JP2020021310A - Mobile grasping system - Google Patents

Abstract

To grasp a location and a condition (situation) of a mobile in a state where a search range is unlikely to be restricted.SOLUTION: Even in the situation that a direct communication with a base station 3 side cannot be performed with respect to a mountaineer 1 (victim) in distress in a mountainous region, a communication between the base station 3 side and the mountaineer 1 is performed by e.g., 920 MHz multihop type communication with a drone 5 (multi-copter) used as a relay station, thereby grasping a location and a condition of the mountaineer 1.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a moving body grasping system for grasping a position and a state (situation) of a moving body.

  As a technology to follow the whereabouts of lost or wandering people, receivers that receive the signal of the transmitter held by the search target are arranged in many places, and when the drone approaches the receiver, the reception information is acquired. 2. Description of the Related Art A technique of generating information of a search target person by storing the received information and transmitting the stored reception information to a management apparatus has been conventionally proposed (for example, Patent Document 1).

  In the technique of Patent Document 1, receivers are arranged at a number of places, and when a drone approaches a receiver, reception information is acquired and stored. Therefore, a receiver that does not require wide area communication may be used. it can. Therefore, it is possible to realize a mobile object search system capable of suppressing an increase in the cost of the receiver.

  However, the conventionally proposed technology is a technology in which receivers are arranged in a large number of places, so that a wide search range can be covered, but the search target area is an assumed living area such as an urban area. The technology is limited to the range. For this reason, at present, it cannot be applied to searches in unexpected areas such as victims in mountainous areas.

JP 2018-13976 A

  The present invention has been made in view of the above circumstances, and has as its object to provide a moving object grasping system capable of grasping a position and a state (situation) of a moving object in a state in which a search range is less restricted. And

  According to a first aspect of the present invention, there is provided a mobile object grasping system according to the first aspect of the present invention, comprising: a transmitting terminal means for transmitting a transmission detection signal by multi-hop communication; By hop communication, at least the receiving terminal means for receiving the transmission detection signal of the transmission terminal, and the reception terminal held by an unmanned aerial vehicle and relaying the transmission detection signal from the transmission terminal means by multi-hop communication While transmitting to the means, relay terminal means for transmitting its own flight detection signal to the receiving terminal means by multi-hop communication, and the transmission detection signal received by the receiving terminal means, and, based on the flight detection signal, Control means for grasping the state of the moving body.

  As the moving object grasping system of the present invention, a plurality of unmanned flying objects are provided, and the state of the moving object can be grasped by at least one arbitrarily selected unmanned flying object.

  According to the first aspect of the present invention, a transmission detection signal from transmission terminal means (for example, a device for a distress) held by a moving object (for example, a victim) is retained on an unmanned air vehicle (for example, a drone). Is input to the relay terminal means (for example, a drone-mounted device). The transmission detection signal input to the relay terminal means is relayed and transmitted to the receiving terminal means (for example, a device on the base side) held at the base station side. Further, the flight detection signal of the unmanned aerial vehicle is sent to the receiving terminal means held at the base station side.

  Then, the control means (means for grasping the position and state of the moving body based on the information) is based on the transmission detection signal received by the receiving terminal means and the flight detection signal, and the state of the moving body (for example, (Moving or not). That is, by combining the multi-hop communication and the unmanned aerial vehicle, the transmission detection signal of the transmission terminal can be relayed by the relay terminal unit and received by the reception terminal unit without being affected by the terrain or the like.

  For this reason, it is possible to grasp the position and the state (situation) of the moving object in a state where the search range is less restricted.

  According to a second aspect of the present invention, there is provided the mobile object grasping system according to the first aspect, wherein the transmission terminal means includes a GPS module, and the transmission detection signal includes the GPS signal. The control means includes information of a GPS signal from a module, and the control unit grasps the position of the mobile object based on the information of the GPS signal.

  According to the second aspect of the present invention, by including the information of the GPS signal from the GPS module as the detection signal, it is possible to grasp the position of the moving body based on the information of the GPS signal.

