WO2014043411A1 - Robot pour coque destiné à la détection autonome de la propreté d'une coque - Google Patents

Robot pour coque destiné à la détection autonome de la propreté d'une coque Download PDF

Info

Publication number
WO2014043411A1
WO2014043411A1 PCT/US2013/059546 US2013059546W WO2014043411A1 WO 2014043411 A1 WO2014043411 A1 WO 2014043411A1 US 2013059546 W US2013059546 W US 2013059546W WO 2014043411 A1 WO2014043411 A1 WO 2014043411A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleanliness
hull
parameter
detector
robot
Prior art date
Application number
PCT/US2013/059546
Other languages
English (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 US13/769,337 external-priority patent/US9061736B2/en
Application filed by Raytheon Company filed Critical Raytheon Company
Publication of WO2014043411A1 publication Critical patent/WO2014043411A1/fr

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

Definitions

  • FIGs. 11-12 are system diagrams of hull cleaning robots in accordance with embodiments of the present technology.
  • compositions that is "substantially free of particles would either completely lack particles, or so nearly completely lack particles that the effect would be the same as if it completely lacked particles.
  • a composition that is "substantially free of an ingredient or element may still actually contain such item as long as there is no measurable effect thereof.
  • the autonomous cleanliness detection system can be configured to non-invasively or non- destructively detect the cleanliness of the hull by detecting a current or real-time cleanliness parameter of a portion of the hull using a detector and comparing the detected cleanliness parameter with a stored cleanliness parameter (e.g., a pre-determined standard) of the portion of the hull to determine if a cleanliness differential exists that would warrant cleaning. If the cleaning differential exceeds a predetermined threshold amount or range of acceptable values, then a cleaning operation or routine can be initiated by a cleaning subsystem of the hull robot to clean the hull.
  • a stored cleanliness parameter e.g., a pre-determined standard
  • a cleaning operation or routine can be initiated by a cleaning subsystem of the hull robot to clean the hull.
  • non-invasively or non- destructively it is meant that detection can be done in a manner so as to not damage the surface of the ship's hull, or the paint layer covering the hull.
  • the robot is able to maneuver in one or more controlled paths about the hull which are not necessarily aligned with vector 14 and which are in addition to the directions shown by arrows 24.
  • the robot can be powered by the action of the water flowing past the hull while the vessel is underway. In this way, cleaning and/or inspection and the like can be undertaken even continuously while the vessel is in operation.
  • the robot can thus be configured to harvest energy for operation from the action of a fluid flowing over the hull and about or past the robot.
  • the shaft of turbine 32a is coupled to a drive train which drives track roller
  • the shaft of turbine 32b is coupled to another drive train which drives one or more cleaning brushes via belts and pulleys or gearing.
  • Other means for operating the at least one drive track and the cleaning apparatus are also contemplated.
  • the shaft of the turbine, or the drive train to which the turbine is coupled may be coupled to a battery or energy harvesting device.
  • Water jets, ultrasonic cleaning devices, etc. can also be included.
  • Virtually any device suitable for suitably cleaning a ship hull may be included in the robot and deployed in any combination with any other device as desired.
  • One or more detectors can be included in the robot to determine the degree and/or location of fouling on the ship hull.
  • detectors can include any of a variety of different types and/or combinations of detectors.
  • a non-exhaustive list of example detectors contemplated herein includes a friction detector, a conduction detector, an optical detector, a hardness detector, an acoustic detector, a chemical detector, and so forth. Example robot implementations employing these various detectors will be described below.
  • one or more microphones 204 can be supported about the robot (e.g., supported in a position proximate the tapping device) to detect the acoustic tap response from the tapping carried out on the ship hull.
  • one or more microphones may be supported and located about the ship in a position suitable for sufficiently measuring the tap response.
  • a clean hull will typically exhibit a sharper, stronger, and clearer acoustic response than a hull having a biolayer. For instance, the biolayer can muffle or dampen or dull the acoustic tap response detected by the microphone(s), thus indicating the presence of a biolayer.
  • the cleanliness parameter can comprise a friction parameter
  • the detected cleanliness parameter can comprise friction detected against a surface of the hull by the detector
  • the detector can be a cleaning element
  • the stored cleanliness parameter can be a clean hull friction standard
  • the cleanliness parameter can be a hardness parameter
  • the detected cleanliness parameter can be a hardness of the portion of the hull
  • the stored cleanliness parameter can be a clean hull surface hardness
  • any embodiments disclosed in the subject application are not to be taken as the only possible embodiments.
  • the examples discussed herein relate primarily to vessels operating in the water.
  • the body of other structures may be cleaned, inspected, or the like, using a version of the robot disclosed herein.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (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)
  • Moulds For Moulding Plastics Or The Like (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)

