WO2014043414A2 - Robot pour coque à contre-mesures de séparation de coque - Google Patents

Robot pour coque à contre-mesures de séparation de coque Download PDF

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Publication number
WO2014043414A2
WO2014043414A2 PCT/US2013/059551 US2013059551W WO2014043414A2 WO 2014043414 A2 WO2014043414 A2 WO 2014043414A2 US 2013059551 W US2013059551 W US 2013059551W WO 2014043414 A2 WO2014043414 A2 WO 2014043414A2
Authority
WO
WIPO (PCT)
Prior art keywords
robot
hull
attachment state
vessel
distress
Prior art date
Application number
PCT/US2013/059551
Other languages
English (en)
Other versions
WO2014043414A9 (fr
WO2014043414A3 (fr
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 US13/769,345 external-priority patent/US9038557B2/en
Application filed by Raytheon Company filed Critical Raytheon Company
Publication of WO2014043414A2 publication Critical patent/WO2014043414A2/fr
Publication of WO2014043414A3 publication Critical patent/WO2014043414A3/fr
Publication of WO2014043414A9 publication Critical patent/WO2014043414A9/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
    • 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

  • the structural integrity of a vessel hull is an important safety an economical concern. For example, frictional resistance due to buildup on or fouling of the hull by algae, sea grass, barnacles, and the like as a vessel moves through the water can increase the fuel consumption of the vessel. The result is added cost to operate the vessel and increased emissions. Moreover, monitoring of damage to the hull is useful in determining when and where repairs should be made.
  • robots are connected to a cable and powered and controlled by an on-board power supply and control system and are able to operate only on a stationary vessel. Further, inspection techniques for determining the cleanliness of the hull are inefficient. The monetary cost and intrinsic value of such robots can be high, and therefore, there is a desire to properly secure the robot to avoid damage or loss.
  • a hull robot for operation on a surface of a hull of a vessel in accordance with an example of the present technology.
  • the robot can include a drive subsystem onboard the robot for driving and maneuvering the robot about the hull.
  • a sensor subsystem onboard the robot can sense an attachment state of the robot to the hull.
  • the attachment state can include at least one of attached and detached.
  • a signal generation subsystem onboard the robot can emit a distress signal when the attachment state of the robot is that of detached, or in other words, when the robot becomes detached from the hull.
  • a method of detecting detachment of a hull robot from a surface of a hull of a vessel includes positioning the robot about the hull and sensing an attachment state of the robot to the hull using a sensor subsystem onboard the robot.
  • the attachment state can include at least one of attached and detached.
  • a distress signal can be emitted using a signal generation subsystem onboard the robot when the attachment state of the robot is that of detached.
  • a system for detecting detachment of a hull robot from a surface of a hull of a vessel is described in accordance with an example of the present technology.
  • the system can include a processor, a memory for storing hull property data, and a sensor carried by the hull robot, the sensor being configured to detect an attachment state of the robot relative to the hull.
  • a distress module carried by the hull robot can identify a distress situation when an attachment state of the robot is that of detached.
  • FIG. 1 is a schematic block diagram showing an example of a robot in accordance with an example of the present technology
  • FIG. 2 is a perspective view of an example hull robot in accordance with an example of the present technology
  • FIG. 3 is top perspective view of components within a hull robot in accordance with an example of the present technology
  • FIG. 4 is a block diagram showing the subsystems associated with one version of a hull cleaning robot in accordance with the subject technology
  • FIG. 5 is a schematic bottom view of a hull cleaning robot in accordance with the subject technology based on the design shown in FIG. 4.
  • FIG. 6 is a block diagram showing the primary subsystems associated with another version of a hull cleaning robot in accordance with the subject technology
  • FIG. 7a is a side view of a ship with a hull cleaning robot attached thereto in accordance with the subject technology
  • FIG. 7b is an end view of a ship with a hull cleaning robot attached thereto in accordance with the subject technology
  • FIG. 8 illustrates an optical detector sensor subsystem on a hull robot in accordance with the subject technology
  • FIG. 9 illustrates a fluid current detector sensor subsystem on a hull robot in accordance with the subject technology
  • FIG. 10 illustrates a spring-loaded hull detector in accordance with the subject technology
  • FIGs. 1 la-l lb are cross-sectional side views of a hull robot body including a buoyant material in accordance with the subject technology
  • FIGs. 12a-12b are cross-sectional side views of a hull robot body including a buoyant air pockets and bladders in accordance with the subject technology
  • FIGs. 13a-13b illustrate inflation of an inflatable flotation device carried by the robot in accordance with the subject technology
  • FIG. 14 is a simplified cross-sectional side view of a hull robot configured to scavenge power and emit a distress signal in accordance with the subject technology
  • FIG. 15 is a flow diagram of a method of detecting detachment of a hull robot from a surface of a hull of a vessel in accordance with the subject technology.
  • FIG. 16 is a block diagram of a system for detecting detachment of a hull robot from a surface of a hull of a vessel is described in accordance with an example of the present technology.
