JP2019125374A - Rescue request device - Google Patents

Abstract

To provide a rescue request device that enhances the certainty of rescue requests.SOLUTION: A rescue request device 1 includes: a radio communication unit 2 for performing radio communication; a trajectory acquisition unit 3 for acquiring a movement trajectory of the rescue request device if the radio communication unit 2 cannot perform radio communication; a user state determination unit 4 for determining whether a user of the rescue request device is in danger; and a drive control unit 5 for controlling the drive of the rescue request device so as to trace the movement trajectory acquired by the trajectory acquisition unit 3 if it is determined that the user is in danger. The radio communication unit 2 transmits a rescue request signal to a pre-registered destination when radio communication becomes available.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to a rescue request device, a rescue request method, and a program.

  In recent years, the number of mountain distressers has increased. When you look at the news, you still see distressed person information and the accident of the distressed person. Therefore, related techniques aimed at early detection and rescue of distressed persons are being studied (for example, Patent Document 1).

  In Patent Document 1, when a user falls into a trouble due to an avalanche or the like, the movement trajectory of the user is calculated based on the position measured by the GPS (Global Positioning System), and the rescue signal is calculated at the position where the user stopped. It is disclosed to send.

JP, 2013-142915, A

  However, the technology disclosed in Patent Document 1 is premised that wireless communication can be performed at a position where the user has stopped. Therefore, when the wireless communication can not be performed at the position where the user has stopped, the rescue signal can not be transmitted. That is, when wireless communication can not be performed, even if the technology disclosed in Patent Document 1 is used, the user can not be requested for rescue. Therefore, even in such a case, a technique is desired which enhances the certainty of the request for rescue.

  The purpose of the present disclosure is to solve such problems, and to provide a rescue request device, a rescue request method, and a program that can increase the certainty of a rescue request.

The rescue request device according to the first aspect is
A wireless communication unit that performs wireless communication;
When the wireless communication by the wireless communication unit can not be performed, a trajectory acquisition unit that acquires a movement trajectory of the own device;
A user state determination unit that determines whether the user is in a dangerous state;
And a drive control unit that drives and controls its own device to trace the trace of the movement trajectory when it is determined that the user is in a dangerous state.
The wireless communication unit transmits a rescue request signal to a destination registered in advance when wireless communication is possible.

The rescue request method according to the second aspect is
If wireless communication can not be performed by the wireless communication unit performing wireless communication, acquire the movement trajectory of the own device,
Determine if the user is in danger or not
When it is determined that the user is in a dangerous state, drive control of the own device is performed so as to trace the trace of the movement trajectory,
When wireless communication becomes possible, a rescue request signal is transmitted to a pre-registered destination.

The program according to the third aspect is
If wireless communication can not be performed by the wireless communication unit performing wireless communication, acquire the movement trajectory of the own device,
Determining whether the user is at risk or not;
Drivingly controlling the own apparatus so as to trace the trace of the acquired movement trajectory when it is determined that the user is in a dangerous state;
When wireless communication becomes possible, it is a program which makes a computer perform sending a rescue request signal to a destination registered beforehand.

  According to the above-described aspect, it is possible to increase the certainty of the request for rescue.

It is a block diagram which shows the structural example of the rescue request apparatus concerning the outline | summary of embodiment. FIG. 1 is a block diagram showing a configuration example of a rescue request apparatus according to a first embodiment. It is a figure explaining the movement locus which a locus acquisition part acquires. 5 is a flowchart illustrating an operation example of the rescue request apparatus according to the first embodiment. FIG. 7 is a block diagram showing an example of the configuration of a rescue request apparatus according to a second embodiment. It is a flowchart explaining the operation example of the rescue request apparatus concerning Embodiment 2. FIG. FIG. 13 is a block diagram showing an example of the configuration of a rescue request apparatus according to a third embodiment. FIG. 16 is a block diagram showing an example of configuration of a rescue request apparatus according to a fourth embodiment. FIG. 16 is a block diagram showing an example of configuration of a rescue request apparatus according to a fifth embodiment. It is a schematic block diagram which shows the structural example of the information processing apparatus concerning other embodiment.

Hereinafter, embodiments will be described with reference to the drawings. In the embodiments, the same elements will be denoted by the same reference signs, and overlapping descriptions will be omitted.
(Overview of the embodiment)
First, prior to the embodiment, an outline of the embodiment will be described. The rescue request device 1 according to the outline of the embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a configuration example of a rescue request device according to the outline of the embodiment.

  The rescue request device 1 is, for example, a mobile body capable of autonomous movement, such as an unmanned mobile machine (sometimes referred to as a drone), a robot, or an autonomous driving vehicle. The rescue request device 1 includes a wireless communication unit 2, a trajectory acquisition unit 3, a user state determination unit 4, and a drive control unit 5.

  The wireless communication unit 2 is a communication unit that performs wireless communication via a wireless channel. The wireless communication unit 2 may perform wireless communication via a mobile network provided by a telecommunications carrier. Alternatively, the wireless communication unit 2 may perform wireless communication by a wireless LAN (Local Area Network). Alternatively, wireless communication by a wireless MAN (Metropolitan Area Network) may be used, or wireless communication by ZigBee may be used.

  The wireless communication unit 2 determines whether wireless communication can or can not be performed. Further, the wireless communication unit 2 transmits a rescue request signal to a destination registered in advance, when the drive control unit 5 described later is driving its own device and wireless communication becomes possible. The destination registered in advance may be, for example, an organization such as a fire department, police, or hospital, or may be a family of the user. Alternatively, the destination registered in advance may be the group head of the group to which the user belongs, or the user may arbitrarily decide.

When the wireless communication by the wireless communication unit 2 can not be performed, the trajectory acquisition unit 3 acquires the movement trajectory of the own device.
The user state determination unit 4 determines whether the user of the own apparatus is in a dangerous state. The user state determination unit 4 may determine that the user is in a dangerous state, for example, when the user generates a term indicating a rescue request such as “SOS”. Alternatively, even if the user state determination unit 4 determines that the user is in a dangerous state based on the sensor information acquired by the sensor acquiring the state information of the own device and the sensor acquiring the biometric information of the user. Good.

