Patent Description:
A tendency exists for an underwater portion of a vessel hull to become increasingly fouled over time to the extent that eventually a significant layer of material, particularly living organisms, accumulates on the underwater portion of the vessel hull.

If such fouling is not removed from the vessel hull, significant problems can occur, including damage to the vessel hull, a reduction in seafaring performance and a significant increase in fuel consumption of the vessel. In addition, some living organisms can be noxious and dangerous to local species if transported to other locations.

Uncontained in-water cleaning can release chemical and biological contaminants into the local environment, and for example may stimulate the release of reproductive propagules, or plant and animal fragments capable of regeneration. Such biological contaminants may for example include non-indigenous marine species which if released into the local marine environment will compete with and potentially overwhelm local indigenous marine species.

As a result of such risks, uncontained abrasive in-water hull cleaning is not allowed in most major hub ports.

In order to avoid release of such contaminants into the local marine environment, conventional vessel hull cleaning techniques have involved removing the vessel from the water, and subsequently cleaning the vessel hull. However, this approach is expensive, time consuming and causes significant disruption to operation of the vessel.

In <CIT> a cleaning system for cleaning a submerged surface is described. The system comprises a controller and sensors that provide data to aid navigation and biofouling detection. The sensors are used to measure the amount of biofilm on a hull and in response to the measured fouling level, the controller controls the intensity of cleaning, for example by controlling the speed of the cleaning device. The sensors are also used to navigate the cleaning system relative to the hull by detecting the interface between a clean part of the hull and a fouled part of the hull and using this to control movement of the cleaning device relative to the hull.

Other examples of cleaning systems are known from <CIT> and <CIT>.

The above identified challenges of ensuring efficient cleaning of a hull can be overcome by a hull cleaning system and a cleaning method according to independent claims <NUM> and <NUM>.

The system is arranged to use the cleaning head positional information and the vessel positional information to produce a vessel hull map indicative of portions of the hull that have been cleaned and portions of the hull that have not been cleaned, and to store the vessel hull map at the hub facility.

In an embodiment, the vessel location device includes a hydro acoustic position reference system.

In an embodiment, the system includes at least one image capture device arranged to capture image information indicative of at least part of the underwater portion of a hull during cleaning by the cleaning head.

The at least one image capture device may include at least one still and/or video camera. The at least one image capture device may include a high definition video camera.

In an embodiment, the hull cleaning head includes a drive mechanism for effecting movement of the hull cleaning head, and the system comprises a display and navigation controls disposed above the waterline, the display in communication with the at least one video camera and arranged to display video images captured by the at least one video camera, and the navigation controls in communication with the drive mechanism such that the drive mechanism is controllable by the navigation controls so as to control movement of the hull cleaning head.

The at least one image capture device may include at least one 3D image information capture device, which may include a laser scanner.

The at least one image capture device may include at least one front image capture device arranged to capture image information from a region adjacent a front portion of the cleaning head and thereby a fouled portion of the hull that has not yet been cleaned by the cleaning head. The system may be arranged to analyse the image information from the region adjacent the front portion of the cleaning head to determine the type of fouling on the hull, such as the type of species on the hull.

The at least one image capture device may include at least one rear image capture device arranged to capture image information from a region adjacent a rear portion of the cleaning head and thereby a clean portion of the hull that has been cleaned by the cleaning head. The system may be arranged to analyse the image information from the region adjacent the rear portion of the cleaning head to determine whether any faults are likely to exist on the hull.

In an embodiment, the hull cleaning head includes at least one magnet arranged to magnetically hold the hull cleaning head relative to a hull during a cleaning operation.

In an embodiment, the system is arranged to transport material that is separated from the hull by the cleaning head away from the cleaning head. In this regard, it will be understood that since the present system includes a cleaning head arranged to transport material released from the hull away from the cleaning head, good visibility is provided for the front and rear image capture devices, which for example assists in identifying faults on the clean portion of the hull.

The system may comprise an ultrasonic device arranged to capture ultrasonic signals and the system may be arranged to analyse the ultrasonic signals to produce information indicative of the structural condition of the hull.

The information indicative of the structural condition of the hull may include information indicative of structural integrity of weld seams, faults in a hull skin or appendages disposed on the hull, thickness of a surface coating on the vessel hull, and/or corrosion on the hull.

