To enable a submersible moving body detachably attached to a moving body capable of moving on the water to photograph a structure in the water not by operator's control.SOLUTION: A moving body 100 is a moving body in which a water surface moving body 1 moving on the water and a submersible moving body 2 submerging in the water are connected in an attachable and detachable state. The water surface moving body 1 includes an instruction information acquisition part 171 for acquiring a photographing instruction including an instruction to photograph a structure and position information of the structure, a movement control part 173 for moving the water surface moving body 1 in the submersible moving body 2-connected state to a position separate from a structure by a prescribed distance and close to the structure on the water on the basis of the position information in the case where the instruction information acquisition par 171 acquires the photographing instruction, and a submersion control part 174 for transmitting control data to make the submersible moving body 2 photograph the structure in the water to the submersible moving body 2 when the water surface moving body 1 moves to the position close to the structure.SELECTED DRAWING: Figure 5
【課題】オペレータの操縦によらず、水上を移動できる移動体に着脱可能な潜航移動体が水中の構造物を撮影できるようにする。【解決手段】移動体100は、水上を移動する水上移動体1と、水中を潜航する潜航移動体2とが着脱可能な状態で結合された移動体である。水上移動体1は、構造物を撮影する指示と構造物の位置情報とを含む撮影指示を取得する指示情報取得部171と、指示情報取得部171が撮影指示を取得した場合、位置情報に基づいて、潜航移動体2が結合された状態の水上移動体1を構造物から所定距離離れた水上の構造物近傍位置に移動させる移動制御部173と、水上移動体1が構造物近傍位置まで移動すると、潜航移動体2に水中で構造物を撮影させるための制御データを潜航移動体2に送信する潜航制御部174と、を有する。【選択図】図5
MOVING BODY, MOVING BODY CONTROL DEVICE, AND MOVING BODY CONTROL METHOD
移動体、移動体制御装置及び移動体制御方法
2025-01-08
Patent
Electronic Resource
Japanese
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