JP7339658B2 - Underwater work implement and underwater work system - Google Patents

Description

The present invention relates to an underwater working tool and an underwater working system.

Excessive growth of aquatic plants in agricultural irrigation canals can affect water management, and can lead to an increase in the amount of waste disposal due to the torn aquatic plants mixed with waste. Therefore, conventionally, aquatic plants were harvested manually using a long-handled sickle, etc., but the work in the water required a great deal of labor. It is becoming difficult (see Non-Patent Document 1).

In order to reduce the labor of such an operator, there has been disclosed a bush cutter for cutting aquatic plants by rotationally driving a cutting blade by an engine driving part, and having a float near the tip of the cutting blade. (see Patent Document 1). The brush cutter described in Patent Document 1 is intended to reduce the weight of the tip portion by means of a float, thereby improving workability when cutting aquatic plants in water. Therefore, it does not solve the labor shortage. In addition, it is necessary to take waterproof measures and maintain the parts that are put into the water, including the cutting blades.

On the other hand, in relatively large areas of water such as rivers and lakes, overgrown aquatic plants are harvested by boat. Techniques for efficiently removing waterweeds in rivers, lakes, and the like have also been disclosed (see Patent Documents 2 to 4, for example).

Patent Document 2 discloses a method for removing aquatic weeds by hooking aquatic plants in water with a rake-shaped hook and winding a wire connected to the hook with a winch of a heavy vehicle. Patent Literature 3 discloses a method and apparatus for processing aquatic plants, etc., in which aquatic plants, etc. are harvested by a harvesting boat, and cut and discharged by a processing boat provided separately from the harvesting boat.

Patent Document 4 discloses a seaweed removal ship that removes seaweed on the seabed by circulating a plurality of annular chains thrown into the seabed on the seabed by an electric or hydraulic drive device provided on the hull. there is A crane attached to the hull is used to insert and pull up the circular chain from the seabed.

However, the prior arts described in Patent Documents 2 to 4 above use large-scale equipment such as ships, heavy vehicles, and winding devices, which require specialized skills for operation on a large scale, as well as high introduction and maintenance costs. It becomes bulky. In addition, it is difficult to apply ear-reaping boats and the like in relatively narrow and shallow water areas such as agricultural waterways. Therefore, there is a strong demand for the development of a technique that has a simple structure, is easy to handle, and allows underwater work such as removal of aquatic plants to be performed with a smaller amount of labor.

Japanese Utility Model Laid-Open No. 4-9522 JP 2016-111996 A JP-A-11-127660 JP-A-9-294444

Satoshi Yamaoka, Ikuo Yoshinaga, Takuya Mineda, Shinichi Kimura, Tsutomu Matsumoto, Satoshi Shimada, “Prospects for reducing weeding work in irrigation canals by ICT and robotization,” Journal of Agricultural and Rural Engineering Journal, 86(4), p293 -p296, 2018.4

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and provides an underwater working tool which has a simple structure, is easy to handle, and allows underwater work such as removal of waterweeds to be performed with less labor. for the purpose.

In order to achieve the above object, the underwater working tool of the present invention comprises a working section for performing a predetermined work underwater, a route guiding section for guiding the working section in a course direction, and the working section and the route guiding section connected to each other. A connection part and a water sail that obtains propulsion by receiving a water flow, wherein the route guidance part is made of a longitudinal non-flexible member, and the connection part is made of a flexible member. It is characterized by
Further, the underwater working tool of the present invention includes a working section for performing a predetermined underwater work, a route guiding section for guiding the working section in a course direction, and a connecting section for connecting the working section and the route guiding section. In addition, the connecting portion is characterized by being made of a flexible member.
Alternatively, the underwater working tool of the present invention comprises a working section for performing a predetermined underwater work, a route guiding section for guiding the working section in a course direction, a connection section for connecting the working section and the route guiding section, and a water flow. a water sail that obtains a propulsive force by receiving the water sail, wherein the route guide section and the connecting section are made of flexible members.
Alternatively, the underwater working tool of the present invention comprises a working section for performing a predetermined underwater work, a route guiding section for guiding the working section in a course direction, a model ship that obtains a propulsive force by receiving a water flow, and the model ship. The model ship includes a rudder that determines the direction of travel of the model ship, a rocking mechanism that rocks the rudder, and a control unit that controls the rocking mechanism. characterized by comprising a steering device having:
Further, the underwater work system of the present invention includes such an underwater work tool, and a recovery section for recovering the underwater work tool, wherein the recovery section is a longitudinal section that spans across a direction that intersects a water flow. It is characterized by having a member.

When the underwater working tool configured in this way is thrown into the water, the underwater work can be performed by the working part while flowing down in the water area due to the water flow. Therefore, it is possible to provide an underwater working tool and an underwater working system that have a simple structure and are easy to handle, and that can perform underwater work such as removing aquatic plants with less labor. In addition, by providing a connecting portion having flexibility, shaking and small movements of the route guidance portion can be absorbed, and the influence on the working portion can be prevented. In addition, by forming the route guiding portion from a long non-flexible member, the working portion can be more smoothly guided in the downstream direction. Further, by using a flexible member for the route guiding portion, the underwater work tool can be accommodated more compactly.

1 is a perspective view schematically showing the external configuration of a waterweed removing tool as an underwater working tool according to a first embodiment; FIG. FIG. 4 is an explanatory diagram for explaining an example of a work procedure using the aquatic plant remover according to the first embodiment; FIG. 10 is a plan view schematically showing the external configuration of the aquatic plant remover according to the second embodiment. FIG. 5 is an explanatory diagram for explaining the operation when the aquatic plant remover according to the first embodiment and the second embodiment climbs over the weir; FIG. 10A is a plan view schematically showing the external configuration of a waterweed remover according to a third embodiment, and a cross-sectional view of a canopy of a water sail. FIG. 11 is a plan view schematically showing the external configuration of a waterweed remover according to a fourth embodiment; FIG. 11 is a plan view schematically showing the external configuration of a waterweed remover according to a fifth embodiment; FIG. 11 is an explanatory diagram for explaining the operation when the aquatic plant remover according to the fifth embodiment climbs over the weir; FIG. 12 is a side view schematically showing the external configuration of the aquatic plant remover according to the sixth embodiment. FIG. 11 is a plan view schematically showing the aquatic plant remover according to the sixth embodiment and modified examples 1 and 2 thereof; FIG. 11 is a side view schematically showing the external configuration of a waterweed remover according to a seventh embodiment; FIG. 20 is an explanatory diagram for explaining the configuration of the aquatic plant removing system and the recovering procedure of the aquatic plant removing tool according to the eighth embodiment; FIG. 13 is a cross-sectional view taken along line BB of FIG. 12;

(First embodiment)
Hereinafter, a waterweed removing tool according to a first embodiment as an example of an underwater working tool of the present invention will be described with reference to the drawings. The aquatic plant remover 100 according to the first embodiment is used to remove the aquatic plant G that has been thrown into the agricultural waterway 1 and grown on the bottom (bottom) 2 (see FIG. 2).

As shown in the perspective view of FIG. 1, the aquatic weed remover 100 according to the first embodiment includes a reaping part 10 as a working part, a route guiding part 20, a connecting part 30, a float 40, and an underwater A sail (sail portion) 50 is mainly provided. Hereinafter, a portion including the reaping portion 10, the route guiding portion 20, and the connecting portion 30 will be referred to as a main portion O in order to distinguish from the float 40 and the water sail 50. As shown in FIG. The extending direction of the route guiding portion 20 is defined as the longitudinal direction (L in FIG. 1) of the aquatic plant remover 100, and the direction crossing this is defined as the width direction (W in FIG. 1).