In an embodiment, the system includes an on-site storage device arranged to store data received from the cleaning head during a cleaning operation. The on-site storage device may be arranged to communicate with the cleaning head using a cable.

In an embodiment, the system is arranged to send data stored at the on-site storage device to the hub facility. The data may be sent periodically, and may be sent through the Internet.

In an embodiment, the system is arranged to facilitate access to data stored at the hub facility by an authorised user.

In an embodiment, the hub facility includes a web server arranged to facilitate access to the hub facility using a web browser.

In an embodiment, the hub facility includes an analysis unit arranged to process and/or analyse data stored at the hub facility.

In an embodiment, the location information is used with information from the ultrasonic transceiver and/or the image capture devices to create a vessel feature map that links locations on the hull with hull features. The hull features may include hull surface coating thickness, integrity of weld seams, faults in the hull skin or appendages disposed on the hull, thickness of a hull surface coating, corrosion on the hull, and/or species identified on the hull.

In an embodiment, the system may further include repair and/or maintenance components, for example one or more manipulators, arranged to carry out automated or remotely controlled maintenance and/or repair operations on the hull.

The analysis unit may be arranged to generate a warning notice if an identified species is a non-indigenous species.

In an embodiment, the analysis unit is arranged to send the warning notice to a vessel owner and/or a relevant authority associated with non-indigenous species.

In an embodiment, the method comprises commencing cleaning of an underwater portion of a hull in-situ at a first location, moving a vessel associated with the hull to a second location; and re-commencing cleaning of the underwater portion of the hull in-situ at the second location at a subsequent time.

Referring to the drawings, in <FIG> there is shown a portion of a vessel hull <NUM> during a cleaning operation using an in-situ vessel hull cleaning system <NUM> shown more particularly in <FIG>.

As shown in <FIG>, during a hull cleaning operation, fouling material present on the hull is substantially removed as a cleaning head <NUM> of the hull cleaning system <NUM> is moved relative to the hull <NUM>. During the hull cleaning operation, the hull <NUM> includes a cleaned portion <NUM> that has been cleaned by the hull cleaning system <NUM> and a fouled portion <NUM> that has not yet been cleaned by the hull cleaning system <NUM>.

The cleaning head <NUM> is arranged during use to be disposed on an underwater portion of a vessel hull <NUM> and to separate fouling material from the vessel hull <NUM> as the cleaning head <NUM> moves relative to the hull.

The cleaning head <NUM> is typically connected using a suitable pipe <NUM> to a pump (not shown) that through the pipe <NUM> generates negative pressure in a space defined between the cleaning head <NUM> and the vessel hull <NUM>. In this way, material that is separated from the vessel hull <NUM> by the cleaning head <NUM> is discouraged from passing into the surrounding marine environment and instead is drawn away from the cleaning head <NUM> through the pipe <NUM>.

In a marine environment, the fouling material present on a vessel hull <NUM> is typically predominantly of biological type, although other types of material may also be present.

The hull cleaning system <NUM> typically also includes an above-water separation device (not shown) arranged to receive a slurry of water and material separated from the vessel hull <NUM> and separate the water and material from each other, and a disinfection device (not shown) arranged to substantially disinfect the water that has been separated from the material. For example, the separation device may be of a type manufactured by Baleen Filters Pty Ltd, for example a B1010S Baleen filter, and the disinfection device may be of a type manufactured by Berson Milieutechniek BV, for example a Berson inline <NUM> UV disinfection device. The disinfection device may in addition or alternatively include a chemical based disinfection component. Flow meters and other volume measuring devices may also be included in order to improve water treatment quality.

As shown more particularly in <FIG>, an example cleaning head <NUM> includes first and second body portions <NUM>, <NUM> that are moveably connected to each other so that the profile defined by the first and second body portions <NUM>, <NUM> is adjustable. In this example, the first and second body portions <NUM>, <NUM> are connected to each other by a hinge <NUM> that enables the first and second body portions <NUM>, <NUM> to pivot relative to each other. This enables the first and second body portions <NUM>, <NUM> to generally conform to the curvature of the hull <NUM>.

