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

Claim 14:
15. 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:
the underwater vehicle main body includes
a driving portion configured to drive the arm to move the inspection tool portion and
a controller configured to control the driving portion;

the autonomous underwater vehicle comprises
an interval changing mechanism configured to narrow an interval between the passive joint and the contact portion as pressing force of pressing the contact portion against the inspection object increases and
an interval detecting portion configured to detect the interval; and

the controller controls the driving portion based on a detection signal of the interval detecting portion such that the interval falls within a predetermined range.