METHOD FOR MOTION ON THE SURFACE OF A BODY SURROUNDED BY A FLUID

Description

[0001] The present invention relates to a moving device for locomotion on the surface of a body around which a fluid flows, in particular a ship's hull, a rotor blade, a rudder, a pipe body or the like, comprising at least a holding system for adhesion of the moving device to the surface, a traction system for guiding the moving device on the surface and a drive system for driving the moving movement of the moving device on the surface. STATE OF THE ART

[0002] Technical surfaces of fluid-enclosed bodies, in particular ship hulls or, for example, inner walls of pipelines or rotor blades of wind turbines, are subject to permanent contamination and wear processes during operation in interaction with the fluid and / or substances or organisms carried therein.

[0003] In the case of ship hulls, the growth of organisms on the surface below the waterline poses a significant problem. This process, also known as fouling, involves the unwanted colonization of organisms and communities of organisms, leading to the formation of macroscopic layers of fouling within a short time. These layers increase the drag on the ship's hull and, in extreme cases, cause a considerable increase in the ship's weight, resulting in a significant rise in fuel consumption.

[0004] The use of biocide-containing coatings on the surface of ship hulls to prevent fouling is severely restricted due to legal regulations. Therefore, regular mechanical cleaning of ship hulls is carried out in shipping practice. For this purpose, the ships are taken to dry docks, which is a disadvantageously time-consuming and costly procedure. Alternatively, cleaning can be carried out in the harbor basin, for example, manually by professional divers or using cleaning devices or robots, which are typically wired systems operated from the deck of the ship. Such cleaning measures also result in undesirably long downtimes for the ships, and furthermore, numerous regions of the world have regulations prohibiting the cleaning of ship hulls in the harbor basin to prevent the introduction of invasive species into the local ecosystem.

[0005] It is therefore desirable to carry out the cleaning of ship hulls while the ship is underway, preferably on the high seas. In particular, essentially continuous cleaning can permanently prevent the formation of macroscopic fouling. Continuous cleaning is also desirable because, typically, adverse effects on hydrodynamics become significant after just a few days of undisturbed fouling, and voyages lasting several weeks are not uncommon for cargo or cruise ships.

[0006] In the prior art, traversing devices for the autonomous or semi-autonomous execution of cleaning and inspection work on ship hulls below the waterline while the ship is underway are known. For adhesion to the surface of the ship hull, the traversing devices typically have a magnetic holding system, in particular based on suitably arranged permanent magnets. A traction system, for example in the form of wheels, rollers, or chains, serves to guide the device on the surface, and the associated drive system is usually based on an electric motor. Rotating brushes or high-pressure water jet nozzles, for example, serve as cleaning systems. The power supply for the drive system and the cleaning system, as well as any necessary components, is provided by a separate power supply unit.For other components such as cameras, sensors or communication modules, power is usually provided via an electrical cable connection to the deck of the ship or via an onboard battery.

[0007] Using a cable connection is problematic because there is a risk that the power cable will become entangled in debris or similar objects, consequently damaging the propulsion system. Furthermore, the cable creates significant drag, severely limiting the maneuverability of the propulsion system, especially at high current speeds, i.e., when the ship is traveling at high speeds. Powering the system with an onboard battery has the disadvantage that it must be comparatively powerful and therefore large and heavy to provide a practical operating time per discharge cycle, particularly when operating the propulsion system at high current speeds. The high drag of a power cable, or...The high weight of an on-board accumulator necessitates a very high contact force applied by the mounting system of the traversing device to ensure reliable adhesion of the device to the surface of the ship's hull. This limitation restricts the usability of such traversing devices at high flow velocities.

[0008] Document WO 2010 / 059195 A1 (Priority Document US 2010 / 0126403 A1) discloses a cleaning robot for cleaning a ship's hull while the ship is underway, wherein the robot has turbines which can be driven by the water flow and are in operative connection with a generator, so that an energy supply is formed to drive both the cleaning system and the robot's movement on the ship's hull surface. REVELATION OF THE INVENTION

[0009] The object of the present invention is to propose an alternative embodiment of a propulsion device for movement on the surface of a body surrounded by a fluid, in particular a water-surrounded ship hull.

