| 摘要 |
PROBLEM TO BE SOLVED: To provide an underwater inspection device capable of inspecting an inspecting target object by easily imaging the same even when the water is highly turbid, performing fixed point holding and attitude holding easily during inspection, and further, obtaining a position in the underwater highly accurately.SOLUTION: An underwater inspection device 1 includes: support legs 3 provided on a holding body 2; a buoyancy bodies 4 rotatably provided in the holding body 2; a motor for rotating the buoyancy bodies 4; front and rear thrusters 6 for generating propulsive power in the fore-and-aft direction; and cameras 8 for imaging a dam body. One of the front and rear thrusters 6 is driven to bring one support leg 3 into contact with the dam body, and in this state, the motor is driven to rotate the buoyancy bodies 4 to rotate the holding body 2 with one support leg 3 as a fulcrum. After the rotation of the holding body, the other support leg 3 is brought into contact with the dam body by driving the other of the front and rear thrusters 6. A position of the other support leg 3 after the rotation is obtained from attitude angles of the holding body 2 after the rotation and a lateral length of the holding body 2.SELECTED DRAWING: Figure 1 |