The reaping unit 10 is for reaping the aquatic plants G underwater. The reaping part 10 has a base part 11 that is elongated in the width direction so as to intersect with the direction of travel. A saw blade 12a and a chain 12b are provided.

Although a wooden board member is used for the base 11 in this embodiment, it is not limited to this, and a resin or metal material may be used.

The saw blade 12a is fixed to one downstream side of the base 11 to cut and remove aquatic plants. The saw blade 12a may be fixed so that the direction of the cutting edge is parallel to one side of the base 11, but in this embodiment, as shown in FIG. It is tilted and fixed so that the direction of the cutting edge becomes V-shaped (or W-shaped) toward the downstream. With such an arrangement, the aquatic plants G can be cut obliquely to the direction of travel, and the cutting performance of the saw blade 12a can be enhanced.

The chain 12b is attached to the upstream side of the base 11 opposite the saw blade 12a. Both ends of the chain 12b are fixed to both ends of the base 11 in the width direction. Such a chain 12b entangles and removes aquatic plants. In this embodiment, by using the metal chain 12b, the chain 12b plays a role of a weight and gives the reaper 10 an appropriate weight that allows it to sink to the vicinity of the bottom 2. A metal material may be used for the base portion 11 or a weight may be attached separately to give weight to the reaping portion 10 .

Note that the reaper body 12 is not limited to the saw blade 12a or the chain 12b, and can be any type that can remove the aquatic plants G by cutting, entangling, or hooking the aquatic plants G. It's okay. For example, it may be a blade such as a knife, a sickle, or a hatchet, a flexible member such as a rope, a rod-shaped body such as an iron pipe, or a rake-shaped member comprising a plurality of claws.

The course guiding portion 20 guides the reaping portion 10 connected by the connecting portion 30 in the advancing direction (direction along the water flow) underwater. The route guidance part 20 is composed of a long (in this case, it means that it is long) non-flexible member. The non-flexible member is not particularly limited, and suitable examples thereof include solid or hollow rod-shaped members, belt-shaped members, plate-shaped members, and the like. Suitable materials for the non-flexible member include, for example, wood, bamboo, hard resin, hard rubber, and metal materials such as aluminum.

In this embodiment, by using a rod-shaped member made of wood, the reaping part 10 is smoothly guided in the traveling direction, and the route guide part 20 is excellent in mechanical strength, is easy to handle with an appropriate weight, and is inexpensive. can be done.

The reaping part 10 and the route guiding part 20 are connected by a connecting part 30 made of a flexible member. With this configuration, shaking and small movements of the route guiding portion 20 caused by water flow or the like can be absorbed, and the reaping portion 10 can be prevented from being affected.

Examples of the flexible member that constitutes the connecting portion 30 are preferably a string-like member such as a rope, a cord, a string-like cloth, a metal wire, a metal or resin chain, and the like. is not limited to In this embodiment, by using a rope made of resin, the connecting portion 30 having excellent mechanical strength, water resistance, and water repellency (drying property) can be obtained.

Moreover, in this embodiment, the connection part 30 is comprised from the 1st connection bodies 31a and 31b and the 2nd connection bodies 32a and 32b which each consist of a pair of rope. The reaping part 10 is connected to at least two locations of the route guiding part 20 by these two connecting bodies 31a, 31b, 32a, 32b.

As shown in FIG. 1 , the first connecting bodies 31 a and 31 b are made of relatively short ropes and connect the base 11 of the reaping part 10 and the tip of the route guiding part 20 . Due to such short first connecting bodies 31a and 31b, the distance from the tip of the route guide portion 20 is shortened, and the reaping portion 10 moves up and down following the vertical movement of the route guide portion 20 in water. The reaping part 10 can be freely guided to a desired height, position and direction in the water by the course guide part 20 .

The second connecting bodies 32a and 32b are made of ropes longer than the first connecting bodies 31a and 31b, and are located near both ends in the width direction of the base portion 11 and at a position spaced apart from the tip of the route guiding portion 20 by a predetermined length. are concatenated. When the reaping part 10 is suspended by the first connecting bodies 31a and 31b, the second connecting bodies 32a and 32b are slightly loosened (see FIG. 2). As a result, the reaping part 10 can move slightly forward and backward. On the other hand, when the reaping unit 10 is tilted to the left or right by a water stream or the like or is subjected to a rotational force, the second connecting bodies 32a and 32b extend, thereby preventing the reaping unit 10 from unexpectedly tilting or rotating. can do.

Further, in both the first and second connecting bodies 31a, 31b, 32a, and 32b, the distance between the pair of ropes on the side of the connecting portion with the base portion 11 is wider than the connecting portion with the route guide portion 20, By arranging them in the V-shape in plan view, the stability of the attitude of the reaping part 10 in water is improved, and the effect of suppressing an unexpected tilt in the horizontal direction can be further enhanced.

The length of the main body O in the longitudinal direction can be set appropriately according to the purpose of underwater work, workability, and the like. For example, when removing aquatic plants G as in the present embodiment, the length of the reaping part 10 as the working part is set to reach the vicinity of the bottom part 2 . Also, when the purpose is to collect aquatic organisms, etc., the length should be such that the working part is positioned at the target water depth. By appropriately adjusting the length of the main body O and the weight and buoyancy of the main body O (especially the weight and buoyancy of the working part), it is possible to work at a desired water depth. Further, the length of the main body O in the width direction, that is, the width of the reaping part 10 (working part) can also be appropriately set according to the purpose of work, workability, and the like.

In the waterweed remover 100 of this embodiment, it is preferable that the length of the main body O is 1 to 2 m, and the width of the reaping part 10 is about 60 cm to 1 m. As a result, the aquatic plants G in the agricultural waterway 1 can be easily removed, and the size and weight are easy for the operator to handle, improving workability.

The float 40 is used as a mark and to give the end portion of the main body O an appropriate buoyancy. The float 40 is connected by a second connecting portion 35 to the other end of the route guiding portion 20 opposite to the one end connected to the reaping portion 10 . The second connecting portion 35 is also made of a flexible member such as a rope. The second connecting portion 35 absorbs shaking and small movements of the main body O including the route guiding portion 20 and prevents the float 40 from being affected.

As the float 40, a conventionally known appropriate one can be used, but one having buoyancy capable of supporting the weight of the main body O and the waterweed is used. In addition, the float 40 may be colored with a conspicuous color such as red or fluorescent paint, or may be provided with a nighttime reflector so that the operator can easily find it, thereby enhancing its functionality as a mark.

The water sail 50 functions as a propulsion section that obtains propulsive force by receiving water flow and guides the waterweed remover 100 in the downstream direction. In this embodiment, the water sail 50 is connected to the route guidance section 20 via the float 40 . The underwater sail 50 mainly includes a canopy portion 51 , a plurality of lines 52 , a canopy portion-side float 53 , a hook (hanging portion) 54 , and a weight 55 .

The head portion 51 is a portion that receives water flow and spreads in a hemispherical shape underwater. A plurality of lines 52 support the umbrella portion 51 and connect the umbrella portion 51 and the float 40 . The umbrella portion 51 is made of a water-impermeable resin sheet or the like, and the line 52 is made of a resin cord or the like. With this configuration, it is possible to obtain the underwater sail 50 that is excellent in mechanical strength, water resistance, drying property, etc., and is lightweight and easy to handle. In addition, it is possible to obtain the underwater sail 50 which can be easily folded, which is compact and easy to carry.

