Ship Cleaning

Abstract

A cleaning machine (10) for cleaning an underwater surface (11) comprises a drive (12) and at least one cleaning head (14) arranged in front of the drive and in front of the direction of travel of the cleaning machine. The drive comprises a pump (20), a pump inlet (22) for receiving material cleaned from the underwater surface, a pump outlet (24) for discharging the material, and a traction means (18) for propelling the cleaning machine along the underwater surface, the contact of the traction means with the underwater surface being within the width cleaned by the at least one cleaning head (14). The at least one cleaning head is supported by a support structure (70) protruding from the drive (12). One or more magnets (36) can be positioned with coarse and / or fine distance adjustments relative to the underwater surface.

Description

[Technical field]

[0001] The present invention relates to ship cleaning.

[0002] In particular, it relates to one or more arrangements, apparatus and / or systems for use in cleaning the underwater portions of a vessel hull or other underwater structure. [Background technology]

[0003] It is known that underwater parts of a vessel or structure can become increasingly fouled over time with the growth of marine life. Such biofouling occurs when organisms attach to and grow on the underwater parts of the vessel or structure, increasing in depth and surface area over time. Marine structures at risk of biofouling include hull surfaces, propellers, anchors, niche areas and fishing gear.

[0004] There is a risk that non-native marine species may be inadvertently transported into areas not previously affected by a particular marine species, resulting in the introduction of non-native marine species, protection of biodiversity, and subsequent damage to native species and marine habitats, such as corals, with potentially detrimental economic and health impacts.

[0005] If such fouling is not removed from the hull or structure, serious problems can result, including damage to the hull or structure and, in the case of ships, reduced seaworthiness and fuel economy of the ship, and a corresponding increase in GHG emissions.

[0006] If underwater washing is uncontrolled, chemical and biological contaminants can be released into the local environment and may stimulate, for example, the release of reproductive organs, or fragments of reproducible plants and animals.

[0007] To avoid releasing such contaminants into the local marine environment, conventional hull cleaning techniques require removing the vessel from the water and then cleaning the hull, however this is an expensive and time consuming process.

[0008] US Patent No. 5,999,633 discloses a cleaning head for cleaning underwater surfaces. An embodiment of the cleaning head has a body portion, a skirt portion extending around the body portion, and a rotatable blade that contacts and moves relative to the underwater surface to separate material on the underwater surface from the underwater surface. The separated material is drawn away from the cleaning head through a suction opening by a pump. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] Australian Patent Application Publication No. 2012244227 Summary of the Invention [Problem to be solved by the invention]

[0010] The present invention seeks to address, or at least provide an alternative to, conventional systems.

[0011] Where any prior art is referred to in this specification, it should be understood that such reference is not an admission that the prior art forms part of the general knowledge in the art in Australia or any other country. [Means for solving the problem]

[0012] A cleaning machine for cleaning underwater surfaces is disclosed, the cleaning machine comprising a drive and at least one cleaning head, the at least one cleaning head being arranged forward in a direction of travel of the cleaning machine and in front of the drive, the drive comprising: a pump, a pump inlet for receiving material washed from said underwater surface, and a pump outlet for discharging said material; Traction means for propelling the scrubber along the underwater surface Including, The towing means is within the width cleaned by the at least one cleaning head.

[0013] Also disclosed is a drive arrangement for a cleaning machine for cleaning material from an underwater surface, the drive arrangement including a pump, a pump inlet for receiving material cleaned from the underwater surface, and a pump outlet for discharging the material, and traction means for propelling the cleaning machine along the underwater surface, the traction means including front and rear wheels, the pump being disposed between the front and rear wheels.

[0014] Also disclosed is a cleaning head for a cleaning machine for cleaning materials from underwater surfaces, the cleaning head including at least one cleaning pod including a housing for a cleaning device such as at least one rotatable blade, each cleaning pod including at least a portion of a pivot or swivel arrangement configured to enable the housing of the cleaning pod to pivot or pivot about a fore-aft axis of the cleaning head or cleaning machine.

