PROBLEM TO BE SOLVED: To provide an underwater sail body control system that can accurately recognize an object shape, and can autonomously perform accurate position/posture control to an object.SOLUTION: An underwater sail body control system 100 includes an underwater power system 3, an underwater robot 10, a compound eye camera 2 for imaging an object, and controlling means 20 for controlling the underwater power system 3 and compound eye camera 2. The controlling means 20 includes: an image input unit 21 for receiving an image imaged by the compound eye camera 2; a model storage unit 22 for storing a model including the feature information of the object; an adaptation calculation unit 23 for calculating a predetermined adaptation function for determining the adaptation to the model about the input image; and a genetic algorithm execution unit 24 for executing a genetic algorithm for creating genetic information of the object on the basis of the adaptation. The genetic algorithm execution unit 24 develops the genetic information for a predetermined time so as to make it match with the object, and estimates the position and attitude of the object.SELECTED DRAWING: Figure 2

    【課題】対象物形状の正確な認識とともに対象物に対する正確な位置/姿勢制御を自律的に行うことができる水中航走体制御システムを提供する。【解決手段】水中動力系3と、水中ロボット10と、対象物を撮像する複眼カメラ2と、水中動力系3及び複眼カメラ2を制御する制御手段20と、備える水中航走体制御システム100であって、制御手段20は、複眼カメラ2により撮像された画像が入力される画像入力部21と、対象物の特徴情報を含むモデルが記憶されるモデル記憶部22と、前記入力画像について前記モデルとの適合度を求めるための所定の適合度関数を演算する適合度演算部23と、前記適合度に基づいて対象物の遺伝情報を生成する遺伝アルゴリズムを実行する遺伝アルゴリズム実行部24と、有し、遺伝アルゴリズム実行部24は、対象物に合致するように遺伝情報を所定時間において進化させて、対象物の位置及び姿勢を推定する。【選択図】図2


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    Titel :

    UNDERWATER SAIL BODY CONTROL SYSTEM


    Weitere Titelangaben:

    水中航走体制御システム


    Beteiligte:
    MINAMI MAMORU (Autor:in) / ISHIYAMA SHINTARO (Autor:in)

    Erscheinungsdatum :

    2016-05-23


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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