JP2020123159A - Communication device, communication method, and program - Google Patents

Abstract

To provide a communication device capable of more quickly determining whether or not to change a route of a mobile body.SOLUTION: A communication device 10 includes: a first acquisition unit 21 for acquiring first position information indicating a position of a first mobile body and second position information indicating a position of a second mobile body; a constituent unit 22 for constituting a mesh network based on the acquired first position information and second position information; a second acquisition unit 24 for acquiring second steering angle information indicating a steering angle of the second mobile body from the second mobile body via the mesh network; a determination unit 25 for determining whether or not to change a course of the first mobile body or the second mobile body based on the acquired first position information, the second position information, and the second steering angle information; and an output unit 26 for outputting determination results.SELECTED DRAWING: Figure 2

Description

The present invention relates to a communication device, a communication method, and a program.

Conventionally, in order to avoid a collision with a moving body such as a ship, the collision is avoided by using the course and speed of the own ship and the paths and speeds of other ships existing around the own ship. There is disclosed a technique for performing processing for (for example, Patent Document 1). With such a technique, a collision between ships can be avoided in advance.

JP, 10-213656, A

However, the course of another ship is calculated by detecting the direction in which the other ship is actually facing using radar etc., while the other ship turns the steering wheel. It takes time (for example, several tens of seconds) from the time to change its direction due to the weight of the ship and external environmental factors such as wind, rain or waves. Therefore, it takes time to predict the future course of another ship, that is, it takes time to determine whether to change the course of the own ship based on the prediction of the future course of another ship. However, it may not be possible to safely avoid collision between ships.

Therefore, an object of the present invention is to provide a communication device or the like that can more quickly determine whether or not to change the course of a moving body.

In order to solve the above problems, a communication device according to an aspect of the present invention obtains first position information indicating a position of a first moving body and second position information indicating a position of a second moving body. And a configuration unit that configures a mesh network based on the acquired first position information and the acquired second position information, and a steering angle of the second mobile unit from the second mobile unit via the mesh network. A second acquisition unit that acquires second steering angle information, and the first moving body or the second movement based on the acquired first position information, the second position information, and the second steering angle information. A determination unit that determines whether or not to change the course of the body, and an output unit that outputs the result of the determination are provided.

For example, on the sea, in the air, or in the ground, since there is usually no fixed antenna or the like, long-distance data communication by wireless communication between mobile bodies is difficult. On the other hand, in the present invention, since the mesh network is used, even when direct communication cannot be performed when the first mobile body and the second mobile body communicate with each other, other mobile bodies in the mesh network By relaying, the wireless communication over a long distance becomes possible.

In addition, since wireless data communication is possible via the mesh network, a series of operations in which the second mobile unit attempts to change its course (for example, manually turning the steering wheel or instructing the rudder to steer). At the same time, the communication device can acquire the second steering angle information from the second mobile unit via the mesh network. That is, it takes time for the actual orientation of the second moving body to reach the orientation indicated by the second steering angle information due to external environmental factors such as wind, rain, or waves, but communication is not performed without waiting for that time. The device can more quickly predict what the course of the second moving body will be by using the acquired second steering angle information. Therefore, the communication device can more quickly determine whether or not to change the route of the moving body (the first moving body or the second moving body). That is, it is possible to more quickly determine whether to change the course of the first moving body or to further change the course of the second moving body. Then, when changing the course of the first moving body, the communication device outputs information for changing the course of the first moving body as a result of the determination to the first moving body. Moreover, when changing the course of the second moving body, the communication device outputs information for changing the course of the second moving body to the second moving body as a result of the determination. As a result, it is possible to suppress collision between moving bodies.

Further, the communication device may be mounted on the first mobile body.

When the communication device is not mounted on the first mobile body, it takes time for the communication between the communication device and the first mobile body. On the other hand, by mounting the communication device on the first mobile unit, the time required for communication between the communication unit and the first mobile unit can be reduced, and it is possible to quickly determine whether or not to change the route of the mobile unit. ..

Further, the second acquisition unit may further include second speed information indicating a speed of the second mobile body from the second mobile body via the mesh network or a second environment indicating an external environment of the second mobile body. 2 environment information is acquired, and the determination unit further acquires the acquired first position information, the second position information and the second steering angle information, and the second speed information or the second environment information. You may make the said determination based on.

According to this, by using not only the second steering angle information but also the second speed information and the second environment information, it is possible to improve the accuracy of the determination of whether or not to change the course of the moving body.

Further, the determination unit may determine whether to change the course of the first moving body as the determination.

The first moving body may not be able to confirm the moving body existing around the second moving body, and the second moving body may change the route of the second moving body depending on the positional relationship with the surrounding moving bodies. Further changes may not be possible. Therefore, when the communication device acquires the second steering angle information and further needs to change the course of the first moving body or the second moving body, the communication device can easily understand the situation around the first moving body. Since it can be confirmed, the course of the first moving body is changed. Thereby, the collision between the moving bodies can be suppressed more flexibly than in the case where the course of the second moving body is changed.

Further, a notification unit may be provided to notify the second moving body of the first steering angle information indicating the steering angle of the first moving body via the mesh network.

