JPH0944238A - Automatic travel control system for underwater cleaning device - Google Patents
Automatic travel control system for underwater cleaning deviceInfo
- Publication number
- JPH0944238A JPH0944238A JP7214244A JP21424495A JPH0944238A JP H0944238 A JPH0944238 A JP H0944238A JP 7214244 A JP7214244 A JP 7214244A JP 21424495 A JP21424495 A JP 21424495A JP H0944238 A JPH0944238 A JP H0944238A
- Authority
- JP
- Japan
- Prior art keywords
- cleaning device
- depth
- sensor
- main body
- azimuth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 58
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Landscapes
- Farming Of Fish And Shellfish (AREA)
- Cleaning In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、漁網清掃，プール
清掃，水族館の水槽清掃等に適用される水中清掃装置の
走行自動制御方式に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic running control system for an underwater cleaning device applied to cleaning of fishing nets, pool cleaning, cleaning of aquarium water tanks and the like.
【０００２】[0002]
【従来の技術】従来、清掃装置本体の底部にウォータジ
ェットノズル等の清掃機構と駆動モーター付き左右対走
行輪を装備し、漁網，プール及び水槽等の清掃に適用さ
れる水中清掃装置の走行にあたっては、図７系統図に示
すように、水中カメラ９からの画像をモニタ画面１４で
作業員が目視し、手動操作によりジョイスティック１３
を動かし、左右の走行輪３の駆動モーター４の回転数を
同じにするか又は異ならしめるかして、清掃装置本体１
を直進させるか又は向きを変え経路を移動させるかして
いる。しかしながらこのような方式では、モニタ画面１
４上で作業員がモニタしながらリモートコントロールし
ているので、作業員は作業中常に操作する必要があり負
担が重く、また作業員の操作技倆によっては、効率的な
清掃を行うことが困難であるとともに、作業時間のばら
つきが生じ作業時間が長くかかる不具合がある。2. Description of the Related Art Conventionally, a bottom of a cleaning device is equipped with a cleaning mechanism such as a water jet nozzle and a pair of left and right traveling wheels with a drive motor for running an underwater cleaning device applied to cleaning a fishing net, a pool, a water tank, etc. As shown in the system diagram of FIG. 7, an operator visually observes the image from the underwater camera 9 on the monitor screen 14, and the joystick 13 is manually operated.
By moving the driving motors 4 for the left and right traveling wheels 3 to be the same or different.
To go straight or change direction and move the route. However, in such a system, the monitor screen 1
Since the worker is remotely controlling while monitoring on 4 above, the worker needs to operate it all the time during the work, and the burden is heavy, and it is difficult to perform efficient cleaning depending on the operation skill of the worker. In addition, there is a problem that the work time varies and the work time is long.
【０００３】[0003]
【発明が解決しようとする課題】本発明は、このような
事情に鑑みて提案されたもので、水中清掃装置の走行の
自動制御を行うことができ、ひいては作業員の操作技倆
に関係なく効率的な清掃を行うことができるとともに、
作業時間を短縮できる水中清掃装置の走行自動制御方式
を提供することを目的とする。SUMMARY OF THE INVENTION The present invention has been proposed in view of the above circumstances, and it is possible to automatically control the traveling of the underwater cleaning device, and thus, regardless of the operator's skill. In addition to being able to perform efficient cleaning,
It is an object of the present invention to provide an automatic traveling control system for an underwater cleaning device that can reduce work time.
【０００４】[0004]
【課題を解決するための手段】そのために本発明は、清
掃装置本体の底部に清掃機構と駆動手段付き左右対走行
輪を装備した水中清掃装置において、上記清掃装置本体
の深度位置を測定する深度センサ及び方位姿勢を測定す
る方位センサと、上記清掃装置本体の障害物との当接を
検知するリミットスイッチと、上記深度センサ，方位セ
ンサ及びリミットスイッチのセンシング信号に基づき上
記左右対走行輪の回転数を同じにするか又は変化させる
走行制御機構とを具えたことを特徴とする。To this end, the present invention relates to an underwater cleaning apparatus equipped with a cleaning mechanism and a pair of left and right traveling wheels with a driving means at the bottom of the cleaning apparatus body, and a depth for measuring the depth position of the cleaning apparatus body. A sensor and an azimuth sensor that measures the azimuth and orientation, a limit switch that detects the contact of the cleaning device body with an obstacle, and rotation of the left and right pair of running wheels based on the sensing signals of the depth sensor, the azimuth sensor, and the limit switch. And a travel control mechanism for making the numbers the same or changing.
