VESSEL HULL ROBOT NAVIGATION SUBSYSTEM

摘要

A vessel hull robot navigation subsystem and method for a robot including a drive subsystem onboard the robot for driving the robot about the hull. A sensor subsystem onboard the robot outputs data combining robot and vessel motion. A memory onboard the robot includes data concerning the configuration of the hull and a desired path of travel for the robot. A fix subsystem communicates position fix data to the robot. A navigation processor onboard the robot is responsive to the memory data, the sensor subsystem, the position fix data, and the data concerning vessel motion. The navigation processor is configured to determine the position of the robot on the hull by canceling, form the sensor subsystem output data combining both robot and vessel motion, the determined vessel motion. The navigation processor controls the drive subsystem to maneuver the robot on the hull based on the fix data, the configuration of the hull, the desired path of travel for the robot, and the determined position of the robot on the hull.