  When the user state determination unit 4 determines that the user is in a dangerous state, the drive control unit 5 performs drive control of the own device so as to trace the trace of the movement trajectory acquired by the trajectory acquisition unit 3. The movement locus is a movement locus having a position where it is determined that the user is in a dangerous state as an end point position, with the position where wireless communication can not be performed as the origin position. The drive control unit 5 sets the acquired end point position as the drive start position, and controls the drive of the apparatus itself so as to follow the trace of the movement trajectory, with the acquired start point position as the end position.

  As described above, the rescue request device 1 acquires the movement trajectory when the wireless communication can not be performed. That is, the rescue request device 1 acquires the movement trajectory when the user enters the uncommunicable area. In addition, when it is determined that the user is in danger, the rescue request device 1 drives and controls its own device so as to trace the trace of the movement trajectory, and transmits a rescue request signal when wireless communication is possible. Do. Therefore, even when the user enters a communication disabled area and makes a rescue request, for example, when the user is in a distress situation, the rescue request device 1 drives and controls its own device to a position where wireless communication can be reliably performed and transmits a rescue request signal. . Therefore, according to the rescue request device 1, it is possible to enhance the certainty of the rescue request.

Embodiment 1
Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. First, the rescue request apparatus 10 according to the first embodiment will be described with reference to FIG. FIG. 2 is a block diagram showing a configuration example of the rescue request apparatus according to the first embodiment. The rescue request device 10 according to the first embodiment corresponds to the rescue request device 1 according to the outline of the embodiment. The rescue request device 10 is a device that makes a rescue request when the user needs rescue. In addition, for convenience of the description, the rescue request device 10 will be described as a drone.

  The rescue request device 10 includes a wireless communication unit 11, a GPS communication unit 12, a trajectory acquisition unit 13, a microphone 14, a voice recognition unit 15, a user state determination unit 16, a drive control unit 17, and a drive unit. And a storage unit 19.

  The wireless communication unit 11 corresponds to the wireless communication unit 2 according to the outline of the embodiment. The wireless communication unit 11 is a communication unit that performs wireless communication by a wireless channel via the antenna ANT1. For convenience of description, the wireless communication unit 11 will be described as performing wireless communication via a mobile network provided by a communication carrier.

  The wireless communication unit 11 measures the signal strength of radio waves from the base station to determine whether the signal strength allows wireless communication. The wireless communication unit 11 determines whether the signal strength of the radio wave received from the base station is a signal strength at which wireless communication is possible depending on whether the signal strength is equal to or greater than a predetermined threshold. When it is determined that wireless communication can not be performed, the wireless communication unit 11 notifies the trajectory acquisition unit 13 described later.

Further, the wireless communication unit 11 transmits a rescue request signal to a destination registered in advance, when the drive control unit 17 described later is driving its own device and wireless communication becomes possible.
The rescue request signal may be, for example, information including a user name, a distressed situation, and a request for rescue. In addition to the above, the rescue request signal may be information including information on the movement trajectory acquired by the trajectory acquisition unit 13 described later and a time required for movement from the start position to the end position of the movement trajectory.

  The information on the movement locus may be a rescue MAP in which the movement locus and the time required for movement are mapped to map information stored in advance by the storage unit 19 described later. Further, the information on the movement trajectory may include information in which a straight line connecting the start position and the end position of the movement trajectory is the shortest route. If the position when it is determined that wireless communication can not be performed is different from the position when it is determined that positioning by GPS signals is not possible, the information about the movement locus is the position when it is determined that positioning by GPS signals can not be performed It may be the information of the movement locus which made the starting point position.

  The GPS communication unit 12 is a communication unit that receives a GPS signal via the antenna ANT2 and performs positioning using the GPS signal. The GPS communication unit 12 also measures the signal strength of the received GPS signal to determine whether positioning using the GPS signal is possible. The GPS communication unit 12 determines whether or not positioning is possible depending on whether the signal strength of the GPS signal is equal to or greater than a predetermined threshold. When determining that positioning can not be performed, the GPS communication unit 12 notifies the trajectory acquisition unit 13 described later.

  The locus acquisition unit 13 corresponds to the locus acquisition unit 3 according to the outline of the embodiment. In the case of the rescue request device 10, the trajectory acquisition unit 13 satisfies at least one of the case in which the wireless communication unit 11 determines that wireless communication can not be performed and the case in which the GPS communication unit 12 determines that positioning by a GPS signal can not be performed. Get the movement locus.

  Specifically, the locus acquisition unit 13 sets a position where at least one of the case where it is determined that wireless communication can not be performed and the case where it is determined that positioning by a GPS signal can not be performed is the starting point position. Acquisition of the movement trajectory of the apparatus 10 is started. When starting acquisition of the movement locus, the locus acquisition unit 13 provides coordinates of three axes with the origin position as origin coordinates, and acquires the movement locus using the coordinates of the three axes. That is, the locus acquisition unit 13 sets the position of acquisition start of the movement locus as the origin (0, 0, 0) and acquires the movement locus.

  The trajectory acquisition unit 13 sets the north direction as the y-axis positive direction, the east direction as the x-axis positive direction, and the upper direction based on the ground surface as the z-axis positive direction 3 by using a geomagnetic sensor 133 described later. You can set the axis. The trajectory acquisition unit 13 may set three axes, so the north direction may be set as an x-axis, or three different axes may be set. In the following description, coordinates using three axes are represented as (x, y, z).

  Further, the trajectory acquisition unit 13 may set a coordinate system in which the coordinates are +1 or -1, for example, every 500 m. In the following description, the coordinate system is described as a coordinate system in which the coordinates are +1 or -1 every 500 m. In addition, the locus | trajectory acquisition part 13 may set a coordinate system in which a coordinate is +1 or -1 every 1 km, for example, and may use another value.

