR2010051654W WO2011015786A1 WO 2011015786 A1 WO2011015786 A1 WO 2011015786A1 FR 2010051654 W FR2010051654 W FR 2010051654W WO 2011015786 A1 WO2011015786 A1 WO 2011015786A1
Authority
WO
Grant status
Application
Patent type
Prior art keywords
characterized
robot according
machine
hull
boat
Prior art date
Application number
PCT/FR2010/051654
Other languages
French (fr)
Inventor
Jean-Claude Kempen
Eric Tardy
Sébastien FONTAINE
Original Assignee
Hulltimo
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

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
    • B63B59/00Hull protection peculiar to vessels; Cleaning devices peculiar to vessels and integral therewith
    • B63B59/06Cleaning devices for hulls
    • B63B59/10Cleaning devices for hulls using trolleys or the like driven along the surface

Abstract

The invention relates to an automatic robot for cleaning submerged hulls of boats that are afloat, including a control box on the surface, submersible cleaning equipment (3), and a cord connecting the cleaning equipment (3) to the control box. The equipment (3) comprises rotary brushes (15, 16) and a turbine (82) for creating a partial vacuum capable of urging the equipment (3) against the boat hull. The equipment (3) comprises a cleaning waste container (4), and the turbine (82) is suitable for vacuuming the cleaning waste and transporting the same to the waste container (4) using the flow (10) generated by the turbine (82).

Description

ROBOT CARENES CLEANING AUTOMATIC

The invention relates to an automatic cleaning robot designed to allow cleaning of submerged hulls of boats afloat.

To clean the hulls of boats underwater dirt that develop there, it is common to put the boats in dry dock to carry out the refit. This implements heavy and expensive equipment and requires access to adequate facilities and detention of the ship. Each boat owner wants to perform this task without the constraint of having to leave his boat from the water.

To facilitate these tasks, it is known from US-A-5947051 to use a submersible vehicle moving against the hull of the boat and connected to equipment accommodated on a pontoon or boat itself. Known equipment including using a suitable turbine to create a vacuum which the submersible vehicle plate against the hull boats. Such equipment is equipped with brushes to clean the hulls.

Such equipment requires a large surface materials and a bulky connection device and the dimensions undermine the autonomy and to the mobility of the submersible vehicle.

It is these drawbacks overcome the invention by providing a new hull cleaning robot submersible boats afloat whose structure limits the need for surface equipment and to increase the freedom of movement of the vehicle submersible implemented for cleaning.

To this end, the invention relates to an automatic boats afloat hull cleaning robot comprising a surface control unit, a submersible cleaning and a cord connecting the submersible device to the control box, the machine comprising rotating brushes and a turbine adapted to create a depression adapted to press the device against the hull of the boat. This robot is characterized in that it comprises a container of cleaning waste, and in that the turbine is adapted to suck the cleaning of waste and delivering them to the waste container via the flow created by the turbine.

Thanks to the invention, cleaning waste is not transported to surface facilities and are stored in the submersible. This reduces the dimensions of the connecting cord connecting the submersible to the surface control unit and increase the freedom of movement of the machine against the hull. The current generated by the turbine which creates the depression in order to press the device against the hull is used to convey the waste to the container thereby avoid sucking water and waste from the surface equipment or from a floating intermediate platform on the water. This avoids the losses inherent in the flow of water in the connecting cable. On the other hand, potentially harmful cleaning waste is not discharged into the marine environment. The robot according to the invention can clean a boat by implementing a relatively compact equipment and easy to use.

According to advantageous but not mandatory aspects of the invention, such a robot may incorporate one or more of the following features, with all eligible combinations:

- The machine comprises an inflatable skirt adapted to provide a partial seal between the craft and the hull of the vessel, and while the interior of the skirt is automatically adjustable depending on the depth of use of the machine and the mass of waste accumulated in the container.

The underwater vessel is equipped with tracks for its movement against the hull of the boat.

The turbine, caterpillars and brushes are driven by hydraulic actuators.

The hydraulic actuators are powered by a hydraulic circuit cooled by contact with water.

- The machine comprises two pairs of tracks adapted for selectively moving the device in two perpendicular directions against the hull of the boat.

