| 摘要 |
PURPOSE:To attain automatic tracking of an abject by using an output of a built-in focus sensor so as to control a screw. CONSTITUTION:An output of a focus sensor 20 provided to a TV camera built-in an underwater robot is given to an automatic position holding attitude controller 27 via a comparision discrimination circuit 21, and amplifier 22 and changeover switches 24, 25 together with an outputs of a depth indicator 12, an azimuth meter 13, a roll sensor 17, a pitch sensor 18 and a yaw sensor 19. The output of the controller 27 is fed to a thrust distribution arithmetic circuit 28, horizontal vertical screws 8, 9 are controlled via a driver 29 for screw based on a command of the circuit 28 and the robot is moved in forward/backward direction till the focus of the object is formed on the sensor 20. Through the constitution above, the object is traced automatically.
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