  The locus acquisition unit 13 sequentially calculates and acquires the movement locus of the rescue request device 10 by using the sensor groups 131 to 133, the altimeter 134, and the time measurement unit 135 described later, and acquires the acquired movement locus in the storage unit 19. Remember. The trajectory acquisition unit 13 can calculate the movement direction and the movement distance of the rescue request apparatus 10 every unit time such as 5 minutes by using the sensor groups 131 to 133, the altimeter 134, and the time measurement unit 135, for example. Since it is possible, the movement trajectory is obtained by calculating and acquiring the position of the own device. The locus acquisition unit 13 stores the coordinates of the position of the own device and the elapsed time in the storage unit 19 in association with each other. In addition, since the locus acquisition unit 13 can acquire the current position when positioning by the GPS signal is possible, the current position is acquired using the positioning result by the GPS signal and stored in the storage unit 19. May be

  When the user state determination unit 16 described later determines that the user using the rescue request device 10 is in a dangerous state, the trajectory acquisition unit 13 ends the acquisition of the movement trajectory where the rescue request device 10 has moved. That is, the locus acquisition unit 13 acquires a movement locus having this position as the end point position. The locus acquisition unit 13 includes a gyro sensor 131, an acceleration sensor 132, a geomagnetic sensor 133, an altimeter 134, and a time measurement unit 135.

  The gyro sensor 131 detects the rotational angular velocity applied to the rescue request device 10. The gyro sensor 131 is a gyro sensor capable of detecting rotational angular velocities of three or more axes. The rotation angle of the rescue request device 10 can be calculated by integrating the detection value of the gyro sensor 131 by one order. Therefore, by using the gyro sensor 131, even if the rescue request device 10 is rotated, it is possible to detect how it has rotated and to detect the traveling direction of the rescue request device 10.

  The acceleration sensor 132 detects the acceleration applied to the rescue request device 10. The acceleration sensor 132 is an acceleration sensor that can detect acceleration of three or more axes. The travel distance can be calculated by integrating the detection value of the acceleration sensor 132 by second-order integration. Therefore, by using the acceleration sensor 132, it is possible to calculate the movement distance the rescue request device 10 has moved. In addition, since the moving speed can be calculated by integrating the detection value of the acceleration sensor 132 by one order, the moving distance may be calculated using the time measured by the time measuring unit 135 described later.

  The geomagnetic sensor 133 detects the direction. The geomagnetic sensor 133 is a triaxial geomagnetic sensor. Since three axes can be set by using the geomagnetic sensor 133, the locus acquisition unit 13 acquires the movement locus of the rescue request device 10 using the set three axes.

The altimeter 134 detects the displacement of the altitude. The trajectory acquisition unit 13 can use the altimeter 134 to acquire the movement distance in the z-axis direction by the rescue request device 10.
The time measuring unit 135 starts measurement of an elapsed time when acquisition of a movement trajectory is started, and measures an elapsed time until acquisition of the movement trajectory is ended.

  As described above, the trajectory acquisition unit 13 uses the detected value of the gyro sensor 131, the detected value of the acceleration sensor 132, the detected value of the geomagnetic sensor 133, and the detected value of the altimeter 134 to move or move the rescue request device 10. I know the direction. Further, by using the time measurement unit 135, the trajectory acquisition unit 13 can know the elapsed time from the start of acquisition of the movement trajectory of the rescue request device 10 to the end of acquisition. Therefore, the locus acquisition unit 13 can acquire the movement locus by calculating and acquiring the position of the rescue request device 10 for each unit time.

  Here, the movement trajectory acquired by the trajectory acquisition unit 13 will be described using FIG. 3. FIG. 3 is a diagram for explaining the movement locus acquired by the locus acquisition unit. As a premise, the locus acquisition unit 13 calculates and acquires the current position every five minutes using the sensor groups 131 to 133, the altimeter 134, and the time measurement unit 135 as described above, and The elapsed time is stored in the storage unit 19 in association with each other.

  First, it is determined that the wireless communication unit 11 can not perform wireless communication at the point A. Then, as shown in FIG. 3, the trajectory acquisition unit 13 sets three axes, sets the point A as origin coordinates, and sets the elapsed time as 0 minutes. Next, it is assumed that the rescue request device 10 has moved to the point B five minutes later with the user. The locus acquisition unit 13 acquires the position of the point B and the elapsed time, associates them with each other, and stores them in the storage unit 19. Subsequently, the locus acquisition unit 13 acquires the position after the point C and the elapsed time every five minutes until the user state determination unit 16 described later determines that the user is in the dangerous state. , And stored in the storage unit 19 in association with each other. Here, assuming that the user state determination unit 16 determines that the user is in a dangerous state at the point H, the locus acquisition unit 13 sets the point H as an end point position, the position of the point H, and the elapsed time. Are stored in the storage unit 19. When it is determined that the user is in a dangerous state, the trajectory acquisition unit 13 immediately acquires the current position and the elapsed time. Thus, the locus acquisition unit 13 acquires a movement locus with the point A as the starting point position and the point H as the end point position. Also, for example, if it is determined that the positioning by the GPS signal can not be performed at the point E, the locus acquisition unit 13 stores it in the storage unit 19 as information different from other points so that this position can also be grasped. Good.

  Next, referring back to FIG. 2, the microphone 14 will be described. The microphone 14 collects the voice emitted by the user of the rescue request device 10. The microphone 14 may be built in the rescue request device 10 or may be provided outside the rescue request device 10.

  When the microphone 14 collects a voice emitted by the user, the voice recognition unit 15 converts the content of the collected voice into text data, and recognizes the content of the voice emitted by the user. The voice recognition unit 15 notifies the user state determination unit 16 when it recognizes, for example, a term that is a predetermined term such as "SOS" and indicates a rescue request. Further, the voice recognition unit 15 notifies the drive control unit 17 when it recognizes a predetermined term such as "STOP", for example, which indicates that the drive control of the rescue request device 10 is to be stopped. .

  The user state determination unit 16 determines whether the user of the rescue request device 10 is in a dangerous state. For example, when the voice recognition unit 15 recognizes a term indicating a rescue request such as “SOS”, the user state determination unit 16 determines that the user is in a dangerous state. When the user state determination unit 16 determines that the user is in danger, the user state determination unit 16 notifies the trajectory acquisition unit 13 and the drive control unit 17.

