• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A submersible apparatus for cleaning the outer side of the hull of a marine vessel and for cleaning the wall of cargo space in the cargo holds. The apparatus comprises a watertight housing provided with continuous magnetic tracks at opposing lateral sides of the housing. A watertight housing provided with continuous magnetic tracks at opposing lateral sides of said housing. At least one drive motor in the housing operably connected to at least one continuous magnetic track for driving the continuous magnetic tracks. The housing being provided with a main side between the continuous magnetic tracks. The main side preferably facing away from the hull- The main side being configured for detachably attaching a cleaning tool.
    公开号:DK201670635A1
    申请号:DKP201670635
    申请日:2016-08-23
    公开日:2018-03-05
    发明作者:Thomas Jørgensen；Michael Iversen；Nikolaj Hans Bramsen Kloster；Bo Møller Hansen
    申请人:Cliin Aps；
    IPC主号:
    专利说明:

    <1θ> DANMARK <1°> DK 2016 70635 A1
    <12> PATENTANSØGNING
    Patent- og
    Varemærkestyrelsen (51) lnt.CI.: B 63 B 59/08 (2006.01)
    B 63 B 59/06 (2006.01) (21) Ansøgningsnummer: PA 2016 70635 (22) Indleveringsdato: 2016-08-23 (24) Løbedag: 2016-08-23 (41) Aim. tilgængelig: 2018-02-25 (71) Ansøger: Cliin ApS, Rosenkæret 11 C, 2860 Søborg, Danmark (72) Opfinder: Thomas Jørgensen, Lærkenborg Alle 3, 3450 Allerød, Danmark Michael Iversen, Bodil Ipsens Vej 25, 2500 Valby, Danmark
    Nikolaj Hans Bramsen Kloster, Aldershvilevej 21A, 2880 Bagsværd, Danmark Bo Møller Hansen, Ericavej 122, 2820 Gentofte, Danmark (74) Fuldmægtig: NORDIC PATENT SERVICE A/S, Bredgade 30,1260 København K, Danmark (54) Benævnelse: HULL CLEANING APPARATUS (56) Fremdragne publikationer:
    US 2014/0230711 A1 US 4890567 A CN 101704241 A US 2010/0126403 A1 CN 1789062 A US 2003/0000445 A1 US 2014/0077587 A1 KR 2016/0036688 A (57) Sammendrag:
    A submersible apparatus for cleaning the outer side of the hull of a marine vessel and for cleaning the wall of cargo space in the cargo holds. The apparatus comprises a watertight housing provided with continuous magnetic tracks at opposing lateral sides of the housing. A watertight housing provided with continuous magnetic tracks at opposing lateral sides of said housing. At least one drive motor in the housing operably connected to at least one continuous magnetic track for driving the continuous magnetic tracks. The housing being provided with a main side between the continuous magnetic tracks. The main side preferably facing away from the hull- The main side being configured for detachably attaching a cleaning tool.
    Fortsættes ...
    DK 2016 70635 A1
    DK 2016 70635 A1 i
    HULL CLEANING APPARATUS
    TECHNICAL FIELD
    The disclosure relates to a hull cleaning apparatus and method, in particular to a hull cleaning apparatus and method for removing deposits, organic and inorganic, from both submerged and unsubmerged surfaces of the hull of a marine vessel as well as wall of the cargo space in the hull of a marine vessel.
    BACKGROUND
    Increased competition in the shipping industry creates increased focus on cost reduction. Fuel is the single biggest cost driver for a shipping company. Big ships use 100+ tons of fuel per day. General trade, slow steaming and idle periods are conditions where marine growth (fouling) thrives.
    Marine growth increases the degree of surface roughness of submerged portions of marine vessels and has a significant effect on both ship fuel efficiency and on the speed which can be achieved at a given propeller speed. For marine vessels, commercial, private, or military, losses in ship performance have a variety of consequences, both financial and in terms of meeting scheduled arrival dates.
    There are also environmental reasons for regularly cleaning the whole of marine vessel. More strict global environmental global regulations are expected in the near future, combined with a potential future ban of biocidal antifouling products.
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    Regulations against transfer of foreign aquatic invasive species, for protection of e.g. coral reefs are also likely to be implemented in the not very distant future. Living up to such regulation will require a clean hull at all times.
