Patent ID: 11964744
Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 9:
10. An autonomous underwater vehicle comprising:
an underwater vehicle main body configured to sail along an inspection object located in water or on a bottom of the water;
an arm extending from the underwater vehicle main body;
an inspection tool portion including
a contact portion configured to contact the inspection object and
an inspection device configured to inspect the inspection object; and

a passive joint provided between the arm and the inspection tool portion and configured to allow passive rotation of the inspection tool portion relative to the arm about at least one axis, wherein:
when the contact portion is not in contact with the inspection object, a rotational position of the inspection tool portion relative to the arm about the at least one axis is a neutral position; and
the autonomous underwater vehicle comprises a biasing member configured to, when the inspection tool portion rotates relative to the arm from the neutral position, generate biasing force acting in such a direction that the inspection tool portion returns to the neutral position.