Underwater cleaning device

Abstract

To provide a technology capable of reducing the workload for cleaning tasks to clean a target in water.SOLUTION: An exemplary underwater cleaning apparatus comprises a washing machine to clean a target in water and a control part to generate a cleaning path for cleaning the target. The washing machine automatically moves along the cleaning path.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an underwater cleaning device.

Background Art

[0002] Conventionally, an underwater cleaning robot for cleaning objects to be cleaned such as aquaculture fishing nets and ship hulls is known (see, for example, Patent Document 1). During cleaning using an underwater cleaning robot, the cleaning operator operates the underwater cleaning robot using a remote control box while checking the cleaning status of the aquaculture fishing net and the traveling direction of the underwater cleaning robot from land or on board.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the cleaning operation using a conventional underwater cleaning robot, the cleaning operator needs to constantly monitor the operation of the underwater cleaning robot so that no residue remains on the object to be cleaned. That is, conventionally, the workload of the cleaning operator has tended to be large.

[0005] An object of the present invention is to provide a technique capable of reducing the workload in a cleaning operation for cleaning an object to be cleaned underwater.

Means for Solving the Problems

[0006] An exemplary underwater cleaning device of the present invention includes a cleaning machine that cleans an object to be cleaned underwater, and a control unit that generates a cleaning path for cleaning the object to be cleaned. The cleaning machine automatically moves along the cleaning path.

Effects of the Invention

[0007] According to an exemplary example of the present invention, the workload in cleaning operations involving cleaning objects underwater can be reduced. [Brief explanation of the drawing]

[0008] [Figure 1] Block diagram showing the general configuration of the underwater cleaning device. [Figure 2] Perspective view showing the general configuration of a self-propelled washing machine. [Figure 3] Schematic perspective view of a self-propelled washing machine, seen from a different direction than Figure 2. [Figure 4] Side view showing the schematic configuration of a self-propelled washing machine. [Figure 5] A diagram illustrating an example of cleaning the sides of aquaculture nets using an underwater cleaning device. [Figure 6] Block diagram showing the functions of the control unit of the underwater cleaning device. [Figure 7A] A schematic diagram illustrating the water depth change path. [Figure 7B] A schematic diagram illustrating the water depth change path. [Figure 8A] A schematic diagram showing images captured by cameras positioned on a self-propelled washing machine. [Figure 8B] Figure 8A schematically shows the image after image processing. [Figure 9] A diagram illustrating the method for generating the washing pathway in the first example. [Figure 10A] A diagram illustrating the cleaning route in the second example. [Figure 10B] A schematic diagram showing the image after image processing of a photograph taken by a camera installed on a self-propelled washing machine. [Figure 11A] Diagram to explain the identification of the turning point. [Figure 11B] Diagram to explain the identification of the turning point. [Figure 12A] Diagram showing the detection of areas that were not properly washed. [Figure 12B] A schematic diagram showing the image after image processing of a photograph taken with a camera that captures the opposite direction of travel. [Figure 13]Schematic diagram illustrating an image showing the remaining washing area [Figure 14] Flowchart illustrating the cleaning process by automatic driving in an underwater cleaning device [Figure 15] Schematic diagram showing another example of the cleaning pattern of an aquaculture fishnet [Figure 16] Block diagram showing the functions of a control unit according to a modified example provided in an underwater cleaning device [Figure 17A] Diagram for explaining the first twist occurring in the connector [Figure 17B] Diagram for explaining the second twist occurring in the connector [Figure 18] Diagram for explaining the path selection of a self-propelled cleaning machine when cleaning the side surface of an aquaculture fishnet [Figure 19] Auxiliary diagram for facilitating the understanding of the content of FIG. 18

Mode for Carrying Out the Invention

[0009] Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. The directions in the description of the self-propelled cleaning machine provided in the underwater cleaning device are based on the xyz coordinate system, which is a three-dimensional orthogonal coordinate system shown in the drawings. Hereinafter, in this xyz coordinate system, the x direction is the front-back direction, the y direction is the left-right direction, and the z direction is the up-down direction. In addition, the +x side is the front side, and the -x side is the rear side. The +y side is the left side, and the -y side is the right side. The +z side is the upper side, and the -z side is the lower side. Note that these directions are merely names used for explanation and are not intended to limit the actual positional relationship and direction.

[0010] <1. Outline of the underwater cleaning device> FIG. 1 is a block diagram showing a schematic configuration of an underwater cleaning device 100 according to an embodiment of the present invention. As shown in FIG. 1, the underwater cleaning device 100 includes a self-propelled cleaning machine 1, a control unit 2, a storage unit 3, a high-pressure water pump 4, an operation unit 5, and a display unit 6.

[0011] The self-propelled cleaning machine 1 cleans the object to be cleaned while moving underwater. In this embodiment, the object to be cleaned is a fish farming net. The fish farming net is made of, for example, synthetic fiber or metal. The fish farming net is, for example, cylindrical in shape with a diameter of 30m and a depth of 15m. However, the shape and size of the fish farming net can be changed as appropriate. The fish farming net may also be, for example, rectangular prism-shaped or truncated cone-shaped with a diameter decreasing from the sea surface side to the seabed side. Furthermore, the object to be cleaned may be something other than a fish farming net, such as a bridge pier, ship hull, or swimming pool. In this embodiment, the cleaning machine that cleans the object to be cleaned is a self-propelled cleaning machine, but this is merely an example. The cleaning machine may be configured to clean the object to be cleaned while floating or navigating, for example. That is, the cleaning machine of the present invention broadly includes not only self-propelled machines but also those that move using their own power source. The cleaning machine of the present invention broadly includes cleaning machines that clean objects underwater.

[0012] As shown in Figure 1, the self-propelled washing machine 1 comprises a motor 1a, a camera 1b, a water depth sensor 1c, and an IMU (Inertial Measurement Unit) 1d. The motor 1a provides the driving force for the self-propelled washing machine 1 to travel on the aquaculture net. The camera 1b is provided to capture images of the surrounding environment of the self-propelled washing machine 1. The water depth sensor 1c consists of a pressure sensor. The water depth sensor 1c is positioned appropriately on the self-propelled washing machine 1 and is provided to detect the water depth in which the self-propelled washing machine 1 is located. The IMU 1d is positioned appropriately on the self-propelled washing machine 1 and is provided to detect the posture of the self-propelled washing machine 1. The IMU 1d includes a 3-axis angular velocity sensor and a 3-axis acceleration sensor. Details of the configuration of the self-propelled washing machine 1 will be described later.

[0013] The control unit 2 controls the entire underwater cleaning device 100. The control of the control unit 2 also includes the operation of the self-propelled cleaning machine 1. The control unit 2 may be a processor including, for example, an arithmetic circuit such as a CPU (Central Processing Unit). The control unit 2 may be configured to include multiple processors. In this embodiment, the control unit 2 is located, for example, on land or on a ship. The control unit 2 is electrically connected to the self-propelled cleaning machine 1 by a bundle of wires 7, which is a bundle of multiple wires including, for example, communication lines and power supply lines. The control unit 2 may be located on the self-propelled cleaning machine 1. Alternatively, the control unit 2 may be distributed between the self-propelled cleaning machine 1 and other locations such as on a ship.

[0014] The storage unit 3 is configured to include volatile memory and non-volatile memory. The volatile memory may include, for example, RAM (Random Access Memory). The non-volatile memory may include, for example, ROM (Read Only Memory), flash memory, or a hard disk drive. The non-volatile memory may store programs and data that can be read by a computer. The storage unit 3 may be configured to be included in the control unit 2, or it may be provided as a separate device from the control unit 2. Like the control unit 2, the storage unit 3 may be located in the self-propelled washing machine 1, or it may be located outside the self-propelled washing machine 1.