A periphery defined by the first and second body portions <NUM>, <NUM> is provided with a skirt portion <NUM>, in this example of bristle like configuration. The purpose of the skirt portion <NUM> is to provide a seal of sufficient efficacy between the first and second body portions <NUM>, <NUM> and the hull <NUM>. In this regard, the seal should be sufficiently efficacious that the negative pressure generated by a suction pump causes material separated from the hull to be drawn away from the hull through the cleaning head <NUM> with minimal egression of material past the skirt portion <NUM> to the surrounding marine environment. This is important because biological material separated from the surface of the hull <NUM> has the potential to cause undesirable consequences to the surrounding environment.

In this example, the suction force generated by one or more pumps generates sufficient suction force to transport about <NUM> litres of fluid per minute through a pipe about <NUM> long and about <NUM> diameter, whilst achieving a sufficient seal to achieve good visibility around the cleaning head.

In this example, the cleaning head <NUM> includes one or more cleaning members <NUM> that are arranged to cause material, particularly early stage micro fouling, on the surface of the vessel hull <NUM> to separate from the hull surface as the cleaning members <NUM> rotate relative to the hull <NUM>. In this example, two rotating cleaning members <NUM> are provided and each cleaning member includes one or more cleaning elements (not shown) arranged to generate a fluid current adjacent the hull <NUM> that causes material to be released from the hull during use substantially without touching the surface. For example, each cleaning element may include a foot portion defining a wedge shaped portion that tapers at an angle of approximately <NUM>°, and a cut out portion at an opposite side of the cleaning element to the foot portion that defines a space of approximately the same shape and size as the foot portion.

The cleaning elements are moved during use such that the cut out portion follows the rotational path defined by the foot portion, and such that the foot and cut out portions move relative to a surface to be treated with the foot and cut out portions closely adjacent and spaced from the hull surface. Without wishing to be bound by theory, it is believed that this arrangement causes a positive pressure region to be produced adjacent the foot portion and a negative pressure region to be produced adjacent the cut out portion, and this in turn causes a fluid vortex effect adjacent the surface that causes material disposed on the surface to separate from the surface.

For more heavily fouled surfaces (macro fouling), the cleaning members <NUM> may be moved closer to the hull so as to contact the biofouling material and thereby cut larger barnacles (or other marine growth) from the hull <NUM>. With this arrangement, the tapered shape of the cleaning members <NUM> may also act to lift marine fouling away from anti-fouling paint and prevent scratching.

In this example, the cleaning members <NUM> are caused to rotate by at least one first hydraulic motor <NUM>, although it will be understood that other arrangements for causing rotation of the cleaning members <NUM> are envisaged. In this example, <NUM> first hydraulic motors <NUM> are provided, with each cleaning member <NUM> having an associated first hydraulic motor <NUM>.

In communication with the suction pipe <NUM> and extending to the cleaning members <NUM> are first suction conduits <NUM>, in this example in fluid communication with a hole <NUM> disposed centrally of the cleaning members <NUM>.

In this example, the cleaning head <NUM> also includes a drive mechanism <NUM> arranged to effect movement of the cleaning head under control of a user.

The drive mechanism <NUM> includes a first drive shaft <NUM> connected to a reduction gearbox <NUM> and a first drive wheel <NUM> mounted on the first drive shaft <NUM>. The first drive shaft <NUM> is connected through a universal joint <NUM> to a second drive shaft <NUM>, and a second drive wheel <NUM> is mounted on the second drive shaft <NUM>.

Since the first and second drive shafts <NUM>, <NUM> are connected together through the universal joint <NUM>, rotation of the first drive shaft <NUM> causes rotation of the second drive shaft <NUM> and thereby rotation of the first and second drive wheels <NUM>, <NUM>. During use, when the first and second drive wheels <NUM>, <NUM> rotate, contact between the first and second drive wheels <NUM>, <NUM> and the surface being cleaned causes the cleaning head <NUM> to move.

The drive mechanism <NUM> also includes a second hydraulic motor <NUM> arranged to cause rotation of the drive shafts <NUM>, <NUM> and thereby rotation of the first and second drive wheels <NUM>, <NUM>.

A non-driven rear wheel <NUM> is also provided.

In this example, the cleaning head <NUM> also includes a flow control device arranged to control the flow of hydraulic fluid to the second hydraulic motor <NUM>, and thereby the speed of rotation of the first and second drive wheels <NUM>, <NUM> and the speed of movement of the cleaning head <NUM>.

The cleaning head <NUM> also includes magnets (not shown) arranged to ensure that the cleaning head <NUM> remains attached to the hull <NUM> during a cleaning operation.

