Patent Description:
Conventionally, an underwater cleaning robot, which cleans a target to be cleaned such as a net for aquaculture or a hull, has been known (for example, see Patent Document <NUM>). When cleaning it using the underwater cleaning robot, a cleaning worker operates the underwater cleaning robot using a remote control box while visually checking from land or shipboard a cleaning state of the net for aquaculture and a traveling direction of the underwater cleaning robot. Other documents relate to an underwater cleaning robot, like Patent Document <NUM> (<CIT>) relates to a pool cleaner control system providing localization and removal of debris from an aquatic environment, Patent Document <NUM> (<CIT>) relates to a pool cleaner configured to use optical sensors to determine whether the robotic pool cleaner is at least partially out-of-water and/or to facilitate optical debris detection, Patent Document <NUM> (<CIT>) relates to a swimming pool cleaning robot and a swimming pool cleaning method, belonging to the technical field of automatic control, and Patent Document <NUM> (<CIT>) relates to an artificial intelligence-based swimming pool robot management and control system and method.

In the conventional cleaning work using the underwater cleaning robot, the cleaning worker was always required to monitor the operation of the underwater cleaning robot in order to prevent the target to be cleaned from being left uncleaned. That is, conventionally, a work load of the cleaning worker was likely to be increased.

An object of the present disclosure is to provide a technique capable of reducing the work load of a cleaning worker at cleaning work in which a target to be cleaned is cleaned under water.

An exemplary underwater cleaning apparatus according to the preset disclosure includes a cleaning machine that cleans a target to be cleaned under water, and a controller that generates a cleaning route for cleaning the target to be cleaned. The cleaning machine autonomously travels along the cleaning route.

According to the exemplary present disclosure, it is possible to reduce the work load of the cleaning worker at cleaning work in which a target to be cleaned is cleaned under water.

Now, an exemplary embodiment of the present disclosure will be described in detail with reference to the accompanying drawings. Descriptions of directions in the autonomous-traveling cleaning machine provided at the underwater cleaning apparatus are on the basis of an xyz coordinate system which is a three dimensional orthogonal coordinate system shown in the drawings. In the xyz coordinate system, hereinafter, an x direction, a y direction, and a z direction are defined as a front-rear direction, a left-right direction, and an up-down direction, respectively. +x side and -x side are defined as a front side and a rear side, respectively. +y side and -y side are defined as a left side and a right side, respectively. +z side and -z side are defined as an up side and a down side, respectively. These notations of directions are merely used for the purpose of explanation, and are not intended to limit an actual positional relationship and actual directions.

<FIG> is a block diagram illustrating a schematic configuration of an underwater cleaning apparatus <NUM> according to the embodiment of the present disclosure. As shown in <FIG>, the underwater cleaning apparatus <NUM> includes an autonomous-traveling cleaning machine <NUM>, a controller <NUM>, a storage <NUM>, a high-pressure water pump <NUM>, an operating unit <NUM>, and a display <NUM>.

The autonomous-traveling cleaning machine <NUM> cleans a target to be cleaned under water while traveling. In the present embodiment, the target to be cleaned is a net for aquaculture. The net for aquaculture is made of, for example, synthetic fiber or metal. The net for aquaculture has, for example, a cylindrical shape with <NUM> diameter and <NUM> depth. However, the shape and size of the net for aquaculture can be appropriately changed. The net for aquaculture may have, for example, a quadrangular prism shape or a truncated cone shape whose diameter decreases from the sea surface side toward the sea bottom side. Furthermore, the target to be cleaned may be, for example, a bridge pier, a hull, a pool, or the like other than the net for aquaculture. In the present embodiment, the cleaning machine which cleans the target to be cleaned is described as an autonomous-traveling cleaning machine, but this is for illustrative purpose only. For example, the cleaning machine may be configured to clean the target to be cleaned while floating or navigating. That is, examples of the cleaning machine of the present disclosure include not only the autonomous-traveling cleaning machine but also a wide variety of cleaning machines traveling by their own power. Examples of the cleaning machine of the present disclosure include a wide variety of cleaning machines that clean the target to be cleaned under water.

As shown in <FIG>, the autonomous-traveling cleaning machine <NUM> includes a motor 1a, a camera 1b, a water depth sensor 1c, and an IMU (Inertial Measurement Unit) 1d. The motor 1a provides driving force which allows the autonomous-traveling cleaning machine <NUM> to travel on the net for aquaculture. The camera 1b is provided to be able to capture an image of surrounding circumstances of the autonomous-traveling cleaning machine <NUM>. The water depth sensor 1c is constituted by a pressure sensor. The water depth sensor 1c capable of detecting a water depth of the autonomous-traveling cleaning machine <NUM> being at work is disposed at a proper position of the autonomous-traveling cleaning machine <NUM>. The IMU1d capable of detecting a posture of the autonomous-traveling cleaning machine <NUM> being at work is disposed at a proper position of the autonomous-traveling cleaning machine <NUM>. The IMU1d includes a triaxial angular velocity sensor and a triaxial acceleration sensor. The detailed configuration of the autonomous-traveling cleaning machine <NUM> will be described later.

The controller <NUM> controls the whole underwater cleaning apparatus <NUM>. A target to be controlled by the controller <NUM> includes the operation of the autonomous-traveling cleaning machine <NUM>. The controller <NUM> may be a processor including an arithmetic circuit such as a CPU (Central Processing Unit). The controller <NUM> may be configured to include a plurality of processors. In the present embodiment, the controller <NUM> is disposed on land or shipboard, for example. The controller <NUM> is electrically connected to the autonomous-traveling cleaning machine <NUM> with an electric wire bundle <NUM> formed by bundling a plurality of electric wires including, for example, a communication line and a power supply line. The controller <NUM> may be mounted on the autonomous-traveling cleaning machine <NUM>. In addition, the controller <NUM> may be separately mounted on the autonomous-traveling cleaning machine <NUM> and on another place such as shipboard.

The storage <NUM> is configured to include a volatile memory and a non-volatile memory. The volatile memory may include, for example, a RAM (Random Access Memory). The non-volatile memory may include, for example, a ROM (Read Only Memory), a flash memory, or a hard disk drive. The non-volatile memory may store a computer-readable program and data. The storage <NUM> may be configured to be included in the controller <NUM> or may be provided as a device separate from the controller <NUM>. Similarly to the controller <NUM>, the storage <NUM> may be mounted on the autonomous-traveling cleaning machine <NUM>
or may be disposed at a place outside the autonomous-traveling cleaning machine <NUM>.

The high-pressure water pump <NUM> supplies high-pressure water to the autonomous-traveling cleaning machine <NUM>. The high-pressure water pump <NUM> is disposed on land or shipboard, for example. The high-pressure water pump <NUM> is connected to the autonomous-traveling cleaning machine <NUM> with a hose <NUM>. The autonomous-traveling cleaning machine <NUM> cleans the net for aquaculture by using the high-pressure water supplied from the high-pressure water pump <NUM> through a hose <NUM>.

The operating unit <NUM> enables manual operation of the autonomous-traveling cleaning machine <NUM>. The operating unit <NUM> is electrically connected to the controller <NUM>. The controller <NUM> controls the operation of the autonomous-traveling cleaning machine <NUM> in response to an operation command issued by a cleaning worker using the operating unit <NUM>. The operating unit <NUM> also enables selection of an operation mode of the autonomous-traveling cleaning machine <NUM>. Specifically, the operating unit <NUM> is provided in a selectable manner between a manual mode and an autonomous mode. When the manual mode is selected, the cleaning worker can manually operate the autonomous-traveling cleaning machine <NUM> using the operating unit <NUM>. When the autonomous mode is selected, the autonomous-traveling cleaning machine <NUM> cleans the net for aquaculture while autonomously traveling. The operating unit <NUM> is disposed on land or shipboard so that the cleaning worker can operate it.

The display <NUM> is constituted by a display device such as a liquid crystal display, and is electrically connected to the controller <NUM>. Similarly to the operating unit <NUM>, the display <NUM> is disposed on land or shipboard. For example, the display <NUM> is provided so that an image captured by the camera 1b mounted on the autonomous-traveling cleaning machine <NUM> can be displayed. Furthermore, the display <NUM> is provided so that an image generated by the controller <NUM> can be displayed. Note that the display <NUM> may be directly connected to the camera 1b without interposing the controller <NUM>.