The umbrella-side floats 53 are for giving buoyancy to the water sail 50, and are provided at a plurality of adjacent locations (two locations in FIG. 1) at the connecting portion between the umbrella 51 and the line 52. As shown in FIG. By providing the umbrella-side floats 53 at a plurality of locations, the balance of the umbrella 51 in the water is improved, and the water flow can be received more efficiently and converted into an appropriate propulsion force. The umbrella-side float 53 is preferably provided at a plurality of locations, but may be provided at only one location. The size of the umbrella portion 51 is not particularly limited, and depending on the speed of the water flow (flow velocity), the amount of the waterweeds G to be removed, etc., the head 51 can move downstream while removing the waterweeds G. It is desirable to make it the size obtained. In the aquatic weed remover 100 of this embodiment, it is preferable that the umbrella section 51 has a diameter of about 30 to 60 cm when it becomes a hemisphere in water. It is preferable to set the height to about 1 m.

For example, the size of the head 51 is relatively large (for example, 60 cm in diameter) in a water area with a slow flow velocity, and the size of the head 51 is relatively small (for example, 30 cm in diameter) in a high flow velocity. , a driving force suitable for cutting the waterweed G can be obtained. Moreover, the submersible sails 50 having various sizes of umbrella portions 51 may be prepared, and the desired submersible sails 50 may be attached to the main body O according to the work environment, work purpose, flow velocity, and the like.

In addition, hook-shaped hooks (hanging portions) 54 opening in the downstream direction are provided on each of the plurality of umbrella-side floats 53 . Although the material of the hook 54 is not particularly limited, it is desirable to use a lightweight material such as resin, wood, or aluminum so as not to interfere with the buoyancy of the umbrella-side float 53 . As shown in FIG. 2, the recovery rope 4 as a recovery portion (longitudinal member) for recovering the aquatic weed remover 100 by hooking each hook 54 extends in the cross direction (width direction) with respect to the agricultural waterway 1. (The collection rope 4 and the waterweed remover 100 make up a waterweed removal system). By hooking the hook 54 on the recovery rope 4, the waterweed remover 100 stops flowing down. Therefore, the operator can easily collect the aquatic plant remover 100 . Taking into consideration the size and shape of the hook 54, the recovery rope 4 is suspended at a position separated from the water surface 3 by one to several centimeters. This makes it easier for the hook 54 to get caught on the recovery rope 4 while suppressing the catching of garbage flowing in the water.

In addition, since a plurality of hooks 54 are provided, it can be easily hooked by the recovery rope 4, and after being hooked, it will not easily come off due to water flow. In addition, by providing the hook 54 on the hydrosail 50, after being hooked on the recovery rope 4, the umbrella portion 51 rises to the water surface 3 due to the water flow (see the hydrosail 50 indicated by the dashed line in FIG. 2), and the water flow weakens the propulsive force of Therefore, it is possible to prevent the aquatic plant remover 100 from unexpectedly coming off the recovery rope 4 and reduce the load on the recovery rope 4 .

The recovery part may be a net, a stick, or the like, but by using a recovery rope 4 that is stretched over the water surface 3, objects other than the aquatic plant remover 100 such as driftwood and aquatic organisms such as fish can be collected. It is possible to efficiently collect the aquatic plant remover 100 by preventing collection or the like.

The weight element 55 is provided at a position facing the umbrella-side float 53, that is, at a position facing downward in the water. The weight element 55 prevents the lightweight umbrella part 51 from unexpectedly floating on the water surface 3 or from unexpectedly rotating or shaking due to the water flow, and arranges the umbrella part 51 in the water so as to easily receive the water flow. can be done. The weight 55 and the two umbrella-side floats 53 allow the umbrella 51 to spread toward the water flow in the water, so that the water flow can be received efficiently and the stability in the water can be enhanced.

In addition, the aquatic plant remover 100 may be provided with an information acquisition sensor S as an information acquisition section for acquiring information on the working environment or working state. The information about the work environment includes, for example, underwater environment information such as underwater temperature, pH, and turbidity, and external environment information such as temperature, humidity, atmospheric pressure, illuminance, and sound. In addition, an image or the like taken underwater or surroundings is also one of the information about the working environment. The information about the working state includes, for example, the moving distance, moving route, moving speed, moving acceleration, position information, azimuth information, and working time of the waterweed remover 100 .

The information acquisition sensor S may be provided at any location on the aquatic plant remover 100, but by providing it on the float 40, for example, attachment and information acquisition are facilitated. Depending on the purpose of use, it may be provided on the underwater side of the float 40, may be provided on the water surface 3, or may be provided on both sides. Also, it may be provided in the main body O to acquire information on a deeper water location.

Specific examples of the information acquisition sensor S include, for example, a temperature sensor, pH sensor, turbidity sensor, atmospheric pressure sensor, GPS sensor, illuminance sensor, acceleration sensor, gyro sensor, geomagnetic sensor, distance sensor, imaging device (camera), and sound collection. devices (microphones) and timers. Also, when photographing with an imaging device or the like, lighting (especially on the underwater side) may be further mounted. Further, as the information acquisition sensor S, a wireless device, a radio wave transmitter, or the like may be provided, and a receiver held by the worker may receive the signal and recognize the position information. One may be selected from the above information acquisition sensors S, or a plurality thereof may be combined.

Among these, if a GPS sensor is used as the information acquisition sensor S, the moving route of the aquatic plant remover 100 can be recorded (monitored). Furthermore, by analyzing this record, it is possible to identify the location where the waterweed remover 100 is stagnant, and to estimate the presence of an object deposited or sedimented on the bottom 2 or the like. In addition, cameras are installed above and below the float 40 (on the underwater side) as the information acquisition sensor S, and by photographing still images and moving images inside and outside the agricultural waterway 1, it is possible to obtain information within the range where the aquatic weed remover 100 is used. The situation inside and outside the agricultural waterway 1 can be confirmed.

The procedure for removing the waterweeds G in the agricultural waterway 1 using the waterweed remover 100 of the first embodiment configured as described above and an example of the operation of the waterweed remover 100 will be described with reference to the explanatory diagram of FIG. while explaining.

First, the waterweed remover 100 is put into the agricultural waterway 1 . As a result, the reaping part 10 is submerged in water and arranged near the bottom part 2 . The longitudinal course guiding part 20 is arranged with an inclination between the reaping part 10 on the side of the bottom part 2 and the float 40 floating on the water surface 3. - 特許庁Also, the head portion 51 of the water sail 50 expands in the water and receives the water flow, thereby generating a propulsive force and moving the waterweed remover 100 downstream. The waterweed remover 100 cuts the waterweeds G growing on the bottom 2 with the saw blade 12a of the reaping part 10 and entangles them with the chain 12b while moving downstream. In this way, by simply throwing the aquatic plant remover 100 into the water, the aquatic plant G growing in the water can be removed satisfactorily using the water flow. In addition, there is no need for the operator to work in water, so handling is easy and workability is improved.

When the harvesting of the aquatic plants G of the agricultural waterway 1 for a predetermined distance is completed, the hook 54 is hooked on the recovery rope 4 that spans the agricultural waterway 1 at the downstream recovery position, and the movement of the waterweed remover 100 stops. The operator can easily collect the aquatic weed remover 100 by hauling the collecting rope 4 or the aquatic weed remover 100 itself.

In the above description, only one aquatic weed remover 100 is introduced, but the present invention is not limited to this. The aquatic plant G can be removed at this time. In addition, since it is easy to handle, the work can be repeated by putting it into water any number of times. In addition, with the information acquisition sensor S provided on the float 40, it is possible to monitor the work environment and work status in a predetermined section of the agricultural waterway 1 at the same time as the waterweed G is harvested. It can be used for maintenance and improvement of 1, cultivation of agricultural products, various researches, and the like.

