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.


    Access

    Download


    Export, share and cite



    Title :

    SUBMERSIBLE VESSEL


    Contributors:

    Publication date :

    2023-01-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

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



    SUBMERSIBLE VESSEL

    OKAYA NORIYUKI / TACHINAMI FUMITAKA / KAGA YUKI et al. | European Patent Office | 2021

    Free access

    SUBMERSIBLE VESSEL

    OKAYA NORIYUKI / TACHINAMI FUMITAKA / KAGA YUKI et al. | European Patent Office | 2024

    Free access

    Selectively submersible vessel

    CARROLL JOSEPH | European Patent Office | 2017

    Free access

    urgently submersible vessel

    LEE DAEHEE / YU JONGKEUN / LEE CHUNGHYUN | European Patent Office | 2020

    Free access

    SELECTIVELY SUBMERSIBLE VESSEL

    CARROLL JOSEPH | European Patent Office | 2016

    Free access