公开(公告)号：US20160144936A1

公开(公告)日：2016-05-26

申请号：US14933291

申请日：2015-11-05

Applicant: ROLLS-ROYCE PLC

Inventor： Alastair SIM ,  Alexis LAMBOURNE

IPC: B63B59/06 ,  B63B9/00

CPC classification number: B63B59/06 ,  B08B1/006 ,  B08B7/04 ,  B63B9/00 ,  B63B59/10

Abstract: A robot for cleaning submersed marine structures is provided. The robot has a drive system for traversing the robot over the submersed structure. The robot further has an attachment system for attaching the robot to the submersed structure. The robot further has a cleaning arrangement for removing biofouling from the submersed structure as the robot is traversed thereover. The robot further has one or more flexible detector strips which contact the submersed structure as the robot is traversed thereover. The strips have a plurality of electrodes and are formed from electroactive polymer material which produces electrical signals in the electrodes on deflection of the strips. The signals are indicative of the surface roughness of the submersed structure.

Abstract translation: 提供了一种用于清洁浸没式海洋结构的机器人。 机器人具有驱动系统，用于在潜水结构上穿过机器人。 机器人还具有用于将机器人附接到浸没式结构的附接系统。 机器人还具有清洁装置，用于当机器人在其上穿过时从浸没式结构中去除生物污垢。 机器人还具有一个或多个柔性探测器条，当机器人在其上穿过时，它们接触浸没式结构。 条具有多个电极，并且由电活性聚合物材料形成，其在条的偏转时在电极中产生电信号。 信号表示浸没式结构的表面粗糙度。