| 摘要 |
PROBLEM TO BE SOLVED: To provide a fish robot, having a simple floating/sinking control mechanism for retaining a fixed or almost fixed water depth and facilitating its control. SOLUTION: When surrounding water is fed to a tank 61, in which air is sealed by an attachment pump 63, a water depth detection value Dt by a water depth sensor which detects the water depth of the fish robot, constituted to sink is smaller than a target water depth Ds and the sinking velocity B, is less than a set value Vs, the pump 63 under the rest is controlled to start or the pump 63 under the operation is controlled to successively operate; whereas, when the water depth detection value Dt is smaller than the target water depth Ds and the sinking velocity B is the set value Vs or larger, or the water depth detection value Dt is the target water depth Ds or larger, the pump 63 under the operation is controlled to stop or the pump 63 under the rest is controlled to rest successively. COPYRIGHT: (C)2007,JPO&INPIT
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