[0010] This problem is solved starting from a traversing device according to the preamble of claim 1. Advantageous embodiments of the invention are specified in the dependent claims.

[0011] The technical teaching of the invention discloses that the drive system of the traversing device has at least one flowable body for interaction with the fluid, such that flow energy can be extracted from the fluid flowing around the body and used to drive the traversing movement for the movement of the traversing device on the surface of the body around which the fluid flows, and the drive system is designed such that the flow energy extracted from the fluid flowing around the body for the movement of the traversing device by means of momentum transfer to the flowable body can be used for the direct fluid-dynamic drive of the traversing movement.

[0012] The invention is based on the idea of ​​generalizing the principles of propulsion for sailing vessels using wind, i.e., flowing air, and transferring them to other fluids, particularly flowing water. The drive system according to the invention is therefore designed to interact with the flowing fluid in such a way that the movement of the propulsion device can be driven exclusively by dynamic lift force and / or drag force. The drive system comprises a suitable flow body on which, when the fluid flows around it, a resulting flow force acts, composed of the drag force in the direction of flow and the dynamic lift force perpendicular to it.The drive system is designed according to the invention such that the flow energy extracted from the surrounding fluid by means of momentum transfer to the fluid body for the propulsion of the moving device can be used for the direct fluid-dynamic drive of the moving motion. This represents a significant difference from the prior art of publication WO 2010 / 059195 A1, the technical teaching of which is directed only indirectly to the use of the extracted flow energy, such that the flow energy is first converted into electrical energy by means of a turbine and then consumed as drive work by means of an electric motor.

[0013] In the drive system according to the invention, the force acting on the fluid body is transferred to the propulsion device and converted into a targeted movement on the surface by means of the traction system. By appropriately adjusting the angle of attack of the fluid body to the surrounding flow, a dynamic lift force with a non-zero component in the direction opposite to the flow can be generated, so that the propulsion device can also be moved against the flow, analogous to a sailing ship sailing upwind to reach its destination. The propulsion device can thus be driven by the drive system on the surface of the body around which the fluid flows, resulting in a movement whose direction of travel has a significant component, in particular a main component, opposite to the direction of the fluid flow.Travel directions with a significant component against the flow direction are understood to be those directions which enable the moving device to approach an upstream target within a travel time that is practical for the respective application, in particular by means of "zigzag courses" analogous to tacking in sailing. According to the invention, this enables comprehensive and targeted movement of the moving device on the surface of the body around which the flow is directed, in principle using only kinetic energy extracted from the flow by means of momentum transfer.

[0014] According to the invention, the traversing device is thus free of mechanical connections to external drive means and / or external holding means. For example, the cable connections known from the prior art between a cleaning device operating on the surface of a ship's hull and a winch or operating personnel on the deck of the ship are unnecessary for the proper operation of the traversing device according to the invention.

[0015] In the case of a moving ship, the flow is essentially generated by the ship's propulsion, so that the inventive propulsion device is indirectly powered by the ship's propulsion system. A particular advantage lies in the possibility of continuous underwater operation, at least as long as the ship is moving at sufficient speed to generate an adequately rapid flow. Thus, the inventive propulsion device can be operated without interruption and, in particular, perform continuous cleaning of the ship's hull, which always inhibits the formation of unwanted fouling at an early stage. Compared to prior art propulsion devices with a heavy accumulator, the inventive propulsion device can have a significantly lower weight, so that the contact pressure required for adhesion to the ship's hull surface is correspondingly lower.This advantageously reduces the performance requirements of the holding system and also results in less stress on the surface being driven over, which may, for example, have wear-prone coatings or structures.