In this example, the drive mechanism <NUM> is arranged so as to be controllable by an operator from a remote location, for example from a location above the waterline adjacent the vessel using navigation controls.

It will be appreciated that the cleaning system enables an operator to substantially clean material from a surface of a vessel hull <NUM>, in situ, because substantially all of the material removed from the surface is transported away from the surface without leeching into the surrounding water. Removal of the vessel from the water in order to effect cleaning is not necessary.

Referring to <FIG>, components of an alternate cleaning head <NUM> for use with the cleaning system <NUM> are shown.

<FIG> and <FIG> show a drive mechanism <NUM> of the alternate cleaning head <NUM>.

The drive mechanism <NUM> includes a fixed first drive module <NUM>, a steerable second drive module <NUM>, and <NUM> pivotable third drive modules <NUM>. Each of the first, second and third drive modules includes a pair of wheels <NUM> mounted on a support structure <NUM> that is eccentrically mounted relative to a drive shaft (not shown) so that the support structure <NUM> and thereby the wheels <NUM> can rotate about the drive shaft. During use, the wheels <NUM> contact a vessel hull <NUM>, and movement of the cleaning head <NUM> relative to the vessel hull is effected by effecting rotation of the wheels <NUM>. The drive shaft is connected to the support structure <NUM> using a drive belt <NUM> so that rotation of the drive shaft effects rotation of the wheels <NUM> and thereby motion of the cleaning head <NUM> relative to a hull during use. A degree of resilience in the rotational movement of the support structure <NUM> about the drive shaft is achieved by providing a shock absorber <NUM>.

In this example, the drive speed of first and second drive modules is proportional to the steerable drive wheel position so that drag is minimised when turning.

In order to ensure that the cleaning head <NUM> remains attached to the hull <NUM> during a cleaning operation, each of the drive modules <NUM>, <NUM>, <NUM> is provided with a magnet <NUM>.

In order to enable the drive mechanism <NUM> to conform to the shape of a hull, each of the third drive modules <NUM> is connected at a pivot connection <NUM> to a drive mechanism frame <NUM>. As shown more particularly in <FIG>, such pivot connections <NUM> enable the third drive modules <NUM> to rotate about a longitudinal axis of the cleaning head <NUM>. It will be appreciated that conformity with a vessel hull during use is also assisted by eccentrically mounting the support structure <NUM> so that the support structure <NUM> and thereby the wheels <NUM> can rotate about the drive shaft, and providing a biasing resilient force using the shock absorbers <NUM> and/or springs (not shown).

The wheel support structure <NUM> of the second drive module <NUM> is mounted on a rotatable steering plate <NUM>. The steering plate <NUM> includes teeth <NUM> arranged to engage with a drive pinion (not shown) that is controllably rotatable in order to effect controlled rotation of the steering plate <NUM> and thereby controlled steering of the cleaning head <NUM>. Rotation of the steering plate <NUM> and thereby steering of the cleaning head <NUM> is in this example controlled remotely.

<FIG> shows a cleaning module <NUM> of the alternate cleaning head <NUM>.

The cleaning module <NUM> includes a base portion <NUM> and <NUM> wing portions <NUM> pivotably connected to the base portion <NUM>, in this example using hinges <NUM>. The base portion <NUM> and each of the wing portions <NUM> accommodate a cleaning assembly <NUM>.

A cleaning assembly <NUM> is shown in more detail in <FIG>.

Each cleaning assembly <NUM> includes a cylindrical support housing <NUM> that is pivotably mounted to the respective base portion <NUM> or wing portion <NUM> at first and second pivot connections 182a, 182b such that the cleaning member <NUM> is rotatable about a longitudinal axis of the cleaning head <NUM>.

The support housing <NUM> houses an impeller <NUM> having a plurality of vanes <NUM> and an aperture <NUM>, rotation of the impeller <NUM> generating negative pressure adjacent the hull <NUM> during use which causes removal of material separated from the hull <NUM> through the aperture <NUM>.

The support housing <NUM> also includes a cleaning plate <NUM> on which several cleaning elements <NUM> are accommodated. As shown more particularly in <FIG>, the cleaning elements <NUM> are of a type that cause material on the surface of the vessel hull <NUM> to separate from the hull surface as the cleaning elements <NUM> move relative to the hull <NUM>.

