水中壁面清掃ロボットの開発

抄録

Hydroelectric power plants have long-distance waterways called headraces. However, there is a problem in this waterway that the efficiency of power generation is reduced due to the nesting of insects called caddisfly It has now been removed by humans. But this is inefficient and hard work. Therefore, I have considered a cleaning robot that can remove the nest of caddisfly. The robot has four thrusters to stick to the wall, two thrusters for propulsion, in addition, by having a cleaning brush, This robot can clean while running while sticking to the wall. As a result of the experiment, it was confirmed that the robot could move underwater while sticking to the wall.