  According to a third aspect of the present invention, in the moving object grasping system according to the first or second aspect, the transmitting terminal means includes a height detecting means and / or an acceleration detecting means. Means is provided, the transmission detection signal, the height of the moving body detected by the height detection means, and / or, information on the height of the moving body detected by the acceleration detection means, or / And information on the acceleration, wherein the control means grasps the height position of the moving body based on the information on the height of the moving body, and / or based on the information on the acceleration of the moving body. It is characterized in that the presence or absence of movement of the moving body is grasped.

  According to the third aspect of the present invention, the height or / and the acceleration of the moving body (the transmitting terminal means) are detected by the height detecting means (for example, a barometer) and / or the acceleration detecting means, and the control is performed. The means can grasp the height position of the moving body (the transmitting terminal means) and / or grasp the presence or absence of a movement based on the information of the acceleration of the moving body (the transmitting terminal means).

  A moving object grasping system according to a fourth aspect of the present invention is the moving object grasping system according to any one of the first to third aspects, wherein the unmanned aerial vehicle drives a device mounted thereon. A battery serving as a power source is connected, and a circuit member for controlling connection between the device and the battery is provided.The circuit member controls a connection state between the device and the battery by communication with the control unit. Features.

  According to the fourth aspect of the present invention, the connection between the battery and the device (wireless module: computer or the like) mounted on the unmanned aerial vehicle is controlled via the circuit member (relay circuit) by communication with the control means. That is, ON / OFF (restart) of the power of the mounted device is controlled by the circuit member.

  According to a fifth aspect of the present invention, in the moving object grasping system of the present invention, in the moving object grasping system according to any one of the first to fourth aspects, the control means is inputted to the relay terminal means. A radio wave intensity of the transmission detection signal of the transmission terminal means is evaluated, and a distance between the moving object and the unmanned aerial vehicle is estimated according to the evaluated radio wave intensity.

  According to the fifth aspect of the present invention, the distance between the mobile unit and the unmanned aerial vehicle can be estimated according to the strength of the radio wave intensity of the transmission detection signal of the transmission terminal unit input to the relay terminal unit. Can be estimated.

  According to a sixth aspect of the present invention, there is provided the moving body grasping system according to any one of the first to fourth aspects, wherein the moving body is a living body moving in a mountainous area. The unmanned aerial vehicle is a multicopter.

  According to the sixth aspect of the present invention, a multicopter (drone) is skipped to relay communication between a living body (for example, a victim) moving in a mountainous area and a base station, and the state (position and movement of the living body) is relayed. Status, etc.) can be grasped (searched). As a living body, a victim or a wild animal is applied.

  ADVANTAGE OF THE INVENTION The moving body grasping system of this invention can grasp | ascertain the position and state (situation) of a moving body in the state which is hardly restricted by the search range.

  In particular, the mobile object grasping system according to the present invention relays a multicopter (drone) to a climber who has been distressed in a mountainous area (distressed person) even if direct communication with the base station is not possible. As a station, the multi-hop communication enables communication between the base station and the victim.

1 is an overall schematic diagram of a mobile object grasping system according to an embodiment of the present invention. FIG. 3 is a schematic block diagram of a transmitting terminal means. It is a schematic block diagram of a relay terminal means. It is a schematic block diagram of a receiving terminal means. It is a schematic block configuration diagram of a control means. It is a flowchart explaining an example of the flow of a search.

  The embodiment described below is an example in which a climber who has been distressed in a mountainous area is assumed as a moving object, and a search for a distressed climber is performed as an understanding of the situation of the moving object. Then, communication between the base station and the climber is relayed by an unmanned aerial vehicle (multicopter: drone) by, for example, 920 MHz multi-hop communication, and the climber cannot directly communicate with the base station side. If at all, it allows communication between the base station and remote climbers.

  For this reason, relaying the drone and communicating between the base station and climbers makes it possible to search for climbers who have been distressed in the mountainous areas, and to move with little restriction on the search range. It is possible to grasp the position and state (situation) of the body (climber).

  In addition, as a moving object (living body), it is possible to apply a wild animal etc. in addition to a climber, and as an unmanned flying object, in addition to a drone, an unmanned helicopter, an unmanned airplane with an engine, etc. are applied. It is possible to

  Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings.