【０００５】[0005]
【発明の実施の形態】本発明水中清掃装置の走行自動制
御方式を漁網清掃装置に適用した実施の形態を図面につ
いて説明すると、図１は本走行自動制御方式を備えた水
中清掃装置の外観斜視図、図２は本走行自動制御方式の
系統図、図３は本走行自動制御方式の制御操作のブロッ
ク図、図４は本走行自動制御方式の深度制御操作アルゴ
リズムのフローチャート、図５は同上における漁網面走
行経路の説明図、図６は本走行自動制御方式の方位制御
操作アルゴリズムのフローチャートである。BEST MODE FOR CARRYING OUT THE INVENTION Referring to the drawings, an embodiment in which an automatic running control system for an underwater cleaning device of the present invention is applied to a fishing net cleaning device is shown in FIG. Fig. 2, Fig. 2 is a system diagram of the main traveling automatic control system, Fig. 3 is a block diagram of control operation of the main traveling automatic control system, Fig. 4 is a flowchart of a depth control operation algorithm of the main traveling automatic control system, and Fig. 5 is the same as above. FIG. 6 is an explanatory view of the fishing net surface traveling route, and FIG. 6 is a flowchart of the direction control operation algorithm of the automatic traveling control system.
【０００６】図１及び図２において、清掃装置本体１の
底部には、清掃機構としての複数個のウォータジェット
ノズル２が装備されるとともに、左右２対の走行輪３が
取付けられ、各走行輪３にはそれぞれ駆動モーター４が
連結されており、この走行輪３はタイヤ表面の溝が漁網
にかみこむことにより走行摩擦を得る。清掃装置本体１
の上部には、前後にバンパ５が突設されるとともに、深
度位置を測定する深度センサ６及び方位姿勢を測定する
方位センサ７が組込まれており、バンパ５に対向してそ
れに押されることにより障害物を検知するリミットスイ
ッチ８が配設されている。また清掃装置本体１の前後面
に水中の様子を撮影する水中カメラ９が取付けられてい
る。更に清掃装置本体１の内部には、左右対走行輪３の
回転数を同じにするか又は変化させる制御機構の第１階
層であるマイコン１０が配置され、同上制御機構の第２
階層である陸上設置の制御装置１１とケーブル１２で接
続されており、このマイコン１０が深度センサ６，方位
センサ７及びリミットスイッチ８からの情報を処理し制
御装置１１へ送出し、制御装置１１からのコマンドによ
り駆動モーター４の回転数を制御する。なお陸上の制御
装置１１には、手動モード用のジョイスティック１３
と、ケーブル１２を通じ水中カメラ９に接続されたモニ
タ画面１４が付設されている。In FIGS. 1 and 2, a plurality of water jet nozzles 2 as a cleaning mechanism are mounted on the bottom of the cleaning device main body 1, and two pairs of left and right running wheels 3 are attached to each running wheel. A drive motor 4 is connected to each of the traveling wheels 3, and the traveling wheels 3 obtain traveling friction when the grooves on the tire surface bite into the fishing net. Cleaning device body 1
A bumper 5 is provided on the upper part of the front and rear, and a depth sensor 6 for measuring a depth position and an azimuth sensor 7 for measuring an azimuth and posture are incorporated. A limit switch 8 for detecting an obstacle is provided. In addition, an underwater camera 9 is attached to the front and rear surfaces of the cleaning device main body 1 to photograph the underwater condition. Further, inside the cleaning device main body 1, a microcomputer 10, which is a first layer of a control mechanism for making the rotational speeds of the left and right traveling wheels 3 the same or changing, is arranged.
It is connected to a land-based control device 11 which is a hierarchy by a cable 12, and this microcomputer 10 processes information from the depth sensor 6, orientation sensor 7 and limit switch 8 and sends it to the control device 11, Command controls the rotation speed of the drive motor 4. The land-based control device 11 includes a joystick 13 for manual mode.