[0016] Preferably, the drive system comprises a plurality of flow elements. By appropriately arranging and / or individually adjusting the angle of attack of the individual flow elements relative to the surrounding flow, a torque can be generated on the propulsion device in a targeted manner, thus ensuring suitable maneuverability.

[0017] In an advantageous embodiment of the traversing device according to the invention, the fluid body is designed as a wing element, and the drive system has at least one actuating element, wherein the angle of attack of the wing element in the fluid flow is adjustable by means of the actuating element. The wing element forms a planar drag body for fluid-mechanical interaction with the fluid flow. It is preferably arranged on the upper side of the traversing device, i.e., on the side facing away from the surface of the body to be traversed, and preferably projects perpendicularly from this side into the flow. The shape of the wing element can, for example, bear a high resemblance to the wing of an aircraft. The angle of attack, which can be changed by means of the actuating element, corresponds to the acute angle between the chord line, i.e.,The relationship between the leading and trailing edges of the wing element's profile and the flow direction of the surrounding fluid determines the direction of movement. At large angles of attack of the wing element, up to 90°, the drag force dominates, and the movement mechanism is essentially pushed in the direction of the flow. At smaller angles of attack, a pressure difference arises between the leeward and windward sides of the wing element, resulting in a dynamic lift force perpendicular to the flow. The traction system of the movement mechanism absorbs the force component perpendicular to the direction of travel, and the remaining component of the total force from drag and lift causes a movement with a non-zero component against the flow direction.

[0018] For example, the wing element can be pivotably mounted on the top of the moving device in the area of ​​the leading edge, analogous to a fore-and-aft sail of a sailing ship, which can be pivoted around the ship's mast by means of the so-called boom.

[0019] In particular, the drive system can have a plurality of spaced-apart wing elements, each of which can be assigned a separate actuating element. The maneuverability of the traversing device according to the invention can be improved, in particular, by means of a plurality of wing elements.

[0020] For example, the wing element can have an asymmetrical airfoil. An airfoil is defined as the shape of the wing element's cross-section in the direction of airflow, and asymmetry exists when the airfoil is not mirror-symmetrical about its chord. The airfoil determines the wing element's aerodynamic coefficients, such as the lift coefficient, drag coefficient, and moment coefficient, and can be adapted to the intended application of the propulsion system. For example, the wing element's airfoil can be selected from the types tabulated by the National Advisory Committee for Aeronautics (NACA). In a propulsion system with multiple wing elements, the airfoils of the wing elements can, for instance, have different profiles.

[0021] In a specific embodiment, the wing element has an actively or passively variable profile. For example, so-called "morphing wings" are known, whose profile can be actively adapted to the flow and the desired lift characteristics by means of shape-changing actuators, so-called MFC actuators based on macro-fiber composite materials with piezoelectric fibers. This allows the flexibility and maneuverability of the inventive propulsion device to be further increased. A wing element with passive profile variability can, for example, be designed analogously to a fore-and-aft sail of a sailing ship, in which the sailcloth assumes a different curvature depending on the ship's course and the position of the boom.

[0022] For example, the traversing device has a surface area of ​​0.05 to 1.5 square meters, while the wing element has a surface area of ​​0.02 to 0.75 square meters. The surface area of ​​the traversing device or the wing element refers to the largest cross-sectional area of ​​the respective housing body that encloses the traversing device without the wing element. The dimensions given are those of various traversing devices for the application examples mentioned above. For use of the traversing device on a ship's hull exposed to water, a ratio of approximately 2 between the surface area of ​​the wing element and the traversing device is particularly suitable.

[0023] In a further embodiment, the flow body is designed as a Flettner rotor, and the drive system comprises at least one associated rotor drive, wherein the Flettner rotor can be rotated by means of the rotor drive. The Flettner rotor is a cylinder exposed to the fluid flow, which can be set into rotation about its cylinder axis by the rotor drive. The rotating Flettner rotor generates a dynamic lift force perpendicular to the flow direction through the so-called Magnus effect, consisting of suction and pressure forces. At sufficiently high rotational speeds, this lift force can significantly exceed the drag force. Flettner rotors are known as ship propulsion systems for interacting with the wind. In particular, the drive system of the propulsion device according to the invention can comprise a plurality of Flettner rotors, each with, for example, separate rotor drives.Furthermore, the propulsion system can also include a suitable combination of wing elements and Flettner rotors.

