Autonomous Hull Robot Navigation Subsystem
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Solution Overview
Problem
Existing hull cleaning robots are limited by their need for a tethered power and control system, making them operational only when the vessel is stationary, and face challenges with accurate navigation due to vessel motion and bio-fouling, which increases fuel consumption and operational costs.
Innovation Solution
A hull robot navigation subsystem that uses turbines powered by water flow for operation underway, with a sensor subsystem combining robot and vessel motion data, and a navigation processor that accounts for vessel motion to determine the robot's position and maneuver autonomously, allowing for lower cost and power consumption navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a tethered power and control system is used to power and control the hull robot, then the robot can operate with reliable power supply and control, but the robot can only operate when the vessel is stationary and requires extensive tethering infrastructure
Solution Approach 1:
The patent extracts the power source from the external tethered system and places it onboard the robot itself. The robot includes an onboard power supply subsystem with battery packs that provide electrical power independently, eliminating the need for external power tethers and enabling operation on moving vessels.
Solution Approach 2:
The onboard power supply system serves multiple functions: it powers the drive subsystem for locomotion, the cleaning subsystem for hull maintenance, the sensor subsystem for navigation, and the control subsystem for autonomous operation. This multi-functional power system enables the robot to operate independently without tethering infrastructure.
2Measurement precision
If complicated high power navigation systems are used to account for vessel motion and determine robot position accurately, then navigation accuracy is improved, but power consumption and system cost increase
Solution Approach 1:
The navigation system is segmented into multiple independent subsystems: sensor subsystem for detecting robot motion, means for determining vessel motion, and a navigation processor that integrates both data streams. This segmentation allows the system to process motion data in manageable components rather than requiring a single complex high-power system.
Solution Approach 2:
The navigation processor receives feedback from both the sensor subsystem (robot motion) and the vessel motion determination means, and uses this combined feedback to calculate and correct the robot's position on the hull. This feedback mechanism enables accurate position tracking using moderate-power components rather than requiring high-power standalone navigation equipment.
3Reliability
If the robot uses an onboard power supply and control subsystem with cable connection, then the robot can be controlled and powered reliably, but it cannot operate on vessels that are moving or underway
Solution Approach 1:
The patent removes the cable connection and external power dependency from the system. The robot is equipped with an onboard power supply subsystem that includes battery packs and electrical systems, extracting the power source from the external infrastructure and placing it onboard, enabling operation on moving vessels.
Solution Approach 2:
The robot's power and control systems are designed to be dynamically adaptable to vessel motion. The onboard power supply and control subsystem can operate reliably while the vessel is underway, and the navigation system dynamically compensates for vessel movement to maintain accurate position determination on the moving hull.
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
Enables efficient, autonomous hull cleaning and inspection while the vessel is underway, reducing fuel consumption and operational costs by accurately navigating the robot despite vessel motion, and eliminating the need for a tethered power system.
Implementation Method 1
one or more turbines powering the robot drive and cleaning subsystems. The turbines are activated by water flowing past the hull when the vessel is underway
Implementation Method 2
The robot is magnetically attached to the hull when the vessel is stationary
Data Source
AI summary
A vessel hull robot navigation subsystem and method for a robot including a drive subsystem onboard the robot for driving the robot about the hull. A sensor subsystem onboard the robot outputs data combining robot and vessel motion. A memory onboard the robot includes data concerning the configuration of the hull and a desired path of travel for the robot. A fix subsystem communicates position fix data to the robot. A navigation processor onboard the robot is responsive to the memory data, the sensor subsystem, the position fix data, and the data concerning vessel motion. The navigation processor is configured to determine the position of the robot on the hull by canceling, form the sensor subsystem output data combining both robot and vessel motion, the determined vessel motion. The navigation processor controls the drive subsystem to maneuver the robot on the hull based on the fix data, the configuration of the hull, the desired path of travel for the robot, and the determined position of the robot on the hull.