| 摘要 |
<P>PROBLEM TO BE SOLVED: To improve quality of different types of works including an inspection of a subject being inspected, by preventing the subject being inspected such as an ocean floor structure from being damaged by receiving force based on mass of a moving craft. <P>SOLUTION: A mobile underwater inspection apparatus 11 capable of inspecting an ocean floor pipeline (subject being inspected) 13 while the apparatus is in motion is provided with a moving craft 14 that submerges and moves while following the subject being inspected without contact with the ocean floor pipeline 13, a first movable arm unit 16 mounted on the moving craft 14, an inspection tool unit 17 mounted on the first movable arm 16 and used for inspecting the ocean floor pipeline 13, and a controller able to operate the first movable arm unit 16 and to move the inspection tool unit 17 so that the inspection tool unit 17 achieves a predetermined target positional relationship with the ocean floor pipeline 13 when the moving craft 14 is moving while following the ocean floor pipeline 13 without contact with the pipeline. <P>COPYRIGHT: (C)2013,JPO&INPIT |