[0024] Preferably, the flow body can be designed to be extendable, so that the size of the interaction areas around it can be adjusted. For example, the flow body can be telescopically extendable or, in the case of a wing element, can be rolled out or extended. In such an embodiment, the drive system can be adapted to the prevailing flow conditions, in particular the flow velocity, so that the amount of flow energy required for the appropriate movement of the device can always be extracted from the flow.

[0025] Furthermore, the flow element can preferably be pivotable so that its vertical angle relative to the top of the traversing device is adjustable. The top is typically the side of the traversing device that faces away from the surface of the body being traversed and on which the flow element is located. By adjusting the vertical angle of the flow element within the flow, a contact force can be generated, which, in addition to the holding system, ensures that the traversing device adheres to the surface of the body being traversed. In the neutral position of the flow element, the vertical angle is 90°.

[0026] A further advantage is that the fluid body can be designed to fold into a position of minimal drag and / or minimal extent perpendicular to the top of the traversing device, i.e., a position in which neither a significant drag force nor a dynamic lift force is generated. Such a position is achieved, in particular, by folding the wing element and / or the Flettner rotor flat onto the top of the traversing device. In such a position, the drive system is practically deactivated and does not contribute to the movement of the traversing device. This may be necessary, for example, at extremely high flow velocities to prevent failure of the holding system, or during a period of inactivity of the traversing device.At moderate flow velocities, effectively deactivating the drive system typically requires minimizing the angle of attack of the wing element using the actuator or stopping the Flettner rotor drive. When the control device is used on the surface of a ship's hull, a folded position of the flow control element may be necessary to allow the ship to navigate a section of the channel with very shallow depth or a lock.

[0027] Preferably, the propulsion device further comprises at least one electric machine and at least one electrically connected accumulator, wherein the electric machine is operatively connected to the traction system so that the electric machine is configured to interact with the traction system in motor mode and / or in generator mode. The electric machine can, for example, be designed as a brushless electric motor. The traction system is expediently designed with, for example, wheels, rollers, or chains together with the associated axles, bearings, mounts, and seals.

[0028] Motor operation, i.e., driving the traction system by means of the electric motor to propel the traversing device, can provide assistance to the fluid-mechanically interacting drive system, for example, at low flow velocities, when traveling against the current, or during changes of direction. In the case of an application on the surface of a ship's hull, motor operation can also serve for propulsion above the waterline, particularly when retrieving and deploying the traversing device.

[0029] In generator mode, torque from the traction system is fed into the electric machine and converted there into electrical energy, which can be transferred to the accumulator for storage. The kinetic energy of the traction system originates from the flow energy extracted from the flow by means of the drive system according to the invention. Generator mode can also be used to exert a significant braking effect on the traversing motion of the traversing device.

[0030] The energy stored in the accumulator can be supplied not only to the electric machine but also to other electrical consumers of the transport device, which are described below as examples.

[0031] The moving device can thus include a sensor system for determining the flow velocity and / or flow direction of the fluid flowing around it. For example, pressure sensors can be used to determine the flow direction by measuring the maximum dynamic pressure and the flow velocity by measuring the differential pressure.

[0032] A further advantage of this is that the moving device can also incorporate a navigation system to determine its position and / or orientation relative to the surface of the object it is traversing. Such sensors enable the moving device to move efficiently and autonomously or semi-autonomously. For example, the navigation system can use odometry to measure distance and / or determine the moving device's speed based on operational data from the traction system, such as the rotational speed of a wheel axle. Furthermore, the navigation system can include accelerometers, gyroscopes, and / or a compass to determine the moving device's position, orientation, and movement.For example, the surface of the body being traversed may have boundary markers, guide markings and / or induction loops, with the navigation system being designed to identify them using an optical measuring unit and / or induction sensors.