[0015] The high-pressure water pump 4 supplies high-pressure water to the self-propelled cleaning machine 1. The high-pressure water pump 4 is located, for example, on land or on a ship. The high-pressure water pump 4 is connected to the self-propelled cleaning machine 1 by a hose 8. The self-propelled cleaning machine 1 uses the high-pressure water supplied from the high-pressure water pump 4 via the hose 8 to clean the aquaculture nets.

[0016] The control unit 5 enables manual operation of the self-propelled cleaning machine 1. The control unit 5 is electrically connected to the control unit 2. The control unit 2 controls the operation of the self-propelled cleaning machine 1 in response to operation commands given by the cleaning worker using the control unit 5. The control unit 5 also enables the selection of the operating mode of the self-propelled cleaning machine 1. Specifically, the control unit 5 is provided to allow selection between manual mode and automatic mode. When manual mode is selected, the cleaning worker can manually operate the self-propelled cleaning machine 1 using the control unit 5. When automatic mode is selected, the self-propelled cleaning machine 1 cleans the aquaculture nets while automatically moving. The control unit 5 is located on land or on a ship for operation by the cleaning worker.

[0017] The display unit 6 is composed of a display device such as a liquid crystal display and is electrically connected to the control unit 2. The display unit 6 is located on land or on a ship, similar to the operation unit 5. The display unit 6 is configured to display images captured by the camera 1b of the self-propelled washing machine 1, for example. The display unit 6 is also configured to display images generated by the control unit 2. The display unit 6 may also be configured to be directly connected to the camera 1b without going through the control unit 2.

[0018] <2. Overview of Self-Propelled Washing Machines> Figure 2 is a perspective view showing the schematic configuration of a self-propelled washing machine 1 according to an embodiment of the present invention. Figure 3 is a schematic perspective view of the self-propelled washing machine 1 according to an embodiment of the present invention, viewed from a different direction than Figure 2. Figure 2 is a view of the self-propelled washing machine 1 from diagonally above. Figure 3 is a view of the self-propelled washing machine 1 from diagonally below. Figure 4 is a side view showing the schematic configuration of a self-propelled washing machine 1 according to an embodiment of the present invention. Figure 4 is a view of the self-propelled washing machine 1 from the right.

[0019] As shown in Figures 2 to 4, the self-propelled washing machine 1 comprises a traveling body 11, a washing unit 12, a propeller 13, and an annular body 14.

[0020] The vehicle body 11 comprises a vehicle body section 111 and four wheels 112. Specifically, the four wheels 112 consist of a left front wheel 112a, a right front wheel 112b, a left rear wheel 112c, and a right rear wheel 112d. Each wheel 112 is positioned on the side of the vehicle body section 111 to transmit rotational power from separate motors 1a located within the vehicle body section 111. In other words, the motors 1a located within the vehicle body section 111 include a motor for the left front wheel 112a, a motor for the right front wheel 112b, a motor for the left rear wheel 112c, and a motor for the right rear wheel 112d. Each wheel 112 rotates independently under the drive of its respective motor 1a. Each motor 1a is connected to signal lines and power supply lines included in the aforementioned wire bundle 7 (see Figure 1).

[0021] By setting the rotation speed of each motor 1a to the same and rotating in the same direction, the vehicle 11 moves in a straight line in the forward and backward direction. In other words, the vehicle 11 travels in a straight line in the forward and backward direction. Whether the vehicle 11 travels forward or backward is determined by the direction of rotation of the motors 1a. Also, for example, if the vehicle 11 is traveling forward, and the rotation speed of the motors for the right wheels 112b and 112d is set higher than the rotation speed of the motors for the left wheels 112a and 112c, the vehicle 11 will turn to the left. Conversely, if the rotation speed of the motors for the left wheels 112a and 112c is set higher than the rotation speed of the motors for the right wheels 112b and 112d, the vehicle 11 will turn to the right.

[0022] Furthermore, the direction of travel can be changed in the same way even when the vehicle 11 is moving in reverse. Also, by rotating the motors for the left wheels 112a and 112c and the motors for the right wheels 112b and 112d in opposite directions, the vehicle 11 can be turned (super-tight turn). In addition, the number of motors housed in the vehicle body 111 is not limited to four; for example, there may be two. For example, a configuration with two motors, one for the left front wheel 112a and one for the right front wheel 112b, may be used. In this configuration, the left front wheel 112a and the left rear wheel 112c may be connected by a belt mechanism or chain mechanism, and the right front wheel 112b and the right rear wheel 112d may be similarly connected by a belt mechanism or chain mechanism.

[0023] The cleaning unit 12 is positioned below the traveling body 11 and cleans the object to be cleaned. Specifically, the cleaning unit 12 sprays high-pressure water supplied from the high-pressure water pump 4 via the hose 8 toward the aquaculture net, which is the object to be cleaned, and cleans the aquaculture net with the jet of water generated by this spray.

[0024] The cleaning unit 12 has a disc-shaped rotating body 121. The rotating body 121 is attached to the lower end of a vertically extending rotating shaft 15 and rotates together with the rotating shaft 15. The rotating shaft 15 is rotatably supported by the main body 111 of the traveling unit. In detail, the rotating shaft 15 is rotatably supported by a rotary joint (not shown) located within the main body 111 of the traveling unit. High-pressure water supplied from the high-pressure water pump 4 to the rotary joint passes through the rotating shaft 15 and the rotating body 121 and is sent to cleaning nozzles 122 located on the lower surface of the rotating body 121. In this embodiment, there are two cleaning nozzles 122. However, the number of cleaning nozzles 122 may be changed as appropriate.

[0025] The cleaning nozzle 122 is positioned at a predetermined angle, and during cleaning, the direction of the high-pressure water spray from the cleaning nozzle 122 is directed toward the surface of the aquaculture net. When high-pressure water is sprayed from the cleaning nozzle 122, the reaction force generated by this spray causes the rotating body 121 to rotate together with the rotating shaft 15. The cleaning unit 12 rotates around the rotating shaft 15 and sprays high-pressure water onto the surface of the aquaculture net, thereby removing seaweed, shellfish, and other organisms attached to the net over a wide area.

[0026] The propeller 13 is positioned above the vehicle 11. The propeller 13 is attached to the upper end of the rotating shaft 15. The propeller 13 rotates together with the rotating shaft 15. When high-pressure water is sprayed from the cleaning nozzle 122, the reaction force of the spray causes the rotating shaft 15 to rotate together with the rotating body 121, and the propeller 13 also rotates. The rotation of the propeller 13 generates thrust that presses the vehicle 11 against the object to be cleaned.

[0027] The annular body 14 surrounds the propeller 13. In a plan view from above, the annular body 14 is an annular shape with a large-diameter opening 141 in its center. The propeller 13 is positioned within the opening 141 of the annular body 14. More specifically, the annular body 14 is connected to the running body 11 by connecting members 16 positioned vertically between it and the running body main body 111. The connecting members 16 are vertically extending support columns. In this embodiment, there are two connecting members 16, and the two connecting members 16 are positioned in the center of the running body main body 111 in the front-rear direction. One of the two connecting members 16 is positioned at the left end of the running body main body 111, and the other is positioned at the right end of the running body main body 111.

[0028] The annular body 14 functions as a float. The provision of the annular body 14, which functions as a float, allows the self-propelled washer 1 to float when placed in water. In this embodiment, when the self-propelled washer 1 is placed in water, it assumes a posture with the annular body 14 at the top and the running body 11 at the bottom, with the upper surface of the annular body 14 at the same height as the water surface, causing it to float. While the self-propelled washer 1 is floating, the propeller 13 is submerged in water.