[0015] The first physical contact between the cleaner and the material to be cleaned / removed from the submerged surface or the submerged surface can be made by a cleaning device of at least one cleaning head, such as a cleaning blade.

[0016] Alternatively, the first physical contact between the cleaner and the underwater surface may be effected by a towing means provided behind the at least one cleaning head after material has been cleaned from the underwater surface.

[0017] The pump inlet may be forward / in front of the pump. The pump outlet may be rearward of the pump. The pump inlet may be lower (closer to the water surface) than the pump outlet.

[0018] One or more of the pump inlet, pump, and pump outlet may be lower (closer to the underwater surface) than the upper boundary / edge of the traction vehicle. For example, the upper extent of the wheels of the traction vehicle may be higher / above the inlet, pump, and / or pump outlet.

[0019] The pump outlet may be angled upwards / rather than directly aft to direct flow away from the drive device, reduce leverage, and / or facilitate handling of the umbilical hose and associated control of the cleaner.

[0020] The pump may be provided between the forward and aft traction means. This helps to lower the center of gravity of the drive unit and / or helps to reduce the leverage from an umbilical connected between the drive unit / pump and the non-submersible filtration system. Preferably, the forward traction means is provided between the pump and at least one cleaning head.

[0021] The pump may be integrated into / from part of the chassis or sub-chassis of the drive device, and thus may provide an integral part of the drive device, preferably with a traction means and / or a magnet deployment arrangement for selective / controllable magnetic attachment of the components connected thereto, e.g. the cleaner to the underwater surface.

[0022] The magnetic attachment may be provided by a magnet that is selectively and / or controllably positionable relative to the drive. In particular, the magnet may be positioned towards the underwater surface to magnetically attract / attach the cleaner to said underwater surface made of a suitable metal (e.g., ferrous-steel, etc.).

[0023] Magnets may be provided towards the rear of the drive unit to help reduce / resist drag and / or shear forces caused by trailing umbilicals and hoses. The magnets may include at least one magnet located adjacent to each rear traction means (wheels, etc.) of the drive unit. At least one said magnet is located between and deployable / retractable between two adjacent traction means (adjacent wheels, etc. (e.g., at one end and at one side)) of the drive unit.

[0024] The magnet positioning or deployment means may comprise at least one actuator assembly, which may comprise at least one actuator, such as an electric actuator (e.g. a motor driven actuator), or a pneumatic or hydraulic actuator, e.g. at least one ram (double acting or single acting with return biasing means / spring). The at least one actuator assembly is capable of actuating the rotational positioning and / or retraction of at least one said magnet. For example, at least one said magnet may be rotationally and pivotally mounted on a linkage and driven by at least one actuator.

[0025] The magnet positioning / deployment means may include at least one actuator assembly that provides rotational positioning / deployment and / or retraction of the at least one magnet. The magnet positioning / deployment means may include coarse and / or fine positioning of the at least one magnet relative to the underwater surface. Coarse positioning provides less precise control over the positioning of the magnet relative to the surface than fine positioning.

[0026] For example, the magnet positioning or deployment means may provide coarse positioning (distance De, FIG. 5B) and fine positioning (D F5C) capabilities, as well as control of positional variation therebetween. For example, the magnet positioning / deployment means may include rotational positioning / deployment and cam actuated fine distance positioning of each magnet relative to the underwater surface (see FIGS. 5B and 5C).

[0027] The at least one magnet may be positioned towards the rear of the machine to attract the machine to the surface to be cleaned or being cleaned. Preferably, the at least one magnet is located between the front and rear traction means of the machine.

[0028] At least one support device may protrude / extend from the drive device to support at least a portion of each cleaning head. The support device may be connected to the drive device between the front and rear traction means of the drive device and protrude to connect to the cleaning head.

[0029] The at least one cleaning head can include at least one cleaning pod having a cleaning device and a housing around the cleaning device. The pump suction outlet can be connected to the housing such that fluids and materials cleaned from the underwater surface below the cleaning pod flow from the housing through the pump suction outlet to the pump.

[0030] One or more of the cleaning pods may include forward and aft pivot / swivel connections that allow each cleaning pod to pivot / swivel about a front-to-rear axis to assist the cleaning head in conforming to the contours / curves of the underwater surface being cleaned.

