Underwater cleaning equipment

Abstract

To provide underwater cleaning equipment enabling reduction of work load of cleaning of a cleaning target.SOLUTION: Underwater cleaning equipment according to the embodiment comprises: a housing which includes a target facing surface facing a cleaning target during cleaning; a first thruster provided in the housing and generating thrust in a normal line direction of the target facing surface; a cleaning brush rotatably provided in the housing and cleaning the cleaning target; four wheels rotatably provided in the housing; and a travel driving portion which drives the wheels and causes the underwater cleaning equipment to travel. Each of the wheels includes a plurality of projections which can be inserted in a hole of the cleaning target provided in the outer peripheral surface of the wheels.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] Embodiments of the present invention relate to an underwater cleaning device.

Background Art

[0002] Marine organisms can adhere to fishing nets such as floating cage nets or fixed nets for marine aquaculture as attachments. In order to remove the attached marine organisms, the fishing nets are being cleaned. For example, the fishing net is pulled up from the sea and the fisherman himself manually cleans the fishing net, or a diver dives into the sea to clean the fishing net.

[0003] In order to reduce the burden of the cleaning work, it is known to suspend a cleaning device from a mother ship at sea with a wire rope to clean the fishing net. This cleaning device cleans the fishing net while moving vertically by an operator on the mother ship operating the wire rope. Therefore, when the cleaning by one vertical movement is completed, the operator moves the cleaning device horizontally. Then, the cleaning device is suspended into the sea again and moved vertically to perform the cleaning. By repeating such operations, the entire fishing net can be cleaned.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] In view of such points, an object of the present embodiment is to provide an underwater cleaning device capable of reducing the cleaning work burden of an object to be cleaned.

Means for Solving the Problems

[0006] The underwater cleaning device according to the embodiment is a device that cleans a cleaning object including a large number of holes installed in water to remove adherends. The underwater cleaning device includes a housing including an object facing surface facing the cleaning object during cleaning, a first thruster provided in the housing to generate a thrust in the normal direction of the object facing surface, a cleaning brush rotatably provided in the housing to clean the cleaning object, four wheels rotatably provided in the housing, and a traveling drive unit that drives the wheels to cause the underwater cleaning device to travel. Each of the wheels includes a plurality of protrusions provided on the outer peripheral surface of the wheel and insertable into the holes of the cleaning object.

Advantages of the Invention

[0007] According to the present embodiment, the cleaning work load of the cleaning object can be reduced.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0009] Hereinafter, with reference to the drawings, the underwater cleaning device according to the embodiment of the present invention will be described.

[0010] First, with reference to FIGS. 1 to 7, the underwater cleaning device 10 according to the present embodiment will be described. The underwater cleaning device according to the present embodiment is a device for cleaning an object to be cleaned installed in water and removing deposits adhering to the object to be cleaned. Examples of the object to be cleaned are not particularly limited, and include, for example, fishing nets such as raw cage nets or stationary nets for offshore aquaculture. The object to be cleaned includes a large number of holes (see hole 2 in FIG. 2). For example, the mesh of a fishing net corresponds to the holes of the object to be cleaned. Examples of deposits adhering to the fishing net include marine organisms such as seaweed or barnacles. Hereinafter, an example of the underwater cleaning device 10 for cleaning the fishing net 1 and removing the deposit D adhering to the fishing net 1 will be described.

[0011] As shown in FIG. 1, the underwater cleaning device 10 according to the present embodiment includes a housing 15, a first thruster 20, a cleaning brush 25, four wheels 30, a traveling drive unit 35, a first detection device 40, a second detection device 45, a battery 50, a second thruster 55, a control device 60, and a communication device 65.

[0012] The housing 15 may be formed in a substantially rectangular shape in a plan view. As shown in FIGS. 1 and 2, the housing 15 includes a first housing surface 16 facing the fishing net 1 during cleaning and a second housing surface 17 located on the side opposite to the first housing surface 16. As shown in FIG. 1, the state seen in the normal direction N of the first housing surface 16 is referred to as a plan view. The housing 15 includes a housing opening 18. The housing opening 18 penetrates the housing 15 in the thickness direction (the vertical direction in FIG. 2). The first thruster 20 and the cleaning brush 25, which will be described later, are arranged in the housing opening 18.

[0013] The first thruster 20 is provided on the housing 15. The first thruster 20 is configured to generate a thrust in the normal direction N of the first housing surface 16. As shown in FIGS. 1 and 3, the first thruster 20 includes a frame 21, a first thruster drive unit 22, a first propeller unit 23, and a rotation shaft 24.

