Autonomous Hull Cleaning Robot with Sensor-Adaptive Abrasion
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Solution Overview
Problem
Current methods for underwater ship hull cleaning are costly and environmentally harmful due to the use of large remotely operated vehicles and aggressive cleaning methods, which result in increased operational costs and the release of toxins into the water, and frequent cleaning leads to premature failure of antifouling coatings.
Innovation Solution
A robotic cleaning system, known as HullBUG, which includes a chassis with a propulsion system, sensors for fouling detection, and a cleaning device that abrades fouling from the hull, using magnetic or negative pressure attachment for surface engagement, and an autonomous controller for efficient navigation and cleaning optimization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If large remotely operated vehicles are used for hull cleaning, then cleaning effectiveness is improved, but cost and environmental harm increase
Solution Approach 1:
The patent divides the hull cleaning task into multiple small autonomous robotic units that work independently across different sections of the hull. Each robot is a simplified, miniaturized version of the cleaning system that can autonomously navigate and clean its designated area, eliminating the need for one large expensive ROV while maintaining overall cleaning effectiveness
Solution Approach 2:
The autonomous robots perform self-navigation, self-positioning, and self-cleaning operations without requiring human operators or complex remote control systems. The robots use onboard sensors to detect fouling levels and automatically adjust their cleaning actions, reducing operational costs and eliminating the need for expensive remotely operated vehicle systems
2Productivity
If aggressive cleaning methods are used, then fouling removal is improved, but antifouling coating life decreases
Solution Approach 1:
The robots are equipped with sensors that continuously monitor the fouling level on the hull surface and provide feedback to the control system. Based on this real-time information, the system automatically adjusts the cleaning intensity and abrasion force, applying only the necessary cleaning effort to remove fouling while preserving the underlying antifouling coating
Solution Approach 2:
The cleaning system dynamically changes operational parameters such as brush rotation speed, downforce pressure, and cleaning path speed based on detected fouling conditions. This adaptive parameter adjustment ensures effective fouling removal while minimizing damage to the antifouling coating, extending its service life
3Productivity
If frequent cleaning is performed, then fouling levels are reduced, but coating failure accelerates
Solution Approach 1:
The sensors detect early-stage fouling accumulation before it becomes severe, allowing the system to perform minor maintenance cleaning operations. This preliminary action prevents the need for frequent aggressive cleanings by addressing fouling when it is still minimal, thereby preserving the coating
Solution Approach 2:
The system applies partial cleaning action only where and when needed based on sensor detection, rather than performing full-scale frequent cleanings. This targeted approach removes fouling selectively while minimizing overall coating exposure to abrasive cleaning forces
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The HullBUG system reduces operational costs and environmental impact by minimizing the release of toxins and prolonging the life of antifouling coatings through efficient and targeted cleaning, while maintaining operational readiness and reducing fouling levels on ship hulls.
Implementation Method 1
A cleaning device is coupled to the chassis and configured to abrade the fouling from the surface
Implementation Method 2
a propulsion system for propelling the cleaning system across a surface
Data Source
AI summary
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.