| 摘要 |
PROBLEM TO BE SOLVED: To provide a water mobile device which can stably move from a floor surface or a water surface to a wall surface.SOLUTION: A water mobile device 5 is equipped with a control part 25 for control of thrust generating parts 15a to 15d, 16a, 16b for moving the water mobile device 5, measuring instruments 18a, 18b, 32, 33a, 33b for determining a position and an attitude angle (pitch angle, roll angle, yaw angle) of the water mobile device 5, a rotational motion determination part 26 for determining that the position and the attitude angle of the water mobile device 5 are involved within a set range, and a wall surface contact surface determination part 27 for determining that the pitch angle or the roll angle of the water mobile device 5 reaches a set angle. When the rotational motion determination part 26 determines that the position and the attitude angle of the water mobile device 5 have been involved within the set range, the control part 25 so rotates the water mobile device 5 that the pitch angle or the roll angle changes. When the wall surface contact surface determination part 27 determines that the pitch angle or the roll angle of the water mobile device 5 has reached the set angle, the control part 25 translates the water mobile device 5 while rotating said water mobile device. |
