A system for cleaning a hull of a vessel includes a cleaning head configured to contact the hull of the vessel and to move relative to the hull. The cleaning head includes cleaning elements for removing at least a portion of biofouling on the hull, a cable connected to the cleaning head and coupled to a winch for connecting the cleaning head to the vessel, a pulley system that includes a sheave disposed near the bow and between the cleaning head and the winch and through which the cable is routed, and a control system in communication with the cleaning head.

A boat hull washing apparatus includes a left structure and a right structure, one or more brushes arranged to wash a hull of a boat positioned between the structures. The apparatus is provided with a boat positioning assembly that includes a left and a right boat pushing device. The left and right boat pushing devices are attached to left/right structures respectively. The left boat pushing device is arranged to bias a boat, located between the left and right structures, away from the left structure, and the right device functions similar away from the right structure. In this way, the pushing devices are arranged to hold the boat in a lateral position. Using this arrangement of the left and right pushing devices to bias the boat away from the left and right structures, respectively, a single force generating unit is connected to both pushing devices.

An apparatus and a method for cleaning the hull of a vessel include a washing unit having a plurality of washing modules of the hull, suitable for washing the hull in a submerged configuration. Each washing module is equipped with mobile connectors for the mobile mechanical connection of one washing module to an adjacent washing module, to allow a reciprocal movement between the adjacent washing modules during washing and/or movement. Each washing module has washers of the hull suitable for scraping dirt from the hull. Each washing module is equipped with drivers to allow the positioning and movement of the washing module with respect to the hull and/or with respect to other washing modules during the cleaning of the hull.

A robot (2) and method for underwater monitoring and maintenance of a ship's hull (1) when the ship is underway, are described. The robot (2) comprises a main body (5), a connector (21) for connecting the robot (2) to a cable (3) for towing the robot (2), a resting base (13) adopted to rest against the ship's hull (1), one or more hydrofoil(s) (6, 7) arranged perpendicular to the length axis of the main body (5), and a rudder (8) arranged at the front part of the main body (5), the main body (5) being a straight and elongated body having a length to width ratio of 5 or more, where the length of the hydrofoil(s) (6, 7) as seen perpendicular to the main body (5), is/are longer than the width of the main body (5), and where the connector (21) for the cable (3) is arranged at one end of a hydrofoil (6), or at an arm extending parallel with the one or more hydrofoil(s).

According to embodiments of the present invention, an underwater hull cleaning machine is provided. The cleaning machine includes a housing including a base region adapted to be arranged facing at least part of an external surface to be cleaned; a guiding mechanism coupled to the housing, wherein the guiding mechanism is configured to enable the cleaning machine to be maneuvered along the external surface; and at least one brush configured to move between an extended position and a retracted position. In the extended position, the at least one brush is extended downwardly towards the base region to be in contact with the external surface. In the retracted position, the at least one brush is moved upwardly away from the base region to be free from contact with the external surface. According to further embodiments, a hull cleaning system and a method for cleaning a vessel hull are also provided.

A robot (2) and method for underwater monitoring and maintenance of a ship's hull (1) when the ship is underway, are described. The robot (2) comprises a main body (5), a connector (21) for connecting the robot (2) to a cable (3) for towing the robot (2), a resting base (13) adopted to rest against the ship's hull (1), one or more hydrofoil(s) (6, 7) arranged perpendicular to the length axis of the main body (5), and a rudder (8) arranged at the front part of the main body (5), the main body (5) being a straight and elongated body having a length to width ratio of 5 or more, where the length of the hydrofoil(s) (6, 7) as seen perpendicular to the main body (5), is/are longer than the width of the main body (5), and where the connector (21) for the cable (3) is arranged at one end of a hydrofoil (6), or at an arm extending parallel with the one or more hydrofoil(s).

According to embodiments of the present invention, an underwater hull cleaning machine is provided. The cleaning machine includes a housing including a base region adapted to be arranged facing at least part of an external surface to be cleaned; a guiding mechanism coupled to the housing, wherein the guiding mechanism is configured to enable the cleaning machine to be maneuvered along the external surface; and at least one brush configured to move between an extended position and a retracted position. In the extended position, the at least one brush is extended downwardly towards the base region to be in contact with the external surface. In the retracted position, the at least one brush is moved upwardly away from the base region to be free from contact with the external surface. According to further embodiments, a hull cleaning system and a method for cleaning a vessel hull are also provided.

Certain aspects of the present disclosure generally relate to cleaning geophysical equipment in water. An exemplary method includes illuminating, with laser light, an obstruction on the geophysical equipment while the geophysical equipment is deployed in an operable configuration (e.g., towed by a survey vessel).

A boat hull washing apparatus includes a left structure and a right structure, one or more brushes arranged to wash a hull of a boat positioned between the structures. The apparatus is provided with a boat positioning assembly that includes a left and a right boat pushing device. The left and right boat pushing devices are attached to left/right structures respectively. The left boat pushing device is arranged to bias a boat, located between the left and right structures, away from the left structure, and the right device functions similar away from the right structure. In this way, the pushing devices are arranged to hold the boat in a lateral position. Using this arrangement of the left and right pushing devices to bias the boat away from the left and right structures, respectively, a single force generating unit is connected to both pushing devices.

Certain aspects of the present disclosure generally relate to cleaning geophysical equipment in water. An exemplary method includes illuminating, with laser light, an obstruction on the geophysical equipment while the geophysical equipment is deployed in an operable configuration (e.g., towed by a survey vessel).