| 摘要 |
<p>PCT No. PCT/GB89/00099 Sec. 371 Date Oct. 31, 1989 Sec. 102(e) Date Oct. 31, 1989 PCT Filed Feb. 3, 1989 PCT Pub. No. WO89/07071 PCT Pub. Date Aug. 10, 1989.A subsea inspection vehicle which is intended to be remotely operated comprises a substantially cylindrical pressure vessel (1). A pair of generally arcuate buoyancy tanks (8) and external equipment (3,7) are supported on the vessel (1) in a manner arranged such that the vessel remains substantially astable. A plurality of thrusters (16,18) are carried by the vessel (1) and are arranged to enable movement of the vessel (1) relative to all six degrees of freedom provided by its astable configuration. The vessel can be moved in any direction at any attitude of pitch, roll or yaw and can thereby emulate the flexibility of movement of a diver.</p> |