And a monitor screen 14 connected to the underwater camera 9 through the cable 12.
【０００７】このような装置において、図３に示すよう
に、深度センサ６，方位センサ７により清掃装置本体１
の深度，方位姿勢角が検知されると、それらの信号がマ
イコン１０で基準深度，基準方位角と比較処理されて深
度保持，姿勢指令が制御装置１１に送られ、制御装置１
１からは深度制御，姿勢制御の信号がマイコン１０へ送
られて左右対走行輪３の駆動モーター４の回転数を同じ
にするか又は変化させるかして、清掃装置本体１の深
度，姿勢角を維持し又は変化して漁網面を走行し清掃す
る。またリミットスイッチ８が作動すると、マイコン１
０から直進／切り返しの指令が出され清掃装置本体１は
走行経路を変えたうえ清掃する。In such an apparatus, as shown in FIG. 3, the cleaning apparatus main body 1 includes a depth sensor 6 and an orientation sensor 7.
When the depth and the azimuth / attitude angle are detected, the signals are compared with the reference depth and the reference azimuth angle by the microcomputer 10, and a depth hold / attitude command is sent to the control device 11.
A signal for depth control and attitude control is sent from the microcomputer 1 to the microcomputer 10 to make the rotation speed of the drive motor 4 for the pair of left and right traveling wheels 3 the same or to change the depth and attitude angle of the cleaning device body 1. Maintain or change the condition and run on the fishing net to clean it. When the limit switch 8 is activated, the microcomputer 1
A command to go straight / turn back is issued from 0, and the cleaning device main body 1 changes the traveling route and cleans.
【０００８】そこで図４，図５について漁網側面清掃に
おける深度制御操作の要領を説明すると、図４におい
て、清掃装置本体１が設定した基準深度Ｈ0 の漁網側面
経路上を走行開始し、深度センサ６により現在の深度Ｈ
を取得したうえ、｜Ｈ0 −Ｈ｜＞δｈ（深度の不感帯）
のときは｜Ｈ0 −Ｈ｜を小さくするように走行輪３を動
かし基準深度を維持しつつ漁網側面の清掃を行い、その
後リミットスイッチ８が漁網に当たったことをセンシン
グすると、左右の走行輪３の回転数を変えて上昇し、上
方の水平経路へ移動して走行する。このような深度制御
の経路状況を図５により詳細に説明すると、まずでは
左右の走行輪３の回転数を同じにして基準深度の水平経
路上をその深度を維持しながら走行し、ではリミット
スイッチ８の作動により進行方向を逆転し、では左右
の走行輪３の回転数を一定時間変えて上昇し、では上
方経路へ上昇終了後進行方向を逆転しと同じ動作を
し、ではリミットスイッチ８の作動により進行方向を
逆転し、ではその方向へ走行する。To explain the procedure of the depth control operation in the cleaning of the fishing net side surface with reference to FIGS. 4 and 5, the cleaning device main body 1 starts traveling on the fishing net side surface route of the reference depth H 0 set in FIG. Current depth H by 6
And then | H 0 −H |> δh (dead zone of depth)
In this case, the running wheel 3 is moved so as to reduce | H 0 −H | to clean the side surface of the fishing net while maintaining the reference depth. After that, when it is sensed that the limit switch 8 hits the fishing net, the left and right running wheels are detected. The number of rotations of 3 is changed to rise, and the vehicle travels by moving to an upper horizontal path. The depth situation of such depth control will be described in detail with reference to FIG. 5. First, the left and right traveling wheels 3 are made to rotate at the same rotational speed while traveling on a horizontal route of the reference depth while maintaining the depth. The direction of travel is reversed by the operation of 8, and the rotation speed of the left and right traveling wheels 3 is changed for a certain period of time to increase, and the operation of the limit switch 8 is performed in The direction of travel is reversed by the operation, and then the vehicle runs in that direction.
