WO2023276000A1 - Underwater propulsion device - Google Patents

Abstract

An underwater propulsion device (100) comprises: a wearable part (2) that is worn on at least one of the four limbs of a user (U); a propulsion unit (3) that is attached to the wearable part (2) and used to propel the user (U) in the water; a non-contact sensor (4) that detects the instep (Ui) of the foot without contact; and a controller (5) that controls the drive of the propulsion unit (3) on the basis of the detection result of the non-contact sensor (4).

Description

Underwater propulsion device

The present invention relates to an underwater propulsion device.

An underwater propulsion device for propelling a user underwater includes, for example, a footboard, a propulsion unit attached to the footboard, and a switch attached to the footboard. The soles of the left and right lower legs of the user are placed and fixed on the footboard.

The propulsion unit includes a cylindrical housing that is open in the direction of propulsion, a waterproof motor provided in the housing, and a propeller rotated by the waterproof motor. Both ends of the housing in the propelling direction are open. The switch controls starting and stopping of the propulsion unit. The switch has, for example, a button that is stepped on with a foot.

With this configuration, pressing the button with your foot activates the propulsion unit. Then, the propeller is rotated and a water flow is generated in the housing through openings at both ends of the housing. This allows the propulsion unit to generate thrust for propelling the user underwater.

Japanese special table 2020-511361

However, in the above-described embodiment, the soles of the user's feet are placed and fixed on the footboard, so the left and right lower limbs are restrained. Therefore, there is a possibility that the user's posture in the water will be restricted. In addition, there is a problem that it is difficult to walk on land while wearing the underwater propulsion device.
Furthermore, the propulsion unit cannot be started or stopped without pressing the switch button. For this reason, there is a problem that the underwater propulsion device is inconvenient to use.

Therefore, the present invention provides an underwater propulsion device that can improve the flexibility of the user's posture in water, enables walking on land with the user wearing it, and is easy to use.

In order to solve the above problems, the present invention proposes the following means.
(1) An underwater propulsion device according to the present invention comprises a mounting section mounted on at least one of the limbs of a user, and a propulsion unit mounted on the mounting section for propelling the user underwater. , a non-contact sensor that detects an object to be detected in a non-contact manner, and a control section that performs drive control of the propulsion unit based on a detection result of the non-contact sensor.

By configuring in this way, the limbs of the user are not restricted. Therefore, it is possible to improve the flexibility of the user's posture in water.
Also, there is no need to attach the underwater propulsion device to the soles of the user's feet. Therefore, it is possible to walk on land while wearing the underwater propulsion device.
Furthermore, drive control of the propulsion unit is performed using a non-contact sensor. For this reason, the troublesome operation of pressing a button to drive the propulsion unit, which is conventionally required, is no longer necessary. Therefore, the usability of the underwater propulsion device can be improved.

(2) In the above configuration, the mounting unit is mounted on each of at least one of the left and right upper limbs and the left and right lower limbs of the user, and the non-contact sensor and the control unit are attached to each of the mounting units. and may be separately provided corresponding to each propulsion unit provided in each of the mounting portions.

With this configuration, the drive control of each propulsion unit can be performed by separate control sections, instead of one control section controlling the drive of each propulsion unit. Therefore, for example, even if one of the user's left and right propulsion units or the control unit malfunctions, the user's propulsion in the water can be maintained by driving the other propulsion unit. That is, it is possible to improve the fail-safe function of the underwater propulsion device.

(3) In the above configuration, the attachment unit is attached between the user's ankle and the knee, the object to be detected is the user's foot, and the control unit includes the user's foot. The drive control of the propulsion unit may be performed based on the movement of the

In this way, by wearing the mounting portion between the user's ankles and knees, the user's posture can be easily stabilized during propulsion in water. In addition, since the drive control of the propulsion unit can be performed only by moving the foot, the usability of the underwater propulsion device can be further improved.

(4) In the above configuration, the control section may activate the propulsion unit when the user's ankle is stretched, and stop the propulsion unit when the user's ankle is bent. .

With this configuration, the propulsion unit can be started and stopped simply by bending or stretching the legs. Therefore, the usability of the underwater propulsion device can be further improved.

(5) In the above configuration, the control section may vary the output speed of the propulsion unit according to the distance between the non-contact sensor and the instep of the user's foot.