[0031] At least one cleaning head can maintain the or each cleaning pod away from the underwater surface during cleaning, i.e., there can be zero contact between the or each cleaning pod and the underwater surface (and therefore there can be zero contact of the respective cleaning device, e.g., flexible or rigid blades).

[0032] At least one of the cleaning pods may have at least one caster or other wheel or track attached / mounted directly or indirectly thereto to assist in supporting and / or stabilizing the respective cleaning pod and / or at least one cleaning head.

[0033] Each caster, wheel, or track may be located between or at least rearwardly of the more forward cleaning pods. For example, at least one cleaning head may include multiple cleaning pods, with at least one supporting caster, wheel, or track located rearwardly of at least one forward cleaning pod and / or between the forward and rear cleaning pods.

[0034] At least one caster, wheel or track may be attached to each cleaning pod, such as by a clamp or bracket.

[0035] Each cleaning pod may include at least two casters, wheels or tracks, preferably with a respective pivot or swivel connection therebetween.

[0036] At least one caster, wheel or track may be provided behind the more forwardly positioned cleaning pod.

[0037] The cleaning head may be supported by a connection to a drive device.

[0038] One or more rearward cleaning pods (rearward relative to more forwardly positioned cleaning pods) may be pivotally connected to the drive.

[0039] At least one support arm or frame can extend from the drive to support at least a portion of each cleaning head.

[0040] Drive for each cleaning pod to the cleaning device may be provided by fluid flow through the cleaning pod provided by suction from a pump.

[0041] Alternatively, drive to the cleaning device may be provided by an electric, pneumatic or hydraulic drive, with pump suction creating fluid flow through the cleaning pod.

[0042] The cleaning device may include a rotating device including at least one blade.

[0043] Each cleaning pod may include a shroud or skirt that controls and / or maintains suction and fluid flow through a gap between the underside of the shroud / skirt and the underwater surface.

[0044] During use, the cleaning head of the at least one cleaning device is positioned over the underwater surface and as the respective cleaning device moves relative to the underwater surface, material on the underwater surface is dislodged from the underwater surface.

[0045] In use, when the cleaning device is positioned on the underwater surface and the at least one suction opening is connected in fluid communication with the cleaning head to generate negative pressure, material separated from the underwater surface by the at least one cleaning device is pulled away from the cleaning head through the suction opening; the at least one cleaning pod is positioned and configured so as not to contact the underwater surface during use, and the cover or skirt of each cleaning pod has a gap therebelow relative to the underwater surface.

[0046] An embodiment includes a method of cleaning an underwater surface comprising: positioning a cleaner over the underwater surface; cleaning the underwater surface while moving the cleaner across the underwater surface; and contacting a towing means of the cleaner with the underwater surface within a width cleaned by at least one cleaning head of the cleaner.

[0047] It will be convenient to further describe the invention with reference to preferred embodiments thereof. Other embodiments are possible, and therefore the specificity of the following discussion should not be understood as superseding the generality of the preceding description of the invention. [Brief description of the drawings]