  • robot body is intended as a broad term to define one or more structural components (e.g., a frame, chassis, cover, etc.) capable of supporting one or more other components of a hull robot or its subsystems, and/or capable of providing covering and/or concealment of one or more components or subsystems of the hull robot.
  • structural components e.g., a frame, chassis, cover, etc.
  • the term “substantially” refers to the complete or nearly complete extent or degree of an action, characteristic, property, state, structure, item, or result.
  • an object that is “substantially” enclosed would mean that the object is either completely enclosed or nearly completely enclosed.
  • the exact allowable degree of deviation from absolute completeness may in some cases depend on the specific context. However, generally speaking the nearness of completion will be so as to have the same overall result as if absolute and total completion were obtained.
  • the use of “substantially” is equally applicable when used in a negative connotation to refer to the complete or near complete lack of an action, characteristic, property, state, structure, item, or result.
  • 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 term "about” is used to provide flexibility to a numerical range endpoint by providing that a given value may be “a little above” or “a little below” the endpoint.
  • FIG. 1 shows robot 10 on vessel hull 12 (e.g., a ship) underway in the direction of vector 14.
  • Robot body 16 houses drive subsystem 18 and turbine subsystem 20.
  • Fluid e.g., water
  • turbine subsystem 20 is actuatable (e.g., driven) by the moving fluid and used to operate at least drive subsystem 18.
  • the result is a robot able to maneuver, at a minimum, about hull 12 as shown by arrows 24. Furthermore, the robot is typically 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 is thus configured to harvest the energy it needs from the action of a fluid flowing past the robot.
  • the robot body 16 need not be tethered to any kind of an on-board power or control subsystem.
  • the turbine subsystem can operate drive subsystem 18 (and, in one example, a cleaning subsystem) directly or via a generator charging a power supply or power subsystem (e.g., a battery pack) which supplies power to one or more motors driving the drive subsystem and/or the cleaning subsystem.
  • a power supply or power subsystem e.g., a battery pack
  • the battery pack can also be used to energize the other electronic and/or electromechanical subsystems associated with the robot.
  • the generator may drive one or more motors directly.
  • robot 10' FIG. 2 includes body 16' with flow inlet filter screen 30.
  • Body 16' may comprise any number of hydrodynamic or other shapes or configurations. As such, the shape or configuration illustrated is not meant to be limiting in any way. The shape can be designed to urge the robot against the hull or to increase a force of attachment of the robot to the hull, when the robot is deployed on the hull, as water moves over the robot due to the action of the vessel moving through the water.
  • water passing over the robot can induce a downward force on the robot that urges the robot against the hull, or that functions to more aggressively attach the robot to the hull, such as by increasing an already existing force of attachment, thus helping to secure the robot to the hull.
  • the intakes of turbines 32a and 32b can be seen behind screen 30.
  • the intakes of turbines 32a and 32b are exposed, via screen 30, to fluid moving past the hull.
  • robot housing 16' is approximately thirty-six inches long, twenty-four inches wide, and six inches tall.
  • the drive subsystem in this example includes at least one drive track 34 configured to hold the robot on the hull as robot 10' maneuvers. Multiple drive tracks could be provided.
  • Cleaning brushes 36a-36d can be included for cleaning the hull of the vessel.
  • a battery pack and/or electronic control module can also be included.
  • the brush(es) may be driven by gear drives, which may in turn be driven by the shaft of one of the turbines 32a or 32b, or by a motor in an embodiment where the shaft of turbine 32b drives a generator providing power to battery pack for the operation of the motor.
  • the cleaning brushes 36-36d may be supported by the robot body and may be rotated using a belt and pulley system actuated by a motor 40 (which may be powered by power source 38), where some brushes 36a-36b counter- rotate relative to other brushes 36c-36d.
  • a motor 40 which may be powered by power source 38
  • Any number of brushes or cleaning elements in any configuration or organization may be used to suit a particular application, such as a greater or lesser number of brushes.
  • FIG. 3 illustrates brushes 36b-36c closer to endless belt 34 or a center of the robot than the configuration of FIG. 5 or FIGs. 9a-9b where brushes 36b-36c are relatively farther from the center and closer to an edge of the robot as compared with FIG. 3.
  • Other cleaning subsystems are also contemplated.
  • the robot could include a squeegee, a passive cleaning pad, water jets, and the like.
  • a passive cleaning apparatus power in the form of electricity or torque generated by the turbine subsystem would not generally be used to operate the cleaning apparatus.
  • turbine 32a can be used to drive track roller 50a directly in the case where the shaft of turbine 32 a is coupled to roller 50a via a drive train. But, preferably, the shaft of turbine 32a is coupled to a generator powering motor which drives roller 50a.
  • an endless belt 34 is disposed over rollers 50a and 50b and includes magnets and/or magnetic materials 52 embedded (e.g., encapsulated) in the material of the belt, which can be made of rubber.
  • magnets and/or magnetic materials 52 embedded e.g., encapsulated
  • Such a magnetic belt may effectively secure the robot to the hull of the vessel.
  • Other magnetic subsystems used to engage a robot with the hull of a vessel are also contemplated.