According to this, since the wireless data communication via the mesh network is possible, the first mobile unit tries to change its course (for example, turns the steering wheel), and at the same time, the first mobile unit meshes with the second mobile unit. The first steering angle information can be notified via the network. In other words, it takes time for the actual orientation of the first moving body to become the orientation indicated by the first steering angle information due to external environmental factors such as wind, rain, or waves, but without waiting for that time, acquisition is performed. By using the first steering angle information described above, it is possible to cause the second moving body to more quickly predict what the course of the first moving body will be. With this, it is possible to determine whether or not to change the course of the moving bodies in the same manner on the second moving body side as well, so that the collision between the moving bodies can be effectively suppressed.

In addition, the notification unit may further include first speed information indicating a speed of the first mobile unit or an external environment of the first mobile unit for the second mobile unit via the mesh network. 1 Environment information may be notified.

According to this, by using not only the first steering angle information but also the first speed information and the first environment information, the accuracy of the determination of whether or not to change the course of the moving body in the second moving body is improved. be able to.

Further, a request unit for requesting the second moving body to transmit the second steering angle information via the mesh network may be further provided.

According to this, the course of the second moving body can be changed first (for example, the handle can be turned first), and for example, the process for avoiding a collision can be smoothly started.

Further, when the second acquisition unit cannot acquire the second steering angle information from the second mobile unit via the mesh network as a response to the request, control for changing the course of the first mobile unit. And a control unit for performing.

According to this, when there is no response from the second moving body, the first moving body can change the course, thereby suppressing a collision, for example.

Furthermore, a transmission unit that transmits data obtained after the determination to an external device, and a reception unit that is data generated based on the data and that receives data for updating the communication device, May be provided.

For example, the data obtained after the determination is the actual course of the second moving body changed by the second steering angle information, the actual course of the first moving body when it is determined to change the course of the first moving body, It is environmental information at that time, etc., and by accumulating such information in an external device and updating the communication device based on the accumulated information, the accuracy of the judgment of whether or not to change the course of the mobile body is improved. Can be increased.

Further, the first moving body may be a ship.

According to this, the collision of the ship can be suppressed.

Further, the communication method according to an aspect of the present invention includes a first acquisition step of acquiring first position information indicating a position of the first moving body and second position information indicating a position of the second moving body, and A step of configuring a mesh network based on the first position information and the second position information, and second steering angle information indicating a steering angle of the second moving body from the second moving body via the mesh network Changing the course of the first moving body or the second moving body on the basis of the second obtaining step of obtaining the first moving information and the obtained first position information, the second position information and the second steering angle information. A determination step of determining whether or not it is included, and an output step of outputting the result of the determination are included.

According to this, it is possible to provide a communication method that can more quickly determine whether or not to change the course of the moving body.

A program according to one aspect of the present invention is a program for causing a computer to execute the above communication method.

According to this, it is possible to provide a program that can more quickly determine whether or not to change the course of the moving body.

According to the present invention, it is possible to more quickly determine whether or not to change the course of the moving body.

It is a figure for demonstrating the problem of a prior art. It is a block diagram which shows an example of the communication apparatus which concerns on embodiment. 7 is a flowchart showing an example of the operation of the communication device according to the embodiment. It is a figure which shows an example of the mesh network comprised by a some moving body. It is a sequence diagram which shows an example of a process when the process for avoiding a collision is started. 7 is a flowchart showing an example of an operation of the communication device according to the embodiment when a process for avoiding a collision is started. It is a sequence diagram which shows an example of the process for avoiding a collision. 6 is a flowchart showing an example of an operation for avoiding a collision of the communication device according to the embodiment. It is a sequence diagram showing an example of processing when processing for avoiding a collision ends. It is a sequence diagram which shows another example of the process for avoiding a collision.

(Problems of conventional technology)
First, problems of the conventional technique will be described with reference to FIG.

FIG. 1 is a diagram for explaining the problems of the conventional technique.

The first moving body 100 and the second moving body 200 shown in FIG. 1 are, for example, ships and move on the sea. As shown in FIG. 1, the first moving body 100 and the second moving body 200 are moving so as to face each other, and there is a risk of collision if each moving body moves on its own path.

In recent years, in utilizing the automatic operation of a moving body, it is one of important themes to automatically avoid dangerous substances. For example, focusing on the first moving body 100, in the case of automatically avoiding a collision using the conventional technique, the first moving body 100 detects the position information, the traveling direction, and the speed of the own moving body and the second moving body 200. It is conceivable that the risk of collision is determined from the position information, the traveling direction, and the speed, and control is performed to change the course of the first moving body 100 according to the determination result. For example, the first moving body 100 acquires position information indicating the position of the second moving body 200 using a sensor, a radar, a GNSS (Global Navigation Satellite System), or the like, and the traveling direction and speed of the second moving body 200. Is calculated and acquired from the change in the position information of the second mobile unit 200. At this time, if the second moving body 200 is a large-sized vessel, it cannot move immediately even if the handle is turned, so it takes time for the position information to change. Further, as shown in FIG. 1, there are external environmental factors such as wind, rain, or waves on the sea, and it takes time for the position information to change. That is, the first moving body 100 can calculate the traveling direction and speed of the second moving body 200 only after the second moving body 200 actually starts moving and the position information changes. As shown in FIG. 1, for example, when the second moving body 200 turns the rudder, the second moving body 200 cannot immediately move to the right side, and the first moving body 100 automatically collides. It is delayed to determine whether or not to change the course of the moving body (for example, the first moving body 100) in order to avoid it. During that time, the first moving body 100 and the second moving body 200 continue to approach each other, and thus the first moving body 100 and the second moving body 200 may collide with each other.