Each pair of tracks is driven by a wheel driven in rotation by two connecting rods selectively actuated by two hydraulic cylinders depending on the rotational direction of the crawler;

- Each of the two pairs of tracks comprises means adapted to remove the contact between this pair of tracks and the hull of the boat, when this pair of crawlers is not used to move the machine.

The removal of the contact means comprise hydraulic cylinders. The brushes are pierced by orifices of the turbine suction flow so that the brushes are driven by a hydraulic motor with adjustable speed and torque.

The hydraulic motor drives one of the brushes and brush as this causes a second brush with a gear system.

The suction flow of the turbine passes through a duct behind the rotary brushes.

The waste container is detachably mounted on the submersible. The turbine is adapted to grind the waste cleaning;

The robot is equipped with a positioning device of the machine with respect to the hull.

The positioning device of the vehicle relative to the vessel hull includes ultrasonic sensors distributed on four sides of the craft.

The craft is equipped with rollers covered with brush hairs, and as these rollers are rotated by a hydraulic motor.

The rollers are adapted to be removed from the ship's hull according to the direction of movement of the underwater vessel.

- The machine is equipped with means for determining the load of the container.

The invention will be better understood and other advantages thereof will appear more clearly in the light of the following description of an embodiment of a cleaning robot in accordance with the principle of the invention, given only for example and with reference to the accompanying drawings in which:

- Figure 1 is a perspective view of a cleaning robot according to the invention, used on the hull of a boat;

Figure 2 is a perspective view of a submersible belonging to the robot of Figure 1;

Figure 3 is a perspective view of the underwater vessel of Figure 2 from another angle;

Figure 4 is a view according to arrow IV of the underwater vessel of Figures 2 and 3;

Figure 5 is a section along the plane V of the underwater vessel of Figures 2 to 4;

- Figure 6 is a view of a drive track system of the underwater vessel of Figures 2 to 5.

The cleaning robot R, shown in Figures 1 to 6 comprises a 1 Control box to be installed in use either on the deck of a boat B to careen, on a dock to which the boat B can be docked, or on a pontoon. For security reasons, this box 1 is fitted with a safety cable for attachment to a fixed point such as a chain plate of the boat B, a ring pontoon or dock.

The box 1 has an angled front including control and programming elements, display elements and robot control such as LCD displays Video, and a control commissioning. The commissioning control allows in particular to activate a hydraulic power distribution system for supplying a hydraulic circuit which is cooled on contact with water. The cabinet 1 also includes carrying handles to move it.

The box 1 comprises connecting means with a connecting cable 2 connecting the cabinet 1 to an underwater vessel 3 adapted to perform cleaning operations by moving against the hull of boat B.

The box 1 is adapted to be connected to a power distribution network providing for example an alternating current of 230V, and / or DC sources 12 and / or 24V.

The box 1 comprises protective means adapted to provide a class of protection IP 67 or IP 68.

The cabinet 1 also comprises a low voltage electric motor, a high pressure pump, a 4 liter reservoir of fluid preferably containing a biodegradable mineral oil and an air compressor

The connecting cable 2 between the box 1 and the apparatus 3, whose length can reach 20 meters, is terminated at each end by sealing and locking connectors. It comprises a floating braid around which a plurality of flexible pipes are fixed: a hydraulic line supplying the hydraulic circuit, an air duct, two electric conductors for low voltage electrical power to the device 3 and a digital link between visual control equipment of the machine 3 and the box 1.

We denote XX a longitudinal axis of the underwater vessel 3. It is also noted ZZ an axis perpendicular to a plane P3 defined by the lower part of the underwater vessel intended to be in contact with the hull of boat B. Finally , there YY a transverse axis perpendicular to the axes XX 'and YY'. The dimensions of the device 3 are respectively of 70 cm along the axis X-X '50 cm along the axis YY' and 40 cm along the axis

ZZ '. These dimensions, and a weight of approximately between 30 and 40 kg, allow the carriage R cleaning robot on a boat having a length less than 15 meters, preferably 10 meters. The underwater vessel 3 comprises a shell of thermoplastic material, such as ABS.