Abstract

Procédé de détection autonome de la propreté d'une coque consistant à positionner un système de détection de propreté autonome sur une partie d'une coque d'un navire. Un paramètre de propreté de la partie de la coque est détecté à l'aide d'un détecteur. Le paramètre de propreté détecté est comparé à un paramètre de propreté mémorisé afin d'obtenir une différence de propreté sur laquelle une opération ou un programme de nettoyage peut être basé et entrepris.
PCT/US2013/059546 2012-09-14 2013-09-12 Robot pour coque destiné à la détection autonome de la propreté d'une coque WO2014043411A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201261701537P 2012-09-14 2012-09-14
US61/701,537 2012-09-14
US13/769,337 US9061736B2 (en) 2012-09-14 2013-02-17 Hull robot for autonomously detecting cleanliness of a hull
US13/769,337 2013-02-17

Publications (1)

Publication Number Publication Date
WO2014043411A1 true WO2014043411A1 (fr) 2014-03-20

Family

ID=50278691

Family Applications (6)

Application Number Title Priority Date Filing Date
PCT/US2013/059546 WO2014043411A1 (fr) 2012-09-14 2013-09-12 Robot pour coque destiné à la détection autonome de la propreté d'une coque
PCT/US2013/059551 WO2014043414A2 (fr) 2012-09-14 2013-09-12 Robot pour coque à contre-mesures de séparation de coque
PCT/US2013/059550 WO2014062317A2 (fr) 2012-09-14 2013-09-12 Inspection de coque autonome
PCT/US2013/059527 WO2014043395A2 (fr) 2012-09-14 2013-09-12 Robot de nettoyage de coque
PCT/US2013/059548 WO2014062316A2 (fr) 2012-09-14 2013-09-12 Navigation autonome pour l'inspection d'une coque
PCT/US2013/059552 WO2014043415A1 (fr) 2012-09-14 2013-09-12 Piste magnétique à caoutchouc stratifié

Family Applications After (5)

Application Number Title Priority Date Filing Date
PCT/US2013/059551 WO2014043414A2 (fr) 2012-09-14 2013-09-12 Robot pour coque à contre-mesures de séparation de coque
PCT/US2013/059550 WO2014062317A2 (fr) 2012-09-14 2013-09-12 Inspection de coque autonome
PCT/US2013/059527 WO2014043395A2 (fr) 2012-09-14 2013-09-12 Robot de nettoyage de coque
PCT/US2013/059548 WO2014062316A2 (fr) 2012-09-14 2013-09-12 Navigation autonome pour l'inspection d'une coque
PCT/US2013/059552 WO2014043415A1 (fr) 2012-09-14 2013-09-12 Piste magnétique à caoutchouc stratifié

Country Status (1)

Country Link
WO (6) WO2014043411A1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104875217A (zh) * 2015-04-30 2015-09-02 芜湖林一电子科技有限公司 一种机器人视觉水下跟踪机
EP3025952A1 (fr) * 2014-11-25 2016-06-01 Rolls-Royce plc Robot de nettoyage
WO2018117919A1 (fr) * 2016-12-21 2018-06-28 Telefonaktiebolaget Lm Ericsson (Publ) Dispositifs et procédés destinés à indiquer un facteur externe sur la coque d'un bateau
EP3472040A4 (fr) * 2016-06-17 2019-06-19 CleanSubSea Operations Pty Ltd Système de nettoyage de coque de navire
WO2020207792A1 (fr) 2019-04-10 2020-10-15 Jotun A/S Module de surveillance
WO2020207791A1 (fr) 2019-04-10 2020-10-15 Jotun A/S Module de surveillance
WO2022200427A1 (fr) * 2021-03-23 2022-09-29 Jotun A/S Surveillance d'un navire
WO2022200430A1 (fr) * 2021-03-23 2022-09-29 Jotun A/S Surveillance de la propreté d'une surface immergée d'un objet stationnaire
NO346573B1 (en) * 2020-07-03 2022-10-17 Probotic As Autonomous cleaning vessel, method and system for cleaning of an aquatic organism containing structure
WO2022268300A1 (fr) * 2021-06-22 2022-12-29 John Derek Townson Robot antisalissure

