To instantaneously grasp in which direction an underwater structure extends ahead of an AUV on the AUV side and reflect it on an operation of the AUV.SOLUTION: An AUV comprises: a hull; a propulsion unit; a contour detector that detects a contour of the top surface of an underwater structure on a section cut obliquely downward from the hull; a control device; and a storage device. The control device includes an acquisition unit that acquires contours detected by the contour detector at predetermined intervals during movement of the hull, a specification unit that stores, for each of the acquired contours, a specific point on the contour in the storage device, an extraction unit that extracts a plurality of specific points positioned before the current position of the hull from among the stored specific points, a straight line calculation unit that calculates a proximate straight line of the extracted specific points; and a propulsion control unit that controls the propulsion unit so as to reduce an angle formed between the cross direction of the hull and the proximate straight line when the hull is seen from the top and reduce a distance between a prescribed place of the hull and the proximate straight line when the hull is seen from the top.SELECTED DRAWING: Figure 4

    【課題】AUVの前方で水中構造物がどのような方向に延在しているかをAUV側で即時に把握してAUVの動作に反映させる。【解決手段】AUVは、艇体と、推進装置と、艇体から前斜め下に向かう方向に切断した断面における水中構造物の上面の輪郭を検出する輪郭検出器と、制御装置および記憶装置とを備え、制御装置は、艇体が移動する間、所定間隔おきに輪郭検出器により検出された輪郭を取得する取得部と、取得した輪郭ごとに、輪郭上の特定点を記憶装置に記憶する特定部と、記憶された複数の特定点から、艇体の現在位置より前方に位置する複数の特定点を抽出する抽出部と、抽出した複数の特定点の近似直線を算出する直線算出部と、艇体を上面視して艇体の前後方向と近似直線とのなす角が小さくなり、且つ、艇体を上面視して艇体の所定箇所と近似直線との距離が小さくなるように、推進装置を制御する推進制御部と、を含む。【選択図】図4


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    Titel :

    AUTONOMOUS UNMANNED DIVING MACHINE AND CONTROL PROGRAM


    Weitere Titelangaben:

    自律型無人潜水機および制御プログラム


    Beteiligte:
    NAKAMURA KAZUYUKI (Autor:in) / KAGA HIROKI (Autor:in) / FUKUI KOICHI (Autor:in) / OKAYA NORIYUKI (Autor:in)

    Erscheinungsdatum :

    2022-10-17


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B25J Manipulatoren , MANIPULATORS / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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