The cleaning plate <NUM> is connected to a drive plate <NUM>, for example using bolts, the drive plate <NUM> being caused to rotate using <NUM> slave gear wheels <NUM> that mesh with a drive gear wheel <NUM> mounted on the impeller <NUM> and a guide gear wheel <NUM>. The arrangement is such that rotation of the impeller <NUM> causes rotation of the drive plate <NUM> and thereby rotation of the cleaning elements <NUM> relative to the hull <NUM>.

In the absence of compensation, during use as the cleaning plate <NUM> and therefore the cleaning elements <NUM> rotate, material removed from the hull would tend to move outwardly of the axis of rotation of the cleaning plate <NUM>. In order to overcome this, the impeller <NUM> is arranged to generate negative water pressure (suction) through the aperture <NUM> which causes fluid to flow substantially evenly around the rim of the support housing <NUM>. Such inward flow of water compensates for the "centrifugal spit out" effect of rotation of the cleaning plate <NUM>, thereby preventing loss of material and creating a passive suction barrier. This action allows each cleaning assembly <NUM> to conform to the hull <NUM> and travel at a forward speed of about <NUM> to <NUM> per hour without any egress of material into the surrounding environment.

It will be understood that since the <NUM> wing portions <NUM> are pivotably mounted to the base portion <NUM>, and each of the cleaning assemblies <NUM> is rotatable about a longitudinal axis of the cleaning head <NUM>, the cleaning module <NUM> is able to articulate about generally longitudinal axes of the cleaning head <NUM> in order to better conform to the shape of the vessel hull <NUM>, as shown more particularly in <FIG>.

The alternative cleaning head <NUM> is configured such that the drive mechanism wheels <NUM> run behind the cleaning assembly <NUM> so that the wheels <NUM> contact a substantially clean surface. This minimises damage to the anti-fouling paint on the hull <NUM> and ensures that contact with the hull is smooth.

Functional components of the hull cleaning system are shown in <FIG> and <FIG>.

Referring to <FIG> and <FIG>, the cleaning head <NUM> includes front and rear sensor packages <NUM>, <NUM> that obtain information about a portion of the hull <NUM> adjacent the cleaning head <NUM> as the cleaning head moves relative to the hull <NUM>, as described in more detail below.

The functional components include a front image capture device, in this example a front camera <NUM> housed in the front sensor package <NUM> and arranged to capture still and/or video images of the hull <NUM> adjacent a front portion <NUM>; and a rear image capture device, in this example a rear camera <NUM> housed in the rear sensor package <NUM> and arranged to capture still and/or video images of the hull <NUM> adjacent a rear portion <NUM>. It will be understood that the front camera <NUM> essentially captures images indicative of a fouled portion of the hull <NUM> that is about to be cleaned by the cleaning head <NUM>, and the rear camera <NUM> essentially captures images indicative of a clean portion of the hull <NUM> that has just been cleaned by the cleaning head <NUM>.

In the present embodiment, the front and/or rear cameras <NUM>, <NUM> are high definition video cameras capable of close visual inspection.

In an embodiment wherein at least one video camera is provided, the video camera may be used to facilitate remote navigation of movement of the cleaning head <NUM> by an operator.

It will be understood that using high definition image cameras or for example one or more laser scanners, 3D image information indicative of the profile of the hull adjacent the front or rear portion <NUM>, <NUM> may be generated.

The operative components also include an ultrasonic transceiver <NUM>, in this example housed in the rear sensor package <NUM>. The ultrasonic transceiver <NUM> is arranged to transmit ultrasonic signals towards a clean portion of the hull <NUM> adjacent the rear portion <NUM>, and to receive ultrasonic signals from the hull <NUM> that can be used to generate information indicative of the structural condition of the hull, for example the structural integrity of weld seams and/or faults in the hull skin or appendages disposed on the hull <NUM>, and/or thickness of a surface coating, for example anti-fouling paint, on the vessel hull, and/or corrosion on the hull.

The operative components also include a cleaning head location device, in this example a GPS device <NUM>, arranged to produce positional information indicative of the location of the cleaning head <NUM>. Using positional and orientation information of the vessel obtained from a vessel location device <NUM> and the cleaning head positional information, location information indicative of the location of the cleaning head <NUM> relative to the hull <NUM> can be produced. In this example, the vessel positional and orientation information is obtained using a hydro acoustic position reference system (HPR) incorporated into a port. The location information indicative of the location of the cleaning head <NUM> relative to the hull <NUM> can be used to create a vessel hull map indicative of portions of the hull <NUM> that have been cleaned by the cleaning head <NUM> and portions of the hull that have not been cleaned by the cleaning head <NUM>.

