Development of an Autonomous Cleaning Robot with a Hydraulic Manipulator Arm for the Cleaning of Niche Areas of a Ship Hull

Fouling organisms reduce a ship’s fuel efficiency and disturb the ecosystem. Therefore, International Maritime Organization (IMO) many nations have enacted laws that mandate periodic hull cleaning for removing fouling organisms. However, niche areas of ship is extremely difficult. Due to their complex shape, applying antifouling paint with robots difficult, but about 80% are concentrated in areas. To resolve this issue, research proposes use an autonomous robot hydraulic polyarticular arm clean hull. This can approach shapes using its arm. It was designed be able scan area, establish plan, accordingly. autonomously cleaned propeller blade, which typical area hull, verify applicability system. The experiment results show approximately biofouling removed from crevices 81% recovered.