With respect to such a problem of the conventional technique, according to the present invention, it is possible to more quickly determine whether or not to change the course of the moving body.

In addition, below, although the 1st mobile body 100 and the 2nd mobile body 200 are demonstrated as a ship, you may not be a ship. For example, the first moving body 100 and the second moving body 200 may be aircraft such as an airship, a helicopter, and a drone. In this case as well, the first moving body 100 and the second moving body 200 may receive an external environmental factor such as wind in the air and may take time to change their course. That is, it may be delayed to determine whether or not to change the course of the moving body, and there is a risk of collision as in the case of a ship. Further, for example, the first moving body 100 and the second moving body 200 may be excavators. In this case as well, the first moving body 100 and the second moving body 200 may take time to change the course due to the external environmental factor of soil in the ground, and whether or not to change the course of the moving body. There may be a delay in making that determination. In this case, there is a possibility that the hole excavated by the first moving body 100 and the hole excavated by the second moving body 200 may not be accurately penetrated. Further, the first moving body 100 and the second moving body 200 do not have to be the same type of moving body. For example, the first moving body 100 may be a ship, while the second moving body 200 may be an aircraft (for example, a drone).

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

Each of the embodiments described below shows a preferred specific example of the present invention. Numerical values, shapes, materials, constituent elements, arrangement positions and connection forms of constituent elements, steps, order of steps, and the like shown in the following embodiments are examples, and are not intended to limit the present invention. Further, among the constituent elements in the following embodiments, the constituent elements that are not described in the independent claims showing the highest concept of the present invention will be described as arbitrary constituent elements that constitute a more preferable form. In addition, the same components may be denoted by the same reference numerals, and description thereof may be omitted.

(Embodiment)
[Communication device configuration]
FIG. 2 is a configuration diagram showing an example of the communication device 10 according to the embodiment.

The communication device 10 is, for example, a wireless device that is mounted on the first mobile unit 100 and that transmits/receives data to/from other communication units mounted on other mobile units including the second mobile unit 200 existing in the vicinity. It is a machine. In the following, the second moving body 200 is a moving body that may collide with the first moving body 100, and the first moving body 100 communicates with the second moving body 200 to avoid the collision.

The communication device 10 is a computer including a processor 20, a communication unit 30, which is a communication interface including a communication circuit and an antenna, a transmission unit 41 and a reception unit 42, a memory 50, and the like. The communication unit 30 wirelessly communicates with a communication unit in another communication device mounted on another mobile body including the second mobile body 200 via a mesh network described later. The transmitter 41 transmits data to an external device by satellite communication or the like, and the receiver 42 receives data from the external device by satellite communication or the like. The memory 50 is a ROM, a RAM, or the like, and can store a control program (computer program) executed by the processor 20. When the processor 20 operates according to the control program stored in the memory 50, the first acquisition unit 21, the configuration unit 22, the request unit 23, the second acquisition unit 24, and the determination unit 25, which are the functional components of the processor 20, are included. The output unit 26, the control unit 27, and the notification unit 28 are realized. Further, the processor 20 operates according to the control program stored in the memory 50, so that processing for controlling the communication unit 30, the transmission unit 41, and the reception unit 42 is performed. The first acquisition unit 21, the configuration unit 22, the request unit 23, the second acquisition unit 24, the determination unit 25, the output unit 26, the control unit 27, and the notification unit 28 are, for example, the communication unit 30, the transmission unit 41, and the reception unit. It may include a hardware configuration such as the unit 42 and the memory 50. That is, the first acquisition unit 21, the configuration unit 22, the request unit 23, the second acquisition unit 24, the determination unit 25, the output unit 26, the control unit 27, and the notification unit 28 are the processor 20, the communication unit 30, the transmission unit 41, It may be realized by combining the receiving unit 42, the memory 50, and the like.

Regarding the first acquisition unit 21, the configuration unit 22, the request unit 23, the second acquisition unit 24, the determination unit 25, the output unit 26, the control unit 27, and the notification unit 28, description of the operation of the communication device 10 using FIG. Will be explained together.

[Operation of communication device]
FIG. 3 is a flowchart showing an example of the operation of the communication device 10 according to the exemplary embodiment.

First, the 1st acquisition part 21 acquires the 1st position information which shows the position of the 1st mobile 100, and the 2nd position information which shows the position of the 2nd mobile 200 (Step S11). The 1st acquisition part 21 acquires the 1st position information and the 2nd position information using a sensor, radar, or GNSS carried in the 1st mobile 100, for example. The first position information and the second position information may be absolute positions such as latitude and longitude, or may be relative positions with respect to a specific reference.

Next, the configuration unit 22 configures a mesh network based on the acquired first position information and second position information (step S12). The configuration of the mesh network will be described with reference to FIG.

FIG. 4 is a diagram illustrating an example of a mesh network configured by a plurality of moving bodies (specifically, communication devices mounted on each of the plurality of moving bodies).

For example, each mobile body establishes a communication path with a mobile body located within a predetermined value of itself (for example, a mobile body existing near itself). For example, the first mobile unit 100 establishes a communication route R3 with the mobile unit 200a existing near itself, establishes a communication route R1 with the mobile unit 300a, and establishes a communication route R4 with the mobile unit 300b. Further, the mobile body 300a and the mobile body 200b establish a communication route R2, and the mobile body 200a and the mobile body 300b establish a communication route R5. In this way, the constituent unit 22 of each mobile unit establishes a communication route with another mobile unit, whereby the communication route is established in a mesh form and a mesh network is configured.