With this configuration, the propulsion speed of the user in the water can be easily varied according to the purpose. Therefore, the usability of the underwater propulsion device can be further improved.

(6) The above configuration may include a variable maximum speed switch capable of varying the maximum output speed of the propulsion unit.

With this configuration, the maximum output speed of the propulsion unit can be varied according to, for example, the target travel distance of the user and the operating skill level of the underwater propulsion device. Therefore, the usability of the underwater propulsion device can be further improved.

(7) In the above configuration, the control section may vary the maximum output speed of the propulsion unit based on the movement of the user's foot.

With this configuration, the maximum output speed of the propulsion unit can be easily varied. Therefore, the usability of the underwater propulsion device can be further improved.

(8) In the above configuration, the mounting portions may be separately mounted on the left and right lower legs of the user.

With this configuration, the user can obtain a well-balanced thrust. Since the underwater propulsion device is provided separately for each of the user's left and right lower limbs, the operability of the underwater propulsion device, such as changing direction in water, can be improved.

(9) In the above configuration, the propulsion unit does not need to protrude downward from the user's heel when the user wears the attachment section from the ankle to the knee.

By configuring in this way, when walking on land with the underwater propulsion device attached, the propulsion unit will not hit the road surface or become an obstacle. Therefore, the walkability on land can be improved while the underwater propulsion device is attached.

(10) In the above configuration, the wearing part may be worn between the user's wrist and elbow.

In this way, the user's extremities are not restricted even when the user wears the wearing part from the wrist to the elbow. Therefore, it is possible to improve the flexibility of the user's posture in water.
Also, there is no need to attach the underwater propulsion device to the soles of the user's feet. Therefore, it is possible to walk on land while wearing the underwater propulsion device.
Furthermore, drive control of the propulsion unit is performed using a non-contact sensor. For this reason, the troublesome operation of pressing a button to drive the propulsion unit, which is conventionally required, is no longer necessary. Therefore, the usability of the underwater propulsion device can be improved.

(11) In the above configuration, the control section may vary the output speed of the propulsion unit according to the distance between the non-contact sensor and the object to be detected.

With this configuration, the propulsion speed of the user in the water can be easily varied according to the purpose. Therefore, the usability of the underwater propulsion device can be further improved.

According to the present invention, the limbs of the user are not restricted. Therefore, it is possible to improve the flexibility of the user's posture in water.
Also, there is no need to attach the underwater propulsion device to the soles of the user's feet. Therefore, it is possible to walk on land while wearing the underwater propulsion device.
Furthermore, drive control of the propulsion unit is performed using a non-contact sensor. For this reason, the troublesome operation of pressing a button to drive the propulsion unit, which is conventionally required, is no longer necessary. Therefore, the usability of the underwater propulsion device can be improved.

FIG. 2 is an explanatory diagram showing how the underwater propulsion device is used underwater by a user according to the embodiment of the present invention; 1 is a perspective view of a usage state of an underwater propulsion device according to an embodiment of the present invention, viewed from the sole of a user's foot; FIG.

Next, an embodiment of the present invention will be described based on the drawings.

<Underwater propulsion device>
FIG. 1 is an explanatory diagram showing how a user U uses an underwater propulsion device 100 underwater.
As shown in FIG. 1, the underwater propulsion device 100 has two propulsion device main bodies 1 separately attached to the left and right lower limbs (legs) Uk of a user U, for example. A more specific mounting position of the propulsion device main body 1 is between the ankle Ua of the user U and the knee Un of the lower leg Uk.

FIG. 2 is a perspective view of the usage state of the underwater propulsion device 100 in FIG. 1 as viewed from the sole Us side of the user U. FIG. Since the left and right propulsion device main bodies 1 have the same configuration, only one of the two propulsion device main bodies 1 will be explained below, and the other will be explained as necessary.
As shown in FIG. 2, the propulsion device main body 1 includes a mounting portion 2 worn between the ankle Ua and the knee Un of the user U, a propulsion unit 3 attached to the mounting portion 2, and a propulsion unit 3 attached to the mounting portion 2. It is provided with a non-contact sensor 4 and a control section 5 that controls the driving of the propulsion unit 3 .

The mounting part 2 is made of, for example, flexible resin. The mounting portion 2 includes a mounting portion main body 6 that is curved and deformed into a C shape to surround the lower leg Uk, and a band portion 7 that is provided on the mounting portion main body 6 and holds the surrounding state of the lower leg Uk by the mounting portion main body 6. , are integrally molded.

