JP7137342B2 - 自律型無人潜水機 - Google Patents
自律型無人潜水機 Download PDFInfo
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- JP7137342B2 JP7137342B2 JP2018075748A JP2018075748A JP7137342B2 JP 7137342 B2 JP7137342 B2 JP 7137342B2 JP 2018075748 A JP2018075748 A JP 2018075748A JP 2018075748 A JP2018075748 A JP 2018075748A JP 7137342 B2 JP7137342 B2 JP 7137342B2
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- 238000007689 inspection Methods 0.000 claims description 184
- 238000001514 detection method Methods 0.000 claims description 42
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 32
- 230000007246 mechanism Effects 0.000 claims description 30
- 230000007935 neutral effect Effects 0.000 claims description 20
- 238000005260 corrosion Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 230000006866 deterioration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/048—Control of altitude or depth specially adapted for water vehicles
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- G05D1/227—
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- G05D1/689—
-
- G05D1/69—
-
- 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
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
Description
2 :潜水機本体
3a :能動アーム部(アーム)
3b :受動アーム部
4 :検査用ツール部
12 :制御装置
14 :カバー部
34 :第4関節(受動関節)
34a,34b :第1付勢部材(付勢部材)
35 :第5関節(受動関節)
35a,35b :第2付勢部材(付勢部材)
36 :第6関節(受動関節)
36a,36b :第3付勢部材(付勢部材)
42 :車輪(接触部)
45 :防食検査器(検査機器)
46 :羽根部材
50 :間隔変更機構
55 :接触検知部
56 :第1間隔検知部(間隔検知部)
57 :第2間隔検知部(間隔検知部)
60 :傾き変更機構
61 :第1駆動部(駆動部)
62 :第2駆動部(駆動部)
63 :第3駆動部(駆動部)
P1 :作業位置
P2 :待機位置
X :海底パイプライン(検査対象物)
Claims (9)
- 水中または水底に位置する検査対象物に沿って航走する潜水機本体と、
前記潜水機本体から延びるアームと、
前記検査対象物に対して接触する接触部および前記検査対象物を検査する検査機器を有する検査用ツール部と、
前記アームと前記検査用ツール部の間に設けられた、少なくとも1軸周りに前記アームに対する前記検査用ツール部の受動的な相対回転を許容する受動関節と、を備える、自律型無人潜水機。 - 前記受動関節は、互いに垂直な3軸周りに前記アームに対する前記検査用ツール部の受動的な相対回転を許容する、請求項1に記載の自律型無人潜水機。
- 前記検査対象物は、水中または水底において所定の方向に延在し、
前記接触部は、前記検査対象物を幅方向に挟み込むように前記検査対象物に接触し、
前記少なくとも1軸は、前記検査対象物が延在する延在方向と前記幅方向の双方に垂直である、請求項1または2に記載の自律型無人潜水機。 - 前記接触部が前記検査対象物に対して接触しないとき、前記少なくとも1軸周りの前記アームに対する前記検査用ツール部の回転位置は中立位置にあり、
前記中立位置から前記検査用ツール部が前記アームに対して相対回転したときに、前記検査用ツール部を前記中立位置に戻す方向の付勢力を発生させる付勢部材を備える、請求項1~3のいずれか1項に記載の自律型無人潜水機。 - 前記潜水機本体は、
前記接触部を前記検査対象物に対して接触させる作業位置と、前記作業位置よりも前記潜水機本体に近い待機位置との間で、前記検査用ツール部が移動するよう前記アームを駆動する駆動部と、
前記潜水機本体の正面から見て、前記検査用ツール部が前記待機位置にあるときの前記アームが隠れるように、当該アームと重なるカバー部と、を有する、請求項1~4のいずれか1項に記載の自律型無人潜水機。 - 前記検査用ツール部は、前記接触部が前記検査対象物に対して接触したことを検知する接触検知部を有する、請求項1~5のいずれか1項に記載の自律型無人潜水機。
- 前記潜水機本体は、前記検査用ツール部が移動するよう前記アームを駆動する駆動部と、前記駆動部を制御する制御装置と、を有し、
前記接触部が前記検査対象物に押し付けられる押付力が大きいほど、前記受動関節と前記接触部の間の間隔を狭める間隔変更機構と、
前記間隔を検知する間隔検知部を備え、
前記制御装置は、前記間隔検知部が検知した検知信号に基づき、前記間隔が所定の範囲内に収まるように前記駆動部を制御する、請求項1~6のいずれか1項に記載の自律型無人潜水機。 - 前記検査用ツール部は、水の流れを受けて前記接触部を前記検査対象物に対して押し付ける方向に力を発生させる羽根部材を有する、請求項1~7のいずれか1項に記載の自律型無人潜水機。
- 前記検査用ツール部は、前記羽根部材が発生する力が所定の範囲内に保たれるように、前記羽根部材が受ける水の流速に応じて、前記検査対象物に対する前記羽根部材の傾きを変更する傾き変更機構を有する、請求項8に記載の自律型無人潜水機。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018075748A JP7137342B2 (ja) | 2018-04-10 | 2018-04-10 | 自律型無人潜水機 |
EP19785520.8A EP3778375A4 (en) | 2018-04-10 | 2019-04-10 | AUTONOMOUS SUBMARINE VEHICLE |
PCT/JP2019/015651 WO2019198761A1 (ja) | 2018-04-10 | 2019-04-10 | 自律型無人潜水機 |
US17/047,309 US11964744B2 (en) | 2018-04-10 | 2019-04-10 | Autonomous underwater vehicle |
AU2019252082A AU2019252082B2 (en) | 2018-04-10 | 2019-04-10 | Autonomous underwater vehicle |
AU2022200383A AU2022200383B2 (en) | 2018-04-10 | 2022-01-20 | Autonomous underwater vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018075748A JP7137342B2 (ja) | 2018-04-10 | 2018-04-10 | 自律型無人潜水機 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019182214A JP2019182214A (ja) | 2019-10-24 |