[0048] [Figure 1A] FIG. 1 illustrates an example of a cleaning machine in accordance with at least one embodiment of the present invention for tracking within a cleaning area. [Figure 1B] FIG. 1 illustrates an example of a cleaning machine in accordance with at least one embodiment of the present invention for tracking within a cleaning area. [Figure 1C] FIG. 1 illustrates an example of a cleaning machine in accordance with at least one embodiment of the present invention for tracking within a cleaning area. [Figure 1D] FIG. 1 illustrates an example of a cleaning machine in accordance with at least one embodiment of the present invention for tracking within a cleaning area. [Figure 1E] FIG. 1 is a side view of a cleaner driver coupled to a cleaning head according to one embodiment of the present invention; [Figure 1F] FIG. 1 is a side view of a cleaning machine having conduits connecting a cleaning pod of a cleaning head to a pump arrangement of a drive unit, and an outlet conduit and umbilical extending to a surface, according to an embodiment of the present invention. [Figure 1G] FIG. 1 is a perspective view of a cleaning machine having conduits connecting a cleaning pod of a cleaning head to a pump arrangement of a drive unit, and an outlet conduit and umbilical extending to a surface, according to an embodiment of the present invention; [Figure 2A] 1 shows various views of a drive arrangement according to an embodiment of the present invention; [Figure 2B] 1 shows various views of a drive arrangement according to an embodiment of the present invention; [Figure 2C] 1 shows various views of a drive arrangement according to an embodiment of the present invention; [Figure 2D] 1 shows various views of a drive arrangement according to an embodiment of the present invention; [Figure 3A] Various views of a cleaning pod in accordance with at least one embodiment of the present invention. [Figure 3B] Various views of a cleaning pod in accordance with at least one embodiment of the present invention. [Figure 3C] Various views of a cleaning pod in accordance with at least one embodiment of the present invention. [Figure 4A] Various views of a cleaning pod in accordance with at least one embodiment of the present invention. [Figure 4B] Various views of a cleaning pod in accordance with at least one embodiment of the present invention. [Figure 5A] Magnet positioning / deployment location diagram according to one embodiment of the present invention [Figure 5B] Magnet positioning / deployment location diagram according to one embodiment of the present invention [Figure 5C] Magnet positioning / deployment location diagram according to one embodiment of the present invention [Figure 6A] FIG. 1 illustrates a magnet positioning / deployment arrangement with magnets retracted toward their respective keepers, according to one embodiment of the present invention. [Figure 6B] FIG. 1 illustrates a magnet positioning / deployment arrangement with magnets retracted toward their respective keepers, according to one embodiment of the present invention. [Figure 7A] FIG. 1 illustrates a magnet positioning / deployment arrangement with the magnets deployed / positioned away from their respective keepers, according to one embodiment of the present invention. [Figure 7B] FIG. 1 illustrates a magnet positioning / deployment arrangement with the magnets deployed / positioned away from their respective keepers, according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0049] In the following detailed description, reference is made to the accompanying drawings, which form a part of the detailed description. The exemplary embodiments described in the detailed description, shown in the drawings, and defined in the claims are not intended to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the spirit or scope of the presented subject matter. It will be readily understood that the aspects of the present disclosure, as generally described herein and shown in the drawings, can be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, all of which are contemplated in the present disclosure.

[0050] An embodiment of the present invention is a cleaning machine 10 for cleaning underwater surfaces such as the hull of a vessel, a storage tank, or other underwater structure 13. The cleaning machine 10 is particularly useful for cleaning the underwater hull of a vessel.

[0051] It will be understood that contact on the surface 13 of the vessel or structure is only on the cleaned area 11 thereof. That is, the scrubber cleans an area and the wheels or tracks, as well as any casters or other supports on the surface, only contact the area already cleaned by the scrubber.

[0052] The cleaner 10 has a drive 12 for imparting motion to the cleaner and a cleaning head 14 for removing material from an underwater surface. At least one cleaning head can include one or more, and preferably multiple, cleaning pods 16.

[0053] The drive system may include traction means 18, such as a number of wheels. The wheels may have tires / treads that engage the underwater surface or may drive tracks.

[0054] The drive power to the wheels 18 on each side of the drive may be different. For example, the scrubber may have differential steering by having the wheels on one side of the drive be powered more than the wheels on the other side of the drive, or be powered to rotate in a different direction. Such control over differentially powering the wheels on both sides of the drive provides enhanced steering and maneuvering characteristics. Differential drive to the tracks instead of the wheels, or a combination of tracks and wheels, may also be provided.

[0055] Drive to the wheels / tracks 18 may be hydraulic, such as by hydraulic pressure / power provided through at least one hose from the surface.

[0056] For example, in the case of a hydraulic drive to the wheels 18, hydraulic power may be provided to the wheels on one side of the drive more than the other side, or the hydraulic power may be reversed or redirected to flow in the opposite direction, reversing or stopping the wheels on one side of the drive relative to the wheels on the other side. Thus, the machine is very maneuverable and can make very tight turns or turn in place.