    Use of divers for hull cleaning brings health and safety issues since divers do sometimes perish during cleaning operations. This adds negatively to safety statistics and reports to top managements.
    Some new high performance paint types (silicone paint), with no or less biocides are unable to perform and requires continuous cleaning.
    Quality cleaning is rarely available when needed i.e. at the location where the ship is located at the time that cleaning is required. The quality of available solutions is often impossible to control or verify. Low-quality cleaning solutions may damage coating, which inflicts further economical consequence for the ship owner.
    Existing solutions can only clean below the water line. All existing solutions are call on demand services that are contracted when the damage is done. At this point in time, the added fuel consumption has already created significant costs for the charterer or ship owner. Extensive crew is required for call on demand services (HQ, Agent, Port Authorities or Cleaning company). Call on demand cleaning is expensive .
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    Cleaning is often not finished as cleaning can only be done during daytime and only on one side of the ship if alongside in a port.
    The administration part is very intensive and requires a a large variety of different steps including approval of diving companies, ships agents, diving equipment with physical divers, HSE, etc.
    Transfer of aquatic invasive species to restricted areas can lead to requirement of immediate hull cleaning before entering a specific area. This causes additional waiting time for an external cleaning service and inflicts a heavy penalty.
    No current solutions perform preventive cleaning of the hull of large marine vessels.
    SUMMARY
    It is an object of the invention to provide an apparatus that allows for cleaning of the hull of a marine vessel both above and below the waterline.
    The foregoing and other objects are achieved by the features of the independent claims. Further implementation forms are apparent from the dependent claims, the description and the figures .
    According to a first aspect there is provided a submersible apparatus for cleaning the outer side of the hull of a marine vessel and for cleaning the wall of cargo space in the cargo holds, the apparatus comprising a watertight housing provided
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    DK 2016 70635 A1 with continuous magnetic tracks at opposing lateral sides of the housing, at least one drive motor in the housing operably connected to at least one continuous magnetic track for driving the continuous magnetic tracks, the housing being provided with a main side between the continuous magnetic tracks, the main side preferably facing away from the hull, the main side being configured for detachably attaching a tool.
    The apparatus enables early cleaning to prevent heavy fouling by removing the fouling at an early stage. The preventive cleaning is supported by gentle cleaning by either high pressure water jetting or brushes. The cleaning can be done at any time anywhere in the world, as the apparatus is permanently installed on the marine vessel, preferably also whilst the marine vessel is sailing.
    Due to magnetic adhesion the apparatus is able to clean during sailing
    Due to magnetic tracks the apparatus can clean above the water line, which is needed due to different water levels during cargo/ballast, etc.
    The apparatus is permanently installed on the marine vessel whilst all current solutions are call on demand - The solution is permanently on board vessel for use when needed.
    In a first possible implementation form of the first aspect the two continuous magnetic tracks are provided with a plurality of permanent magnets substantially equally
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    DK 2016 70635 A1 distributed along the length of the continuous tracks for allowing the continuous tracks to magnetically adhere to the hull of the marine vessel.
    In a second possible implementation form of the first aspect the housing as a front and a rear, the apparatus further comprising a front wheel and a rear wheel for each of the two continuous magnetic tracks, the housing comprising two electric drive motors, one electric drive motor being operably connected to the front wheel of one of the continuous magnetic tracks and the other electric drive motor being operably connected to a rear wheel of the other one of the continuous magnetic tracks.
    In a third possible implementation form of the first aspect each electric drive motor is provided with a reduction gear that forms one integral unit with the electric drive motor with the combination of the reduction gear and the electric drive motor preferably having a substantially cylindrical shape, with the respective driven front or rear wheel being directly fitted to an output shaft of the reduction gear or to an output shaft of a clutch unit connected to said reduction gear.
    In a fourth possible implementation form of the first aspect a portion of the electric drive motor opposite to the output shaft protrudes from a lateral side of the housing with a non- driven front or rear wheel having an offset that allows for the protruding portion of the electric drive motor to be received inside the non-driven front or rear wheel being disposed over the protruding portion.
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    In a fifth possible implementation form of the first aspect the electric drive motors are disposed at or near the two opposite longitudinal ends of the housing with their respective output shaft and/or the respective output shafts of the reduction gear coupled to the electric drive motor concerned being directed in opposite directions and preferably protruding from opposite lateral sides of the housing at or near opposite longitudinal ends of the housing.