  FIG. 1 is a schematic configuration showing an overall situation for explaining a mobile object grasping system according to an embodiment of the present invention, and FIG. 2 is a schematic diagram for explaining functions of a transmitting terminal means carried by a climber. FIG. 3 is a schematic block diagram for explaining the function of the relay terminal unit mounted on the drone, FIG. 4 is a schematic block diagram for explaining the function of the receiving terminal unit provided in the base station, FIG. 2 shows a schematic block configuration for explaining the function of the control means. FIG. 6 is a flowchart for explaining an example of the flow of searching for a climber.

  As shown in FIG. 1, when it is assumed that the climber 1 has fallen into a valley or the like in a mountain area, the communication range of the ordinary mobile terminal is limited, and the battery capacity of the mobile terminal is limited. However, there is a possibility that rescue communication cannot be performed. For this reason, the climber 1 carries the transmitting terminal means 2.

  After the distress of the climber 1 is reported to the base station 3, the base station 3 starts receiving signals from the transmitting terminal means 2 at the receiving terminal means 4 in order to identify the position of the climber 1. In the mountainous area, the signal from the transmission terminal means 2 (transmission detection signal) is blocked by the mountains and plants and cannot be received by the reception terminal means 4 of the base station 3. For this reason, a signal (information of the climber 1) from the transmission terminal means 2 and position information of the drone 5 (flight detection signal) via the relay terminal means 6 mounted on the drone 5 which is an unmanned aerial vehicle. Is received by the receiving terminal means 4 on the base station 3 side.

  The drone 5, which is an unmanned aerial vehicle of the present embodiment, is controlled in flight directly (by a command from the transmitter) by an operation of a drone transmitter by an operator on the base station 3 side. ing.

  By receiving the signal (information of the climber 1) from the transmitting terminal means 2 by the receiving terminal means 4 of the base station 3, the control means 7 of the base station 3 controls the position and state of the climber 1 (moving). Or not). For this reason, it is possible to communicate between the base station 3 and the climber 1 by relaying the drone 5, and it is possible to search for the climber 1 who has distressed in the mountainous area, and the search range is restricted. It is possible to grasp the position and state (situation) of the climber 1 in a small number.

  That is, the mobile object grasping system of the present embodiment is carried (held) by the climber 1 and transmits, for example, the transmission terminal means 2 for transmitting a transmission detection signal by 920 MHz multi-hop communication to the base station 3 side. The receiving terminal means 4 is provided (held) and receives at least a transmission detection signal of the transmitting terminal means 2 by 920 MHz multi-hop communication by multi-hop communication.

  Further, the mobile object grasping system of this embodiment is mounted (held) on the drone 5 and relays a transmission detection signal from the transmission terminal means 2 to the reception terminal means 4 by, for example, 920 MHz multi-hop communication. A relay terminal means 6 for transmitting and transmitting its own flight detection signal to the receiving terminal means 4 by 920 MHz multi-hop communication, for example.

  Further, a control means 7 (see FIG. 5) for grasping the position and the state (situation) of the climber 1 based on the transmission detection signal and the flight detection signal received by the receiving terminal means 4 is provided.

  Therefore, a transmission detection signal from the transmitting terminal means 2 carried by the climber 1 is input to the relay terminal means 6 mounted on the drone 5. The transmission detection signal input to the relay terminal means 6 is relayed and transmitted to the reception terminal means 4 provided on the base station 3 side, and the own flight detection signal of the drone 5 is transmitted to the base station 3 side. It is sent to the held receiving terminal means 4.

  Then, the control means 7 (see FIG. 5) uses the transmission detection signal received by the reception terminal means 4 and the flight detection signal to determine the situation of the climber 1 (for example, ) Is grasped. That is, for example, by combining the 920 MHz multi-hop communication and the drone 5, the transmission detection signal of the transmission terminal means 2 can be relayed by the relay terminal means 6 and received by the reception terminal means 4 without being affected by the terrain. It becomes possible to.

  For this reason, it is possible to grasp the position and the state (situation) of the moving object in a state where the search range is less restricted.

  The transmitting terminal means 2 will be specifically described based on FIG. 2 (and with reference to FIG. 1).