An upper part of the machine 3 comprises a container 4 for recovering the cleaning waste collected during the action of rotating brushes 15 and 16, the device 3 is equipped. The container 4 is attached to the craft by unrepresented quick couplers and can be removed to be emptied without the gear from the water. Indeed, the base of the container 4 is equipped with an opening having a not shown rubber lip forming a valve to prevent waste from escaping during removal of the container 4. The container 4 can store up to the equivalent to 10 kg of waste. The amount of waste accumulated in the container 4 is measured using strain sensors 41 connecting the device 3 and the container 4 which measure the forces induced by the load of the container. These sensors 41 may be strain gauges.

The container 4 is pierced with vents 43 for discharging water stored in the container while keeping the waste. The apertures are provided with filter means.

The underwater vessel 3 is equipped with four crawler by lifting cylinders. Two tracks 1 1 and 12 aligned with the longitudinal axis XX 'of the device ensure movement of the machine 3 according to this axis relative to the boat hull. Two tracks 13 and 14 aligned along the axis YY 'ensure the movement of the machine 3 according to this axis YY'.

The caterpillars 11 and 12 on the one hand, and 13 and 14 on the other hand are selectively used to move the vehicle 3 along the hull of boat B. caterpillars unused during travel of the vehicle 3 are remote of the hull by hydraulic cylinders so as not to be in contact with the shell, and not obstruct caterpillars implemented for travel. This allows a direct attack of the brushes 15 and 16 of the dirt attached to the hull.

The tracks provide a displacement at slow speed, preferably 1 m / min for a better efficiency of the brushes. Each track is driven in rotation by acting on a wheel 5 of two connecting rods 61 and 71 extending two hydraulic rams 6 and 7 selectively actuated by the distribution of hydraulic power system. Each of the rods 61 and 71 causes the track in one direction of rotation. This drive system using the selective longitudinal movement of the rams 6 and 7 allows to avoid the use of motors with reducers and each track team 11-14.

The underwater vessel 3 comprises a turbine 82 mounted in a central well 32 of the device 3. The turbine 82 includes a propeller 84 advantageously made of stainless steel and is rotated about the axis ZZ 'by a hydraulic motor 8 fed by the hydraulic circuit. Next the use of the cleaning robot, the rotational speed of the turbine 82 is between 500 and 2000 rev / min.

The central well 32 of the engine 3 is an internal volume delimited by a frustoconical wall 320 centered on the axis ZZ '. The wall 320 is integral with a frame comprising two plates 322 and 324 parallel to the plane P3, and through which the flow 10 is carried out. The wall 320 widens toward the tracks 1 1 14. The plates 322 and 324 are joined by struts 326 parallel to the axis Z-Z '. A first function of the turbine 82 is to create a depression in the central well 32 between the underwater vessel 3 and the vessel hull. This depression has the effect of pressing the machine 3 against the shell whatever the inclination angle thereof.

The rotation of the propeller 84 of the turbine 82 takes place "behind" the brushes 15 and 16, that is to say between the container 4 and the brushes 15 and 16 along the axis Z-Z '.

A second function of the turbine 82 is to suck the waste loosened by the brushes 15 and 16 of the hull of the boat B, and route, via a flow 10 induced by the rotation of the impeller 84, towards the container waste 4. in other words, the turbine exhaust 82 opens directly into the container 4.

A third function of the turbine 82 is to grind through the blades 86 of the propeller 84, the most voluminous cleaning waste, including plaque deposits or algae.

A water flow sensor 34 is mounted in the moonpool 32 to measure the flow of water flow 10 to the container 4. As the container 4 reaches a certain fill rate, waste impede the flow of water and this results in lower efficiency of the depression created by the turbine 82. the container 4 of the filling rate may also be detected at the obstruction of the outlets 43. in the case where a rate of critical filling and / or a maximum amount of waste accumulated in the container are detected, a signal indicates to the control unit 1 that the container 4 to be emptied of its waste.

The underwater vessel 3 is equipped with two circular rotating brushes 15 and 16 located substantially at the center of a working surface S of the underwater vessel. These brushes 15 and 16 are detachably mounted and are interchangeable with other models of brushes according to the type of work to be performed and the status of the hull of the boat B. The cleaning involves removing small dirt, foam, algae or small calcareous concretions, biofouling, small shells, etc. The characteristics of the brushes 15 and 16 are determined according to the desired aggressiveness in cleaning. The brushes can notably include bristles or variables abrasion powers discs.