[0029] In this embodiment, cameras 1b are attached to the front and rear ends of the annular body 14. That is, the underwater cleaning device 100 is equipped with cameras 1b positioned on the self-propelled cleaning machine 1. Cameras 1b include a front camera 1bF that photographs the area in front of the self-propelled cleaning machine 1 and a rear camera 1bR that photographs the area behind it. The number and arrangement of cameras 1b may be changed as appropriate.

[0030] The traveling body 11 and the annular body 14 are separated in the vertical direction, and an introduction space SP, which functions as a water introduction channel, is formed between the traveling body 11 and the annular body 14 in the vertical direction. When the propeller 13 rotates, water is introduced from the introduction space SP toward the propeller 13, and a water flow is generated that sprays out from the opening 141. The water flow generated by the rotation of the propeller 13 generates thrust for the self-propelled washing machine 1, and a state is maintained in which each wheel 112 is in contact with the aquaculture net at a predetermined pressure.

[0031] <3. Overview of cleaning using underwater cleaning equipment> When cleaning aquaculture nets using the underwater cleaning device 100, the self-propelled cleaning machine 1 is lowered into the aquaculture space (into the water) surrounded by the aquaculture nets using a crane from land or a ship. Once submerged, the self-propelled cleaning machine 1 floats. Subsequently, the high-pressure water pump 4 drives high-pressure water to the cleaning unit 12 of the self-propelled cleaning machine 1 via the hose 8. This causes the propeller 13 to rotate along with the cleaning unit 12. The thrust from the rotation of the propeller 13 presses the self-propelled cleaning machine 1 against the aquaculture nets. In this state, when the motor 1a is driven to rotate the wheels 112, the self-propelled cleaning machine 1 travels along the surface of the aquaculture nets. As the cleaning unit 12 rotates during this travel, high-pressure water is sprayed from the cleaning nozzles 122, allowing the aquaculture nets to be cleaned over a wide area.

[0032] Figure 5 is a diagram illustrating an example of cleaning the side surface of a fish farming net 200 using an underwater cleaning device 100 according to an embodiment of the present invention. When cleaning the side surface of the fish farming net 200, the self-propelled cleaning machine 1 is moved to the starting position by manual movement (manual driving in this embodiment) using the operation unit 5. The starting position is set to a position close to the sea surface of the fish farming net 200. The self-propelled cleaning machine 1 starts cleaning by automatic movement (automatic driving in this embodiment) from the starting position.

[0033] In the example shown in Figure 5, the self-propelled washing machine 1 moves forward or backward from the starting position while maintaining a constant water depth (target water depth). The portion of the aquaculture net 200 that the self-propelled washing machine 1 has traveled is washed by the operation of the washing unit 12. The self-propelled washing machine 1 makes one full rotation along the inner surface of the aquaculture net 200 while maintaining a constant water depth.

[0034] The self-propelled cleaning machine 1 circles the inner surface of the aquaculture net 200 and lowers its position to a target depth deeper than the current water depth. In the example shown in Figure 5, changing from the target depth TD1 (shown by the thick line) to the target depth TD2 (shown by the dashed line) is an example of changing the target depth. The self-propelled cleaning machine 1 then circles the inner surface of the aquaculture net 200 while maintaining the changed target depth. At this time, the self-propelled cleaning machine 1 travels in the opposite direction to the previous target depth. For example, if the previous direction of travel was counterclockwise, the current direction of travel will be clockwise. The reason for reversing the direction of travel in this way is to prevent the hose 8 and other components extending from the self-propelled cleaning machine 1 from twisting.

[0035] The self-propelled cleaning machine 1 repeatedly performs a circular motion while maintaining the target water depth, and then changes the target water depth. In this way, the self-propelled cleaning machine 1 cleans the sides of the aquaculture net 200 from the sea surface end to the seabed end. As can be seen from the above description, in this embodiment, when the self-propelled cleaning machine 1 completes one circuit of the inner surface of the aquaculture net 200, it changes the target water depth at that point and reverses its direction of travel. Considering this point, the point where the self-propelled cleaning machine 1 completes its circuit of the inner surface may hereafter be referred to as the turning point.

[0036] <4. Functions of the Control Unit> Next, the functions of the control unit 2 of the underwater cleaning device 100 will be described. Figure 6 is a block diagram showing the functions of the control unit 2 of the underwater cleaning device 100. As shown in Figure 6, the control unit 2 includes a travel control unit 21, a cleaning state determination unit 22, a path generation unit 23, a turnaround position determination unit 24, and an uncleaned area detection unit 25. In this embodiment, the functions of the control unit 2 are realized by an arithmetic circuit such as a CPU executing calculation processing according to a program stored in the storage unit 3.

[0037] Each of the functional units 21-25 may be implemented together by a single program, but they may also be implemented by multiple programs, for example, with each functional unit implemented by a separate program. Furthermore, each of the functional units 21-25 may be implemented by separate arithmetic units.

[0038] Furthermore, each functional unit 21-25 may be implemented by having a processor such as a CPU execute a program, i.e., by software, as described above, but may also be implemented by other methods. At least a part of each functional unit 21-25 may be implemented using, for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). In other words, each functional unit 21-25 may be implemented by hardware using a dedicated IC, etc. Also, each functional unit 21-25 may be implemented using a combination of software and hardware. Moreover, each functional unit 21-25 is a conceptual component. The function performed by one component may be distributed among multiple components. Also, the functions of multiple components may be integrated into one component.

[0039] The travel control unit 21 controls the travel of the self-propelled cleaning machine 1 according to the operating mode selected using the operation unit 5. If the operating mode is manual mode, the travel control unit 21 controls the travel of the self-propelled cleaning machine 1 according to the commands given by the cleaning worker using the operation unit 5. If the operating mode is automatic mode, the travel control unit 21 controls the travel of the self-propelled cleaning machine 1 so that it travels along the cleaning path generated by the path generation unit 23. In other words, in the underwater cleaning device 100 of this embodiment, the self-propelled cleaning machine 1 automatically travels along the cleaning path generated by the control unit 2. As the self-propelled cleaning machine 1 travels automatically, the parts of the aquaculture nets that the self-propelled cleaning machine 1 has passed through can be automatically cleaned. This reduces the workload of the cleaning worker.

[0040] For example, in the example of cleaning the side surface of the aquaculture net 200 shown in Figure 5, the cleaning path includes a path (depth maintenance path) that circles the inner surface of the aquaculture net 200 while maintaining a target water depth. When traveling along the depth maintenance path, the travel control unit 21 uses information from the water depth sensor 1c and IMU 1d (see Figure 1) to control the self-propelled cleaning machine 1 to maintain the target water depth while circling the aquaculture net 200.

[0041] More specifically, if the self-propelled washing machine 1 is located within a predetermined range relative to the target water depth, control is performed such as reducing the speed of one of the left and right wheels 112 so that the yaw angle of the self-propelled washing machine 1 obtained from the IMU 1d becomes 0° (maintains horizontal position). Furthermore, if the self-propelled washing machine 1 is located outside the predetermined range relative to the target water depth, control is performed to change the direction of travel of the self-propelled washing machine 1 to return it to the target water depth. After returning to the target water depth, the control described above to maintain horizontal positioning is performed.

[0042] Furthermore, in the example of cleaning the side surface of the aquaculture net 200 shown in Figure 5, the cleaning path includes a path (water depth changing path) that reverses the direction of travel of the self-propelled cleaning machine 1 while lowering the water depth. Figures 7A and 7B are schematic diagrams illustrating the water depth changing path. Figures 7A and 7B illustrate different types of water depth changing paths.