According to the mesh network, the settings of the host and the client can be selected according to the situation. Therefore, although details will be described later, the processing of the first mobile unit 100 and the second mobile unit 200 is performed during the process for avoiding the collision. No matter which one changes the route first, the host and client can be flexibly selected. In addition, by configuring a network based on IEEE 802.11s, which is a standard related to mesh network technology, even if there is no relay antenna (for example, an antenna provided on a buoy on the sea, etc.), one-to-one communication is possible. Then, it becomes possible to connect networks to a distance that cannot be reached. For example, the first mobile unit 100 and the mobile unit 200b cannot directly communicate with each other, but can communicate with each other via the communication routes R1 and R2 via the mobile unit 300a.

The first moving object 100 (specifically, the communication device 10) determines the risk of collision from the current position, moving direction, and speed of the surrounding moving objects, and determines the moving object whose risk exceeds a predetermined threshold value. The second mobile unit 200 communicates with the mobile unit 200 to avoid a collision. The risk is determined by the current bearing and distance to the other ship, the CPA (Closest Point of Approach) indicating the distance to the closest point of the other ship, and the time required to reach the closest point of the other ship. May be performed by using a TCPA (Time to Closest Point of Approach) value indicating. The risk may be determined by using a BCR (Bow Crossing Range) value that indicates how far another ship passes through the bow of its own ship, or the possibility of collision with another ship. Is performed using a risk index algorithm such as DAC (Dangerous Area of Collision) indicating a certain area or OZT (Obstacle Zone by Target) indicating an area where the ship may collide with another ship when the course of the ship changes. You may be broken. For example, in FIG. 4, since the moving bodies 200a and 200b are the second moving body 200, the communication device 10 communicates with the moving bodies 200a and 200b to avoid a collision. The communication device 10 directly communicates with the mobile body 200a and communicates with the mobile body 200b via the mobile body 300a.

For example, on the sea, in the air, or in the ground, since there is usually no fixed antenna or the like, long-distance data communication by wireless communication between mobile bodies is difficult. On the other hand, in the present invention, since the mesh network is used, even when direct communication cannot be performed when the first mobile unit 100 and the second mobile unit 200 communicate with each other, other mesh network By relaying the mobile unit, wireless long-distance data communication becomes possible.

Returning to the description of FIG. 3, the request unit 23 requests the second moving body 200 to transmit the second steering angle information indicating the steering angle of the second moving body via the mesh network (step S13). ). The rudder angle information is, for example, a command value (angle information) when the moving body turns the steering wheel, and indicates in which direction to proceed.

The 2nd acquisition part 24 acquires the 2nd steering angle information which shows the steering angle of the 2nd mobile 200 from the 2nd mobile 200 via a mesh network (Step S14). In addition to the second steering angle information, the second acquisition unit 24 further includes second speed information indicating the speed of the second moving body 200 from the second moving body 200 via the mesh network and the second moving body. At least one of the second environment information indicating the external environment of 200 (for example, the environment around the second moving body 200) may be acquired. Here, the second acquisition unit 24 acquires both the second speed information and the second environment information in addition to the second steering angle information. The second environment information indicating the external environment of the second moving body 200 is, for example, measurement information related to weather such as wind direction, wind speed, rainfall or atmospheric pressure, and measurement information related to the state of the sea surface such as wave velocity or wave height. The second acquisition unit 24 can acquire these pieces of information by the communication unit 30 receiving these pieces of information. The control unit 27 changes the course of the first mobile unit 100 when the second acquisition unit 24 cannot acquire the second steering angle information from the second mobile unit 200 via the mesh network as a response to the request. Control.

Next, the determination unit 25 determines whether to change the course of the first moving body 100 or the second moving body 200 based on the acquired first position information, second position information, and second steering angle information. A determination is made (step S15). The determination unit 25 further performs the determination based on the acquired first position information, second position information and second steering angle information, and second speed information or second environment information. Here, the determination unit 25 makes the determination based on the first position information, the second position information, the second steering angle information, the second speed information, and the second environment information. Note that the determination also includes a determination as to how to change the course of the first moving body 100 or the second moving body 200. In the details of the process for avoiding the collision described below, the determination unit 25 determines whether to change the course of the first moving body 100 as the determination.

The output unit 26 outputs the result of the determination (step S16). For example, when it is determined that the course of the first moving body 100 is to be changed, the output unit 26 provides the first moving body 100 with information for changing the course of the first moving body 100 as a result of the determination. Output. Thereby, the control unit 27 controls the steering angle of the first moving body 100, the engine output, and the like so as to change the course of the first moving body 100 using the output information. Further, for example, when it is determined to change the course of the second moving body 200, the output unit 26 causes the second moving body 200 to change the course of the second moving body 200 as a result of the determination. Information is output (specifically, it is transmitted via the communication unit 30). The information for changing the course includes information indicating how to change the course.

Then, for example, in the case of changing the course of the first moving body 100, the notification unit 28 causes the second moving body 200 to generate a first steering angle indicating the steering angle of the first moving body 100 via the mesh network. Information is notified (step S17). In addition to the first steering angle information, the notification unit 28 further transmits the first speed information indicating the speed of the first moving body 100 to the second moving body 200 via the mesh network and the first moving body. At least one of the first environment information indicating the external environment of 100 (for example, the environment around the first moving object 100) may be notified. Here, the notification unit 28 notifies both the first speed information and the first environment information in addition to the first steering angle information. The first environment information indicating the external environment of the first moving body 100 is, for example, measurement information about weather such as wind direction, wind speed, rainfall, or atmospheric pressure, and measurement information about sea surface conditions such as wave velocity or wave height.