JP7137342B2 true JP7137342B2 (ja) | 2022-09-14 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2018075748A Active JP7137342B2 (ja) | 2018-04-10 | 2018-04-10 | 自律型無人潜水機 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11964744B2 (ja) |
EP (1) | EP3778375A4 (ja) |
JP (1) | JP7137342B2 (ja) |
AU (2) | AU2019252082B2 (ja) |
WO (1) | WO2019198761A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7001730B2 (ja) * | 2020-03-19 | 2022-01-20 | 川崎重工業株式会社 | 潜水艇 |
CN113844627A (zh) * | 2021-10-22 | 2021-12-28 | 杭州电子科技大学 | 一种水下无人无缆作业型机器人 |
WO2023238733A1 (ja) * | 2022-06-09 | 2023-12-14 | 川崎重工業株式会社 | 自律型無人潜水船 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005106655A (ja) | 2003-09-30 | 2005-04-21 | Hitachi Ltd | 水中移動装置 |
JP2013067358A (ja) | 2011-09-26 | 2013-04-18 | Kawasaki Heavy Ind Ltd | 水中移動型検査装置及び水中検査設備 |
JP2016159662A (ja) | 2015-02-26 | 2016-09-05 | 三菱重工業株式会社 | 水中パイプライン検査用の自律型水中航走体 |
Family Cites Families (11)
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JPS586568B2 (ja) | 1976-10-27 | 1983-02-05 | 住友金属工業株式会社 | 串型連続圧延機の板厚制御方法 |
JP2809544B2 (ja) * | 1992-03-13 | 1998-10-08 | 中部電力株式会社 | 水中清掃ロボット |
US6698373B2 (en) | 1999-07-19 | 2004-03-02 | Marc Geriene | Methods and apparatus for hull attachment for submersible vehicles |
AU1998801A (en) | 1999-11-12 | 2001-05-30 | William James Godkin | Cleaning devices |
US7445404B2 (en) * | 2001-11-06 | 2008-11-04 | Acergy Uk Limited | Remote bolted flange connection apparatus and methods of operation thereof |
NZ581872A (en) * | 2007-05-14 | 2012-07-27 | Ocean Floor Geophysics Inc | Underwater electric field electromagnetic prospecting system |
DE102011116613A1 (de) * | 2011-10-20 | 2013-04-25 | Atlas Elektronik Gmbh | Unbemanntes Unterwasserfahrzeug und Verfahren zum Lokalisieren und Untersuchen eines am Gewässergrund eines Gewässers angeordenten Objekts sowie System mit dem unbemannten Unterwasserfahrzeug |
US9498883B2 (en) * | 2011-12-15 | 2016-11-22 | Korea Institute Of Ocean Science & Technology | Multi-joint underwater robot having complex movement functions of walking and swimming and underwater exploration system using same |
KR20150052617A (ko) * | 2013-11-06 | 2015-05-14 | 대우조선해양 주식회사 | 파이프 라인 검사 장치 |
AU2015393902B2 (en) * | 2015-05-05 | 2019-02-14 | Total Sa | Underwater vehicle for inspection of a subsea structure in a body of water and related method |
US10131057B2 (en) | 2016-09-20 | 2018-11-20 | Saudi Arabian Oil Company | Attachment mechanisms for stabilzation of subsea vehicles |
-
2018
- 2018-04-10 JP JP2018075748A patent/JP7137342B2/ja active Active
-
2019
- 2019-04-10 AU AU2019252082A patent/AU2019252082B2/en active Active
- 2019-04-10 US US17/047,309 patent/US11964744B2/en active Active
- 2019-04-10 EP EP19785520.8A patent/EP3778375A4/en active Pending
- 2019-04-10 WO PCT/JP2019/015651 patent/WO2019198761A1/ja unknown
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2022
- 2022-01-20 AU AU2022200383A patent/AU2022200383B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005106655A (ja) | 2003-09-30 | 2005-04-21 | Hitachi Ltd | 水中移動装置 |
JP2013067358A (ja) | 2011-09-26 | 2013-04-18 | Kawasaki Heavy Ind Ltd | 水中移動型検査装置及び水中検査設備 |
JP2016159662A (ja) | 2015-02-26 | 2016-09-05 | 三菱重工業株式会社 | 水中パイプライン検査用の自律型水中航走体 |
Also Published As
Publication number | Publication date |
---|---|
JP2019182214A (ja) | 2019-10-24 |
AU2019252082B2 (en) | 2021-10-21 |
WO2019198761A1 (ja) | 2019-10-17 |
EP3778375A1 (en) | 2021-02-17 |
EP3778375A4 (en) | 2022-01-05 |
US11964744B2 (en) | 2024-04-23 |
AU2022200383A1 (en) | 2022-02-17 |
AU2022200383B2 (en) | 2023-11-30 |
US20210155330A1 (en) | 2021-05-27 |
AU2019252082A1 (en) | 2020-11-12 |
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