The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 06, 2026
Filed:
Sep. 19, 2022
Kawasaki Jukogyo Kabushiki Kaisha, Kobe, JP;
Noriyuki Okaya, Kobe, JP;
Fumitaka Tachinami, Kobe, JP;
Yuki Kaga, Kobe, JP;
Yusuke Okimura, Kobe, JP;
Satoshi Hashimoto, Kobe, JP;
Kaoru Koyano, Kobe, JP;
Osamu Sato, Kobe, JP;
KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe, JP;
Abstract
A submersible vessel includes: a hull; a propulsor that propels the hull; a front sensor that sequentially detects locations of an inspection target in front of the hull; a controller that controls the propulsor such that the hull passes through above the detected locations; a movable arm attached to an arm reference point of the hull; an inspection tool at the movable arm that inspects the inspection target; and a position detector that acquires positional information including a position, attitude, or speed of the hull. Based on the information from the position detector, the controller estimates a pass-through position of the arm reference point after a predetermined time. The controller controls the movable arm such that before the time elapses, a positional relation between the arm reference point and inspection tool becomes a positional relation between the estimated pass-through position and a target point on or above each location.