  • the shaft of turbine 32a is coupled to drive train 60a which drives track roller 50a and the shaft of turbine 32b is coupled to drive train 60b which drives brushes 36a-36d via belts and pulleys 64a-64d or gearing 60a-60c.
  • Other means for operating the at least one drive track and the cleaning apparatus are possible.
  • FIG. 4 illustrates a turbine subsystem 32 (including one or more devices actuatable by fluid flowing past the hull), which includes generator 70 that operates to recharge power source 38.
  • One or more motors such as motors 72a and 72b are powered by power source 38.
  • Motor 72a drives track subsystem 18 via drive train 74a.
  • the direction of travel of the robot can be reversed via electronic control subsystem 76 which is configured to reverse the direction of motor 72a based on inputs, for example, from navigation subsystem 78 and/or communication subsystem 80.
  • Electronic controller 76 is also powered by power source 38.
  • motor 72b drives cleaning subsystem 82 (e.g., one or more brushes as described above) via drive train 74b.
  • Motor 72b is also energized by power source 38.
  • the one or more motors may operate on the basis of a power source other than electricity.
  • Motors are known, for example, that are fluid driven.
  • the turbine subsystem then, may pump fluid under pressure to the motors. If the cleaning subsystem is passive, e.g., a pad and/or a squeegee, motor 72b and drive train 74b would not be required.
  • the cleaning subsystem is active, e.g., driven, it may be beneficial to operate the cleaning apparatus to assist in robot maneuvering operations.
  • two rotating cleaning brushes could be operated in opposite directions so there is no net force on the robot.
  • the brush With a larger single front and/or rear brush rotatable on an axle oriented transverse to the primary direction of robot travel, the brush could be operated to rotate opposite the direction of travel of the track when the robot is maneuvering in the direction of the water flowing past the hull (i.e., downstream).
  • the robot When the robot is maneuvering upstream, it may be desirable to run the brush in the same direction as the track.
  • the robot is maneuvering in a direction transverse to the water flow direction, it may also be desirable to operate the brush and the track in the same direction.
  • FIG. 5 shows robot body 16" housing turbine/generator units 32a' and 32b' which, when deployed, charge battery 38' via controlling electronics 40'.
  • Battery 38 provides power (via controlling electronics 40') to drive belt motor 72a which turns gear 33 driving gear 35 of drive belt roller 50a.
  • Battery 38 also provides power (via controlling electronics 40') to brush motor 72b which turns gear 37 cooperating with a gear to drive cleaning brush gears 42a-42d.
  • Controlling electronics 40' (typically employing a microprocessor, power circuits, and the like), is also powered by battery 38.
  • FIG. 6 illustrates a more direct drive version where turbine 32a', via drive train
  • Transmission 86a under the control of electronic controller subsystem 76, may be associated with drive train 74a to control the operation, speed, and direction of the track subsystem 18.
  • transmission 86b under the control of electronic subsystem 76, may be used to adjust the operation of cleaning subsystem 82.
  • a hull robot can have significant benefits in inspection, cleaning, maintenance and other operations with respect to a vessel, and particularly a vessel in motion.
  • a robot inadvertently becomes detached from the hull of a vessel or ship.
  • any loss of power may result in the electromagnet being unable to secure the robot to the hull, and the detachment of the robot from the hull.
  • the vessel may strike or come close to an obstacle, such as a rock, river or ocean floor, iceberg, etc. that may knock the robot off of the hull.
  • strong waves may dislodge the robot from the hull.
  • the present technology provides separation countermeasures to address situations where the hull robot does become separated from the vessel.
  • the separation countermeasures can be implemented in any of a variety of different ways with any of a variety of different devices.
  • the separation countermeasures may include sensors or detectors for sensing separation of the robot from the vessel, such as visual, motor current detectors, g-vector sensors, pressure sensors, functional GPS (global positioning system) sensors for detecting discrepancies with respect to a vessel, flow field detectors, noise fiduciary detectors, magnetic sensors, and so forth. Any of a variety of other sensors may also be used which are suitable to detect the presence of the vessel or the attachment state of the robot to a hull of the vessel. The sensors may also be used in any suitable combination.
  • a hull robot 232 can be configured to drive and maneuver about the hull 236.
  • a sensor subsystem 240 onboard the robot can sense an attachment state of the robot to the hull.
  • the attachment state can include at least one of attached (state where the robot is secured to the hull) and detached (state where the robot is separated from the hull).
  • a signal generation subsystem 244 onboard the robot can emit a distress signal when it is sensed that the robot has become detached from the hull (i.e., the detached attachment state).
  • the sensor subsystem can be an optical detector configured to optically detect the hull.
  • the detector 215 can be a camera or other suitable optical detector configured to optically detect whether the hull 212 is adjacent to the robot, or present at all.
  • the sensor subsystem can use a camera to capture an image and compare data in the captured image with data stored in a memory or in a database using a processor powered by the power supply to determine whether the hull is present.
  • a laser 213 or other light source can be directed toward the hull of the ship. A reflection of the light can be detected by an optical detector. If the hull is not present, the light will not reflect back towards the detector. If the hull is present, the light will reflect back to the detector and the presence of the hull can be identified and confirmed.
