JPH10114944A - Submerged working machine and underwater working method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a submerged working machine to be applicable for various underwater works in a wide range of a water depth. SOLUTION: A submerged working machine 1 is provided with a pressure uniforms chamber 30 to maintain an internal pressure at a value balancing with a water pressure by air fed from a power unit arranged on a water surface, and switches remote maneuvering by a remote control maneuvering machine on a water surface or in water and direct maneuvering by a diver riding in a submerged working machine. In which case, in the pressure uniformizing chamber 30, a power or an oil pressure is controlled in the pressure uniformizing chamber 30 and the submerged working machine 1 is maneuvered by either remote maneuvering by a remote control maneuvering machine on a water surface or in water or direct maneuvering by a diver. Further, an underwater television camera and a monitor television is arranged as a indirect visual observing device in the case of remote manuvering.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater work machine applicable to various underwater work at a wide range of water depths, and more particularly, to an underwater work machine on a supporting mother ship or in the vicinity of an underwater work machine, which can be directly operated by a diver and switched. The present invention relates to an underwater working machine that can be remotely controlled by an underwater remote controller.

[0002]

2. Description of the Related Art For example, when constructing a breakwater or a seawall, a large amount of rubble as a foundation is poured into a water bottom, and then the individual rubble is moved or piled up by a diver to perform leveling work. We are implementing. However, such a method has a problem that the work efficiency is poor, a lot of labor and time are required, and the work is performed manually, so that it cannot be compacted sufficiently and a solid foundation cannot be obtained. Was. In recent years, the work area has been extended to deep waters such as offshore, increasing the risk and difficulty of work, and measures against sickness have become necessary.More recently, it has been difficult to secure many divers. It is becoming.

In order to solve such a problem, for example, an engine portion of a land bulldozer is housed in a pressure-resistant shell,
Underwater bulldozers and the like have been developed that have a high exhaust chimney corresponding to the depth of the water and can run on the bottom of the water. However, if the height of the chimney is too high, the center of gravity becomes high and a problem such as easy falling occurs, so that the water depth of about 7 m is a structural limit. A submersible-type work machine equipped with a manipulator is also known, but because the hull becomes large, it cannot turn easily and it is difficult to use it in places with shallow drafts. Due to its small size, it cannot be used for heavy-weight work such as rubble leveling work.

In order to solve such a problem, the present applicant has provided a pressure equalizing chamber in which the internal pressure is maintained at a value equilibrium with the water pressure by air supplied from a power unit disposed on the water. Proposed underwater working machine (Japanese Unexamined Patent Publication No.
662). This underwater working machine is configured such that a diver directly operates from a cockpit of the underwater working machine.

[0005]

Since the underwater working machine according to the above proposal is directly operated by a diver riding on the underwater working machine, there is a problem in the safety of the diver's underwater work (for example, diving disease). In particular, it was difficult for divers to maneuver especially in deep water because the work time was short and limited.

Accordingly, an object of the present invention is to enable switching between direct operation by a diver and remote (remote control) operation from underwater on a support mother ship or around an underwater work machine,
An object of the present invention is to provide an underwater working machine that can be applied to various underwater work in a wide range of water depth.

Another object of the present invention is to provide an underwater working method using such an underwater working machine.

[0008]

SUMMARY OF THE INVENTION The present invention relates to a submersible working machine having a pressure equalizing chamber in which the internal pressure is maintained at a value that balances the water pressure with the air supplied from a power unit disposed on the water. Alternatively, remote control can be performed by an underwater remote control device.

Further, the present invention can switch between remote control by a remote control device on or under water and direct control by a diver riding on an underwater working machine. In this case, if you are maneuvering directly by a diver,
A safety device comprising a switch means for interrupting a remote control signal from a remote control device having the remote control device, or a remote control by a remote control device on or under water, and a safety device in which one of direct control by a diver is prioritized. Preferably, it is provided in an equalizing chamber.

In the case of remote control using a remote control device,
In order to visually recognize the work location, it is necessary to provide an underwater television camera and a monitor television that can be operated with a remote control device.

As the power for the underwater working machine of the present invention, hydraulic pressure supplied from a hydraulic pressure generator disposed on water or electric power supplied from a power supply device disposed on water can be used. Alternatively, it is also possible to use the electric power supplied from the electric power supply device arranged on the water and the hydraulic pressure of the hydraulic system device driven by this electric power.

