JP2023119702A - Underwater washing device - Google Patents

Abstract

To provide a technology which enables improvement of performance of an underwater washing device which cleans a cleaned object under water.SOLUTION: An underwater washing device cleans a cleaned object under water and includes: a travel body which travels in an anteroposterior direction; a cleaning unit which is disposed below the travel body and cleans the cleaned object; a propeller disposed above the travel body; and an annular body which encloses the propeller. The annular body has at least one of a first inclined shape, in which a thickness in a vertical direction is reduced toward the outer side in the anteroposterior direction, and a second inclined shape, in which a width in a lateral direction is narrowed toward the outer side in the anteroposterior direction, on at least one of the front and rear sides.SELECTED DRAWING: Figure 3

Description

The present invention relates to an underwater washing device.

2. Description of the Related Art Conventionally, there has been known a technique for washing an object to be washed, such as aquaculture fish nets and ship bodies, by jetting high-pressure water (see, for example, Patent Document 1). Patent Document 1 discloses a robot body that moves along the surface of an object to be cleaned that exists in water, and a robot body that is provided in the robot body and cleans the object to be cleaned by jetting high-pressure water toward the surface of the object to be cleaned. An underwater cleaning robot with a cleaning nozzle unit is disclosed.

In the underwater cleaning robot, the cleaning nozzle unit is attached to a rotary shaft rotatably provided in the robot main body so as to be rotated by the reaction force of jetting high-pressure water onto the surface of the object to be cleaned. The rotating shaft is provided with a propeller that generates a thrust for pressing the robot main body toward the surface of the object to be cleaned.

Patent No. 5340626

Underwater cleaning robots that run in water are required to have running performance in water, for example. For example, if the resistance of water received when running in water is large, sufficient speed cannot be obtained, so low water resistance is required. Also, for example, underwater cleaning robots are required to be less likely to be swept away by tidal currents. For example, if a situation arises in which sufficient thrust cannot be obtained from the propeller, there is a possibility that it will be easily swept away by the tidal current.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a technology capable of improving the performance of an underwater cleaning apparatus that cleans an object to be cleaned in water.

An exemplary underwater washing apparatus of the present invention is an underwater washing apparatus for washing an object to be washed in water, comprising a traveling body that travels in the front-rear direction, and a moving body that is disposed below the traveling body to wash the object to be washed. a washing unit, a propeller arranged above the traveling body, and an annular body surrounding the propeller. The annular body has, on at least one side in the front and rear direction, a first inclined shape whose thickness in the vertical direction decreases toward the outer side in the front-rear direction, and a second inclined shape whose width in the left-right direction decreases toward the outer side in the front-rear direction. and/or

According to the exemplary present invention, it is possible to improve the performance of an underwater cleaning apparatus that cleans an object to be cleaned underwater.

Schematic perspective view of underwater cleaning equipment Schematic perspective view of the underwater washing device viewed from a direction different from that of FIG. Schematic side view of underwater cleaning equipment Schematic perspective view extracting and showing the configuration of a part of the underwater washing device Schematic cross-sectional view at VV position in FIG. 5 is a schematic perspective view showing a configuration in which an annular fence is added to the elements shown in FIG. 4; FIG. Schematic side view of an annular body included in an underwater washing device A schematic perspective view of the upper annulus seen obliquely from below Schematic perspective view of the lower annular body seen obliquely from above Schematic plan view of annular body provided in underwater washing device

Exemplary embodiments of the invention are described in detail below with reference to the drawings. In the drawings, an XYZ coordinate system is shown as a three-dimensional orthogonal coordinate system. In the following description, 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. The +X side is the front side, and the -X side is the rear side. The +Y side is the right side, and the -Y side is the left side. The +Z side is the upper side, and the -Z side is the lower side. It should be noted that these directions are names used merely for explanation, and are not intended to limit actual positional relationships and directions.

<1. Overview of underwater cleaning equipment>
FIG. 1 is a schematic perspective view of an underwater washing device 100 according to an embodiment of the invention. FIG. 2 is a schematic perspective view of the underwater cleaning device 100 according to the embodiment of the present invention, viewed from a direction different from that of FIG. FIG. 1 is a diagram of the underwater cleaning apparatus 100 as seen obliquely from above. FIG. 2 is a diagram of the underwater washing device 100 as seen obliquely from below. FIG. 3 is a schematic side view of the underwater washing device 100 according to the embodiment of the invention. FIG. 3 is a view of the underwater washing device 100 as seen from the right side.