    In a sixth possible implementation form of the first aspect the apparatus further comprises a clutch unit integrally connected to the electric drive motor and reduction gear unit, the combination of the drive motor, reduction gear and the clutch unit preferably having a cylindrical shape.
    In a seventh possible implementation form of the first aspect the main side is provided with a versatile mounting plate for detachably attaching a tool.
    In an eight possible implementation form of the first aspect the housing is provided with front or rear side that is provided with a configurable interface area for attaching lights, cameras or sensors.
    In a ninth possible implementation form of the first aspect further comprising a docking station connected to the apparatus by a suspension wire, a power cable and/or a communication cable.
    In a tenth possible implementation form of the first aspect
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    DK 2016 70635 A1 the docking station is provided with a high pressure pump for delivering high pressure water and wherein an inlet of a high pressure cleaning tool attached to the apparatus is connected via a high pressure hose to an outlet of the high pressure pump .
    In an eleventh possible implementation form of the first aspect the cleaning tool comprises nozzles and/or brushes rotatable by a least one brush drive, the brush drive preferably being powered by high pressure water from the high pressure pump.
    In a twelfth possible implementation form of the first aspect a user interface unit is coupled to, or part of the docking station, the user interface unit being preferably provided with user interface elements for controlling the operation of the apparatus in response to input from a human operator.
    In a thirteenth possible implementation form of the first aspect the docking station is provided with a water hose on a hose reel for connecting to a water supply system of the marine vessel and/or with a power cable and power cable reel for connecting to the grid of the marine vessel.
    In a fourteenth possible implementation form of the first aspect the docking station is provided with a motorized wire reel for the suspension wire and/or with a cable reel for the power cable and/or communication cable and/or with a high pressure hose reel for the high pressure hose.
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    In a fifteenth possible implementation form of the first aspect the docking station is wheeled and wherein the apparatus and the docking station are configured such that the apparatus can be carried and transported by the docking station .
    In a sixteenth possible implementation form of the first aspect the docking station is provided with an RFID transceiver configured to read an RFID transponder provided on the marine vessel.
    A transponder is placed on the vessel and by placing the docking station above or near this RFID transponder, the right route is automatically selected for cleaning.
    In a sixteenth possible implementation form of the first aspect the apparatus and or the docking station is provided with an electronic control unit configured for semi or full automatic cleaning.
    In a seventeenth possible implementation form of the first aspect the electronic control unit is configure to perform a preprogrammed route for optimized cleaning.
    These and other aspects of the invention will be apparent from and the embodiment (s) described below.
    BRIEF DESCRIPTION OF THE DRAWINGS
    In the following detailed portion of the present disclosure, the invention will be explained in more detail with reference to the example embodiments shown in the drawings, in which:
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    Figs. 1 and 2 are front and rear elevated views of an example embodiment of an apparatus for hull cleaning, respectively, Fig. 3 is an elevated view of the applause of Figs. 1 and 2 in action on the cargo hold of a marine vessel,
    Fig. 4 is a sectional view of the apparatus of Figs. 1 and 2, Fig. 5 is top view of a marine vessel on which the apparatus of Figs. 1 and 2 an be used to clean the hull and the walls of the cargo space,
    Fig. 6 is an elevated view of a portion of the deck of the marine vessel of Fig, 5 illustration a parking place for a docking station associated with the apparatus of Figs 1 and 2, and
    Fig. 7. is an elevated view of the docking station associated with the apparatus of Figs . 1 an 2 parked on the parking place of Fig. 6.
    DETAILED DESCRIPTION
    Figs. 1 and 2 show a submersible apparatus 1 for cleaning the outer side of the hull 60 of a marine vessel 50 (Fig. 5). The apparatus 1 is also suitable for cleaning the wall of a cargo space in the cargo holds 60. The apparatus 1 comprises a watertight housing 2 provided with continuous magnetic tracks 3 at opposing lateral sides of the housing 2.
    The endless magnetic tracks are in an embodiment provided with one or more road wheels (not shown) and with one or more idlers 26.
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    Wherein said magnetic tracks are built from modular chain links joined by a hinge, with each link or each second link being provided with a permanent magnet.