[0014] The frame 21 may be disposed within the above-described housing opening 18. As shown in FIGS. 1 and 3, the frame 21 may include a cylindrical portion 21a formed in a cylindrical shape along the wall surface of the housing opening 18, a frame central portion 21b, and a plurality of spokes 21c formed along the second housing surface 17. The frame central portion 21b and the spokes 21c may be formed at positions along the second housing surface 17. The frame central portion 21b may be formed in a circular shape in plan view and may be disposed at the center of the housing opening 18. The spokes 21c connect the cylindrical portion 21a and the frame central portion 21b. An opening through which seawater and the removed deposits can pass is formed between two adjacent spokes 21c. Note that the configuration of the frame 21 is not limited to this and is arbitrary.

[0015] The first thruster drive unit 22 may be disposed inside the frame 21. The first thruster drive unit 22 may be fixed to the frame central portion 21b. The first thruster drive unit 22 rotationally drives the first propeller unit 23. The first thruster drive unit 22 may include a motor, and in this case, the rotation axis of the motor may be along the normal direction N of the first housing surface 16.

[0016] The first propeller unit 23 is rotatably provided on the housing 15. More specifically, the first propeller unit 23 is connected to the first thruster drive unit 22 via the rotary shaft 24 and is configured to be rotatable with respect to the frame 21. The first propeller unit 23 is disposed on the side of the first housing surface 16 with respect to the first thruster drive unit 22. As shown in FIG. 3, the first propeller unit 23 may include an outer peripheral portion 23a, a propeller central portion 23b, and a plurality of blades 23c. The outer peripheral portion 23a may be formed in a cylindrical shape and may be formed concentrically with the cylindrical portion 21a of the frame 21. The propeller central portion 23b is connected to the first thruster drive unit 22 via the rotary shaft 24 and is formed concentrically with the outer peripheral portion 23a. The rotation center axis of the rotary shaft 24 is along the normal direction N of the first housing surface 16. The outer peripheral portion 23a and the propeller central portion 23b are connected by a plurality of blades 23c. When the first propeller unit 23 rotates, the plurality of blades 23c form a flow of seawater along the normal direction N.

[0017] In the present embodiment, a pair of first thrusters 20 are provided on the housing 15. The rotation direction of the first propeller unit 23 of one first thruster 20 is opposite to the rotation direction of the first propeller unit 23 of the other first thruster 20. For example, when the underwater cleaning device 10 generates a thrust in the direction toward the fishing net 1, the direction indicated by the arrow in FIG. 1 may be the rotation direction of each first propeller unit 23. In FIG. 1, the first propeller unit 23 located on the left side (the lower side in FIG. 1) in the traveling direction rotates in the clockwise direction, and the first propeller unit 23 located on the right side (the upper side in FIG. 1) in the traveling direction rotates in the direction opposite to the clockwise direction. By setting the rotation directions in this way, it is possible to cancel out the forces generated by the rotation of each first propeller unit 23 while forming a seawater flow in the same direction. For this reason, the attitude of the underwater cleaning device 10 can be maintained, and the underwater cleaning device 10 can be easily moved straight forward. The traveling direction is the direction in which the underwater cleaning device 10 advances and is the direction from the rear part to the front part of the housing 15 (the left-right direction in FIG. 1).

[0018] The cleaning brush 25 is rotatably provided on the housing 15. As shown in FIG. 2, the cleaning brush 25 is configured to clean the fishing net 1 and remove the deposits D adhering to the fishing net 1. As shown in FIG. 3, the cleaning brush 25 may be disposed at the housing opening 18 described above, and is disposed on the side of the first housing surface 16 rather than the first propeller unit 23 described above. The cleaning brush 25 protrudes from the first housing surface 16 of the housing 15 so as to be able to contact the fishing net 1.

[0019] The cleaning brush 25 may be configured to rotate integrally with the first propeller unit 23 of the first thruster 20. The cleaning brush 25 rotates when the first thruster drive unit 22 described above rotationally drives the first propeller unit 23.

[0020] In the present embodiment, a pair of cleaning brushes 25 are rotatably provided on the housing 15, and each of the first propeller units 23 is configured to rotate integrally with the corresponding cleaning brush 25. In the present embodiment, each of the cleaning brushes 25 overlaps with the corresponding first propeller unit 23 in a plan view and has the same rotation central axis as the corresponding first propeller unit 23.

