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Position locating apparatus for an underwater moving body
| Details |
Inventors: Murakawa, Shinichi; Fujiwara, Masahiro; Tachibana, Kiyoshi; Yoshioka, Kyoichi; Aoyama, Tomio;
Assignee: Mitsubishi Jukogyo Kabushiki Kaisha (Tokyo, JP)
Primary Examiner: Tarcza; Thomas H.
Assistant Examiner: Wallace; Linda J.
Attorney, Agent or Firm: Wenderoth, Lind & Ponack
An improved position detecting apparatus for detecting the position of an underwater moving body loaded with an inspecting device is provided. The apparatus is such that it makes it possible to perform inspection of a structure in water quickly, reliably and with high precision. The improvements reside in that the apparatus comprises a light source and a corner cube mounted on the underwater moving body in combination to serve as a target, a follower device, which includes a visual sensor for catching light emitted from the light source, for automatically following the target, an underwater argon laser length measuring instrument for measuring a distance between a length measuring head integrated with the visual sensor and the corner cube, and a detector device for detecting the position of the underwater moving body on the basis of an azimuth angle of the target obtained by the follower device, a reference of one side of a triangle and the measured distance. |
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DETAILED DESCRIPTION It is therefore one object of the present invention to provide a position detecting apparatus for detecting the position of an underwater moving body, which can quickly and adequately inspect a structure, and can especially inspect with high precision.
According to one feature of the present invention, there is provided a position detecting apparatus for detecting the position of an underwater moving body comprising a light source and a corner cube, in combination, which serve as a target mounted on the underwater moving body.
The underwater moving body may include a detecting device and various robots.
The apparatus further comprises a follower means for automatically following the target.
The follower means includes a visual sensor for catching light emitted from the light source, an argon laser length measuring instrument for measuring a distance between a length measuring head integrated with the visual sensor and the corner cube, and control means for determining the position of the underwater moving body on the basis of a swing angle and a rotational angle of the follower means, a horizontal reference distance (i.
e.
from the structure being inspected to the follower means) and the measured distance.
According to the present invention, the above-features of the novel position detecting apparatus provide the following effects and advantages.
It is unnecessary to use a large-sized position detecting and moving mechanism to measure the position of the movable truck.
Consequently, maneuverability is improved, preparation time is shortened, precision in measurement is improved, freedom of maneuverability of the movable truck can be improved, and costs as well as human labor are reduced for inspecting structures and the like.
The above-mentioned and other objects, features and advantages of the present invention will become more apparent by reference to the following description of one preferred embodiment of the present invention taken in conjunction with the accompanying drawings
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