Title:
AUTONOMOUS UNMANNED UNDERWATER VEHICLE
Document Type and Number:
WIPO Patent Application WO/2023/238733
Kind Code:
A1
Abstract:
An autonomous unmanned underwater vehicle (1) according to one embodiment of the present invention comprises: a position detector (9) which detects a position relative to an underwater structure (10); a propelling device (22); and a control device (7) which controls the propelling device (22) and recognizes the position of the AUV (1). The AUV (1) further comprises: an underwater electric potential sensor for three-dimensionally measuring an underwater electric potential gradient; and a metal electric potential sensor for inspecting an electric field-forming body which is a part of the underwater structure (10) or is a sacrificial anode. The control device (7): identifies the position of the electric field-forming body by mapping an underwater electric field from the electric potential gradient measured by the underwater electric potential sensor in association with the movement of the AUV (1); controls the propelling device (22) such that the AUV (1) moves to and stops at an inspection position where the metal electric potential sensor opposes the electric field-forming body; and causes the metal electric potential sensor to inspect the electric field-forming body in that state.
Inventors:
OKAYA NORIYUKI
FUKUI KOICHI
NAKANO HIROAKI
KAMEI YUJI
MIZUMA SHUICHI
FUKUI KOICHI
NAKANO HIROAKI
KAMEI YUJI
MIZUMA SHUICHI
Application Number:
PCT/JP2023/020047
Publication Date:
December 14, 2023
Filing Date:
May 30, 2023
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B63C11/00; B63C11/48; G01N27/26
Domestic Patent References:
| WO2002054110A1 | 2002-07-11 | |||
| WO2016178045A1 | 2016-11-10 | |||
| WO2018237057A1 | 2018-12-27 |
Foreign References:
| CN108482618A | 2018-09-04 | |||
| JP2019182214A | 2019-10-24 | |||
| JP2013067358A | 2013-04-18 | |||
| JP2021039036A | 2021-03-11 | |||
| JP2019002073A | 2019-01-10 | |||
| JP2020118605A | 2020-08-06 | |||
| JPH01145898U | 1989-10-06 |
Attorney, Agent or Firm:
ARCO PATENT & TRADEMARK ATTORNEYS (JP)
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