JP6663811B2 - Underwater sediment removal equipment - Google Patents

Description

  TECHNICAL FIELD The present invention relates to an underwater sediment removing device for removing sediment such as sand and mud deposited on a water bottom.

In order to remove sediment (sediment) deposited on the bottom of rivers, lakes, marshes, water intake tanks, sand basins, etc., the underwater sediment removal device using a self-propelled robot that runs on the bottom of the water collects the sediment and self-propells the sediment. It is being pumped up to land by a submersible sand pump mounted on a robot.
Conventionally, as such an underwater sediment removal device, for example, an underwater sediment removal device described in Patent Document 1 is known.

  In this underwater sediment removal device, a screw arm is disposed at the front of a self-propelled robot that is self-propelled by the rotation of a hydraulic motor for traveling on the water bottom so that the vertical position of the screw arm can be controlled by the operation of an arm actuator. At the free end, there is provided a sand collecting screw which is rotationally driven by a hydraulic motor for a screw and has a horizontal rotation axis orthogonal to the forward direction of the self-propelled robot. This underwater sediment removal device can remove the sediment that is moved in the rotation axis direction by the rotation of the sand collecting screw and collected and collected by the underwater sand discharge pump.

JP-A-6-240704

The following problems remain in the above-described conventional technology.
In Patent Literature 1, the self-propelled robot travels by the traveling hydraulic motor and the sand collecting screw is rotationally driven by the screw hydraulic motor. However, a hydraulic pump for the hydraulic motor is mounted on the self-propelled robot. I have. However, there is an inconvenience that if oil leaks from the hydraulic pump and the hydraulic motor, the underwater environment may be polluted.

  The present invention has been made in view of the above-mentioned problem, and has as its object to provide an underwater sediment removal apparatus that does not cause environmental pollution due to oil leakage from a pump or a motor.

  The present invention has the following features to attain the object mentioned above. That is, an underwater sediment removing apparatus according to a first aspect of the present invention includes a self-propelled robot having a traveling mechanism and capable of self-propelling on a water bottom, a control unit for remotely controlling the self-propelled robot on water or on land, Is connected to the self-propelled robot, and the other end is a sand discharging hose installed on land, a hydraulic pump installed on water or on land, one end is connected to the hydraulic pump and the other end is connected to the self-propelled robot. A hydraulic fluid pressure feeding hose and a hydraulic fluid returning hose, wherein the self-propelled robot collects the sediment collected by the sand collecting screw connected to the sand collecting screw and the sand collecting screw collecting the sediment on the water bottom. An earth and sand discharge pump that sucks and feeds the sand to the sand discharge hose, a hydraulic motor for screw connected to the hydraulic fluid pressure supply hose and the hydraulic fluid return hose, and that rotationally drives the sand collecting screw; Wherein the connected hose and said hydraulic fluid return hose and a traction hydraulic motor that drives the traveling mechanism.

The underwater sediment removal device of the present invention includes a screw hydraulic motor that rotationally drives the sand collecting screw and a traveling hydraulic motor that drives the traveling mechanism, so that both the sand collecting screw and the traveling mechanism are hydraulic motors. By being driven, there is no fear of oil leakage such as hydraulic pressure.
Further, since the water pressure pump is installed on water or on land, the water pressure pump can be separated from the self-propelled robot, and the self-propelled robot can be downsized. Furthermore, since the hydraulic pump on the water or on the land and the self-propelled robot on the water bottom are connected by the hydraulic fluid pumping hose and the hydraulic fluid returning hose, the hydraulic fluid pumping hose and the hydraulic fluid returning hose are cooled in water, and the inside of the hose is cooled. By cooling the flowing water, it is possible to suppress a decrease in pumping by the hydraulic pump.

The underwater sediment removing device according to a second invention is the underwater sediment removal device according to the first invention, wherein the self-propelled robot reduces the rotation speed of the screw hydraulic motor and transmits the rotation speed to the sand collecting screw, A traveling speed reducer that reduces the rotation speed of the traveling hydraulic motor and transmits the reduced speed to the traveling mechanism.
That is, in this underwater sediment removal device, the self-propelled robot reduces the rotation speed of the screw hydraulic motor and transmits it to the sand collecting screw, and the traveling mechanism reduces the rotation speed of the traveling hydraulic motor. And a traveling speed reducer that transmits to the high-speed and low-torque screw hydraulic motor and traveling hydraulic motor can also be decelerated by the screw speed reducer and the traveling speed reducer. It becomes possible to drive at low rotation and high torque.

