Vessel hull cleaning apparatus and method

Abstract

The invention relates to an apparatus and related method for cleaning vessel hulls and other subsea structures at sea. In an embodiment, a hull cleaning system comprises a housing defining an interior void; a multifunction bar; a propulsion system; a power system; a positioning system; a water pump operatively connected to the power system; a high flow manifold operatively in fluid communication with the water pump; a hull cleaner; and a suction device configured to selectively adhere the hull cleaning system to a hull. In a further embodiment, a remotely operated work class vehicle, which is typically able to be deployed from any platform outfitted to accept its launch, recovery and support equipment and which may further be innately unstable when not adhered to an underwater structure such as when flying through open water, comprises a frame; an inspection sensor; a hydraulically powered, high pressure water jet pump; a predetermined tooling set connected to the housing; and a propulsion system, which includes a suction device, configured to propel the remotely operated work class vehicle about a surface.

What is claimed is: 
     
         1 . An underwater remotely operated work class (ROV), comprising:
 a. a frame;   b. an inspection sensor disposed about the frame;   c. a hydraulically powered high pressure water jet pump connected to the frame;   d. a predetermined tooling set connected to the housing, the predetermined tooling set configured to perform a predetermined set of functions; and   e. a propulsion system connected to the housing adapted to propel the housing about a surface.   
     
     
         2 . The underwater remotely operated work class (ROV) of  claim 1 , wherein the propulsion system comprises a thruster. 
     
     
         3 . The underwater remotely operated work class (ROV) of  claim 2 , wherein the thruster comprises a set of tandem vertical thrusters configured to control roll and pitch of the ROV during flight. 
     
     
         4 . The underwater remotely operated work class (ROV) of  claim 2 , wherein the thruster further comprises a central counter rotating thruster operative with the thruster to achieve stability in flight, the thruster sized smaller than the central counter rotating thruster. 
     
     
         5 . The underwater remotely operated work class (ROV) of  claim 1 , wherein:
 a. the propulsion system comprises:
 i. a suction device; and 
 ii. a set of driving wheels; and 
   b. the ROV is configured to be operated remotely about a surface in an attached driving mode using the suction device and driving wheels.   
     
     
         6 . The underwater remotely operated work class (ROV) of  claim 1 , wherein the predetermined set of functions comprises a surface cleaning and inspection function. 
     
     
         7 . The underwater remotely operated work class (ROV) of  claim 6 , wherein the predetermined tooling set comprises a tool configured to remove marine growth. 
     
     
         8 . The underwater remotely operated work class (ROV) of  claim 1 , wherein the predetermined tooling set comprises a set of remotely adjustable height fixed blades configured to remove marine growth from flat and curved surfaces. 
     
     
         9 . The underwater remotely operated work class (ROV) of  claim 1 , wherein the hydraulically powered high pressure water jet pump is configured to use filtered salt, brackish, or fresh water as the pumps feed water. 
     
     
         10 . The underwater remotely operated work class (ROV) of  claim 1 , wherein the hydraulically powered high pressure water jet pump further comprises a predetermined set of fixed or rotating conventional or cavitating water jet nozzles configured to provide water pressure conveyed through the fixed or rotating conventional or cavitating water jet nozzles. 
     
     
         11 . The underwater remotely operated work class (ROV) of  claim 1 , further comprising a multi-degree-of-freedom arm comprising an end effector configured to position a high pressure water jet or a rotary brush. 
     
     
         12 . The underwater remotely operated work class (ROV) of  claim 11 , wherein the multi-degree-of-freedom arm is configured to be able to extend and retract a high pressure water jet nozzle into piping for some distance. 
     
     
         13 . The underwater remotely operated work class (ROV) of  claim 1 , further comprising a contra-rotating propulsor adapted to provide surface adhesion and to remove rotational torque from the ROV. 
     
     
         14 . The underwater remotely operated work class (ROV) of  claim 1 , further comprising a multiple mode flight control system. 
     
     
         15 . A method of perform a predetermined set of functions subsea using an underwater remotely operated work class (ROV), comprising a frame, an inspection sensor disposed about the frame, a hydraulically powered high pressure water jet pump connected to the frame, a predetermined tooling set connected to the housing and operatively in communication with the hydraulically powered high pressure water jet pump and configured to perform the predetermined set of functions, and a propulsion system connected to the housing adapted to propel the housing about a surface, the method comprising:
 a. maneuvering the ROV proximate a vessel hull; and   b. using the tool configured to perform the predetermined set of functions.   
     
     
         16 . The method of  claim 15 , wherein the predetermined tooling set comprises a tool configured to remove marine growth, the method further comprising using the tool configured to remove marine growth to remove marine growth from a vessel hull without damaging or removing the underlying firmly adhered protective coating. 
     
     
         17 . The method of  claim 16 , wherein the predetermined tooling set further comprises a tool configured to remove corroded metal from horizontal, vertical, and overhead surfaces, the method further comprising using the tool configured to remove corroded metal from horizontal, vertical, and overhead surfaces to remove corroded metal from horizontal, vertical, and overhead surfaces. 
     
     
         18 . The method of  claim 15 , wherein the underwater remotely operated work class (ROV) further comprises a camera, the method further comprising inspection of horizontal, vertical, and overhead metal surfaces for thickness, corrosion, or weld defects using the inspection sensor and the camera. 
     
     
         19 . The method of  claim 15 , further comprising remotely controlling the hydraulically powered high pressure water jet pump with respect to water pressure and flow rate. 
     
     
         20 . The method of  claim 15 , wherein the predetermined tooling set further comprises a set of rotating mechanical brushes suitable for marine growth removal from various surfaces, the method further comprising remotely controlling the set of rotating mechanical brushes with respect to brush speed and torque or brush stand-off height.