[0033] In particular, the traversing device according to the invention can include a cleaning system, an inspection system, or a maintenance system for cleaning and / or inspecting and / or maintaining the surface of the body. The cleaning system comprises, for example, rotatable brushes or high-pressure water jet nozzles. The inspection system can be designed with a camera, for example in combination with a lighting unit, and / or special, suitable sensors, for example, based on ultrasound. For example, an inspection system with a camera can be used to create a complete image of the surface of the body being traversed, for which a plurality of individual images acquired during the camera's passage are combined to form a corresponding overall representation.Maintenance of the surface of the body being traversed may include, in particular, repair work such as grinding or welding, for which the maintenance system of the traversing device must be appropriately designed.

[0034] For example, the moving device has a mechanical cleaning system and a gearbox, wherein the traction system is operatively connected to the drive of the gearbox and the cleaning system to the output of the gearbox, so that the cleaning system can be operated by means of the gearbox during the moving movement of the moving device, for example in such a way that a cleaning brush can be set into rotation, whereby the work required for this can be supplied from the traction system by means of the gearbox.

[0035] In an advantageous embodiment, the traversing device has a control system for autonomous or semi-autonomous operation. This operation preferably includes both targeted movement on the surface and the execution of work steps such as, in particular, cleaning or inspection. The control system can, in particular, control all other systems of the traversing device and preferably also includes a communication module for wireless communication, for example, with a device on board a vessel traversed by the traversing device.

[0036] In addition to its use on the surface of ship hulls, another application area for the inventive traversing device is, for example, the rotor blades of wind turbines. These require regular cleaning, as fouling and, in particular, adhering insects lead to undesirable increases in drag, reduction in lift, and noise generation. A further application example is the in-wall traversing of fluid-filled pipelines for cleaning, maintenance, or inspection purposes. The detailed design and dimensioning of the traversing device, and especially the drive system, should in each case be expediently adapted to the intended application.

[0037] The present invention further relates to a method for cleaning and / or inspecting and / or maintaining the surface of a body around which a fluid flows, in particular a ship's hull, a rotor blade, a rudder, a pipe body or the like, wherein at least one traversing device according to the invention, according to one of the aforementioned embodiments, is moved on the surface of the body around which the fluid flows while carrying out cleaning and / or inspection and / or maintenance measures, wherein flow energy is extracted from the surrounding fluid and used to drive the traversing movement for the movement of the traversing device.

[0038] In particular, multiple moving devices can be used simultaneously, cooperating with each other during cleaning, inspection, and / or maintenance operations. For example, the moving devices can communicate with each other via radio links and effectively perform the respective tasks as an autonomous network or through a central control system. PREFERRED EXAMPLES OF THE INVENTION

[0039] Further measures improving the invention are described in more detail below, together with a description of preferred embodiments of the invention, with reference to the figures. The figures show: Fig. 1a, b perspective views of a first embodiment of the traversing device according to the invention; Fig. 1c perspective view of the first embodiment without cover; Fig. 2 perspective view of a second embodiment; Fig. 3 schematic representations of a traversing device according to the invention on a ship's hull; and Fig. 4 schematic representation to illustrate the relevant forces. Fig. 1a and Fig. 1b Figure 1 shows perspective views of a first embodiment of the traversing device 100 according to the invention, which is particularly suitable for use on the surface of a ship's hull. The drive system 3 has three flow bodies 30 arranged at a distance from each other, which function as The wing elements 31 are designed with a symmetrical profile and project from the upper surface 10 of the traversing device 100 at a perpendicular angle. When used on a ship's hull, the upper surface 10 faces away from its surface, so that the wing elements 31 are below the waterline and exposed to the water flowing around the ship's hull.

