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US 10,716,299 B2Granted
Underwater mobile body and non-transitory computer readable medium
AssigneeFuji Xerox Co., Ltd.
InventorsMotofumi Baba, Tsutomu Kimura, Kengo Tokuchi, Akihito Yamauchi, Yoshihiko Nemoto, Masahiro Sato
Life of this patent
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Abstract
An underwater mobile body includes: a movement control unit that controls movement underwater; a detection unit that moves underwater under the control of the movement control unit and that detects a position of a fish; and a guidance unit that guides the fish based on the position of the fish detected by the detection unit.
Claims19
An underwater mobile body comprising:
- a controller configured to control a movement of the underwater mobile body that is fully submerged underwater;
- a first detector configured to detect a position of a fish in water;
- and
- a guidance generator configured to guide the fish based on the position of the fish detected by the first detector,
- wherein the guidance generator guides the fish in a direction of a fishing net that is physically separated from the underwater mobile body, the fishing net being set in advance in a direction of a virtual line connecting the underwater mobile body and the fish, and
- wherein the underwater mobile body further comprises:
- a processor configured to:
- determine whether a distance between the underwater mobile body and the fish is less than or equal to a first threshold value;
- calculate at least one of a movement direction or a movement speed to move the underwater mobile body closer to the fish based on the distance between the underwater mobile body and the fish being less than or equal to the first threshold value;
- determine whether the distance between the underwater mobile body and the fish is less than or equal to a second threshold value;
- and
- output information to control the guidance generator to output a signal to guide the fish to a target location based on the distance between the underwater mobile body and the fish is less than or equal to the second threshold value.
9 more elements
A non-transitory computer readable medium storing a program causing a computer to implement functions, the functions comprising:
- controlling a movement of an underwater mobile body that is fully submerged underwater;
- detecting a position of a fish in water;
- and
- guiding the fish based on the detected position of the fish,
- wherein the fish is guided in a direction of a fishing net that is physically separated from the underwater drone, the fishing net being set in advance in a direction of a virtual line connecting the underwater mobile drone and the fish, and
- wherein the functions further comprises:
- determining whether a distance between the underwater mobile body and the fish is less than or equal to a first threshold value;
- calculating at least one of a movement direction or a movement speed to move the underwater mobile body closer to the fish based on the distance between the underwater mobile body and the fish being less than or equal to the first threshold value;
- determining whether the distance between the underwater mobile body and the fish is less than or equal to a second threshold value;
- and
- outputting information to control a guidance generator output a signal to guide the fish to a target location the distance between the underwater mobile body and the fish is less than or equal to the second threshold value.
8 more elements
An underwater drone comprising:
- a memory configured to store one or more instructions;
- and
- a processor configured to:
- control a movement of the underwater drone that is fully submerged underwater;
- detect a position of a fish in water;
- and
- guide the fish based on the detected position of the fish,
- wherein the processor is further configured to guide the fish in a direction of a fishing net that is physically separated from the underwater drone, the fishing net being set in advance in a direction of a virtual line connecting the underwater mobile drone and the fish, and
- wherein the processor is further configured to:
- determine whether a distance between the underwater mobile body and the fish is less than or equal to a first threshold value;
- calculate at least one of a movement direction or a movement speed to move the underwater mobile body closer to the fish based on the distance between the underwater mobile body and the fish being less than or equal to the first threshold value;
- determine whether the distance between the underwater mobile body and the fish is less than or equal to a second threshold value;
- and
- output information to control the guidance generator to output a signal to guide the fish to a target location based on the distance between the underwater mobile body and the fish is less than or equal to the second threshold value.
11 more elements
Dependencies are inferred from the claim text.