US 8,506,719 B2 · Robotic submersible cleaning system

Abstract

A cleaning system includes a chassis supporting a propulsion system for propelling the cleaning system across a surface. At least one sensor of a first type is coupled to the chassis, and a surface engagement mechanism is configured to maintain the cleaning system coupled to the surface as the propulsion system propels the cleaning system across the surface. A cleaning device is coupled to the chassis and configured to abrade the fouling from the surface, and a controller coupled to the chassis and in signal communication with the propulsion system and the first sensor. The controller is configured to receive a signal from the at least one sensor of the first type and control the propulsion system in response to the signal.

Claims18

Dependent claims

A method of cleaning fouling from a surface of a hull disposed under a surface of a liquid, comprising:

a) determining a first frequency with which to clean a surface of the hull;
b) coupling a cleaning system to the surface of the hull, wherein the cleaning system includes a chassis supporting a propulsion system;
propelling the cleaning system across a surface;
sensing an attribute of the surface with at least one sensor coupled to the chassis;
maintaining the cleaning system coupled to the surface as the propulsion system propels the cleaning system across the surface;
operating a cleaning device coupled to the chassis to abrade the fouling from the surface;
and controlling the cleaning system by signaling between the at least one sensor, a controller coupled to the at least one sensor and the propulsion system;
c) powering on the cleaning system;
and
d) repeating steps b) and c) in accordance with the first frequency.

7 more elements

Dependencies are inferred from the claim text.

Robotic submersible cleaning system

Life of this patent

Robotic submersible cleaning system

Life of this patent

Abstract

Claims18