JP7001477B2 - 水環境移動ロボット - Google Patents
水環境移動ロボット Download PDFInfo
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- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- Chemical & Material Sciences (AREA)
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- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Description
100 水中ロボット
104 検査モジュール
106 通信モジュール
108 トレッド
110 懸架ホイール
112a 水中移動モジュール
112b 水平運動制御モジュール
116 作動脚
118 浮力制御装置
120 ドッキング装置
122 清掃機構
125 エミッタ
126 センサ
202 推進システム
204 追跡モジュール
206 通信モジュール
208 空中通信モジュール
212 ドッキング装置
300 制御ステーション
302 支援ボート
Claims (14)
- 水環境ロボットシステムであって、
制御ステーションと、
水中ロボットビークルであって、本体と、前記本体に連結された複数の脚と、前記本体が水中を水泳移動するためのスラスタと、前記スラスタに制御信号を提供するよう構成された水中ナビゲーションモジュールと、前記脚に制御信号を提供するよう構成されたクロールモジュールと、少なくとも1つの視覚検知モードを含む異なる検知モードを有する複数の検査装置とを有する水中ロボットビークルと、
水面ロボットビークルと、
前記水中ロボットビークルおよび前記水面ロボットビークルにそれぞれ関連する第1および第2通信モジュールであって、水を介して前記ビークル間の通信を提供する第1および第2通信モジュールと、
を備え、
前記水中ロボットビークルは、前記第1および第2通信モジュールを介して前記水中ロボットビークルおよび前記水面ロボットビークルの間で通信されるデータ信号を用いて、水中ロボットビークルによって収集されたマルチモード検査データを送信するよう構成され、
前記水中ナビゲーションモジュールが前記スラスタを制御して水泳動作を提供し、前記クロールモジュールは、海底を這い、航行する間前記スラスタによる航行と比較して目視検査が向上するように、前記水中ナビゲーションモジュールによる前記スラスタの動作を必要とせずに、海底に沿って移動するよう前記脚を制御し、
前記複数の検査装置が、超音波検査プローブ、陰極保護プローブ、渦電流プローブ、赤外線カメラ、3Dスキャンシステム、およびこれらの様々な組み合わせの少なくとも2つを含み、海底の近距離検査用に水中ロボットビークルに適合して配置され、
前記水面ロボットビークルおよび前記水中ロボットビークルが共にドッキングするよう構成され、前記水中ロボットビークルが供給を必要とする場合に、前記水中ロボットビークルは、水柱内を上へ移動し、前記水面ロボットビークルにドッキングすることができる、水環境ロボットシステム。 - 前記第1および第2通信モジュールは、可視光、無線周波数、レーザー光、音響通信、およびテザーの少なくとも1つを用いて通信するよう構成されている、請求項1に記載の水環境ロボットシステム。
- 前記水面ロボットビークルおよび前記水中ロボットビークルが、前記水面ロボットビークルから前記水中ロボットビークルに電力を供給するために電気的に結合するよう構成されている、請求項1に記載の水環境ロボットシステム。
- 前記水面ロボットビークルおよび前記水中ロボットビークルが機械的に結合するよう構成されている、請求項1に記載の水環境ロボットシステム。
- 前記水面ロボットビークルが加圧水、圧縮空気、またはサンドブラスト材料、およびこれらの様々な組み合わせの少なくとも1つを、機械的結合、またはテザーおよびこれらの様々な組み合わせの少なくとも1つを介して前記水中ロボットビークルに提供するよう構成されている、請求項1に記載の水環境ロボットシステム。
- 前記水中ナビゲーションモジュールが垂直スラスタ、水平スラスタ、または浮力制御装置およびこれらの様々な組み合わせの少なくとも1つを含む、請求項1に記載の水環境ロボットシステム。
- 前記クロールモジュールが、クロールスキッド、トラック、またはホイールの少なくとも1つをさらに制御する、請求項1に記載の水環境ロボットシステム。
- 前記水中ロボットビークルが少なくとも1つの環境センサを含む、請求項1に記載の水環境ロボットシステム。
- 前記少なくとも1つの環境センサが、カメラ、撮像ソナー、高度計、圧力センサ、深度センサ、または温度センサ、およびこれらの様々な組み合わせの少なくとも1つを含む、請求項8に記載の水環境ロボットシステム。
- 前記水中ロボットビークルが少なくとも1つの海洋生物浄化システムを含む、請求項1に記載の水環境ロボットシステム。
- 少なくとも1つの追加の水面ロボットビークルをさらに含み、複数の水面ロボットビークルが、前記複数の水面ロボットビークルおよび制御ステーションの間の通信中継を提供するように無線通信する、請求項1に記載の水環境ロボットシステム。
- アライメント制御システムをさらに備え、前記アライメント制御システムが、
水中ロボットビークルに関連する位置信号エミッタと、
水面ロボットビークルに関連する位置信号検出器と、前記位置信号エミッタが前記位置信号検出器によって検出可能な信号を発し、
表面推進システムと、
