To provide a submersible vehicle provided with an inspection tool having good followability to an inspection target.SOLUTION: A submersible vehicle according to one aspect of the invention includes: a boat hull; a propulsion unit to propel the boat hull; a front sensor to sequentially detect a location point of an inspection target in front of the boat hull; a control unit to control the propulsion unit so as to make the boat hull pass through the detected location point; a movable arm attached at an arm reference point of the boat hull; an inspection tool provided on the movable arm to inspect the inspection target; and a positioning unit to obtain positioning information including at least one of a position, a posture and velocity of the boat hull. The control unit estimates a passing point of the arm reference point after a specific time length on the basis of the positioning information obtained by the positioning unit, and controls the movable arm in such a manner that a positional relation between the arm reference point and the inspection tool becomes a positional relation between an estimated passing point and a target point on the location point until the specific time length elapses.SELECTED DRAWING: Figure 6

    【課題】検査対象に対する検査ツールの追従性が良好な潜水艇を提供する。【解決手段】本発明の一態様に係る潜水艇は、艇体と、艇体を推進させる推進装置と、艇体の前方における検査対象の所在地点を順に検出してゆく前方センサと、検出された所在地点上を艇体が通過するように推進装置を制御する制御装置と、艇体のアーム基準点に取り付けられた可動アームと、可動アームに設けられ検査対象を検査する検査ツールと、艇体の位置、姿勢、及び、速度のうち少なくとも1つを含む測位情報を取得する測位装置と、を備え、制御装置は、測位装置が取得した測位情報に基づいて、所定時間後におけるアーム基準点の通過点を推定し、当該所定時間が経過するまでにアーム基準点と検査ツールとの位置関係が、推定した通過点と所在地点上の目標点との位置関係になるよう可動アームを制御する。【選択図】図6


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    Title :

    SUBMERSIBLE VEHICLE


    Additional title:

    潜水艇


    Contributors:

    Publication date :

    2021-09-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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