The diameter of brushes 15 and 16 is approximately 200mm. The brush speed is between 500 and 1500 rev / min according to the use of the robot.

The rotating brushes 15 and 16 are pierced with cut-outs 151, through brushes along the axis ZZ 'and allowing water and waste to be sucked by the turbine 82 and routed through the brushes towards the central well 32 and the container 4. the cut-outs 151 are also used to more evenly distribute the flow of water 10 toward the container 4 and to improve the suction of the turbine 82 to the base of the submersible 3.

The rotating brushes 15 and 16 are rotated according to respective axes A15 and A16 parallel to the axis ZZ 'by a single hydraulic motor 153 powered by the hydraulic circuit, resulting in the brush 15, and the speed and torque can be adjusted by changing the flow rate and pressure of hydraulic fluid. The motor 153 is mounted through the plates 322 and 324. The brushes 15 and 16 are attached to respective rotation shafts 150 and 160 between which rotate the propeller blades 84. The torque transmission between the brush 15 and the brush 16 is provided by two sets of teeth of gears 155 and 165 formed at the periphery of the brushes 15 and 16. Alternatively, the transmission can be ensured by a toothed belt. The brushes 15 and 16 are shown in Figure 4 with reduced dimensions for clarity of drawing.

The underwater vessel 3 is also equipped with two brush rollers 18 and 19 rotatable located in the vicinity of two opposite sides of the working surface S of the machine. These rollers are also removable and interchangeable with other brush rollers models and are intended for finishing work and post polishing cleaning soil by the rotating brushes 15 and 16. The rollers 18 and 19 have a diameter of approximately 100mm.

These rollers 18 and 19 are rotated along two parallel axes A18 and A19 by a hydraulic motor 17, powered by the hydraulic circuit, at an approximate speed of 1000TR / min. The A18 and A19 pins are represented here as being parallel to the Y-Y axis. Alternatively, these rotational axes may be parallel to the axis XX 'or follow any other direction parallel to the plane P3.

The motor 17 rotatably drives one of the rollers, by the roller 18. The transmission of torque between the roller 18 and the roller 19 is carried by a toothed belt 20.

The rollers 18 and 19 are movable relative to the device between two positions in the direction movement of the machine 3. The foregoing roller brushes 15 and 16 in the case of a displacement parallel to the axis XX 'is moved to a retracted position along the axis ZZ 'relative to the vessel hull, allowing, during the movement of the vehicle, a direct attack soil by the rotating brushes. Changes in positions of the rollers relative to the shell is by means not shown cylinder.

The cleaning robot R is equipped with a positioning device of the underwater vessel 3 with respect to the hull. This device comprises four ultrasonic sensors 400 visible only in figure 4 distributed over the S and suitable work surface for detecting the presence or absence of wall vis-à-vis and transmit information in the form of a signal power to an electronic control unit in the underwater vessel 3 or the control box 1.

The underwater vessel 3 is equipped with not shown color video cameras coupled to projectors for displaying the work area on the shell before and after the passage of the robot on the screen of the control unit 1.

The machine 3 comprises a connecting base of the connecting cord adjustable and lockable 2 allowing electrical and fluidic connection to the surface control unit.

The underwater vessel 3 comprises an inflatable skirt 9 at the base of the device on the periphery of the work surface S. This skirt 9 delimits an internal volume V1 which is automatically variable and adjustable in function of the depth of Use and the load of the machine. The volume V1 is adjusted by the air inflating inflatable members 92 by the air compressor of the control unit 1 via the air duct of the connecting cable 2.

The primary function of the skirt 9 is inflatable to maintain the underwater vessel 3 at a zero relative weight in water, by compensating for the load of waste present in the container 4 by the air supply in the inflatable elements 92. increasing the mass of the vehicle load induced in the waste container 4 destabilizes the vehicle and tends to drag down. In this case, the volume V1 of the inflatable skirt 9 is increased to compensate for this effect. Conversely, the inflatable skirt 9 can be deflated to achieve lower depths.

Adjusting the inflation of the skirt 9 is determined by the control unit 1 according to working depth measurements performed by sensors not shown and by the force sensors 41 which measure the load of the waste container 4. the inflation of the skirt 9 also recognizes movement commands data at the control box 1 by a supervisor of the cleaning operations.