  When the user state determination unit 16 determines that the user is in a dangerous state, the drive control unit 17 performs drive control of the rescue request device 10 so as to trace the trace of the acquired movement locus. Specifically, the drive control unit 17 controls the drive control unit 17 to drive the own device so as to trace the trace of the movement locus from the end point position of the acquired movement trace toward the starting point position. For example, assuming that the trajectory acquisition unit 13 acquires the movement trajectory shown in FIG. 3, the drive control unit 17 sets the point H as the drive start position to the points G, F, E, D, C, and B. , And drive control of the rescue request device 10 so as to follow the point A sequentially.

  In addition, the drive control unit 17 determines that the rescue request device 10 erroneously transmits, for example, when the voice recognition unit 15 recognizes a term indicating stopping drive control of the rescue request device 10 such as “STOP”. And stop the drive control. When the drive control of the rescue request device 10 is stopped, the drive control unit 17 drives and controls the rescue request device 10 to return to the position of the user.

Next, returning to FIG. 2, the explanation will be continued.
The drive unit 18 includes a motor and a propeller of the rescue request device 10, and moves (drives) the rescue request device 10 according to the control of the drive control unit 17.
The storage unit 19 stores various information such as information on a movement trajectory, an elapsed time, and map information.

  Subsequently, an operation example of the rescue request apparatus 10 according to the first embodiment will be described using FIG. 4. FIG. 4 is a flowchart for explaining an operation example of the rescue request apparatus according to the first embodiment.

  First, the rescue request device 10 detects at least one of impossibility of wireless communication and impossibility of positioning by a GPS signal (step S11). Specifically, the wireless communication unit 11 determines whether the signal strength of the radio wave received from the base station is equal to or greater than a predetermined threshold, and determines that wireless communication is not possible if the signal strength is less than the predetermined threshold. . When determining that wireless communication can not be performed, the wireless communication unit 11 notifies the trajectory acquisition unit 13. The GPS communication unit 12 determines whether or not positioning is possible depending on whether the signal strength of the GPS signal is equal to or greater than a predetermined threshold. The GPS communication unit 12 determines that positioning can not be performed when the GPS communication unit 12 is less than a predetermined threshold. The GPS communication unit 12 notifies the trajectory acquisition unit 13 when it determines that positioning by the GPS signal can not be performed.

  Next, the rescue request device 10 starts acquisition of the movement trajectory (step S12). Specifically, the locus acquisition unit 13 sets the position where at least one of the case where it is determined that wireless communication can not be performed and the case where it is determined that positioning by a GPS signal can not be performed is the starting point position. Set the coordinates and set the origin position as the origin coordinates (0, 0, 0). The locus acquisition unit 13 calculates the position of the rescue request device 10 every unit time using the detection value of the gyro sensor 131, the detection value of the acceleration sensor 132, the detection value of the geomagnetic sensor 133, and the detection value of the altimeter 134. Get. The trajectory acquisition unit 13 also uses the time measurement unit 135 to acquire an elapsed time from the starting point position. The locus acquisition unit 13 stores the acquired position and the elapsed time in the storage unit 19 in association with each unit time.

  Next, the rescue request device 10 determines the dangerous state of the user (step S13). Specifically, the user state determination unit 16 determines whether the user is in a dangerous state based on whether or not the speech recognition unit 15 recognizes a term indicating a rescue request such as “SOS”.

  In step S13, when the user state determination unit 16 determines that the user is in the dangerous state (YES in step S13), the process proceeds to step S14. When the speech recognition unit 15 recognizes a term indicating a rescue request, the user state determination unit 16 determines that the user is in a dangerous state, and notifies the trajectory acquisition unit 13 and the drive control unit 17.

  On the other hand, when the user state determination unit 16 determines in step S13 that the user is not in the dangerous state (NO in step S13), the process returns to step S13. That is, the trajectory acquisition unit 13 continues acquisition of the movement trajectory of the rescue request device 10 until the user state determination unit 16 determines that the user is in the dangerous state.

  Next, the rescue request apparatus 10 ends the acquisition of the movement trajectory (step S14). The locus acquisition unit 13 ends the acquisition of the movement locus with the position determined to be the danger state of the user as the end point position of the movement locus.

  Next, the rescue request device 10 drives and controls its own device from the end point position of the movement trajectory toward the start point position (step S15). When it is determined that the user is in a dangerous state, the drive control unit 17 drives and controls the own device from the end position of the movement trajectory toward the starting position so as to follow the trace of the acquired movement trajectory. That is, the rescue request device 10 drives and controls its own device toward a position where wireless communication can be performed.

  Next, the rescue request device 10 periodically determines whether the term indicating drive stop has been recognized while performing drive control of the device itself so as to trace the trace of the movement locus (step S16). Specifically, it is periodically determined whether the speech recognition unit 15 has recognized a term indicating stop of the drive control of the rescue request device 10 such as “STOP”.

  In step S16, when the voice recognition unit 15 recognizes a term indicating stop of driving (YES in step S16), the drive control unit 17 determines that the rescue request device 10 erroneously transmits, and stops the drive control, It moves to the position of the user (step S17). Thereafter, the process returns to step S12 and continues. That is, when the rescue request device 10 returns to the position of the user, the trajectory acquisition unit 13 resumes acquisition of the movement trajectory so as to acquire the continuation of the movement trajectory which has been acquired in step S14.

  On the other hand, in step S16, when the voice recognition unit 15 does not recognize the term indicating the drive stop (NO in step S16), the drive control unit 17 continues to drive control the own device toward the starting point position of the movement trajectory. Do.

  Next, the rescue request device 10 periodically determines whether wireless communication is possible (step S18). Specifically, the wireless communication unit 11 periodically determines whether the signal strength of the radio wave received from the base station is equal to or greater than a predetermined threshold.

  In step S18, when wireless communication is possible (YES in step S18), the rescue request device 10 transmits a rescue request signal to a destination registered in advance (step S19). Specifically, when the signal strength of the radio wave received from the base station becomes equal to or greater than a predetermined threshold, the wireless communication unit 11 determines that wireless communication is possible, and transmits a rescue request signal to a destination registered in advance. .

  The rescue request signal may be, for example, information including a user name, a distressed situation, and a request for rescue. In addition to the above, the rescue request signal may be information including information on the movement trajectory acquired by the trajectory acquisition unit 13 and a time required for movement from the start position to the end position of the movement trajectory.