[0040] The traversing device 100 further comprises the traction system 2 for tracking on the surface to be traversed, which includes the two laterally opposed drive wheels 21 and the rear swivel wheel 22. The drive wheels 21 have a permanent magnet section throughout, for example made of an iron-rare-earth alloy, which forms the holding system 1 that enables the traversing device 100 to adhere to a magnetizable surface, in this case, in particular, a ship's hull.

[0041] The front of the traversing device 100 features the cleaning system 8, which includes the cylindrical brush 81 that can be driven to rotation via the belt drive 82. The brush 81 is specifically designed for cleaning organic fouling from a ship's hull surface.

[0042] Furthermore, the traversing device 100 includes the sensor system 6 for determining the flow velocity and / or flow direction of a fluid, in particular water. The data acquired by the sensor system 6 serve to adjust the drive system 3 appropriately for locomotion.

[0043] In Fig. 1a and Fig. 1b Different positions of the wing elements 31 are shown, which are suitable for different orientations of the traversing device 100 relative to a flowing fluid, whereby a traversing movement of the traversing device 100 in the direction of the cleaning system 8 is desired in each case. In analogy to the positions of the sails of a sailing ship or a land yacht, the position shown in the Fig. 1a The depicted position of the wing elements 31 is on a course "close-hauled", and in the Fig. 1b Accordingly, a course "downwind" is depicted. To change position, the wing elements 31 are each designed to rotate about a vertical axis of rotation, which runs approximately in the region of the greatest thickness of the profile of the wing elements 31.

[0044] Fig. 1c Figure 1 shows another perspective view of the first embodiment without the cover, thus revealing the interior of the housing of the traversing device 100. For underwater operation, the closed housing is suitably sealed against water ingress.

[0045] The actuating elements 32 are arranged below the axes of rotation of the wing elements 31, by means of which the angle of attack of the wing elements 31 can be adjusted in a flowing fluid.

[0046] The transport device 100 further comprises the two electric machines 4 and the electrically connected accumulator 5 (all necessary cable connections between the various components are not shown here for the sake of clarity), wherein the electric machines 4 are operatively connected to the traction system 2, i.e., to the two drive wheels 21, so that the electric machines 4 are configured to interact with the traction system 2 in motor mode and / or in generator mode. The operating mode of the electric machines can be changed between "motor" and "generator", in particular by means of control by the control system 9.When the traversing device 100 is moved by means of the wing elements 31 in a flowing fluid, the rotational energy of the rolling drive wheels 21 can be converted into electrical energy by the electric machines 4 in generator mode and used to charge the accumulator 5. All components of the traversing device 100 are supplied with electricity by means of the accumulator 5. In motor mode, the electric machines 4 drive the drive wheels 21, so that the traversing device 100 is also capable of movement outside of a flowing fluid.

[0047] The brush 81 can be driven to rotate via the belt drive 82, whereby drive energy can be drawn from the traction system 2 by means of the gearbox 83. The drive of the gearbox 83, which can in particular be designed as a spur gear drive, is operatively connected to the traction system 2, i.e., to the axis of the drive wheel 21, and the output of the gearbox 83 forms the drive of the belt drive 82. Alternatively or additionally, a separate motor can be provided to drive the brush 81.

[0048] Furthermore, the moving device 100 includes the navigation system 7 with the three position sensors 71 for determining the position and orientation of the moving device 100.

[0049] The control system 9 comprises the control unit 91 and the radio module 92 and serves to enable autonomous or semi-autonomous operation of the traversing device 100. The control unit 91 is electrically connected (not shown) to the components of the sensor system 6, the navigation system 7, the electric motor 4, the actuators 32, and optionally to other on-board electrical systems, such as an additional motor for driving the brush. Based on the data from the sensor system 6 and the navigation system 7, the control unit 91 can determine the route to be followed by the traversing device 100 and issue corresponding control commands to the actuators 32 for the appropriate positioning of the wing elements 31. The radio module 92 serves for communication with an external controller and / or, for example, with other cooperating traversing devices according to the invention.

