Submersible robot for operating a tool relative to a surface of an underwater structure

A submersible robot for operating a tool relative to a surface of an underwater structure has a tool holder movably mounted on a support assembly provided with a driving arrangement for movably holding the tool in operative position relative to the surface. Position and orientation of the support as...

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Bibliographische Detailangaben
Hauptverfasser:	BLAIN MICHEL, GENDRON STEPHAN, MORIN RENE, PROVENCHER LUC
Format:	Patent
Sprache:	eng
Schlagworte:	AIRCRAFT AVIATION COSMONAUTICS DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING ORREPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR EQUIPMENT FOR SHIPPING GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLYADAPTED FOR USE IN CONNECTION WITH AIRCRAFT HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFTCOMPONENTS, NOT OTHERWISE PROVIDED FOR PERFORMING OPERATIONS RELATED EQUIPMENT SHIPS OR OTHER WATERBORNE VESSELS TRANSPORTING
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Beschreibung
Zusammenfassung:	A submersible robot for operating a tool relative to a surface of an underwater structure has a tool holder movably mounted on a support assembly provided with a driving arrangement for movably holding the tool in operative position relative to the surface. Position and orientation of the support assembly relative to the surface is locked and adjusted by locking and leveling arrangements. A programmable control unit operates the driving, locking and leveling arrangements and the tool and receives measurements from a sensor unit. The control unit has an operation mode wherein a positioning of the robot is determined and controlled as function of an initial position for defining a first work area, and shifted positions of the robot for defining additional work areas, the work areas having overlapping portions with one another for tracking displacements of the robot relative to the surface of the structure using the sensor unit.