  The information related to the movement trajectory may be a table in which the correspondence between the coordinates of each point shown in FIG. 3 and the elapsed time is described. Alternatively, the information on the movement trajectory may be a rescue map in which the coordinates of each point shown in FIG. 3 and the elapsed time are mapped to map information. Alternatively, the information on the movement locus is determined to be the position (point E) when it is determined that the positioning by the GPS signal can not be performed as the starting position, and the position when the user is determined to be in the dangerous state as the end position. It may be information about a movement locus. Moreover, when the information regarding a movement trace is MAP for rescue, it may be information including the straight line which connected the starting point position and end point position of a movement trace as shortest route information.

  On the other hand, when the wireless communication can not be performed in step S18 (NO in step S18), the rescue request device 10 returns to step S15, and continues to drive control the own device toward the starting position of the movement trajectory. If the signal strength of the radio wave received from the base station is less than a predetermined threshold, the wireless communication unit 11 determines that wireless communication is not possible, and the process returns to step S15 and the drive control unit 17 continues the starting position of the movement trajectory. Drive control of own device towards.

  As described above, the rescue request device 10 acquires the movement trajectory of the device itself when at least one of the case where the wireless communication can not be performed and the case where the positioning by the GPS signal can not be performed is satisfied. In addition, when it is determined that the user is in danger, the rescue request device 10 drives and controls its own device so as to trace the trace of the movement locus, and transmits a rescue request signal when wireless communication becomes possible. Do. Therefore, the rescue request device 10 drives and controls its own device to a position where wireless communication can be reliably performed even when the user suffers a disaster, for example, in an area where positioning with GPS signals such as caves or the like can not be performed. , Send a rescue request signal. Therefore, according to the rescue request device 10, it is possible to improve the reliability of the rescue request.

  Furthermore, since the rescue request device 10 transmits the rescue request signal including the information on the movement trajectory, even if the position where the user is determined to be in the dangerous state is a place where the GPS signal does not reach. The rescuer who rescues the user can quickly find the user. That is, by using the rescue request device 10, it is possible to shorten the time for searching for the user and to improve the certainty of the rescue request.

  Furthermore, when it is determined that the user is in danger, the rescue request device 10 is driven to follow the trace of the movement trajectory, and transmits a rescue request signal when wireless communication is possible. Therefore, the user of the rescue request apparatus 10 can make a rescue request even if the user can not move.

Second Embodiment
Subsequently, the second embodiment will be described. The second embodiment is an improved example of the first embodiment. A configuration example of the rescue request apparatus 20 according to the second embodiment will be described using FIG. FIG. 5 is a block diagram showing a configuration example of the rescue request apparatus according to the second embodiment.

  The rescue request apparatus 20 according to the second embodiment further includes an imaging unit 21 in addition to the configuration of the first embodiment. Further, the second embodiment differs from the first embodiment in the rescue request signal. The other configuration is the same as that of the first embodiment, so only the difference points will be described in the present embodiment.

  When the user state determination unit 16 determines that the user is in a dangerous state, the imaging unit 21 captures an area around the rescue request device 20 including the user and generates an image. The imaging unit 21 may be configured by, for example, a camera used for capturing a still image or a moving image. Alternatively, the imaging unit 21 may be configured by a digital camera or a video camera.

The imaging unit 21 sequentially captures the periphery of the rescue request device 10 to generate an image while the rescue request device 20 is driven so as to trace the trace of the movement trajectory from the end position to the start position. The imaging unit 21 stores the generated image in the storage unit 19.
The wireless communication unit 11 includes the image generated by the imaging unit 21 in the rescue request signal and transmits it.

  Next, an operation example of the rescue request apparatus 20 according to the second embodiment will be described using FIG. FIG. 6 is a flow chart for explaining an operation example of the rescue request apparatus according to the second embodiment. FIG. 6 corresponds to the flowchart shown in FIG. 3, and steps S21 and S22 are added to the flowchart shown in FIG. Further, in FIG. 6, step S19 of the flowchart shown in FIG. 3 is replaced with step S23. In FIG. 6, the same reference numerals are given to the same processing contents as in FIG. 3, and the descriptions thereof will be omitted as appropriate, and step S 21, step 22 and step S 23 will be described.

  If it is determined that the user is in a dangerous state (YES in step S13), the rescue request device 20 ends acquisition of the movement trajectory (step S14), and captures an image of the surroundings including the user. (Step S21). Specifically, when the user state determination unit 16 determines that the user is in a dangerous state, the trajectory acquisition unit 13 ends the acquisition of the movement trajectory. And imaging part 21 picturizes the circumference including a user and generates an image. The imaging unit 21 stores the generated image in the storage unit 19.

  The rescue request device 20 captures an image of the periphery of the self device while performing drive control of the self device (step S22). Specifically, when the user state determination unit 16 determines that the user is in a dangerous state, the drive control unit 17 directs the self device from the end point position to the start point position so as to trace the trace of the movement locus. Drive control. While the rescue request device 20 is driven so as to trace the trace of the movement trajectory, the imaging unit 21 sequentially captures the periphery of the own device to sequentially generate an image. The imaging unit 21 stores the generated image in the storage unit 19.

  In step S18, when wireless communication is enabled (YES in step S18), the wireless communication unit 11 includes the image generated by the imaging unit 21 in the rescue request signal, and requests the rescue to a destination registered in advance. A signal is transmitted (step S23).

As described above, also in the present embodiment, since it has the same configuration as that of the first embodiment, it is possible to enhance the certainty of the request for rescue.
In addition, when it is determined that the user is in a dangerous state, the rescue request device 20 captures an image of the area around the user including the user, and transmits a rescue request signal including the generated image. . Therefore, by using the rescue request device 20 according to the present embodiment, the rescuer can rescue the user by preparing in advance the medical treatment tools and the like necessary for the rescue of the user. Therefore, smooth rescue can be performed by using the rescue request apparatus 20 according to the present embodiment.