[0050] Fig. 2 Figure 1 shows a perspective view of a second embodiment of the traversing device 100 according to the invention, in which the flow elements 30 of the drive system 3 are designed as Flettner rotors 33. The associated rotor drives for rotating the Flettner rotors 33 are not visible here, but are arranged inside the housing of the traversing device 100. The maneuverability of the illustrated embodiment results from the fact that the individual Flettner rotors 33 can be rotated at different rotational speeds, so that a torque for steering or turning the traversing device 100 in a flowing fluid can be generated.

[0051] Fig. 3 shows schematic representations of a traversing device 100 according to the invention, based on the first embodiment of the Fig. 1a bis 1c On the surface O of a body K in the form of a ship's hull K_1, around which fluid F (water) flows, the propulsion device 100 is located below the waterline (indicated by dashed lines) and is subjected to the flow of fluid F in the direction R_F. In the left part of the image, the direction of travel R_100 of the propulsion device 100 is parallel to and aligned with the direction of flow R_F, with the position of the wing elements 31 optimized for propulsion by means of drag. In the representation of the right part of the image, the direction of travel R_100 of the propulsion device 100 has a main component opposite to the direction of flow R_F, and accordingly, the position of the wing elements 31 is directed towards generating dynamic lift.

[0052] Fig. 4Figure 1 shows a schematic representation illustrating the relevant fluid dynamic forces acting on the traversing device 100, particularly on a wing element 31, in a fluid flow F. The traversing device 100 is depicted, with a significant component in its direction of travel R_100 opposite to the flow direction R_F. The total fluid dynamic force F_G acting on the wing element 31 is composed of the drag force F_W in the flow direction R_F and the dynamic lift force F_A perpendicular to the flow direction R_F. A decomposition of the total force F_G with respect to the direction of travel R_100 yields the force F_GQ in the transverse direction, which is absorbed by the traction system 2 of the traversing device 100, and the force F_GF, which acts in the direction of travel R_100 and provides the propulsion for the traversing device 100 with a major component opposite to the flow direction F.The ratio of the drag force F_W to the dynamic lift force F_A can be changed by varying the angle of attack α between the chord line of the wing element 31 and the flow direction R_F and also depends on the specific profile of the wing element 31.

[0053] The invention is not limited in its implementation to the preferred embodiments specified above. Rather, a number of variants are conceivable, which utilize the presented solution even in fundamentally different designs. The invention is defined in the pending claims. Reference symbol list:

[0054] 100 Traction device 10 Top 1 Holding system 2 Traction system 21 Drive wheel 22 Swivel wheel 3 Drive system 30 Flow body 31 Wing element 32 Actuator 33 Flettner rotor 4 Electric machine 5 Accumulator 6 Sensor system 7 Navigation system 71 Position sensor 8 Cleaning system 81 Brush 82 Belt drive 83 Gearbox 9 Control system 91 Control unit 92 Radio module F Fluid K Body O Body surface K_1 Hull R_100 Direction of travel R_F Flow direction α Angle of attack F_A Dynamic lift force F_W Drag force F_G Total fluid dynamic force F_GF Force in the direction of travel F_GQ Force in the lateral direction

Claims

1. Travel device (100) for travelling a body (K) surrounded by a fluid (F) on the surface (O) of a body (K), in particular a ship's hull (K_1), a rotor blade, a rudder, a pipe body or the like, comprising at least a holding system (1) for adhering the travel device (100) to the surface (O), a traction system (2) for guiding the travel device (100) on the surface (O), and a drive system (3) for driving the travel movement of the travel device (100) on the surface (O), wherein the drive system (3) has at least one flow body (30) that can be flowed around for interaction with the fluid (F), so that for the travel device (100) can be moved on the surface (O) of the body (K) around which the fluid (F) flows, so that flow energy can be extracted from the surrounding fluid (F) and used to drive the traversing movement, characterized in that the drive system (3) is designed in such a way that the flow energy extractable from the surrounding fluid (F) for the purpose of moving the travel device (100) by means of impulse transmission to the flow body (30) can be used for the direct fluid-dynamic drive of the traversing movement, wherein the travel device is free of mechanical connections to external drive means and / or external holding means.