(Second embodiment)
Next, a waterweed remover 100A according to a second embodiment will be described with reference to FIG. The aquatic weed remover 100A according to the second embodiment is provided with a flexible route guide portion 20A made of a long rope instead of the non-flexible long route guide portion 20. 1, except that the connecting part 30A composed of a connecting body 33 in which ropes are arranged in a V shape in plan view is provided instead of the connecting part 30 consisting of the bodies 31a, 31b and the second connecting bodies 32a, 32b. It has the same basic configuration as the aquatic plant remover 100 of the first embodiment. Therefore, configurations similar to those of the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted, and configurations different from those of the first embodiment are mainly described below. The same applies to embodiments described later.

A waterweed remover 100A of the second embodiment shown in FIG. be. Both ends of the reaping part 10 and one end of the route guiding part 20A are connected by the connecting part 30A connected in a V shape in plan view. A float 40 is connected to the other end of the route guidance portion 20A. Even with the aquatic weeds remover 100A having such a configuration, the aquatic weeds G can be mowed down in the agricultural waterway 1 by the propulsive force of the water sail 50 when put into the water. Further, by winding up the flexible route guiding portion 20A and the connecting portion 30A, or by folding the water sail 50, the aquatic plant remover 100A can be made more compact, and the storability, portability, etc. can be improved. can be enhanced.

By the way, in the agricultural waterway 1, a weir 5 is provided at a predetermined position in the flow direction in order to facilitate water intake and diversion (see FIG. 4). The operation (mechanism) when climbing over such a weir 5 will be described with reference to the explanatory diagram of FIG. In FIG. 4, the aquatic weed remover 100 of the first embodiment having the non-flexible route guiding portion 20 and the aquatic weed remover 100A of the second embodiment having the flexible route guiding portion 20A are shown. It explains the action when it climbs over the weir 5.

First, the action of the aquatic plant remover 100A of the second embodiment will be described with reference to FIG. 4(c). As shown in FIG. 4(c), when the aquatic plant remover 100A reaches the weir 5, the water sail 50 and the float 40 floating near the water surface 3 climb over the weir 5 and move downstream. When the height of the weir 5 is low, following the water sail 50 and the float 40, the connecting part 30A and the reaping part 10 also get over the weir 5 by being guided by the route guiding part 20A. However, if the height of the weir 5 is relatively high, the flexible route guide portion 20A may deform along the weir 5, making it difficult for the reaping portion 10 to climb over the weir 5 in some cases. Therefore, the aquatic weed remover 100A of the second embodiment is suitable for use in cases where simplification and compactness are emphasized, use in water areas with few high weirs 5, use between weirs 5, and the like. there is

On the other hand, in the aquatic weed remover 100 of the first embodiment, as shown in FIG. 4(a), after the water sail 50 and the float 40 get over the weir 5, the route guide section 20 hits the weir 5. . Even in this case, since the route guiding portion 20 is long and inflexible, it does not bend, and the end on the connecting portion 30 side is lifted by the weir 5 as shown in FIG. 4(b). As a result, the reaping part 10 connected to this end part is also lifted up, so that the reaping part 10 can smoothly climb over the weir 5 together with the route guide part 20, and the operation of reaping the aquatic plants G on the downstream side of the weir 5 can be continued. can. Therefore, the aquatic weed remover 100 of the first embodiment can be suitably used even in water areas with weirs 5 and obstacles.

(Third and fourth embodiments)
Next, aquatic plant removers 100B and 100C according to third and fourth embodiments will be described with reference to FIGS. 5 and 6. FIG. FIG. 5 is a plan view of a waterweed remover 100B of the third embodiment and a cross-sectional view of the head portion 51 of a water sail 50, and FIG. 6 is a plan view of a waterweed remover 100C of the fourth embodiment. These waterweed removers 100B and 100C also have the same basic configuration as the waterweed remover 100 of the first embodiment shown in FIG. 1, except for the differences described below.

The aquatic weed remover 100B of the third embodiment shown in FIG. , a float 40 and an underwater sail 50. The reaping part 10 is connected to one part of the route guidance part 20 by a connecting part 30A composed of a connecting body 33 in which ropes are arranged in a V shape in plan view. In the third embodiment, as shown in the cross-sectional view of the water sail 50 in FIG. 5, a drain hole 56 is provided in the center of the umbrella portion 51 so that water accumulated in the umbrella portion 51 can be drained when the umbrella portion 51 is pulled up from the water. It is ready to be discharged. In this embodiment, one drain hole 56 having a diameter of about 1 cm is provided. However, the water drain hole 56 is not limited to this configuration, and it is sufficient that the water accumulated in the umbrella portion 51 can be discharged without reducing the propulsive force of the umbrella portion 51. Drain holes 56 may be provided in the shape.

The aquatic weed remover 100B having this configuration can also efficiently reap the aquatic weeds G while moving downstream with the water flow. In addition, the rigidity of the long and inflexible course guide portion 20, the buoyancy of the float 40 (and the umbrella-side float 53), and the propulsive force of the water sail 50 guide the reaping portion 10 in the direction of travel. Obstacles such as 5 can be easily overcome. In addition, even if the umbrella portion 51 is filled with water when the aquatic plant remover 100B is lifted out of the water, the water inside can be discharged from the drain hole 56, so that the operator can easily collect the water. Less work.

A waterweed remover 100C of the fourth embodiment shown in FIG. , and a water sail 50, and the float 40 is not provided between the body part O and the water sail 50. - 特許庁As in the first embodiment, the reaping part 10 is connected to two points of the route guidance part 20 by a connecting part 30 composed of connecting bodies 31a, 31b, 32a, 32b in which two pairs of ropes are arranged in a V shape. there is The aquatic weed remover 100C having this configuration can also efficiently reap the aquatic weeds G while moving downstream with the water flow. In addition, it is possible to provide a simpler and less expensive aquatic plant remover 100B. Even if there is an obstacle such as the weir 5, it can be smoothly overcome by the rigidity of the long and inflexible route guide portion 20, the propulsive force of the water sail 50, and the buoyant force of the canopy side float 53. can. Furthermore, the two connections by the connecting portion 30 can suppress the shake and rotation of the reaping portion 10 .

(Fifth embodiment)
Next, a waterweed remover 100D according to a fifth embodiment will be described with reference to FIGS. 7 and 8. FIG. FIG. 7 is a plan view of the aquatic weed remover 100D of the fifth embodiment, and FIG.

The aquatic weed remover 100D according to the fifth embodiment includes a route guide portion 20B made of a non-flexible long and wide band-shaped member (plate-shaped member) instead of the route guide portion 20 made of a rod-shaped member. Except for this, it has the same basic configuration as the aquatic plant remover 100 of the first embodiment shown in FIG.

That is, the aquatic weed remover 100D according to the fifth embodiment shown in FIG. Main body O, float 40, and underwater sail 50. The connecting portion 30B is composed of a pair of connecting bodies 34a and 34b in which ropes are arranged in a V shape, and connects the vicinities of both ends of the reaping portion 10 and the vicinities of both ends of the route guiding portion 20A. The route guiding portion 20A may be made of a long and wide flat plate or the like. With this configuration, resistance from water can be reduced, the weight of the main body portion O can be reduced, and the propulsive force of the underwater sail 50 can be sufficiently exhibited.