  • the detector 215 can be an ultrasonic detection device.
  • the hull robot may be equipped with an ultrasonic inspection device for use in inspecting the hull of a vessel.
  • operation of the ultrasonic inspection device can detect when the hull is not present (i.e., when the hull robot has been separated from the hull).
  • the ultrasonic inspection device can be configured to recognize ultrasonic signatures of a clean hull, a fouled hull, and/or a lack of presence of the hull.
  • an ultrasound transducer connected to a diagnostic machine (both of which may be supported on the hull robot and included in the detector 215) is passed over the hull, wherein ultrasonic pulse-waves, such as those with center frequencies ranging from 0.1 - 50 MHz, can be directed into the hull to detect internal flaws or to characterize hull properties. Ultrasonic inspection can also be used to determine a thickness of the hull, for example, to monitor corrosion.
  • the transducer may be separated from the hull by a couplant, wherein the couplant facilitates transmission of the ultrasonic energy from the transducer into the hull.
  • the sensor subsystem can include a fluid flow detector 224 configured to detect the flow of fluid 204 past the robot.
  • the fluid flow detector can be in the form of a turbine, as has been illustrated and described in preceding examples.
  • the fluid flow detector can comprise a water wheel (e.g., a Pelton wheel).
  • the fluid flow detector can be any suitable detector configured to detect the flow of water.
  • the turbine and water wheel are examples of devices that rotate from the flow of water. Other example devices may oscillate due to the flow of water.
  • the fluid current detector can include a membrane or other structure which flexes when water flows thereupon.
  • the flow field may be different about various locations of the hull of the vessel.
  • the fluid dynamics of the water can vary from the front of the ship to the back and can vary from near the surface of the water to the bottom of the vessel.
  • This information can be stored in a database and later referenced for use in determining whether, based on the detected fluid flow, the robot has potentially separated from the ship. For instance, in the event a flow field or fluid flow is detected that is outside of a pre-determined range of acceptable fluid flow field parameters, then it may be determined that the robot has detached from the vessel.
  • the robot can be configured with a receiver or transceiver to receive a wireless signal from an emitter or other signal generator on the vessel when the vessel is moving or stopping in addition to what is being detected by the fluid flow detector in properly identifying whether the robot is attached to the ship.
  • the wireless signal can be transmitted using any suitable wireless transmission technology such as, but not limited to, radio frequency (RF) communication, microwave communication, infrared (IR) short-range communication, and so forth.
  • RF signals generally do not transmit well through water. As a result, when RF signals are used, the robot can be navigated above the water line to detect the signals.
  • Acoustic modems are an example device can carry out underwater communication.
  • the bandwidth of acoustic modems is typically a fraction of what is transmissible in air.
  • the signals can be transmitted without the use of high bandwidth signals.
  • the acoustic modem can be used to signal the robot to come to the surface to receive a message transmitted via RF signals.
  • Another approach is to have the robot travel above the waterline at regular intervals and to wait to transmit important information during one of these above-waterline intervals.
  • RF transmission can be a viable way of communicating. For example, if the ship is moving and the fluid flow detector fails to identify the flow of fluid, the robot may indicate a possible separation from ship as a valid indication.
  • the separation from the vessel in this example may be a valid separation. If the vessel slows or has come to a stop and this relayed to the hull robot, then when the fluid flow detector fails to detect an acceptable fluid flow, the robot can be configured to not identify the lack of fluid flow as a possible indicator that the robot has separated from the vessel.
  • the sensor subsystem can comprise an acoustic detector, such as a microphone, configured to detect sound from the engine of the vessel or from the rotation of turbines or propellers disturbing the water to propel the vessel.
  • the acoustic detector can detect the change in sound and factor in this information in detecting an attachment state of the robot.
  • the sensor subsystem may comprise a detector 219 such as a gravity vector (g-vector) detector configured to detect an angular orientation of the robot relative to a direction of gravity.
  • a gravity vector (g-vector) detector configured to detect an angular orientation of the robot relative to a direction of gravity.
  • the g-vector detector can be a gravitometer or gravimeter for detecting a direction of gravity.
  • a ship or vessel generally may have a hull with a specific contoured shape. Various positions about the hull (e.g., between a top and a bottom of the hull) may be angled differently with respect to one another.
  • a hull robot equipped with a gravimeter can detect a unique g-vector for substantially any location about the hull.
  • a direction of gravity may remain substantially the same, but an orientation of the robot with respect to the direction of gravity may change as the robot traverses the hull.
  • the g-vector can be determined relative to an orientation of the robot, or more specifically to a longitudinal and/or lateral axis or angular orientation with respect to the detected direction of gravity.
  • the unique g- vectors for the various vertical locations about the hull can be pre-determined and stored in a database that can be referenced when the gravimeter detects the direction of gravity with respect to a current robot position or orientation.
  • the robot can identify that detachment has occurred.
  • the robot may be configured to float in the water at an orientation different than the various possible orientations experienced by the robot while on secured to the hull of the vessel.