[0021] The cleaning brush 25 may be fixed to the outer peripheral portion 23a of the first propeller unit 23. The cleaning brush 25 may be formed in a circular ring shape in a plan view and continuously formed along the circumferential direction of the outer peripheral portion 23a. Alternatively, the cleaning brush 25 may be intermittently formed in the circumferential direction of the outer peripheral portion 23a. A cavity 25a is formed inside the cleaning brush 25. The cavity 25a communicates with the housing opening 18 described above. As a result, when the first propeller unit 23 rotates, seawater passes through the housing opening 18, and a thrust force for pressing the underwater cleaning device 10 against the fishing net 1 is generated. Further, due to the rotation of the first propeller unit 23, the deposits D scraped off by the cleaning brush 25 can pass through the housing opening 18 and be discharged in a direction away from the fishing net 1.

[0022] The four wheels 30 are rotatably provided on the housing 15. Two of the four wheels 30 are provided on the left side in the traveling direction, and the remaining two wheels 30 are provided on the right side in the traveling direction. Two wheels 30 are arranged on the front side in the traveling direction, and two wheels 30 are arranged on the rear side in the traveling direction. The rotation center axis of each wheel 30 is parallel to the first housing surface 16 described above and perpendicular to the traveling direction of the underwater cleaning device 10 in plan view.

[0023] Each of the wheels 30 includes a plurality of protrusions 31 provided on the outer peripheral surface of the wheel 30. The protrusions 31 can be inserted into the holes 2 of the fishing net 1. The protrusions 31 according to the present embodiment are formed in a rectangular plate shape having the width direction of the wheel 30 as the longitudinal direction, as shown in FIGS. 1 and 2. The width dimension of the protrusion 31 is such that it can be inserted into the hole 2 of the fishing net 1 described above.

[0024] As shown in FIG. 2, the plurality of protrusions 31 are radially attached to the wheel 30. The number of the protrusions 31 and the intervals between the protrusions 31 are arbitrary. In the example shown in FIG. 2, the protrusions 31 are arranged at 30° intervals. The protrusions 31 according to the present embodiment may be fixed to the outer peripheral surface of the wheel 30. The protrusions 31 may be formed of a metal material. However, the protrusions 31 may be formed of a resin material such as silicon or rubber.

[0025] The traveling drive unit 35 is configured to drive the wheels 30 to cause the underwater cleaning device 10 to travel. The traveling drive unit 35 rotationally drives each of the wheels 30 based on a command transmitted from a control device 60 described later.

[0026] As shown in FIG. 1, the traveling drive unit 35 according to the present embodiment includes a first wheel drive unit 36 that drives the wheels 30 arranged on one side in the traveling direction, and a second wheel drive unit 37 that drives the wheels 30 arranged on the other side in the traveling direction. The two wheels 30 arranged on one side in the traveling direction may be driven by one first wheel drive unit 36, or may be independently driven by two first wheel drive units 36. One side in the traveling direction may be the left side in the traveling direction or the lower side shown in FIG. 1. Similarly, the two wheels 30 arranged on the other side in the traveling direction may be driven by one second wheel drive unit 37, or may be independently driven by two second wheel drive units 37. The other side in the traveling direction may be the right side in the traveling direction or the upper side shown in FIG. 1.

[0027] The first detection device 40 is configured to detect the distance to the fishing net 1. The distance detected by the first detection device 40 may be the distance from the first detection device 40 to the fishing net 1. The method of detecting the distance is arbitrary. The detected distance may be transmitted to the control device 60.

[0028] The second detection device 45 is configured to detect the situation of the fishing net 1. The second detection device 45 may include, for example, a camera that acquires an image or video of the fishing net 1. Alternatively, the second detection device 45 may be configured to detect the situation of the fishing net 1 by irradiating the fishing net 1 with ultrasonic waves and detecting the ultrasonic waves reflected back from the fishing net 1. Two second detection devices 45 may be provided on the housing 15. One second detection device 45 may be arranged at the front part of the housing 15 in the traveling direction, and the other second detection device 45 may be arranged at the rear part of the housing 15 in the traveling direction. The second detection device 45 arranged at the front part may be configured to detect the situation of the part of the fishing net 1 that is ahead of the housing 15 in the traveling direction. The second detection device 45 arranged at the rear part may be configured to detect the situation of the part of the fishing net 1 that is behind the housing 15 in the traveling direction. The information detected by the second detection device 45 may be transmitted to the remote control device 70 via the control device 60 and the communication device 65 described later.

