SUBMERSIBLE VESSEL

• Main Authors: HASHIMOTO, Satoshi, KAGA, Yuki, OKIMURA, Yusuke, KOYANO, Kaoru, TACHINAMI, Fumitaka, OKAYA, Noriyuki, SATO, Osamu
• Format: Patent
• Language: English; French; German
• Published: 25.01.2023
• Subjects: AIRCRAFT CARRIERS; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS; MINE-LAYING; MINE-SWEEPING; OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; PERFORMING OPERATIONS; RELATED EQUIPMENT; SHIPS OR OTHER WATERBORNE VESSELS; SUBMARINES; TRANSPORTING

A submersible vessel according to one aspect of the present invention 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 that is disposed at the movable arm and inspects the inspection target; and a position detector that acquires positional information including at least one of a position, an attitude, or a speed of the hull. Based on the positional information acquired by 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 predetermined time elapses, a positional relation between the arm reference point and the inspection tool becomes a positional relation between the estimated pass-through position and a target point on or above each location.