[Details of processing for avoiding collisions]
Next, details of the process for avoiding the collision will be described with reference to FIGS.

FIG. 5 is a sequence diagram showing an example of a process when a process for avoiding a collision is started. Although FIG. 5 and FIGS. 7 and 9 described later show that the first moving body 100 and the second moving body 200 communicate directly with each other, the first moving body 100 and the second moving body 200 do not communicate with each other. Communicates via a mesh network, and thus may communicate via another mobile body.

The first mobile unit 100 (specifically, the same applies to the communication device 10 and the following description in FIGS. 7 and 9) is a mobile unit that is likely to collide in the future, that is, the second mobile unit. The body 200 is requested to notify that the communication for avoiding the collision is started and to confirm the health condition of the system of the other party (the second mobile body 200) (step S101). The process in step S101 is started when the distance between the first moving body 100 and the second moving body 200 becomes, for example, about 100 m.

Here, the health status of the system is, for example, status information indicating the operating status of the system (power ON/OFF or normal/abnormal).

The second mobile unit 200 accepts the notification from the first mobile unit 100 that communication will be started, and returns the health condition of the system (step S102).

By performing the processing in steps S101 and S102, the first moving body 100 can recognize that it can normally communicate with the second moving body 200, and can start the processing for avoiding a collision.

Here, the operation of the communication device 10 when the processing in steps S101 and S102 is performed will be described with reference to FIG.

FIG. 6 is a flowchart showing an example of the operation of the communication device 10 according to the embodiment when the process for avoiding the collision is started.

The communication device 10 determines whether or not there is a moving body that is likely to collide in the future, that is, the second moving body 200 is nearby (step S21). As described above, the communication device 10 makes the determination by determining the risk of collision with the surrounding moving body.

When the communication device 10 determines that the second moving body 200 exists nearby (Yes in step S21), the communication device 10 notifies the second moving body 200 that communication for avoiding a collision is started, and A request is made to confirm the health condition of the system of the second mobile unit 200 (step S22).

Then, the communication device 10 receives the notification of the notification that communication is started and the notification of the health condition of the system from the second mobile body 200 after a certain time (step S23).

When the communication device 10 determines that the second moving body 200 does not exist nearby (No in step S21), the process in step S21 is repeated. Accordingly, when the second moving body 200 that is likely to collide with the first moving body 100 approaches, the process in step S22 can be started immediately, that is, the process for avoiding the collision can be started immediately. it can.

The process after the process for avoiding the collision is started will be described with reference to FIGS. 7 to 9.

FIG. 7 is a sequence diagram showing an example of processing for avoiding a collision. Specifically, FIG. 7 shows processing performed after the processing in step S102 shown in FIG.

The first moving object 100 notifies the second moving object 200 via the mesh network that the other party (the second moving object 200) avoids first (step S201). The notification includes a request for the second moving object 200 to transmit the second steering angle information via the mesh network. Whether the self (first moving body 100) avoids first or the opponent (second moving body 200) avoids first is determined by, for example, a predetermined rule. The rule includes, for example, a maritime traffic rule and the like, and is stored in the memory 50 or the like. For example, when the first moving body 100 and the second moving body 200 are likely to collide with each other, when the second moving body 200 is on the left side in front of the first moving body 100, it is said that the boat looking at the opponent on the right side avoids it. It is determined that the second moving body 200 should avoid first according to a predetermined rule. In such a case, the process of step S201 is performed.

The second moving object 200 notifies the first moving object 100 that it (the second moving object 200) has agreed to avoid first (step S202).

Further, the second moving body 200 turns the steering wheel in order to avoid the first moving body 100, transmits the second steering angle information indicating the steering angle to the first moving body 100, and the surrounding first 2 Environment information and second speed information are transmitted (step S203).

The first mobile unit 100 calculates the movement of the opponent based on the information obtained from the second mobile unit 200 to determine whether to change the course of the first mobile unit 100, while 2 An approval notice is given regarding the content of the steering angle information and the like (step S204). For example, the first moving body 100 determines whether or not the course of the first moving body 100 needs to be changed with respect to the predicted course of the second moving body 200 based on a predetermined rule. For example, the predetermined rule includes a correspondence relationship between the route of the second moving body 200 and the route that the first moving body 100 should take with respect to the route of the second moving body 200. The first moving body 100 collates the predicted course of the second moving body 200 with the corresponding relationship to determine whether or not the course of the first moving body 100 needs to be changed, and how to change the course. Determine whether to do. When changing the course of the first moving body 100, the first moving body 100 turns its own handle according to the result of the determination.

When the steering wheel is turned off, the first moving body 100 transmits the first steering angle information indicating the steering angle to the second moving body 200, and the first environment information and the first speed information. Is transmitted (step S205). The second mobile unit 200 calculates, based on the information obtained from the first mobile unit 100, how the opponent will move and determines whether to change the course of the second mobile unit 200 while (1) Notify the user about the content of steering angle information. In addition, the second moving body 200 also changes its speed and traveling direction if necessary.