<FIG> is a perspective view illustrating a schematic configuration of an autonomous-traveling cleaning machine <NUM> according to the embodiment of the present disclosure. <FIG> is a schematically perspective view of the autonomous-traveling cleaning machine <NUM> according to the embodiment of the present disclosure, as viewed from a direction different from <FIG> is a view of the autonomous-traveling cleaning machine <NUM> as viewed obliquely from above. <FIG> is a view of the autonomous-traveling cleaning machine <NUM> as viewed obliquely from below. <FIG> is a side view illustrating a schematic configuration of the autonomous-traveling cleaning machine <NUM> according to the embodiment of the present disclosure. <FIG> is a view of the autonomous-traveling cleaning machine <NUM> as viewed from the right side.

As shown in <FIG>, the autonomous-traveling cleaning machine <NUM> includes a traveling unit <NUM>, a cleaning unit <NUM>, a propeller <NUM>, and an annular body <NUM>.

The traveling unit <NUM> includes a traveling unit main body <NUM> and four wheels <NUM>. Specifically, the four wheels <NUM> consist of a left front wheel 112a, a right front wheel 112b, a left rear wheel 112c, and a right rear wheel 112d. Each of wheels <NUM> is disposed on a side of the traveling unit main body <NUM> so that rotational power from a separate motor 1a disposed inside the traveling unit main body <NUM> can be transmitted to the wheel. In other words, the motor 1a disposed inside the traveling unit main body <NUM> includes a motor for the left front wheel 112a, a motor for the right front wheel 112b, a motor for the left rear wheel 112c, and a motor for the right rear wheel 112d. Each of wheels <NUM> is separately rotated by the driving force from each of motors 1a. Each of motors 1a is connected to a signal line and a power supply line which are included in the electric wire bundle <NUM> described above (see <FIG>).

By causing the motors 1a to rotate in the same direction at the same rotation speed, the traveling unit <NUM> can move straight in the front-rear direction. That is, the traveling unit <NUM> travels straight in the front-rear direction. Whether the traveling unit <NUM> travels forward or backward depends on the rotation direction of the motors 1a. Furthermore, for example, when the traveling unit <NUM> is traveling forward, if a rotation speed of the motor for the right side wheel 112b and a rotation speed of the motor for the right side wheel 112d are increased so as to become greater than that of the motor for the left side wheel 112a and that of the motor for the left side wheel 112c, the traveling unit <NUM> turns to the left direction. Conversely, if a rotation speed of the motor for the left side wheel 112a and a rotation speed of the motor for the left side wheel 112c are increased so as to become greater than that of the motor for the right side wheel 112b and that of the motor for the right side wheel 112d, the traveling unit <NUM> turns to the right direction.

Even when the traveling unit <NUM> is traveling backward, the traveling direction can be changed in the same manner. Furthermore, when the motors for the left side wheels 112a and 112c, and the motors for the right side wheels 112b and 112d are rotated so that a rotation direction of the former and a rotation direction of the latter become opposite to each other, the traveling unit <NUM> can also be pivotally turned (ultra-pivotal turn). The number of motors accommodated inside the traveling unit main body <NUM> is not limited to four, and may be two, for example. For example, the present embodiment may be configured to include two motors which consist of the motor for the left front wheel 112a and the motor for the right front wheel 112b. In this configuration, the left front wheel 112a and the left rear wheel 112c may be connected to each other by a belt mechanism or a chain mechanism, and the right front wheel 112b and the right rear wheel 112d may be similarly connected to each other by the belt mechanism or the chain mechanism.

The cleaning unit <NUM> is disposed below the traveling unit <NUM> to clean a target to be cleaned. Specifically, the cleaning unit <NUM> jets a high-pressure water supplied from the high-pressure water pump <NUM> via the hose <NUM> toward the net for aquaculture which is the target to be cleaned, and clean the net for aquaculture with a jet flow generated by the jet.

The cleaning unit <NUM> has a disc-shaped rotating body <NUM>. The rotating body <NUM> is attached to a lower end portion of a rotating shaft <NUM> extending in the up-down direction and rotates together with the rotating shaft <NUM>. The rotating shaft <NUM> is rotatably supported by the traveling unit main body <NUM>. Specifically, the rotating shaft <NUM> is rotatably supported by a rotary joint (not shown) disposed inside the traveling unit main body <NUM>. The high-pressure water supplied from the high-pressure water pump <NUM> to the rotary joint is fed to cleaning nozzles <NUM> disposed on a bottom surface of the rotating body <NUM> through the rotating shaft <NUM> and the rotating body <NUM>. In the present embodiment, the number of cleaning nozzles <NUM> is two. However, the number of cleaning nozzles <NUM> may be changed as appropriate.

The cleaning nozzles <NUM> are arranged to be downwardly inclined by a predetermined angle so that a jet of the high-pressure water from the cleaning nozzle <NUM> is directed toward the surface of the net for aquaculture at cleaning. When the high-pressure water is jetted from the cleaning nozzles <NUM>, the rotating body <NUM> is rotated together with the rotating shaft <NUM> by a jet counterforce generated by the jet of the high-pressure water. The cleaning unit <NUM> jets the high-pressure water to the surface of the net for aquaculture while rotating about the rotating shaft <NUM>, thereby broadly removing seaweeds, algae, shellfishes and the like adhered to the net for aquaculture.

The propeller <NUM> is disposed above the traveling unit <NUM>. The propeller <NUM> is attached to an upper end portion of the rotating shaft <NUM>. The propeller <NUM> rotates together with the rotating shaft <NUM>. When the high-pressure water is jetted from the cleaning nozzle <NUM>, the rotating shaft <NUM> is rotated together with the rotating body <NUM> by the jet counterforce as well as the propeller <NUM> is also rotated. The rotation of the propeller <NUM> generates a thrust for pressing the traveling unit <NUM> against the target to be cleaned.

The annular body <NUM> surrounds the propeller <NUM>. The annular body <NUM> has an annular shape with a large-diameter opening <NUM> at the center thereof in a plan view in the up-down direction. The propeller <NUM> is disposed inside the opening <NUM> of the annular body <NUM>. Specifically, the annular body <NUM> is connected to the traveling unit <NUM> by a connecting member <NUM> disposed between the traveling unit main body <NUM> and the annular body <NUM> in the up-down direction. The connecting member <NUM> is a column extending in the up-down direction. In the present embodiment, the number of connecting members <NUM> is two so that the two connecting members <NUM> are each disposed at the center of traveling unit main body <NUM> in the front-rear direction. One of the two connecting members <NUM> is disposed at the left end portion of the traveling unit main body <NUM>, and the other of the same is disposed at the right end portion of the traveling unit main body <NUM>.

The annular body <NUM> functions as a float. Since the annular body <NUM> which functions as a float is provided, the autonomous-traveling cleaning machine <NUM> can float when it is put into water. In the present embodiment, when the autonomous-traveling cleaning machine <NUM> is put into water, the autonomous-traveling cleaning machine <NUM> takes a posture in which the annular body <NUM> is on the up side and the traveling unit <NUM> is on the down side, and floats so that the top surface of the annular body <NUM> is at substantially the same level as water surface. In a state where the autonomous-traveling cleaning machine <NUM> is floating, the propeller <NUM> is under water.

In the present embodiment, cameras 1b are attached to the front end portion and the rear end portion of the annular body <NUM>, respectively. That is, the underwater cleaning apparatus <NUM> includes the cameras 1b mounted on the autonomous-traveling cleaning machine <NUM>. The cameras 1b include a front camera 1bF that captures a front side image of the autonomous-traveling cleaning machine <NUM> and a rear camera 1bR that captures a rear side image of the same. The number and arrangement of the cameras 1b may be changed as appropriate.

The traveling unit <NUM> and the annular body <NUM> are separated from each other in the up-down direction, and an introduction space SP, which functions as a water introduction path, is formed between the traveling unit <NUM> and the annular body <NUM> in the up-down direction. When the propeller <NUM> rotates, water is introduced from the introduction space SP toward the propeller <NUM>, so that a water flow occurs to cause water to blow out of the opening <NUM>. The water flow occurred by the rotation of the propeller <NUM> generates a thrust for the autonomous-traveling cleaning machine <NUM>, whereby each of wheels <NUM> is brought in contact with the net for aquaculture at a predetermined pressure and such a state is maintained.