  Furthermore, while the rescue request device 20 is driving its own device so as to trace the trace of the movement trajectory, the rescue request device 20 sequentially captures the periphery of the own device to generate an image, and transmits a rescue request signal including the generated image. Do. Therefore, by using the rescue request device 20 according to the present embodiment, the rescuer can proceed while checking the image generated by the rescue request device 20 by imaging the route on which the user moved. . Therefore, the rescuer can rescue the user of the rescue request device 20 quickly by using the rescue request device 20 according to the present embodiment.

Third Embodiment
Subsequently, the third embodiment will be described. The third embodiment is a modification of the first and second embodiments. Therefore, the third embodiment will be described using the first embodiment. A configuration example of the rescue request apparatus 30 according to the third embodiment will be described using FIG. 7. FIG. 7 is a block diagram showing a configuration example of the rescue request apparatus according to the third embodiment.

  The rescue request apparatus 30 according to the third embodiment has a configuration in which the water immersion sensor 31 is added to the configuration of the first embodiment. In the rescue request apparatus 30 according to the third embodiment, the user state determination unit 16 in the first embodiment is replaced with the user state determination unit 32. The other configuration is the same as that of the first embodiment, so only the difference points will be described in the present embodiment.

  The water immersion detection sensor 31 is a sensor that detects that the rescue request device 30 is flooded. Further, the inundation detection sensor 31 is a sensor that is provided at the bottom of the rescue request device 30 and can detect how high the water is from the bottom of the rescue request device 30. The flood detection sensor 31 is a sensor that detects how long the rescue request device 30 is flooded, and thus can be said to be a sensor that acquires state information of the own device.

  The water immersion detection sensor 31 notifies the user state determination unit 32 of a detection value detected when the rescue request device 30 is flooded. The inundation detection sensor 31 may be built in the rescue request device 30 or may be provided outside and connected to the rescue request device 30.

  The user state determination unit 32 determines whether the detection value of the water immersion detection sensor 31 exceeds a predetermined threshold. When the user state determination unit 32 determines that the detection value of the water immersion detection sensor 31 exceeds the predetermined threshold, it can be inferred that the user is drowning, so the user is determined to be in a dangerous state .

  Subsequently, an operation example of the rescue request apparatus 30 according to the third embodiment will be described. The operation example of the rescue request apparatus 30 according to the third embodiment is basically the same as that of the first embodiment, so only the difference points will be described using the flowchart shown in FIG.

  In the present embodiment, specific contents of step S13 are different. In the first embodiment, when the voice recognition unit 15 recognizes a term indicating a rescue request in step S13, the user state determination unit 16 determines that the user is in a dangerous state. In the present embodiment, in step S13, the user state determination unit 32 further uses the detection value of the water immersion detection sensor 31 to determine whether the user is in danger.

  Specifically, the user state determination unit 32 determines whether the detection value of the water immersion detection sensor 31 is equal to or more than a predetermined threshold, and when the detection value of the water immersion detection sensor 31 is equal to or more than a predetermined threshold, It determines that the user is in a dangerous state. The user state determination unit 32 may be configured to determine whether the user is in a dangerous state using only the detection value of the water immersion detection sensor 31.

  As described above, in the present embodiment, the rescue request device 30 further includes the flood detection sensor 31, and the user state determination unit 32 determines that the user is in a dangerous state based on the detection value of the flood detection sensor 31. It is determined whether the Therefore, according to the rescue request device 30 according to the present embodiment, it is possible to make a rescue request even when the user falls down.

Embodiment 4
Subsequently, the fourth embodiment will be described. The fourth embodiment is a modification of the first to third embodiments. Therefore, the fourth embodiment will be described using the first embodiment. First, a configuration example of the rescue request apparatus 40 according to the fourth embodiment will be described using FIG. FIG. 8 is a block diagram showing a configuration example of the rescue request apparatus according to the fourth embodiment.

  The rescue request device 40 according to the fourth embodiment is configured to further include a shock sensor 41 in the configuration of the first embodiment. In the rescue request apparatus 40 according to the fourth embodiment, the user state determination unit 16 in the first embodiment is replaced with the user state determination unit 42. The other configuration is the same as that of the first embodiment, so only the difference points will be described in the present embodiment.

  The shock sensor 41 is, for example, a shock sensor using piezoelectric ceramics, and is a sensor capable of measuring the strength of the vibration and the shock applied to the rescue request device 40. The shock sensor 41 is a sensor that detects the strength of vibration and impact applied to the rescue request device 40, and thus can be said to be a sensor that acquires state information of the own device. The detection value detected by the shock sensor 41 is notified to the user state determination unit 42. The shock sensor 41 may be built in the rescue request device 40 or may be provided outside the rescue request device 40 and connected to the rescue request device 40.

  The user state determination unit 42 determines whether the detection value of the shock sensor 41 exceeds a predetermined threshold. When the user state determination unit 42 determines that the detection value of the shock sensor 41 exceeds the predetermined threshold, it can be inferred that the user has fallen, so the user is determined to be in a dangerous state. .

  Subsequently, an operation example of the rescue request apparatus 40 according to the fourth embodiment will be described. The operation example of the rescue request apparatus 40 according to the fourth embodiment is basically the same as that of the first embodiment, so only the difference points will be described using the flowchart shown in FIG.

  In the present embodiment, specific contents of step S13 are different. In the first embodiment, when the voice recognition unit 15 recognizes a term indicating a rescue request in step S13, the user state determination unit 16 determines that the user is in a dangerous state. In the present embodiment, in step S13, the user state determination unit 42 further uses the detection value of the shock sensor 41 to determine whether the user is in danger.

  Specifically, the user state determination unit 42 determines whether or not the detected value of the shock sensor 41 is equal to or greater than a predetermined threshold, and when the detected value of the shock sensor 41 is equal to or greater than the predetermined threshold, the user Is determined to be at risk. The user state determination unit 42 may be configured to determine whether the user is in a dangerous state by using only the detection value of the shock sensor 41.

  As described above, in the present embodiment, the rescue request device 40 further includes the shock sensor 41, and the user state determination unit 42 determines that the user is in a dangerous state based on the detection value of the shock sensor 41. It is determined whether or not. Therefore, according to the rescue request device 40 according to the present embodiment, it is possible to make a rescue request even when the user falls.