【０００９】次に漁網底面清掃における方位制御操作の
要領を図６について説明すると、清掃装置本体１が設定
した基準方位角θ0 の漁網底面経路上を走行開始し、方
位センサ７により現在の方位角θを取得したうえ、｜θ
0 −θ｜＞δθ（方位角の不感帯）のときは｜θ0 −θ
｜を小さくするように走行輪３を動かし基準方位角を維
持しつつ漁網底面の清掃を行い、その後リミットスイッ
チ８が漁網に当たったことをセンシングすると、左右の
走行輪３の回転数を変えて経路を変更し、横並びの経路
へ平行移動して走行する。そしてこのような方位制御の
経路状況は上記の図５の深度制御経路と同様となる。[0009] Then when the procedure of orientation control operation in fishing net bottom cleaning to Figure 6 will be described, on fishing net bottom path of the reference azimuth angle theta 0 the cleaning device main body 1 is set to start running, the current direction by the azimuth sensor 7 After obtaining the angle θ, | θ
When 0 −θ |> δθ (dead zone of azimuth angle) | θ 0 −θ
The running wheel 3 is moved so as to reduce |, the bottom surface of the fishing net is cleaned while maintaining the reference azimuth, and then, when it is sensed that the limit switch 8 hits the fishing net, the rotation speeds of the left and right running wheels 3 are changed. Change the route and move parallel to the side-by-side route. Then, the route situation of such azimuth control is similar to that of the depth control route of FIG. 5 described above.
【００１０】なお上述のような走行自動制御中に水中カ
メラ９から送られるモニタ画面１４で作業員が異常を検
知した場合は、図３に示す自動／手動設定スイッチを手
動側にすれば、マイコン１０が制御装置１１から切り離
され、ジョイスティック１３でマイコン１０が操作され
る手動モードに切り替わる。When an operator detects an abnormality on the monitor screen 14 sent from the underwater camera 9 during the automatic traveling control as described above, the microcomputer is set by setting the automatic / manual setting switch shown in FIG. 3 to the manual side. 10 is disconnected from the control device 11, and the joystick 13 switches to a manual mode in which the microcomputer 10 is operated.
【００１１】かくしてこのような走行自動制御方式によ
れば、清掃装置本体１を漁網側面，底面を走行させなが
らウォータジェットノズル２により清掃するにあたり、
深度センサ６，方位センサ７及びリミットスイッチ８か
らのセンシング信号により、マイコン１０及び制御装置
１１が深度，方位角，漁網への当接を検知して走行経路
を自動制御するので、作業員の操作技倆に関係なく効率
的な清掃を行うことができるとともに、作業員による作
業時間のばらつきがなくなり、作業時間を大幅に短縮で
きる。Thus, according to such a traveling automatic control system, when the cleaning device body 1 is cleaned by the water jet nozzle 2 while traveling on the side and bottom of the fishing net,
The microcomputer 10 and the control device 11 detect the depth, the azimuth angle, and the contact with the fishing net by the sensing signals from the depth sensor 6, the azimuth sensor 7, and the limit switch 8, and automatically control the traveling route. Efficient cleaning can be performed regardless of skill, and there is no variation in working time among workers, and the working time can be greatly reduced.
【００１２】[0012]
【発明の効果】要するに本発明によれば、清掃装置本体
の底部に清掃機構と駆動手段付き左右対走行輪を装備し
た水中清掃装置において、上記清掃装置本体の深度位置
を測定する深度センサ及び方位姿勢を測定する方位セン
サと、上記清掃装置本体の障害物との当接を検知するリ
ミットスイッチと、上記深度センサ，方位センサ及びリ
ミットスイッチのセンシング信号に基づき上記左右対走
行輪の回転数を同じにするか又は変化させる走行制御機
構とを具えたことにより、水中清掃装置の走行の自動制
御を行うことができ、ひいては作業員の操作技倆に関係
なく効率的な清掃を行うことができるとともに、作業時
間を短縮できる水中清掃装置の走行自動制御方式を得る
から、本発明は産業上極めて有益なものである。In summary, according to the present invention, in a submersible cleaning device equipped with a cleaning mechanism and a pair of left and right traveling wheels with driving means at the bottom of the cleaning device main body, a depth sensor and a direction for measuring the depth position of the cleaning device main body. A bearing sensor that measures the posture, a limit switch that detects contact with an obstacle of the cleaning device body, and the same rotation speed of the pair of left and right running wheels based on the sensing signals of the depth sensor, the bearing sensor, and the limit switch. By providing a traveling control mechanism for changing or changing the traveling speed, it is possible to automatically control the traveling of the underwater cleaning device, and it is possible to perform efficient cleaning regardless of the operator's skill. The present invention is extremely useful industrially because it provides an automatic running control system for an underwater cleaning device that can reduce the working time.