  • the hull robot analyzes a change in vertical orientation of the hull robot by detecting a corresponding g- vector and comparing this with acceptable unique g-vectors, separation or attachment of the robot with respect to the hull can be identified.
  • an accelerometer may be used to determine an orientation of the hull robot relative to the ship. The detected orientation data can be used similarly to the gravity data described above.
  • the detector 219 of the sensor subsystem can be a pressure detector configured to detect a pressure of fluid (e.g., water pressure) about the robot. Pressure generally will have a direct correspondence with a depth beneath a surface of the water. Pre-determined pressure information can be generated and stored in a database onboard the robot for later comparison to facilitate identification of an approximate vertical position on the side of the vessel hull.
  • a pressure of fluid e.g., water pressure
  • Pre-determined pressure information can be generated and stored in a database onboard the robot for later comparison to facilitate identification of an approximate vertical position on the side of the vessel hull.
  • reference to the database using a processor can identify the current pressure and the associated approximate vertical position about the hull by comparing the current pressure to those stored.
  • the pressure sensor or one or more different sensors, can further be configured to detect a pressure out of water as well.
  • the pressure sensor(s) can determine whether the robot is above or beneath (or at) the water level, as well as an approximate vertical position about the hull.
  • the pressure sensor can also be configured to determine a distance the robot is away from the water level, with depth or pressure measurements corresponding to a distance above or below the water, wherein an at-the-water line pressure can be determined and used for comparison.
  • water pressure about the robot may generally be identifiable.
  • the navigation subsystem can be used to identify a given position about the hull. Using this information, the robot can then determine what the water pressure should be at this given position. If the detected pressure is different from than expected, or if outside of an acceptable range, then potential separation from the ship can be identified.
  • the pressure sensor can be configured to identify a rapid change in pressure, such as with a sinking or rising event.
  • pressure changes can be monitored to ensure that these are consistent with acceptable movements of the robot about the hull. For example, if the robot is commencing a cleaning function at a particular location, the water pressure at that location can be identified. If the water pressure begins to change, and the robot has not initiated locomotion from that position (e.g., known because the drive subsystem has not initiated), this could indicate that the robot has been separated from the hull.
  • the detector 219 of the sensor subsystem can be a global positioning system or GPS device configured to track or provide a location of the robot, and may further be configured to track the location of the robot relative to the vessel.
  • the robot via its GPS device, can be in communication with the vessel, particularly in the event of separation from the hull.
  • the GPS can detect whether relative movement between the vessel and the robot is increasing.
  • the detector 219 of the sensor subsystem can be a magnetometer or compass.
  • the presence of the metallic hull may generally skew magnetic readings with respect to magnetic North. Therefore, the sensor subsystem can identify the presence of the hull when the magnetic reading is different than magnetic North and may identify a potential separation from ship when the reading is magnetic North. Because the ship may navigate in a direction that causes the biased reading to read the same as the direction of magnetic North, the robot can be configured to change an orientation or position on the hull when a magnetic North reading is detected in order to determine whether the reading potentially represents a separation from the ship as opposed to an orientation of the ship.
  • the sensor subsystem can comprise one or more magnets supported and positioned a given elevation about the hull, which magnets can be associated with a magnetic sensor.
  • An attraction of the magnet to the hull can be detected and compared with pre-determined acceptable attraction valued.
  • the detector 219 can be an electromagnet with detection capabilities to identify the magnetic attraction or field.
  • Other implementations, such as a spring-loaded permanent magnet 221 may also be used where the detector 219 is configured to detect whether the spring 223 is extended due to a magnetic attraction between the permanent magnet and the hull. If a currently measured attraction falls below an acceptable threshold, or no longer exists, such a condition may indicate separation of the robot from the hull. Since magnetic fields vary as the cube of the distance, the drop-off rate is very fast.
  • the detector 219 of the sensor subsystem in some examples can be a noise detector configured to detect noise of the vessel, water coming in contact with the vessel, etc. as has been briefly mentioned above. Noise or sound can be used to determine the presence of the vessel. More specifically, the sensor subsystem can make use of existing or natural boat derived noise fiduciaries to identify whether the ship is present and/or operational.
  • the sensor subsystem can include a microphone or other suitable acoustic detector for detecting the noise.
  • noise generation systems onboard the vessel can generate the identifying noise.
  • the vessel need not include specially designed noise generation systems as the vessel typically already generates identifying noises, such as engine noise and bow noise (i.e., propeller operation and water hitting the bow of the vessel).
  • equipment with or on the vessel at locations other than the engine, propeller, or bow may also provide identifying noises.
  • the location of the bow noise and the engine noise are known.
  • the noises from these generally have certain frequencies that can be measured to determine which noise is being detected.
  • the sensor subsystem can use one or both of these (or any other noise fiduciaries) to determine the presence of the ship. If a noise fiduciary is not detected, or if such falls below an acceptable level, this could indicate separation of the robot from the hull.
  • the sensor subsystem can include a spring-loaded or other suitable device configured to apply a force or pressure against the hull 212 of the vessel, such as the device as illustrated in FIG. 10.