The location information may also be used with the information from the ultrasonic transceiver <NUM> and/or the image capture devices <NUM>, <NUM> to create a vessel feature map that links the locations on the hull with hull features, including hull surface coating thickness, integrity of weld seams, faults in the hull skin or appendages disposed on the hull <NUM>, thickness of a hull surface coating, corrosion on the hull, and/or species identified on the hull.

The cleaning head <NUM> may further include repair and/or maintenance components, for example one or more manipulators <NUM>, arranged to carry out automated or remotely controlled maintenance and/or repair operations on the hull during or subsequent to a hull cleaning operation.

For example, during a hull cleaning operation if a fault is detected in a weld seam on the hull, the manipulators(s) <NUM> may be arranged to automatically carry out a weld repair operation.

In order to identify species present on the hull, the system may include automated species detection components, for example in the form of suitable software that compares information obtained using the image capture devices <NUM>, <NUM> and/or the ultrasonic transceiver <NUM> with reference information to make a determination as to the identity of the species present on the hull. Alternatively, the still and/or video information from the image capture devices <NUM>, <NUM> may be viewable substantially in real-time, or subsequently, by a person so that the person can manually identify the species present.

The operative components also include a control unit <NUM> arranged to control and coordinate operations at the cleaning head <NUM>, in particular operations associated with capture of images from the front and rear cameras <NUM>, <NUM>, capture of ultrasonic signals that can be used to produce structural integrity information associated with the hull <NUM>, capture of GPS information indicative of the position of the cleaning head <NUM>, and control of the drive mechanism <NUM> in response to instructions received from navigation controls <NUM>.

In this example, the operative components of the cleaning head <NUM> are connected through a suitable cable <NUM> to an on-site storage device <NUM> disposed at a suitable local location <NUM> above the waterline, for example on the vessel that is in the process of being cleaned. In this example, the cleaning head <NUM> communicates with components at the local location <NUM> using a network, such as an Ethernet network, and for this purpose the cleaning head <NUM> includes a network interface <NUM>.

The on-site storage device <NUM> is arranged to store data indicative of images captured by the front and rear cameras <NUM>, <NUM>, data indicative of ultrasonic signals captured by the ultrasonic transceiver <NUM>, and data indicative of the location and orientation of the vessel and of the absolute location of the cleaning head <NUM> as the cleaning head <NUM> moves relative to the vessel. In this example, the data stored in the on-site storage device <NUM> is continuously or periodically received at the on-site storage device from the cleaning head <NUM> and the vessel location device <NUM>, and it will be understood that the on-site storage device <NUM> includes suitable operative components to control and manage storage of the received data in this way.

The on-site storage device <NUM> is connected to or connectable to a remote hub facility <NUM>, in this example through the Internet <NUM>, using a network interface <NUM>. During use, the data indicative of captured images, of captured ultrasonic signals, of the location and orientation of the vessel, and absolute location of the cleaning head <NUM> as the cleaning head <NUM> moves relative to the vessel is transferred to the hub facility <NUM> for storage, and subsequent processing and analysis. In this example, the data is transferred to the hub facility <NUM> periodically, for example every hour, although it will be understood that any suitable data transfer arrangement is envisaged.

In this example, navigation controls <NUM> and a display <NUM> are also disposed at the local location <NUM>. The navigation controls <NUM> are used to steer the cleaning head, and the display <NUM> is arranged to receive video information from the front and/or rear cameras <NUM>, <NUM> so that the environment surrounding the cleaning head <NUM> is visible to an operator for use by the operator in appropriately manoeuvring the cleaning head using the navigation controls <NUM>.

In this example, the video information from the front and/or rear cameras <NUM>, <NUM>, the navigation control signals associated with the navigation controls <NUM>, and the information from the ultrasonic sensor <NUM> and/or video images for storage in the on-site storage <NUM> are communicated between the cleaning head <NUM> and the local location <NUM> using the network defined using the network interfaces <NUM>, <NUM>.

The hub facility <NUM> operates as a central server that receives data indicative of multiple hull cleaning operations for a vessel, for example from the ports that the vessel visits, stores the received data for subsequent processing and analysis, and makes the data and any analysis carried out on the data available on-line.