【図１】本発明走行自動制御方式を備えた水中清掃装置
の実施形態の外観斜視図である。FIG. 1 is an external perspective view of an embodiment of an underwater cleaning device provided with an automatic traveling control system of the present invention.
【図２】本走行自動制御方式の系統図である。FIG. 2 is a system diagram of the automatic traveling control system.
【図３】本走行自動制御方式の制御操作のブロック図で
ある。FIG. 3 is a block diagram of a control operation of this traveling automatic control system.
【図４】本走行自動制御方式の深度制御操作アルゴリズ
ムのフローチャートである。FIG. 4 is a flowchart of a depth control operation algorithm of the automatic traveling control system.
【図５】同上における漁網面走行経路の説明図である。FIG. 5 is an explanatory view of a fishing net surface traveling route in the above.
【図６】本走行自動制御方式の方位制御操作アルゴリズ
ムのフローチャートである。FIG. 6 is a flowchart of an azimuth control operation algorithm of the automatic traveling control system.
【図７】従来の水中清掃装置の走行制御方式の系統図で
ある。FIG. 7 is a system diagram of a traveling control system of a conventional underwater cleaning device.
１ 清掃装置本体 ２ ウォータジェットノズル ３ 走行輪 ４ 駆動モーター ５ バンパ ６ 深度センサ ７ 方位センサ ８ リミットスイッチ ９ 水中カメラ 10 マイコン 11 制御装置 12 ケーブル 13 ジョイスティック 14 モニタ画面 1 Cleaning device main body 2 Water jet nozzle 3 Running wheel 4 Drive motor 5 Bumper 6 Depth sensor 7 Direction sensor 8 Limit switch 9 Underwater camera 10 Microcomputer 11 Controller 12 Cable 13 Joystick 14 Monitor screen
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.6 識別記号 庁内整理番号 ＦＩ 技術表示箇所 Ｇ０５Ｄ 1/02 Ｇ０５Ｄ 1/02 Ｌ (72)発明者 冨永 史彰 愛知県小牧市大字東田中1200番地 三菱重 工業株式会社名古屋誘導推進システム製作 所内 (72)発明者 中村 俊介 愛知県小牧市大字東田中1200番地 三菱重 工業株式会社名古屋誘導推進システム製作 所内─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. 6 Identification number Internal reference number FI Technical display location G05D 1/02 G05D 1/02 L (72) Inventor Fumiaki Tominaga 1200, Higashidanaka, Komaki City, Aichi Prefecture Mitsubishi Heavy Industries, Ltd.Nagoya guidance propulsion system factory (72) Inventor Shunsuke Nakamura 1200, Higashi-Tanaka, Komaki city, Aichi prefecture Mitsubishi Heavy Industry Co., Ltd. Nagoya guidance propulsion system factory
Claims (1)
段付き左右対走行輪を装備した水中清掃装置において、
上記清掃装置本体の深度位置を測定する深度センサ及び
方位姿勢を測定する方位センサと、上記清掃装置本体の
障害物との当接を検知するリミットスイッチと、上記深
度センサ，方位センサ及びリミットスイッチのセンシン
グ信号に基づき上記左右対走行輪の回転数を同じにする
か又は変化させる走行制御機構とを具えたことを特徴と
する水中清掃装置の走行自動制御方式。1. An underwater cleaning device equipped with a cleaning mechanism and a pair of left and right traveling wheels with driving means at the bottom of the cleaning device body,
Of the depth sensor for measuring the depth position of the cleaning device main body and the azimuth sensor for measuring the azimuth and posture; a limit switch for detecting the contact of the cleaning device main body with an obstacle; and the depth sensor, the azimuth sensor and the limit switch. An automatic traveling control system for a submersible cleaning device, comprising: a traveling control mechanism for making the rotational speeds of the pair of left and right traveling wheels the same or changing based on a sensing signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7214244A JPH0944238A (en) | 1995-07-31 | 1995-07-31 | Automatic travel control system for underwater cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7214244A JPH0944238A (en) | 1995-07-31 | 1995-07-31 | Automatic travel control system for underwater cleaning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0944238A true JPH0944238A (en) | 1997-02-14 |
Family