The skirt 9 has a discontinuous sealing lip 94 which contributes to press the device to the hull of boat B by creating a partial seal accentuating the depression induced by the turbine 82, without preventing the movement of the machine against the shell. In other words, the lip 94 remains between the skirt 9 and the hull of the boat B sufficient sealing to ensure the effectiveness of the depression created by the turbine 82, while allowing a small amount of water enters the internal volume V1. This amount allows the cleaning of dirt and suction of waste more efficient. Sixteen single and double cylinders share powered by the hydraulic circuit distributed in the frame of the machine 3 to enable up and down the crawlers 1 1 14, to actuate the wheels 5 for driving the crawler, and up and down the rollers 18 and 19.

A battery of twenty solenoid valves is used for supplying and distributing the hydraulic fluid to the various motors and cylinders via the hydraulic circuit according to the information provided by the programmable automation or manual control from the control unit 1.

To increase the efficiency of cleaning the hull of the boat B, the vehicle 3 may comprise high pressure water jets.

According to embodiments of the invention, the gear 3 can be equipped with rotating brushes, rollers and tracks in different proportions.

Claims

1.- Automatic robot (R) boat hulls submerged cleaning (B) stream, comprising a control box (1) on the surface, an underwater vessel (3) for cleaning and a cord (2) connecting the vehicle (3) cleaning the control box (1), the machine (3) with rotating brushes (15,16) and a turbine (82) adapted to create a depression adapted to press the gear (3) against the hull of the boat (B), characterized in that the machine (3) comprises a container (4) cleaning of waste, and in that the turbine (82) is adapted to draw the cleaning of waste and delivering them to the container (4) to waste via flow (10) created by the turbine (82).
2. Robot according to claim 1, characterized in that the machine (3) comprises an inflatable skirt (9) adapted to provide a partial seal between the machine (3) and the hull of the boat (B), and that the internal volume (V1) of the skirt (9) is adjustable automatically depending on the depth of use of the machine (3) and the mass of waste accumulated in the container (4).
3. Robot according to one of claims 1 and 2, characterized in that the underwater vessel (3) is equipped with tracks (11, 12, 13, 14) for its movement against the hull of the boat (B).
4. Robot according to claim 3, characterized in that the turbine (82), the tracks (11, 12, 13, 14) and the brushes (15, 16) are moved by hydraulic actuators (8, 6, 7 , 153).
5. Robot according to claim 4, characterized in that the hydraulic actuators (8, 6, 7, 153) are fed by a hydraulic circuit cooled by contact with water.
6. Robot according to one of claims 3 to 5, characterized in that the machine (3) comprises two pairs of tracks (1 1, 12, 13, 14) adapted to selectively move the machine (3) in two directions (X-X ', Y-Y') perpendicular against the hull of the boat (B).
7. Robot according to claim 6, characterized in that each pair of caterpillars (1 1, 12, 13, 14) is driven by a wheel (5) rotated by two connecting rods (61, 71) selectively actuated by two cylinders hydraulic (6, 7) depending on the direction of rotation of the tracks.
8. Robot according to one of claims 6 and 7, characterized in that each pair of caterpillars (1 1, 12, 13, 14) comprises means adapted to remove the contact between this pair of tracks and the shell boat (B), when the pair of track is not used for moving the machine (3).
9. Robot according to claim 8, characterized in that the means for removing the contact comprise hydraulic cylinders.
10. Robot according to one of the preceding claims, characterized in that the brushes (15, 16) are pierced with orifices (151) for passage of the turbine suction flow
(82), and in that the brushes (15, 16) are driven by a hydraulic motor (153) speed and torque adjustable.
11. Robot according to claim 10, characterized in that the hydraulic motor (153) drives one (15) of brushes and in that said brush (15) drives a second brush (16) by a gear system ( 155, 165).
12. Robot according to one of claims 10 and 11, characterized in that the suction flow (10) of the turbine (82) passes into a conduit (32) behind the rotary brushes (15, 16).
13. Robot according to one of the preceding claims, characterized in that the waste container (4) is detachably mounted on the underwater vessel (3).
14. Robot according to one of the preceding claims, characterized in that the turbine (82) is adapted to grind the waste cleaning.
15. Robot according to one of the preceding claims, characterized in that it is equipped with one device positioning device (3) relative to the hull of the boat (B).
16. Robot according to claim 15, characterized in that the gear of the positioning device (3) relative to the hull of the boat (B) comprises ultrasonic sensors (400).
17. Robot according to one of the preceding claims, characterized in that the machine (3) is equipped with rollers (18, 19) covered with brush hairs, and in that these rollers (18, 19) are driven in rotation by a hydraulic motor (17).
18. Robot according to claim 16, characterized in that the rollers (18, 19) are adapted to be remote from the hull of the boat (B) depending on the direction of movement of the underwater vessel (3).
19. Robot according to one of the preceding claims, characterized in that the machine (3) is equipped with means (34, 41) for determining the load of the container (4).
PCT/FR2010/051654 2009-08-05 2010-08-04 Automatic hull-cleaning robot WO2011015786A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR0903870A FR2948920B1 (en) 2009-08-05 2009-08-05 Cleaning Robot pleasure boats carenes (or work) afloat
FR0903870 2009-08-05