[0029] The battery 50 is provided on the housing 15 as a power source. The battery 50 supplies power to the traveling drive unit 35, the first detection device 40, and the second detection device 45 described above, and also supplies power to the control device 60 described later. The battery 50 may be arranged between the two wheels 30 arranged on the rear side of the housing 15 in the traveling direction.

[0030] The second thruster 55 is provided on the housing 15. The second thruster 55 is configured to generate thrust in a direction different from that of the first thruster 20. Although not shown, the second thruster 55 may include a frame, a second thruster drive unit, a second propeller unit, and a rotation shaft, similar to the first thruster 20. The second propeller unit is rotatably supported by the frame, and the second thruster drive unit rotationally drives the second propeller unit. The rotation central axis of the second propeller unit extends in a direction different from the rotation central axis of the first propeller unit 23. For example, the rotation central axis of the second propeller unit may be along the traveling direction of the underwater cleaning device 10, or may be a direction orthogonal to the traveling direction in plan view, and is arbitrary.

[0031] The housing 15 may be provided with two or more second thrusters 55. In this case, the rotation central axes of the second propeller portions of the respective second thrusters 55 may extend in different directions from each other. This can improve the degree of freedom of movement when the underwater cleaning device 10 is separated from the fishing net 1, and the underwater cleaning device 10 can be moved in an arbitrary direction. In the present embodiment, as shown in FIG. 1, two second thrusters 55 are provided at the rear portion of the housing 15.

[0032] The control device 60 is configured to control the cleaning operation of the underwater cleaning device 10 by controlling the first thruster 20, the second thruster 55, and the traveling drive unit 35. The control device 60 issues commands to each of the first thruster drive units 22, each of the second thruster drive units, and the wheel drive units 36, 37 of the traveling drive unit 35. The first thruster drive unit 22 rotationally drives the first propeller portion 23 based on a command from the control device 60. The second thruster drive unit rotationally drives the second propeller portion based on a command from the control device 60. Each of the wheel drive units 36, 37 rotationally drives the wheels 30 based on a command from the control device 60.

[0033] The control device 60 may control the first thruster drive unit 22 based on the distance from the fishing net 1 detected by the first detection device 40 described above. For example, when the distance from the fishing net 1 is greater than a predetermined reference distance, the first thruster drive unit 22 may be controlled to increase the thrust of the first thruster 20. This can press the underwater cleaning device 10 against the fishing net 1, and the protrusions 31 of the wheels 30 can be inserted into the holes 2 of the fishing net 1. Also, the cleaning brush 25 can be brought into contact with the fishing net 1.

[0034] The communication device 65 is configured to be capable of communicating between the control device 60 described above and a remote control device 70 disposed on the ground. The remote control device 70 may be a host computer. A control command for the underwater cleaning device 10 may be transmitted from the remote control device 70 to the control device 60 via the communication device 65. The communication device 65 is connected to the remote control device 70 by wire or wirelessly.

[0035] Next, the operation of the present embodiment having such a configuration will be described. Here, a method of cleaning the fishing net 1 using the underwater cleaning device 10 according to the present embodiment will be described. Before starting the cleaning, the battery 50 of the underwater cleaning device 10 may be charged.

[0036] Hereinafter, an example will be described in which the fishing net 1 is composed of a wire net woven with metal wires, and as shown in FIGS. 4 and 5, the fishing net 1 is formed in a rectangular parallelepiped shape or a cubic shape. The fishing net 1 includes four side surfaces 1a to 1d along the vertical direction and a bottom surface 1e. The first side surface 1a and the second side surface 1b are adjacent to each other and orthogonal. The third side surface 1c and the fourth side surface 1d are located on the back side of the first side surface 1a and the second side surface 1b in FIGS. 4 and 5. The third side surface 1c is adjacent to the second side surface 1b, and the fourth side surface 1d is adjacent to the first side surface 1a. The bottom surface 1e is adjacent to and orthogonal to each of the side surfaces 1a to 1d.

[0037] First, as shown in FIG. 4, the underwater cleaning device 10 is arranged above the first side surface 1a of the fishing net 1. Hereinafter, an example in which the underwater cleaning device 10 cleans the fishing net 1 from the inside of the fishing net 1 will be described, but the fishing net 1 may be cleaned from the outside of the fishing net 1.