In these cases, the supplied hydraulic pressure or electric power is controlled by the remote controller in the pressure equalizing chamber.

[0013] When operating the remote controller underwater, the diver stands and operates near the underwater work machine, or the diver operates the bucket side of the underwater work machine or the tip of the arm to which the bucket is attached. The user can operate the remote control pilot on the cockpit provided nearby.

According to the underwater work method of the present invention, the underwater work machine as described above is operated by a remote controller to perform work underwater.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which hydraulic pressure is used as power will be described. FIG. 1 is a schematic diagram showing an entire configuration of a system for implementing an underwater working method according to the present invention,
2 and 3 are diagrams illustrating an example of the underwater working machine and the power unit, respectively. FIG. 1 shows an example in which an underwater rubble mound 8 is constructed, where 1 is an underwater working machine, 2 is a power unit, 3 is a diver, and 4 is an air / water for underwater working machine.
Hydraulic supply cable, 5 is an air supply cable for divers,
6 is a remote control cable, and 7 is a support mother ship.

For the underwater working machine 1, for example, a backhoe type construction machine for land use which is modified for underwater working is used. That is, as shown in FIG. 2, a crawler-type traveling device 11, a backhoe-type work arm 12 provided with a bucket 12a or the like at the tip, a cockpit 13, and the like are provided, and the work arm 12, the cockpit 13 and the like are mounted. The revolving unit 14 has a structure capable of revolving with respect to the traveling device 11. These points are the same as those for general land use, but a power unit such as an engine or a hydraulic pump is removed so that necessary power is supplied from a power unit 2 on the support mother ship. In addition, by providing a pressure equalizing chamber 30 as described below,
The inside is a machine room, which houses machine units and members to avoid water leakage and water intrusion.

In this underwater working machine 1, the underwater portion is made as small as possible and its structure is simplified in order to improve underwater working performance, prevent troubles, improve underwater visibility, and the like. In other words, cockpit covers for land use,
Remove the external counterweight, engine cover, etc., and take into account changes in the center of gravity and
The balance is adjusted by taking countermeasures such as installing a counterweight inside the unit. For example, an emergency air cylinder (not shown) is provided at the rear of the cockpit 13,
Further, a protective fence 15 for covering the cockpit 13 and the pressure equalizing chamber 30 and the like is provided for protection against falling. An underwater television camera (not shown), which will be described later, is installed above the cockpit 13.

The power unit 2 is installed on the support mother ship 7 to supply power to the underwater work machine 1, and is provided with at least a device corresponding to a power unit removed from a land-based construction machine. In this embodiment, FIG.
As shown in (B), fixed leg 21a and moving wheel 21b
An engine 22, a hydraulic pump 23,
A compressor 24, a cable drum 25, a cable reel 26, a patrol light 27 when using a remote control, an abnormal patrol light 28, and the like are mounted. Depending on the work place,
The power unit 2 can be installed not on the support mother ship 7 but on land.

The cable drum 25 is used for the air / hydraulic supply cable 4, and the power unit 2 is used for winding power.
It is configured to supply its own hydraulic pressure and to house the air / hydraulic supply cable 4 having a length of, for example, about 70 to 80 m. The underwater working machine 1 is connected to the engine 22, the hydraulic pump 23, and the compressor 24 by the air / hydraulic cable 4. The supplied hydraulic pressure is, for example, 250
At Kgf / cm ² , the air pressure is set to a value, for example, about 5 kgf / cm ² higher than the pressure at the predetermined water depth. The air supply cable 5 of the diver 3 is connected to an air tank.

FIG. 4 is a view showing an example of the structure of the pressure equalizing chamber 30 of the submersible working machine. The pressure equalizing chamber 30 is provided over the swivel joint 31 which is the center of rotation of the revolving unit 14 and extends vertically. That is, 30a is attached to the revolving superstructure 14, and 30a
Reference numeral b denotes a housing provided on the frame 11a of the traveling device 11 in a water-tight manner. The upper and lower portions of the pressure equalizing chamber 30 communicate with each other via a guide pipe 30c.