As described above, first, for example, the second moving body 200 turns the steering wheel in response to a request from the first moving body 100, and accordingly, the first moving body 100 that has acquired the second steering angle information and the like is the second moving body 200. It is necessary for the second moving body 200 that predicts the future course and turns the steering wheel as necessary, and further obtains the first steering angle information and the like accordingly to predict the future course of the first moving body 100. Accordingly, the turning of the steering wheel is continued until it is determined that both the first moving body 100 and the second moving body 200 do not need to turn the steering wheel.

Here, the operation of the communication device 10 when the processing in steps S201 to S205 is performed will be described with reference to FIG.

FIG. 8 is a flowchart showing an example of processing for avoiding a collision of the communication device 10 according to the embodiment.

First, the communication device 10 notifies the other party (the second moving object 200) via the mesh network so as to avoid first, and simultaneously, for example, simultaneously outputs the second steering angle information, the second speed information, and the second environment information. Request to send to (step S31). Thereby, the course of the second moving body 200 can be changed first (for example, the steering wheel can be turned first), and the process for avoiding a collision can be smoothly started.

Next, the communication device 10 determines whether or not the approval notification indicating that the second mobile body 200 has approved the avoidance and the second steering angle information have been received (step S32). In the present invention, since wireless data communication via the mesh network is possible, a series of operations in which the second mobile unit 200 tries to change its course (for example, manually turning the steering wheel or steering the rudder). At the same time, the communication device 10 can acquire the second steering angle information from the second moving body 200 via the mesh network. That is, it takes time for the actual orientation of the second moving body 200 to become the orientation indicated by the second steering angle information due to external environmental factors such as wind, rain, or waves, but without waiting for that time, The communication device 10 can more quickly predict what the course of the second moving body 200 will be by using the acquired second steering angle information. Therefore, the communication device 10 can more quickly determine whether or not to change the route of the moving body (the first moving body or the second moving body). Here, the communication device 10 can more quickly determine whether or not to change the course of the first moving body 100.

Further, the communication device 10 can improve the accuracy of the determination of whether to change the course of the moving body by using not only the second steering angle information but also the second speed information and the second environment information. .. Depending on the second speed information and the second environment information, the prediction result of the future course of the second moving body 200 changes, and whether or not the course of the first moving body 100 is changed and how it is changed. This is because. For example, depending on the wind direction around the second moving body 200, the future traveling direction of the second moving body 200 predicted from the second steering angle information changes.

When the communication device 10 receives the approval notice, the second steering angle information, and the like (Yes in step S32), the communication device 10 determines whether or not to change the course of the first moving body 100, that is, itself turns the steering wheel. It is determined whether it is necessary (step S33). The first moving body 100 may not be able to confirm the moving body existing around the second moving body 200, and the second moving body 200 may be the second moving body depending on the positional relationship with the surrounding moving bodies. It may not be possible to change the course of 200 further. Therefore, when the communication device 10 acquires the second rudder angle information and further needs to change the course of the first moving body 100 or the second moving body 200, the first communication device 10 mounted with the communication device 10 is installed. Since the situation around the moving body 100 can be easily confirmed, the course of the first moving body 100 is changed. Thereby, the collision between the moving bodies can be suppressed more flexibly than in the case where the course of the second moving body 200 is changed.

When the communication device 10 determines that the steering device itself also needs to turn the steering wheel (Yes in step S33), the communication device 10 transmits the notification of approval for the transmission of the second steering angle information and the first steering angle information (step). S34). In the present invention, since the wireless data communication via the mesh network is possible, the first mobile unit 100 tries to change its route (for example, the steering wheel is turned), and at the same time, the second mobile unit 200 is The first steering angle information can be notified via the mesh network. That is, it takes time for the actual orientation of the first moving body 100 to become the orientation indicated by the first steering angle information due to external environmental factors such as wind, rain, or waves, but without waiting for that time, By using the acquired first steering angle information, it is possible to make the second moving body 200 predict more quickly what the course of the first moving body 100 will be. Accordingly, the second moving body 200 side can similarly determine whether or not to change the course of the moving body earlier, so that the collision between the moving bodies can be effectively suppressed.

The communication device 10 also transmits the first environment information and the first speed information in addition to the first steering angle information. Thereby, by using not only the first steering angle information but also the first speed information and the first environment information, it is possible to improve the accuracy of the determination of whether or not to change the course of the moving body in the second moving body 200. You can

When the communication device 10 determines that it is not necessary to turn the steering wheel itself (No in step S33), the communication device 10 notifies the content of the second steering angle information and the like (step S35).

On the other hand, when the communication device 10 does not receive the approval notification, the second steering angle information, and the like (No in step S32), the communication device 10 performs the default operation (step S36). For example, the communication device 10 performs control for changing the course of the first moving body 100 as a default operation. Accordingly, when there is no response from the second moving body 200, the collision can be suppressed by changing the course of the first moving body 100.

Then, when there is no danger of collision and it is no longer necessary to change the course of the moving body, as shown in FIG. 9, processing for ending the processing for avoiding collision is performed.

FIG. 9 is a sequence diagram illustrating an example of a process when the process for avoiding the collision ends.

The first mobile unit 100 notifies the second mobile unit 200 that the communication for avoiding the collision will be terminated when the course change becomes unnecessary (step S301).

The second mobile unit 200 receives the notification and acknowledges that the communication is terminated (step S302).

