|英文要約||Technology Innovation Program for SBIR "Research and development of compact underwater cleaning equipment (ROV) for vessels"(FY2011-FY2012) FY2011 Annual Report
The following studies and component technologies have been developed in this fiscal year. (1) Market research was performed about underwater robot's technology trends and its marketability by literature search and interviews from the shipping industry. As a result it is technically possible to clean a ship's bottom by robot and the its demand is so high．We planned a new business of ship's bottom management to create the market. Furthermore, required function and performance of an underwater robot were also considered based on the market research. (2) Considering diver and robot separately we showed it can become the technique of new ship's bottom management. That is, a diver removes marine fouling such as shellfish adhere, compared with it, a robot prevents adhesion of marine fouling by cleaning frequently. By cleaning ship's bottom by robot, there is an effect which can reduce fuel consumption with recovery of speed. For example, we estimated 35 million yen/year will be saved by cleaning 3000-ton class vessel using robot. (3) Verification of element technologies for the Cleaning Robot. 1) We developed the optimal cleaning brush by verification tests to remove marine biofouling without damage to ship bottom paint and it responds to hull curved surface. 2) Magnet coupling proprietary system for thruster and propeller motor with little failure and high liability is thought to be optimal and implemented. 3) The position detection system which computes a run trace at low cost using a MEMS gyroscope was inspected. As a result accumulation of error is large, so another methods using an ultrasonic wave or using a mechanical run meter system are under examination. 4) The posture was stably searched for from gravity acceleration measured with MEMS gyroscope other than a magnetic direction sensor. Control of depth regularity and course regularity was performed. The automatic run with programmable time and direction was performed as operation assistance. 5) Design of controller and display screen were performed intelligibly visually to realize easy to operate. 2 screen simultaneous display enabled to check the situation before and after cleaning. (4) We developed R&D specification proposal (structure, function, performance, and structure) of the robot enough to practical use. The following items were made into basic concept. Cleaning and moving speed (1.5NT), Compactness, Cleaning capability (900m2/hour) without damage to painted surface, Stability of continuous use, Toughness, and Easy maintenance. (5) Two types of business plans are examined, one is sales of robot, and other is cleaning service using robot operation. Market research showed that the cleaning by a robot can expect extensive demand in the public vessel market, private sector vessel market, sailboat, and pleasure boat market, and as volume of robot sales, 50 sets a year will be targeted for the first four years. In the future, it is expected that the volume of sales will increase to about 1000 robots.