초록 ▼

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 propu

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.

대표청구항 ▼

1. A method of cleaning fouling from a surface of a hull disposed under a surface of a liquid, comprising: a) determining a first frequency with which to clean a surface of the hull;b) coupling a cleaning system to the surface of the hull, wherein the cleaning system includes a chassis supporting a

1. A method of cleaning fouling from a surface of a hull disposed under a surface of a liquid, comprising: a) determining a first frequency with which to clean a surface of the hull;b) coupling a cleaning system to the surface of the hull, wherein the cleaning system includes a chassis supporting a propulsion system; propelling the cleaning system across a surface; sensing an attribute of the surface with at least one sensor coupled to the chassis; maintaining the cleaning system coupled to the surface as the propulsion system propels the cleaning system across the surface; operating a cleaning device coupled to the chassis to abrade the fouling from the surface; and controlling the cleaning system by signaling between the at least one sensor, a controller coupled to the at least one sensor and the propulsion system;c) powering on the cleaning system; andd) repeating steps b) and c) in accordance with the first frequency. 2. The method of claim 1, wherein the first frequency is based on at least one of a coating on the surface, an average temperature of the liquid, and a fouling pressure. 3. The method of claim 1, further comprising: e) determining a second frequency with which to clean a surface of a the hull;f) repeating steps b) and c) in accordance with the second frequency; andg) modifying the second frequency based on a level of growth of the fouling on the hull to provide the first frequency. 4. The method of claim 1, comprising operating a plurality of said cleaning systems while coupled to the surface of the hull and powered on. 5. The method of claim 1, wherein said maintaining the cleaning system coupled to the surface comprises magnetic attraction. 6. The method of claim 5, wherein the magnetic attraction includes attraction to at least one magnet disposed within a wheel of the propulsion system. 7. The method of claim 1, wherein said maintaining the cleaning system coupled to the surface comprises reducing pressure in the liquid 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. 8. The method of claim 1, comprising illuminating the surface with a light source, and wherein the at least one sensor is responsive to a level of chlorophyll present in a biofilm on the surface. 9. The method of claim 1, comprising operating the at least one sensor to detect a fouling on the surface. 10. The method of claim 1, wherein the signaling is at least partly wireless communication. 11. The method of claim 1, further comprising sensing at least one of: movement of the cleaning system relative to the surface; change in pressure in the liquid; and change in flow at a peripheral surface of the chassis; transmitting sensing signals to the controller; and controlling the propulsion system in response thereto. 12. The method of claim 11, further comprising sensing an irregularity of the surface at a distance from the at least one sensor, wherein the irregularity is one of a wall, a cliff, and a chine. 13. The method of claim 1, further comprising acoustically ranging to echo locate one of an object and an irregularity disposed in front of the chassis and operating the controller in response thereto. 14. The method of claim 1, wherein the surface is an underwater surface of a hull of a vehicle. 15. The method of claim 1, wherein the sensing includes operating at least one of a depth sensor, a yaw rate sensor, an accelerometer, an odometer, and a Doppler sensor. 16. The method of claim 1, wherein operating the cleaning device includes running at least one of a squeegee, a brush, and a jet. 17. A method of cleaning a surface of a hull disposed under a surface of a liquid, comprising: a) maintaining a cleaning device coupled to a chassis in contact with the surface of the hull using a surface engagement mechanism supported by the chassis;b) propelling the chassis across the surface of the hull by a propulsion system supported by the chassis;c) abrading the surface of the hull with a cleaning device coupled to the chassis;d) sensing a level of chlorophyll on the surface of the hull;e) determining a level of fouling based on the level of chlorophyll; andf) modifying at least one of said propelling and said abrading based on the level of fouling. 18. The method of claim 17, further comprising: g) determining a frequency with which to clean the surface of the hull based on the level of fouling and a period of time between consecutive cleanings; andh) cleaning the surface of the hull in accordance with the frequency.