MOBILE OBJECT CONTROL DEVICE, MOBILE OBJECT CONTROL METHOD, AND MOBILE OBJECT CONTROL PROGRAM
First Claim
1. A control device of a movable body including a thrust generator configured to thrust the movable body in a specific direction, and a moving direction adjustor configured to adjust a direction in which the movable body moves by the thrust, comprising:
- a movable body direction sensor configured to detect an oriented direction of the movable body;
a position sensor configured to detect a position of the movable body; and
processing circuitry configured;
to estimate a direction of a disturbance that moves the movable body;
to set a fixed point position that is a position at which the movable body is to stay;
to control the thrust generator and the moving direction adjustor so thatthe oriented direction of the movable body detected by the movable body direction sensor opposes to the direction of the disturbance estimated by the processing circuitry, andthe movable body stays at the fixed point position set by the processing circuitry;
whereinthe processing circuitry further configured to sequentially change the fixed point position.
1 Assignment
0 Petitions
Accused Products
Abstract
The purpose is to provide a program, method and device for controlling a movable body (e.g., single-propeller single-rudder ship) to move the movable body while keeping it orientated in a given direction. A controlling module may cause the movable body to stay at a fixed point position by controlling a thrust generator and a moving direction adjustor to orient the movable body to a direction of a disturbance estimated by a disturbance direction estimating module so that the movable body is not drifted by the disturbance. Every time the changing module sequentially changes the fixed point position, the controlling module may move the movable body to the changed fixed point position. Thus, the control device of the movable body of this disclosure may sequentially move the movable body while keeping it oriented to the direction of the disturbance.
-
Citations
20 Claims
-
1. A control device of a movable body including a thrust generator configured to thrust the movable body in a specific direction, and a moving direction adjustor configured to adjust a direction in which the movable body moves by the thrust, comprising:
-
a movable body direction sensor configured to detect an oriented direction of the movable body; a position sensor configured to detect a position of the movable body; and processing circuitry configured; to estimate a direction of a disturbance that moves the movable body; to set a fixed point position that is a position at which the movable body is to stay; to control the thrust generator and the moving direction adjustor so that the oriented direction of the movable body detected by the movable body direction sensor opposes to the direction of the disturbance estimated by the processing circuitry, and the movable body stays at the fixed point position set by the processing circuitry;
whereinthe processing circuitry further configured to sequentially change the fixed point position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 16, 17, 18, 19, 20)
-
-
14. A method of controlling a movable body including a thrust generator configured to thrust the movable body in a specific direction, and a moving direction adjustor configured to adjust a direction in which the movable body moves by the thrust, comprising:
-
estimating a direction of a disturbance that moves the movable body; detecting an oriented direction of the movable body; detecting a position of the movable body; setting a fixed point position that is a position at which the movable body is to stay; controlling the thrust generator and the moving direction adjustor so that the oriented direction of the movable body detected by the detecting the movable body direction opposes to the direction of the disturbance estimated by the estimating the disturbance direction, and so that the movable body stays at the fixed point position set by the setting the position; and sequentially changing the fixed point position.
-
-
15. A program for controlling a movable body executed by a control device of the movable body with a thrust generator configured to thrust the movable body in a specific direction, and a moving direction adjustor configured to adjust a direction in which the movable body moves by the thrust, comprising:
-
estimating a direction of a disturbance that moves the movable body; detecting an oriented direction of the movable body; detecting a position of the movable body; setting a fixed point position that is a position at which the movable body is to stay; controlling the thrust generator and the moving direction adjustor so that the oriented direction of the movable body detected by the detecting the movable body direction opposes to the direction of the disturbance estimated by the estimating the disturbance direction, and so that the movable body stays at the fixed point position set by the setting the position; and sequentially changing the fixed point position.
-
Specification