Underwater hull cleaning machine, hull cleaning system and method for cleaning a hull of a vessel

An underwater hull cleaning machine, comprising:

• a housing including a base region adapted to be arranged facing at least part of an external surface to be cleaned;
• a guiding mechanism comprising a thrusting mechanism;
• at least one brush;
• and
• a controller for controlling the at least one brush, a motor driver thereof, and the thrusting mechanism to apply a cleaning with a surface torque control,
• wherein the guiding mechanism is coupled to the housing, and is configured to enable the underwater hull cleaning machine to be maneuvered along the external surface;
• and
• the at least one brush is configured to move between an extended position and a retracted position to perform selective cleaning,
• wherein in the extended position, the at least one brush is extended downwardly towards the base region to be in contact with the at least part of the external surface to be cleaned, and
• wherein in the retracted position, the at least one brush is moved upwardly away from the base region to be free from contact with the external surface to refrain from cleaning a part of the external surface that is non-fouling,
• wherein the surface torque control includes controlled application of surface contact pressure along with the extended position and a rotational speed of the at least one brush to provide different surface contact pressures of the at least one brush on the part of the external surface to be translated to different levels or degrees of cleaning,
• wherein the guiding mechanism comprises a plurality of vectored thrusters spaced apart from one another and arranged in a manner to provide maneuverability of the underwater hull cleaning machine in different directions along a plane substantially parallel to the external surface to be cleaned, and at least four vertical thrusters configured to provide the thrusting mechanism arranged to provide a force opposing a drift experienced by the underwater hull cleaning machine, and enable the underwater hull cleaning machine to continue moving along the external surface with the at least one brush in the retracted position,
• wherein the at least four vertical thrusters are configured to provide maneuverability of the underwater hull cleaning machine in an upward direction away from the external surface or in a downward direction towards the external surface, each of the at least four vertical thrusters being arranged extending outwardly along a periphery of the housing, and
• wherein the at least four vertical thrusters and the at least one brush are configured to be individually driven.