The underwater cleaning apparatus 100 cleans an object to be cleaned underwater. In this embodiment, the object to be cleaned is aquaculture fish nets. The underwater cleaning device 100 cleans the fish farming net while traveling along the fish farming net placed underwater. However, the object to be cleaned by the underwater cleaning device 100 may be, for example, a bridge pier, a hull, or a pool other than aquaculture fish nets. As shown in FIGS. 1 to 3, the underwater cleaning apparatus 100 includes a traveling body 1, a cleaning unit 2, a propeller 3, and an annular body 4.

The traveling body 1 has a traveling body body portion 11 and four wheels 12 . The four wheels 12 are specifically composed of a left front wheel 12a, a right front wheel 12b, a left rear wheel 12c and a right rear wheel 12d. Each wheel 12 is arranged on a side portion of the traveling body main body 11 so as to be able to transmit rotational power from separate motors (not shown) arranged in the traveling body main body 11 . In other words, the motor for the left front wheel 12a, the motor for the right front wheel 12b, the motor for the left rear wheel 12c, and the motor for the right rear wheel 12d are accommodated in the traveling body main body 11. . Each wheel 12 rotates separately by driving each motor.

Each motor is specifically a water-sealed submersible motor. Each motor is electrically connected to a control box (not shown) located on land or on board via a control code included in a cable (not shown). When the underwater cleaning device 100 is submerged in water, control cords extend from the control box to each motor, and power is appropriately supplied to each motor.

By rotating the motors in the same direction at the same number of revolutions, the traveling body 1 moves straight forward and backward. That is, the traveling body 1 travels in the front-rear direction. Whether the traveling body 1 travels forward or backward depends on the rotating direction of the motor. Further, for example, in a state in which the traveling object 1 is traveling forward, if the number of rotations of the motors for the right wheels 12b and 12d is made higher than the number of rotations of the motors for the left wheels 12a and 12c, the traveling object 1 turns to the left. Conversely, if the number of rotations of the motors for the left wheels 12a and 12c is made greater than the number of rotations of the motors for the right wheels 12b and 12d, the vehicle 1 turns rightward.

It should be noted that the traveling direction can be similarly changed even when the traveling body 1 is traveling backward. Further, by rotating the motors for the left wheels 12a and 12c and the motors for the right wheels 12b and 12d in opposite directions, the traveling body 1 can be turned. By rotating the left and right wheels 12 in opposite directions, it is possible to turn on the spot. Further, the number of motors accommodated in the traveling body main body 11 is not limited to four, and may be, for example, two. For example, two motors, one for the left front wheel 12a and one for the right front wheel 12b, may be provided. In this configuration, the left front wheel 12a and the left rear wheel 12c may be connected by a belt mechanism or a chain mechanism, and the right front wheel 12b and the right rear wheel 12d may be similarly connected by a belt mechanism or a chain mechanism.

The cleaning unit 2 is arranged below the traveling body 1 and cleans an object to be cleaned. Specifically, the cleaning unit 2 injects high-pressure water supplied from a high-pressure water hose (not shown) toward the aquaculture fish net to be cleaned, and cleans the aquaculture fish net with a jet generated by the jet. The high-pressure water hose is a hose for supplying the cleaning unit 2 with high-pressure water pumped from a high-pressure pump (not shown) arranged on land or on board.

FIG. 4 is a schematic perspective view extracting and showing a partial configuration of the underwater washing device 100 according to the embodiment of the present invention. Elements extracted in FIG. 4 include traveling body main body 11 , washing unit 2 , and propeller 3 . FIG. 5 is a schematic cross-sectional view at VV position in FIG. The cleaning unit 2 will be described with reference to FIGS. 4 and 5 in addition to FIGS.