[0038] Subsequently, the cleaning operation by the underwater cleaning device 10 is started. For example, the cleaning operation may be started by issuing a command from the remote control device 70 to the control device 60 of the underwater cleaning device 10. The control device 60 may control the first thruster driving unit 22, the second thruster driving unit, and the traveling driving unit 35 so as to perform the following operations.

[0039] Drive the first thruster drive unit 22 to rotate the first propeller unit 23. The first propeller unit 23 rotates in a direction that generates a thrust in the direction in which the underwater cleaning device 10 moves toward the first side surface 1a of the fishing net 1. As a result, the underwater cleaning device 10 is pressed against the first side surface 1a of the fishing net 1, and the protrusion 31 of the wheel 30 is inserted into the hole 2 of the fishing net 1 (see FIG. 2). While the first propeller unit 23 is rotating, the cleaning brush 25 also rotates integrally. As a result, the cleaning brush 25 pressed against the fishing net 1 cleans the fishing net 1. During the scanning operation of the underwater cleaning device 10 shown below, the cleaning operation of the cleaning brush 25 continues.

[0040] Subsequently, the underwater cleaning device 10 is caused to perform a scanning operation. That is, each of the wheel drive units 36 and 37 of the traveling drive unit 35 is driven to rotate the corresponding wheel 30. In this case, the protrusion 31 inserted into the hole 2 of the fishing net 1 receives a reaction force from the wire of the fishing net 1. As a result, the underwater cleaning device 10 can move forward on the first side surface 1a. Since the first propeller unit 23 of the first thruster 20 continues to rotate, the underwater cleaning device 10 can move forward while the protrusion 31 of the wheel 30 is inserted into the hole 2 of the fishing net 1. In this way, the underwater cleaning device 10 can continue to move forward on the first side surface 1a.

[0041] When the underwater cleaning device 10 continues to move linearly in the horizontal direction on the first side surface 1a of the fishing net 1, it will eventually reach the edge 3a where the first side surface 1a and the second side surface 1b meet. Even in this case, by continuing to rotate the first propeller unit 23 of the first thruster 20 and continuing to independently rotate the four wheels 30, the edge 3a can be overcome. Then, the underwater cleaning device 10 can be placed in a posture facing the second side surface 1b and continue to move forward on the second side surface 1b.

[0042] Alternatively, when the underwater cleaning device 10 reaches the edge 3a, the second thruster 55 may be driven while separating the underwater cleaning device 10 from the first side surface 1a to change the posture of the underwater cleaning device 10. The underwater cleaning device 10 may be placed in a posture facing the second side surface 1b and pressed against the second side surface 1b. In this case, the protrusion 31 of the wheel 30 may be inserted into the hole 2 of the fishing net 1 on the second side surface 1b, and the wheel driving units 36, 37 may be driven to continue moving forward on the second side surface 1b.

[0043] As shown in FIG. 4, the underwater cleaning device 10 continues to move forward linearly in the horizontal direction on the second side surface 1b. When reaching the edge 3b between the second side surface 1b and the third side surface 1c, the traveling direction of the underwater cleaning device 10 may be changed. For example, the rotation of the wheel 30 on the right side toward the traveling direction may be weakened or stopped. By doing so, the traveling direction of the underwater cleaning device 10 can be changed by the driving force of the wheel 30 on the left side toward the traveling direction. In this case, as shown in FIG. 4, the underwater cleaning device 10 can be U-turned under the previous path to change the traveling direction toward the first side surface 1a. Thereafter, the underwater cleaning device 10 continues to move forward linearly in the horizontal direction.

[0044] The timing at which the underwater cleaning device 10 that has reached the edge 3b makes a U-turn may be realized by a control program incorporated in the control device 60 in advance. In this case, the dimensions of the wire mesh may be considered in the control program. Alternatively, the underwater cleaning device 10 may be made to perform a U-turn by detecting the edge 3b of the fishing net 1 by the second detection device 45 described above.

[0045] By repeating such an operation, the underwater cleaning device 10 can be made to perform a scanning operation, and the first side surface 1a and the second side surface 1b of the fishing net 1 can be cleaned as a whole.

[0046] After the cleaning of the first side 1a and the second side 1b of the fishing net 1 is completed, the underwater cleaning device 10 moves to the third side 1c or the fourth side 1d. In this case, the underwater cleaning device 10 may move from the first side 1a over the edge 3c to the fourth side 1d, or may move from the second side 1b over the edge 3b to the third side 1c. Similar to the cleaning of the first side 1a and the second side 1b, the third side 1c and the fourth side 1d can be cleaned. In this case, the underwater cleaning device 10 may perform a scanning operation over the edge 3d between the third side 1c and the fourth side 1d.