The inside of the equalizing chamber 30 is a machine room.
Main control valve 32 and hydraulic swing motor 3
3. The hydraulic swing motor 33 fixed to the frame 11a
A ring gear 34 and the like meshing with the output gear 33a are housed, and a part thereof extends to a lower portion of the cockpit 13 and is operated by a pilot arm 13a.
b is stored. The pressure equalizing chamber 30 is provided with a regulator 36 and a discharge valve 37.

The air / hydraulic supply cable 4 is a collective pressure-resistant hose. The air hose is connected to the regulator 36 and the hydraulic hose is connected to the main control valve 32 via an appropriate connection port (not shown). The hydraulic swing motor 33 and the hydraulic cylinders 12b, 1 of the work arm 12
2c, 12d, and a hydraulic motor (not shown) for driving the traveling device 11 are connected to the main control valve 32 by a hydraulic pipe (not shown). The pilot valve 13 is controlled by a pilot arm 13a or an electromagnetic valve controlled by a remote control signal.
b is operated so as to be driven in accordance with the switching of the main control valve 32 due to the fluctuation of the pilot oil pressure.

FIG. 5 shows a control mechanism by remote control operation in detail. A pilot hydraulic pump 70 is provided inside the pressure equalizing chamber 30, and is connected to the pilot valve 13 b and the main control valve 32 by a pilot hydraulic circuit 71. Pilot valve 13b
Can be operated by an electromagnetic valve 72, and this electromagnetic valve is controlled by a remote controller 73 described later.

A main hydraulic pump 74 is further provided inside the pressure equalizing chamber 30, and is connected to the main control valve 32, each operation cylinder and each hydraulic cylinder 76 by a main hydraulic circuit 75. Each of the hydraulic cylinders and the like includes the hydraulic swing motor 33 and the hydraulic cylinders 12b, 12c, 12
d, and further includes a hydraulic motor for driving the traveling device 11 and the like.

The pilot valve 13b is operated by a pilot arm 13a operated by a diver or an electromagnetic valve 72 controlled by a remote controller 73. When the pilot valve 13b is operated by a diver, the remote controller operates a remote controller. In order to avoid control, it is preferable to provide an on / off switch on the remote control device side as described later, and to turn off the remote control device so that a remote control signal is not transmitted.

Alternatively, when the above-mentioned on / off switch is not provided, a safety device that gives priority to one of direct operation by the pilot valve 13b operated by the diver and remote operation by the remote control device is equalized. It can be provided in the pressure chamber 30. When the underwater work machine 1 is operated by the diver 3, priority is given to direct operation by the diver. When the underwater working machine 1 is remotely controlled, remote control is given priority in consideration of occurrence of malfunction of the pilot arm 13a.

The air / hydraulic supply cable 4 naturally includes a hydraulic return side hose. However, if necessary, signal cables for communication are also provided.

The regulator 36 has a structure as shown in FIG. 6, and is disposed immediately below the revolving unit 14 as shown in FIG. 4 in order to detect the water pressure at the lowest position of the pressure equalizing chamber 30. In the drawing, 36a is a housing, 38 is a diaphragm, 39 is a crank lever, 40 is a seat valve, 41 is a high pressure air supply pipe to which the air hose of the air / hydraulic supply cable 4 is connected, and 42 is a communication with the inside of the pressure equalizing chamber 30. It is a regulated pressure supply pipe.

A plurality of small holes 36b are formed on the water pressure detecting side of the housing 36a. When the water pressure outside the pressure equalizing chamber 30 becomes higher than the pressure inside the pressure equalizing chamber 30, the diaphragm 38 is pushed leftward in FIG. The lever 39 rotates clockwise about the shaft 39a. Therefore, the valve body 40a of the seat valve 40 is pushed up, and air is supplied from the high pressure air supply pipe 41 into the pressure equalizing chamber 30 until the internal pressure becomes a value corresponding to the water pressure. A check valve is used as the discharge valve 37. When the external water pressure becomes lower than the internal pressure, the check valve opens and discharges the air in the pressure equalizing chamber 30 into the water until the two pressures are balanced.

Therefore, by the operation of the regulator 36 and the discharge valve 37, the internal pressure of the pressure equalizing chamber 30 is always maintained at a value balanced with the external water pressure, and the housings 30a and 30b are relatively thin. A steel plate or the like can be used, and the seal portion can be simple.
Further, the main control valve 32, the pilot valve 13b, the hydraulic turning motor 33, the turning drive output gear 33a, the ring gear 34, and the like are protected from water leakage and water pressure.