The underwater sediment removing apparatus according to a third invention is characterized in that, in the first or second invention, a heat exchanger capable of cooling water in the hydraulic fluid return hose is provided.
That is, in this underwater sediment removal device, since the heat exchanger capable of cooling the water in the working fluid return hose is provided, by cooling the water in the working fluid return hose by the heat exchanger, the water pressure pump is further used. A decrease in pumping can be suppressed.

The underwater sediment removal apparatus according to a fourth aspect of the present invention, in any one of the first to third aspects, is connected to the hydraulic pump and connected to a downstream end of the hydraulic fluid return hose to store the hydraulic water. A hydraulic fluid tank, a filter connected to the hydraulic fluid return hose in front of the hydraulic fluid tank to remove foreign matter in the hydraulic fluid, and a hydraulic fluid tank connected to the hydraulic fluid return hose before and after the filter. A first pressure sensor and a second pressure sensor that detect the pressure of the first pressure sensor and an alarm when a difference between the pressure detected by the first pressure sensor and the pressure detected by the second pressure sensor becomes equal to or more than a certain value. And an alarm unit for issuing an alarm.
That is, this underwater sediment removal apparatus includes an alarm unit that issues an alarm when a difference between the pressure detected by the first pressure sensor and the pressure detected by the second pressure sensor becomes equal to or more than a certain value. When the differential pressure of the working fluid before and after the filter reaches a certain level or more, it is judged that the so-called biofilm is attached due to the growth of microorganisms and bacteria and the filter is clogged, and the alarm issues an alarm, It is possible to know the appropriate maintenance time of the filter.

In the underwater sediment removal apparatus according to a fifth invention, in the fourth invention, in the fourth invention, the alarm unit can generate an alarm signal as the alarm, and receives the alarm signal to receive the hydraulic fluid in the hydraulic fluid tank. A decomposing bacterium supply unit for supplying an organic matter decomposing bacterium to the apparatus.
That is, since the underwater sediment removal device includes a decomposing bacteria supply unit that receives an alarm signal and supplies organic matter decomposing bacteria to the working fluid in the working fluid tank, the decomposing bacteria supply unit that receives the alarm signal operates. By automatically supplying the organic matter decomposing bacteria to the liquid, biofilms such as microorganisms and bacteria attached to the filter can be decomposed, and clogging of the filter can be eliminated.

According to the present invention, the following effects can be obtained.
That is, according to the underwater sediment removing apparatus according to the present invention, since the screw hydraulic motor for driving the sand collecting screw and the traveling hydraulic motor for driving the traveling mechanism are provided, oil leakage such as hydraulic pressure can be prevented. There is no danger, and the internal water can be cooled by the underwater working fluid pumping hose and the working fluid return hose, and a decrease in pumping of the hydraulic pump can be suppressed.
Therefore, in the underwater sediment removal apparatus according to the present invention, there is no environmental pollution due to oil leakage, and efficient driving of each hydraulic motor is possible.

It is a side view showing a self-propelled robot in one embodiment of the underwater sediment removal apparatus concerning the present invention. FIG. 3 is a plan view showing the self-propelled robot with a body cover removed in the embodiment. FIG. 3 is a front view showing the self-propelled robot in a state where a screw portion including a screw arm is removed in the embodiment. FIG. 2 is an overall piping diagram showing a hydraulic drive system in the present embodiment.

  Hereinafter, an embodiment of an underwater sediment removal apparatus according to the present invention will be described with reference to FIGS.

As shown in FIGS. 1 to 4, the underwater sediment removal device 1 of the present embodiment includes a self-propelled robot 3 having a traveling mechanism 2 and capable of self-propelling on the bottom of the water, and Control unit 4, one end is connected to the self-propelled robot 3 and the other end is a sand discharging hose 5 installed on land, a water pump 6 installed on water or on land, and one end is connected to the hydraulic pump 6. A hydraulic fluid pressure supply hose 7 and a hydraulic fluid return hose 8 connected to the self-propelled robot 3 at the other end are provided.
It should be noted that tap water is used as the water W, which is the hydraulic fluid pumped to the hydraulic fluid pressure hose 7 by the hydraulic pump 6.