The band portion 7 is formed in a long strip shape along the circumference of the lower leg Uk. One longitudinal end of the band portion 7 is fixed to the mounting portion main body 6 . The other longitudinal end of the band portion 7 is detachable from the mounting portion main body 6 .
The wearing part 2 is worn on the lower leg Uk of the user U in a state in which the other longitudinal end of the band part 7 is removed from the wearing part main body 6 . Thereafter, by fixing the other longitudinal end of the band portion 7 to the mounting portion main body 6, the surrounding state of the lower leg Uk by the mounting portion main body 6 is maintained.

The propulsion unit 3 generates thrust to propel the user U through the underwater propulsion device 100 . The propulsion unit 3 includes a tubular housing 8 that extends along the height direction with the mounting portion 2 attached to the lower leg Uk of the user U, and a propeller unit 9 provided within the housing 8 .

The housing 8 is arranged on the outer side in the left-right direction when the user U's lower leg Uk is fitted with the mounting portion 2 . An injection port 8 a is formed at the foot side (right side in FIG. 2 ) end portion of the housing 8 in the longitudinal direction. An inlet 8b is formed at the end of the housing 8 on the upper body side (left side in FIG. 2) in the longitudinal direction.
The housing 8 is formed so that the injection port 8a does not protrude beyond the sole Us of the user U when the user U's lower leg Uk is worn with the mounting portion 2 .

The propeller unit 9 includes a battery, an electric motor driven by the power of the battery, a propeller fixed to the motor shaft of the electric motor, and a main power switch (none of which is shown) for turning on/off the main power of the electric motor. , provided. The propeller unit 9 has a waterproof structure as a whole unit. The propeller unit 9 rotates as the electric motor is driven. Then, a water flow is generated in which water flows into the housing 8 from the inlet 8b and is further jetted to the outside from the jet port 8a. This water flow serves as a thrust for propelling the user U. The velocity of the water stream is proportional to the thrust. As the flow speed increases, the thrust increases. In the following description, the flow velocity of the water stream may be referred to as the output velocity of the propulsion unit 3.

The main power switch may be provided not only in the propulsion unit 3 itself, but also in the mounting section 2, or may be provided separately from the propulsion unit 3 and the mounting section 2. For example, the main power switch may be provided on a wristband that can be worn on the wrist of the user U (not shown). The main power switch may be button type or non-contact type. In the case of the button type, the main power is turned on by pressing the button. In the case of the non-contact type, the main power is turned on by, for example, waving a hand over the main power switch.

The non-contact sensor 4 is positioned on the lower leg Uk of the user U with the mounting portion 2 mounted on the lower leg Uk. The non-contact sensor 4 can be configured by, for example, a millimeter wave radar, laser radar, ultrasonic sensor, sonar, optical camera, or the like. The non-contact sensor 4 detects the instep Ui of the user U as an object to be detected, and measures the distance between the instep Ui and the non-contact sensor 4 .

In addition, the non-contact sensor 4 includes an angle adjuster 10 that adjusts the angle (orientation) of the non-contact sensor 4 . The angle adjuster 10 adjusts so that the non-contact sensor 4 can reliably measure the distance from the instep Ui of the user's U foot. The angle adjuster 10 may be electric or manual. A measurement result obtained by the non-contact sensor 4 is output to the control unit 5 as a signal.

The control unit 5 performs drive control of the propulsion unit 3 based on the signal output from the non-contact sensor 4 . For example, when the user U bends the ankle Ua, the distance between the non-contact sensor 4 and the instep Ui of the user U becomes shorter. In such a case, driving of the propulsion unit 3 is stopped.

On the other hand, when the user U stretches the ankle Ua, the distance between the non-contact sensor 4 and the instep Ui of the user U becomes longer than when the ankle Ua is bent. In such a case, the propulsion unit 3 is activated.
In this manner, the driving control of the propulsion unit 3 is performed using the distance between the non-contact sensor 4 and the instep Ui of the user U, which changes depending on whether the ankle Ua is bent or stretched.