    At least one drive motor 14, 17 in the housing 2 is operably connected to at least one continuous magnetic track 3 for driving the continuous magnetic tracks 3. The housing 2 is provided with a main side 7 between the continuous magnetic tracks 3. The main side 7 facing away from the hull or the wall of the cargo room during cleaning operation. The main side 7 is provided with a versatile mounting plate for detachably attaching a cleaning tool 20, e.g. by a magnetic or quick coupling(s) (not shown). The cleaning tool 2 can be one of a variety of types. On type of cleaning tool 20 comprises high pressure cleaning nozzles 20 and inlet 24 for connecting to a high pressure water hose (not shown) . The cleaning apparatus 20 may in an embodiment (not shown) comprise rotating brushes and a drive powered by high pressure water received via the high pressure hose.
    The two continuous magnetic tracks 3 are provided with a plurality of permanent magnets 4 substantially equally distributed along the length the continuous tracks 3 for allowing the continuous tracks to magnetically adhere to the hull or wall of the cargo space of the marine vessel 50.
    Each permanent magnet is molded into a rubber material and then remolded into a polymer housing, with the rubber penetrating the part of the polymer housing, with is facing the steel surface. This allows to change hardness of the tracks, depending on the type of surface to be cleaned. The
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    DK 2016 70635 A1 housing 2 comprises a front and a rear. The apparatus 1 further comprises a front wheel and a rear wheel 5,6 for each of the two continuous magnetic tracks 3. The housing 2 comprises two electric drive motors 14,17. Electric drive motor 14 being operably connected to the driven front wheel 6 of one of the continuous magnetic tracks 3 and the other electric drive motor 17 being operably connected to the rear wheel 6 of the continuous magnetic track.
    Each electric drive motor 14,17 is provided with a reduction gear 15,18 that forms one integral unit with the electric drive motor 14,17 concerned with the combination of the reduction gear 15,18 and the electric drive motor 14, having a substantially cylindrical shape, with the respective driven front or rear wheel 6 being directly fitted to an output shaft
    27,28 of the reduction gear or of a clutch 16,19 operably connected with the respective reduction gear 15,18.
    A portion of the electric drive motor 14,17 opposite to the output shaft 27,28 protrudes from a lateral side of the housing with a non- driven front or rear wheel 5 having an offset that allows for the protruding portion of the electric drive motor 14,17 to be received inside the non-driven front or rear wheel 5 being disposed over the protruding portion.
    The electric drive motors 14,17 are disposed at or near the two opposite longitudinal ends of the housing 2 with their respective output shaft and/or the respective output shafts
    27,28 of the reduction gear 16,18 coupled to the electric drive motor 14,17 concerned being directed in opposite directions and preferably protruding from opposite lateral
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    DK 2016 70635 A1 sides of the housing 2 at or near opposite longitudinal ends of the housing 2.
    The apparatus 1 comprises a clutch unit 16,19 integrally connected to the electric drive motor and reduction gear unit. The combination of the drive motor, reduction gear and the clutch unit preferably having a cylindrical shape.
    The housing 2 is provided with front or rear side 8 that is provided with a configurable interface area for attaching lights, cameras or sensors 12.
    Fig. 7 shows a docking station 30 associate with and connected to the apparatus by a suspension wire 23 for ensuring that the apparatus 1 is not lost if the magnetic endless tracks 3 should inadvertently become detached from the hull or from the wall of the cargo hold. A power cable 24 extends between the docking station 30 and the apparatus 1 for supplying the apparatus 1 with electrical power. A communication cable (not shown), that can in embodiment be integrated into the power cable 24 allows for the transmission of signals between the apparatus 1 and the docking station 30.
    The docking station 30 is provided with a high pressure pump (not shown) for delivering high pressure water. An inlet 24 of a high pressure cleaning tool 20 attached to the apparatus 1 is connected via a high pressure hose (not shown) to an outlet of the high pressure pump.
    The cleaning tool 20 comprises high pressure cleaning nozzles and/or brushes rotatable by a least one brush drive (not
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    DK 2016 70635 A1 shown) the brush drive preferably powered by high pressure water from the high pressure pump.