[0043] In the example shown in Figure 7A, the travel control unit 21 temporarily stops the self-propelled washing machine 1 at the turning point. Then, the travel control unit 21 reverses the rotation direction of the left and right wheels of the self-propelled washing machine 1, tilting the self-propelled washing machine 1 relative to the horizontal (changing the yaw angle from 0° to a predetermined angle). Once the self-propelled washing machine 1 is tilted at the predetermined angle relative to the horizontal, the travel control unit 21 makes the self-propelled washing machine 1 travel in the opposite direction to the direction of travel before stopping, until it reaches the next target water depth. When the self-propelled washing machine 1 reaches the next target water depth, the travel control unit 21 reverses the rotation direction of the left and right wheels of the self-propelled washing machine 1, orienting the self-propelled washing machine 1 to the horizontal direction (yaw angle 0°). Once the self-propelled washing machine 1 is orienting to the horizontal direction, the travel control unit 21 makes the self-propelled washing machine 1 travel along the water depth maintenance path to the next target water depth.

[0044] Furthermore, if the self-propelled washing machine 1 is configured to have only a front camera 1bF, the driving control unit 21 may be configured to stop the self-propelled washing machine 1 at the turning point and then perform a pivot turn or other maneuver to reverse its direction.

[0045] In the example shown in Figure 7B, the travel control unit 21 causes the self-propelled cleaning machine 1 to make a U-turn at the turning point. If the self-propelled cleaning machine 1 is moving with its right side facing the seabed, the travel control unit 21 causes it to turn right. The travel control unit 21 then moves the self-propelled cleaning machine 1 to a position where it can proceed to the next target depth. If the self-propelled cleaning machine 1 is moving with its left side facing the seabed, the travel control unit 21 causes it to turn left. The travel control unit 21 then moves the self-propelled cleaning machine 1 to a position where it can proceed to the next target depth.

[0046] The cleaning status determination unit 22 (see Figure 6) acquires images from the camera 1b. The cleaning status determination unit 22 then determines the cleaning status of the aquaculture net based on the images captured by the camera 1b. In other words, the control unit 2 determines the cleaning status of the object to be cleaned based on the images captured by the camera 1b. In this embodiment, the cleaning status of the aquaculture net can be determined based on images captured by the front camera 1bF and the rear camera 1bR. By determining the cleaning status, it is possible to detect, for example, cleaning marks indicating that cleaning has been performed, or areas that were not cleaned in an area that should have been cleaned.

[0047] For example, methods for detecting cleaning marks include dividing the area into pre- and post-cleaning regions and detecting the boundary between the regions, or directly detecting the pre- and post-cleaning boundary by detecting edges in the image. As for image region division methods, for example, rule-based division methods using image features or semantic segmentation using deep learning can be used.

[0048] Figure 8A schematically shows an image 300 captured by a camera 1b positioned on the self-propelled washing machine 1. The image 300 shown in Figure 8A shows a pre-washing area 301 and a post-washing area 302. In the pre-washing area 301, the aquaculture net 200 is covered with seaweed, shellfish, etc. In the post-washing area 302, the seaweed, shellfish, etc. have been removed, and the aquaculture net 200 is clearly visible.

[0049] Figure 8B schematically shows the image processed from the captured image 300 shown in Figure 8A. In detail, the image processing in Figure 8B is semantic segmentation. Semantic segmentation yields a boundary line 303 that divides the areas 301 and 302 before and after cleaning. In other words, the cleaning traces, which are the area 302 after cleaning, can be detected by image processing.

[0050] The path generation unit 23 (see Figure 6) generates a cleaning path for cleaning the aquaculture net. In other words, the control unit 2 generates a cleaning path for cleaning the object to be cleaned. Below, two examples of methods by which the path generation unit 23 generates a cleaning path are shown.

[0051] First, we will describe the first example of a method for generating a cleaning path. In this first example, the cleaning path is generated by estimating the machine's underwater position based on information obtained from the water depth sensor 1c and IMU 1d (see Figure 1). The input information used in this first cleaning path generation method is the shape of the aquaculture net (e.g., top diameter, bottom diameter, and depth), the cleaning width of the self-propelled cleaning machine 1 (cleaning range in the left-right direction), the overlap width required during cleaning, and the current water depth. The overlap width is a quantity that is set in advance to account for errors in the position control of the self-propelled cleaning machine 1 during cleaning, and is determined, for example, by experimentation or simulation.

[0052] Figure 9 is a diagram illustrating the method for generating the first example of a cleaning path. In Figure 9, TD_C indicates the current target water depth, and TD_n indicates the target water depth for the next cleaning path (the next target water depth). W1 indicates the cleaning width of the self-propelled cleaning machine 1. W2 indicates the overlap width. θ is the inclination angle of the side surface of the aquaculture net. The inclination angle θ is given, for example, by the average value of the roll angle of the self-propelled cleaning machine 1 obtained by IMU1d when traveling at the current target water depth. Once the next target water depth TD_n is determined, a path that circles the inner circumference of the aquaculture net once while maintaining that target water depth is generated as the next cleaning path. The initial cleaning path is a path that circles the inner surface of the aquaculture net once while maintaining the current water depth as the target water depth.

[0053] As shown in Figure 9, the next target water depth TD_n can be determined using the current target water depth TD_C, the washing width W1, the overlap width W2, and the inclination angle θ. In Figure 9, W3 is the offset width obtained by subtracting the overlap width W2 from the washing width W1. The next target water depth TD_n is determined from the offset width W3 and the inclination angle θ. More specifically, the next target water depth TD_n is obtained by adding the value obtained by multiplying the offset width W3 by sinθ to the current target water depth.

[0054] The end position of the cleaning path, determined by the target water depth TD_n, can be determined, for example, from the shape data of the aquaculture net and the target water depth TD_n. The length of the inner circumference of the aquaculture net at the target water depth TD_n can be determined from the shape data of the aquaculture net. The end position of the cleaning path can be calculated from the length of the inner circumference of the aquaculture net and the start position of the cleaning path.

[0055] Next, a second example of the method for generating the cleaning path will be described. In this second example, the cleaning path is generated based on images captured by camera 1b. The camera 1b used to generate the cleaning path is either a front camera 1bF or a rear camera 1bR, depending on whether the self-propelled cleaning machine 1 is moving forward or backward.

[0056] Figure 10A shows an image of the washing path in the second example. In Figure 10A, the dashed line indicates the washing path 305 set on the side of the aquaculture net 200. As shown in Figure 10A, in the second example, the washing path 305 is generated so that the self-propelled washing machine 1 follows the washing traces 302. Note that the washing path set to follow the washing traces 302 does not need to be a path that maintains water depth.

[0057] Figure 10B is a schematic diagram showing the image after image processing of an image captured by the camera 1b of the self-propelled washing machine 1. The image processing is, as described above, semantic segmentation, for example. The path generation unit 23 detects a straight line 304 that forms the boundary between the washing trace 302 and the pre-wash area 301. The path generation unit 23 then sets a washing path 305 at a position shifted by a predetermined offset amount from the detected straight line 304, taking into account the washing width W1 (see Figure 9) of the self-propelled washing machine 1. The path generation unit 23 generates the washing path 305 as needed in response to the acquisition of images obtained sequentially in a time series.

[0058] It is possible that a straight line 304 forming the boundary between the washing trace 302 and the pre-washing area 301 may not be obtained from the captured image. For example, when washing of the aquaculture net 200 begins, a straight line 304 forming the boundary may not be obtained. Also, even if washing trace 302 is detected, a straight line 304 forming the boundary may not be obtained. If a straight line 304 forming the boundary cannot be obtained, for example, the self-propelled washing machine 1 may be configured to generate a washing path that maintains the current water depth. Then, when a straight line 304 forming the boundary is detected, the washing path for following the washing trace 302 may be generated.