Although the size of the opening 22 is not particularly limited, it is desirable to have a size that does not get caught by an obstacle such as the weir 5 or the like. For example, by making the opening 22 smaller, it is possible to satisfactorily suppress catching on obstacles even when used in a water area with small unevenness of obstacles. On the other hand, in the case of use in a water area with relatively large unevenness of obstacles, even if the opening 22 is enlarged, it is possible to suppress catching on the obstacles, and further weight reduction and simplification are possible.

Next, the operation of the aquatic weed remover 100D of the fifth embodiment when it climbs over the weir 5A will be described with reference to FIG. FIG. 8(c) is a cross-sectional view taken along the line AA in FIG. 8(a). As shown in FIG. 8(c), a weir 5A having a structure having a plurality of concave portions 5a and convex portions 5b is exemplified. are doing. The width of the route guidance portion 20A is wider than the width of the recess 5a. In the aquatic weed remover 100D of the fifth embodiment, as shown in FIGS. 8(a) and 8(c), even if the route guide portion 20A collides with the weir 5A, the route guide portion 20A having inflexibility is As shown in FIG. 8(b), the weir 5A lifts the end on the connecting portion 30A side together with the reaping portion 10. As shown in FIG. Further, since the route guiding portion 20A is wider than the recessed portion 5a, the route guiding portion 20A does not pass between the recessed portions 5a but climbs over the convex portion 5b as shown in FIG. 8(c). Following this, the reaping part 10 also climbs over the convex part 5b and moves downstream without being caught between the convex parts 5b.

As described above, even with the aquatic plant remover 100D of the fifth embodiment, it is possible to efficiently reap the aquatic plant G while moving smoothly downstream with the water flow. In addition, due to the rigidity of the long, inflexible, and wide route guide portion 20A, the buoyancy of the float 40 (and the umbrella-side float 53), and the propulsive force of the water sail 50, the reaping portion 10 Guided in the direction of travel, it can easily overcome obstacles such as the weir 5A.

(Sixth embodiment)
Next, a waterweed remover 100E according to a sixth embodiment will be described with reference to FIGS. 9 and 10(a). FIG. 9 is a side view schematically showing the external configuration of the aquatic plant remover 100E of the sixth embodiment, and FIG. 10(a) is a plan view.

The aquatic weed remover 100E according to the sixth embodiment includes a reaping part 10E as a working part that performs a predetermined work in water, a route guide part 20E that guides the reaping part 10E in the course direction, and a propulsive force by receiving water flow. It mainly includes a model ship 60 to be obtained and a weight body 61 as a movement control section for controlling the movement of the model ship 60. - 特許庁The model ship 60 and weight 61 are connected by a rope (flexible member) 62 .

The reaping unit 10E includes a base 11E, one or more disc-shaped rotary blades (reaping main body) 12c for reaping the aquatic plants G by rotation, and a driving unit 13E for rotating the rotary blades 12c. The drive unit 13E is composed of an engine or the like that is driven by gasoline or the like. Further, the cutting body is not limited to the rotary blade 12c, but may be a hair clipper type saw blade that swings back and forth by a drive unit, or a tube having a plurality of openings that rotates to catch the aquatic plants G. may In addition, depending on the type and quantity of the aquatic plants G to be harvested, the environment, etc., these may be used by appropriately replacing them.

The route guidance part 20E is composed of a long rod-shaped member (non-flexible member). The reaping part 10E is fixed to one end of the route guiding part 20E which is arranged in the water, and the driving part 13E is fixed to the other end which protrudes into the air. A commercially available engine type brush cutter or the like can be used as one having such a reaping unit 10E, a route guiding unit 20E, and a driving unit 13E. In this case, the blade of the bush cutter corresponds to the reaping portion 10E, and the handle connecting the blade and the engine corresponds to the route guiding portion 20E.

In addition, the route guidance section 20E is pivotally supported by the model ship 60 by a rotating shaft 63 so as to be able to swing up and down. It also has a swinging part (such as a motor) for swinging the route guiding part 20E up and down. With this configuration, as shown by the dashed line in FIG. 9, the reaping part 10E swings up and down together with the route guiding part 20E, and the aquatic plants G can be reaped in a predetermined range from the bottom 2 to the water surface.

The model ship 60 functions as a propulsion part and also functions as a float that gives the aquatic plant remover 100E an appropriate buoyancy. The model ship 60 has a steering device 70 . The steering device 70 includes a rudder 71 that determines the traveling direction of the model ship 60, a rocking mechanism 72 that rocks the rudder 71, a controller 73 that controls the rocking mechanism 72, and a detection sensor 74 that detects position information. and have

The positional information is information relating to the positional relationship between a predetermined reference portion and the model ship 60 . In this embodiment, the left and right channel walls of the agricultural channel 1 (hereinafter referred to as "left quay LW" and "right quay RW") are used as reference portions. The positional relationship between each of the left quay LW and the right quay RW and the model ship 60 is detected by the detection sensor 74 to grasp the mutual positional relationship. Examples of the channel wall include a channel wall made of concrete, a channel wall made of concrete blocks, and a channel wall made of masonry. Also, in the case of an earthen canal without concrete or masonry, the earth slope can be used as the canal wall.

Examples of the detection sensor 74 that acquires distance information include, for example, an optical sensor such as an infrared photoreflector, an ultrasonic distance sensor, and the like, but are not limited to these, and may be any known distance measuring device. Sensors can be used. In this embodiment, infrared photoreflectors 74a and 74b for the left quay LW and the right quay RW are provided on both sides of the model ship 60, respectively.

Note that the detection sensor 74 is not limited to one that detects distance information. For example, a touch sensor or the like is used to detect whether each of the left quay LW and the right quay RW and the model ship 60 are in a contact state or a non-contact state, so that the mutual positional relationship can be grasped.

The control unit 73 can be composed of, for example, a microcomputer (a so-called one-board microcomputer) having a microprocessor and memories such as RAM and ROM. The control unit 73 acquires distance information from the infrared photoreflectors 74a and 74b, and based on this, controls the swing mechanism 72 so as to turn the rudder 71 in a predetermined direction.

Specifically, when contact between the model ship 60 and the left quay LW is detected based on the detection signal from the left infrared photoreflector 74a (or touch sensor) (or when the distance to the left quay LW reaches the threshold and so on), the controller 73 controls the rocking mechanism 72 to turn the rudder 71 to turn to the right. Further, when contact with the right quay RW is detected based on the detection signal from the right infrared photoreflector 74b, the control unit 73 controls the swing mechanism 72 to turn the rudder 71 to turn to the right. By this control, the model ship 60 flows downstream while meandering left and right between the left quay LW and the right quay RW. In FIG. 10(a), the left and right movement ranges of the model ship 60 are indicated by double arrows.

(Modified example of the sixth embodiment)
Modifications 1 and 2 of the sixth embodiment are shown in FIGS. 10(b) and 10(c), respectively. In the modification 1 of FIG. 10(b), an infrared photoreflector 74b and an ultrasonic distance sensor 74c capable of detecting a longer distance are provided on one side (here, on the right side) of the model ship 60 as the detection sensor 74. They are arranged side by side. In this modified example 1, the rudder 71 is turned so as to move to the right, and when contact between the model ship 60 and the right quay RW is detected based on the detection signal of the infrared photoreflector 74b, the rudder 71 is turned in the opposite direction. cut. As a result, the model ship 60 moves to the left. After that, when the separation distance from the right quay RW reaches a predetermined distance L (maximum separation distance) according to the detection signal from the ultrasonic distance sensor 74c, the rudder 71 is turned in the opposite direction. As a result, the model ship 60 moves to the right. By repeating this control, the model ship 60 can be meandered (moved zigzag) within a certain distance L (range indicated by a double-headed arrow) from one channel wall (right quay wall RW).

