| 摘要 |
PROBLEM TO BE SOLVED: To clean the bottom of a structural object completely regardless of the form of the object and automatically untwist the twisted cable for power supply. SOLUTION: The under water cleaner 10 provides a traveling part 20, absorbing part 22 and cable with a float 30 and a controller 28. The controller 28 has a travel controller 80, a change detector 82, and an untwisting controller 84. The travel controller 80 controls the traveling part 20 according to predetermined rules. If the travel controller 80 controls the traveling part 20 to change the direction of travel, the change detector 82 detects the change of the direction. The change of direction shows a cumulative value of the change of direction after the traveling 20 starts to travel. The untwisting controller 84 controls the traveling part 20 to turn to untwist the twisted cable with a float 30 when the change of direction exceeds the threshold. COPYRIGHT: (C)2010,JPO&INPIT |