ID=16652570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7214244A Withdrawn JPH0944238A (en) | 1995-07-31 | 1995-07-31 | Automatic travel control system for underwater cleaning device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0944238A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012504940A (en) * | 2008-10-10 | 2012-03-01 | ミック ピーティワイ エルティディ | On-site underwater net cleaning and inspection equipment |
| US20120260861A1 (en) * | 2011-04-13 | 2012-10-18 | Lindgren Peter B | Fish cage screen and cleaning apparatus |
| CN103144118A (en) * | 2013-04-12 | 2013-06-12 | 浙江海洋学院 | Underwater intelligent cleaning robot for deep-water cage culture |
| CN103529844A (en) * | 2013-10-18 | 2014-01-22 | 吴宝举 | Forward-looking sonar-based underwater robot collision avoidance method |
| CN106040634A (en) * | 2016-06-13 | 2016-10-26 | 陈洁 | Cabin cleaning device for ships |
| WO2016183274A1 (en) | 2015-05-12 | 2016-11-17 | Lindgren Peter B | Submerged net cleaner |
| NO20171770A1 (en) * | 2017-06-13 | 2018-12-14 | Pure Arctic As | System and method for use in fish farming |
| WO2020072936A1 (en) | 2018-10-04 | 2020-04-09 | Lindgren Peter B | Aquaculture net cleaning system |
| US11116188B2 (en) | 2015-05-12 | 2021-09-14 | Peter B. Lindgren | Aquaculture net cleaning system |
| CN113953288A (en) * | 2021-10-26 | 2022-01-21 | 中国人民解放军海军工程大学 | Underwater cleaning system for nuclear environment |
-
1995
- 1995-07-31 JP JP7214244A patent/JPH0944238A/en not_active Withdrawn
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8635730B2 (en) | 2008-10-10 | 2014-01-28 | Mic Pty Ltd | In situ sub marine net cleaning and inspecting device |
| JP2012504940A (en) * | 2008-10-10 | 2012-03-01 | ミック ピーティワイ エルティディ | On-site underwater net cleaning and inspection equipment |
| US20120260861A1 (en) * | 2011-04-13 | 2012-10-18 | Lindgren Peter B | Fish cage screen and cleaning apparatus |
| US8881683B2 (en) * | 2011-04-13 | 2014-11-11 | Peter B. Lindgren | Fish cage screen and cleaning apparatus |
| CN103144118A (en) * | 2013-04-12 | 2013-06-12 | 浙江海洋学院 | Underwater intelligent cleaning robot for deep-water cage culture |
| CN103529844A (en) * | 2013-10-18 | 2014-01-22 | 吴宝举 | Forward-looking sonar-based underwater robot collision avoidance method |
| US11116188B2 (en) | 2015-05-12 | 2021-09-14 | Peter B. Lindgren | Aquaculture net cleaning system |
| WO2016183274A1 (en) | 2015-05-12 | 2016-11-17 | Lindgren Peter B | Submerged net cleaner |
| US11523595B2 (en) | 2015-05-12 | 2022-12-13 | Peter B. Lindgren | Aquaculture net cleaning system |
| CN106040634A (en) * | 2016-06-13 | 2016-10-26 | 陈洁 | Cabin cleaning device for ships |
| NO343707B1 (en) * | 2017-06-13 | 2019-05-13 | Pure Arctic As | System and method for use in fish farming |
| US11490605B2 (en) | 2017-06-13 | 2022-11-08 | C Robotics AS | System and method for use in fish farming or marine harvesting |
| NO20171770A1 (en) * | 2017-06-13 | 2018-12-14 | Pure Arctic As | System and method for use in fish farming |
| WO2020072936A1 (en) | 2018-10-04 | 2020-04-09 | Lindgren Peter B | Aquaculture net cleaning system |
| CN113953288A (en) * | 2021-10-26 | 2022-01-21 | 中国人民解放军海军工程大学 | Underwater cleaning system for nuclear environment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Application deemed to be withdrawn because no request for examination was validly filed |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 20021001 |