It will be understood that for a cargo vessel, typically a hull cleaning operation commences on a hull <NUM> of the vessel when the vessel arrives at a port, and as the hull is cleaned cargo is loaded on or unloaded from the vessel. However, insufficient time is typically available to complete cleaning of the hull before the cargo loading or unloading operation has finished. Accordingly, with current in-situ hull cleaning arrangements it is necessary to keep the vessel at the port until the cleaning operation has finished, which can be disruptive to the cargo transportation operation and therefore costly.

During operation of the present hull cleaning system <NUM>, data indicative of the captured images, of the captured ultrasonic signals, of the location and orientation of the vessel, and of the absolute location of the cleaning head <NUM> as the cleaning head <NUM> moves relative to the vessel is transferred to the central server <NUM> as a cleaning operation progresses at a first port, and a hull map is created at the central server <NUM> that is indicative of the locations on the hull <NUM> that have been cleaned and the locations on the hull <NUM> that have not been cleaned. In this way, a record of the cleaning status of the vessel hull <NUM> is produced that can be used to recommence cleaning at a subsequent port when the vessel arrives at the subsequent port. In other words, the present system <NUM> enables vessel cleaning to commence at a first port during a loading/unloading operation and subsequently recommence at a second port after the vessel has moved from the first port to the second port. This enables the vessel to leave the first port on time, even though the vessel hull has not been completely cleaned.

A feature map may also be created that links locations on the vessel hull with hull features, for example hull surface coating thickness, integrity of weld seams, faults in the hull skin or appendages disposed on the hull <NUM>, thickness of a hull surface coating, corrosion on the hull, and/or species identified on the hull.

The central server <NUM> includes a control unit <NUM> arranged to control and coordinate operations in the central server <NUM>, and a network interface <NUM> arranged to facilitate communication with the network interface <NUM> of the on-site storage device <NUM>, in this example through the Internet.

In this example, the data indicative of captured images and of captured ultrasonic signals are stored in an imagery database <NUM>, and the data indicative of the location and orientation of the vessel and the location of the cleaning head <NUM> as the cleaning head <NUM> moves relative to the vessel is stored in a location database <NUM>.

In this example, the central server may also be arranged to store asset management data for vessels, including data indicative of maintenance schedules, including maintenance already carried out in respect of a vessel and maintenance that is planned to be carried out in respect of a vessel.

In this example, the central server <NUM> also includes a web server <NUM> and an analysis unit <NUM>. The analysis unit <NUM> is arranged to process and/or analyse the image and location data received from the cleaning head <NUM> and the vessel location device <NUM>, for example so as to generate outputs indicative of whether any faults are identified on the hull <NUM> using the ultrasonic imagery; to identify the content of the fouling material on the hull, for example the species contained in the fouling material, using the imagery captured by the front and rear cameras <NUM>, <NUM>; and to generate the vessel hull map indicative of the portions of the hull <NUM> that have been cleaned and the portions of the hull <NUM> that have not been cleaned, and thereby information that is usable by an operator to recommence hull cleaning at a second port from the same location that hull cleaning ceased at a first port.

The analysis unit <NUM> may also be arranged to generate a warning notice if an identified species is a non-indigenous species, and for example send the warning notice to a vessel owner and/or a relevant authority associated with non-indigenous species, for example by email or SMS.

In this example, the web server <NUM> operates to provide an on-line user interface that is accessible by any suitable computing device, such as personal computers <NUM>, tablet computers <NUM> or smart phones (not shown). The web server <NUM> serves web pages to a computing device, and typically the web pages will enable a user to view the information stored in the imagery and location databases <NUM>, <NUM> in any suitable way; view the results of data analysis operations on the data stored in the imagery and location databases <NUM>, <NUM>, and/or instigate analysis operations on the data stored in the imagery and location databases <NUM>, <NUM>; and view vessel hull maps. However, it will be understood that any suitable arrangement for facilitating access to the central server <NUM> by a user is envisaged.

The system <NUM> may also be arranged to cross check whether a partially cleaned hull is allowed to enter a destination port that the vessel intends to travel to and to take necessary action if entry of a partially cleaned vessel is not allowed. For example, the system <NUM> may be arranged to send a communication to relevant operators at the source port. Such information indicative of port restrictions may be stored at the central server <NUM>.