The cleaning unit 2 has a disk-shaped rotating body 21 . The rotating body 21 is attached to the lower end of the vertically extending rotating shaft 5 and rotates together with the rotating shaft 5 . The rotary shaft 5 is inserted through a support cylinder 13 erected at the center of the upper surface of the running body main body 11 and is rotatably supported by the running body main body 11 . Specifically, the rotary shaft 5 is rotatably supported by a rotary joint 14 arranged inside the traveling body main body 11 . The rotary joint 14 conveys the high-pressure water supplied from the high-pressure water hose to the rotating shaft inner high-pressure water flow path 51 formed in the rotating shaft 5 . The supply of high-pressure water to the rotary joint 14 includes the above-described high-pressure water hose, the high-pressure water hose connection portion 15 connected to the high-pressure water hose, and a pipe connecting the high-pressure water hose connection portion 15 and the rotary joint 14. It is performed using the part 16.

Inside the rotating body 21 , an in-rotating body high-pressure water flow path 211 communicating with the rotating shaft inner high-pressure water flow path 51 is formed. A cleaning nozzle 22 (see FIGS. 2 and 5) connected to the high-pressure water flow path 211 in the rotating body 21 is arranged inside the outer peripheral side of the rotating body 21 . That is, the high-pressure water supplied to the rotary joint 14 is sent to the cleaning nozzle 22 through the high-pressure water channel 51 in the rotating shaft and the high-pressure water channel 211 in the rotating body.

In this embodiment, the number of cleaning nozzles 22 is two. However, the number of cleaning nozzles 22 may be changed as appropriate. When this change is made, it is also necessary to appropriately change the configuration of the rotor high-pressure water flow path 211 formed within the rotor 21 . As shown in FIG. 2 , a rotating body opening 212 that exposes the cleaning nozzle 22 is formed in the outer peripheral portion of the lower surface of the rotating body 21 . The cleaning nozzle 22 jets high-pressure water below the rotating body 21 through the rotating body opening 212 . Specifically, the cleaning nozzle 22 is arranged to be inclined downward by a predetermined angle, and the high-pressure water jetting direction of the cleaning nozzle 22 is directed toward the surface of the aquaculture fish net during cleaning.

When high-pressure water is jetted from the cleaning nozzle 22 , the rotating body 21 rotates together with the rotating shaft 5 due to the jet reaction force generated by the jetting of the high-pressure water. That is, the cleaning unit 2 is rotatably supported by the traveling body 1 via the rotating shaft 5, and is rotated by the reaction force of the injection of high-pressure water. Specifically, the cleaning unit 2 is supported by the traveling body 1 so as to be rotatable about a rotating shaft 5 extending in the vertical direction, and is rotated by the reaction force of the injection of high-pressure water onto the object to be cleaned. The cleaning unit 2 sprays high-pressure water onto the surface of the fish culture net while rotating around the rotary shaft 5, thereby removing seaweed, shellfish, and the like adhering to the fish culture net over a wide range.

The propeller 3 is arranged above the traveling body 1 . Propeller 3 is attached to rotating shaft 5 . Specifically, the propeller 3 is attached to the upper end of the rotating shaft 5 and arranged above the traveling body 1 (see FIG. 5, etc.). The propeller 3 rotates together with the rotating shaft 5 . High-pressure water is jetted from the cleaning nozzle 22, and when the rotary shaft 5 rotates together with the rotor 21 due to the reaction force of the jet, the propeller 3 also rotates. The propeller 3 rotates to generate a thrust that presses the traveling body 1 downward. That is, the propeller 3 rotates to generate a thrust that presses the traveling body 1 against the object to be cleaned.

That is, in the underwater cleaning apparatus 100, the cleaning unit 2 and the propeller 3 rotate integrally through the rotating shaft 5. As shown in FIG. The propeller 3 rotates together with the cleaning unit 2 due to the reaction force when high-pressure water is ejected from the cleaning nozzle 22, and the rotation of the propeller 3 provides thrust to press the traveling body 1 against the object to be cleaned.

An annulus 4 surrounds the propeller 3 . The annular body 4 has an annular shape with a large-diameter opening 41 in the center when viewed from the top and bottom. The propeller 3 is arranged within an opening 41 of the annular body 4 . In this embodiment, the opening 41 has a circular shape when viewed from above and below. A rotating shaft 5 to which the propeller 3 is attached is positioned at the center of the opening 41 .

