Hull robot with rotatable turret

摘要

A hull robot includes a turbine subsystem actuatable by fluid moving past the hull, a drive subsystem for maneuvering the robot about the hull, and an adjustment subsystem for either the turbine subsystem or the drive subsystem. A controller is configured to operate the adjustment subsystem to adjust the position of the turret subsystem relative to the drive subsystem until fluid flowing past the hull results in an optimal flow of fluid with respect to the turbine subsystem.

主权项

1. A hull robot comprising:
a drive subsystem for maneuvering the robot about the hull; a turbine subsystem movable relative to the drive subsystem and actuatable by fluid moving past the hull as the hull moves through the fluid, the turbine subsystem comprising a turbine intake, wherein an orientation of the turbine intake is maintained in alignment with a direction of fluid flowing outside the hull robot and past the hull as the robot maneuvers about the hull in different directions along multiple axes; an adjustment subsystem for either the turbine subsystem or the drive subsystem; and a controller configured to operate the adjustment subsystem to adjust the orientation of the turbine subsystem relative to the drive subsystem.