[0057] A pump 20 may be provided as part of the drive train. The body 21 of the pump may be located primarily or completely between the front and rear sets of drive train wheels 18, allowing for a relatively low center of gravity since the pump is a relatively large and heavy component - a low center of gravity also reduces the tendency of the connected umbilicals and hoses to lever the cleaner off the underwater surface.

[0058] The pump inlet 22, pump 20, and pump outlet 24 may be in-line, preferably with the inlet leading, i.e., facing the front of the cleaner, pump 20 in the middle, and outlet 24 facing the rear. Preferably, the outlet is angled up / away from the underwater surface, such as by outlet extension 24a. Having an angled outlet also helps reduce induced stripping effects from umbilicals and hoses.

[0059] The pump may form part of a chassis or sub-chassis 26 of the drive unit 12. The wheel supports may be mounted to the chassis / sub-chassis 26.

[0060] The pump inlet 22 may be connected to the cleaning pod outlet 32 ​​by a hose 80, and the flow of fluid and removed material is pumped by the pump 20 via the pump outlet 24 to a filtration system on the surface. The hose 80 may supply the removed material to a material receiving conduit 84, such as via a manifold or receiving head 82. The pump outlet 24 may supply the removed material under pressure from the pump 20 via a supply conduit 86 to the surface. An umbilical arrangement 88, such as including hydraulic and / or electrical supplies, is connected to the cleaner and forms a service for controlling and powering operation of the cleaner.

[0061] One or more pivot / swivel arrangements 28 may be provided, for example, between the drive and one or more cleaning pods and / or between the cleaning pods. The one or more pivot / swivel arrangements 28 may include a pivot / swivel pin 29 and a pivot / swivel pin receiver 31. One or more cleaning pods 16 of the cleaning head 14 may be attached by the pivot / swivel arrangement. It will be appreciated that the cleaning pod may have a pivot / swivel pin 29 and the pivot / swivel pin receiver 31 may be on the support 30, or vice versa. The support 30 may connect between the drive 12 and the cleaning pods.

[0062] Preferably, the pivot / axis As for each pivot / position arrangement 28, e.g., for each pivot / position pin 29 providing the pivot / position mounting for a respective cleaning pod 16, is axially aligned.

[0063] The magnet positioning / deployment means 32 may include at least one actuator assembly 34 and may be provided on the drive device 12 to position / deploy and retract at least one magnet 36 for use in magnetically attaching the drive device, and thus the cleaner, to an underwater surface.

[0064] The magnets 36 may be mounted for pivotal movement between two adjacent wheels 18. See, by way of example, Figures 6A, 6B, 7A and 7B, which show stowed (6A, 6B) and deployed (7A, 7B) positions of each magnet 36 using magnet positioning / deployment means 32 (e.g., including at least one actuator assembly 34).

[0065] The at least one actuator assembly 34 may include at least one actuator 38 (such as an electrically driven, pneumatic or hydraulic ram) that is arranged and configured to actuate a rotational linkage or member 40 to rotate each magnet 36 from a retracted position to a deployed position and to retract the deployed magnet 36 from the deployed position to a stowed position. In the stowed position, each magnet 36 may be attracted to a keeper 42 (e.g., a steel keeper plate) to ensure that the magnet cannot be accidentally deployed.

[0066] At least one actuator assembly can include coarse magnet positioning and fine magnet positioning. For example, an initial rotation of each magnet from a stowed position to a deployed position can provide coarse positioning, where the magnet may be further away from the underwater surface than would be ideal for the amount of attractive force required against the surface (i.e., due to the depth of material and / or density or type of material present on the surface).

[0067] Fine positioning can reduce the gap between each magnet and the surface, increasing the magnetic attraction force and helping to hold the cleaner to the submerged surface.

[0068] Fine positioning can be achieved by a cam arrangement 52 such that an initial actuation of the actuator rotates the magnet to an initial position and further actuation moves the magnet closer to the underwater surface.

[0069] Each actuator may actuate a threaded drive 44, such as a worm gear, engaged with the linkage or member 40 to rotate the linkage or member 40.

[0070] At least one of the magnets 36 may be provided on a rotatably and pivotably pivot member 45 and may be driven or movable by a pivot link member 46 .