[0059] In this embodiment, the underwater cleaning device 100 adopts the second example of cleaning path generation method as a preferred configuration. That is, the control unit 2 generates a cleaning path 305 based on the cleaning traces 302 obtained by determining the cleaning state using the captured image taken by the camera 1b. Furthermore, if it is not possible to generate a cleaning path 305 based on the cleaning traces 302, the control unit 2 generates a cleaning path based on the water depth. The water depth used as the reference may, in detail, be the water depth at which the self-propelled cleaning machine 1 is located (the current water depth) at the time it is determined that it is not possible to generate a cleaning path 305 based on the cleaning traces 302.

[0060] The aquaculture net 200 is susceptible to shape changes such as bending due to waves, currents, etc. In particular, shape changes such as bending are more likely to occur when the aquaculture net 200 is made of synthetic fibers. For this reason, when cleaning the aquaculture net 200 with the self-propelled cleaning machine 1, it is not always easy to accurately detect the position of the self-propelled cleaning machine 1 on the aquaculture net 200. In this embodiment, a cleaning path 305 is generated that follows the cleaning traces 302 obtained from the image captured by the camera 1b, and the aquaculture net 200 is cleaned by traveling along this cleaning path. In other words, when cleaning the aquaculture net 200, it is not always necessary to detect the exact position on the aquaculture net 200. For this reason, according to the configuration of this embodiment, it is possible to set a cleaning path that leaves fewer areas uncleaned regardless of the shape changes of the aquaculture net 200. Furthermore, because it is possible to reduce the influence of shape changes such as bending, the overlap width considering the position control error described above can be reduced. For this reason, cleaning efficiency can be improved.

[0061] Furthermore, regarding the cleaning marks 302 on the aquaculture net 200, depending on the degree of soiling of the net, it may be difficult to recognize them as cleaning marks from the image. As a result, the recognizable cleaning marks 302 may be distributed unevenly, making it difficult to generate a cleaning path 305 that follows the cleaning marks 302. In this embodiment, when it is difficult to generate a cleaning path 305 that follows the cleaning marks 302, the cleaning path is generated based on the water depth. This prevents situations where the self-propelled cleaning machine 1 cannot obtain a cleaning path and stops automatic operation midway.

[0062] The above describes the generation of a cleaning path for automatic travel along the sides of the aquaculture net 200. Even when the self-propelled cleaning machine 1 automatically travels along the bottom of the aquaculture net 200, the cleaning path may be generated so that it follows the cleaning traces 302.

[0063] In this embodiment, the cleaning path for cleaning the aquaculture net 200 includes a turning point where the direction of travel is reversed. The turning point determination unit 24 (see Figure 6) identifies the turning point based on the cleaning traces obtained by determining the cleaning state using the images captured by the camera 1b. That is, the control unit 2 identifies a turning point where the direction of travel of the self-propelled cleaning machine 1 is reversed based on the cleaning traces obtained by determining the cleaning state. By identifying the turning point using captured images, the self-propelled cleaning machine 1 can automatically perform a turning operation where the direction of travel is reversed while changing the water depth. In other words, the monitoring burden on cleaning workers can be reduced.

[0064] Figures 11A and 11B are diagrams illustrating the identification of the turning point. The method of identifying the turning point differs between Figure 11A and Figure 11B. In Figures 11A and 11B, it is assumed that the self-propelled washing machine 1 performs the washing procedure by repeatedly circling the inner surface of the aquaculture net 200 and changing the water depth after circling.

[0065] In the example shown in Figure 11A, the turning position determination unit 24 identifies the turning position using the image captured by the camera 1b, which photographs the direction of travel as it circles the inner surface of the aquaculture net 200. More specifically, the turning position determination unit 24 identifies the turning position by detecting the boundary line 306 between the washing marks 302 and the pre-washing area 301 in the captured image. More specifically, the turning position determination unit 24 identifies the turning position by detecting the boundary line 306 that extends in a direction intersecting (for example, perpendicular to) the direction of travel. The turning position may be, for example, the position of the boundary line 306, but it may also be a position offset by a predetermined amount from the boundary line 306 in the direction of travel.

[0066] In the example shown in Figure 11A, the turning position determination unit 24 may determine the turning position by considering the relationship between the pre-calculated circumference distance of the aquaculture net 200 and the distance traveled by the self-propelled washing machine 1 from the start of its rotation. The distance traveled by the self-propelled washing machine 1 from the start of its rotation may be determined, for example, from the number of rotations (rotational speed) of the wheels 112 and the travel time, or from the position information of the self-propelled washing machine 1 identified by the water depth sensor 1c and IMU 1d. If the distance traveled by the self-propelled washing machine 1 has not reached the circumference distance determined from the shape of the aquaculture net, or a predetermined amount determined based on said circumference distance, the system may be configured not to determine the turning position even if washing marks 302 are detected from the captured image. This reduces the occurrence of misdetermination of the turning position caused by errors in detecting washing marks 302.

[0067] In the example shown in Figure 11B, similar to the example shown in Figure 11A, the turning position determination unit 24 uses the captured image obtained by the camera 1b, which photographs the direction of travel as it circles the inner surface of the aquaculture net 200, to determine the turning position. However, in the example shown in Figure 11B, the turning position determination unit 24 detects the marking 307 that was previously formed by manual operation of the self-propelled washing machine 1, and identifies the position of the detected marking as the turning position. In this respect, it differs from the example shown in Figure 11A.

[0068] In the example shown in Figure 11B, the marking 307 is a cleaning trace obtained by manually operating the self-propelled cleaning machine 1 vertically from the water surface end to the seabed end of the aquaculture net 200. The turning position determination unit 24 determines, for example, that a cleaning trace extending beyond a specified width in a direction perpendicular to the direction of travel is the marking 307, and identifies the turning position.

[0069] In this embodiment, the turning position determination unit 24 is configured to determine the turning position using the image captured by the camera 1b, but this is merely an example. The turning position determination unit 24 may determine the turning position according to, for example, the travel distance of the self-propelled washing machine 1. Alternatively, the turning position may be determined according to the change in the azimuth angle of the self-propelled washing machine 1. The azimuth angle is defined as the angle in the rotational direction with respect to an axis extending vertically through the center of the aquaculture net 200. The azimuth angle changes by 360° when the washing machine circles the inner surface of the aquaculture net 200. The turning position determination unit 24 may detect the turning position when the travel distance of the self-propelled washing machine 1 is greater than or equal to a target distance, and the azimuth angle changes by a target amount (e.g., 360°) or more.

[0070] The unwashed area detection unit 25 (see Figure 6) detects unwashed areas by determining the washing state using the captured image taken by the camera 1b. The unwashed area detection unit 25 then stores the detected unwashed areas in the storage unit 3 (see Figure 1). In other words, the control unit 2 stores the unwashed areas detected by determining the washing state in the storage unit 3. By storing the information on the unwashed areas in the storage unit 3, the information on the unwashed areas can be easily used.

[0071] Figure 12A shows an image illustrating the detection of unwashed areas 308. In the example shown in Figure 12A, the unwashed area detection unit 25 detects the unwashed areas 308 using images captured by camera 1b, which photographs in the opposite direction to the direction of travel (indicated by white arrows in the figure). This configuration allows confirmation of whether or not unwashed areas 308 have occurred immediately after washing. However, the unwashed area detection unit 25 may also detect the unwashed areas 308 using images captured by camera 1b, which photographs in the direction of travel.