[0047] After the cleaning of the third side 1c and the fourth side 1d of the fishing net 1 is completed, the underwater cleaning device 10 moves to the bottom surface 1e. In this case, the underwater cleaning device 10 moves from any of the sides 1a to 1d over the edge 3e to the bottom surface 1e. For example, as shown in FIG. 5, it is arranged near any one of the four corners 4 of the bottom surface 1e. In the example shown in FIG. 5, the underwater cleaning device 10 is arranged near the corner 4 where the third side 1c, the fourth side 1d, and the bottom surface 1e intersect. At this time, the first thruster driving unit 22 is driven to rotate the first propeller unit 23. The first propeller unit 23 is rotated in a direction that generates a thrust in the direction in which the underwater cleaning device 10 moves toward the bottom surface 1e of the fishing net 1. As a result, the underwater cleaning device 10 is pressed against the bottom surface 1e of the fishing net 1, and the protrusion 31 of the wheel 30 is inserted into the hole 2 of the fishing net 1.

[0048] Subsequently, the underwater cleaning device 10 is made to perform a scanning operation. That is, each of the wheel driving units 36 and 37 of the traveling driving unit 35 is driven to linearly advance the underwater cleaning device 10 on the bottom surface 1e. When the underwater cleaning device 10 reaches the edge 3e of the bottom surface 1e, the traveling direction of the underwater cleaning device 10 is U-turned and it is made to advance linearly again. In this way, the underwater cleaning device 10 can be made to perform a scanning operation, and the entire bottom surface 1e of the fishing net 1 can be cleaned.

[0049] In this way, each surface 1a to 1e of the fishing net 1 can be cleaned. The cleaning method of the fishing net 1 is not limited to the above-described example and is arbitrary. For example, each of the sides 1a to 1d may be cleaned one by one.

[0050] In addition, during the cleaning of the fishing net 1 described above, when the second detection device 45 detects an obstacle as the situation of the fishing net 1, the control device 60 may control the traveling drive unit 35 and the first thruster 20 so as to avoid this obstacle. Further, based on the situation of the fishing net 1 acquired by the second detection device 45, the degree of dirt of the fishing net 1 may be determined, and based on the degree of dirt of the fishing net 1, the control device 60 may control the traveling drive unit 35 and the first thruster drive unit 22 of the first thruster 20. For example, when the dirt is severe, the first thruster drive unit 22 may be controlled to increase the rotation speed of the cleaning brush 25.

[0051] Thus, according to the present embodiment, by generating a thrust in the normal direction N of the first housing surface 16 of the housing 15 by the first thruster 20, the underwater cleaning device 10 can be pressed against the fishing net 1, and the protrusion 31 of the wheel 30 can be inserted into the hole 2 of the fishing net 1. By rotating the wheel 30 in this state, the protrusion 31 can receive a reaction force from the fishing net 1, and the underwater cleaning device 10 can be advanced. The fishing net 1 can be cleaned by the cleaning brush 25 while the underwater cleaning device 10 is traveling. Therefore, the fishing net 1 can be cleaned while the underwater cleaning device 10 travels by itself, and the area where the fishing net 1 can be cleaned can be expanded. As a result, the cleaning work burden of the fishing net 1 by the fisherman can be reduced.

[0052] Further, according to the present embodiment, the protrusion 31 of the wheel 30 can be inserted into the hole 2 of the fishing net 1. This can prevent the posture of the underwater cleaning device 10 from being disturbed by the reaction force received by the cleaning brush 25 from the fishing net 1, and can stabilize the posture of the underwater cleaning device 10. Therefore, the traveling of the underwater cleaning device 10 can be stabilized.

[0053] Further, according to the present embodiment, the traveling drive unit 35 includes a first wheel drive unit 36 that drives the wheel 30 disposed on one side with respect to the traveling direction, and a second wheel drive unit 37 that drives the wheel 30 disposed on the other side with respect to the traveling direction. As a result, the traveling direction of the underwater cleaning device 10 can be arbitrarily changed, and the cleanable area of the fishing net 1 can be easily expanded.