When the net for aquaculture is cleaned using the underwater cleaning apparatus <NUM>, the autonomous-traveling cleaning machine <NUM> is put into a space for aquaculture (under water) surrounded by the net for aquaculture by using a crane from land or shipboard. Upon put into water, the autonomous-traveling cleaning machine <NUM> floats. Then, the high-pressure water is supplied to the cleaning unit <NUM> of the autonomous-traveling cleaning machine <NUM> through the hose <NUM> by operating the high-pressure water pump <NUM>. This allows the propeller <NUM> to be rotated together with the cleaning unit <NUM>. The autonomous-traveling cleaning machine <NUM> is pressed against the net for aquaculture by the thrust generated by the rotation of the propeller <NUM>. In this state, when the motors 1a are driven to rotate the wheels <NUM>, the autonomous-traveling cleaning machine <NUM> travels along the surface of the net for aquaculture. Since the high-pressure water is jetted from the cleaning nozzles <NUM> while the cleaning unit <NUM> is rotating during traveling, the net for aquaculture can be broadly cleaned.

<FIG> is a diagram for explaining a cleaning example of a side surface of the net for aquaculture <NUM> using the underwater cleaning apparatus <NUM> according to the embodiment of the present disclosure. When the side surface of the net for aquaculture <NUM> is cleaned, the autonomous-traveling cleaning machine <NUM> is moved to a start position by a manual moving (manual traveling in the present embodiment) using the operating unit <NUM>. The start position is set to a portion of the net for aquaculture <NUM> in the vicinity of the sea water surface. The autonomous-traveling cleaning machine <NUM> starts cleaning by an autonomous moving (autonomous traveling in the present embodiment) from the start position.

In the example shown in <FIG>, the autonomous-traveling cleaning machine <NUM> moves forward or backward while maintaining a constant water depth (target water depth) from the start position. The trace of the net for aquaculture <NUM>, on which the autonomous-traveling cleaning machine <NUM> travels, is cleaned by the operation of the cleaning unit <NUM>. The autonomous-traveling cleaning machine <NUM> circulates along the inner circumferential surface of the net for aquaculture <NUM> while maintaining the constant water depth.

After the autonomous-traveling cleaning machine <NUM> circulates once along the inner circumferential surface of the net for aquaculture <NUM>, the autonomous-traveling cleaning machine <NUM> deepens its own depth level up to a next target water depth which is deeper than the current water depth. In the example shown in <FIG>, changing from the target water depth TD1 depicted by a thick line to the next target water depth TD2 depicted by the broken line corresponds to an example of a change of the target water depth. Then, the autonomous-traveling cleaning machine <NUM> circulates once along the inner circumferential surface of the net for aquaculture <NUM> while maintaining the changed target water depth. At this time, the autonomous-traveling cleaning machine <NUM> travels in a traveling direction opposite to a previous traveling direction at the previous target water depth. For example, if the previous traveling direction is a counterclockwise direction, the current traveling direction is a clockwise direction, and vice versa. In this way, changing reversely the traveling direction suppresses the hose <NUM> or the like extending from the autonomous-traveling cleaning machine <NUM> from being twisted.

The autonomous-traveling cleaning machine <NUM> repeats the circulating operation while maintaining the target water depth and the change of the target water depth, alternately. This allows the autonomous-traveling cleaning machine <NUM> to clean the side surface of the net for aquaculture <NUM> from the end portion on the sea surface side to the end portion on the sea bottom side. As can be seen from the above description, in the present embodiment, for every time when the autonomous-traveling cleaning machine <NUM> circulates once along the inner circumferential surface of the net for aquaculture <NUM>, it turns back to the opposite traveling direction while changing the target water depth at that position. From this point of view, a position at which the autonomous-traveling cleaning machine <NUM> completes the circulation of the inner circumferential surface may be hereinafter referred to as a turn-back position.

Next, functions of the controller <NUM> provided at the underwater cleaning apparatus <NUM> will be described. <FIG> is a block diagram illustrating functions of the controller <NUM> provided at the underwater cleaning apparatus <NUM>. As illustrated in <FIG>, the controller <NUM> includes, as its functions, a travel control unit <NUM>, a cleaning state determination unit <NUM>, a route generation unit <NUM>, a turn-back position determination unit <NUM>, and an uncleaned region detection unit <NUM>. In the present embodiment, the functions of the controller <NUM> are realized by an arithmetic circuit such as a CPU executing an arithmetic process in accordance with a program stored in the storage <NUM>.

Each of functional units <NUM> to <NUM> may be collectively realized by one program, but may be realized by a plurality of programs such that each functional unit is realized by a separate program, for example. In addition, each of the functional units <NUM> to <NUM> may be realized by a separate arithmetic unit.

Furthermore, each of the functional units <NUM> to <NUM> may be realized by causing the processor such as a CPU to execute the program, i.e., by the software, as described above, but may also be realized by another method. At least one of the functional units <NUM> to <NUM> may be realized using, for example, an ASIC (Application Specific Integrated Circuit), an FPGA (Farm field Programmable Gate Array), or the like. That is, each of the functional units <NUM> to <NUM> may be realized by hardware using a dedicated IC or the like. Furthermore, each of the functional units <NUM> to <NUM> may be realized using a combination of software and hardware. Moreover, each of the functional units <NUM> to <NUM> is a conceptual constituent element. The function performed by one constituent element may be distributed into multiple constituent elements. Still further, the functions possessed by the multiple constituent elements may be integrated into a single constituent element.

The travel control unit <NUM> performs the travel control of the autonomous-traveling cleaning machine <NUM> according to an operation mode selected using the operating unit <NUM>. If the operation mode is the manual mode, the travel control unit <NUM> performs the travel control of the autonomous-traveling cleaning machine <NUM> in accordance with a command issued by the cleaning worker using the operating unit <NUM>. On the other hand, if the operation mode is the autonomous mode, the travel control unit <NUM> performs the travel control of the autonomous-traveling cleaning machine <NUM> so as to travel along the cleaning route generated by the route generation unit <NUM>. That is, in the underwater cleaning apparatus <NUM> according to the present embodiment, the autonomous-traveling cleaning machine <NUM> autonomously travels along the cleaning route generated by the controller <NUM>. Following the autonomous traveling of the autonomous-traveling cleaning machine <NUM>, the trace of the net for aquaculture, on which the autonomous-traveling cleaning machine <NUM> travels, can be autonomously cleaned. This makes it possible to reduce the work load of the cleaning worker.

For example, in the cleaning example of the side surface of the net for aquaculture <NUM> shown in <FIG>, the cleaning route includes a route which causes the autonomous-traveling cleaning machine <NUM> to circulate once along the inner circumferential surface of the net for aquaculture <NUM> while maintaining the target water depth (water depth maintained route). When the autonomous-traveling cleaning machine <NUM> travels along the water depth maintained route, the travel control unit <NUM> uses information from the water depth sensor 1c and the IMU 1d (see <FIG>) to perform the control such that the autonomous-traveling cleaning machine <NUM> circulates along the inner circumferential surface of the net for aquaculture <NUM> while maintaining the target water depth.

More specifically, when the autonomous-traveling cleaning machine <NUM> positions at a level within a predetermined range with respect to the target water depth, the control for decreasing the speed of one side wheel <NUM> of the left and right wheels <NUM> is performed so that a yaw angle of the autonomous-traveling cleaning machine <NUM> obtained from the IMU 1d becomes zero degrees (control for maintaining the horizontality). Furthermore, when the autonomous-traveling cleaning machine <NUM> positions at a level out of the predetermined range with respect to the target water depth, the control for changing the traveling direction of the autonomous-traveling cleaning machine <NUM> and returning the water depth to the target water depth is performed so as to return to the target water depth. After returning to the target water depth, the above-described control for maintaining the horizontality is performed.

Furthermore, in the cleaning example of the side surface of the net for aquaculture <NUM> shown in <FIG>, the cleaning route includes a route which deepens the water depth of the autonomous-traveling cleaning machine <NUM> while reversing the traveling direction of the same (water depth changing route). <FIG> are schematic diagrams for explaining the water depth changing route. <FIG> illustrate different types of depth change routes.

