Annual Journal of Civil Engineering in the Ocean Vol.38(Special Feature)
PROPOSAL OF MOVING METHOD OF UNDERWATER ROBOT WITH WHEELS FOR UNDERWATER STRUCTURE INSPECTION
2022 Volume 78 Issue 2 Pages I_13-I_18
Details
2022 Volume 78 Issue 2 Pages I_13-I_18
Underwater inspection of port structures is required to be carried out by underwater robots. However, it is difficult to control them because operators cannot know robot`s position in the muddy water. Therefore, this study examined the automation of a moving method for an underwater robot with wheels.
This study focused on an investigation of the external shape of a structure. The robot was installed guide arms, and was attached wheels to the end of the arms. The autopilot was designed to move while maintaining a certain distance by pushing the wheels and the arms against structures with thrusters. The robot would take photographs of the structures while moving.
To confirm performance, a simulated work test was conducted in a water tank and compared with a method using acoustic rangefinders and a doppler velocity logger. In this method, the output of the thrusters is adjusted by the results of the sensor measurements, and the robot keep the route. As a result, it was confirmed that the system with the wheels was able to move in a straight track closer to the plan than the system using rangefinders. In addition, the overcoming of steps was examined, and a method of operation when caught on a step was confirmed.
