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1. 发明公开

EP3677499A1 UNDERWATER MOBILE INSPECTION APPARATUS AND UNDERWATER INSPECTION EQUIPMENT 有权
公开(公告)号：EP3677499A1
公开(公告)日：2020-07-08
申请号：EP20159524.6
申请日：2012-09-13
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： KIMURA, Akira , OKAYA, Noriyuki , SUMINO, Kazuya , MUKAIDA, Minehiko , KAGAYA, Hiroaki , HAMAMATSU, Masanori , SAIKI, Akiyoshi , KUBOTA, Tetsuya , ENOMOTO, Masayuki
IPC分类号： B63B59/00 , B63C11/52 , B63G8/00 , G05D1/06
摘要： An object is to prevent damage to an inspection object such as a subsea structure, the damage being due to receiving force based on the mass of a cruising body, and to improve the quality of various work, including an inspection of the inspection object.
An underwater mobile inspection apparatus 11 is capable of inspecting a subsea pipeline (inspection object) 13 while cruising. The underwater mobile inspection apparatus 11 includes: a cruising body 14 configured to submerge under water and cruise along the inspection object in such a manner as not to come into contact with the subsea pipeline 13; a first movable arm 16 provided on the cruising body 14; an inspection tool unit 17 for use in inspecting the subsea pipeline 13, the inspection tool unit 17 being provided on the first movable arm 16; and a controller configured to, when the cruising body 14 cruises along the subsea pipeline 13 in such a manner as not to come into contact with the subsea pipeline 13, operate the first movable arm 16 to move the inspection tool unit 17, such that a positional relationship of the inspection tool unit 17 with the subsea pipeline 13 becomes a predetermined target positional relationship.

2. 发明授权

EP3348845B1 UNDERWATER ACTUATOR AND SUBMERSIBLE PROVIDED WITH SAME 有权
公开(公告)号：EP3348845B1
公开(公告)日：2020-08-19
申请号：EP16843937.0
申请日：2016-09-06
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： SAKAUE, Hiroshi , MUKAIDA, Minehiko , OKAYA, Noriyuki , OKADA, Takashi , TACHINAMI, Fumitaka
IPC分类号： F15B15/18 , B63C11/00 , F15B15/14 , E21B33/035 , B63C11/52

3. 发明授权

EP2913942B1 VISIBLE LIGHT COMMUNICATION SYSTEM 有权
公开(公告)号：EP2913942B1
公开(公告)日：2018-09-26
申请号：EP13849020.6
申请日：2013-10-23
申请人： Kawasaki Jukogyo Kabushiki Kaisha , Daitron Technology Co., Ltd.
发明人： OKAYA, Noriyuki , MUKAIDA, Minehiko , KOYABU, Takashi , HORI, Masaki
IPC分类号： H04B10/116 , H04B13/02
CPC分类号： H04B13/02 , H04B10/116
摘要： In a visible light communication system including a transmission device and a receiving device arranged separately in a vertical direction and provided so as to relatively move in a horizontal direction, which transmits data from the transmission device to the receiving device by optical space transmission using visible light, the transmission device includes a first light emitting part outputting visible light, and the first light emitting part has a light source emitting visible light and a correction part correcting the light radiated from the light source so as to uniform a light intensity distribution on a horizontal plane. Even when the transmission device and the receiving device arranged separately in the vertical direction relatively move in a horizontal direction, data can be stably transmitted and received by the optical space transmission using visible light.

4. 发明公开

EP3360774A1 CHARGING SYSTEM OF AUTONOMOUS UNMANNED SUBMARINE 有权
公开(公告)号：EP3360774A1
公开(公告)日：2018-08-15
申请号：EP16853241.4
申请日：2016-09-28
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： SAKAUE, Hiroshi , MUKAIDA, Minehiko , OKAYA, Noriyuki , OKADA, Takashi , TACHINAMI, Fumitaka
IPC分类号： B63C11/00 , B63G8/00 , H02J7/00 , H02J50/00
CPC分类号： B63G8/001 , B63C11/00 , B63G8/00 , B63G2008/008 , H02J7/00 , H02J7/025 , H02J50/00 , H02J50/10 , H02J50/90
摘要： A charging system for an autonomous underwater vehicle includes: a sea floating body floating on a sea; a charging station suspended in water from the sea floating body through a string-shaped body and located downstream of the sea floating body by receiving a water flow, the charging station including a noncontact electricity supplying portion located at a position away from the string-shaped body; and an autonomous underwater vehicle coupled to the charging station so as to be rotatable about the string-shaped body, the autonomous underwater vehicle including a noncontact electricity receiving portion configured to receive electricity supplied from the noncontact electricity supplying portion, wherein: the charging station takes by the water flow such a posture that the noncontact electricity supplying portion is located downstream of the string-shaped body in a water flow direction; and in a state where the autonomous underwater vehicle is coupled to the charging station, the autonomous underwater vehicle takes by the water flow such a posture that the noncontact electricity receiving portion is located downstream of the string-shaped body in the water flow direction.

