Autonomous underwater vehicle

Abstract

An AUV includes: a position detector that detects its position relative to an underwater structure; a propulsor; and control circuitry configured to control the propulsor and grasp a position of the AUV; an underwater potential sensor that three-dimensionally measures a potential gradient in water; and a metal potential sensor that inspects an electric field producing body that is a part of the underwater structure or a sacrificial anode. The control circuitry specifies a position of the body by mapping an underwater electric field from the potential gradient measured by the sensor in accordance with movement of the AUV. The control circuitry controls the propulsor such that the AUV moves to and stops at an inspection position that is a position at which the metal potential sensor is opposed to the body. In this state, the control circuitry makes the metal potential sensor inspect the body.