After it is determined whether to change the path of the moving body, the first moving body 100 and the second moving body 200 move so as to avoid a collision. For example, when moving so as to avoid a collision, what kind of steering angle information, speed information, and environmental information actually moved the first moving body 100 and the second moving body 200, that is, The actual path of the second moving object 200 that has changed due to the second steering angle information, the actual path of the first moving object 100 when it is determined to change the path of the first moving object 100, environmental information at that time, etc. Is stored in the memory 50 or the like. After such data obtained after determining whether or not to change the course of the moving body is accumulated, the transmission unit 41 transmits the data to an external device. The external device generates data for updating the communication device 10 based on the data. For example, the external device knows how the first moving body 100 actually moved based on the second steering angle information, the second speed information, and the second environment information, and determines whether to change the course, Further, the data (program etc.) for determining how to change the course can be updated to a better one. Then, the receiving unit 42 receives the data for updating the communication device 10. As a result, it is possible to increase the accuracy of the determination of whether or not to change the course of the moving body that will be performed in the future, and it is possible to realize safer automatic collision avoidance.

Note that, in FIG. 7 and the like, it is described that the first moving body 100 notifies the second moving body 200 that the second moving body 200 avoids first, but the first moving body 100 is not limited to this. You may give notice to avoid first. This will be described with reference to FIG.

FIG. 10 is a sequence diagram showing another example of processing for avoiding a collision. Specifically, FIG. 10 shows processing performed after the processing in step S102 shown in FIG.

The first moving object 100 notifies the second moving object 200 via the mesh network that it (first moving object 100) avoids first (step S401). For example, when the first moving body 100 and the second moving body 200 are likely to collide with each other, and when the second moving body 200 is on the front right side of the first moving body 100, It is determined that the first moving body 100 should avoid first according to a predetermined rule of avoiding. In such a case, the process in step S401 is performed.

The second moving body 200 notifies the first moving body 100 that the opponent (the first moving body 100) has agreed to avoid first (step S402).

The first moving body 100 turns the steering wheel to avoid the second moving body 200, transmits the first steering angle information indicating the steering angle to the second moving body 200, and the first environment information and The first speed information is transmitted (step S403).

The second moving body 200 calculates to the other party from the information obtained from the first moving body 100 how to move the other party and determines whether to change the course of the second moving body 200, while (1) Notification of approval regarding the contents of the steering angle information and the like (step S404). For example, the second moving body 200 determines whether or not the course of the second moving body 200 needs to be changed with respect to the predicted course of the first moving body 100 based on a predetermined rule. For example, the predetermined rule includes a correspondence relationship between the path of the first moving body 100 and the path that the second moving body 200 should take with respect to the path of the first moving body 100. The second mobile unit 200 collates the predicted route of the first mobile unit 100 with the corresponding relationship to determine whether or not the route of the second mobile unit 200 needs to be changed, and how to change the route. Determine whether to do. When changing the course of the second moving body 200, the second moving body 200 turns its own handle according to the result of the determination.

Further, when the steering wheel is turned off, the second moving body 200 transmits the second steering angle information indicating the steering angle to the first moving body 100, and the second surrounding environment information and the second speed. Information is transmitted (step S405). The first mobile unit 100 calculates the movement of the opponent based on the information obtained from the second mobile unit 200 to determine whether to change the course of the first mobile unit 100, while 2 Give approval notice about the contents such as steering angle information. Further, the handle of the first moving body 100 is also turned off if necessary.

As described above, first, for example, the first moving body 100 turns the steering wheel, and the second moving body 200 that has acquired the first steering angle information and the like in response to the first moving body 100 predicts the future course of the first moving body 100 and needs the necessary information. According to this, the steering wheel is turned, and accordingly, the first moving body 100, which has acquired the second steering angle information and the like, predicts the future course of the second moving body 200 and turns the steering wheel as necessary. It continues until both the first moving body 100 and the second moving body 200 determine that it is not necessary to turn the handle.

In addition, in FIG. 7 and the like, it is described that the first moving body 100 determines whether to change the course of the first moving body 100 based on the information obtained from the second moving body 200, but the present invention is not limited to this. It may be determined whether or not the course of the second moving body 200 is changed. Similarly, the second moving body 200 may determine whether to change the course of the first moving body 100 based on the information obtained from the first moving body 100. That is, the other party may be notified to further change the course of the opponent who has turned the steering wheel, without changing the course of himself/herself according to the predicted course of the other person who has turned the steering wheel.

(Other embodiments)
The communication device 10 of the present invention has been described above based on the embodiment, but the present invention is not limited to the above embodiment. Unless departing from the gist of the present invention, various modifications that can be conceived by those skilled in the art are made to the present embodiment, and forms constructed by combining components in different embodiments are also included in the scope of the present invention. Be done.

For example, the communication device 10 according to the present invention may be mounted on each moving body forming a mesh network, and each moving body may have a function equivalent to that of the first moving body 100 described above.

Further, for example, in the above-described embodiment, the communication device 10 is mounted on the moving body (for example, the first moving body 100), but the present invention is not limited to this. For example, the communication device 10 may be an external device (for example, a server device or the like) that is not mounted on the mobile body and communicates with the mobile body by satellite communication or the like.

Further, the present invention can be applied to an aircraft or an excavator in addition to a ship, but can be applied to a moving body that does not move on a predetermined road such as an automobile. For example, the present invention may be applied to an autonomously moving carrier truck or the like used in a factory or the like.

The present invention can be realized not only as the communication apparatus 10 but also as a communication method including steps (processes) performed by the respective constituent elements of the communication apparatus 10.

