成果報告書詳細
管理番号20130000000202
タイトル*平成23年度中間年報 SBIR技術革新事業 緊急船舶等の船底への海洋生物清掃自律型水中ロボットの研究開発
公開日2014/6/11
報告書年度2011 - 2011
委託先名RoboPlusひびきの株式会社 国立大学法人九州工業大学
プロジェクト番号P08015
部署名技術開発推進部
和文要約
英文要約Title:Technology Innovation Program for Small Business Innovation Research/Research and development of compact underwater cleaning equipment (ROV) Development of Ship Hull Cleaning Autonomous Underwater Robot for Emergency Ships(FY2011-FY2012) Annual Report

The sea transportation by ships covers most of trade volume, and the technologies for fuel efficiency and reductions of carbon-dioxide emissions should be developed. One of the technical issues to improve fuel efficiency of ships is how to prevent the marine bio fouling to the ship hulls and remove organisms from ships. In general, cleaning of ship hull is carried out during the ship inspection in dockyard or by divers on-site ports. Frequent cleaning of ship walls is desirable to keep good fuel efficiency, however, the ship inspection on dock is done once a year and the cleaning by divers is high-cost and involves high risk. One of the solutions to the problem is the introduction of underwater robots to clean ship surfaces. In this project, underwater robots for ship hull cleaning is proposed and developed. Figure 1 shows the developed ship hull cleaning robot, which has 2 cylinders to have electric circuits and sensors, 4 thrusters, 2 cleaning units with thruster function, and two pan-tilt cameras. The robot sticks to ship hull by vacuuming up water on cleaning units using propellers behind cleaning brush. The angular velocities of robot motion are controlled to be zero, and translational velocities and depth are controlled to keep constant state values. As sensory systems, limit sensors are mounted on wheels to detect ship hull, and laser and camera image processing system is investigated for 3D mapping of ship hull and shape.
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