More specifically, the annular body 4 is connected to the traveling body 1 by a connecting body 6 arranged between the traveling body main body 11 and the traveling body main body 11 in the vertical direction. The connecting body 6 is a column extending in the vertical direction. In this embodiment, the number of connecting bodies 6 is two, and the two connecting bodies 6 are arranged at the central portion of the traveling body main body 11 in the front-rear direction. One of the two connecting bodies 6 is arranged at the left end portion of the running body main body portion 11 and the other is arranged at the right end portion of the running body main body portion 11 . The number of connecting bodies 6 may be changed as appropriate.

In addition, in this embodiment, the above-mentioned high-pressure water hose connection part 15 is attached to one of the two connecting bodies 6 . In this embodiment, a high-pressure water hose connector 15 is attached to the right connector 6 . For this reason, the high-pressure water hose connection portion 15 is arranged in the central portion of the underwater cleaning apparatus 100 in the front-rear direction. By configuring in this way, when using the underwater cleaning apparatus 100, the underwater cleaning apparatus 100 can be handled without distinguishing between the front and rear, and the convenience can be improved.

In the underwater cleaning device 100, the annular body 4 functions as a float. That is, the annular body 4 can be rephrased as a float body. By providing the annular body 4 that functions as a float, the underwater cleaning device 100 floats when placed in water. In this embodiment, when the underwater cleaning apparatus 100 is placed in water, it assumes a posture in which the annular body 4 is up and the traveling body 1 is down, and the upper surface of the annular body 4 is positioned at the same height as the water surface. become and float. The propeller 3 exists in the water when the underwater washing device 100 is floating.

In this embodiment, as a preferred form, the underwater cleaning device 100 includes an upper fence 7 fixed to the annular body 4 and arranged above the propeller 3 . The upper fence 7 is attached to two camera stays 101 , which will be described later, attached to the annular body 4 , and extends forward and backward over the opening 41 of the annular body 4 . The shape of the upper fence 7 is ladder-like. That is, the upper fence 7 has a shape that does not easily resist the water flow caused by the rotation of the propeller 3 . By providing the upper fence 7, for example, it is possible to prevent the propeller 3 from being hit by a human body or the like. That is, by providing the upper fence 7, the safety of the underwater washing device 100 can be improved.

The traveling body 1 and the annular body 4 are separated in the vertical direction, and an introduction space 200 functioning as a water introduction path is formed between the traveling body 1 and the annular body 4 in the vertical direction. When the propeller 3 rotates, water is introduced from the introduction space 200 toward the propeller 3, and a water flow is generated in which the water blows out from the opening 41. - 特許庁That is, an introduction space 200 into which the propeller 3 introduces water is provided between the traveling body 1 and the annular body 4 . Specifically, the introduction space 200 is provided between the traveling body 1 and the annular body 4 in the vertical direction. A water flow generated by the rotation of the propeller 3 generates thrust in the underwater washing device 100, and the wheels 12 are kept in contact with the aquaculture fish net with a predetermined pressure.

It should be noted that it is preferable to make the space between the traveling body 1 and the annular body 4 in the vertical direction as narrow as possible on the condition that the introduction space 200 can be properly secured. As a result, the vertical height of the underwater cleaning apparatus 100 can be reduced. By reducing the height, it is possible to reduce the possibility that the underwater washing device 100 will fall over due to the influence of the tide, for example. The length (height) L from the lower end of the underwater washing device 100 to the upper end of the annular body 4 is preferably smaller than twice the diameter of the wheel 12 . In order to reduce the height, the vertical height H2 (thickness) of the annular body 4 is preferably smaller than the diameter of the wheel 12 . The vertical height H2 of the annular body 4 may be equal to or smaller than the radius of the wheel 12 .

Moreover, in this embodiment, as a preferred form, the introduction space 200 is provided with the annular fence 8 . That is, the underwater cleaning device 100 includes the annular barrier 8 arranged in the introduction space 200 . The ring-shaped fence 8 functions as a garbage suction prevention fence. That is, by providing the ring-shaped fence 8 , it is possible to suppress underwater debris from reaching the propeller 3 through the introduction space 200 .