Families Citing this family (7)

* 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
FR3047261B1 (fr) 2016-01-29 2020-06-12 Zodiac Pool Care Europe Robot nettoyeur de piscine et procede d'utilisation d'un tel robot
CN106184613B (zh) * 2016-10-09 2017-12-26 陈安 一种舰艇壳体探伤检测系统
WO2019028562A1 (fr) * 2017-08-10 2019-02-14 Jose Alberto Ochoa Disselkoen Dispositif ou machine à auto-propulsion pour le nettoyage de salissures sur les oeuvres vives de navires de grande taille à flot
CN108508884B (zh) * 2018-02-06 2023-04-18 南京永为科技有限公司 水上巡逻机器人
CN112829896A (zh) * 2019-11-22 2021-05-25 纳百创新科技有限公司 一种船身爬行机器人
CN110825088B (zh) * 2019-11-29 2021-10-01 燕山大学 一种多目视觉导引船体清洁机器人系统及清洁方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120006352A1 (en) * 2009-11-23 2012-01-12 Searobotics Corporation Robotic submersible cleaning system

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE631318A (fr) * 1963-03-27
US3682265A (en) * 1969-05-16 1972-08-08 Hitachi Metals Ltd Magnet vehicle
JPS5081487U (fr) * 1973-11-26 1975-07-14
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
US5884642A (en) * 1997-08-07 1999-03-23 Broadbent Spray Rentals Remotely controlled pressurized liquid dispensing mobile unit
NO20033501D0 (no) * 2003-08-07 2003-08-07 Kalifen As Anordning for rensing av skrog
FR2861457B1 (fr) * 2003-10-28 2007-10-19 Marc Serge Brussieux Systeme de controle non destructif
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
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
IT1394625B1 (it) * 2009-05-18 2012-07-05 Terzaghi Dispositivo pulitore per scafi di imbarcazioni
FR2948920B1 (fr) * 2009-08-05 2013-08-16 Jean Claude Kempen Robot de nettoyage de carenes de bateaux de plaisance (ou de travail) a flot
US8215435B2 (en) * 2009-08-27 2012-07-10 Edward Leroy Dvorak Adhesion and braking system for a magnetic shipping container crawling apparatus
US8393421B2 (en) * 2009-10-14 2013-03-12 Raytheon Company Hull robot drive system
DE102011003623A1 (de) * 2011-02-03 2012-08-09 Raytheon Anschütz Gmbh Vorrichtung und Verfahren zur Navigation eines beweglichen Gerätes entlang einer Oberfläche einer Materialstruktur
US8805579B2 (en) * 2011-02-19 2014-08-12 Richard Arthur Skrinde Submersible robotically operable vehicle system for infrastructure maintenance and inspection

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120006352A1 (en) * 2009-11-23 2012-01-12 Searobotics Corporation Robotic submersible cleaning system