[0054] Further, according to the present embodiment, the first thruster 20 includes a first propeller unit 23 rotatably provided in the housing 15, and is configured such that the first propeller unit 23 and the cleaning brush 25 rotate integrally. As a result, the deposits D scraped off by the cleaning brush 25 can be discharged in a direction away from the fishing net 1 by the first propeller unit 23. Therefore, it is possible to prevent the deposits D from adhering to the fishing net 1 again.

[0055] Further, according to the present embodiment, a pair of first thrusters 20 and a pair of cleaning brushes 25 are provided in the housing 15, and each of the first propeller units 23 of the first thrusters 20 is configured to rotate integrally with the corresponding cleaning brush 25. The rotation direction of one of the first propeller units 23 when generating a thrust in the direction toward the fishing net 1 is opposite to the rotation direction of the other first propeller unit 23. As a result, the forces generated by the rotation of each first propeller unit 23 can be canceled out. Therefore, the posture of the underwater cleaning device 10 can be maintained, and the underwater cleaning device 10 can be easily moved straight ahead.

[0056] Further, according to this embodiment, a control device 60 that controls the first thruster 20 and the traveling drive unit 35 and a remote control device 70 installed on the ground are communicable via a communication device 65. As a result, information can be easily transmitted and received between the control device 60 of the underwater cleaning device 10 and the remote control device 70 on the ground. For example, an operation command can be transmitted from the remote control device 70 to the control device 60 to control the operation of the underwater cleaning device 10 with a microcomputer on the ground. On the other hand, the situation of the fishing net 1 detected by the second detection device 45 can be transmitted from the control device 60 to the remote control device 70, and the situation of the fishing net 1 in the water can be known.

[0057] Further, according to this embodiment, a second thruster 55 that generates thrust in a direction different from that of the first thruster 20 is provided on the housing 15. As a result, the degree of freedom of movement when the underwater cleaning device 10 is separated from the fishing net 1 can be improved. For this reason, the underwater cleaning device 10 can be moved to a desired position of the fishing net 1, and the cleaning efficiency of the fishing net 1 can be improved.

[0058] Further, according to this embodiment, the control device 60 controls the first thruster 20 based on the distance from the fishing net 1 detected by the first detection device 40. As a result, the first thruster 20 can be controlled so as to press the underwater cleaning device 10 against the fishing net 1. For example, when the underwater cleaning device 10 moves away from the fishing net 1, the first thruster 20 can be controlled to increase the thrust of the first thruster 20. As a result, the underwater cleaning device 10 can be prevented from moving away from the fishing net 1, and the underwater cleaning device 10 can be pressed against the fishing net 1. For this reason, the protrusion 31 of the wheel 30 can be inserted into the hole 2 of the fishing net 1, and the underwater cleaning device 10 can be made to travel along the fishing net 1. Further, the cleaning brush 25 can be brought into contact with the fishing net 1. As a result, the fishing net 1 can be cleaned while the underwater cleaning device 10 is traveling, and the cleaning efficiency of the fishing net 1 can be improved.

[0059] In the above-described embodiment, an example in which the control device 60 is controlled by the remote control device 70 via the communication device 65 has been described. However, the present embodiment is not limited to this. For example, if the cleaning operation of the fishing net 1 can be performed by a control program incorporated in the control device 60, the control device 60 may not be controlled by the remote control device 70.

[0060] Also, in the above-described embodiment, an example in which the cleaning brush 25 is configured to rotate integrally with the first propeller unit 23 has been described. However, the present embodiment is not limited to this. For example, the cleaning brush 25 may be configured to rotate independently of the first propeller unit 23.

[0061] Also, in the above-described embodiment, an example in which the second thruster 55 that generates thrust in a direction different from that of the first thruster 20 is provided in the housing 15 has been described. However, if the cleaning work load of the fishing net 1 can be reduced, the underwater cleaning device 10 may not be provided with such a second thruster 55.

[0062] Also, in the above-described embodiment, an example in which the fishing net 1 is a wire mesh has been described. However, if the underwater cleaning device 10 can be pressed against the fishing net 1 to clean the fishing net 1, the fishing net 1 does not have to be a wire mesh. In this case, for example, the fishing net 1 may be a net formed of a resin material such as nylon or polyethylene.

[0063] Also, in the above-described embodiment, an example in which the protrusions 31 of the wheels 30 are arranged at 30° intervals has been described. However, the present embodiment is not limited to this. For example, as shown in FIG. 6, the protrusions 31 of the wheels 30 may be arranged at 22.5° intervals. By narrowing the intervals between the protrusions 31, the frequency at which the protrusions 31 receive reaction force from the fishing net 1 can be increased, and the propulsive force in the traveling direction of the underwater cleaning device 10 can be strengthened.