    A user interface unit 36 is coupled to, or part of the docking station 30. The user interface unit comprises user interface elements for controlling the operation of the apparatus 1 in response to input from a human operator. The apparatus 1 is either configured to perform exact instructions of the human operator or configured to perform tasks autonomously in response to a command from the human operator.
    The docking station 30 is provided with a water hose 32 on a hose reel for connecting to a water supply system of the marine vessel 50. The docking station 30 us also provided with a power cable 33 and power cable reel 34 for connecting to the grid of the marine vessel 50.
    The docking station 30 is also provided with a motorized wire reel (not shown) for the suspension wire 23 and with a cable reel (not shown) for the power cable 24 and with a high pressure hose reel (not shown) for the high pressure hose.
    In an embodiment the docking station 30 is wheeled. The apparatus 1 and the docking station 30 are in an embodiment configured such that the apparatus 1 can be placed on the docking station 30 so that the apparatus 1 can be carried and transported by the docking station 30.
    The docking station 30 is provided with an RFID (Radio Frequency Identification) transceiver (not shown) configured to read an RFID transponder 15 provided on the deck 57 of the
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    DK 2016 70635 A1 marine vessel 50. RFID transponders 15 are placed on the marine vessel 50 at a suitable parking positions for the docking station 30. By placing the docking station 30 above or near an RFID transponder 15, the right route for the apparatus 1 over the hull section in the area of the parking position is automatically determined by an electronic control unit in the docking station 30 (or in the apparatus 1) . An electronic control unit configured for either semi or full automatic cleaning. Various suitable positions for the RFID transponders 15 on the deck of the marine vessel 50 are shown in Fig. 5. In an embodiment the electronic control unit is configured to perform a preprogrammed route for optimized cleaning .
    Fig. 5 shows the marine vessel 50 with its hull 60 extending from the bow 51 to the stern 52, bridge 54 and funnel 55 and the RFID transponders 15 for the selected parking positions for the docking station 30.
    In operation the apparatus 1 drives starting from the top of the hull 60 face down downwards to the center of the bottom of the hull 60 and back in a zigzag pattern to cover the area of the hull 60 associated with the parking position of the docking station 30. The motorized wire reel keeps a minimum amount of tension in the suspension wire 23 to avoid that the wire 23 has slack. The power cable reel and the high pressure hose reel are resilient or motorized in order to keep the power cable and high pressure hose at light tension during the zigzag movement of the apparatus 1.
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    Fig. 3 shows the apparatus 1 in action on a wall 70 of a cargo space. water jets 13 clean the surface of the cargo hold, including any beams 72.
    The apparatus 1 is further provided with various sensors that provide signals that allow the apparatus to keep distance form obstacles such as beams 72 and assist operation of the apparatus .
    In operation the apparatus 1 drives starting from the bottom of the cargo space face up downwards top of the of cargo space and back in a zigzag pattern to cover the area of the cargo space associated with the present parking position of the docking station 30. The presence of a suspension wire 23 is not essential for use of the apparatus 1 for cleaning a cargo space .
    The apparatus 1 enables early cleaning to prevent heavy fouling. The preventive cleaning is supported by gentle cleaning by either high pressure water jetting or brushes.
    Due to magnetic adhesion the apparatus 1 is able to clean during sailing. Due to magnetic tracks the apparatus can clean above the water line, which is needed due to different water levels during cargo/ballast, etc.
    The apparatus 1 can be permanently installed on the marine vessel whilst all current solutions are call on demand Our solution is permanently on board vessel for use when needed.
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    The invention has been described in conjunction with various embodiments herein. However, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word comprising does not exclude other elements or steps, and the indefinite article a or an does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measured cannot be used to advantage.
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    权利要求:
    Claims (17)
    [1] 1. A submersible apparatus for cleaning the outer side of the hull of a marine vessel and for cleaning the wall of cargo space in said cargo holds, said apparatus comprising:
    a watertight housing provided with continuous magnetic tracks at opposing lateral sides of said housing, at least one drive motor in said housing operably connected to at least one continuous magnetic track for driving said continuous magnetic tracks, said housing being provided with a main side between said continuous magnetic tracks, said main side preferably facing away from said hull, said main side being configured for detachably attaching a cleaning tool.