[0072] Figure 12B is a schematic diagram showing the image after image processing of an image captured by camera 1b, which captures images in the opposite direction to the direction of travel. The unwashed area detection unit 25 detects areas in the processed image that are sandwiched between two washing marks 302 or surrounded by multiple washing marks 302 as unwashed areas 308.

[0073] When the unwashed area detection unit 25 detects an unwashed area 308, it identifies its location on the aquaculture net 200. The unwashed area detection unit 25 then stores the unwashed area information, including its location, in the storage unit 3. The location information of the unwashed area 308 on the aquaculture net 200 can be calculated, for example, using information obtained from the water depth sensor 1c and the IMU 1d.

[0074] In this embodiment, the unwashed area detection unit 25 generates an image showing the location of the detected unwashed area 308 on the aquaculture net 200 and displays it on the display unit 6 (see Figure 1). That is, the control unit 2 generates an image showing the location of the unwashed area 308 on the cleaning target and displays it on the display unit 6. With this configuration, cleaning workers can easily grasp the location of the unwashed area 308.

[0075] Figure 13 is a schematic diagram illustrating an image showing the remaining unwashed area 308. In the example shown in Figure 13, the image 308G showing the location of the remaining unwashed area 308 is displayed on the map 400, which shows the current position of the self-propelled cleaning machine 1, displayed on the display unit 6. The symbol 1G in the map 400 is an icon indicating the position of the self-propelled cleaning machine 1. According to the example shown in Figure 13, cleaning workers can easily grasp the positional relationship between the self-propelled cleaning machine 1 and the remaining unwashed area 308. This allows for efficient final cleaning of the remaining unwashed area 308 by manual operation. Note that the final cleaning does not necessarily have to be done manually. Based on the position information stored in the memory unit 3, the self-propelled cleaning machine 1 may automatically move to the location of the remaining unwashed area 308 and perform the final cleaning.

[0076] <5. Flow of cleaning using automated driving> Next, the flow of cleaning by automatic movement in the underwater cleaning device 100 will be described. Figure 14 is a flowchart illustrating the flow of cleaning by automatic movement in the underwater cleaning device 100. In the example shown in Figure 14, it is assumed that the side of a cylindrical aquaculture net is being cleaned. The flowchart shown in Figure 14 starts, for example, when the self-propelled cleaning machine 1 is positioned at the water surface end of the aquaculture net.

[0077] In step S1, the self-propelled washing machine 1 automatically starts moving along the initial setting path. The initial setting path is a route that circles the aquaculture net while maintaining the target water depth. The automatic movement is performed under the control of the movement control unit 21. As the self-propelled washing machine 1 moves along the aquaculture net, it is washed. Once the automatic movement along the initial setting path begins, the process proceeds to the next step S2.

[0078] In step S2, the reversal position determination unit 24 determines whether or not a reversal position has been detected. The reversal position is detected using the image captured by the camera 1b. If a reversal position is detected (Yes in step S2), the process proceeds to the next step S2. If a reversal position is not detected (No in step S2), the process in step S2 is repeated.

[0079] In step S3, it is determined whether the entire side of the aquaculture net has been cleaned. Whether the entire side has been cleaned can be determined, for example, by whether the water depth position of the self-propelled cleaning machine 1 has reached the water depth position of the bottom of the aquaculture net. Alternatively, for example, the determination may be made using images captured by camera 1b in addition to the water depth. If it is determined that the entire side of the aquaculture net has been cleaned (Yes in step S3), the cleaning is completed by the automatic movement of the side of the aquaculture net. If it is determined that the entire side of the aquaculture net has not been cleaned (No in step S3), the process proceeds to the next step S4.

[0080] In step S4, the path generation unit 23 generates the following cleaning path. The cleaning path is generated based on the cleaning traces detected from the captured image. The cleaning path is generated so that it follows the cleaning traces. However, if no cleaning traces are detected, a target water depth is set, and a path that maintains that target water depth is set as the cleaning path. Once the cleaning path is set, the process proceeds to the next step S5.

[0081] In step S5, automatic driving along the generated cleaning path begins. When starting a new automatic driving along the generated cleaning path, the self-propelled cleaning machine 1 reverses its direction of travel and changes the water depth. The cleaning path, which is generated based on the cleaning traces, is updated as needed using images taken sequentially after the start of automatic driving. The self-propelled cleaning machine 1 drives automatically along the continuously updated cleaning path. Once automatic driving begins, the process returns to step S2 as described above, and the processes from step S2 onward are carried out.

[0082] As described above, the cleaning path of the self-propelled cleaning machine 1 is determined according to the cleaning status, and the aquaculture nets are cleaned accordingly. Therefore, the probability of missed spots can be reduced compared to when the machine automatically travels along a cleaning path determined by the shape of the aquaculture nets, regardless of the cleaning status. In a configuration where the machine cleans along a cleaning path determined by the shape of the aquaculture nets, the shape of the aquaculture nets can change due to waves and currents, and the accuracy of estimating the amount of movement can decrease due to slippage of the wheels 112, making it difficult to clean an appropriate area. By following the cleaning traces obtained from captured images, the effects of changes in the shape of the aquaculture nets and slippage of the wheels 112 can be suppressed, and an appropriate area can be cleaned.

[0083] In the above description, the cleaning of the sides of the aquaculture net was performed by repeatedly circling the inner surface of the net and changing the water depth after circling. However, this is an example. Depending on the mesh shape of the aquaculture net, a different cleaning pattern than the one described above may result in better cleaning efficiency.

[0084] Figure 15 is a schematic diagram showing another example of a cleaning pattern for aquaculture nets 200. In the example shown in Figure 15, the self-propelled cleaning machine 1 cleans the entire side of the aquaculture nets 200 by repeatedly moving in the water depth direction (vertical direction) and changing the azimuth angle. The vertical movement is performed sequentially from the water surface side to the bottom side and from the bottom side to the water surface side. Even when cleaning with such a cleaning pattern, by utilizing tracking the cleaning traces, the probability of areas being missed during cleaning can be reduced, and cleaning can be performed by automatic driving.

[0085] <6. Variation> Figure 16 is a block diagram showing the functions of a modified control unit 2A of the underwater cleaning device 100. The modified control unit 2A differs from the control unit 2 of the above-described embodiment in that it includes a torsion determination unit 26. This difference will be explained below.

[0086] As described above, the underwater cleaning device 100 includes a bundle of electrical wires 7 and a hose 8. These are generally bundled together and connected to the self-propelled cleaning machine 1. That is, the underwater cleaning device 100 includes a connecting body 70 (see Figure 17A below) extending from the self-propelled cleaning machine 1. The connecting body 70 is, for example, a long connecting body extending from land or a ship to the self-propelled cleaning machine 1.

[0087] The connecting body 70 may twist due to the movement of the self-propelled cleaning machine 1 underwater. When the self-propelled cleaning machine 1 is running automatically, as described above, the direction of travel is reversed at the turning point to prevent twisting of the connecting body 70. However, twisting may occur, for example, when the self-propelled cleaning machine 1 is operated manually. The twisting determination unit 26 makes a determination regarding this twisting.

[0088] The twist determination unit 26 determines the twist of the connecting body 70 that occurs when the self-propelled washing machine 1 travels over the aquaculture net. Specifically, the twist determination unit 26 (control unit 2A) determines the twist of the connecting body 70 by determining the rotation angle of the self-propelled washing machine 1. By providing such a twist determination unit 26, it is possible to determine, for example, whether or not twisting has occurred in the connecting body 70 when the self-propelled washing machine 1 is operated manually.