In the example shown in <FIG>, the travel control unit <NUM> temporarily causes the autonomous-traveling cleaning machine <NUM> to stop at the turn-back position. Then, the travel control unit <NUM> causes the autonomous-traveling cleaning machine <NUM> to tilt with respect to the horizontal direction (change the yaw angle from zero degrees to a predetermined angle) by rotating the left and right wheels of the autonomous-traveling cleaning machine <NUM> in the directions opposite to each other. When the autonomous-traveling cleaning machine <NUM> is tilted by a predetermined angle with respect to the horizontal direction, the travel control unit <NUM> causes the autonomous-traveling cleaning machine <NUM> to travel in a direction opposite to the traveling direction before stopping and to travel to the next target water depth. When the autonomous-traveling cleaning machine <NUM> reaches the next target water depth, the travel control unit <NUM> causes the autonomous-traveling cleaning machine <NUM> to direct to the horizontal direction (yaw angle is zero degrees) by rotating the left and right wheels of the autonomous-traveling cleaning machine <NUM> in the rotation directions opposite to each other. When the autonomous-traveling cleaning machine <NUM> is directed to the horizontal direction, the travel control unit <NUM> causes the autonomous-traveling cleaning machine <NUM> to travel along the water depth maintained route of the next target water depth.

In such a configuration that the autonomous-traveling cleaning machine <NUM> has only the front camera 1bF, the travel control unit <NUM> may cause the autonomous-traveling cleaning machine <NUM> to make an ultra-pivotal turn, a pivotal turn, or the like for reversing the front-rear direction of the same after causing the autonomous-traveling cleaning machine <NUM> to temporarily stop at the turn-back position.

In the example shown in <FIG>, the travel control unit <NUM> causes the autonomous-traveling cleaning machine <NUM> to make a U-turn at the turn-back position. When the autonomous-traveling cleaning machine <NUM> is traveling with the right side of its own body facing the sea bottom side, the travel control unit <NUM> causes the autonomous-traveling cleaning machine <NUM> to turn right. Then, the travel control unit <NUM> causes the autonomous-traveling cleaning machine <NUM> to change a posture by turning right so that the cleaning travel at the next target water depth can be performed. When the autonomous-traveling cleaning machine <NUM> is traveling with the left side of its own body facing the sea bottom side, the travel control unit <NUM> causes the autonomous-traveling cleaning machine <NUM> to turn left. Then, the travel control unit <NUM> causes the autonomous-traveling cleaning machine <NUM> to change a posture by turning left so that the cleaning travel at the next target water depth can be performed.

The cleaning state determination unit <NUM> (see <FIG>) acquires the captured image from the camera 1b. Then, the cleaning state determination unit <NUM> determines the cleaning state of the net for aquaculture based on the captured image captured by the camera 1b. That is, the controller <NUM> determines the cleaning state of the target to be cleaned based on the captured image captured by the camera 1b. In the present embodiment, the cleaning state of the net for aquaculture can be determined based on the captured images captured by the front camera 1bF and the rear camera 1bR. By determining the cleaning state, it is possible to detect, for example, a cleaned trace indicating that cleaning is performed or an uncleaned region left in a region which is essentially to be cleaned.

For example, as a method of detecting the cleaned trace, a method of dividing the image region into a pre-cleaning region and a post-cleaning region and detecting a boundary between the pre-cleaning region and the post-cleaning region, a method of directly detecting a boundary between the pre-cleaning region and the post-cleaning region by detecting an edge line in the captured image, or the like can be used. As a method of dividing the image region, for example, a rule-based division method using a feature amount of an image or a method such as a semantic segmentation using a deep learning technique can be used.

<FIG> is a schematic diagram illustrating a captured image <NUM> captured by the camera 1b mounted on the autonomous-traveling cleaning machine <NUM>. A pre-cleaning region <NUM> and a post-cleaning region <NUM> are viewed in the captured image <NUM> shown in <FIG>. In the pre-cleaning region <NUM>, the net for aquaculture <NUM> is covered with seaweed, algae, shellfish, and the like. In the post-cleaning region <NUM>, seaweed, algae, shellfish, and the like are removed, and the net for aquaculture <NUM> is clearly viewed.

<FIG> is a schematic diagram illustrating the captured image <NUM> shown in <FIG>, which is subjected to image processing. Specifically, the image processing in <FIG> is a semantic segmentation. The semantic segmentation allows a boundary line <NUM> that divides the image region into the pre-cleaning region <NUM> and the post-cleaning region <NUM> to be obtained. That is, the cleaned trace which is the post-cleaning region <NUM> can be detected by the image processing.

The route generation unit <NUM> (see <FIG>) generates a cleaning route for cleaning the net for aquaculture. That is, the controller <NUM> generates the cleaning route for cleaning the target to be cleaned. Hereinafter, two examples of a method of generating the cleaning route by the route generation unit <NUM> will be described.

First, a first example of the method of generating the cleaning route will be described. In the first example, the autonomous-traveling cleaning machine <NUM>°s own underwater level is estimated based on the information obtained from the water depth sensor 1c and IMU 1d (see <FIG>), and the cleaning route is generated. In the method of generating a cleaning route of the first example, a shape of the net for aquaculture (for example, the top surface diameter, the bottom surface diameter, the depth, and the like), a cleaning width of the autonomous-traveling cleaning machine <NUM> (the cleaning range in the left-right direction), an overlap width required at cleaning, and the current water depth are used as the input information. Note that the overlap width is an amount set in advance in consideration of an error in position control during cleaning of the autonomous-traveling cleaning machine <NUM>, and is obtained by, for example, an experiment, a simulation, or the like.

<FIG> is a diagram for explaining a method of generating a cleaning route according to a first example. In <FIG>, TD_C indicates the current target water depth, and TD_n indicates the target water depth of the next cleaning route (the next target water depth). W1 indicates a cleaning width of the autonomous-traveling cleaning machine <NUM>. W2 indicates an overlap width. θ is an inclination angle of a side surface of the net for aquaculture. The inclination angle θ is given by, for example, a mean value of a roll angle of the autonomous-traveling cleaning machine <NUM>, which is obtained by the IMU 1d when the autonomous-traveling cleaning machine <NUM> travels at the current target water depth. When the next target water depth TD_n is obtained, a route to circulate along the inner circumferential surface of the net for aquaculture while maintaining the target water depth is generated as the next cleaning route. Note that an initial cleaning route is a route to circulate along the inner circumferential surface of the net for aquaculture while maintaining the target water depth as the current water depth is the target water depth.

As shown in <FIG>, the next target water depth TD_n can be obtained using the current target water depth TD_C, the cleaning width W1, the overlap width W2, and the inclination angle θ. In <FIG>, W3 is an offset width obtained by subtracting the overlap width W2 from the cleaning width W1. The next target water depth TD_n is obtained from the offset width W3 and the inclination angle θ. Specifically, the next target water depth TD_n is obtained by adding a value obtained by multiplying the offset width W3 by sinθ to the current target water depth.

The end position of the cleaning route determined by the target water depth TD_n can be obtained from, for example, shape data of the net for aquaculture and the target water depth TD_n. The length of the inner circumference of the net for aquaculture at the target water depth TD_n is obtained from the shape data of the net for aquaculture. The end position of the cleaning route can be calculated from the length of the inner circumference of the net for aquaculture and the start position of the cleaning route.

Next, a second example of the method of generating the cleaning route will be described. In a second example, the cleaning route is generated based on an image captured by camera 1b. Note that the camera 1b used to generate the cleaning route is the front camera 1bF or the rear camera 1bR depending on a forward or backward traveling direction of the autonomous-traveling cleaning machine <NUM>.

<FIG> is a diagram illustrating an image of the cleaning route according to a second example. In <FIG>, a broken line indicates a cleaning route <NUM> set on a side surface of the net for aquaculture <NUM>. As shown in <FIG>, in the second example, the cleaning route <NUM> is generated such that the autonomous-traveling cleaning machine <NUM> travels along and adjacently to the cleaned trace <NUM>. Note that the cleaning route set to perform the travel along and adjacently to the cleaned trace <NUM> is not necessary to be a route for maintaining the water depth.