[0071] The pivot member 45 may include an arcuate slot 48 within which a drive member 50 is received that is actuated by the actuator 38. Advancement of the drive member 50 within the arcuate slot 48 rotates the linkage or member 40, and thus the pivot member 45 and magnets, away from the keeper plate 42 toward the magnet deployed position.

[0072] Further advancement of drive member 50 within arcuate slot 48 causes cam arrangement 52 to move magnet 36 closer to the underwater surface.

[0073] The gap between the magnet and the underwater surface can be controlled by actuation of an actuator to move a cam arrangement, thereby applying fine distance control / positioning of the magnet relative to the underwater surface.

[0074] The magnet positioning / deployment means may include coarse positioning / deployment and fine positioning / deployment capabilities, such as a coarse positioning distance control (De, FIG. 5B) and a fine positioning distance control (D F 5C). For example, the magnet deployment means can include rotational deployment and cam actuated fine distance positioning of each magnet relative to the underwater surface.

[0075] The cleaning head 14 has at least one cleaning pod 16 that includes a housing 54 for a cleaning device 56, such as at least one rotatable blade 58 on a rotatable support, and is preferably powered by hydraulic flow (e.g., by hydraulic hoses connected to each pod 16) or by suction through the housing.

[0076] Each cleaning pod 16 includes at least a portion of a pivot or swivel arrangement 60, 62 provided to allow the cleaning pod housing 54 to pivot or rotate about a fore-aft axis (axis FR) of the cleaning head or cleaning machine. The pivot / pivot arrangement for each cleaning pod may allow the cleaning head pod to generally conform to the shape of the surface. For example, a marine vessel hull may have a compound curve that curves longitudinally at one radius of curvature (which radius may transition) and vertically at a different radius of curvature (again, such radius may transition). The pivot / pivot arrangement preferably includes at least one front-to-aft pivot / pivot axis A. S A gimbal arrangement is provided on the cleaning head to allow the cleaning pods to move relative to each other so that the entire cleaning head can generally follow the curvature of the surface being cleaned.

[0077] The casters 64 support each cleaning pod 16 by contacting the portion of the underwater surface to be cleaned, ie, the casters 64 follow the preceding cleaning pod 16 on the cleaning head 14 .

[0078] The or each caster 64 may be attached to a respective cleaning pod 16 by a respective caster swivel / pivot arrangement 65 .

[0079] The connection of the scrub head 14 to the drive 12 can be at one or more connection points at the front of the drive 12 and / or by a support arrangement 70 extending between the drive and the scrub head. The support arrangement 70 can include at least one support arm or frame 72. It will be appreciated that the support arrangement 70 connects to the drive 12 between its front and rear wheels, lowering the center of gravity and helping to stabilize the entire scrubber 10. The leverage effect of the front weight of the scrub head 14 is reduced compared to connecting the scrub head to the drive in front of the front wheels. Preferably, the support arrangement connects to a central portion of the drive, such as the pump / pump housing 20, 21. The support arrangement can include one or more arms, preferably two arms, extending from the pump housing to the scrub head.

[0080] The first physical contact between the cleaner and the material to be cleaned / removed from the underwater surface or the underwater surface may be by a cleaning device 33 of at least one cleaning head 14, such as cleaning blades 33a, 33b. The or each cleaning blade may be flexible, partially flexible or rigid. Preferably, the or each blade does not come into contact with the surface to be cleaned.

[0081] The one or more cleaning pods may include a rotational drive 41 for rotationally driving the blade 33. The rotational drive may include a hydraulic or pneumatic drive. Material removed from the surface by the blade 33 may be removed from the chamber 39 of the cleaning pod via the outlet 37.

[0082] The or each cleaning pod may include a body portion 17 which may include a foam material. The foam material may preferably include a hard foam material having a coating, such as an abrasion resistant / polymeric coating.

[0083] The body portion may be a replaceable / consumable / wear part that can be replaced without having to replace or remove the cleaning pod. For example, the retaining means 19 may include a releasable retainer 19a that can be released for removal of the body portion and re-tightened after insertion of a replacement body portion, such as a band and clamp arrangement.