  The self-propelled robot 3 includes a sand collecting screw 9 that collects sediment on the bottom of the water, and a sediment sand pump 10 that is connected to the sand discharging hose 5 and sucks the sediment collected by the sand collecting screw 9 and sends the sediment to the sand discharging hose 5. A motor 11 for a sand discharge pump for driving a sediment discharge pump 10, a hydraulic motor 12 for a screw connected to the hydraulic fluid supply hose 7 and the hydraulic fluid return hose 8 for driving the sand collecting screw 9 to rotate, There is provided a pair of traveling hydraulic motors 13 connected to the pressure feeding hose 7 and the working fluid return hose 8 to drive the traveling mechanism 2.

In addition, the self-propelled robot 3 reduces the rotation speed of the screw hydraulic motor 12 and transmits it to the sand collecting screw 9 by transmitting it to the sand collecting screw 9, and reduces the rotation speed of the traveling hydraulic motor 13 to the traveling mechanism 2. And a traveling speed reducer 15 for transmitting the power.
Moreover, the underwater sediment removal apparatus 1 of this embodiment is provided with the heat exchanger 16 which can cool the water W in the hydraulic fluid return hose 8 as shown in FIG. The heat exchanger 16 is installed on water or on land together with the hydraulic pump 6, and uses tap water as the cooling water CW.

  The underwater sediment removal apparatus 1 of the present embodiment includes a hydraulic fluid tank 43 connected to the hydraulic pump 6 and connected to the downstream end of the hydraulic fluid return hose 8 for storing hydraulic fluid (water W). A filter 103 connected to the working fluid return hose 8 to remove foreign matter in the working fluid (water W) before the water tank 43, and a pressure inside the working fluid return hose 8 connected to the working fluid return hose 8 before and after the filter 103. A first pressure sensor 104 and a second pressure sensor 105 to be detected, and an alarm is issued when a difference between the pressure detected by the first pressure sensor 104 and the pressure detected by the second pressure sensor 105 is equal to or more than a certain value. An alarm unit 107 is provided.

The first pressure sensor 104 is connected to the upstream side of the filter 103, and the second pressure sensor 105 is connected to the downstream side of the filter 103. A flow meter 106 is connected to the working fluid return hose 8 between the second pressure sensor 105 and the working fluid water tank 43.
Further, in the underwater sediment removal apparatus 1 of the present embodiment, the alarm unit 107 can generate an alarm signal as an alarm, and receives the alarm signal to add the organic matter decomposing bacteria to the working fluid (water W) in the working fluid water tank 43. Is provided.

  That is, the decomposing bacterium supply unit 101 is connected to the alarm unit 107 so as to be able to receive an alarm signal, and has a decomposing bacterium tank (not shown) containing organic matter decomposing bacteria such as Bacillus for wastewater treatment. are doing. The decomposing bacterium supply unit 101 is set so that, upon receiving an alarm signal, a predetermined amount of organic substance decomposing bacterium can be injected into the working liquid water tank 43.

The decomposing bacterium supply unit 101 can employ, for example, an apparatus that dilutes a stock solution of Bacillus bacterium (concentration: 10 ¹² cells / ml) to 1/1000, activates it by heating, and then automatically inputs the solution.
In addition, the working fluid water tank 43 is provided with a thermostat 102 for heating the working fluid water W to a constant temperature as a heater for preventing freezing when used in a cold region or in winter. For example, the thermostat 102 keeps the working fluid water W at a suitable temperature of about 30 ° C.

  The traveling mechanism 2 includes a body frame 17 and a pair of left and right sprockets 18 connected to the rotating shafts of a pair of traveling hydraulic motors 13 via a traveling speed reducer 15 and rotatably supported at the rear of the body frame 17. A pair of left and right idlers (idler pulleys) 19 rotatably supported at the front of the body frame 17, a pair of left and right rubber crawlers 20 wound around the sprocket 18 and the idler 19, A plurality of track rollers 21 rotatably supported at the lower portion and supporting the inside of the left and right rubber crawlers 20 are provided.

The traveling hydraulic motor 13 and the traveling reduction gear 15 are installed on the upper part of the vehicle body frame 17 and housed in the vehicle body cover 22 on the vehicle body frame 17.
The traveling mechanism 2 includes a braking brake 23 and a parking brake 24 between the traveling hydraulic motor 13 or the traveling speed reducer 15 and the sprocket 18.
The braking brake 23 is, for example, a brake that prevents the self-propelled robot 3 from running at a speed higher than a set value due to its own weight on a slope or the like. The parking brake 24 is used, for example, when the self-propelled robot 3 stops on a slope or the like. This is a brake that prevents the vehicle from being lowered by its own weight when it is running.