<FIG> is a diagram illustrating an image of image-processed captured image capture by the camera 1b mounted on the autonomous-traveling cleaning machine <NUM>. As described above, the image processing is, for example, semantic segmentation. The route generation unit <NUM> detects a straight line <NUM> forming a boundary between the cleaned trace <NUM> and the pre-cleaning region <NUM>. Then, the route generation unit <NUM> sets the cleaning route <NUM> at a position shifted from the detected straight line <NUM> by an offset amount preset in consideration of the cleaning width W1 (see <FIG>) of the autonomous-traveling cleaning machine <NUM>. The route generation unit <NUM> generates the cleaning route <NUM> at any time according to the acquisition of the captured images sequentially obtained in time series.

The straight line <NUM> forming the boundary between the cleaned trace <NUM> and the pre-cleaning region <NUM> may not be obtained from the captured image. For example, the straight line <NUM> forming the boundary is not obtained at the start of cleaning of the net for aquaculture <NUM>. Furthermore, even when the cleaned trace <NUM> is detected, the straight line <NUM> forming the boundary may not be obtained. In a case where the straight line <NUM> forming the boundary is not obtained, for example, it may be configured so that a cleaning route along which the autonomous-traveling cleaning machine <NUM> travels while maintaining the current water depth is generated. Then, it may be configured so that upon the straight line <NUM> forming the boundary is detected, a cleaning route for traveling along and adjacently to the cleaned trace <NUM> is generated.

In the present embodiment, the underwater cleaning apparatus <NUM> preferably employs the method of generating a cleaning route according to the second example. That is, the controller <NUM> generates the cleaning route <NUM> based on the cleaned trace <NUM> obtained by the determination of the cleaning state using the captured image captured by the camera 1b. When the controller <NUM> cannot generate the cleaning route <NUM> based on the cleaned trace <NUM>, it generates the cleaning route with the water depth as a reference. Specifically, the water depth as a reference may be a water depth (current water depth) at which the autonomous-traveling cleaning machine <NUM> is present at the time when it is determined that the cleaning route <NUM> cannot be generated based on the cleaned trace <NUM>.

The net for aquaculture <NUM> is likely to undergo a change in shape, such as bending, due to waves, tidal currents, or the like. In particular, when the net for aquaculture <NUM> is made of chemical fibers, the change in shape such as bending is more likely to occur. Therefore, when the autonomous-traveling cleaning machine <NUM> cleans the net for aquaculture <NUM>, it is not necessarily easy to accurately detect the position of the same on the net for aquaculture <NUM>. In this regard, in the present embodiment, the cleaning route <NUM> along and adjacently to the cleaned trace <NUM> obtained from the captured image captured by the camera 1b is generated, and the autonomous-traveling cleaning machine <NUM> cleans the net for aquaculture <NUM> by traveling following the cleaning route. That is, when the net for aquaculture <NUM> is cleaned, it is not necessary to always detect an accurate position of the autonomous-traveling cleaning machine <NUM> on the net for aquaculture <NUM>. For this reason, according to the configuration of the present embodiment, it is possible to set a cleaning route with less uncleaned regions regardless of the change in shape of the net for aquaculture <NUM>. In addition, since it is possible to reduce the influence of a change in shape such as bending, the overlap width in consideration of the error of the position control described above can be decreased. This makes it possible to improve the cleaning efficiency.

Furthermore, it may be difficult to recognize the cleaned trace <NUM> of the net for aquaculture <NUM> as a cleaned trace from the image depending on the contamination degree thereof. For this reason, the recognizable cleaned traces <NUM> are distributed in a mottled manner over the image, and it may be difficult to generate the cleaning route <NUM> that enables the autonomous-traveling cleaning machine <NUM> to travel along and adjacently to the cleaned traces <NUM>. In this regard, in the present embodiment, in a case where it is difficult to generate the cleaning route <NUM> that enables the autonomous-traveling cleaning machine <NUM> to travel along and adjacently to the cleaned trace <NUM>, it may be configured so that the cleaning route is generated with the water depth as a reference. This makes it possible to prevent an event in which the autonomous-traveling cleaning machine <NUM> cannot obtain a cleaning route and thus stops the autonomous traveling in the middle from happening.

The generation of the cleaning route for autonomously traveling on the side surface of the net for aquaculture <NUM> is described above. Similarly, in the case where the autonomous-traveling cleaning machine <NUM> autonomously travels on the bottom surface of the net for aquaculture <NUM>, the cleaning route may be generated such that the autonomous-traveling cleaning machine <NUM> travels along and adjacently to the cleaned trace <NUM>.

In the present embodiment, the cleaning route for cleaning the net for aquaculture <NUM> includes the turn-back position where the traveling direction is reversed. The turn-back position determination unit <NUM> (see <FIG>) specifies the turn-back position based on the cleaned trace obtained by the determination of the cleaning state using the captured image captured by the camera 1b. That is, the controller <NUM> specifies the turn-back position where the traveling direction of the autonomous-traveling cleaning machine <NUM> is reversed based on the cleaned trace obtained by the determination of the cleaning state. By specifying the turn-back position using the captured image, the autonomous-traveling cleaning machine <NUM> can autonomously perform a turn-back operation so that the traveling direction is reversed while changing the water depth of itself. That is, it is possible to reduce the monitoring burden on the cleaning worker.

<FIG> are diagrams for explaining methods of specifying a turn-back position. The method of specifying the turn-back position shown in <FIG> is different from that shown in <FIG>. In <FIG>, it is assumed that the autonomous-traveling cleaning machine <NUM> travels for cleaning the net for aquaculture <NUM> while repeating circulation along the inner circumferential surface of the net for aquaculture <NUM> and changing the water depth after the circulation.

In the example shown in <FIG>, the turn-back position determination unit <NUM> specifies the turn-back position by using a captured image obtained by the camera 1b that captures an image in the traveling direction when circulating along the inner circumferential surface of the net for aquaculture <NUM>. Specifically, the turn-back position determination unit <NUM> specifies the turn-back position by detecting a boundary line <NUM> between the cleaned trace <NUM> and the pre-cleaning region <NUM> in the captured image. More specifically, the turn-back position determination unit <NUM> specifies the turn-back position by detecting a boundary line <NUM> leading in a direction intersecting (for example, orthogonal to) the traveling direction. The turn-back position may be, for example, the position of the boundary line <NUM>, or may be a position offset from the boundary line <NUM> by a predetermined amount in the traveling direction.

In the example shown in <FIG>, the turn-back position determination unit <NUM> may determine the turn-back position in consideration of the relationship between a circulation distance of the net for aquaculture <NUM> calculated in advance and a travel distance from the start of circulation of the autonomous-traveling cleaning machine <NUM>. The travel distance from the start of circulation of the autonomous-traveling cleaning machine <NUM> may be obtained from, for example, the number of rotations (rotation speed) of the wheels <NUM> and a traveling time, or may be obtained from the position information of the autonomous-traveling cleaning machine <NUM> specified by the water depth sensor 1c and IMU 1d. When the travel distance of the autonomous-traveling cleaning machine <NUM> does not reach the circulation distance obtained from a shape of the net for aquaculture or a predetermined amount determined based on the circulation distance, it may be configured not to perform the determination of the turn-back position even when the cleaned trace <NUM> is detected from the captured image. This makes it possible to reduce the occurrence of the erroneous determination of the turn-back position caused by a detection error of the cleaned trace <NUM>.

Also in the example shown in <FIG>, similarly to the example shown in <FIG>, the turn-back position determination unit <NUM> specifies the turn-back position by using the captured image obtained by the camera 1b that captures the image in the traveling direction when the autonomous-traveling cleaning machine <NUM> circulates along the inner circumferential surface of the net for aquaculture <NUM>. However, in the example shown in <FIG>, the turn-back position determination unit <NUM> detects a mark <NUM> formed in advance by the manual operation of the autonomous-traveling cleaning machine <NUM>, and specifies the position of the detected mark as the turn-back position. This point makes the example shown in <FIG> different from the example shown in <FIG>.

In the example shown in <FIG>, the mark <NUM> is a cleaned trace obtained by causing the autonomous-traveling cleaning machine <NUM> to vertically travel by the manual operation from the end portion on the water surface side of the net for aquaculture <NUM> to the end portion on the sea bottom side. For example, the turn-back position determination unit <NUM> determines as the mark <NUM> a cleaned trace which leads by a predetermined width or more in a direction orthogonal to the traveling direction, and specifies the turn-back position.

