A submersible vessel includes: a hull; a propulsor that propels the hull; a front sensor that sequentially detects locations of an inspection target in front of the hull; a controller that controls the propulsor such that the hull passes through above the detected locations; a movable arm attached to an arm reference point of the hull; an inspection tool at the movable arm that inspects the inspection target; and a position detector that acquires positional information including a position, attitude, or speed of the hull. Based on the information from the position detector, the controller estimates a pass-through position of the arm reference point after a predetermined time. The controller controls the movable arm such that before the time elapses, a positional relation between the arm reference point and inspection tool becomes a positional relation between the estimated pass-through position and a target point on or above each location.


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    Titel :

    SUBMERSIBLE VESSEL


    Beteiligte:
    OKAYA NORIYUKI (Autor:in) / TACHINAMI FUMITAKA (Autor:in) / KAGA YUKI (Autor:in) / OKIMURA YUSUKE (Autor:in) / HASHIMOTO SATOSHI (Autor:in) / KOYANO KAORU (Autor:in) / SATO OSAMU (Autor:in)

    Erscheinungsdatum :

    2023-01-12


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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