Next, an example of a series of operations from when the user U mounts the underwater propulsion device 100 (propulsion device main body 1) on land to when the user U enters the water and propels the underwater propulsion device 100 will be described.
The user U enters the water after the propulsion device main bodies 1 are attached to the left and right lower legs Uk of the user U, respectively. At this time, the user U walks on land until entering the water. Here, the propulsion unit 3 (housing 8) is formed so that the injection port 8a does not protrude beyond the user's U sole Us. Therefore, the propulsion unit 3 does not interfere with walking.

After the user U enters the water, turn on the main power switch (not shown) of the propeller unit 9. At this point, the ankle Ua of the user U is bent and the propulsion unit 3 is stopped.

Next, the propulsion unit 3 is activated by extending the ankle Ua of the user U. Then, a thrust is applied in the height direction of the user U, and the user U is propelled in the water. Since the mounting part 2 is worn between the ankle Ua and the knee Un of the user U, the posture of the user U can be easily stabilized during propulsion in water.

If you want to change the direction of propulsion, bend the lower leg Uk to change the orientation of the propulsion unit 3. As a result, the user U can perform various actions such as changing the propelling direction up, down, left, and right, and turning on the spot. If you want to stop, bend your ankle Ua again. The propulsion unit 3 is thereby stopped.

Thus, in the above-described embodiment, the propulsion device main body 1 constituting the underwater propulsion device 100 is separately attached to each of the left and right lower legs Uk of the user U. Each propulsion device main body 1 includes an attachment portion 2 attached to the lower leg Uk, a propulsion unit 3 attached to the attachment portion 2, a non-contact sensor 4 for detecting the instep Ui of the foot, and drive control of the propulsion unit 3. and a control unit 5 for performing

Therefore, the limbs of the user U are not restrained, and the degree of freedom of posture of the user U in the water can be improved. Moreover, it is not necessary to attach the underwater propulsion device 100 to the sole Us of the user U as in the conventional art. Therefore, it is possible to walk on land while wearing the underwater propulsion device 100 .
Furthermore, drive control of the propulsion unit 3 is performed using the non-contact sensor 4 . For this reason, the troublesome operation of pressing a button to drive the propulsion unit, which is conventionally required, is no longer necessary. Therefore, the usability of the underwater propulsion device 100 can be improved.

Moreover, by mounting the propulsion device main body 1 on the left and right lower legs Uk of the user U, the user U can obtain well-balanced thrust. In addition, the operability of the underwater propulsion device 100 can be improved, such as changing direction in water.
By mounting the propulsion device main bodies 1 having the same configuration on the left and right sides by the user U, even if, for example, one of the left and right propulsion device main bodies 1 fails, the other propulsion device main body 1 can be continuously operated. can be driven to Therefore, it is possible to maintain the propulsion of the user U underwater, and improve the fail-safe function of the underwater propulsion device 100 .
Further, the mounting portion 2 of the propulsion device main body 1 is mounted between the user U's ankle Ua and the knee Un. Therefore, the posture of the user U can be easily stabilized during propulsion in water.

Also, the target detection part by the non-contact sensor 4 is the instep Ui of the user U's foot. Then, the propulsion unit 3 is started and stopped based on the movement of the user's U leg such as bending and stretching the ankle Ua. Thus, the drive control of the propulsion unit 3 can be performed only by moving the user's U leg. Therefore, the usability of the underwater propulsion device 100 can be further improved.

The propulsion unit 3 (housing 8) is formed so that the injection port 8a does not protrude beyond the sole Us of the user U when the user U's lower leg Uk is fitted with the mounting portion 2. Therefore, when walking on land with the underwater propulsion device 100 attached, the propulsion unit 3 does not interfere with the road surface. Therefore, the walkability on land can be improved while the underwater propulsion device 100 is attached.

<Other control methods by the control section>
Next, other control methods for the propulsion unit 3 by the control unit 5 to which the control method of the control unit 5 in the above-described embodiment is applied will be enumerated, and their actions and effects will be described.

A timer (not shown) is provided in the controller 5, and when the timer detects that the ankle Ua is being stretched or bent for a certain period of time, the main power of the propeller unit 9 is turned on.
A counter (not shown) is provided in the control unit 5, and when the counter detects that the ankle Ua has been repeatedly bent and stretched a certain number of times, the main power source of the propeller unit 9 is turned on.
According to the above two examples, there is no need to separately provide a main power switch for the propeller unit 9 . Therefore, the usability of the underwater propulsion device 100 can be further improved.

