To provide a waterborne moving body control device capable of specifying a position properly on a pier, under a bridge or the like, and maintaining a prescribed position.SOLUTION: In a waterborne moving body control device, it is determined whether a difference of the most similar value of a travel or a rotation amount of a waterborne moving body calculated based on a feature amount calculated by each feature amount calculation means belongs to the inside of a prescribed range or not. In the case of belonging to the prescribed range, each mean value of two travels and rotation amounts belonging to the prescribed range is calculated, and the waterborne moving body is controlled based on the mean value, and the waterborne moving body can maintain the prescribed position. In the case of out-of-range, an image is acquired again, and the travel and the rotation amount are calculated again.SELECTED DRAWING: Figure 4
【課題】桟橋や橋梁下などにおいても好適に位置を特定でき、所定の位置を維持することができる水上移動体制御装置を提供する。【解決手段】水上移動体制御装置は、各特徴量算出手段によって算出された特徴量に基づき算出された水上移動体の移動量又は回転量の最も近い値の差が所定範囲内に属するかを判定し、所定範囲に属する場合には所定範囲内に属する二つの移動量及び回転量の平均値を算出し、その平均値に基づき水上移動体を制御し、水上移動体が前記所定の位置が維持されるようにし、所定範囲外の場合には、再度画像を取得し、再度移動量及び回転量を算出する。【選択図】図4
WATERBORNE MOVING BODY CONTROL DEVICE
水上移動体制御装置
2019-08-01
Patent
Electronic Resource
Japanese
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