FIG. 6 is a schematic perspective view showing a configuration in which an annular fence 8 is added to the elements shown in FIG. As shown in FIG. 6, the annular fence 8 is arranged so as to surround the rotating shaft 5. As shown in FIG. The annular fence 8 has an octagonal shape when viewed from the top and bottom. Note that the shape of the annular fence may be changed as appropriate. Specifically, the ring fence 8 has a plurality of supports and a plurality of frame members 81 . The plurality of supports includes connecting bodies 6 that connect the traveling body 1 and the annular body 4 . That is, the annular fence 8 of this embodiment is configured including the connecting body 6 . Specifically, the plurality of supports includes a light stay 91 that supports the light 9 in addition to the two connecting bodies 6 . That is, the ring-shaped fence 8 supports the light 9 .

In this embodiment, the light stay 91 is attached to the lower surface of the front end portion and the rear end portion of the annular body 4 and fixed to the annular body 4 . That is, the number of light stays 91 is two, and the number of lights 9 provided in the underwater cleaning apparatus 100 is two. A front light 9 illuminates the front of the underwater washing device 100 . A rear light 9 illuminates the rear of the underwater washing device 100 . Power is supplied to the light 9 from a feeder included in a cable (not shown).

The frame body 81 connects between the plurality of supports 6 and 91 and has a ring shape. The plurality of frame line bodies 81 are arranged in the vertical direction. In the present embodiment, the plurality of frame line bodies 81 have upper frame line bodies 811 and lower frame line bodies 812 arranged below the upper frame line bodies 811 . In addition, the annular fence 8 has connecting line bodies 82 that connect the frame line bodies 81 arranged vertically. In this embodiment, the annular fence 8 has eight connecting line bodies 82 that connect the upper frame line body 811 and the lower frame line body 812 . A portion of the annular fence 8 composed of the upper frame wire body 811, the lower frame wire body 812, and the connecting wire body 82 is arranged in the central portion between the traveling body main body 11 and the annular body 4 in the vertical direction. be.

As shown in FIG. 3 , the vertical height H1 of the portion of the annular fence 8 where the plurality of frame line bodies 81 are arranged in the vertical direction is shorter than the vertical height H2 of the annular body 4 . In addition, in this embodiment, the height of the annular body 4 in the vertical direction is not constant and changes. The height H2 in the vertical direction of the annular body 4 described above indicates the maximum height. In other words, the distance between the upper frame line body 811 and the lower frame line body 812 is shorter than the height H2 of the annular body 4 in the vertical direction. It is preferable that the annular fence 8 is made as thin as possible while ensuring its function as a dust suction prevention fence. As a result, water resistance during running of the underwater washing device 100 can be reduced, and running performance can be improved.

When the underwater cleaning apparatus 100 is used to clean aquaculture fish nets, the underwater cleaning apparatus 100 is placed in a space for aquaculture (into the water) surrounded by the aquaculture fish nets using a crane from land or on board. . When using a crane, the lifting handles 61 attached to the two connecting bodies 6 are used. The underwater cleaning device 100 floats when placed in water. Thereafter, the propeller 3 rotates together with the cleaning unit 2 by supplying high pressure water to the cleaning unit 2 through the high pressure water hose. The underwater cleaning device 100 is pressed against the aquaculture fish net by the thrust generated by the rotation of the propeller 3 . In this state, when the motor is driven to rotate the wheels 12, the underwater washing device 100 travels along the surface of the fish net. Since the cleaning unit 2 rotates during the travel and high-pressure water is jetted from the cleaning nozzle 22, the aquaculture fish net can be washed over a wide area. The underwater cleaning apparatus 100 is operated by a person on land or on board using a remote controller capable of communicating with the control box by wire or wirelessly.

<2. Details of the cyclic body>
FIG. 7 is a schematic side view of the annular body 4 included in the underwater cleaning device 100 according to the embodiment of the present invention. FIG. 7 is a view of the annular body 4 viewed from the right in detail. As shown in FIG. 7, the annular body 4 specifically has an upper annular body 42 and a lower annular body 43 .