  • the device comprises an arm 216 pivotally supported about a base 214, wherein the arm is biased in the direction of the hull by a biasing element, such as a spring.
  • the device can be associated with a sensor incorporated in the base that can identify various states of the device.
  • the biasing element or spring may be compressed a certain extent when the hull is present and released or uncompressed when the robot is detached from the ship. In this case, the compression in the spring can be sensed or detected.
  • the force exerted by the arm on the hull can be sensed or detected.
  • the robot can thus identify, based on the state of the spring-loaded device and whether the detected values are acceptable as compared with known values, whether the robot is attached to the ship.
  • the arm 216 supported by the base 214 can be magnetized.
  • the base can include a strain gauge, rotation detector, or other suitable device for detecting a force on or rotation of the arm.
  • the spring-loaded magnetic arm can be biased away from the hull, and a magnetic attraction between the arm and the metal hull can draw the arm closer towards the hull or into contact with the hull.
  • a strain on the arm or a rotation of the arm changes to a relaxed or non-attracted position, a separation from the hull surface can be identified.
  • the sensor subsystem can emit sound waves for reflection from the hull.
  • the robot can identify the hull presence.
  • a potential separation from ship may have occurred.
  • the sound waves can be generated by tapping the hull or through the use of a speaker.
  • a microphone or other acoustic detector can detect the sound of the tapping or the reflected sound waves.
  • the sensor subsystem can comprise a non- destructive hull inspection system operable about the robot to perform one or more inspections of the hull of the vessel.
  • the non-destructive hull inspection system can be operable with the signal generation subsystem, such that when the inspection system is in operation yet nothing is being detected, or in other words, in the event the inspection system is detected as not inspecting a portion of the hull as it otherwise should, this can indicate a detached state and the signal generation subsystem can provide a distress signal as described below.
  • the non-destructive inspection system can comprise any number of inspection type systems, such as an ultrasonic inspection system, an eddy current detection system, a magnetic field detection system, a displacement gauge system, an optical interferometry system, a paint integrity inspection system, an acoustic emission- based inspection system, and others.
  • inspection type systems such as an ultrasonic inspection system, an eddy current detection system, a magnetic field detection system, a displacement gauge system, an optical interferometry system, a paint integrity inspection system, an acoustic emission- based inspection system, and others.
  • the robot can indicate a distressed state, wherein a signal generation subsystem of the robot can generate a distress signal via a distress signal module and can emit/transmit the distress signal with a distress signal emitter.
  • the distress signal can be encrypted if desired.
  • the distress signal generated can be one that causes the robot to take a particular action, one that can be transmitted wirelessly to the vessel, or one that can be broadcast to enable any vessel or land-based receiver to detect the signal. It is contemplated herein that the signal can be any suitable type of signal depending on how and where the signal is being transmitted, such as a wired, wireless, radio, optical, acoustical, or other signal, or a combination of these.
  • the distress signal can comprise a position indicator configured to notify the vessel (or another receiving location) so that an appropriate action can be taken, such as to retrieve the robot.
  • the position indicator can be GPS based, wherein the robot and the vessel GPS systems can communicate back and forth, or otherwise be coordinated, such that one or both of the vessel and robot GPS systems can identify a discrepancy between the relative position of the vessel and the robot.
  • the GPS on the robot can be activated only upon separation and caused to be operable with the signal generation subsystem to allow the distress signal to comprise and transmit the GPS coordinates of the robot.
  • the vessel can be configured to receive a transmitted GPS signal from the robot, thus signaling to the vessel that separation has occurred. In this case, the coordinates can be relayed to the vessel (or any receiver located on the water or on land) to facilitate retrieval of the robot.
  • the distress signal can comprise a signal generated from a satellite phone.
  • the signal generation subsystem can comprise a satellite phone operable to send the distress signal.
  • the signal generation subsystem can be operable with a global positioning system to enable the distress signal to comprise the GPS coordinates of the robot.
  • the distress signal can comprise an optical beacon (e.g., pulsing light, spotlight, etc.), an audio signal, a flare, etc.
  • the robot can be configured to provide an indication of its separation, as well as a signal for locating the robot after separation.
  • Other methods and systems capable of facilitating location of the robot after separation, other than those described herein, will be apparent to those skilled in the art, and are contemplated herein.
  • the present technology further comprises various systems and methods to surface the hull robot after a separation from the vessel so as to prevent the robot from sinking and being likely unrecoverable.
  • the robot can be equipped with one or more internal and/or external inflatable buoyancy elements.
  • the hull robot can be configured to be inherently buoyant by including or being formed from, at least in part, a buoyant material, such as closed cell foam. It is contemplated that an inherently buoyant robot may also include built-in air bladders, and so forth.
  • a robot surfacing device can cause the robot to float to the surface in the event the robot becomes separated from the hull.
  • the robot surfacing device may comprise a buoyant material 242 formed about at least a part of the robot body 246.
  • Buoyant materials may comprise foam, wood, composite structural materials, and others.
  • the robot body 250 itself may be made of a buoyant material, such as foam, as illustrated in FIG. 1 lb. Buoyant materials or systems other than foam are also contemplated.