2. Travel device (100) according to claim 1, characterized in that the drive system (3) is designed to interact with the fluid (F) in such a way that the travel movement of the travel device (100) can be driven in particular exclusively by means of dynamic buoyancy force (F_A) and / or by means of flow resistance force (F_VV).

3. Travel device (100) according to one of the preceding claims, characterized in that the travel device (100) can be driven on the surface (O) of the body (K) around which the fluid (F) flows by means of the drive system (3) to perform a travel movement whose direction of travel (R_100) has a significant component, in particular a main component, opposite to the direction of flow (R_F) of the fluid (F).

4. Travel device (100) according to one of the preceding claims, characterized in that the flow body (30) is designed as a wing element (31) and the drive system (3) has at least one actuator (32), whereby the angle of attack (α) of the wing element (31) in the surrounding fluid (F) can be adjusted by means of the actuator (32).

5. Travel device (100) according to claim 4, characterized in that the wing element (31) has an asymmetrical profile and / or an actively or passively variable profile.

6. Travel device (100) according to one of the preceding claims, characterized in that the flow body (30) is designed as a Flettner rotor (33) and the drive system (3) has at least one rotor drive, whereby the Flettner rotor (33) can be rotated by means of the rotor drive.

7. Travel device (100) according to one of the preceding claims, characterized in that the flow body (30) - is designed to be extendable, so that the size of the interaction surfaces around which flow can occur is adjustable, and / or - is designed to be pivotable, so that the vertical angle of the flow body (30) relative to the upper side (10) of the travel device (100) is adjustable, and / or - is designed to get into a position of minimum flow resistance and / or a position of minimum extension perpendicular to the upper side (10) of the travel device (100).

8. Travel device (100) according to one of the preceding claims, characterized in that the travel device (100) has at least one electrical machine (4) and at least one accumulator (5) electrically connected thereto, wherein the electric machine (4) is operatively connected to the traction system (2) so that the electric machine (4) interacts with the traction system (2) in a motor mode and / or a generator mode.

9. Travel device (100) according to one of the preceding claims, characterized in that the travel device (100) has a sensor system (6) for determining the flow velocity and / or flow direction (R_F) of the surrounding fluid (F), and / or that the travel device (100) has a navigation system (7) for determining the position and / or orientation relative to the surface (O) of the body (K).

10. Travel device (100) according to one of the preceding claims, characterized in that the travel device (100) has a cleaning system (8) or an inspection system or a maintenance system for cleaning and / or inspection and / or maintaining of the surface (0) of the body (K).

11. Travel device (100) according to claim 10, characterized in that the travel device (100) has a mechanical cleaning system (8) and a gearbox (83), wherein the traction system (2) is connected to the drive of the gearbox (83) and the cleaning system (8) are operatively connected to the output of the gearbox (83), so that the cleaning system (8) can be operated by means of the gearbox (83).

12. Travel device (100) according to one of the preceding claims, characterized in that the travel device (100) has a control system (9) for autonomous or semi-autonomous operation of the travel device (100).

13. Method for cleaning and / or inspecting and / or maintaining the surface (O) of a body (K) around which a fluid (F) flows, in particular a ship's hull (K_1), a rotor blade, a rudder, a pipe body, characterized in that at least one travel device (100) according to one of the aforementioned claims carries out cleaning and / or inspection and / or maintenance measures on the surface (O) of the body (K) around which the fluid (F) flows, wherein, for the movement of the travel device (100) is taken from the surrounding fluid (F) and used to drive the travel movement.

14. Method according to claim 13, characterized in that a plurality of travel devices (100) are used simultaneously, wherein the travel devices (100) are used to perform the cleaning and / or inspection and / or maintenance measures.