FIG. 8 is a schematic perspective view of the upper annular body 42 as seen obliquely from below. FIG. 9 is a schematic perspective view of the lower annular body 43 as seen obliquely from above. As shown in FIG. 8, the upper annular body 42 has a thickness in the vertical direction and has an upper concave portion 421 that is concave upward. The upper annular body 42 has an upper tubular portion 422 extending in the vertical direction and forming the opening 41 in the central portion. Further, as shown in FIG. 9, the lower annular body 43 has a thickness in the vertical direction and has a lower concave portion 431 that is concave downward. The lower annular body 43 has a vertically extending lower cylindrical portion 432 forming the opening 41 at its central portion.

The annular body 4 is configured by overlapping the outer peripheral edge of the upper annular body 42 and the outer peripheral edge of the lower annular body 43 in the vertical direction. As a result of the overlapping, the upper tubular portion 422 provided on the upper annular body 42 and the lower tubular portion 432 provided on the lower annular body 43 overlap vertically to form the opening 41 . The annular body 4 has an internal space formed by an upper recess 421 of the upper annular body 42 and a lower recess 431 of the lower annular body 43 . By providing the internal space, the annular body 4 has a structure that facilitates the function as the float described above without making the size too large.

The annular body 4 has at least one of a first slanted shape and a second slanted shape on at least one of its front and rear sides. The first slanted shape is a slanted shape in which the thickness in the vertical direction decreases toward the outer side in the front-rear direction. The second slanted shape is a slanted shape that narrows in width in the left-right direction as it goes outward in the front-rear direction. When such an inclined shape is provided, it is possible to reduce water resistance that the underwater washing apparatus 100 receives when the underwater washing apparatus 100 travels in at least one of the front and rear directions. That is, the running performance of the underwater washing device 100 can be improved.

In addition, the front-back direction outer side is a direction opposite to the front-back direction inner side. The front-rear direction inner side is the direction toward the central portion of the annular body 4 in the front-rear direction. On the front side of the annular body 4, the front-rear direction outer side is the front, and the front-rear direction inner side is the rear. On the rear side of the annular body 4, the front-rear direction outer side is the rear, and the front-rear direction inner side is the front.

FIG. 10 is a schematic plan view of the annular body 4 included in the underwater washing device 100 according to the embodiment of the present invention. FIG. 10 is a top view of the annular body 4. FIG. In this embodiment, as shown in FIGS. 7 and 10, the annular body 4 has a first slanted shape and a second slanted shape on both front and rear sides. That is, the resistance of water to the underwater washing device 100 can be reduced regardless of whether the underwater washing device 100 travels forward or backward. The annular body 4 has a two-fold symmetrical shape that overlaps when rotated 180° about the axis of the rotary shaft 5, thereby forming a first inclined shape and a second inclined shape on both front and rear sides. ing.

Specifically, as shown in FIG. 7 , the ring-shaped body 4 has first inclined surfaces 44 on both front and rear sides thereof, the first inclined surfaces 44 facing downward as they extend outward in the front-rear direction. The first inclined surface 44 constitutes the above-described first inclined shape. The first inclined surface 44 is provided on the upper surface of the annular body 4 , more specifically, on the upper surface of the upper annular body 42 . The front first inclined surface 44 faces downward toward the front. The rear first inclined surface 44 faces downward toward the rear.

In addition, in the present embodiment, the first inclined surface 44 is provided on the upper surface of the annular body 4 to form the first inclined shape, but this is an example. The first inclined shape may be configured by providing an inclined surface on the lower surface in addition to the upper surface instead of the upper surface of the annular body 4 . The inclined surface provided on the lower surface of the annular body 4 may be an inclined surface that faces upward as it extends outward in the front-rear direction. Specifically, the inclined surface provided on the front side may be an inclined surface that faces upward toward the front. The inclined surface provided on the rear side may be an inclined surface directed upward toward the rear.

Further, as shown in FIG. 10 , the annular body 4 has second inclined surfaces 45 on both front and rear sides thereof, which extend inward in the left-right direction as they extend outward in the front-rear direction. The second inclined surface 45 constitutes the above-described second inclined shape. In addition, the left-right direction inner side is the direction toward the central portion of the annular body 4 in the left-right direction. On the left side of the annular body 4, the left-right inward is the right. On the right side of the annular body 4, the laterally inner side is the left side.