- A timer (not shown) is provided in the control unit 5, and when the timer detects that the ankle Ua is being stretched or bent for a certain period of time, the maximum value of the output speed of the propulsion unit 3 (maximum output speed in claims) is set. variable.
A counter (not shown) is provided in the control unit 5, and the maximum value of the output speed of the propulsion unit 3 is varied when the counter detects that the ankle Ua is repeatedly bent and stretched a certain number of times.
According to the above two examples, the maximum output speed of the propulsion unit 3 can be varied according to, for example, the target moving distance of the user U, the operating skill level of the underwater propulsion device 100, and the like. Therefore, the usability of the underwater propulsion device 100 can be further improved.

A timer (not shown) is provided in the control unit 5, and the output speed of the propulsion unit 3 is varied according to the length of time during which the ankle Ua is stretched or bent by this timer.
- A counter (not shown) is provided in the control unit 5, and the output speed of the propulsion unit 3 is varied according to the number of times the ankle Ua is bent and stretched.
- The distance between the non-contact sensor 4 and the instep Ui of the user U changes depending on how the ankle Ua is bent. The output speed of the propulsion unit 3 is varied according to the change of this distance. For example, the output speed may be increased (faster) as the ankle is stretched, and decreased (lower) as the ankle is bent (see FIG. 2).
According to the above three examples, it is possible to easily vary the propulsion speed of the user U in water according to the purpose. Therefore, the usability of the underwater propulsion device 100 can be further improved.

<Modification>
It should be noted that the present invention is not limited to the above-described embodiment and modifications, and includes various modifications to the above-described embodiment within the scope of the present invention.

For example, in the above-described embodiment, the case where the non-contact sensor 4 is provided in the mounting portion 2 has been described. However, the present invention is not limited to this, and the non-contact sensor 4 may be provided separately from the mounting section 2 and the propulsion unit 3 . For example, the non-contact sensor 4 may be provided on a wristband (not shown) worn on the wrist of the user U. In this case, the object to be detected by the non-contact sensor 4 is the user's U hand. A user U wearing a wristband can activate or stop the propulsion unit 3 by placing his or her hand over the non-contact sensor 4 at hand, and can change the distance between the non-contact sensor 4 and the hand. The output speed may be made variable accordingly. When the hand is separated from the non-contact sensor 4 by a certain distance or more, the output speed may be fixed at the maximum.

In the above-described embodiment, a case has been described in which the main power switch (not shown) of the propeller unit 9 is turned on after the user U has entered the water. However, the present invention is not limited to this, and the main power switch may be turned on in advance on land. When walking on land, the ankle Ua is bent. By stopping the propulsion unit 3 with the ankle Ua bent, the propulsion unit 3 does not start when walking on land even when the main power switch is turned on on land. .

In the above-described embodiment, the case where the non-contact sensor 4 can be configured by, for example, a millimeter wave radar, a laser radar, an ultrasonic sensor, a sonar, an optical camera, or the like has been described. However, it is not limited to this, and a proximity sensor may be used as the non-contact sensor 4 . In this case, a metal dog that can be detected by a proximity sensor is attached to the instep Ui of the foot. The propulsion unit 3 may be started or stopped by turning on/off the proximity sensor.

For example, the propulsion device main body 1 may be provided with an angle sensor (for example, a gyro sensor or the like) that detects the angle of the propulsion device main body 1 . For example, when the angle sensor detects a sudden change in the inclination of the propulsion device main body 1, or when the inclination of the propulsion device main body 1 is repeatedly changed by flapping the lower limbs Uk, the control unit 5 detects an abnormal operation. to decide. In the case of such determination, the propulsion unit 3 may be stopped.

In the above-described embodiment, the case where the user's U left and right lower limbs Uk are equipped with the propulsion device body 1 (mounting section 2) has been described. However, the present invention is not limited to this, and the propulsion device main body 1 may be attached to at least one of the user's U limbs. All the limbs of the user U may be equipped with the underwater propulsion device 100 . If the propulsion device main body 1 is attached to at least one of the limbs of the user U, the same effects as those of the above-described embodiment can be obtained. Desirably, at least one propulsion device main body 1 is attached to each of the left and right sides of the user U. By configuring in this way, it is easy to maintain the balance of the user U underwater, and the fail-safe function of the underwater propulsion device 100 can be reliably satisfied.