[0089] When the self-propelled washing machine 1 travels along the side of, for example, a fish farming net, two types of twists occur in the connecting body 70. These two types of twists will be explained with reference to Figures 17A and 17B. Figure 17A is a diagram illustrating the first twist that occurs in the connecting body 70. Figure 17B is a diagram illustrating the second twist that occurs in the connecting body 70.

[0090] As shown in Figure 17A, the first twist is caused by the rotation of the self-propelled washing machine 1 around the Z-axis, which is set vertically in the global coordinate system with the pivot point 500 of the connecting body 70 as the origin. As shown in Figure 17B, the second twist is caused by the rotation of the self-propelled washing machine 1 around the Z-axis, which is set vertically in the local coordinate system with the center position 501 of the self-propelled washing machine 1 as the origin.

[0091] Taking this into consideration, the rotation angle determined by the torsion determination unit 26 (control unit 2A) includes a first rotation angle α, which represents the rotation of the self-propelled washing machine 1 around a first coordinate axis set in the vertical direction of the global coordinate system with the fulcrum 500 of the connecting body 70 as the origin. Furthermore, the rotation angle determined by the torsion determination unit 26 (control unit 2A) includes a second rotation angle β, which represents the rotation of the self-propelled washing machine 1 around a second coordinate axis set in the vertical direction of the local coordinate system with the center position 501 of the self-propelled washing machine 1 as the origin. By determining the rotation angle of the self-propelled washing machine 1 by separating it into a first rotation angle α and a second rotation angle β in this way, the torsion of the connecting body 70 can be appropriately determined.

[0092] The first rotation angle α and the second rotation angle β can be determined using at least some of the water depth sensor, tilt sensor, gyro sensor, orientation sensor, and wheel 112 rotation speed sensor. As described above, in this example, the self-propelled washing machine 1 is equipped with an IMU 1d (see Figure 1). In this example, the first rotation angle α and the second rotation angle β can be determined using the information obtained by the IMU 1d.

[0093] The twist detection unit 26 (control unit 2A) may notify the notification unit of an abnormality if the rotation angle exceeds a specified amount. The notification unit may be, for example, the display unit 6. That is, the underwater cleaning device 100 in this example is equipped with a notification unit. In the notification using the display unit 6, the display screen may show that the connecting body 70 is experiencing a twisting abnormality. The display screen may also show a message prompting the user to operate the self-propelled cleaning machine 1 so that its rotation angle does not exceed a specified amount. In response, the cleaning worker may manually operate the self-propelled cleaning machine 1 to eliminate the twist.

[0094] The notification unit may be something other than the display unit 6. For example, the notification unit may be an audio output device, a light-emitting device, etc., instead of the display unit 6, or in addition to the display unit 6. In other words, the occurrence of a twisting abnormality may be notified by sound or light.

[0095] In this example, the rotation angle includes a first rotation angle α and a second rotation angle β. The twist determination unit 26 may be configured to detect an abnormality (twist abnormality) if at least one of the first rotation angle α and the second rotation angle β is greater than or equal to a specified amount. Note that the specified amounts for determining whether an abnormality exists for the first rotation angle α and the second rotation angle β may be different. If the first rotation angle α is greater than or equal to a first specified amount, a twist abnormality may be detected. If the second rotation angle β is greater than or equal to a second specified amount, a twist abnormality may be detected.

[0096] If the twist detection unit 26 detects a twisting abnormality, the system may be configured to prohibit switching from manual operation to automatic operation of the self-propelled washing machine 1. In other words, the control unit 2A may be configured to prohibit the transition to automatic operation if the rotation angle is greater than or equal to a specified amount. More specifically, the control unit 2A may prohibit the transition to automatic operation if either the first rotation angle α is greater than or equal to a first specified amount, or the second rotation angle β is greater than or equal to a second specified amount.

[0097] If a torsional abnormality occurs that exceeds a specified amount, the load caused by the torsion will reduce the accuracy and speed of the automatic operation of the self-propelled cleaning machine 1. For this reason, as in this example, prohibiting the transition to automatic operation when a torsional abnormality occurs can prevent automatic operation with low accuracy or inefficient cleaning. If the transition to automatic operation is prohibited, the cleaning worker may be notified of this and manually correct the torsion.

[0098] Furthermore, if the torsion detection unit 26 detects a torsion abnormality, the self-propelled washing machine 1 may be configured to perform an operation to automatically eliminate the torsion before starting automatic driving. In other words, the control unit 2A may be configured to cause the self-propelled washing machine 1 to perform an operation to automatically eliminate the torsion before starting automatic driving if the rotation angle is greater than or equal to a specified amount. The operation to automatically eliminate the torsion may be, for example, a turn in place. A turn in place may be a pivot turn or a super-pivot turn. With such a configuration, deterioration of driving accuracy and reduction in driving speed due to torsion load can be suppressed, and automatic driving can be performed appropriately.

[0099] Furthermore, the path generation unit 23 may generate a cleaning path according to the rotation angle determined by the twist determination unit 26. That is, the control unit 2A may generate a cleaning path according to the rotation angle when switching from manual to automatic driving. With this configuration, twisting can be eliminated while automatically driving along the cleaning path, enabling efficient elimination of twisting.

[0100] A cleaning path that eliminates twisting may be, for example, a path that makes a U-turn at a turning point as shown in Figure 7B. Alternatively, a cleaning path that eliminates twisting may be a path that has a point where a "turn in place" is performed to eliminate twisting. Furthermore, a cleaning path that eliminates twisting may be a path that sets the initial direction of travel of the self-propelled cleaning machine 1 to an appropriate direction.

[0101] Figure 18 is a diagram illustrating the path selection of the self-propelled cleaning machine 1 when cleaning the sides of aquaculture nets 200. In Figure 18, rotation angle α is synonymous with the first rotation angle α described above. Rotation direction ccw means counterclockwise rotation, and rotation direction cw means clockwise rotation. In the example shown in Figure 18, the self-propelled cleaning machine 1 is assumed to perform cleaning by repeatedly circling the inner surface of the aquaculture nets 200 and changing the water depth.

[0102] In Pattern 1 of Figure 18, the self-propelled cleaning machine 1 rotates more than a specified amount counterclockwise with respect to the Z-axis (see Figure 17A). That is, the connecting body 70 is twisted counterclockwise, causing a twisting abnormality. Also, in Pattern 1, as in the state shown in Figure 19, the self-propelled cleaning machine 1, which is scheduled to perform automatic travel, is in a position with its right wheel 112 facing the seabed. Note that Figure 19 is an auxiliary diagram to facilitate understanding of the contents of Figure 18. In a situation like Pattern 1, the cleaning path selected is one in which the self-propelled cleaning machine 1 moves forward. As the self-propelled cleaning machine 1 moves forward, it rotates clockwise, which can eliminate the twisting of the connecting body 70.

[0103] Furthermore, in Pattern 2 of Figure 18, similar to Pattern 1, the self-propelled cleaning machine 1 rotates more than a specified amount counterclockwise with respect to the Z axis. That is, the connecting body 70 is twisted counterclockwise, causing a twisting abnormality. In Pattern 2, unlike Pattern 1, the self-propelled cleaning machine 1 is positioned with its left wheel 112 facing the seabed. In a situation like Pattern 2, the cleaning path selected is one in which the self-propelled cleaning machine 1 moves in reverse. By moving the self-propelled cleaning machine 1 in reverse, it rotates clockwise, thus eliminating the twisting of the connecting body 70.