  As shown in the figure, the transmission terminal means 2 is provided with a climber wireless module 11, and transmits a transmission detection signal. Further, the transmission terminal means 2 is provided with a GPS module 12, and the transmission detection signal includes information (position information) of the GPS signal from the GPS module 12.

  In addition, the transmitting terminal means 2 is provided with an altitude sensor 13 (height detecting means: for example, a barometric pressure sensor) and an acceleration sensor 14, and the current altitude of the climber 1 and the state of the movement of the climber 1 are displayed. Is detected. The transmission detection signal includes the current altitude of the climber 1 and the state of the movement of the climber 1.

  By transmitting the transmission detection signal to the receiving terminal means 4 of the base station 3, the control means 7 detects the height and acceleration of the climber 1 and can grasp the height position of the climber 1. At the same time, the presence or absence of the movement of the climber 1 can be grasped.

  The relay terminal means 6 will be specifically described based on FIG. 3 (and with reference to FIG. 1).

  As shown in the figure, the relay terminal unit 6 is provided with a drone radio module 16, and the drone radio module 16 relays a signal (information of the climber 1) from the transmission terminal unit 2. Further, position information and the like (flight detection signal) of the drone 5 are sent to the receiving terminal means 4 of the base station 3.

  That is, the drone wireless module 16 is provided with a relay GPS module 17 for grasping position information and the like of the drone 5, sensors 18, and a flight control means 19 for controlling the flight of the drone 5. A receiving / transmitting means 20 for relaying a signal is provided.

  Although the drone wireless module 16 includes the flight control means 19, the flight control means 19 is not necessarily required. The provision of the flight control means 19 can also function as a backup of the operation of the drone transmitter.

  The relay terminal means 6 is provided with a computer 21 for controlling the drone radio module 16, and the drone 5 is connected to a power source (battery) 22 which is a drive source of a mounted device. A relay circuit 23 (circuit member) for controlling (ON / OFF) the connection between the device and the power supply 22 is provided, and the relay circuit 23 controls the connection state between the device and the power supply 22 through communication with the control unit 7. . That is, the ON / OFF (restart) of the power of the mounted devices (the drone wireless module 16, the computer 21, etc.) is controlled by the relay circuit 23.

  The receiving terminal means 4 will be specifically described based on FIG. 4 (and with reference to FIG. 1).

  As shown in the figure, the receiving terminal means 4 is provided with a base station radio module 25. The base station radio module 25 operates by grasping the flight status of the drone 5 and the operation status of the computer 21 (see FIG. 3). Is commanded. The base station wireless module 25 sends a transmission detection signal to the control means 7.

  That is, the base station wireless module 25 is provided with a drone command unit 26 that obtains information on the drone 5 and issues a flight command. Further, a computer command means 27 for sending a control command to the computer 21 (see FIG. 3) is provided. A receiving / transmitting means 28 for relaying a signal is provided. The base station wireless module 25 is controlled by the computer 21 of the receiving terminal means 4.

  The control means 7 will be specifically described based on FIG. 5 (and with reference to FIGS. 1 and 2).

  As shown in the figure, the control means 7 is provided with a reception information analysis function. In the reception information analysis function, the condition of the climber 1 is determined based on the transmission detection signal and the flight detection signal received by the reception terminal means 4. Is grasped.

  That is, the reception information analysis function is provided with the climber position grasping means 31 and grasps the position of the climber 1 based on the information of the GPS signal of the transmission detection signal. Further, a climber state grasping means 32 is provided, and the climber 1 is recognized based on the height position of the climber 1 detected by the altitude sensor 13 and the information of the movement of the climber detected by the acceleration sensor 14. It is grasped whether or not is moving.

  Further, the reception information analysis function is provided with a radio wave intensity determination unit 33, which evaluates the radio wave intensity of the transmission detection signal of the transmission terminal unit 2 input to the relay terminal unit 6, and climbs according to the evaluated radio field intensity. The distance between the person 1 and the drone 5 is estimated. That is, the existence range of the climber 1 can be estimated.

  An example of the search flow of the climber 1 will be described with reference to FIG.

