Robotic Submersible Cleaning System

Abstract

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.

What is claimed is: 
     
         1 . A cleaning system, comprising:
 a chassis supporting a propulsion system for propelling the cleaning system across a surface;   at least one sensor of a first type coupled to the chassis;   a surface engagement mechanism configured to maintain the cleaning system coupled to the surface as the propulsion system propels the cleaning system across the surface;   a cleaning device 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 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.   
     
     
         2 . The cleaning system of  claim 1 , wherein the surface engagement mechanism includes a magnet coupled to the chassis. 
     
     
         3 . The cleaning system of  claim 1 , wherein the surface engagement mechanism includes at least one magnet disposed within a wheel of the propulsion system. 
     
     
         4 . The cleaning system of  claim 1 , wherein the surface engagement mechanism includes a system for creating a smaller pressure between the surface and an underside of the chassis compared to a pressure at an upper side of the chassis whereby the chassis clings to the surface. 
     
     
         5 . The cleaning system of  claim 1 , wherein the surface engagement mechanism includes at least one thruster configured to accelerate a fluid from a first side of the thruster to a second side of the thruster. 
     
     
         6 . The cleaning system of  claim 1 , wherein the at least one sensor of the first type includes a set of light detectors configured to identify a level of chlorophyll present in a biofilm in response to the biofilm being illuminated by a light source. 
     
     
         7 . The cleaning system of  claim 1 , wherein the at least one sensor of the first type is configured to detect a fouling on the surface. 
     
     
         8 . The cleaning system of  claim 1 , wherein the controller is disposed within the chassis. 
     
     
         9 . The cleaning system of  claim 1 , wherein the controller is remotely coupled to the chassis through a wireless communication. 
     
     
         10 . The cleaning system of  claim 1 , further comprising at least one of:
 at least one sensor of a second type coupled to the chassis and configured to optically detect movement of the cleaning system relative to the surface;   at least one sensor of a third type coupled to the chassis and configured to detect a change in pressure,   wherein each of the sensors of the second and third types are configured to transmit signals to the controller, and the controller is configured to control the propulsion system in response thereto.   
     
     
         11 . The cleaning system of  claim 10 , further comprising at least one sensor of a fourth type coupled to the chassis and configured to detect a change in flow at a peripheral surface of the chassis. 
     
     
         12 . The cleaning system of  claim 10 , further comprising at least one sensor of a fourth type coupled to the chassis and configured to identify an irregularity of the surface at a distance from the at least one sensor of the fourth type, wherein the irregularity is one of a wall, a cliff, and a chine. 
     
     
         13 . The cleaning system of  claim 1 , further comprising an acoustic ranging system coupled to the chassis and in signal communication with the controller, the acoustic ranging system configured to echo locate an object disposed in front of the chassis and provide a signal to the controller in response thereto. 
     
     
         14 . The cleaning system of  claim 1 , wherein the surface is an underwater surface of a hull of a vehicle. 
     
     
         15 . The cleaning system of  claim 1 , further comprising at least one of a depth sensor, a yaw rate sensor, an accelerometer, an odometer, and a Doppler sensor. 
     
     
         16 . The cleaning system of  claim 1 , wherein the cleaning device includes at least one of a squeegee, a brush, or a jet. 
     
     
         17 - 20 . (canceled) 
     
     
         21 . A cleaning system for cleaning hull of a vehicle beneath a surface of a liquid in which the hull is submerged, comprising:
 a chassis;   a drive system supported by the chassis configured to move the cleaning system along the hull;   a surface engagement mechanism configured to maintain the cleaning system coupled to the hull of the vehicle as the propulsion system propels the cleaning system across the hull;   a first sensing system supported by the chassis and configured to measure a level of chlorophyll and determine a level of fouling on the hull based on the level;   a cleaning device coupled to the chassis and configured to abrade the biofouling from the hull as the cleaning system; and   a controller coupled to the chassis and in signal communication with the propulsion system, the first sensing system, and a plurality of navigation sensors, the controller configured to receive data from the first sensing system and the plurality of navigation sensors and control the propulsion system in response to the signal received from the sensor.   
     
     
         22 . The cleaning system of  claim 21 , wherein the navigation sensors include at least one of an acoustic ranging sensor, a global positioning system sensor, a pressure sensor, a yaw sensor, a depth sensor, an odometer, an optical flow sensor, a complementary metal oxide semiconductor image sensor, a gravity vector sensor, a pressure sensor, and a structure laser lighting sensor. 
     
     
         23 . The cleaning system of  claim 21 , wherein the surface engagement mechanism includes at least one of a magnet and a system for creating a smaller pressure between the surface and an underside of the chassis compared to a pressure at an upper side of the chassis. 
     
     
         24 . The cleaning system of  claim 23 , wherein the magnet is coupled to the underside of the chassis or is disposed within a wheel of the drive system. 
     
     
         25 . The cleaning system of  claim 21 , wherein the surface engagement mechanism includes at least one thruster configured to accelerate a fluid from a first side of the thruster to a second side of the thruster. 
     
     
         26 . The cleaning system of  claim 21 , wherein the cleaning device includes at least one of a squeegee, a brush, or a jet. 
     
     
         27 - 29 . (canceled)