Title:
SUBMERSIBLE VESSEL
Document Type and Number:
WIPO Patent Application WO/2021/187451
Kind Code:
A1
Abstract:
An aspect of the present invention relates to a submersible vessel comprising: a hull; a propulsion device that propels the hull; a front sensor that sequentially detects the location of a test object in front of the hull; a control device that controls the propulsion device such that the hull passes over the location thus detected; a movable arm attached to an arm reference point of the hull; a test tool that is provided on the movable arm and tests the test object; and a positioning device that obtains positioning information comprising at least one of position, attitude, and speed of the hull. The control device estimates a waypoint of the arm reference point after a predetermined period of time on the basis of the positioning information obtained by the positioning device, and controls the movable arm such that the positional relationship between the arm reference point and the test tool matches the positional relationship between the estimated waypoint and a target point on the location prior to the lapse of the predetermined period of time.
Inventors:
OKAYA NORIYUKI
TACHINAMI FUMITAKA
KAGA YUKI
OKIMURA YUSUKE
HASHIMOTO SATOSHI
KOYANO KAORU
SATO OSAMU
TACHINAMI FUMITAKA
KAGA YUKI
OKIMURA YUSUKE
HASHIMOTO SATOSHI
KOYANO KAORU
SATO OSAMU
Application Number:
PCT/JP2021/010499
Publication Date:
September 23, 2021
Filing Date:
March 16, 2021
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B63C11/00; B63C11/48; B63G8/00
Domestic Patent References:
| WO2016178045A1 | 2016-11-10 |
Foreign References:
| JP2019182214A | 2019-10-24 | |||
| JP2016159662A | 2016-09-05 | |||
| JP2012245568A | 2012-12-13 | |||
| CN109298709A | 2019-02-01 | |||
| JP2013067358A | 2013-04-18 |
Other References:
ANONYMOUS: "Basic Agreement reached on tests for AUV with robot arm", SEA- JAPAN, vol. 391, October 2018 (2018-10-01), pages 4, XP009539558
INZARTSEV ALEXANDER; ELISEENKO GRIGORY; PANIN MIKHAIL; PAVIN ALEXANDER; BOBKOV VALERY; MOROZOV MIKHAIL: "Underwater pipeline inspection method for AUV based on laser line recognition: simulation results", 2019 IEEE UNDERWATER TECHNOLOGY (UT), IEEE, 16 April 2019 (2019-04-16), pages 1 - 8, XP033559996, DOI: 10.1109/UT.2019.8734387
See also references of EP 4122812A4
INZARTSEV ALEXANDER; ELISEENKO GRIGORY; PANIN MIKHAIL; PAVIN ALEXANDER; BOBKOV VALERY; MOROZOV MIKHAIL: "Underwater pipeline inspection method for AUV based on laser line recognition: simulation results", 2019 IEEE UNDERWATER TECHNOLOGY (UT), IEEE, 16 April 2019 (2019-04-16), pages 1 - 8, XP033559996, DOI: 10.1109/UT.2019.8734387
See also references of EP 4122812A4
Attorney, Agent or Firm:
ARCO PATENT & TRADEMARK ATTORNEYS (JP)
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