5. 发明公开

EP2913942A1 VISIBLE LIGHT COMMUNICATION SYSTEM 有权
标题翻译：可见光通信系统
公开(公告)号：EP2913942A1
公开(公告)日：2015-09-02
申请号：EP13849020.6
申请日：2013-10-23
申请人： Kawasaki Jukogyo Kabushiki Kaisha , Daitron Technology Co., Ltd.
发明人： OKAYA, Noriyuki , MUKAIDA, Minehiko , KOYABU, Takashi , HORI, Masaki
IPC分类号： H04B10/116 , H04B10/40 , H04B10/80
CPC分类号： H04B13/02 , H04B10/116
摘要： In a visible light communication system including a transmission device and a receiving device arranged separately in a vertical direction and provided so as to relatively move in a horizontal direction, which transmits data from the transmission device to the receiving device by optical space transmission using visible light, the transmission device includes a first light emitting part outputting visible light, and the first light emitting part has a light source emitting visible light and a correction part correcting the light radiated from the light source so as to uniform a light intensity distribution on a horizontal plane. Even when the transmission device and the receiving device arranged separately in the vertical direction relatively move in a horizontal direction, data can be stably transmitted and received by the optical space transmission using visible light.
摘要翻译：本发明提供一种可见光通信系统，该可见光通信系统包括：发送装置和接收装置，其分别在垂直方向上排列，并被设置成沿水平方向相对移动，该水平方向通过使用可见光的光空间传输来将数据从发送装置发送到接收装置传输装置包括输出可见光的第一发光部分，并且第一发光部分具有发射可见光的光源以及校正从光源辐射的光的校正部分，以便使水平面上的光强度分布平面。即使当在垂直方向上分开布置的发送装置和接收装置在水平方向上相对移动时，也可以通过使用可见光的光空间传输来稳定地发送和接收数据。

6. 发明公开

EP4005917A1 UNDERWATER MOBILE INSPECTION APPARATUS AND UNDERWATER INSPECTION EQUIPMENT 有权
公开(公告)号：EP4005917A1
公开(公告)日：2022-06-01
申请号：EP22151778.2
申请日：2012-09-13
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： KIMURA, Akira , OKAYA, Noriyuki , SUMINO, Kazuya , MUKAIDA, Minehiko , KAGAYA, Hiroaki , HAMAMATSU, Masanori , SAIKI, Akiyoshi , KUBOTA, Tetsuya , ENOMOTO, Masayuki
IPC分类号： B63B59/00 , B63C11/52 , B63G8/00 , G05D1/06
摘要： An object is to prevent damage to an inspection object such as a subsea structure, the damage being due to receiving force based on the mass of a cruising body, and to improve the quality of various work, including an inspection of the inspection object.
An underwater mobile inspection apparatus 11 is capable of inspecting a subsea pipeline (inspection object) 13 while cruising. The underwater mobile inspection apparatus 11 includes: a cruising body 14 configured to submerge under water and cruise along the inspection object in such a manner as not to come into contact with the subsea pipeline 13; a first movable arm 16 provided on the cruising body 14; an inspection tool unit 17 for use in inspecting the subsea pipeline 13, the inspection tool unit 17 being provided on the first movable arm 16; and a controller configured to, when the cruising body 14 cruises along the subsea pipeline 13 in such a manner as not to come into contact with the subsea pipeline 13, operate the first movable arm 16 to move the inspection tool unit 17, such that a positional relationship of the inspection tool unit 17 with the subsea pipeline 13 becomes a predetermined target positional relationship.

7. 发明公开

EP3808647A1 UNDERWATER POWER SUPPLY SYSTEM 有权
公开(公告)号：EP3808647A1
公开(公告)日：2021-04-21
申请号：EP19819339.3
申请日：2019-06-14
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： MUKAIDA, Minehiko , OKAYA, Noriyuki , FUKUI, Koichi , MUKAI, Makoto , TACHINAMI, Fumitaka , KAGA, Yuki
IPC分类号： B63C11/00 , B63C11/48
摘要： An underwater power supply system includes: a working apparatus arranged underwater and including at least one power receiving pad; a first battery unit detachably attached to the working apparatus and including a power supplying pad and a battery, the power supplying pad being configured to supply electric power to the power receiving pad in a non-contact state, the battery being electrically connected to the power supplying pad; and an underwater sailing body configured to shuttle between the working apparatus and a surface ship or between the working apparatus and an underwater station suspended from the surface ship, the underwater sailing body being configured to carry a second battery unit to the working apparatus, detach the first battery unit from the working apparatus, and attach the second battery unit to the working apparatus, the second battery unit including a power supplying pad and a battery, the power supplying pad being configured to supply the electric power to the power receiving pad in a non-contact state, the battery being electrically connected to the power supplying pad.

