Underwater device and method for controlling posture of underwater device

An underwater device comprising:

• a plurality of horizontal axis-type turbines that rotate underwater, each of the turbines comprising variable pitch turbine blades;
• a plurality of pods, each of the pods housing at least one of the turbines;
• a connecting beam connecting the pods;
• a plurality of tilt detecting devices disposed at the plurality of pods and that detect deviation in posture in a roll direction that is generated in the pods;
• a posture controller that controls the posture in the roll direction of the plurality of turbines and keeps each one of the pods substantially horizontal to each other, and
• a torque meter that measures a torque that is generated respectively in each one of the plurality of turbines;
• wherein the posture controller:
• (i) receives a measured torque for each one of the plurality of turbines from the torque meter and (ii) controls the posture in the roll direction and keeps each one of the pods substantially horizontal to each other by controlling, based on the measured torque for each one of the plurality of turbines, the torque that is generated in at least one of the plurality of turbines by controlling a pitch of the variable pitch turbine blades of the at least one of the plurality of turbines so as to cancel out the deviation in the posture of the pods in the roll direction detected by the plurality of tilt detecting devices.