MOVING BODY CONTROL DEVICE, MOVING BODY CONTROL METHOD, AND MOVING BODY CONTROL PROGRAM
First Claim
1. A moving body control device for controlling a moving body that comprises a propulsion generator that propels the moving body in a particular direction and a movement direction adjuster that adjusts a movement direction by propulsion of the propulsion generator, the moving body control device comprising:
- a moving body direction sensor configured to sense a heading direction of the moving body;
a position sensor configured to sense a position of the moving body; and
processing circuitry configured;
to estimate a direction of disturbance that moves the moving body;
to set a target position and a starting position; and
to control the propulsion generator and the movement direction adjuster such thatthe heading direction sensed by the moving body direction, sensor is opposite to the direction of the disturbance estimated by the processing circuitry, andwhen the moving body has been drifted at least a specific distance from the target position set by the processing circuitry, the moving body returns to the starting position, and the heading direction at the starting position is opposite to the direction of the disturbance,wherein the processing circuitry is further configured to change the starting position based on a distance between the target position and the position of the moving body sensed by the position sensor.
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Accused Products
Abstract
A moving body control device includes a moving body direction sensor, a position sensor, and processing circuitry. The processing circuitry estimates a direction of disturbance. The processing circuitry sets a target position and a starting position. The processing circuitry controls a propulsion generator and a movement direction adjuster such that a heading direction sensed by the moving body direction sensor is opposite to the direction of the disturbance estimated by the processing circuitry, and when the moving body has been drifted at least a specific distance from the target position, the moving body returns to the starting position, and the heading direction at the starting position is opposite to the direction of the disturbance. The processing circuitry changes the starting position based on a distance between the target position and a position of the moving body sensed by the position sensor.
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Citations
14 Claims
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1. A moving body control device for controlling a moving body that comprises a propulsion generator that propels the moving body in a particular direction and a movement direction adjuster that adjusts a movement direction by propulsion of the propulsion generator, the moving body control device comprising:
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a moving body direction sensor configured to sense a heading direction of the moving body; a position sensor configured to sense a position of the moving body; and processing circuitry configured; to estimate a direction of disturbance that moves the moving body; to set a target position and a starting position; and to control the propulsion generator and the movement direction adjuster such that the heading direction sensed by the moving body direction, sensor is opposite to the direction of the disturbance estimated by the processing circuitry, and when the moving body has been drifted at least a specific distance from the target position set by the processing circuitry, the moving body returns to the starting position, and the heading direction at the starting position is opposite to the direction of the disturbance, wherein the processing circuitry is further configured to change the starting position based on a distance between the target position and the position of the moving body sensed by the position sensor. - View Dependent Claims (2, 3, 4, 5, 8, 9, 10, 11, 12, 13, 14)
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6. A moving body control method for controlling a moving body that comprises a propulsion generator that propels the moving body in a particular direction and a movement direction adjuster that adjusts a movement direction by propulsion of the propulsion generator, the method comprising:
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estimating a direction of disturbance that moves the moving body; sensing a heading direction of the moving body; sensing a position of the moving body; controlling the propulsion generator and the movement direction adjuster such that the heading direction is opposite to the direction of the disturbance; and setting a target position and a starting position, the setting of the target position and the starting position including changing the starting position based on a distance between the target position and the position of the moving body, and the controlling of the propulsion generator and the movement direction adjuster including controlling the propulsion generator and the movement direction adjuster such that when the moving body has been drifted at least a specific distance from the target position, the moving body returns to the starting position, and the heading direction at the starting position is opposite to the direction of the disturbance.
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7. A non-transitory computer readable medium storing a moving body control program that is executed by a moving body control device for controlling a moving body that comprises a propulsion generator that propels the moving body in a particular direction and a movement direction adjuster that adjusts a movement direction by propulsion of the propulsion generator, the program causing the moving body control device to execute:
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estimating a direction of disturbance that moves the moving body; sensing a heading direction of the moving body; sensing a position of the moving body; controlling the propulsion generator and the movement direction adjuster such that the heading direction is opposite to the direction of the disturbance; and setting a target position and a starting position, the setting of the target position and the starting position including changing the starting position based on a distance between the target position and the position of the moving body, and the controlling of the propulsion generator and the movement direction adjuster including controlling the propulsion generator and the movement direction adjuster such that when the moving body has been drifted at least a specific distance from the target position, the moving body returns to the starting position, and the heading direction at the starting position is opposite to the direction of the disturbance.
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Specification