| 主权项 |
1. A hull cleaning robot for cleaning submersed marine structures, the robot having:
a drive system for traversing the robot over the submersed structure; an attachment system for attaching the robot to the submersed structure; and a cleaning arrangement for removing biofouling from the submersed structure as the robot is traversed thereover; wherein the robot further has one or more flexible detector strips which contact the submersed structure as the robot is traversed thereover, the strips having a plurality of electrodes and being formed from electroactive polymer material which produces electrical signals in the electrodes on deflection of the strips, the signals being indicative of the surface roughness of the submersed structure. |
