Stirring Deposit and Moving at Severe Cold Period by An Underwater Cleaning Robot for Slow Sand Filtration Ponds

Abstract

Water supply system is essential social infrastructure in these days. Slow sand filtration method which is a type of water purification method has the advantages of less environmental stress and lower cost for long-term use. The method has two disadvantages. One is needs of constant cleaning of a bottom of a pond, which conducts every 2 or 3 months because of its clogging. The other is difficulty of cleaning at coldest period because a pond is covered with ice. We have been developing an underwater cleaning robot for slow sand filtration pond to eliminate the disadvantages. In this paper, methods of stirring deposit and moving at severe cold period are reported.