FIG. 7 is a diagram showing a system of the remote controller. The remote control device basically includes a control device 50 constituting a transmitter and a receiving device 5 installed on the power unit 2.
And 2. The receiving device 52 includes the pilot 50
54 that can be connected by wire or wirelessly to
And a remote control driver 56 composed of a CPU and the like.
And The remote control driver 56 is connected to the remote control cable 6 via an on / off switch 59, and this cable is connected to the underwater connector 60 of the underwater work machine 1 via the cable reel 26.

If the on / off switch 59 is turned off when the diver 3 operates, even if the pilot 50 is erroneously operated, there is no danger that a remote control signal will be sent to the underwater working machine 1. Piloting by divers is secured safely.

The piloting machine 50 includes not only various switches for steering the underwater working machine 1 but also operating switches for the engine of the power unit 2 and the like, and is usually installed in the cockpit 58.

In the case of wireless communication, a signal from the pilot 50 is received by an antenna of the
Sent to 6. The remote control driver analyzes the content of the signal and determines whether it is a signal that drives the device on the power unit,
It is determined whether the signal is a signal for driving the underwater working machine, a control signal for the control target is created, and the control signal is sent to the control target. When the control target is an underwater working machine, the pilot valve 13b is operated by the electromagnetic valve 72 controlled by an electric signal to change the pilot oil pressure. As a result, the main control valve 32 is operated, and the hydraulic cylinder and the like of the underwater working machine 1 are driven.

Next, the mounting of the underwater television camera used in the indirect visual recognition system in the case of remote control operation will be described. In the underwater television camera, a camera for monitoring the leveling part and a camera for monitoring the whole are used separately.

As shown in FIG. 8, the underwater television camera 62 for monitoring the leveling section is provided, for example, above the cockpit 13 of the underwater working machine. This underwater television camera has, for example, an 8 × zoom function, and can be turned up, down, left, and right by a pan / tilt device. Such an operation can be controlled by a remote control device of the underwater television camera.

On the other hand, the underwater television camera for general monitoring
It is fixed to the tip of a fixing bracket provided on a stand provided on the ship side of the support mother ship 7 or on the sea floor around the underwater work machine. This underwater television camera can also be operated by the remote control device.

The system according to the embodiment is constituted by a combination of the above-mentioned equipments. Next, an example of an operation procedure when the rubble mound 8 is constructed on the seabed by such a system will be described. First, a flagpole based on prior surveys is used as a landmark, and a 5-200kgf /
A predetermined amount of the rubbles 8a is charged and deposited in a mound shape. The charging operation is performed while measuring the water depth, and its accuracy is generally about ± 50 to 70 cm. This operation is the same as the conventional one.

When this charging operation is completed, the underwater working machine 1
The support mother ship 7 loaded with the power unit 2 and the crawler crane 7a is operated to a work place and fixed with an anchor. Next, the power unit 2 is operated, and the underwater working machine 1 is suspended at a predetermined position in the sea using the crawler crane 7a.

In a place where the water depth is shallow, the diver 3 gets in and starts work using the traveling device 11 and the work arm 12.

At this time, even if the control device of the remote control device is operated on the support mother ship and a remote control signal is transmitted, the safety device 10 operates as described above, and the diver's control is given priority.

When the water depth is deep, or when the diver does not perform the operation, the underwater work machine 1 is operated by the remote control device. The remote control is performed while displaying images from the underwater television camera mounted on the underwater work machine 1 and the underwater television camera provided on the support mother ship or on the periphery on the monitor television 80 provided in the cockpit 58.

First, the top end is roughly leveled, a stake for embedding is embedded, a ruler indicating a reference height is installed in the pile, and the leveling is performed near the center of the top end, and the leveling is sequentially performed in the slope direction. Go. At this time, the rubble stones 8a are not piled up at one time, but are piled up little by little while being rolled as frequently as possible by the underwater working machine 1. The work is advanced by rolling the slope 12 in the bucket 12a while stacking it in the same manner as the top end. When the underwater work for one day is completed in this manner, the underwater work machine 1 is lifted on the support mother ship 7, washed with water, inspected, and the like, to complete the work.