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3025952A1 (fr) * 2014-11-25 2016-06-01 Rolls-Royce plc Robot de nettoyage
US9663201B2 (en) 2014-11-25 2017-05-30 Rolls-Royce Plc Cleaning robot
CN104875217A (zh) * 2015-04-30 2015-09-02 芜湖林一电子科技有限公司 一种机器人视觉水下跟踪机
EP3472040A4 (fr) * 2016-06-17 2019-06-19 CleanSubSea Operations Pty Ltd Système de nettoyage de coque de navire
US11753123B2 (en) 2016-06-17 2023-09-12 CleanSubSea Operations Pty Ltd Vessel hull cleaning system
US11736914B2 (en) 2016-12-21 2023-08-22 Telefonaktiebolaget Lm Ericsson (Publ.) Devices and methods for indicating an external factor on the hull of a boat
WO2018117919A1 (fr) * 2016-12-21 2018-06-28 Telefonaktiebolaget Lm Ericsson (Publ) Dispositifs et procédés destinés à indiquer un facteur externe sur la coque d'un bateau
WO2020207791A1 (fr) 2019-04-10 2020-10-15 Jotun A/S Module de surveillance
WO2020207792A1 (fr) 2019-04-10 2020-10-15 Jotun A/S Module de surveillance
US11987330B2 (en) 2019-04-10 2024-05-21 Jotun A/S Monitoring module
NO346573B1 (en) * 2020-07-03 2022-10-17 Probotic As Autonomous cleaning vessel, method and system for cleaning of an aquatic organism containing structure
WO2022200430A1 (fr) * 2021-03-23 2022-09-29 Jotun A/S Surveillance de la propreté d'une surface immergée d'un objet stationnaire
WO2022200427A1 (fr) * 2021-03-23 2022-09-29 Jotun A/S Surveillance d'un navire
WO2022268300A1 (fr) * 2021-06-22 2022-12-29 John Derek Townson Robot antisalissure

Also Published As

Publication number Publication date
WO2014062316A2 (fr) 2014-04-24
WO2014043414A9 (fr) 2014-07-10
WO2014043414A3 (fr) 2014-05-08
WO2014043414A2 (fr) 2014-03-20
WO2014043395A2 (fr) 2014-03-20
WO2014062316A3 (fr) 2014-08-21
WO2014062317A3 (fr) 2014-07-17
WO2014043415A1 (fr) 2014-03-20
WO2014062317A2 (fr) 2014-04-24
WO2014043395A3 (fr) 2014-06-26

Similar Documents

Publication Publication Date Title
US9061736B2 (en) Hull robot for autonomously detecting cleanliness of a hull
WO2014043411A1 (fr) Robot pour coque destiné à la détection autonome de la propreté d'une coque
US9440717B2 (en) Hull robot
EP3262252B1 (fr) Dispositif de nettoyage de piscine à détection optique de sortie de l'eau et de débris
US8506719B2 (en) Robotic submersible cleaning system
US10010231B2 (en) Water trailing detection system
TW200846094A (en) Automated detection and control system and method for high pressure water wash application and collection applied to aero compressor washing
WO2008054462A2 (fr) Véhicule sous-marin à chenilles ayant des capacités de recherche et d'identification, et procédés d'utilisation
JP4672378B2 (ja) 洗浄機構を備えた水質観測装置
EP2546641A3 (fr) Détecteur ultrasonore des defauts et procédé de détection ultrasonore des defauts pour objéts ayants une forme de surface complexe
KR20150058727A (ko) 수중 청소로봇
WO2022005866A1 (fr) Appareil et système d'inspection de tuyau en ligne robotiques améliorés
FI125878B (fi) Laite ja menetelmä vedenalaisen pinnan käsittelemiseksi
Gotts et al. Development of a prototype autonomous inspection robot for offshore riser cables
CN113520207A (zh) 一种带有幕墙壁面检测的清洗机器人及工作方法
JP2011075414A (ja) 位置検知システムおよび位置検知方法
Akinfiev et al. Nondestructive testing of the state of a ship’s hull with an underwater robot
US11313846B1 (en) Underwater ship hull cleaning tool test device
KR102358791B1 (ko) 선저 청소 통합 플랜트에 채용되는 이동형 검사시스템
CN106093006A (zh) 一种蔬菜清洗过程农残的拉曼循环监测装置及方法
KR101540312B1 (ko) 수중 청소로봇
KR20200004937A (ko) 자율주행 및 자세 안정화 지원 태양광 패널 청소로봇
US20230393101A1 (en) UT Sensor Interface for Scanning Complex Environments
Alsaif et al. A Small-Scale Robotic Spill Detection and Cleaning Method
Behera Wall Climbing Robot for Inspection of Wall Using Digital Image Processing

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13779949

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 13779949

Country of ref document: EP

Kind code of ref document: A1