A screw cover 26 that covers the upper part and both ends of the sand collecting screw 9 is attached to the distal ends of the pair of screw arms 25.
The sand collecting screw 9 is a ribbon screw, and is rotatably supported in a screw cover 26 whose base end is supported at the front of the vehicle body frame 17 so as to be rotatable around a horizontal axis.

A screw hydraulic motor 12 is connected to one end of the sand collecting screw 9 via a screw speed reducer 14. The screw hydraulic motor 12 and the screw speed reducer 14 are fixed to one end of a screw cover 26.
Above the base end of the screw arm 25 on the front of the body frame 17, a base end of a hydraulic cylinder 27 is supported rotatably about a horizontal axis, and the rod end of the hydraulic cylinder 27 is screwed. It is supported at the center of the cover 26 so as to be rotatable around a horizontal axis. That is, by expanding and contracting the rod of the hydraulic cylinder 27, the pair of screw arms 25 can be rotated downward or upward to lower the sand collecting screw 9 on the distal end side to the bottom or raise it from the bottom.

The earth and sand discharging pump 10 and the sand discharging pump motor 11 are installed on a vehicle body frame 17.
Although the sand discharge pump motor 11 is an electric motor, a hydraulic motor connected to the hydraulic fluid pressure supply hose 7 and the hydraulic fluid return hose 8 may be employed.
The suction port 10 a of the earth and sand discharge pump 10 is connected to the center of the screw cover 26 via a suction hose 28. The discharge port of the earth and sand discharging pump 10 is connected to the base end of the sand discharging pipe 29, and the tip of the sand discharging pipe 29 is connected to the base end of the sand discharging hose 5.
In addition, the sand discharge pipe 29 is fixed to an upper part of the vehicle body cover 22.

  The sand collecting screw 9 is provided with helical screw portions having different turning directions on both sides at the center of the rotation drive shaft, and is driven to rotate while biting into the sediment at the bottom of the water, thereby forming the sediment on both sides. Can be gathered in the center. The sediment collected in this way is sucked into the earth and sand discharge pump 10 and then sent to the sand discharge hose 5. The tip of the sand discharging hose 5 is arranged on land, and the sucked-up sediment is discharged to a predetermined place on land.

The ends of the hydraulic fluid pressure supply hose 7 and the hydraulic fluid return hose 8 on the self-propelled robot 3 side are fixed to a cable hose support member 30 attached to a sand discharge pipe 29.
On the upper part of the body frame 17, a left control box 31 is installed on the left side, and a right control box 32 is installed on the right side. The left control box 31 and the right control box 32 contain various control valves for a hydraulic drive system.

Further, as shown in FIG. 4, the control unit 4 includes a robot control unit 34 connected to the self-propelled robot 3 via wiring 33 to control the self-propelled robot 3, and a robot control unit 34 and a hydraulic pump drive motor 38. A pump controller 36 connected to the control cable 35 for controlling the hydraulic pump 6. A power supply 37 is connected to the robot control unit 34.
A hydraulic pump drive motor 38 is connected to and driven by the hydraulic pump 6.

  A front support frame 39 is provided upright on the front of the vehicle body frame 17, and a sonar 40, a light 41 and a camera 42 are mounted on the front support frame 39. Note that a light 41 is also mounted below the front portion of the body frame 17.

Next, with respect to the hydraulic drive system of the underwater sediment removal apparatus 1, the water supply and return of the water W by the hydraulic pump 6 will be described with reference to FIG.
First, the hydraulic pump 6 driven by the hydraulic pump drive motor 38 sends the water W stored in the hydraulic fluid tank 43 to the hydraulic fluid pressure supply hose 7 and controls the right side via the P header block 44 of the self-propelled robot 3. The water W is pumped to the box 32 and the left control box 31.

  The water W pumped into the right control box 32 is sent to the right traveling hydraulic pump control valve 45 and the system pressure regulation control valve 46. At this time, the control valve 45 for the right traveling hydraulic pump sends water W to the right traveling hydraulic motor 13 via the traveling hose 47 by opening and closing. Further, the control valve 46 for system pressure adjustment sends water W as cooling water to the left and right brake brakes 23 by opening and closing.