[0104] Furthermore, in Pattern 3 of Figure 18, the self-propelled cleaning machine 1 rotates more than a specified amount clockwise with respect to the Z-axis. That is, the connecting body 70 is twisted clockwise, causing a twisting abnormality. Also, in Pattern 3, as in Pattern 1, the self-propelled cleaning machine 1 is positioned with its right wheel 112 facing the seabed. In a situation like Pattern 3, the cleaning path selected is one in which the self-propelled cleaning machine 1 moves in reverse. By moving the self-propelled cleaning machine 1 in reverse, it rotates in a counterclockwise direction, thereby eliminating the twisting of the connecting body 70.

[0105] Furthermore, in Pattern 4 of Figure 18, similar to Pattern 3, the self-propelled cleaning machine 1 rotates more than a specified amount clockwise with respect to the Z-axis. That is, the connecting body 70 is twisted clockwise, causing a twisting abnormality. Also, in Pattern 4, similar to Pattern 2, the self-propelled cleaning machine 1 is positioned with its left wheel 112 facing the seabed. In a situation like Pattern 4, the cleaning path selected is one in which the self-propelled cleaning machine 1 moves forward. As the self-propelled cleaning machine 1 moves forward, it rotates counterclockwise, thus eliminating the twisting of the connecting body 70.

[0106] <7. Points to note> Various technical features disclosed herein can be modified in various ways without departing from the spirit of the technical creation. Furthermore, the multiple embodiments and modifications shown herein may be combined as possible.

[0107] <8. Addendum> An exemplary underwater cleaning apparatus in this specification comprises a cleaning machine for cleaning an object to be cleaned in water, and a control unit for generating a cleaning path for cleaning the object to be cleaned, wherein the cleaning machine may automatically move along the cleaning path (first configuration).

[0108] The underwater cleaning device according to the first configuration described above may be configured to include a camera positioned in the cleaning machine, and the control unit may determine the cleaning status of the object to be cleaned based on the image captured by the camera (second configuration).

[0109] In the underwater cleaning device of the second configuration described above, the control unit may be configured to generate the cleaning path based on the cleaning traces obtained by determining the cleaning state (third configuration).

[0110] In the underwater cleaning device of the third configuration described above, the control unit may be configured to generate the cleaning path based on the water depth if it is not possible to generate the cleaning path based on the cleaning traces (fourth configuration).

[0111] The underwater cleaning device according to any of the second to fourth configurations described above may include a storage unit, and the control unit may be configured to store in the storage unit the areas of remaining uncleaned material detected by the determination of the cleaning state (fifth configuration).

[0112] The underwater cleaning device according to the fifth configuration described above may include a display unit, and the control unit may be configured to generate an image indicating the location of the remaining uncleaned area in the object to be cleaned and display it on the display unit (sixth configuration).

[0113] In the underwater cleaning device according to any of the second to sixth configurations described above, the control unit may be configured to identify a turning point that reverses the direction of travel of the cleaning machine based on the cleaning traces obtained by determining the cleaning state (seventh configuration).

[0114] An underwater cleaning device according to any of the first to seventh configurations described above includes a connecting body extending from the cleaning machine, and the control unit may be configured to determine the rotation angle of the cleaning machine and to determine the twisting of the connecting body (eighth configuration).

[0115] In the underwater cleaning device of the eighth configuration described above, the rotation angle may include a first rotation angle indicating the rotation of the cleaning machine around a first coordinate axis set in the vertical direction of the global coordinate system with the pivot point of the connecting body as the origin, and a second rotation angle indicating the rotation of the cleaning machine around a second coordinate axis set in the vertical direction of the local coordinate system with the center position of the cleaning machine as the origin (the ninth configuration).

[0116] The underwater cleaning device according to the eighth or ninth configuration described above includes a notification unit, and the control unit may be configured to notify the notification unit of an abnormality when the rotation angle is greater than or equal to a specified amount (the tenth configuration).

[0117] In the underwater cleaning device according to any of the eighth to tenth configurations described above, the control unit may be configured to prohibit the transition to automatic movement when the rotation angle is greater than or equal to a specified amount (the eleventh configuration).

[0118] In the underwater cleaning device according to any of the eighth to eleventh configurations described above, the control unit may be configured to cause the cleaning machine to perform an operation to automatically eliminate twisting before starting the automatic movement if the rotation angle is greater than or equal to a specified amount (the twelfth configuration).

[0119] In the underwater cleaning device according to any of the eighth to twelveth configurations described above, the control unit may be configured to generate the cleaning path according to the rotation angle when switching from manual movement, in which the cleaning machine is operated manually, to automatic movement (the thirteenth configuration). [Explanation of symbols]

[0120] 1. Self-propelled washing machine (washing machine) 1b...Camera 2, 2A...control section 3...Storage section 6. Display Unit (Notification Unit) 70...Connector 100...Underwater cleaning device 200...Aquaculture nets (to be washed) 302... Cleaning marks 305... Cleaning Route 308... Areas where residue remains after washing 500...Function point of the connecting body 501...Center of the self-propelled pressure washer (center of the pressure washer) α···First rotation angle β···Second rotation angle

Claims

1. A washing machine that washes objects to be washed underwater, A camera placed in the aforementioned washing machine, A control unit that generates a cleaning path for cleaning the object to be cleaned and controls the movement of the cleaning machine, Equipped with, When the washing machine moves automatically, The control unit determines the cleaning status of the object to be cleaned in accordance with the image captured by the camera, and controls the movement of the cleaning machine to follow the cleaning traces obtained from the determination of the cleaning status.

2. The underwater washing device according to claim 1, wherein the washing machine is controlled to follow the washing traces along the straight path it travels.

3. The underwater washing device according to claim 1, wherein the control unit controls the movement of the washing machine based on the water depth when it is not possible to control the movement of the washing machine to follow the washing marks as needed.

4. Equipped with a memory unit, The underwater cleaning apparatus according to claim 1, wherein the control unit stores the remaining areas detected by the determination of the cleaning state in the storage unit.

5. Equipped with a display unit, The underwater cleaning apparatus according to claim 4, wherein the control unit generates an image showing the location of the remaining uncleaned area in the object to be cleaned and displays it on the display unit.

6. A washing machine that washes objects to be washed underwater, A camera placed in the aforementioned washing machine, A control unit that generates a cleaning path for cleaning the object to be cleaned and controls the movement of the cleaning machine, Equipped with, When the washing machine moves automatically, An underwater cleaning device comprising: a control unit which determines the cleaning state of the object to be cleaned based on the image captured by the camera, and a turning point which reverses the direction of travel of the cleaning machine based on the cleaning traces obtained from the determination of the cleaning state.

7. The washing machine is equipped with a connecting body that extends from it, The underwater cleaning apparatus according to claim 1, wherein the control unit determines the rotation angle of the cleaning machine and determines the torsion of the connecting body.

8. The aforementioned rotation angle includes, A first rotation angle representing the rotation of the washing machine around a first coordinate axis set vertically in a global coordinate system with the pivot point of the connecting body as the origin, A second rotation angle indicating the rotation of the washing machine around a second coordinate axis set vertically in a local coordinate system with the center position of the washing machine as the origin, The underwater cleaning device according to claim 7, which includes the following:

9. Equipped with a news department, The underwater cleaning device according to claim 7, wherein the control unit causes the notification unit to notify of an abnormality when the rotation angle is greater than or equal to a specified amount.

10. The underwater cleaning device according to claim 7, wherein the control unit prohibits transitioning to automatic movement when the rotation angle is greater than or equal to a specified amount.

11. The underwater cleaning device according to claim 7, wherein the control unit causes the cleaning machine to perform an operation to automatically eliminate the twist before starting the automatic movement if the rotation angle is greater than or equal to a specified amount.

12. The underwater cleaning apparatus according to claim 7, wherein the control unit generates the cleaning path according to the rotation angle when switching from manual movement, in which the cleaning machine is operated manually, to automatic movement.

Images