[0064] In addition, in the above-described embodiment, the protrusion 31 may be detachably attached to the outer peripheral surface of the wheel 30. For example, the protrusion 31 may be detachably attached to the outer peripheral surface of the wheel 30 using bolts or the like (not shown). In this case, the protrusion 31 can be easily replaced with a protrusion 31 having a different size or shape. Therefore, an appropriate protrusion 31 can be used according to the shape and size of the holes 2 of the fishing net 1.

[0065] In addition, in the above-described embodiment, an example in which the protrusion 31 is formed in a rectangular plate shape has been described. However, the present embodiment is not limited to this. For example, as shown in FIG. 7, the protrusion 31 may be formed in a tapered shape. In this case, the protrusion 31 is formed so as to gradually become thinner from the outer peripheral surface of the wheel 30 toward the tip. For example, the protrusion 31 may be formed in a conical shape. In this case, a plurality of protrusions 31 may be arranged in the width direction on the outer peripheral surface of the wheel 30. By using such a tapered protrusion 31, it is possible to easily insert the protrusion 31 into the holes 2 of the fishing net 1. For example, when the deposit D attached to the fishing net 1 blocks the holes 2 of the fishing net 1, the protrusion 31 can be stabbed into the deposit D, and the propulsion force in the traveling direction of the underwater cleaning device 10 can be maintained.

[0066] According to the above-described embodiment, the cleaning work load of the object to be cleaned can be reduced.

[0067] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and its equivalent scope. Also, of course, within the scope of the gist of the present invention, it is also possible to appropriately combine these embodiments partially.

Explanation of Reference Numerals

[0068] 1: Fishing net, 2: Hole, 10: Water cleaning device, 15: Housing, 16: First housing surface, 18: Housing opening, 20: First thruster, 23: First propeller part, 25: Cleaning brush, 30: Wheel, 31: Protrusion, 35: Travel drive part, 36: First wheel drive part, 37: Second wheel drive part, 40: First detection device, 55: Second thruster, 60: Control device, 65: Communication device, 70: Remote control device

Claims

1. An underwater cleaning device for cleaning an object to be cleaned, which includes a large number of holes installed in water, to remove adherences, comprising: a housing including an object-facing surface facing the object to be cleaned during cleaning; a first thruster provided on the housing for generating a thrust in the normal direction of the object-facing surface; a cleaning brush rotatably provided on the housing for cleaning the object to be cleaned; four wheels rotatably provided on the housing; a traveling drive unit for driving the wheels to cause the underwater cleaning device to travel; and each of the wheels includes a plurality of protrusions provided on the outer peripheral surface of the wheel and insertable into the holes of the object to be cleaned; an underwater cleaning device.

2. The traveling drive unit includes a first wheel drive unit for driving the wheels arranged on one side with respect to the traveling direction, and a second wheel drive unit for driving the wheels arranged on the other side with respect to the traveling direction; The underwater cleaning device according to Claim 1.

3. The first thruster includes a first propeller unit rotatably provided on the housing; the first propeller unit and the cleaning brush are configured to rotate integrally; The underwater cleaning device according to Claim 1 or 2.

4. A pair of the first thrusters and a pair of the cleaning brushes are provided on the housing; the first thruster includes a first propeller unit rotatably provided on the housing; each of the first propeller units is configured to rotate integrally with the corresponding cleaning brush; the rotation direction of one of the first propeller units is opposite to the rotation direction of the other first propeller unit; The underwater cleaning device according to Claim 1 or 2.

5. a control device for controlling the first thruster and the traveling drive unit; a communication device capable of communicating between the control device and a remote control device installed on the ground; The underwater cleaning device according to Claim 1 or 2, further comprising.

6. The underwater cleaning device according to Claim 1 or 2, further comprising a second thruster provided on the housing for generating a thrust in a direction different from that of the first thruster. The underwater cleaning device according to Claim 1 or 2.

7. a control device for controlling the first thruster and the traveling drive unit; a first detection device for detecting the distance from the object to be cleaned; and further comprising the control device controls the first thruster based on the distance from the object to be cleaned detected by the first detection device; The underwater cleaning device according to Claim 1 or 2.

8. The protrusions are detachably attached to the wheels. The underwater cleaning device according to claim 1 or 2.

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