    [2] 2. An apparatus according to claim 1, wherein said two continuous magnetic tracks are provided with a plurality of permanent magnets substantially equally distributed along the length said continuous tracks for allowing said continuous tracks to magnetically adhere to the hull of said marine vessel.
    [3] 3. An apparatus according to claim 1 or 2, wherein said housing as a front and a rear, said apparatus further comprising a front wheel and a rear wheel for each of said two continuous magnetic tracks, said housing comprising two electric drive motors, one electric drive motor being operably connected to the front wheel of one of said continuous
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    DK 2016 70635 A1 magnetic tracks and the other electric drive motor being operably connected to the rear wheel of other one of said continuous magnetic tracks.
    [4] 4. An apparatus according to claim 3, wherein each electric drive motor is provided with a reduction gear that forms one integral unit with the electric drive motor with the combination of the reduction gear and the electric drive motor preferably having a substantially cylindrical shape, with the respective driven front or rear wheel being directly fitted to an output shaft of said reduction gear or to an output shaft of a clutch unit connected to said reduction gear.
    [5] 5. An apparatus according to claim 4, wherein a portion of the electric drive motor opposite to the output shaft protrudes from a lateral side of the housing with a nondriven front or rear wheel having an offset that allows for the protruding portion of the electric drive motor to be received inside said non-driven front or rear wheel being disposed over said protruding portion.
    [6] 6. An apparatus according to claim 4 or 5, wherein said electric drive motors are disposed at or near the two opposite longitudinal ends of said housing with their respective output shaft and/or the respective output shafts of the reduction gear coupled to the electric drive motor concerned being directed in opposite directions and preferably protruding from opposite lateral sides of the housing at or near opposite longitudinal ends of said housing.
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    [7] 7. An apparatus according to any one of claims 4 to 6, further comprising a clutch unit integrally connected to said electric drive motor and reduction gear unit, the combination of the drive motor, reduction gear and the clutch unit preferably having a cylindrical shape.
    [8] 8. An apparatus according to any one of claim 1 to 7, wherein said main side is provided with a versatile mounting plate for detachably attaching a tool.
    [9] 9. An apparatus according to any one of claims 1 to 8, wherein said housing is provided with configurable interface areas for attaching lights, cameras or sensors, the interface areas preferably being a front or rear side of the housing.
    [10] 10. An apparatus according to any one of claims 1 to 8, further comprising a docking station connected to said apparatus by a suspension wire, a power cable and/or a communication cable.
    [11] 11. An apparatus according to claim 10, wherein said docking station is provided with a high pressure pump for delivering high pressure water and wherein an inlet of a high pressure cleaning tool attached to said apparatus is connected via a high pressure hose to an outlet of said high pressure pump.
    [12] 12. An apparatus according to claim 11, wherein said cleaning tool comprises nozzles and/or brushes rotatable by a least one brush drive, said brush drive preferably being powered by high pressure water from said high pressure pump.
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    [13] 13. An apparatus according to any one of claims 10 to 12, wherein a user interface unit is couple to, or part of said docking station, said user interface unit being preferably provide with user interface elements for controlling the operation of said apparatus in response to input from a human operator .
    [14] 14. An apparatus according to any one of claims 10 to 13, wherein said docking station is provided with a water hose on a hose reel for connecting to a water supply system of the marine vessel and/or with a power cable and power cable reel for connecting to the grid of the marine vessel.
    [15] 15. An apparatus according to any one of claims 10 to 14, wherein said docking station is provided with a motorized wire reel for said suspension wire and/or with a cable reel for said power cable and/or communication cable and/or with a high pressure hose reel for said high pressure hose.
    [16] 16. An apparatus according to any one of claims 10 to 15, wherein said docking station is wheeled and wherein said apparatus and said docking station are configured such that the apparatus can be carried and transported by said docking station .
    [17] 17. An apparatus according to any one of claims 10 to 16, wherein said docking station is provided with an RFID transceiver configured to read an RFID transponder provided on the marine vessel.
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    同族专利:
    公开号 | 公开日
    DK179252B1|2018-03-12|
    引用文献:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
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    AU2017316358A| AU2017316358A1|2016-08-23|2017-08-18|Hull and cargo hold cleaning apparatus and method|
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    PCT/DK2017/050266| WO2018036597A1|2016-08-23|2017-08-18|Hull and cargo hold cleaning apparatus and method|
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