In the present embodiment, the turn-back position determination unit <NUM> is configured to specify the turn-back position by using the captured image captured by the camera 1b, but this is for illustrative purposes only. For example, the turn-back position determination unit <NUM> may determine the turn-back position according to the travel distance of the autonomous-traveling cleaning machine <NUM>. Furthermore, the turn-back position may be determined according to the amount of change in an azimuth angle of the autonomous-traveling cleaning machine <NUM>. The azimuth angle is defined as an angle in a rotational direction with respect to an axis which passes through the center of the net for aquaculture <NUM> and extends in the vertical direction. When the autonomous-traveling cleaning machine <NUM> circulates along the inner circumferential surface of the net for aquaculture <NUM>, the azimuth angle changes by <NUM> degrees. The turn-back position determination unit <NUM> may detect the turn-back position when the travel distance of the autonomous-traveling cleaning machine <NUM> is not less than a target distance and the azimuth angle changes by an amount not less than a target change amount (for example, <NUM> degrees).

The uncleaned region detection unit <NUM> (see <FIG>) detects the uncleaned region by determining the cleaning state using the captured image captured by the camera 1b. Then, the uncleaned region detection unit <NUM> stores the detected uncleaned region in the storage <NUM> (see <FIG>). That is, the controller <NUM> stores the uncleaned region detected by the determination of the cleaning state in the storage <NUM>. Since information of the uncleaned region is stored in the storage <NUM>, the information of the uncleaned region can be easily used.

<FIG> is a diagram illustrating an image of detection of an uncleaned region <NUM>. In the example shown in <FIG>, the uncleaned region detection unit <NUM> detects the uncleaned region <NUM> using the captured image captured by the camera 1b that captures an image in a direction opposite to the traveling direction (indicated by a void arrow in the drawing). This configuration allows the uncleaned region detection unit <NUM> to confirm whether or not the uncleaned region <NUM> is generated immediately after cleaning. However, the uncleaned region detection unit <NUM> may detect the uncleaned region <NUM> using the captured image captured by the camera 1b that captures an image in the traveling direction.

<FIG> is a schematic diagram illustrating an image of image-processed captured image captured by a camera 1b that captures an image in a direction opposite to a traveling direction. The uncleaned region detection unit <NUM> detects a region sandwiched between two cleaned traces <NUM> or surrounded by a plurality of cleaned traces <NUM> as the uncleaned region <NUM> using the image-processed image.

When the uncleaned region detection unit <NUM> detects the uncleaned region <NUM>, it specifies the position thereof on the net for aquaculture <NUM>. Then, the uncleaned region detection unit <NUM> stores the uncleaned region information including the position information in the storage <NUM>. The position information of the uncleaned region <NUM> on the net for aquaculture <NUM> can be calculated using, for example, information obtained from the water depth sensor 1c and IMU 1d.

In the present embodiment, the uncleaned region detection unit <NUM> generates an image indicating the position of the detected uncleaned region <NUM> on the net for aquaculture <NUM> and causes the display <NUM> (see <FIG>) to display the image. That is, the controller <NUM> generates an image indicating the position of the uncleaned region <NUM> in the target to be cleaned and causes the display <NUM> to display the image. Such a configuration allows the cleaning worker to easily recognize the position of the uncleaned region <NUM>.

<FIG> is a schematic diagram illustrating an image displaying uncleaned regions <NUM>. In the example shown in <FIG>, uncleaned region images <NUM> indicating the position of the uncleaned region <NUM> are displayed on the map <NUM> which is displayed on the display <NUM> and indicates the current position of the autonomous-traveling cleaning machine <NUM>. A reference symbol <NUM> in the map <NUM> is an icon indicating the position of the autonomous-traveling cleaning machine <NUM>. The example shown in <FIG> allows the cleaning worker to easily grasp a positional relationship between the autonomous-traveling cleaning machine <NUM> and the uncleaned region <NUM>. This makes it possible to efficiently perform a finish cleaning for cleaning the uncleaned region <NUM> by the manual operation. Note that the finish cleaning is not necessary to be the manual operation. Based on the position information stored in the storage <NUM>, the autonomous-traveling cleaning machine <NUM> may autonomously move to the position of the uncleaned region <NUM> and autonomously perform the finish cleaning.

Next, a flow of cleaning by the autonomous traveling of the underwater cleaning apparatus <NUM> will be described. <FIG> is a flowchart illustrating the flow of cleaning by the autonomous traveling of the underwater cleaning apparatus <NUM>. In the example shown in <FIG>, it is assumed that the side surface of a cylindrical-shaped net for aquaculture is cleaned. The flowchart shown in <FIG> is started, for example, when the autonomous-traveling cleaning machine <NUM> is disposed at the end portion on the water surface side of the net for aquaculture.

In step S1, the autonomous-traveling cleaning machine <NUM> starts the autonomous traveling along an initially set route. The initially set route is a route circulating along the inner circumferential surface of the net for aquaculture while maintaining the target water depth. The autonomous traveling is performed under the control of the travel control unit <NUM>. The trace of the net for aquaculture, on which the autonomous-traveling cleaning machine <NUM> travels by the autonomous traveling, is cleaned. When the autonomous traveling along the initially set route is started, the process proceeds to the next step S2.

In step S2, it is determined whether or not a turn-back position is detected by the turn-back position determination unit <NUM>. The turn-back position is detected by using a captured image captured by the camera 1b. If the turn-back position is detected (Yes in step S2), the process proceeds to the next step S3. If the turn-back position is not detected (No in step S2), the process of step S2 is repeated.

In step S3, it is determined whether or not cleaning of the entire region of the side surface of the net for aquaculture is completed. Whether or not the cleaning of the entire region is completed may be determined by, for example, determining whether or not the water depth level of the autonomous-traveling cleaning machine <NUM> reaches the water depth level of the bottom surface of the net for aquaculture. In addition to the water depth, for example, the determination may be performed using a captured image captured by the camera 1b. If it is determined that the cleaning of the entire region of the side surface of the net for aquaculture is completed (Yes in step S3), the cleaning is finished by the autonomous traveling on the side surface of the net for aquaculture. If it is determined that the cleaning of the entire region of the side surface of the net for aquaculture is not completed (No in step S3), the process proceeds to the next step S4.

In step S4, the route generation unit <NUM> generates a next cleaning route. The cleaning route is generated based on the cleaned trace detected from the captured image. The cleaning route is generated such that the autonomous-traveling cleaning machine <NUM> travels along and adjacently to the cleaned trace. However, if the cleaned trace is not detected, the target water depth is set, and a route for maintaining the target water depth is set as the cleaning route. Upon the cleaning route is set, the process proceeds to a next step S5.

In step S5, the autonomous traveling along the generated cleaning route is started. At the start of new autonomous traveling along the generated cleaning route, the autonomous-traveling cleaning machine <NUM> reverses the traveling direction and changes the water depth. Furthermore, the cleaning route generated based on the cleaned trace is updated at any time by the captured images sequentially obtained after the start of the autonomous traveling. The autonomous-traveling cleaning machine <NUM> autonomously travels along the cleaning route updated at any time. Upon the autonomous traveling is started, the process is returned to step S2 described above, and the processes of step S2 and later are performed.

As described above, the cleaning of the net for aquaculture is performed while the cleaning route of the autonomous-traveling cleaning machine <NUM> is determined according to the cleaning state. This makes it possible to reduce the probability of the occurrence of an uncleaned region as compared to the case where the autonomous traveling is performed along the cleaning route determined from the shape of the aquaculture net regardless of the cleaning state. In a configuration in which cleaning is performed along the cleaning route determined from the shape of the net for aquaculture, since the shape of the net for aquaculture may change due to waves or tidal currents, or the accuracy of estimation of the amount of movement may decrease due to slipping of the wheels <NUM>, it is likely to be difficult to clean an appropriate range. Traveling along and adjacently to the cleaned trace obtained from the captured image allows an appropriate range of the net for aquaculture to be cleaned while suppressing the influence of the shape change of the net for aquaculture and the slip of the wheels <NUM>.

