| 摘要 |
PROBLEM TO BE SOLVED: To easily avoid an obstacle of at least two sections of the image by a TV camera in the vertical direction and in the right-to-left direction respectively, detecting the intensity of the sections to prepare the control signal, and controlling a moving device by the control signal. SOLUTION: The image signal picked up by a TV camera 2 is transmitted to a control device through a cable, and recorded in a recording device as the video signal. The video signal divides the image A of the TV camera 2 into three sections A1 -A9 in the vertical direction and the right-to-left direction, and the signal of the intensity of the sections A1 -A9 is inputted in a first comparator of a signal processing circuit for comparison, the difference in intensity of the sections A1 -A9 is obtained, and the differential signal is inputted in a signal preparing device to prepare the control signal. This control signal is further inputted in driving devices 12a-12d such as an underwater motor to drive thrusters 6a-6d for steering. The control signal can be rapidly prepared, and obstacles can be easily avoided. |