In Modified Example 2 of FIG. 10(c), an ultrasonic distance sensor 74c is provided as the detection sensor 74 on one side (here, right side) of the model ship 60. FIG. In this modification, based on the detection signal from the ultrasonic distance sensor 74c, when the distance from the right quay RW reaches a predetermined distance L1 (minimum distance), the rudder 71 is turned away from the right quay RW. , when reaching a predetermined distance L2 (maximum separation distance), turn the rudder 71 so as to approach the right quay RW. As a result, the model ship 60 can meander between the distances L1 and L2 (the range indicated by the double-headed arrow) from one channel wall (right quay wall RW). It should be noted that the thresholds and distances L, L1, and L2 in the sixth embodiment and modified examples 1 and 2 can be set to appropriate values according to the width of the channel and the range in which the aquatic plants G are cut.

As described above, in the aquatic plant remover 100E of the sixth embodiment and modifications 1 and 2, the weight body 61 prevents the model ship 60 from excessively increasing its moving speed or reversing its front and back. You can keep your posture. Further, based on the detection signal from the detection sensor 74 , the rudder 71 is swung left and right by the swing mechanism 72 under the control of the control unit 73 , so that the model ship 60 moves around the weight 61 as an axis. It meanders left and right inside. Due to this meandering, the reaping part 10E also meanders left and right, and the aquatic plants G in a predetermined range between the left quay LW and the right quay RW can be reaped. Therefore, the aquatic weed remover 100E can efficiently reap the aquatic weeds G while moving smoothly downstream with the water flow.

Further, in the sixth embodiment, modified examples, and a seventh embodiment described later, the controller 73 may count the switching time of the rudder 71 by a timer. Then, for example, when an error occurs in the detection of the left quay LW or the right quay RW by the detection sensor 74 due to some cause (for example, failure, dead battery, difficulty in detection due to plants, etc.), the control unit 73 immediately before A rocking mechanism 72 is controlled to turn the rudder 71 in the opposite direction when a fixed time or longer has elapsed since the rudder 71 was turned. As a result, it is possible to remedy the malfunction of the detection sensor and to continue smooth work.

(Seventh embodiment)
Next, a waterweed remover 100F of a seventh embodiment will be described with reference to FIG. FIG. 11 is a side view schematically showing the external configuration of the aquatic plant remover 100F of the seventh embodiment.

A waterweed remover 100F according to the seventh embodiment includes a reaping part 10F as a working part that performs a predetermined work in water, a route guide part 20F that guides the reaping part 10F in the direction of the route, the reaping part 10F and the route guide part 20F. and a model ship 60 that obtains propulsion by receiving water flow.

The reaping part 10F has the same configuration as the reaping part 10 of the second embodiment, and has a base 11, a saw blade 12a, and a chain 12b. The reaping part 10F not only functions to reap the aquatic plants G, but also functions as a sinker for sinking the reaping part 10F and as a movement regulating part for controlling the movement (moving speed and direction) of the model ship 60 . The route guiding portion 20E and the connecting portion 30F that connect the reaping portion 10F and the model ship 60 are formed of flexible members as in the second embodiment. It can also be configured like a form.

The model ship 60 functions as a propulsion section and a float as in the sixth embodiment. The model ship 60 includes a steering device 70 having a rudder 71, a swing mechanism 72, a control section 73, and a detection sensor 74, as in the sixth embodiment.

Even with the aquatic weed remover 100F of the seventh embodiment having the above configuration, the model ship 60 can be kept at an appropriate speed and posture without excessively increasing the moving speed or reversing the model ship 60 due to the reaping part 10F. can. The model ship 60 meanders left and right in the agricultural waterway 1 by swinging the rudder 71 left and right with the swing mechanism 72 under the control of the control unit 73 based on the detection signal from the detection sensor 74 . . Due to this meandering, the reaping part 10E also moves left and right, and the aquatic plants G in a predetermined range between the left quay LW and the right quay RW can be reaped. Therefore, the aquatic weed remover 100F can efficiently reap the aquatic weeds G while moving smoothly downstream with the water flow.

(Eighth embodiment)
Next, a waterweed removal system 200 according to a sixth embodiment will be described with reference to FIGS. 12 and 13. FIG. As shown in FIGS. 12 and 13, the waterweed removing system 200 according to the eighth embodiment includes a waterweed remover 100 similar to that of the first embodiment, and a collecting unit 110 for collecting the waterweed remover 100. ing. The aquatic plant remover 100 is not limited to the one similar to that of the first embodiment, and the aquatic plant remover 100A, 100B, 100C, 100D, 100E, 100F, etc. of the second to seventh embodiments may be used. can.

As shown in FIGS. 12 and 13, the recovery unit 110 includes a recovery device 6 provided on one bank (hereinafter referred to as the "recovery side") of the agricultural waterway 1 for recovering the aquatic plant remover 100, and the recovery device 6. A fixing device 7 provided on the other bank upstream of 6 (hereinafter referred to as "fixed side"), and a recovery rope (longitudinal member) 4A.

The recovery device 6 includes a support 6a fixed to one bank, an insertion string 6b having one end fixed to the support 6a and having a loop portion 6c at the other end through which the recovery rope 4A is passed, and suspended from the insertion string 6b. and a weight 6d. The fixing device 7 includes a post 7a fixed to the other shore, a loop-shaped fixing string 7b fixed to the support 7a, and a loop of the fixing string 7b rotatably attached to guide the recovery rope 4A. It has a pulley 7c and a weight 7d suspended from a fixed string 7b.

The recovery rope 4A is hooked on the pulley 7c of the fixing device 7 on the fixed side, and is temporarily fixed to the post 6a of the recovery device 6 on the recovery side. The recovery rope 4A is oblique to the water flow from the upstream fixed side to the downstream recovery side, and is doubly suspended over the water surface 3 .

Further, by releasing the temporary fixing on the recovery side, the recovery rope 4A can be moved clockwise or counterclockwise via the pulley 7c. The posts 6a and 7a may be newly installed on both banks for the recovery unit 110, but in this embodiment, the posts of the fence arranged along the agricultural waterway 1 are used as the posts 6a and 7a for the recovery unit 110. It is also used as 7a.

In addition, the upper rope of the recovery rope 4A, which is arranged in a double manner, is arranged several centimeters above the water surface 3 so that the hook 54 of the aquatic plant remover 100 can be easily hooked. Since the lower rope of the recovery rope 4A is provided with a plurality of floats 4a, the height of the recovery rope 4A changes according to the increase or decrease of water, and the height of the recovery rope 4A from the water surface 3 to the upper rope changes. The relative height can be kept at a given height.

In the aquatic weeds removing system 200 of the eighth embodiment, as shown in FIG. 12, the aquatic weeds remover 100 flows down while cutting the aquatic weeds G from the upstream side due to the water flow, and then the hook 54 is caught by the recovery rope 4A and stopped. . Since the recovery rope 4A is stretched obliquely toward the downstream recovery side, the aquatic weed remover 100 moves obliquely along the recovery rope 4A by the propulsive force of the water sail 50 that receives the water flow. to reach the collecting side. Therefore, the aquatic weed remover 100 can be easily recovered on the recovery side without the worker on the recovery side entering the water or hauling the recovery rope 4A.