Fifth Embodiment
Subsequently, the fifth embodiment will be described. The fifth embodiment is a modification of the first to fourth embodiments. Therefore, the fifth embodiment will be described using the first embodiment. First, a configuration example of the rescue request apparatus 50 according to the fifth embodiment will be described with reference to FIG. FIG. 9 is a block diagram showing a configuration example of the rescue request apparatus according to the fifth embodiment.

  The rescue request apparatus 50 according to the fifth embodiment is configured to further include a pulse sensor 51 in the configuration of the first embodiment. In the rescue request device 50 according to the fourth embodiment, the user state determination unit 16 in the first embodiment is replaced with the user state determination unit 52. The other configuration is the same as that of the first embodiment, so only the difference points will be described in the present embodiment.

  The pulse sensor 51 is a sensor that measures the pulse of the user. The pulse sensor 51 is attached to, for example, the arm of the user. The pulse sensor 51 performs connection and communication with the rescue request device 50 by, for example, Bluetooth (registered trademark). The rescue request device 50 and the pulse sensor 51 periodically measure the user's pulse and notify the user state determination unit 52 of the measured pulse rate. Since the pulse is biometric information of the user, the pulse sensor 51 can also be said to be a sensor for acquiring biometric information of the user. In the present embodiment, although described as a pulse sensor, it may be a biological information sensor that measures the user's blood pressure value, body temperature value or respiration rate, and the user's blood pressure value, body temperature value or respiration rate Among them, the biometric information sensor may acquire two or more pieces of information.

  The user state determination unit 52 determines, based on the pulse rate notified from the pulse sensor 51, whether the user is in a dangerous state. The user state determination unit 52 determines whether the user is in a dangerous state based on whether the pulse rate of the user is within the normal range. In this case, the user state determination unit 52 satisfies at least one of the case where the pulse rate notified from the pulse sensor 51 is greater than or equal to the first determination threshold and the case where the pulse rate is less than the second determination threshold. The user may be determined to be in a dangerous state. Alternatively, if the difference between the pulse rate notified from the pulse sensor 51 and the pulse rate in the normal state is equal to or greater than a predetermined threshold, the user state determination unit 52 estimates that the user is different from the normal state Since it is possible, it may be determined that the user is in a dangerous state.

  Subsequently, an operation example of the rescue request apparatus 50 according to the fifth embodiment will be described. The operation example of the rescue request apparatus 50 according to the fifth embodiment is basically the same as that of the first embodiment, so only the difference points will be described using the flowchart shown in FIG.

  In the present embodiment, specific contents of step S13 are different. In the first embodiment, when the voice recognition unit 15 recognizes a term indicating a rescue request in step S13, the user state determination unit 16 determines that the user is in a dangerous state. In the present embodiment, in step S13, the user state determination unit 52 further determines whether the user is in danger using the pulse rate measured by the pulse sensor 51.

  The user state determination unit 52 determines that the pulse rate notified from the pulse sensor 51 is greater than or equal to the first determination threshold and that the pulse rate notified from the pulse sensor 51 is less than the second determination threshold. When at least one of the conditions is satisfied, it may be determined that the user is in a dangerous state. Alternatively, if the difference between the pulse rate notified from the pulse sensor 51 and the pulse rate in the normal state is equal to or greater than a predetermined threshold, the user state determination unit 52 estimates that the user is different from the normal state Since it is possible, it may be determined that the user is in a dangerous state. The user state determination unit 52 may be configured to determine whether the user is in a dangerous state using only the pulse rate measured by the pulse sensor 51.

  As described above, in the present embodiment, the rescue request device 50 further includes the pulse sensor 51, and the user state determination unit 52 determines that the user is in a dangerous state based on the detection value of the pulse sensor 51. It is determined whether or not. Therefore, according to the rescue request device 50 according to the present embodiment, it is possible to make a rescue request even in a state where the user loses consciousness or can not move.

(Other embodiments)
FIG. 10 is a block diagram showing a configuration example of the rescue request devices 1, 10, 20, 30, 40 and 50 (hereinafter referred to as the rescue request device 1 etc.) described in the above-described embodiment. Referring to FIG. 10, the rescue request device 1 and the like include a network interface 1201, a processor 1202, and a memory 1203. Network interface 1201 is used to communicate with other wireless communication devices. The network interface 1201 may include, for example, a network interface card (NIC) compliant with the IEEE 802.3 series.

  The processor 1202 reads the software (computer program) from the memory 1203 and executes it to perform the processing of the rescue request device 1 or the like described using the flowchart in the above embodiment. The processor 1202 may be, for example, a microprocessor, a micro processing unit (MPU), or a central processing unit (CPU). Processor 1202 may include multiple processors.

  The memory 1203 is configured by a combination of volatile memory and non-volatile memory. Memory 1203 may include storage located remotely from processor 1202. In this case, the processor 1202 may access the memory 1203 via an I / O interface not shown.

  In the example of FIG. 10, the memory 1203 is used to store software modules. The processor 1202 can perform the processing of the rescue request device 1 or the like described in the above-described embodiment by reading out and executing these software module groups from the memory 1203.

  As described with reference to FIG. 10, each of the processors included in the rescue request device 1 or the like executes one or more programs including a group of instructions for causing a computer to execute the algorithm described with reference to the drawings.

  In the above-mentioned example, the program can be stored using various types of non-transitory computer readable media and supplied to a computer. Non-transitory computer readable media include tangible storage media of various types. Examples of non-transitory computer readable media include magnetic recording media (eg, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg, magneto-optical disks). Further, examples of non-transitory computer readable media include CD-ROM (Read Only Memory), CD-R, CD-R / W. Additionally, examples of non-transitory computer readable media include semiconductor memory. The semiconductor memory includes, for example, a mask ROM, a programmable ROM (PROM), an erasable PROM (EPROM), a flash ROM, and a random access memory (RAM). Also, the programs may be supplied to the computer by various types of transitory computer readable media. Examples of temporary computer readable media include electrical signals, light signals, and electromagnetic waves. The temporary computer readable medium can provide the program to the computer via a wired communication path such as electric wire and optical fiber, or a wireless communication path.