Publications (1)

Publication Number Publication Date
WO2011015786A1 true true WO2011015786A1 (en) 2011-02-10

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Application Number Title Priority Date Filing Date
PCT/FR2010/051654 WO2011015786A1 (en) 2009-08-05 2010-08-04 Automatic hull-cleaning robot

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FR (1) FR2948920B1 (en)
WO (1) WO2011015786A1 (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014072556A1 (en) * 2012-11-06 2014-05-15 Universidade Da Coruña Robotic system for cleaning boat hulls and other submerged surfaces
FR3003483A1 (en) * 2013-03-22 2014-09-26 Hulltimo Device for cleaning submerged surfaces
WO2014199013A1 (en) 2013-06-13 2014-12-18 Dg-Diving Group Ltd. Apparatus and method for treating an underwater surface
US9038557B2 (en) 2012-09-14 2015-05-26 Raytheon Company Hull robot with hull separation countermeasures
US9233724B2 (en) 2009-10-14 2016-01-12 Raytheon Company Hull robot drive system
US9254898B2 (en) 2008-11-21 2016-02-09 Raytheon Company Hull robot with rotatable turret
US9440717B2 (en) 2008-11-21 2016-09-13 Raytheon Company Hull robot

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Publication number Priority date Publication date Assignee Title
WO2014043411A1 (en) * 2012-09-14 2014-03-20 Raytheon Company Hull robot for autonomously detecting cleanliness of a hull

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EP1886904A2 (en) * 2006-08-11 2008-02-13 Ascend RMM, S.L. Climbing cleaning robot
EP1997567A1 (en) * 2006-03-14 2008-12-03 Yanmar Co., Ltd. Underwater cleaning robot

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9254898B2 (en) 2008-11-21 2016-02-09 Raytheon Company Hull robot with rotatable turret
US9440717B2 (en) 2008-11-21 2016-09-13 Raytheon Company Hull robot
US9233724B2 (en) 2009-10-14 2016-01-12 Raytheon Company Hull robot drive system
US9180934B2 (en) 2012-09-14 2015-11-10 Raytheon Company Hull cleaning robot
US9051028B2 (en) 2012-09-14 2015-06-09 Raytheon Company Autonomous hull inspection
US9061736B2 (en) 2012-09-14 2015-06-23 Raytheon Company Hull robot for autonomously detecting cleanliness of a hull
US9038557B2 (en) 2012-09-14 2015-05-26 Raytheon Company Hull robot with hull separation countermeasures
WO2014072556A1 (en) * 2012-11-06 2014-05-15 Universidade Da Coruña Robotic system for cleaning boat hulls and other submerged surfaces
FR3003483A1 (en) * 2013-03-22 2014-09-26 Hulltimo Device for cleaning submerged surfaces
WO2014199013A1 (en) 2013-06-13 2014-12-18 Dg-Diving Group Ltd. Apparatus and method for treating an underwater surface
US9505472B2 (en) 2013-06-13 2016-11-29 Dg-Diving Group Ltd. Apparatus and method for treating an underwater surface

Also Published As

Publication number Publication date Type
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FR2948920B1 (en) 2013-08-16 grant

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