Specifically, the front left side surface of the annular body 4 has a second inclined surface 45 directed rightward toward the front. A right side surface on the front side of the annular body 4 has a second inclined surface 45 directed leftward toward the front. Due to these second inclined surfaces 45, the front end portion of the annular body 4 is narrower in width in the left-right direction than the central portion in the front-rear direction. In addition, the left side surface on the rear side of the annular body 4 has a second inclined surface 45 directed rightward toward the rear. A right side surface on the rear side of the annular body 4 has a second inclined surface 45 directed leftward as it goes rearward. Due to these second inclined surfaces 45, the rear end portion of the annular body 4 has a narrower width in the left-right direction than the central portion in the front-rear direction. More specifically, the second inclined surface 45 is provided on both the upper annular body 42 and the lower annular body 43 .

In this embodiment, the second inclined surfaces 45 are provided on the left and right side surfaces of the annular body 4 to form the second inclined shape, but this is an example. The second inclined shape may be configured by providing an inclined surface only on one of the left and right side surfaces of the annular body 4 .

As shown in FIG. 10 , in the present embodiment, the upper annular body 42 has first recesses 46 recessed inward in the front-rear direction at the center portions in the left-right direction of both front and rear end portions. The camera 10 is placed in the first recess 46 (see FIGS. 1 and 3). Specifically, the camera stay 101 is arranged in the first hollow portion 46 of the upper annular body 42 and the camera 10 is held by the camera stay 101 . Note that the camera stay 101 is fixed to the upper annular body 42 .

Camera 10 is an underwater camera having a waterproof function. The camera 10 makes it possible to check the cleaning status of the aquaculture fish net. Shooting information of the camera 10 is transmitted to the control box via an electric signal line included in a cable (not shown). As a result, it is possible to check in real time by projecting a photographed image of an underwater situation on the screen of a monitor device (not shown) arranged on land or on a ship. In this embodiment, the cameras 10 are arranged on both the front and rear sides, but the camera 10 may be arranged only on one of the front and rear sides. Also, in some cases, the camera 10 may not be provided. In this case, the first recessed portion 46 may not be provided.

In this embodiment, second recessed portions 47 (see FIG. 9) recessed inward in the front-rear direction are also provided at both front and rear end portions of the lower annular body 43 . The second recessed portion 47 is arranged in the center portion of the lower annular body 43 in the left-right direction and positioned below the first recessed portion 46 . The light stay 91 described above is attached to the lower annular body 43 with its upper end disposed in the second recess 47 .

<3. Details of the running body>
For example, as shown in FIG. 4 and the like, the traveling body main body 11 has an upper wall 111 , a lower wall 112 , a left wall 113 , and a right wall 114 . The upper wall portion 111 constitutes the upper portion of the traveling body main body portion 11 . The lower wall portion 112 constitutes a lower portion of the traveling body main body portion 11 . The left side wall portion 113 constitutes the left side portion of the traveling body main body portion 11 . The right side wall portion 114 constitutes the right side portion of the traveling body main body portion 11 . The outer shape of the traveling body main body 11 is a two-fold symmetrical shape that overlaps when rotated 180° around the axis of the rotating shaft 5 .

The traveling body 1 has an R shape 17 on at least one of its front and rear sides that rises away from the cleaning unit 2 as it extends outward in the front-rear direction. Specifically, the R shape 17 is provided on the lower wall portion 112 that constitutes the main body portion 11 of the traveling body. In this embodiment, as shown in FIG. 5 , the main body portion 11 of the traveling body has two-fold symmetry. The range in the vertical direction where the R shape 17 is provided is the range from the lower end portion to the central portion of the traveling body main body portion 11 .

By providing the R shape 17 on at least one of the front and rear sides of the running body 1 , it is possible to make it difficult for dust to get caught on the lower side of the running body 1 at at least one of the front and rear ends of the running body 1 . By making it difficult for dust to get caught, it is possible to reduce the possibility that the rotation of the rotating body 21 that constitutes the cleaning unit 2 will be hindered, and as a result, the possibility that the rotation of the propeller 3 will be hindered. . That is, it is possible to reduce the possibility that the propeller 3 cannot obtain sufficient thrust and the underwater cleaning apparatus 100 is swept away by the tide or the like.