Specifically, as shown in FIG. 3, the communication method is a first acquisition for acquiring first position information indicating the position of the first moving body 100 and second position information indicating the position of the second moving body 200. Step (Step S11), configuration step (Step S12) of configuring a mesh network based on the acquired first position information and second position information, and second mobile unit 200 through the mesh network to the second mobile unit. Based on the second acquisition step (step S14) of acquiring the second steering angle information indicating the steering angle of 200 and the acquired first position information, second position information, and second steering angle information, the first moving body It includes a determination step (step S15) of determining whether to change the course of 100 or the second moving body 200, and an output step (step S16) of outputting the result of the determination.

Further, for example, those steps may be executed by a computer (computer system). Then, the present invention can be realized as a program for causing a computer to execute the steps included in those methods. Further, the present invention can be realized as a non-transitory computer-readable recording medium such as a CD-ROM in which the program is recorded.

For example, when the present invention is realized by a program (software), each step is executed by executing the program by utilizing hardware resources such as a CPU, a memory and an input/output circuit of a computer. .. That is, each step is executed by the CPU acquiring data from the memory or the input/output circuit or the like and performing the calculation or outputting the calculation result to the memory or the input/output circuit or the like.

Further, each of the plurality of constituent elements included in the communication device 10 of the above-described embodiment may be realized as a dedicated or general-purpose circuit. These constituent elements may be realized as one circuit or may be realized as a plurality of circuits.

Further, the plurality of constituent elements included in the communication device 10 of the above-described embodiment may be realized as an LSI (Large Scale Integration) that is an integrated circuit (IC: Integrated Circuit). These constituent elements may be individually made into one chip, or may be made into one chip so as to include some or all of them. The LSI may be referred to as a system LSI, a super LSI, or an ultra LSI depending on the degree of integration.

Further, the integrated circuit is not limited to the LSI and may be realized by a dedicated circuit or a general-purpose processor. As described above, a programmable FPGA or a reconfigurable processor in which connection and setting of circuit cells inside the LSI are reconfigurable may be used.

Furthermore, if integrated circuit technology comes out to replace LSI's as a result of the advancement of semiconductor technology or a derivative other technology, it is naturally also possible to carry out integrated circuit integration of the components included in the communication device 10 using that technology. Good.

Other forms obtained by making various modifications to those skilled in the art by those skilled in the art, and forms realized by arbitrarily combining the components and functions of each embodiment without departing from the spirit of the present invention Also included in the present invention.

INDUSTRIAL APPLICABILITY The present invention can be used for a moving body such as a ship, which takes time from turning the steering wheel until actually moving.

10 communication device 20 processor 21 first acquisition unit 22 configuration unit 23 request unit 24 second acquisition unit 25 determination unit 26 output unit 27 control unit 28 notification unit 30 communication unit 41 transmission unit 42 reception unit 50 memory 100 first mobile unit 200 Second moving body 200a, 200b, 300a, 300b Moving body R1, R2, R3, R4, R5 Communication path

Claims (12)

A first acquisition unit that acquires first position information indicating the position of the first moving body and second position information indicating the position of the second moving body;
A configuration unit that configures a mesh network based on the acquired first position information and the acquired second position information;
A second acquisition unit that acquires second steering angle information indicating a steering angle of the second moving body from the second moving body via the mesh network;
A determination unit that determines whether to change the course of the first moving body or the second moving body based on the acquired first position information, the second position information, and the second steering angle information. When,
An output unit that outputs the result of the determination,
Communication device. The communication device is mounted on the first mobile body,
The communication device according to claim 1. The second acquisition unit may further include second speed information indicating a speed of the second mobile body from the second mobile body via the mesh network or a second environment indicating an external environment of the second mobile body. Get the information,
The determination unit further performs the determination based on the acquired first position information, the second position information and the second steering angle information, and the second speed information or the second environment information. ,
The communication device according to claim 1. As the determination, the determination unit determines whether or not to change the course of the first moving body,
The communication device according to claim 1. Further, a notification unit for notifying the second moving body of the first steering angle information indicating the steering angle of the first moving body via the mesh network is provided.
The communication device according to claim 1. The notification unit may further include first speed information indicating a speed of the first mobile unit or a first environment indicating an external environment of the first mobile unit for the second mobile unit via the mesh network. Inform information,
The communication device according to claim 5. Furthermore, a request unit for requesting the second moving body to transmit the second steering angle information via the mesh network is provided.
The communication device according to claim 1. When the second acquisition unit cannot acquire the second steering angle information from the second mobile unit via the mesh network as a response to the request, control for changing the course of the first mobile unit is performed. And a control unit,
The communication device according to claim 7. further,
A transmission unit that transmits the data obtained after the determination to an external device,
A receiving unit that receives data for updating the communication device, the receiving unit being data generated based on the data,
The communication device according to claim 1. The first moving body is a ship,
The communication device according to claim 1. A first acquisition step of acquiring first position information indicating the position of the first moving body and second position information indicating the position of the second moving body;
A configuration step of configuring a mesh network based on the acquired first position information and the acquired second position information,
A second acquisition step of acquiring second steering angle information indicating a steering angle of the second moving body from the second moving body via the mesh network;
A determining step of determining whether to change the course of the first moving body or the second moving body based on the acquired first position information, the second position information, and the second steering angle information. When,
An output step of outputting the result of the determination,
Communication method. A program for causing a computer to execute the communication method according to claim 11.

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