Hull Robot Steering via Articulated Frame Segments
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Solution Overview
Problem
Existing hull cleaning robots are limited by their need for a stationary vessel and complex steering systems, which increase the number of moving parts and reduce operational efficiency.
Innovation Solution
A drive system with a simple and robust design featuring a frame with expandable and contractible portions and an actuator subsystem that allows for steering by angling axles, using magnetic wheels or tracks, and a propulsion subsystem powered by turbines driven by water flow, enabling autonomous operation without on-board power or control systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a complex steering system with numerous moveable components is used, then the robot can steer effectively, but the device complexity increases and reliability decreases
Solution Approach 1:
The frame is divided into multiple segments (first frame portion, second frame portion, third frame portion) that can independently articulate relative to each other. This segmentation allows the robot to achieve complex steering movements through simple articulation of individual frame segments, reducing the need for numerous moveable components while maintaining steering capability.
Solution Approach 2:
The frame portions are designed with dynamic articulation capabilities, allowing them to change relative angles during operation. The first frame portion can articulate relative to the second frame portion, and the third frame portion can articulate relative to the second frame portion, enabling the robot to adapt its steering angle dynamically without requiring complex mechanical steering systems.
2Ease of operation
If the turning radius is reduced for better maneuverability, then the robot can navigate tighter spaces, but the device complexity increases
Solution Approach 1:
By segmenting the frame into multiple articulating portions, the robot can achieve tight turning radii through coordinated articulation of frame segments rather than requiring a complex single-axis steering mechanism. Each frame portion can articulate independently to enable compact turning maneuvers.
Solution Approach 2:
The steering capability is extended from a single dimension to multiple dimensions through the articulation of different frame portions. The first frame portion articulates in one plane while the third frame portion articulates in another plane, creating a multi-dimensional steering capability that achieves small effective turning radii without increasing mechanical complexity.
3Manufacturing precision
If alignment and adjustment of components is required, then the system can be precise, but the ease of manufacture decreases
Solution Approach 1:
The frame is constructed as separate, modular segments (first frame portion, second frame portion, third frame portion) that can be manufactured independently and then assembled. This segmentation allows each portion to be manufactured with standard tolerances and assembled through straightforward connection mechanisms, eliminating the need for complex alignment and adjustment procedures while maintaining the precision required for articulation.
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
This solution allows for efficient navigation and cleaning of vessel hulls with a reduced number of moving parts, enabling a larger turning radius suitable for the size of the hull, and operates autonomously without the need for on-board power or control systems.
Implementation Method 1
An actuator subsystem is configured expand and contract the expandable and contractible portion to move the first frame portion relative to the second frame portion at the joint to angle the first axle relative to the second axle to steer the robot
Implementation Method 2
The first and second axles may each include a pair of magnetic wheels. The first and second wheels may be drum shaped and include alternating magnetic and ferromagnetic material
Implementation Method 3
turbines driven by water flowing past the hull while the vessel is underway. The turbines operate (e.g., power) the cleaning and the drive subsystems of the robot
Data Source
AI summary
A robot drive system preferably used for a vessel hull cleaning and/or inspection robot includes a first frame portion rotatably supporting a first axle with a first wheel thereon, and a second frame portion rotatably supporting a second axle with a second wheel thereon. A joint connects the first frame portion to the second frame portion and defines an expendable and contractible portion between the first frame portion and second frame portion. An actuator subsystem is configured expand and contract the expandable and contractible portion to move the first frame portion relative to the second frame portion at the joint to angle the first axle relative to the second axle to steer the robot.