PROPOSAL OF MOVING METHOD OF UNDERWATER ROBOT WITH WHEELS FOR UNDERWATER STRUCTURE INSPECTION

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  • 車輪付き水中ロボットを用いた水中構造物点検のための移動手法の提案

Abstract

<p> Underwater inspection of port structures is required to be carried out by underwater robots. However, it is difficult to control them because operators cannot know robot`s position in the muddy water. Therefore, this study examined the automation of a moving method for an underwater robot with wheels.</p><p> This study focused on an investigation of the external shape of a structure. The robot was installed guide arms, and was attached wheels to the end of the arms. The autopilot was designed to move while maintaining a certain distance by pushing the wheels and the arms against structures with thrusters. The robot would take photographs of the structures while moving.</p><p> To confirm performance, a simulated work test was conducted in a water tank and compared with a method using acoustic rangefinders and a doppler velocity logger. In this method, the output of the thrusters is adjusted by the results of the sensor measurements, and the robot keep the route. As a result, it was confirmed that the system with the wheels was able to move in a straight track closer to the plan than the system using rangefinders. In addition, the overcoming of steps was examined, and a method of operation when caught on a step was confirmed.</p>

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