Even when the aquatic plant remover 100 cannot move to the recovery side, such as when the water flow is weak, the aquatic plants caught on the recovery rope 4A can be removed by rotating the recovery rope 4A via the pulley 7c. The removal tool 100 can be moved to the recovery side and recovered. At this time, the float 4a is hooked on the aquatic plant remover 100, so that the aquatic plant remover 100 can be moved to the recovery side more reliably. After recovery, the recovery rope 4A and the float 4a can be returned to their original positions by rotating in the opposite direction.

The effects of the present invention will be described below. The aquatic weed removers 100, 100B, 100C, and 100D of the first, third to fifth embodiments have a working part (for example, the reaping part 10) that performs a predetermined work underwater and a path that guides the working part in the direction of the course. It is provided with a guide section 20, connecting sections 30 and 30A that connect the working section and the route guidance sections 20 and 20B, and a water sail 50 that obtains propulsion by receiving water flow. The route guiding portion 20 is made of a long non-flexible member, and the connecting portions 30 and 30A are made of a flexible member.

With this configuration, when the operator simply throws the aquatic plant removers 100, 100B, 100C, and 100D into the water, the water flow causes the aquatic plant removers 100, 100B, 100C, and 100D to flow down, allowing the worker to perform underwater work (for example, aquatic plant removal). Reaping work of G) is executed. In addition, the flexible connecting portions 30 and 30A absorb shaking and small movements of the route guiding portions 20 and 20B, thereby preventing the reaping portion 10 from being affected. The long non-flexible route guiding portions 20 and 20B guide the reaping portion 10 in the downstream direction and smoothly overcome obstacles such as the weirs 5 and 5A. In addition, it is easy to recover, and can be used repeatedly by putting it into water as necessary, and is excellent in workability. In addition, the water sail 50 can provide an appropriate propulsive force to smoothly guide the waterweed removers 100, 100B, 100C, and 100D downstream. Therefore, it is possible to provide the aquatic weed removers 100, 100B, 100C, and 100D as underwater working tools that can perform underwater work such as removing aquatic weeds with less labor. In addition, the structure is simple, the material cost can be reduced, and an inexpensive product can be provided.

Further, the aquatic plant removers 100, 100A, 100B, 100C, 100D, and 100F of the first to fifth and seventh embodiments are composed of a working portion (reaping portion 10), a route guiding portion 20, 20A, and 20F, and a connecting portion. 30, 30A, 30F, and the connecting portions 30, 30A, 30F are made of a flexible member. Also with this configuration, when the aquatic plant removers 100 to 100E are put into the water, they perform the work in the water while flowing down with the water flow. In addition, the connecting portion 30 having flexibility can absorb shaking and small movements of the route guiding portion 20, and can prevent the working portion from being affected. Therefore, underwater work can be performed with a smaller amount of labor. In addition, it is possible to provide a product with a simpler configuration and reduced material cost.

Further, the waterweed remover 100A of the second embodiment includes a working portion (reaping portion 10), a route guiding portion 20A, a connecting portion 30A, and a water sail 50. The route guiding portion 20A and the connecting portion 30A , a flexible member. With this configuration as well, when the aquatic plant remover 100A is put into water, the waterweed remover 100A performs the work in the water while flowing down with the water flow. Moreover, the water sail 50 can provide an appropriate propulsive force to smoothly guide the waterweed remover 100A downstream. Therefore, underwater work can be performed with a smaller amount of labor. In addition, the route guiding portion 20A and the connecting portion 30A having flexibility can be wound up, and a product excellent in storability and portability can be provided.

In addition, in the aquatic plant removers 100, 100B, 100F of the first, fourth, and seventh embodiments, the working portion (reaping portion 10, 10F) is connected to the connecting portion 30 (first and second connecting bodies 31a, 31b, 32a, 32b) are connected to at least two locations of the route guidance unit 20. As shown in FIG. With this configuration, it is possible to freely guide the reaping part 10 to a desired height, position, and direction in the water by following the vertical movement of the route guide part 20 in water, while preventing the reaping part 10 from unexpected inclination or rotation. can be done. Also, the strength of the connection between the working portion and the route guiding portion 20 can be further enhanced.

In addition, the aquatic weed remover 100A of the second embodiment includes a working portion (reaping portion 10), a route guiding portion 20A, a connecting portion 30A that connects the working portion and the route guiding portion 20A, and a water sail 50. , the route guiding portion 20A and the connecting portion 30A are made of flexible members. According to this configuration, it is possible to provide the aquatic plant remover 100A which is simpler, foldable, more compact, and less expensive.

Further, as in each of the above-described embodiments, the underwater sail 50 is provided with a float (cap side float 53) and a weight 55 arranged at a position facing the float. Unexpected shaking or the like of the head portion 51 of 50 can be suppressed to improve balance in the water, and to efficiently receive water flow to generate an appropriate propulsion force.

In addition, by providing the float 40 as in the above-described first to third and fifth embodiments, it becomes a mark for the operator to find the aquatic plant remover 100 in the water, and the aquatic plant remover 100 etc. It is possible to give moderate buoyancy to suppress unnecessary sinking and allow it to flow smoothly.

In addition, the float (float 40, umbrella side float 53) or its vicinity is provided with a hook (hook 54) for recovery by a predetermined recovery part (recovery ropes 4, 4A, hooks, etc.). In this case, the aquatic plant remover 100 and the like can be collected more easily, and work efficiency can be further improved. Also, if the recovery ropes 4 and 4A are arranged, the aquatic plant remover 100 or the like stopped by the hooks (hooks 54) can be caught in the vicinity of the recovery section. Therefore, it is not necessary for the worker to constantly monitor the whereabouts of the aquatic plant remover 100 and the like, and it is only necessary to go to the recovery side and recover the tool after putting it into the water, thereby improving work efficiency.

Further, the aquatic plant removers 100E and 100F of the sixth embodiment, modified examples 1 and 2, and the seventh embodiment have a working part (reaping part 10) for performing a predetermined work in water and a path for guiding the working part in the course direction. It is provided with guide parts 20E and 20F and a model ship 60 that obtains propulsion by receiving water flow. The model ship 60 includes a steering device 70 having a rudder 71 that determines the direction of travel of the model ship 60, a rocking mechanism 72 that rocks the rudder 71, and a controller 73 that controls the rocking mechanism 72. there is With this configuration, the model ship 60 can be moved left and right to cut the aquatic plants G in a predetermined range. Furthermore, by providing a movement restricting portion (weight body 61, etc.) for controlling the movement of the model ship 60, the model ship 60 can be maintained at an appropriate speed and posture.

Further, the steering device 70 includes a sensor (detection sensor 74) for acquiring position information (distance information) regarding the positional relationship between predetermined reference portions (left quay LW, right quay RW) and the model ship 60. controls the swing mechanism 72 based on the position information (distance information) acquired by the sensor. With this configuration, the lateral movement range of the model ship 60 can be freely controlled, and the aquatic plants G in a desired range can be cut.

Further, as in each of the above-described embodiments, an information acquisition unit (for example, an information acquisition sensor S) that acquires information about either the work environment or the work state is provided, so that it is possible to cut the aquatic plants G or the like. While performing underwater work, it is possible to acquire information about water temperature, water quality, position, speed, and other work environment and work conditions. Such information can be used for improvement of underwater work, research, and the like. Further, by providing the water drain holes 56 in the water sail 50 as in the third embodiment, the water in the water sail 50 (cap section 51) can be discharged from the water drain holes 56, thereby removing waterweeds. Collection of the tool 100B can also be performed with less labor.

