APPARATUS FOR CONTROLLING UNDERWATER ROBOT FOR CLEANING WATERWAY

摘要

PURPOSE:To improve reliability of a cleaning work by an underwater robot by providing a controller of a motor which is driven by an output signal from a tensile force sensor attached at a coupling part between the underwater robot and a composite cable. CONSTITUTION:A tensile force sensor 16 is attached to a coupling part between an underwater robot 3 and a composite cable 9. A tensile force signal detected by the tensile force sensor 16 is received by a controller 10. Rotational speed of the motor of a cable drum 15 is controlled to make the robot 3 advance/ retreat. Further by controlling start/stop of the motor of the cable drum 15, the composite cable 9 is prevented from winding around the body of the robot 3 or from being subjected to excessive tensile force to cause damage on the composite cable 9 during operation of the underwater robot. Thus reliability of a cleaning work by the underwater robot 3 can be improved.