| 摘要 |
<p>PROBLEM TO BE SOLVED: To remove a large amount of shellfishes adhering to a water passage of a power and others efficiently providing the subject machine with advancing, vertically moving, adhering, and horizontally moving thrusters, helm-operable, drivable wheels, and a hoe-shaped cleaning machine for removing deposits adhering to a water passage. SOLUTION: An underwater cleaning robot 40a is made to generate neutral buoyancy and to be able to move freely in a water passage by an advancing thruster 42 fitted to a robot main body 41, vertically moving/adhering thruster 43, a horizontally moving thruster 44, and four helm-operable, drivable wheels 46. A hoe-shaped cleaning machine 11 is fitted to the barrel part 47 of the main body 41, the robot 40a is advanced upstream in the water passage while the cleaning apparatus 41 is pushed to the water passage, and shellfishes such as barnacles adhering to the water passage are scraped/removed by the cleaning machine 11.</p> |