In the above, it is configured so that the side surface of the net for aquaculture is cleaned while repeating the circulation along the inner circumferential surface of the net for aquaculture and the change of the water depth after the circulation. However, this is for illustrative purpose only. Depending on the shape of the mesh of the net for aquaculture, cleaning efficiency may be more improved by cleaning the net for aquaculture with a cleaning pattern different from the above-described cleaning pattern.

<FIG> is a schematic diagram showing another example of the cleaning pattern of the net for aquaculture <NUM>. In the example shown in <FIG>, the autonomous-traveling cleaning machine <NUM> cleans the entire side surface of the net for aquaculture <NUM> while repeating the movement in the water depth direction (vertical direction) and the change of the azimuth angle. In the movement in the vertical direction, movement from the water surface side to the bottom surface side and movement from the bottom surface side to the water surface side are performed in turn. Even when the cleaning is performed in such a cleaning pattern, using a method of traveling along and adjacently to the cleaned trace allows the probability of occurrence of the uncleaned region to be reduced and allows the autonomous-traveling cleaning machine <NUM> to perform the cleaning by the autonomous traveling.

<FIG> is a block diagram illustrating a function of a controller 2A according to an alternative embodiment, which is provided at the underwater cleaning apparatus <NUM>. The controller 2A according to the alternative embodiment is different from the controller <NUM> according to the above-described embodiment in that a twist determination unit <NUM> is provided. The different point will be mainly described below.

As described above, the underwater cleaning apparatus <NUM> includes the electric wire bundle <NUM> and the hose <NUM>. These components are roughly collected together and connected to the autonomous-traveling cleaning machine <NUM>. That is, the underwater cleaning apparatus <NUM> includes a connector <NUM> (see <FIG> referred later) extending from the autonomous-traveling cleaning machine <NUM>. The connector <NUM> is, for example, an elongated connector extending from land or shipboard to the autonomous-traveling cleaning machine <NUM>.

The connector <NUM> may be possibly twisted due to the traveling of the autonomous-traveling cleaning machine <NUM> under water. During the autonomous traveling of the autonomous-traveling cleaning machine <NUM>, as described above, the traveling direction is reversed at the turn-back position so that the connector <NUM> is not twisted. However, for example, when the autonomous-traveling cleaning machine <NUM> is manually operated, the autonomous-traveling cleaning machine <NUM> may be possibly twisted. The twist determination unit <NUM> determines the twist of the connector <NUM>.

The twist determination unit <NUM> determines the twist of the connector <NUM> that occurs when the autonomous-traveling cleaning machine <NUM> travels on the net for aquaculture. Specifically, the twist determination unit <NUM> (controller 2A) determines the twist of the connector <NUM> by obtaining the rotation angle of the autonomous-traveling cleaning machine <NUM>. By providing such a twist determination unit <NUM>, for example, determination whether or not the connector <NUM> is twisted during the manual operation of the autonomous-traveling cleaning machine <NUM> can be performed.

When the autonomous-traveling cleaning machine <NUM> travels along a side surface of the net for aquaculture, for example, two kinds of twists are generated in the connector <NUM>. These two kinds of twists will be described with reference to <FIG> is a diagram for explaining the first twist generated in the connector <NUM>. <FIG> is a diagram for explaining the second twist generated in the connector <NUM>.

As shown in <FIG>, the first twist is generated by the rotation of the autonomous-traveling cleaning machine <NUM> around the Z-axis set in the vertical direction of a global coordinate system in which a fulcrum <NUM> of the connector <NUM> is defined as the origin. As shown in <FIG>, the second twist is generated by the rotation of the autonomous-traveling cleaning machine <NUM> around the z-axis set in the vertical direction of a local coordinate system in which a center position <NUM> of the autonomous-traveling cleaning machine <NUM> is defined as the origin.

From this point of view, the rotation angle obtained by the twist determination unit <NUM> (controller 2A) includes the first rotation angle α indicating the rotation of the autonomous-traveling cleaning machine <NUM> around the first coordinate axis set in the vertical direction of the global coordinate system in which the fulcrum <NUM> of the connector <NUM> is defined as the origin. Furthermore, the rotation angle obtained by the twist determination unit <NUM> (controller 2A) includes the second rotation angle β indicating the rotation of the autonomous-traveling cleaning machine <NUM> around the second coordinate axis set in the vertical direction of the local coordinate system in which the center position <NUM> of the autonomous-traveling cleaning machine <NUM> is defined as the origin. In this way, obtaining the rotation angle separated into the first rotation angle α and the second rotation angle β allows the twist of the connector <NUM> to be determined appropriately.

The first rotation angle α and the second rotation angle β can be obtained by using at least one of the water depth sensor, the inclination sensor, the gyro sensor, the azimuth sensor, and the rotational speed sensor of the wheels <NUM>. As described above, in the present example, the IMU 1d (see <FIG>) is mounted on the autonomous-traveling cleaning machine <NUM>. In the present example, the first rotation angle α and the second rotation angle β can be obtained using the information provided by IMU 1d.

The twist determination unit <NUM> (controller 2A) may cause a notificator to notify abnormality when the rotation angle is not less than a predetermined amount. The notificator may be the display <NUM>, for example. That is, the underwater cleaning apparatus <NUM> according to the present example includes a notificator. In the notification using the display <NUM>, the twist determination unit <NUM> may be configured to cause a display screen of the display <NUM> to display that the connector <NUM> has twist abnormalities. Furthermore, the twist determination unit <NUM> may cause the display screen to display an indication for prompting the user to operate the autonomous-traveling cleaning machine <NUM> such that the rotation angle of the autonomous-traveling cleaning machine <NUM> becomes less than a predetermined amount. In response to the notification, the cleaning worker may cause the autonomous-traveling cleaning machine <NUM> to travel by manual operation to eliminate the twist.

The notificator may be a device other than the display <NUM>. For example, the notificator may be a sound output device, a light emitting device, or the like instead of or in addition to the display <NUM>. That is, the occurrence of the twist abnormalities may be notified by sound or light.

Furthermore, in the present example, the rotation angle includes the first rotation angle α and the second rotation angle β. The twist determination unit <NUM> may be configured to detect the abnormalities (twist abnormalities) when at least one of the first rotation angle α and the second rotation angle β is not less than a predetermined amount. Note that the predetermined amount for determining whether or not the abnormalities occur may differ between the first rotation angle α and the second rotation angle β. If the first rotation angle α is not less than the first predetermined amount, the twist abnormalities may be detected. If the second rotation angle β is not less than the second predetermined amount, the twist abnormalities may be detected.

When the twist determination unit <NUM> detects the twist abnormalities, it may be configured to prohibit switching from the manual traveling in which the autonomous-traveling cleaning machine <NUM> is manually operated to the autonomous traveling. That is, the controller 2A may be configured to prohibit the transition to the autonomous traveling when the rotation angle is not less than the predetermined amount. Specifically, the controller 2A may prohibit the transition to the autonomous traveling when any one of cases where the first rotation angle α is not less than the first predetermined amount and where the second rotation angle β is not less than the second predetermined amount is established.

When the twist abnormalities in which the twist amount exceeds the predetermined amount occur, since a load due to the twist is applied, the accuracy of the autonomous traveling of the autonomous-traveling cleaning machine <NUM> or the speed thereof decreases. Therefore, as the present example, by prohibiting the transition to the autonomous traveling when the twist abnormalities occur, it is possible to suppress the accuracy of the autonomous traveling from decreasing or suppress the cleaning efficiency from decreasing. When the transition to the autonomous traveling is prohibited, the cleaning worker who is notified of the event may eliminate the twist by the manual operation.

Furthermore, when the twist determination unit <NUM> detects the twist abnormalities, it may be configured to cause the autonomous-traveling cleaning machine <NUM> to perform the operation of autonomously eliminating the twist before starting the autonomous traveling. That is, the controller 2A may be configured to cause the autonomous-traveling cleaning machine <NUM> to perform the operation of autonomously eliminating the twist before starting the autonomous traveling when the rotation angle is not less than the predetermined amount. The operation of autonomously eliminating the twist may be, for example, in-situ turn. The in-situ turn may be the ultra-pivotal turn or the pivotal turn. Such a configuration makes it possible to appropriately perform the autonomous traveling while suppressing the traveling accuracy and the traveling speed from being decreased due to the twist load.