  Note that the present disclosure is not limited to the above embodiment, and can be appropriately modified without departing from the scope of the present invention. In addition, the present disclosure may be implemented by appropriately combining the respective embodiments.

Moreover, although a part or all of the above-mentioned embodiment may be described as the following additional notes, it is not limited to the following.
(Supplementary Note 1)
A wireless communication unit that performs wireless communication;
When the wireless communication by the wireless communication unit can not be performed, a trajectory acquisition unit that acquires a movement trajectory of the own device;
A user state determination unit that determines whether the user is in a dangerous state;
And a drive control unit configured to drive and control the apparatus so as to trace the trace of the movement trajectory acquired by the trajectory acquisition unit when it is determined that the user is in a dangerous state.
The rescue request device, wherein the wireless communication unit transmits a rescue request signal to a destination registered in advance when wireless communication is possible.
(Supplementary Note 2)
The rescue request apparatus according to Appendix 1, wherein the wireless communication unit transmits the rescue request signal including trajectory information on the movement trajectory acquired by the trajectory acquisition unit.
(Supplementary Note 3)
It has a GPS communication unit that receives GPS (Global Positioning System) signals and performs positioning.
The locus acquisition unit according to claim 1 or 2, wherein the locus acquisition unit acquires the movement locus of the own device when at least one of the case where wireless communication by the wireless communication unit can not be performed and the case where positioning by the GPS signal is not performed is satisfied. Rescue request device.
(Supplementary Note 4)
The locus acquisition unit is configured to determine that the user is in a dangerous state from a position where at least one of the case where wireless communication by the wireless communication unit can not be performed and the case where positioning by the GPS signal is not performed is satisfied. The rescue request device according to appendix 3, wherein the current position is periodically acquired and the movement trajectory is acquired until the position determined by the state determination unit.
(Supplementary Note 5)
A voice recognition unit that recognizes voices uttered by the user;
The user state determination unit according to any one of appendices 1 to 4, wherein the user state determination unit determines that the user is in a dangerous state when the voice recognition unit recognizes a first term indicating a rescue request. Rescue request device.
(Supplementary Note 6)
The imaging device includes an imaging unit that captures an area around the user including the user and generates an image when the user state determination unit determines that the user is in a dangerous state.
The rescue request device according to any one of appendices 1 to 5, wherein the wireless communication unit transmits a rescue request signal including an image generated by the imaging unit.
(Appendix 7)
7. The rescue request device according to Supplementary Note 6, wherein the imaging unit sequentially images the periphery of the own device while generating the image while driving the device so as to trace the trace of the movement trajectory.
(Supplementary Note 8)
It has a first sensor for acquiring state information of its own device,
The user state determination unit determines that the user is in a dangerous state when the state information of the own device acquired by the first sensor is equal to or more than a first threshold. The rescue request device according to claim 1 or 2.
(Appendix 9)
The system further comprises a second sensor for acquiring biological information of the user,
The user state determination unit satisfies at least one of the case where the biometric information of the user acquired by the second sensor is equal to or more than a second threshold and the case where the biometric information is less than a third threshold. The rescue request device according to any one of appendices 1 to 8, wherein the user determines that the user is in a dangerous state.
(Supplementary Note 10)
A voice recognition unit that recognizes voices uttered by the user;
The drive control unit controls the drive control of the own device when the voice recognition unit recognizes the second term indicating that the drive control of the own device is to be stopped. The rescue request device according to any one of appendices 1 to 9, which stops.
(Supplementary Note 11)
If wireless communication can not be performed by the wireless communication unit performing wireless communication, acquire the movement trajectory of the own device,
Determine if the user is in danger or not
When it is determined that the user is in a dangerous state, drive control of the own device is performed so as to trace the trace of the acquired movement locus,
A rescue request method for transmitting a rescue request signal to a pre-registered destination when wireless communication is enabled.
(Supplementary Note 12)
If wireless communication can not be performed by the wireless communication unit performing wireless communication, acquire the movement trajectory of the own device,
Determining whether the user is at risk or not;
Drivingly controlling the own apparatus so as to trace the trace of the acquired movement trajectory when it is determined that the user is in a dangerous state;
A program that causes a computer to execute a rescue request signal to a destination registered in advance when wireless communication is enabled.

1, 10, 20, 30, 40, 50 Rescue request device 2, 11 wireless communication unit 3, 13 locus acquisition unit 4, 16, 32, 42, 52 user state determination unit 5, 17 drive control unit 12 GPS communication unit 14 microphone 15 voice recognition unit 18 drive unit 19 storage unit 21 imaging unit 31 water immersion sensor 41 shock sensor 51 pulse sensor 131 gyro sensor 132 acceleration sensor 133 geomagnetic sensor 134 altimeter 135 time measurement unit

Claims (2)

A wireless communication unit that performs wireless communication;
When the wireless communication by the wireless communication unit can not be performed, a trajectory acquisition unit that acquires a movement trajectory of the own device;
A user state determination unit that determines whether the user is in a dangerous state;
A drive control unit that drives and controls its own device to trace the trace of the movement trajectory acquired by the trajectory acquisition unit when it is determined that the user is in a dangerous state;
A voice recognition unit that recognizes voices uttered by the user;
When the wireless communication becomes possible, the wireless communication unit transmits a rescue request signal to a destination registered in advance,
The drive control unit stops the drive control of the own device when the voice recognition unit recognizes a term indicating that the drive control of the own device is to be stopped when the drive control unit is performing drive control of the own device.
Rescue request device. A wireless communication unit that performs wireless communication;
When the wireless communication by the wireless communication unit can not be performed, a trajectory acquisition unit that acquires a movement trajectory of the own device;
A user state determination unit that determines whether the user is in a dangerous state;
A drive control unit that drives and controls its own device to trace the trace of the movement trajectory acquired by the trajectory acquisition unit when it is determined that the user is in a dangerous state;
An imaging unit configured to sequentially capture the periphery of the own device and generate an image while the device is driven to follow the trace of the movement trajectory;
The wireless communication unit transmits a rescue request signal including an image generated by the imaging unit to a destination registered in advance when wireless communication is enabled.

Images