[0084] The first physical contact between the scrubber and the underwater surface after the underwater surface has been cleaned of material from the underwater surface may be effected by a traction means provided behind the at least one cleaning head.

[0085] Modifications and variations that will be apparent to a person skilled in the art are deemed to be within the scope of the present invention.

[0086] In the following claims and in the foregoing description of the invention, unless the context otherwise requires by express language or necessary implication, the terms "comprises" or "includes" and other variants are used in the inclusive sense, i.e., to specify the presence of stated features but not to exclude the presence or addition of further features in various embodiments of the invention.

Claims

1. 1. A cleaning machine for cleaning underwater surfaces, the cleaning machine comprising a drive unit and at least one cleaning head, the at least one cleaning head being positioned forward in a direction of travel of the cleaning machine and in front of the drive unit; the drive device including a pump, a pump inlet for receiving material washed from the underwater surface, and a pump outlet for discharging the material, and traction means for propelling the washing machine along the underwater surface; The contact between the traction means and the surface is within the width cleaned by the at least one cleaning head. A cleaning machine characterized by:

2. 2. A cleaning machine according to claim 1, characterized in that the pump is located between the front traction means and the rear traction means.

3. A cleaning machine according to claim 1 or claim 2, characterized in that the pump is an integral part of the drive unit or is part of the chassis or sub-chassis of the drive unit.

4. 2. The cleaning machine of claim 1, further comprising magnet positioning / deployment means, the magnet positioning / deployment means including at least one actuator assembly providing rotational positioning / deployment and / or retraction of at least one magnet.

5. 5. The cleaning machine of claim 4, wherein said magnet positioning / deployment means includes coarse and fine positioning of at least one magnet relative to said underwater surface.

6. 6. A cleaning machine according to claim 4 or claim 5, characterised in that it includes at least one magnet positioned towards the rear of the machine for attracting the machine to the surface to be cleaned or being cleaned.

7. 7. A cleaning machine according to claim 6, characterized in that at least one said magnet is arranged between the front and rear traction means of the machine.

8. 7. A cleaning machine according to claim 6, characterized in that at least one said magnet is arranged between two adjacent traction means of said drive device.

9. The cleaning machine of claim 1 , wherein the at least one cleaning head includes at least one cleaning pod.

10. The cleaning machine of claim 9, wherein the at least one cleaning pod includes at least a front or rear pivot / swivel arrangement, or both the front and rear pivot / swivel arrangements, and each cleaning pod can pivot / swivel around a front-to-back axis.

11. 11. A washing machine according to claim 9 or 10, comprising at least one caster or other wheel or track that directly or indirectly supports at least one said washing pod.

12. 2. The cleaning machine of claim 1, wherein at least one support arrangement extends from the drive device to support at least a portion of each cleaning head.

13. 13. The cleaning machine according to claim 12, characterized in that the support arrangement connects to the drive between the front and rear traction means of the drive and projects to connect to the cleaning head.

14. 1. A drive system for a scrubbing machine for scrubbing material from an underwater surface, the drive system including a pump, a pump inlet for receiving material scrubbed from the underwater surface, and a pump outlet for discharging the material, and traction means for propelling the scrubbing machine along the underwater surface, the traction means including front and rear wheels, the pump being disposed between the front and rear wheels. A drive device characterized by:

15. A cleaning head of a cleaning machine for cleaning materials from an underwater surface, the cleaning head including at least one cleaning pod, the at least one cleaning pod including a housing for a cleaning device such as at least one rotatable blade; Each of the cleaning pods includes at least a portion of a pivot or swivel arrangement configured to allow the housing of the cleaning pod to pivot or swivel about a fore-aft axis of the cleaning head or the cleaning machine. A cleaning head characterized by:

16. 1. A method for cleaning an underwater surface, comprising: placing a cleaner over the underwater surface; scrubbing the submerged surface while moving the scrubber across the submerged surface; and bringing a towing means of the cleaning machine into contact with the underwater surface within a width to be cleaned by at least one cleaning head of the cleaning machine. A method comprising:

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