Referring to <FIG>, a flow diagram <NUM> is shown that illustrates steps <NUM> to <NUM> of an example of the hull cleaning system <NUM> during use.

As shown, when a vessel arrives <NUM> at a first port, Port A, cleaning of the vessel hull using the cleaning head <NUM> commences <NUM>. At the same time, images of cleaned and fouled portions the vessel hull, ultrasonic images of cleaned portions of the vessel hull, and positional information indicative of the position of the cleaning head <NUM> relative to the hull <NUM> are obtained <NUM>, <NUM>, <NUM> and stored at the on-site storage device <NUM>. As the hull cleaning operation proceeds, the vessel is loaded/unloaded <NUM>. After loading/unloading is complete <NUM>, the vessel travels <NUM> from Port A to a second port, Port B, and the vessel is then unloaded/loaded <NUM> at Port B.

If the hull cleaning operation has already completed when vessel loading/unloading has completed at Port A, the complete image and location data obtained at Port A is sent <NUM> to the central server <NUM> through the Internet for storage in the imagery and location databases <NUM>, <NUM>.

If the hull cleaning operation has not completed when vessel loading/unloading has completed at Port A, the incomplete image and location data obtained at Port A is sent <NUM> to the central server <NUM> through the Internet for storage in the imagery and location databases <NUM>, <NUM>. Using the location data stored at the central server <NUM>, a vessel hull map is generated and used to recommence <NUM> the hull cleaning operation at Port B. Capture of camera images, ultrasonic data and GPS location data also recommences <NUM>, <NUM>, <NUM> at Port B.

After completion of the hull cleaning operation at Port B, the remaining imagery and location data obtained at Port B is sent <NUM> to the central server <NUM> through the Internet for storage in the image and location databases <NUM>, <NUM> so that a complete record of the hull cleaning operation is stored at the central server <NUM>.

Access to the stored data and to processing/analysis tools is then made available <NUM> at the central server by authorised personnel, for example through a web browser.

It will be appreciated that the data stored at the hub facility serves as a historical record of hull cleaning operations for a vessel which may be useful for various purposes, including by insurance organisations.

While the above examples are described in relation to commencing cleaning of a hull at a first location and recommencing the cleaning operation at a subsequent time at a second location, it will be understood that the present system and method is also applicable to other applications. For example, the system and method are applicable to a situation wherein cleaning is commenced at a first location and recommenced at a subsequent time at the same location. This may occur for various reasons, for example because maintenance is required to be carried out on the cleaning head. In addition, it will be appreciated that cleaning may be commenced, recommenced and finalised at multiple ports, and the present system and method is not limited to <NUM> ports.

It will be understood that, if any prior art publication is referred to herein, such reference does not constitute an admission that the publication forms a part of the common general knowledge in the art, in Australia or any other country.

Claim 1:
A hull cleaning system (<NUM>) comprising: a below-waterline hull cleaning head (<NUM>) arranged to clean an underwater portion of a hull (<NUM>) in-situ; and a hub facility (<NUM>) remotely located relative to the hull cleaning head (<NUM>); a location determining system (<NUM>, <NUM>) including a vessel location device (<NUM>) arranged to produce vessel positional information indicative of the location of the vessel; and the location determining system arranged to produce location information indicative of the location of the hull cleaning head (<NUM>) relative to the hull (<NUM>) as the hull cleaning head (<NUM>) moves relative to the hull (<NUM>), and wherein the location information indicative of the location of the hull cleaning head (<NUM>) relative to the hull (<NUM>) and the vessel positional information are transferred to the hub facility (<NUM>), which operates as a central server, to produce a hull map indicative of clean portions of the hull (<NUM>) that have been cleaned by the hull cleaning head (<NUM>) and fouled portions of the hull (<NUM>) that have not yet been cleaned by the hull cleaning head (<NUM>), the system (<NUM>) arranged to store said hull map to the hub facility (<NUM>); the system (<NUM>) arranged to provide on-line access to the hull map stored at the hub facility (<NUM>), the hull map usable by a hull cleaning head (<NUM>) to enable the hull cleaning head (<NUM>) to continue cleaning the hull (<NUM>) at a subsequent time using the stored hull map, by cleaning portions of the hull (<NUM>) that are identified in the hull map as fouled portions of the hull (<NUM>) that have not yet been cleaned. (<NUM>) .