  • air pockets 254 or bladders 258 can be built into or attached to the robot body 262 as illustrated in FIGs. 12a- 12b, and the air therein can provide sufficient buoyant force to cause the robot to float in the water.
  • the robot surfacing device can comprise an inflatable flotation device supported about the robot and operable with an inflation element (e.g., compressed gas tank) in fluid communication with the inflatable flotation device, wherein the inflation element is operable to inflate the inflatable flotation device upon separation of the robot from the hull.
  • inflatable flotation devices in the form of inflatable air bladders or tubes can be supported on the inside or outside of the robot and can be caused to inflate when the attachment state is detached.
  • one or more inflatable tubes 266 see FIG.
  • the robot body e.g., and interior portion
  • the robot can further or alternatively comprise, an inflation element, such as a C02 (carbon dioxide) cartridge, a refrigerant (e.g., Freon) dispenser, a chemical reaction that generates a gas (e.g., an explosion), and so forth.
  • an inflation element such as a C02 (carbon dioxide) cartridge, a refrigerant (e.g., Freon) dispenser, a chemical reaction that generates a gas (e.g., an explosion), and so forth.
  • a chemical can be used to react with water to produce a gas (examples include metallic sodium, lithium, calcium, magnesium, and other reactive metals, sodium bicarbonate ( aHC03)).
  • two chemicals can be caused to mix together like calcium carbonate and hydrocloric acid.
  • one chemical can be triggered into releasing gas like sodium azide (NaN3 used in air bags), gun powder, and its many variants.
  • the inflatable tubes may at least partially circumscribe a perimeter of the robot body and can be configured to float the robot when inflated.
  • one or more distress or other signals may be generated from the robot 280 to assist in recovery, or to signal the vessel that separation has occurred.
  • One or more distress signal emitters 284 e.g., the distress module
  • RF (radio frequency) emitters, GPS devices, and so forth, as discussed above, as well as other sensors, processor(s), memory device(s) and so forth can be powered by the power supply, such as via batteries 288, on-board solar panels 292, salt-water electrolyte batteries, or any combination of these.
  • the salt-water electrolyte batteries can be batteries which include a material that is activated when salt/sea water is allowed to enter previously dry cells.
  • the salt-water electrolyte battery may be activated by flow of salt water into dry cells of the salt-water electrolyte battery when the distress module identifies the distress situation.
  • the distress module may open a port to the dry cells of the the salt-water electrolyte battery when the distress situation is identified, where the open port is in fluid communication with fluid in which the hull robot is at least partially submersed.
  • the robot can open a valve or panel to allow the salt water to enter the dry cells to cause the chemical reaction which results in generation of electrical power.
  • the method can include positioning 3 10 the robot about the hull and sensing 320 an attachment state of the robot to the hull using a sensor subsystem onboard the robot.
  • the method can further include emitting 330 a distress signal using a signal generation subsystem onboard the robot when the attachment state is detached.
  • the method can include buoying or surfacing the robot to float to a water surface when the attachment state is one of detached.
  • Surfacing the robot can further include inflating an inflatable flotation device coupled to the robot using a compressed gas tank carried by the robot.
  • sensing an attachment state of the robot can include optically detecting the presence of the hull using an optical detector; detecting the flow of fluid past the robot using a fluid flow detector; detecting an angular orientation of the robot relative to gravity using a gravity vector detector; detecting a pressure of fluid surrounding the robot using a pressure detector; tracking a location of the robot using a global positioning system device; detecting noise of the vessel using a noise detector; and so forth.
  • Sensing an attachment state of the robot can further include operating a nondestructive inspection system to inspect the hull of the vessel, and monitoring the output of the inspection system.
  • inspection of the hull, and the output by the inspection system thereof can indicate an attached state of the robot.
  • the signal generation subsystem (which can be made to be operable with the inspection system) can generate a distress signal, as taught herein.
  • the system can include a processor 410 and a memory 415.
  • the memory can be used for storing vessel related and/or robot related data.
  • the memory may be a non- transitory computer readable storage media.
  • the memory may compress random access memory (RAM).
  • the memory may comprise both the non-transitory media and the RAM and the detected characteristic may be stored in the RAM while the stored property data is stored on the non-transitory media.
  • the processor can access both the RAM and the non-transitory media to compare the data, according to computer readable program instructions, for use in identifying the presence of the hull adjacent to the robot.
  • the system can include a sensor 420 supported on the hull robot and configured to detect an attachment state of the robot relative to the hull, the attachment state comprising at least one of attached and detached.
  • the sensor may be any suitable type of sensor operating in any suitable manner to detect the attachment state, as has been set forth above.
  • a distress module 430 carried by the hull robot can be configured to identify a distress situation when the attachment state of the robot relative to the hull is detached.
  • the system can include a hull detection analysis module 425 carried by the hull robot can be configured to use the processor to analyze the data obtained by the sensor 420, and/or to compare the data obtained by the sensor with stored data to identify the presence of the hull and/or to determine an attachment state of the robot relative to the hull.
