In order to make it possible to prevent a subject being inspected, such as an ocean floor structure, from being subjected to a force based on the mass of a moving craft and being thus damaged, and to improve the quality of different types of work including inspection of said subject, a mobile underwater inspection apparatus (11) capable of inspecting an ocean floor pipeline (subject being inspected) (13) while the apparatus is in motion is provided with a moving craft (14) that submerges and moves while following the subject being inspected without contact with the ocean floor pipeline (13), a first movable arm unit (16) mounted on the moving craft (14), an inspection tool unit (17) mounted on the first movable arm (16) and used for inspecting the ocean floor pipeline (13), and a controller able to operate the first movable arm unit (16) and to move the inspection tool unit (17) so that the inspection tool unit (17) achieves a predetermined target positional relationship with the ocean floor pipeline (13) when the moving craft (14) is moving while following the ocean floor pipeline (13) without contact with the pipeline.
Underwater mobile inspection apparatus and underwater inspection equipment
2015-12-03
Patent
Electronic Resource
English
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