  The water W pumped into the left control box 31 is sent to the left traveling hydraulic pump control valve 48, the cylinder control valve 49, and the screw control valve 50. At this time, the control valve 48 for the left traveling hydraulic pump sends water W to the left traveling hydraulic motor 13 via the traveling hose 47 by opening and closing. The cylinder control valve 49 sends water W to the hydraulic cylinder 27 via the cylinder hose 51 by opening and closing the cylinder control valve 49, and the screw control valve 50 sends the water W to the screw hydraulic motor 12 via the screw hose 52 by opening and closing. To send water W.

  The water W pumped to each part is sent to the T header pipe 53 via each hose on the return side after being used for the operation of each part. Further, the water W is returned to the hydraulic fluid tank 43 via the hydraulic fluid return hose 8 connected to the T header pipe 53.

Further, a heat exchanger 16 is provided in the middle of the working fluid return hose 8 to cool the returned water W. That is, the cooling water CW stored in the cooling water tank 54 is sent to the heat exchanger 16 through the cooling water pumping hose 56 by the cooling water pump 55 installed in the cooling water tank 54. Can be The heat exchanger 16 exchanges heat between the water W in the working fluid return hose 8 and the cooling water CW to cool the water W. The water W cooled in the heat exchanger 16 in this way is returned to the working fluid water tank 43.
The cooling water CW that has undergone heat exchange is returned to the cooling water tank 54 via the cooling water return hose 57.

  Further, when the filter 103 starts to be clogged due to the generation of the biofilm and the pressure difference between the pressure detected by the first pressure sensor 104 and the pressure detected by the second pressure sensor 105 becomes equal to or more than a certain value, the alarm unit 107 is activated. Emit an alarm sound as an alarm. Further, the alarm unit 107 sends an alarm signal to the degrading bacteria supply unit 101 as an alarm, and upon receiving the alarm signal, the degrading bacteria supply unit 101 puts the organic matter decomposing bacteria into the working fluid water tank 43. As a result, the organic matter-decomposing bacteria are mixed into the water W, reach the filter 103, and decompose the biofilm such as bacteria attached to the filter 103, whereby the clogging of the filter 103 is eliminated.

In particular, in the case where the working fluid water W is heated to about 30 ° C. by the thermostat 102 to prevent freezing, the filter 103 is easily clogged because the environment is easy for bacteria to grow. The clogging alarm by the 107 and the clogging removal by the decomposing bacterium supply unit 101 are particularly effective.
In this embodiment, the organic matter decomposing bacteria are automatically supplied from the decomposing bacteria supply unit 101 in response to the alarm signal from the alarm unit 107. Bacteria may be added.

  As described above, the underwater sediment removing apparatus 1 of the present embodiment includes the screw hydraulic motor 12 for driving the sand collecting screw 9 to rotate and the traveling hydraulic motor 13 for driving the traveling mechanism 2. Since both the drive mechanism 9 and the traveling mechanism 2 are driven by the hydraulic motor, there is no possibility of oil leakage such as hydraulic pressure.

  Further, since the hydraulic pump 6 is installed on water or on land, the hydraulic pump 6 can be separated from the self-propelled robot 3, and the self-propelled robot 3 can be downsized. Furthermore, since the hydraulic pump 6 on the water or on the land and the self-propelled robot 3 on the water bottom are connected by the hydraulic fluid pressure hose 7 and the hydraulic fluid return hose 8, the hydraulic fluid pressure hose 7 and the hydraulic fluid return hose 8 By cooling the water W that is cooled and flows in the hose, it is possible to suppress a decrease in pumping by the hydraulic pump 6.

  In addition, the self-propelled robot 3 reduces the rotation speed of the screw hydraulic motor 12 to transmit it to the sand collecting screw 9 by reducing the rotation speed of the screw hydraulic motor 12, and reduces the rotation speed of the traveling hydraulic motor 13 to the traveling mechanism 2. Since the transmission speed reducer 15 is provided with the transmission speed reducer 15, the screw hydraulic motor 12 and the travel hydraulic motor 13 can be decelerated by the screw speed reducer 14 and the travel speed reducer 15 at high speed and low torque. 9 and the traveling mechanism 2 can be driven with low rotation and high torque.