Further, the aquatic plant removing system using the aquatic plant removing tool 100 of the first embodiment and the aquatic plant removing system 200 of the eighth embodiment can be used with underwater working tools (for example, the aquatic plant removing tools 100 of the first to seventh embodiments, 100A, 100B, 100C, 100D, 100E, 100F), and a recovery unit (for example, a recovery rope 4 and a recovery unit 110) for recovering the underwater working tool. The recovery section has a longitudinal member (for example, recovery ropes 4 and 4A) that spans across the direction intersecting the water flow.

With this configuration, the aquatic weed remover 100 or the like that has flowed down from upstream is caught by the longitudinal member and stopped, so that the aquatic weed remover 100 or the like can be easily recovered. Therefore, it is possible to provide the waterweed removal system 200 or the like as an underwater work system capable of performing underwater work such as removal of waterweeds with a smaller amount of labor.

In addition, the longitudinal members (recovery ropes 4 and 4A) are arranged obliquely with respect to the water flow from the upstream side of the water flow toward the recovery position on the downstream side, so that the aquatic weed remover 100 or the like caught on the longitudinal members can be removed. , is moved along the longitudinal member by the water flow to a retrieval position. Therefore, the operator can easily collect the aquatic weed remover 100 and the like, and work efficiency is further improved.

Although the underwater working tool and the underwater working system of the present invention have been described above based on each embodiment, the specific configuration is not limited to these embodiments, and each claim of the scope of claims. Design changes, additions, etc. are permitted as long as they do not deviate from the gist of the invention pertaining to the paragraph.

For example, in each of the above-described embodiments, an example in which the waterweed remover is applied to the agricultural waterway 1 has been described, but the work object is not limited to the agricultural waterway 1. If it can be obtained, it can be applied to various water areas such as irrigation canals other than the agricultural irrigation canal 1, lakes and marshes, and rivers. Further, in each of the above-described embodiments, the aquatic weed remover is operated only by the flow force of the water flow without using mechanical power or the like, so that it is simpler and less expensive. On the other hand, in order to reinforce the propulsive force of the underwater sail 50 and the model ship 60, and to enable use in water areas with weak water currents, the waterweed remover may be provided with a power such as an underwater engine.

In addition, if the aquatic weed remover can be moved downstream by the water flow, the underwater sail may not necessarily be provided, and the aquatic weed remover comprises at least a working portion (reaping portion), a route guiding portion, and a connecting portion. And it is sufficient. In this case, the propulsive force can be improved by further providing a float. Furthermore, by providing power such as an underwater engine, it is possible to secure a more rational propulsion force.

In addition, in each of the above-described embodiments, the embodiment related to the aquatic plant remover is described as an example of the underwater working implement, but the underwater working implement is not limited to the aquatic plant remover. Other different embodiments of the underwater working tool include, for example, an underwater collection tool for collecting underwater debris, sand, and other sediment, an underwater collection tool for collecting underwater organisms and underwater plants, and the like.

In the case of the underwater collecting tool, sediment on the bottom 2 and garbage floating in the water can be collected by using a rake, a saddle, a net, a colander, a cloth bag, or the like as the working part. In addition, in the case of an underwater collecting tool, a net, a colander, a cloth bag, or the like is used as the working part, thereby enabling the collection of aquatic organisms and aquatic plants.

Further, in each of the above-described embodiments, the hook 54 as the hooking portion is provided on the umbrella-side float 53, but it may be provided on the float 40 or the like, or may be provided on both sides. Further, it is not always necessary to provide the hook 54, and the float 40 or the water sail 50 may be hooked by the recovery portion such as the recovery rope 4 to recover.

In addition, a plurality of the aquatic plant removers of the above-described embodiments may be connected to each other, or the aquatic plant remover may have a configuration in which a plurality of main bodies O and floats 40 are connected in the width direction to a horizontally elongated water sail. can also

Also, in the aquatic weed removers 100 to 100B and 100D of the first to third and fifth embodiments, the float 40 may be provided with the steering device 70 as in the sixth and seventh embodiments. As a result, the float 40 can meander left and right, and the aquatic plants G in a desired area can be mowed. Further, in the sixth embodiment, the weight body 61 is used as the movement restricting part, but as another embodiment, a gyro sensor or an acceleration sensor attached to the model ship 60 or the like and the control part 73 are used as the movement restricting part. , the control unit can also control the movement speed and attitude based on the information detected by these sensors. Further, the movement regulating section is not limited to these, and any configuration of the movement regulating section may be used as long as it can control the model ship 60 or the like to maintain an appropriate speed and posture.

1 agricultural waterway 4a float 4, 4A recovery rope (recovery part, longitudinal member)
10, 10E, 10F Reaping part (working part)
20, 20A, 20B, 20E, 20F Route guidance parts 30, 30A, 30B, 30E Connection part 40 Float 50 Water sail 53 Canopy side float (float) 54 Hook (hook part) 55 Weight 56 Drain hole 60 Model ship 61 Weight (speed control part)
70 steering device 71 rudder 72 rocking mechanism 73 control unit 74 detection sensor (sensor) 74a infrared photoreflector (sensor)
74b infrared photoreflector (sensor) 74c ultrasonic distance sensor (sensor)
100, 100A, 100B, 100C, 100D, 100E, 100F Weed remover (underwater work tool)
110 collection unit 200 aquatic plant removal system (underwater work system)
G Aquatic plants S Information acquisition sensor (information acquisition part) LW Left quay (reference part)
RW right quay (base part)

Claims (12)

a working unit that performs predetermined work underwater;
a route guidance unit that guides the working unit in a route direction;
a connecting portion that connects the working portion and the route guidance portion;
An underwater sail that gains propulsion by receiving water flow,
with a float ,
The route guidance part is composed of a longitudinal non-flexible member,
The underwater working tool, wherein the connecting portion is composed of a flexible member. a working unit that performs predetermined work underwater;
a route guidance unit that guides the working unit in a route direction;
a connecting portion that connects the working portion and the route guidance portion;
with a float ,
The underwater working tool, wherein the connecting portion is composed of a flexible member. a working unit that performs predetermined work underwater;
a route guidance unit that guides the working unit in a route direction;
a connecting portion that connects the working portion and the route guidance portion;
An underwater sail that gains propulsion by receiving water flow,
with a float ,
The underwater working tool, wherein the route guiding portion and the connecting portion are made of a flexible member. The underwater working tool according to any one of claims 1 to 3, wherein the working section is connected to at least two locations of the route guiding section by the connecting section. 4. The underwater working tool according to claim 1, wherein the underwater sail is provided with a float and a weight arranged at a position facing the float. 6. An underwater working tool according to claim 1, wherein said water sail has a drain hole. a rudder for determining the traveling direction of the float; a swing mechanism for swinging the rudder; a sensor for obtaining positional information relating to a positional relationship between a predetermined reference portion and the float; The underwater working tool according to any one of claims 1 to 6, further comprising: a control unit that controls the swing mechanism based on the position information. 8. The underwater working tool according to any one of claims 1 to 7 , wherein a hook portion for recovery by a predetermined recovery portion is provided on or near the float. 9. The underwater working tool according to any one of claims 1 to 8 , further comprising an information acquisition unit that acquires information about either the working environment or the working state. 10. The apparatus according to any one of claims 1 to 9 , wherein the working part is a reaping part for reaping aquatic weeds, and the underwater working tool is a weed remover used for removing aquatic weeds from agricultural waterways. Underwater work equipment as described. An underwater working tool according to any one of claims 1 to 10 , and a recovery unit for recovering the underwater working tool,
The underwater work system, wherein the recovery unit has a longitudinal member that spans across in a direction that intersects the water flow. 12. The underwater work system according to claim 11 , wherein the longitudinal member is arranged obliquely with respect to the water flow from the upstream side of the water flow toward the recovery position on the downstream side.