  • the distress module 430 can identify the distress situation when the presence of the hull is not identified or detected.
  • the detection analysis module 425 can detect a separation from the ship based on an amount of electrical current a cleaning, drive or other subsystem is able to draw.
  • a cleaning subsystem will draw limited to no current when the hull robot is separated from the hull and not generating power as opposed to when the robot is attached to the hull, generating power, and/or actively cleaning the hull.
  • a drive system will draw a much lower amount of current (or no current at all) when the robot is separated from the ship as opposed to when the drive subsystem is used to facilitate locomotion of the robot about the hull.
  • the load on the track motors i.e., the motor current draw
  • the load on the track motors i.e., the motor current draw
  • the detection analysis module 425 can detect a separation from the ship based on an electrical and/or physical load on a drive subsystem. For example, the electrical current draw for a motor driving the track for navigation of the hull robot upon the hull will be markedly different when the track is operating on a hull surface as compared with moving freely in water or in air. Further separation detection examples can include detecting the power being generated by the power scavenging systems, wherein the power generated will likely be little to no power upon separation.
  • a velocity threshold may exist for passing fluid to actuate drive subsystems, cleaning subsystems, energy extraction devices and so forth.
  • a velocity of passing fluid may be a result of the vessel to which the hull robot is attached being in motion at a velocity meeting or exceeding a pre-determined velocity or the velocity threshold.
  • the fluid flow past the hull robot may decrease below the velocity threshold such that driving and cleaning functions are ceased and energy may be used for emitting the distress signal, inflating buoyancy devices and so forth as has been described.
  • the methods and systems of certain examples may be implemented in hardware, software, firmware, or combinations thereof.
  • the methods disclosed herein can be implemented as software or firmware that is stored in a memory and that is executed by a suitable instruction execution system (e.g., a processor). If implemented in hardware, the methods disclosed herein can be implemented with any suitable technology that is well known in the art.
  • modules may be, for example, software, firmware, commands, data files, programs, code, instructions, or the like, and may also include suitable mechanisms.
  • a module may be implemented as a hardware circuit comprising custom VLSI (very large scale integration) circuits or gate arrays, off- the-shelf semiconductors such as logic chips, transistors, or other discrete components.
  • a module may also be implemented in programmable hardware devices such as field programmable gate arrays, programmable array logic, programmable logic devices or the like.
  • Modules may also be implemented in software for execution by various types of processors.
  • An identified module of executable code may, for instance, comprise one or more blocks of computer instructions, which may be organized as an object, procedure, or function. Nevertheless, the executables of an identified module need not be physically located together, but may comprise disparate instructions stored in different locations which comprise the module and achieve the stated purpose for the module when joined logically together.
  • a module of executable code may be a single instruction, or many instructions, and may even be distributed over several different code segments, among different programs, and across several memory devices.
  • operational data may be identified and illustrated herein within modules, and may be embodied in any suitable form and organized within any suitable type of data structure. The operational data may be collected as a single data set, or may be distributed over different locations including over different storage devices.
  • the modules may be passive or active, including agents operable to perform desired functions.

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

Abstract

L'invention concerne un robot pour coque conçu pour fonctionner sur une surface d'une coque de navire. Le robot peut comprendre un sous-système d'entraînement intégré dans le robot pour entraîner et manoeuvrer le robot sur la coque. Un sous-système de capteur intégré dans le robot peut détecter un état de fixation du robot sur la coque. L'état de fixation peut comprendre au moins l'état attaché ou détaché. Un sous-système de génération de signal intégré dans le robot peut émettre un signal de détresse, lorsque l'état de fixation correspond à l'état détaché.
PCT/US2013/059551 2012-09-14 2013-09-12 Robot pour coque à contre-mesures de séparation de coque WO2014043414A2 (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
US13/769,345 2013-02-17
US13/769,345 US9038557B2 (en) 2012-09-14 2013-02-17 Hull robot with hull separation countermeasures

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WO2014043414A2 true WO2014043414A2 (fr) 2014-03-20
WO2014043414A3 WO2014043414A3 (fr) 2014-05-08
WO2014043414A9 WO2014043414A9 (fr) 2014-07-10

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

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PCT/US2013/059550 WO2014062317A2 (fr) 2012-09-14 2013-09-12 Inspection de coque autonome
PCT/US2013/059548 WO2014062316A2 (fr) 2012-09-14 2013-09-12 Navigation autonome pour l'inspection d'une coque
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/US2013/059527 WO2014043395A2 (fr) 2012-09-14 2013-09-12 Robot de nettoyage de coque

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WO2014062316A3 (fr) 2014-08-21
WO2014043411A1 (fr) 2014-03-20
WO2014062317A3 (fr) 2014-07-17
WO2014043415A1 (fr) 2014-03-20
WO2014062317A2 (fr) 2014-04-24
WO2014043414A9 (fr) 2014-07-10
WO2014043395A3 (fr) 2014-06-26
WO2014062316A2 (fr) 2014-04-24
WO2014043395A2 (fr) 2014-03-20
WO2014043414A3 (fr) 2014-05-08

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