In addition, since the R shape 17 is provided on at least one of the front and rear sides of the traveling body 1, the water flow from the lower side to the upper side of the traveling body 1 where the cleaning unit 2 for injecting high-pressure water is arranged can be made smooth. can. In addition, at least one of the front and rear ends of the traveling body 1, the distance between the traveling body body 11 and the cleaning unit 2 can be increased. As a result, it is possible to reduce the possibility that the cleaning unit 2 will hit the main body 11 of the traveling body even if the cleaning unit 2 is tilted due to an unforeseen situation. In addition, it is possible to make it difficult to receive water resistance when traveling in water.

Further, as shown in FIG. 5 and the like, for example, the traveling body 1 has an inclined shape 18 on at least one of its front and rear sides, which slopes downward as it goes outward in the front-rear direction. Specifically, the slanted shape 18 is composed of slanted surfaces. The inclined shape 18 is provided on the upper wall portion 111 that constitutes the main body portion 11 of the traveling body. In this embodiment, the main body portion 11 of the traveling body is two-fold symmetrical, and the inclined shape 18 is provided on both the front and rear sides of the upper wall portion 111 .

Since the inclined shape 18 is provided on at least one of the front and rear sides of the traveling body 1, it is possible to reduce the water resistance that the underwater cleaning apparatus 100 receives when the underwater cleaning apparatus 100 travels in at least one of the front and rear directions. can. That is, the running performance of the underwater washing device 100 can be improved. In the present embodiment, since the inclined shapes 18 are provided on both the front and rear sides of the traveling body 1, the water resistance received by the underwater cleaning device 100 can be reduced regardless of whether the underwater cleaning device 100 travels forward or backward. can be reduced.

<4. Notes, etc.>
Various modifications can be made to the various technical features disclosed in this specification without departing from the gist of the technical creation. In addition, the multiple embodiments and modifications shown in this specification may be implemented in combination to the extent possible.

DESCRIPTION OF SYMBOLS 1... Traveling body 2... Washing unit 3... Propeller 4... Annular body 5... Rotating shaft 6... Connecting body (support body)
7 Upper fence 8 Circular fence 9 Right 17 R shape 18 Inclined shape 44 First inclined surface (first inclined shape)
45 Second inclined surface (second inclined shape)
81 Frame body 91 Light stay (support)
100... Underwater cleaning device 200... Introduction space

Claims (8)

An underwater cleaning apparatus for cleaning an object to be cleaned in water,
a traveling body that travels in the front-rear direction;
a cleaning unit disposed below the traveling body for cleaning the object to be cleaned;
a propeller disposed above the running body;
an annular body surrounding the propeller;
with
The annular body has, on at least one front and rear side,
a first inclined shape that decreases in thickness in the vertical direction as it goes outward in the front-rear direction;
a second inclined shape that narrows in width in the left-right direction as it goes outward in the front-rear direction;
and at least one of: 2. The underwater washing apparatus according to claim 1, wherein said traveling body has an R shape on at least one of its front and rear sides, which moves upward and away from said washing unit as it goes outward in the front-rear direction. 3. The underwater washing apparatus according to claim 1, wherein said traveling body has a shape on at least one of its front and rear sides that slopes downward as it goes outward in the front-rear direction. The washing unit is rotatably supported by the traveling body via a rotating shaft, and is rotated by a reaction force of jetting high-pressure water,
The propeller is attached to the rotating shaft and generates a thrust that presses the traveling body downward by rotation,
4. The underwater washing apparatus according to any one of claims 1 to 3, wherein an introduction space into which said propeller introduces water is provided between said traveling body and said annular body. Equipped with an annular fence arranged in the introduction space,
The annular fence is
a plurality of supports including connecting bodies that connect the traveling body and the annular body;
a plurality of frame members connecting between the plurality of support members and configured in an annular shape;
5. The underwater washing device according to claim 4, comprising: 6. The underwater washing apparatus according to claim 5, wherein the vertical height of the portion of the annular fence where the plurality of frame bodies are arranged in the vertical direction is shorter than the vertical height of the annular body. 7. An underwater washing device according to claim 5 or 6, wherein said ring fence supports a light. 8. An underwater washing device according to any one of claims 1 to 7, comprising an upper fence fixed to said annular body and arranged above said propeller.