Title:
UNDERWATER MOBILE DEVICE AND METHOD
Document Type and Number:
Japanese Patent JP2019006236
Kind Code:
A
Abstract:
To provide an underwater mobile device and a method capable of more stable travelling on a wall surface even when there is variation in inclination or irregularities, etc., in the wall surface underwater.SOLUTION: An underwater mobile device 1 having crawlers 3 which are a right and left pair to a vehicle body 2 arranged in a plurality of rows separated in the longitudinal direction of the vehicle body 2 and having propellers 5 arranged in a right and left pair to the vehicle 2 and with spacing in the longitudinal direction of the vehicle 2 is cast in water. The underwater mobile device 1 is travelled on an underwater wall surface W by having the crawlers 3 driven in rotation in a state with the crawlers 3 pressed to the underwater wall W by propulsion of the propellers 5 by facing the propulsion force of the propellers 5 downward to the vehicle 2. At this time, travelling attitude of the underwater travelling device 1 is controlled by at least changing the angle in the longitudinal direction of the vehicle 2 of the right and left pair of crawlers 3 as well as at least changing the angle of the propulsion force of the right and left pair of propellers 5 to the longitudinal direction of the vehicle 2 according to a surface shape of the underwater wall surface W.SELECTED DRAWING: Figure 3
Inventors:
MORISAWA TOMOHIRO
AMINO TAKAHIKO
IIDA HIROSHI
AMINO TAKAHIKO
IIDA HIROSHI
Application Number:
JP2017123132A
Publication Date:
January 17, 2019
Filing Date:
June 23, 2017
Export Citation:
Assignee:
TOA HARBOR WORKS CO LTD
International Classes:
B63C11/48; B63B59/10; B63C11/00; G21C17/003; G21C19/02
Attorney, Agent or Firm:
Seiryu International Patent Service Corporation
Takayoshi in the daytime
Masao Sakaizawa
Takayoshi in the daytime
Masao Sakaizawa