Furthermore, the route generation unit <NUM> may generate the cleaning route according to the rotation angle obtained by the twist determination unit <NUM>. That is, the controller 2A may generate the cleaning route according to the rotation angle when switching from the manual traveling to the autonomous traveling. According to such a configuration, the twist can be eliminated while autonomously traveling on the cleaning route, and thus the twist can be efficiently eliminated.

The cleaning route for eliminating the twist may be, for example, a route that makes a U-turn at the turn-back position as shown in <FIG>. Furthermore, the cleaning route for eliminating the twist may be a route with a point for making the "in-situ turn" which eliminates the twist. In addition, the cleaning route for eliminating the twist may be a route to set the initial traveling direction of the autonomous-traveling cleaning machine <NUM> as an appropriate direction.

<FIG> is a diagram for explaining a route selection of the autonomous-traveling cleaning machine <NUM> when cleaning the side surface of the net for aquaculture <NUM>. In <FIG>, the rotation angle α is identical to the above-described the first rotation angle α. In addition, a rotation direction ccw means a counterclockwise rotation direction, and a rotation direction cw means a clockwise rotation direction. Furthermore, in the example shown in <FIG>, it is assumed that the autonomous-traveling cleaning machine <NUM> performs cleaning while repeating the circulation of the inner circumferential surface of the net for aquaculture <NUM> and the change of the water depth.

The pattern <NUM> shown in <FIG> indicates that the autonomous-traveling cleaning machine <NUM> is rotated by a predetermined amount or more in the counterclockwise direction around the Z-axis (see <FIG> ). That is, the connector <NUM> is twisted in the counterclockwise direction, and the twist abnormalities occur. In the pattern <NUM>, similarly to the state shown in <FIG>, the autonomous-traveling cleaning machine <NUM>, which is supposed to perform the autonomous traveling, takes such a posture that the right wheels <NUM> face the sea bottom side. <FIG> is an auxiliary diagram for facilitating the understanding of the details described in <FIG>. In the case of a state shown as the pattern <NUM>, a route along which the autonomous-traveling cleaning machine <NUM> moves forward is selected as the cleaning route. The forward movement of the autonomous-traveling cleaning machine <NUM> allows the autonomous-traveling cleaning machine <NUM> to be rotated in the clockwise direction, so that the twist of the connector <NUM> can be eliminated.

Furthermore, in the pattern <NUM> shown in <FIG>, similarly to the pattern <NUM>, the autonomous-traveling cleaning machine <NUM> is rotated by a predetermined amount or more in the counterclockwise direction around the Z-axis. That is, the connector <NUM> is twisted in the counterclockwise direction, and the twist abnormalities occur. In the pattern <NUM>, unlike the pattern <NUM>, the autonomous-traveling cleaning machine <NUM> takes such a posture that the left wheels <NUM> face the sea bottom side. In the case of a state shown as the pattern <NUM>, a route along which the autonomous-traveling cleaning machine <NUM> moves backward is selected as the cleaning route. The backward movement of the autonomous-traveling cleaning machine <NUM> allows the autonomous-traveling cleaning machine <NUM> to be rotated in the clockwise direction, so that the twist of the connector <NUM> can be eliminated.

Furthermore, in the pattern <NUM> shown in <FIG>, the autonomous-traveling cleaning machine <NUM> is rotated by a predetermined amount or more in the clockwise direction around the Z-axis. That is, the connector <NUM> is twisted in the clockwise direction, so that the twist abnormalities occur. In the pattern <NUM>, like the pattern <NUM>, the autonomous-traveling cleaning machine <NUM> takes such a posture that the right wheels <NUM> face the sea bottom side. In the case of a state shown as the pattern <NUM>, a route along which the autonomous-traveling cleaning machine <NUM> moves backward is selected as the cleaning route. The backward movement of the autonomous-traveling cleaning machine <NUM> allows the autonomous-traveling cleaning machine <NUM> to be rotated in the counterclockwise direction, so that the twist of the connector <NUM> can be eliminated.

Furthermore, in the pattern <NUM> shown in <FIG>, like the pattern <NUM>, the autonomous-traveling cleaning machine <NUM> is rotated by a predetermined amount or more in the clockwise direction around the Z-axis. That is, the connector <NUM> is twisted in the clockwise direction, so that the twist abnormalities occur. In the pattern <NUM>, like the pattern <NUM>, the autonomous-traveling cleaning machine <NUM> takes such a posture that the left wheels <NUM> face the sea bottom side. In the case of a state shown as the pattern <NUM>, a route along which the autonomous-traveling cleaning machine <NUM> moves forward is selected as the cleaning route. The forward movement of the autonomous-traveling cleaning machine <NUM> allows the autonomous-traveling cleaning machine <NUM> to be rotated in the counterclockwise direction, so that the twist of the connector <NUM> can be eliminated.

Invention is defined in claim <NUM>, and various technical features disclosed in the present specification can be changed in various ways. In addition, the multiple embodiments and alternative examples shown in the present specification may be combined to the extent possible.

A first example of underwater cleaning apparatus in the present specification may include a cleaning machine that cleans a target to be cleaned under water; and a controller that generates a cleaning route for cleaning the target to be cleaned, wherein the cleaning machine autonomously travels along the cleaning route. (first example).

The underwater cleaning apparatus of the first example may further include a camera mounted on the cleaning machine, wherein the controller determines the cleaning state of the target to be cleaned based on a captured image captured by the camera (second example).

In the underwater cleaning apparatus having the second example, the controller may generate the cleaning route based on a cleaned trace obtained by determination of the cleaning state (third example).

In the underwater cleaning apparatus having the third example, the controller may generate the cleaning route based on a water depth when the cleaning route cannot be generated based on the cleaned trace (fourth example).

The underwater cleaning apparatus of any one of the second to fourth examples may further include a storage, wherein the controller stores an uncleaned region detected by determination of the cleaning state in the storage (fifth example).

The underwater cleaning apparatus having the fifth example may further include a display, wherein the controller generates an image indicating a position of the uncleaned region in the target to be cleaned and causes the display to display the image (sixth example).

In the underwater cleaning apparatus having any one of the second to sixth examples, the controller may specify a turn-back position where a traveling direction of the cleaning machine is reversed based on a cleaned trace obtained by determination of the cleaning state(seventh example).

The underwater cleaning apparatus having any one of the first to seventh examples may further include a connector extending from the cleaning machine, wherein the controller determines a twist of the connector by obtaining a rotation angle of the cleaning machine (eighth example).

In the underwater cleaning apparatus of the eighth example, the rotation angle may include: a first rotation angle indicating rotation of the cleaning machine around a first coordinate axis set in a vertical direction of a global coordinate system in which a fulcrum of the connector is defined as an origin; and a second rotation angle indicating rotation of the cleaning machine around a second coordinate axis set in a vertical direction of a local coordinate system in which a center position of the cleaning machine is defined as an origin (ninth example).

The underwater cleaning apparatus of the eighth or ninth example may further include a notificator, wherein the controller causes the notificator to notify abnormality when the rotation angle is not less than a predetermined amount (tenth example).

In the underwater cleaning apparatus of any one of the eighth to tenth examples, the controller may prohibit transition to the autonomous traveling when the rotation angle is not less than a predetermined amount (eleventh example).

In the underwater cleaning apparatus having any one of the eighth to eleventh examples, the controller may cause the cleaning machine to perform an operation of autonomously eliminating the twist before starting the autonomous traveling when the rotation angle is not less than a predetermined amount (twelfth example).

Claim 1:
An underwater cleaning apparatus (<NUM>) comprising:
a cleaning machine (<NUM>) configured to clean a target to be cleaned under water; and
a controller (<NUM>) configured to generate a cleaning route (<NUM>) for cleaning the target to be cleaned,
wherein the cleaning machine (<NUM>) is configured to automously travel along the cleaning route (<NUM>), further comprising a camera (1b) mounted on the cleaning machine (<NUM>),
wherein the controller (<NUM>) is configured to determine a cleaning state of the target to be cleaned based on a captured image captured by the camera (1b), wherein the controller (<NUM>) is configured to generate the cleaning route (<NUM>) based on a cleaned trace obtained by determination of the cleaning state, characterized in that the controller (<NUM>) is configured to generate the cleaning route (<NUM>) based on a water depth when the cleaning route (<NUM>) cannot be generated based on the cleaned trace.