When the underwater working machine 1 is lowered and lifted, the water pressure changes successively with the change of the water depth. Therefore, the power unit 2 is operated at least while the pressure equalizing chamber 30 is in the water. There is a need.

The rubble leveling in the case of constructing the underwater rubble mound has been described above. By using various attachments without changing the body of the underwater working machine 1,
It can be applied to various underwater work such as laying submarine pipes and submarine cables, excavating the seabed, installing rooting blocks and wave-dissipating blocks, cleaning farms and waterways, leveling sand and covering stones, etc. It is possible. Further, the underwater working machine 1 does not have a backhoe as a working device as in the embodiment, but is a working machine provided with another working device such as an earth removal plate or a shovel, for example, a bulldozer, a shovel loader, a loading shovel, or the like. Alternatively, various underwater works suitable for each use can be performed.

It is also possible to supply the power to the underwater working machine 1 via a cable using electric power instead of hydraulic pressure as power. As the power unit 2 in this case, a power unit having a power supply device such as a power generation facility for generating necessary power and a facility for relaying or transforming power supplied from a land-based power supply is used. Further, the underwater working machine 1 is provided with devices such as an electric motor driven by power supplied from a power supply device and a hydraulic pump driven by the motor. 30 will be stored. In addition, by using both hydraulic pressure and electric power,
It is also possible to use this properly depending on the device to be driven.

In the above-described embodiment, the pilot of the remote controller is on the ship. However, the pilot can be operated by the diver underwater. FIG. 9 is a conceptual diagram showing a working method in that case. Diver 3 is an underwater working machine 1
, And operate the remote controller 90,
The underwater work machine 1 is operated. The piloting machine 90 is provided in a pressure equalizing chamber 91 (having the same pressure equalizing mechanism as the pressure equalizing chamber 30 described above) of a size that can be carried by a diver.
The air supply cable 5 is connected to the diver 3 and the pilot pressure equalizing chamber 91, and the air is supplied. Further, the pilot 90 is connected to the receiver 54 of the receiver 52 on the support mother ship via the diver's remote control cable 92. The connection from the receiving device 52 to the underwater work machine 1, the supply of air / hydraulic pressure to the underwater work machine 1, and the structure of the underwater work machine 1 are exactly the same as those in the above-described embodiment.

According to this embodiment, the diver uses the underwater working machine 1
The diver, who is the operator of the underwater vehicle, can operate while looking at the work site at a position away from the underwater vehicle, and the diver can approach the construction site directly As a result, more delicate attachment operation becomes possible, and work efficiency and construction accuracy can be improved.

Alternatively, the cockpit 95 in which the diver rides
As shown in FIG.
a side of the machine or the arm 12 to which the bucket is attached
May be provided near the tip of the remote controller to operate the remote controller 90 described above.

As described above, the running, turning, boom, arm, and bucket operations of the underwater working machine are performed on the bucket machine side or near the tip of the arm, so that the underwater working machine can perform underwater work even in turbid water areas with poor visibility and transparency. Construction becomes possible. Further, by attaching a lighting device to the tip of the arm or the upper part of the bucket, visibility can be further secured, and the construction range can be expanded in turbid water areas. Further, the diver can directly touch the bucket at the tip of the bucket to perform work, thereby enabling very fine steering adjustment.

The remote controller 90 described with reference to FIGS. 9 and 10 is connected to the receiver on the supporting mother ship by a remote controller cable 92, but may be a hydraulic remote controller. FIG. 11 shows an example in this case.

A pilot valve is provided in the pressure equalizing chamber, and a pilot 96 for operating this pilot valve with a pilot arm is constituted.
As shown in FIG. 12, the submersible unit 1 is connected to the main control valve 32 via a partial pressure valve 98 of the pressure equalizing chamber 30. Alternatively, the remote control hydraulic hose 97 may be connected to the control device of the underwater working machine 1 through a not-shown partial pressure valve.

According to the present embodiment, by switching the hydraulic control valve, the high torque state (a method and mechanism for increasing the torque by reducing the rotation speed) is always maintained at the slow speed during the remote control operation on the bucket machine side. By setting the oil pressure, the stability of the work is improved, and the danger of the diver due to a sudden operation can be prevented.