  As shown in the drawing, when the process starts, it is determined in step S1 whether or not there is (direct) reception from the climber 1. If it is determined that there is no reception, the reception from the drone 5 is determined in step S2. It is determined whether there is. If it is determined in step S1 that there is (direct) reception from the climber 1, the position of the climber 1 is specified in step S3, and the process ends. If it is determined in step S2 that there is no reception from the drone 5, a movement command is sent to the drone 5 in step S4, and the determination in step S2 is repeated.

  If it is determined in step S2 that there is a reception from the drone 5, it is determined in step S5 whether the GPS module 12 is normal. If it is determined in step S5 that the GPS module 12 is normal, the position and state of the climber 1 are grasped in step S6, and the position of the climber 1 is specified in step S3, and the process ends.

  If it is determined in step S5 that the GPS module 12 is not normal, the radio wave intensity of the transmission detection signal of the transmission terminal means 2 input to the relay terminal means 6 is determined in step S7, and the position of the climber 1 is determined in step S8. Is estimated, and the process ends.

  The above-described mobile object grasping system relays the drone 5 (multicopter) to the climber 1 (distressed person) who has suffered in the mountainous area, even in a situation where direct communication with the base station 3 is not possible. As a station, for example, communication between the base station 3 and the climber 1 can be performed by 920 MHz multi-hop communication. For this reason, it is possible to grasp the position and the state of the climber 1 (the situation such as whether or not the person is moving) in a state in which the search range is less restricted.

REFERENCE SIGNS LIST 1 climber 2 transmitting terminal means 3 base station 4 receiving terminal means 5 drone 6 relay terminal means 7 control means 11 climber wireless module 12 GPS module 13 altitude sensor 14 acceleration sensor 16 drone wireless module 17 relay GPS module 18 sensors 19 flight Control means 20 Receiving / transmitting means 21 Computer 22 Power supply 25 Base station radio module 26 Drone command means 27 Computer command means 28 Receiving / transmitting means 31 Climber position grasping means 32 Climber state grasping means 33 Radio wave strength judging means

Claims (6)

Originating terminal means which is held by the mobile and transmits an origination detection signal by multi-hop communication;
Retained on the base station side, by multi-hop communication, at least, receiving terminal means for receiving the transmission detection signal of the transmitting terminal means,
It is held in an unmanned aerial vehicle, transmits the transmission detection signal from the transmission terminal means by multi-hop communication to the reception terminal means, and transmits its own flight detection signal to the reception terminal means by multi-hop communication. Relay terminal means,
A mobile object grasping system, comprising: control means for grasping the state of the moving object based on the transmission detection signal and the flight detection signal received by the receiving terminal means. The mobile object grasping system according to claim 1,
The transmitting terminal means is provided with a GPS module,
The transmission detection signal includes information of a GPS signal from the GPS module,
The moving body grasping system, wherein the control means grasps a position of the moving body based on information of the GPS signal. In the moving body grasping system according to claim 1 or 2,
The transmitting terminal means is provided with a height detecting means and / or an acceleration detecting means,
The transmission detection signal is information on the height of the moving object detected by the height detecting means, and / or information on the height of the moving object detected by the acceleration detecting means, and / or information on acceleration. Including
The control means grasps the height position of the moving body based on the information on the height of the moving body, and / or grasps the presence or absence of the movement of the moving body based on the information on the acceleration of the moving body. A mobile object grasping system characterized by: In the mobile object grasping system according to any one of claims 1 to 3,
The unmanned aerial vehicle is connected to a battery serving as a drive source for mounted equipment,
A circuit member for controlling connection between the device and the battery is provided,
The circuit member includes:
A mobile object grasping system, wherein a connection state between the device and the battery is controlled by communication with the control means. In the moving object grasping system according to any one of claims 1 to 4,
The control means includes:
Evaluating the radio wave intensity of the transmission detection signal of the transmission terminal unit input to the relay terminal unit, and estimating a distance between the moving body and the unmanned aerial vehicle according to the evaluated radio wave intensity. Mobile body grasping system. In the moving object grasping system according to any one of claims 1 to 4,
The moving body is a living body moving in a mountainous area,
The moving object grasping system, wherein the unmanned flying object is a multicopter.

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