前記位置信号検出器からの信号データを受信し、かつ前記水中ロボットビークルおよび前記水面ロボットビークルの相対位置を決定する、前記水面ロボットビークルに関連するアライメント制御プロセッサであって、前記アライメント制御プロセッサは、前記表面推進システムの動作を制御して、前記水面ロボットビークルおよび前記水中ロボットビークルの間が0度~45度の範囲の垂直方向の位置合わせを維持するように前記水面ロボットビークルを水面に沿って移動させる、アライメント制御プロセッサと、
を備える、請求項1に記載の水環境ロボットシステム。 - 前記位置信号エミッタおよび前記位置信号検出器が、光、音響エネルギー、レーザー放射、およびこれらの様々な組み合わせのエミッタおよび検出器を含むグループから選択される、請求項12に記載の水環境ロボットシステム。
- 前記水面ロボットビークルおよび前記水中ロボットビークル間に延在するテザーと、
前記水面ロボットビークルに関連する前記アライメント制御システムであって、
前記テザーにかかる力に関連するテザー力信号データを提供するセンサ、および
前記テザー力信号データを受け取り、前記水中ロボットビークルおよび前記水面ロボットビークルの相対位置を決定するアライメント制御プロセッサを含むアライメント制御システムと、
をさらに備える、請求項12に記載の水環境ロボットシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562133863P | 2015-03-16 | 2015-03-16 | |
US62/133,863 | 2015-03-16 | ||
PCT/US2016/022340 WO2016149199A1 (en) | 2015-03-16 | 2016-03-14 | Communications among water environment mobile robots |
Publications (3)
Publication Number | Publication Date |
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JP2018514433A JP2018514433A (ja) | 2018-06-07 |
JP2018514433A5 JP2018514433A5 (ja) | 2019-04-11 |
JP7001477B2 true JP7001477B2 (ja) | 2022-01-19 |
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JP2017548989A Active JP7001477B2 (ja) | 2015-03-16 | 2016-03-14 | 水環境移動ロボット |
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US (1) | US20160272291A1 (ja) |
EP (1) | EP3271240B1 (ja) |
JP (1) | JP7001477B2 (ja) |
KR (1) | KR20170134482A (ja) |
CN (1) | CN107580559B (ja) |
ES (1) | ES2796699T3 (ja) |
SA (1) | SA517382279B1 (ja) |
SG (1) | SG11201707026QA (ja) |
WO (1) | WO2016149199A1 (ja) |
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US11163311B2 (en) | 2015-12-24 | 2021-11-02 | Partnering 3.0 | Robotic equipment including a mobile robot, method for recharging a battery of such mobile robot, and mobile robot docking station |
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WO2018119415A1 (en) * | 2016-12-22 | 2018-06-28 | Oceaneering International, Inc. | Marine riser cleaning and inspection process |
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SG11201707026QA (en) | 2017-09-28 |
US20160272291A1 (en) | 2016-09-22 |
SA517382279B1 (ar) | 2021-06-07 |
EP3271240B1 (en) | 2020-05-06 |
EP3271240A1 (en) | 2018-01-24 |
ES2796699T3 (es) | 2020-11-30 |
JP2018514433A (ja) | 2018-06-07 |
CN107580559A (zh) | 2018-01-12 |
CN107580559B (zh) | 2021-07-27 |
KR20170134482A (ko) | 2017-12-06 |
WO2016149199A1 (en) | 2016-09-22 |
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