PROBLEM TO BE SOLVED: To provide an underwater inspection device capable of inspecting an inspecting target object by easily imaging the same even when the water is highly turbid, performing fixed point holding and attitude holding easily during inspection, and further, obtaining a position in the underwater highly accurately.SOLUTION: An underwater inspection device 1 includes: support legs 3 provided on a holding body 2; a buoyancy bodies 4 rotatably provided in the holding body 2; a motor for rotating the buoyancy bodies 4; front and rear thrusters 6 for generating propulsive power in the fore-and-aft direction; and cameras 8 for imaging a dam body. One of the front and rear thrusters 6 is driven to bring one support leg 3 into contact with the dam body, and in this state, the motor is driven to rotate the buoyancy bodies 4 to rotate the holding body 2 with one support leg 3 as a fulcrum. After the rotation of the holding body, the other support leg 3 is brought into contact with the dam body by driving the other of the front and rear thrusters 6. A position of the other support leg 3 after the rotation is obtained from attitude angles of the holding body 2 after the rotation and a lateral length of the holding body 2.SELECTED DRAWING: Figure 1
【課題】水中の濁度が高い場合においても容易に被点検物を撮影して点検することができると共に、点検時において容易に定点保持および姿勢保持を行うことができ、さらに、水中での位置を高精度に求めることができる水中点検装置の提供。【解決手段】水中点検装置1は、保持体2に設けられる支持脚3と、保持体2に回動可能に設けられる浮力体4と、浮力体4を回動させるモータと、前後方向へ推進力を発生させる前後スラスタ6と、堤体を撮影するカメラ8とを備える。一方の前後スラスタ6の駆動により一方の支持脚3が堤体に接触され、その状態でモータにより浮力体4を回動させることで一方の支持脚3を支点として保持体2が回動され、回動後、他方の前後スラスタ6の駆動により他方の支持脚3を堤体に接触させる。回動後の保持体2の姿勢角と保持体2の左右長さとから、回動後の他方の支持脚3の位置が求められる。【選択図】図1
UNDERWATER INSPECTION DEVICE
水中点検装置
2016-11-04
Patent
Elektronische Ressource
Japanisch
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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