  Furthermore, since the heat exchanger 16 that can cool the water W in the working fluid return hose 8 is provided, the water W in the working fluid return hose 8 is cooled by the heat exchanger 16, so that the water pump 6 is further operated. A decrease in pumping can be suppressed.

  In addition, since there is provided an alarm unit 107 that issues an alarm when the difference between the pressure detected by the first pressure sensor 104 and the pressure detected by the second pressure sensor 105 is equal to or more than a certain value, When the pressure difference of the water W reaches a certain level or more, the so-called biofilm is attached due to the growth of microorganisms and bacteria, and it is determined that the filter 103 is clogged. You can know the appropriate maintenance time.

  Further, since the decomposing bacterium supply unit 101 that receives the alarm signal and supplies organic matter decomposing bacteria to the working fluid (water W) in the working fluid water tank 43 is provided, the decomposing bacterium supply unit 101 that has received the alarm signal operates. By automatically supplying organic matter decomposing bacteria to the liquid (water W), biofilms such as microorganisms and bacteria attached to the filter 103 can be decomposed, and clogging of the filter 103 can be eliminated.

  The technical scope of the present invention is not limited to the above embodiment, and various changes can be made without departing from the spirit of the present invention.

  DESCRIPTION OF SYMBOLS 1 ... Underwater sediment removal apparatus, 2 ... Traveling mechanism, 3 ... Self-propelled robot, 4 ... Control part, 5 ... Sand discharging hose, 6 ... Hydraulic pump, 7 ... Hydraulic fluid feeding hose, 8 ... Hydraulic fluid returning hose, 9 ... Sand collecting screw, 10: sediment discharge pump, 11: motor for sand discharge pump, 12: hydraulic motor for screw, 13: hydraulic motor for traveling, 14: reducer for screw, 15: reducer for traveling, 16: heat Exchanger, 43 ... Hydraulic liquid tank, 101 ... Decomposing bacteria supply unit, 103 ... Filter, 104 ... First pressure sensor, 105 ... Second pressure sensor, 107 ... Alarm unit

Claims (5)

A self-propelled robot having a traveling mechanism and capable of self-propelling on the water floor,
A control unit for remotely controlling the self-propelled robot on water or on land,
A sand discharging hose having one end connected to the self-propelled robot and the other end installed on land;
A hydraulic pump installed on water or on land,
A hydraulic fluid pressure supply hose and a hydraulic fluid return hose each having one end connected to the hydraulic pump and the other end connected to the self-propelled robot,
The self-propelled robot, a sand collecting screw for collecting the sediment on the water bottom,
A sediment sand pump that sucks the sediment collected by the sand collecting screw connected to the sand discharging hose and feeds the sediment to the sand discharging hose;
A screw hydraulic motor connected to the hydraulic fluid pressure supply hose and the hydraulic fluid return hose to rotationally drive the sand collecting screw;
An underwater sediment removing apparatus, comprising: a traveling hydraulic motor connected to the hydraulic fluid pressure hose and the hydraulic fluid return hose to drive the traveling mechanism. In the underwater sediment removal apparatus according to claim 1,
The self-propelled robot, a screw speed reducer for reducing the rotation speed of the screw hydraulic motor and transmitting to the sand collecting screw,
And a traveling speed reducer that reduces the rotation speed of the traveling hydraulic motor and transmits the reduced speed to the traveling mechanism. In the underwater sediment removal device according to claim 1 or 2,
An underwater sediment removing device comprising a heat exchanger capable of cooling water in the working fluid return hose. In the underwater sediment removal apparatus according to any one of claims 1 to 3,
A hydraulic fluid tank connected to the hydraulic pump and connected to a downstream end of the hydraulic fluid return hose to store the hydraulic water,
A filter connected to the hydraulic fluid return hose to remove foreign matter in the hydraulic fluid before the hydraulic fluid tank;
A first pressure sensor and a second pressure sensor that are connected to the working fluid return hose before and after the filter and detect a pressure in the working fluid return hose;
An alarm unit for issuing an alarm when a difference between the pressure detected by the first pressure sensor and the pressure detected by the second pressure sensor becomes equal to or more than a predetermined value. apparatus. In the underwater sediment removal apparatus according to claim 4,
The alarm unit can generate an alarm signal as the alarm,
An underwater sediment removing device, comprising: a decomposing bacteria supply unit that receives the alarm signal and supplies organic matter decomposing bacteria to the working fluid in the working fluid tank.

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