8. 发明公开

EP4159612A1 UNDERWATER VEHICLE SYSTEM AND WORKING METHOD 无效
公开(公告)号：EP4159612A1
公开(公告)日：2023-04-05
申请号：EP22207788.5
申请日：2019-09-03
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： MUKAIDA, Minehiko , SAKAUE, Hiroshi , OKAYA, Noriyuki , FUKUI, Koichi , KAGA, Yuki , TACHINAMI, Fumitaka
IPC分类号： B63C11/00 , B63B45/08 , B63B49/00
摘要： An underwater vehicle system (100) according to one aspect of the present invention includes: a first underwater vehicle (10) configured to perform work in water while moving in a predetermined proceeding direction; and a second underwater vehicle (30) configured to replace the first underwater vehicle (10) and perform work in water. The first underwater vehicle includes a transponder (19) configured to transmit a sound wave to the second underwater vehicle and a propulsion device (11) configured to move the first underwater vehicle. The second underwater vehicle includes an acoustic positioning device (37) configured to measure a position of the second underwater vehicle relative to the first underwater vehicle based on the sound wave transmitted from the transponder of the first underwater vehicle and a propulsion device (31) configured to, when the first underwater vehicle replaces the second underwater vehicle, move the second underwater vehicle based on the position of the second underwater vehicle relative to the first underwater vehicle such that the second underwater vehicle approaches the first underwater vehicle, the position being measured by the acoustic positioning device.

9. 发明公开

EP3348845A1 UNDERWATER ACTUATOR AND SUBMERSIBLE PROVIDED WITH SAME 有权
公开(公告)号：EP3348845A1
公开(公告)日：2018-07-18
申请号：EP16843937.0
申请日：2016-09-06
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： SAKAUE, Hiroshi , MUKAIDA, Minehiko , OKAYA, Noriyuki , OKADA, Takashi , TACHINAMI, Fumitaka
IPC分类号： F15B15/18 , B63C11/00 , F15B15/14
摘要： An underwater actuator includes: a housing to be immersed under water; a cylinder chamber formed in the housing; a piston accommodated in the cylinder chamber such that the piston is movable in a sliding manner in the cylinder chamber, the piston dividing the cylinder chamber into a first pressure receiving chamber and a second pressure receiving chamber; a rod extending from the piston to the first pressure receiving chamber side, the rod penetrating the housing; a release chamber formed in the housing, the release chamber having an internal pressure kept lower than a water pressure of outside of the housing; and a switching mechanism including: a first switcher configured to switch a communication state between the second pressure receiving chamber and the outside of the housing to allow or block communication therebetween; and a second switcher configured to switch a communication state between the second pressure receiving chamber and the release chamber to allow or block communication therebetween.

10. 发明授权

EP2762401B1 MOBILE UNDERWATER INSPECTION APPARATUS AND UNDERWATER INSPECTION EQUIPMENT 有权
公开(公告)号：EP2762401B1
公开(公告)日：2018-07-18
申请号：EP12836311.6
申请日：2012-09-13
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： KIMURA, Akira , OKAYA, Noriyuki , SUMINO, Kazuya , MUKAIDA, Minehiko , KAGAYA, Hiroaki , HAMAMATSU, Masanori , SAIKI, Akiyoshi , KUBOTA, Tetsuya , ENOMOTO, Masayuki
IPC分类号： B63B59/00 , B63C11/52 , B63G8/00 , G05D1/06
CPC分类号： B63G8/001 , B63B59/00 , B63C11/48 , B63C11/52 , B63G2008/004 , B63G2008/005 , B63G2008/008 , G05D1/0692
摘要： An object is to prevent damage to an inspection object such as a subsea structure, the damage being due to receiving force based on the mass of a cruising body, and to improve the quality of various work, including an inspection of the inspection object. An underwater mobile inspection apparatus 11 is capable of inspecting a subsea pipeline (inspection object) 13 while cruising. The underwater mobile inspection apparatus 11 includes: a cruising body 14 configured to submerge under water and cruise along the inspection object in such a manner as not to come into contact with the subsea pipeline 13; a first movable arm 16 provided on the cruising body 14; an inspection tool unit 17 for use in inspecting the subsea pipeline 13, the inspection tool unit 17 being provided on the first movable arm 16; and a controller configured to, when the cruising body 14 cruises along the subsea pipeline 13 in such a manner as not to come into contact with the subsea pipeline 13, operate the first movable arm 16 to move the inspection tool unit 17, such that a positional relationship of the inspection tool unit 17 with the subsea pipeline 13 becomes a predetermined target positional relationship.

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