In addition, for example, the wearing part 2 may be worn between the wrist Uw of the user U and the elbow Ue. Even in such a case, the limbs of the user U are not restricted, and the degree of freedom of posture of the user U in the water can be improved. Moreover, it is not necessary to attach the underwater propulsion device 100 to the sole Us of the user U as in the conventional art. Therefore, it is possible to walk on land while wearing the underwater propulsion device 100 .

Furthermore, the non-contact sensor 4 is used to drive and control the propulsion unit 3. This eliminates the need for the troublesome operation of pressing a button to drive the propulsion unit 3, unlike the conventional art. For example, the drive control of the propulsion unit 3 can be performed by the bending degree of the wrist Uw. Therefore, the usability of the underwater propulsion device 100 can be improved.

In addition, a wristband may be worn and an emergency stop switch may be provided on this wristband. By configuring in this way, the fail-safe function can be improved.

In the above-described embodiment, the two propulsion device main bodies 1 constituting the underwater propulsion device 100 have the same configuration. However, the underwater propulsion device 100 as a whole may include at least the mounting section 2 , the propulsion unit 3 , the non-contact sensor 4 , and the control section 5 . That is, for example, only one of the two propulsion device main bodies 1 may have the non-contact sensor 4 and the control unit 5 . The other of the two propulsion device main bodies 1 may be configured to operate synchronously with one of the propulsion device main bodies 1 .

According to the underwater propulsion device described above, the limbs of the user are not restricted. Therefore, it is possible to improve the flexibility of the user's posture in water.
Also, there is no need to attach the underwater propulsion device to the soles of the user's feet. Therefore, it is possible to walk on land while wearing the underwater propulsion device.
Furthermore, drive control of the propulsion unit is performed using a non-contact sensor. For this reason, the troublesome operation of pressing a button to drive the propulsion unit, which is conventionally required, is no longer necessary. Therefore, the usability of the underwater propulsion device can be improved.

DESCRIPTION OF SYMBOLS 1... Propulsion apparatus main body 2... Mounting part 3... Propulsion unit 4... Non-contact type sensor 5... Control part 6... Mounting part main body (mounting part)
7 … Band part (wearing part)
8 ... housing (propulsion unit)
9 … propeller unit (propulsion unit)
100 Underwater propulsion device U User Ua Ankle Ue Elbow Uk Lower leg Ui Instep Un Knee Uw Wrist

Claims (11)

a wearing part attached to at least one of the user's extremities;
a propulsion unit attached to the mounting portion for propelling the user through water;
a non-contact sensor that detects an object to be detected without contact;
a control unit that controls the driving of the propulsion unit based on the detection result of the non-contact sensor;
An underwater propulsion device comprising a The mounting part is mounted on each of at least one of the left and right upper limbs and the left and right lower limbs of the user,
2. The underwater propulsion device according to claim 1, wherein the non-contact sensor and the control section are separately provided corresponding to each of the mounting sections and each propulsion unit provided to each of the mounting sections. The attachment part is attached between the user's ankle and the knee,
The object to be detected is the foot of the user,
3. The underwater propulsion device according to claim 1, wherein the control section performs drive control of the propulsion unit based on movement of the user's foot. 4. The underwater propulsion device according to claim 3, wherein the control section activates the propulsion unit when the user's ankle is stretched, and stops the propulsion unit when the user's ankle is bent. . 5. The underwater propulsion device according to claim 4, wherein the control section varies the output speed of the propulsion unit according to the distance between the non-contact sensor and the instep of the user's foot. The underwater propulsion device according to any one of claims 1 to 5, further comprising a maximum speed variable switch capable of varying the maximum output speed of said propulsion unit. The underwater propulsion device according to any one of claims 1 to 6, wherein the control section varies the maximum output speed of the propulsion unit based on the movement of the user's foot. The underwater propulsion device according to any one of claims 1 to 7, wherein the mounting portions are separately mounted on the right and left lower legs of the user. 9. The propulsion unit according to any one of claims 1 to 8, wherein the propulsion unit does not protrude below the user's heel when the user wears the attachment part from the user's ankle to the knee. Underwater propulsion device. The underwater propulsion device according to any one of claims 1 to 9, wherein the attachment portion is attached between the user's wrist and elbow. 11. The underwater propulsion system according to any one of claims 1 to 10, wherein the control section varies the output speed of the propulsion unit according to the distance between the non-contact sensor and the object to be detected. Device.

Images