[0054]

According to the present invention, direct operation by a diver and remote operation by a remote controller can be selected as appropriate, so that various underwater operations in a wide range of water depths can be efficiently performed according to operation conditions. Becomes When only remote control is performed, it contributes to the development of functions for unmanned construction in the future.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram showing an example of a working method using an underwater working machine according to the present invention.

FIG. 2 is a side view of an example of the underwater working machine of the present invention.

FIG. 3 is a plan view and a side view of an example of a power unit.

FIG. 4 is a side sectional view of an example of a pressure equalizing chamber.

FIG. 5 is a diagram showing a control mechanism by a remote control operation.

FIG. 6 is a side sectional view of a regulator.

FIG. 7 is a diagram showing a system of a remote control device.

FIG. 8 is a diagram showing an installation state of the underwater television camera.

FIG. 9 is a conceptual diagram showing another example of a working method using the underwater working machine according to the present invention.

FIG. 10 is a diagram showing an example in which a cockpit is provided on the bucket machine side or near the tip of an arm.

FIG. 11 is a diagram showing a working method using a hydraulic remote controller.

FIG. 12 is a diagram showing a hydraulic system related to FIG. 11;

[Explanation of symbols]

 Reference Signs List 1 underwater work machine 2 power unit 3 diver 4 air / hydraulic supply cable 5 air supply cable 6 remote control cable 7 support mother ship 10 safety device 11 traveling device 12 work arm 13 cockpit 13a pilot arm 13b pilot valve 14 revolving body 22 engine 23 Hydraulic pump 24 Compressor 25 Cable drum 26 Cable reel 32 Main control valve 50 Pilot 52 Receiver 54 Receiver 56 Remote control driver 58 Cockpit 59 On / off switch 60 Underwater connector 62 Underwater television camera 72 Electromagnetic valve 73 Remote control device 80 Monitor television 90, 96 Diver's pilot 91 Pilot equalizing chamber 92 Remote control cable 97 Hydraulic hose for remote control

Claims (12)

[Claims] An underwater working machine having an equalizing chamber in which an internal pressure is maintained at a value equilibrium with the water pressure by air supplied from a power unit disposed on the water, wherein the underwater working machine is remotely controlled by a remote control device on or under the water. An underwater working machine characterized by its ability to be steered. 2. An underwater working machine having a pressure equalizing chamber in which an internal pressure is maintained at a value balanced with the water pressure by air supplied from a power unit disposed on the water, wherein the remote control is provided by a remote controller on or above the water. An underwater working machine characterized by being able to switch between maneuvering and direct maneuvering by a diver riding the underwater working machine. 3. The underwater working machine according to claim 2, further comprising switch means for interrupting a remote control signal from a remote controller having the remote controller when the diver performs direct control. 4. The pressure equalizing chamber according to claim 2, wherein a safety device that gives priority to one of remote control by a remote control device above or below the water and direct control by a diver is provided in the pressure equalizing chamber. Underwater working machine. 5. The underwater television camera according to claim 1, further comprising an underwater television camera for visually recognizing a work place, and a monitor television, wherein the underwater television camera can be operated by a remote controller. Work machine. 6. The underwater working machine according to claim 1, wherein the underwater working machine is driven by hydraulic pressure supplied from a hydraulic pressure generating device arranged on the water. 7. The underwater working machine according to claim 1, wherein the underwater working machine is driven by electric power supplied from a power supply device disposed on water. 8. The underwater vehicle according to any one of claims 1 to 5, wherein the underwater vehicle is driven by power supplied from a power supply device disposed on water and hydraulic pressure by a hydraulic system device driven by the power. Work machine. 9. The underwater working machine according to claim 1, wherein the supplied hydraulic pressure or electric power is controlled by the remote controller in the pressure equalizing chamber. 10. A cockpit in which a diver operating the underwater remote controller is mounted is provided on a machine side of a bucket of the underwater working machine or near a tip of an arm to which the bucket is attached. An underwater working machine according to any one of claims 1 to 9. 11. The diver stands near the underwater working machine,
The underwater working machine according to any one of claims 1 to 9, wherein the underwater remote controller is operated. 12. An underwater work method, wherein the underwater work machine according to any one of claims 1 to 11 is operated by the remote controller to perform underwater work.