JP6143313B1 - Moving body - Google Patents

Abstract

A mobile body that moves upon receiving power supply from a battery, and determines that communication between an installed communication device and an external communication device has not been established. provide. A moving body according to an embodiment is a moving body that moves by receiving power supplied from a battery, and includes a moving mechanism, a communication unit, a determination unit, and a control unit. The moving mechanism moves the moving body. The determination unit determines whether communication between the communication unit and the external communication device has been established. The control unit controls the movement mechanism to move from the current position when the determination unit determines that communication is not established. [Selection] Figure 2

Description

  The present invention relates to a moving body.

  Conventionally, in response to various accidents that occur under severe natural conditions such as mountains and seas, a method has been used in which a mobile object is used to search for a target person from a remote location and detect it at an early stage. Recently, an unmanned mobile body (for example, a radio control helicopter or a drone) that uses a battery as a power source, includes a communication device, and performs investigation and monitoring from the air has been proposed (for example, Patent Document 1).

  On the other hand, regarding a rescue request from the search target person side, a rescue information transmission device and method using a search target person portable terminal have been proposed (for example, Patent Document 2). Among them, an apparatus and a method for efficiently transmitting a rescue signal have been proposed, but it is assumed that communication between the search target side and the searcher side is established even if it is intermittent. is there.

Japanese Patent Laying-Open No. 2015-85755 JP 2009-199542 A

  An object of the present invention is a moving body that receives power supplied from a battery and moves from a current position when it is determined that communication between the mounted communication device and the external communication device is not established. It is to provide a moving body.

  The mobile body of the embodiment is a mobile body that moves by receiving power supplied from a battery, and includes a moving mechanism, a communication unit, a determination unit, and a control unit. The moving mechanism moves the moving body. The determination unit determines whether communication between the communication unit and the external communication device has been established. The control unit controls the movement mechanism to move from the current position when the determination unit determines that communication is not established.

  According to the present invention, when it is determined that communication between an installed communication device and an external communication device is not established, the mobile device moves by receiving power from the battery and moves from the current position. A moving body can be provided.

It is the schematic which shows an example of the usage type of the moving body which concerns on embodiment. It is the schematic which shows the structural example of the moving body which concerns on embodiment. It is the schematic for demonstrating the operation example of the moving body which concerns on embodiment. It is the schematic which shows the structural example of the moving body which concerns on embodiment. It is the schematic for demonstrating the operation example of the moving body which concerns on embodiment. It is the schematic which shows the structural example of the moving body which concerns on embodiment. It is the schematic for demonstrating the operation example of the moving body which concerns on embodiment. It is the schematic which shows the structural example of the moving body which concerns on embodiment. It is the schematic for demonstrating the operation example of the moving body which concerns on embodiment.

<First Embodiment>
First, an outline of the present embodiment will be described, and then specific contents of the present embodiment will be described with reference to the drawings.

  An outline of an example of the present embodiment will be described with reference to FIG. In the present embodiment, the mobile user U activates the mobile body 10. The moving body 10 moves until communication with the external communication devices 30A to 30C can be secured, and transmits the current position of the moving body 10 to the external communication devices 30A to 30C at the position where the communication can be secured.

  External communication devices 30 </ b> A to 30 </ b> C are communication devices provided apart from mobile body 10 and correspond to an example of a site. A site is a feature (eg, building, machine, etc.) that occupies a certain position and can specify the position. If the position can be specified, the position may or may not change with time. Also good.

[Constitution]
With reference to FIG. 2, the structural example of the moving body 10 which concerns on this embodiment is demonstrated. In the present embodiment, the moving body 10 includes a battery 11, a control unit 12, a communication unit 13, a determination unit 14, a moving mechanism 15, a position specifying unit 16, and a current position recording unit 17. In addition, the moving body 10 includes a power switch (not shown) that starts supplying power to each part of the moving body 10.

(Battery 11)
When the power switch is turned on, the battery 11 supplies power to the control unit 12, the communication unit 13, the determination unit 14, the moving mechanism 15, and the position specifying unit 16.

  The battery 11 may have a function of measuring the state of the battery 11 (hereinafter referred to as “battery information”). The battery information is, for example, a remaining battery level. Moreover, you may transmit the result to the control part 12 as battery information. The battery 11 may be used for, for example, a miniaturized drone and the like, and may include a single cell or a plurality of cells including a lithium ion battery, a lithium polymer battery, a fuel cell, and the like that are small and light and can be charged.

(Control unit 12)
The control unit 12 controls the battery 11, the communication unit 13, the determination unit 14, the moving mechanism 15, the position specifying unit 16, and the current position recording unit 17. For example, the control unit 12 controls the moving mechanism 15 in response to a communication establishment determination signal (a signal for notifying that communication has been established) from the determination unit 14 described later.

  The control performed by the control unit 12 may be automatically performed by a control program provided in advance in the control unit 12. Moreover, the structure which the mobile body user U transmits a control signal to the mobile body 10 via a controller, and the communication part 13 receives the control signal may be sufficient. The control unit 12 may control each unit of the moving body 10 according to the control signal from the moving body user U, or may perform automatic control by starting up the control program.

(Communication unit 13)
The communication unit 13 includes transmission / reception antennas, and transmits and receives signals under the control of the control unit 12. The communication unit 13 transmits a predetermined transmission signal to the external communication devices 30A to 30C and receives signals from the external communication devices 30A to 30C. When the communication unit 13 receives signals from the external communication devices 30 </ b> A to 30 </ b> C, the communication unit 13 sends a reception signal to the determination unit 14. In addition, the communication unit 13 does not send a signal to the determination unit 14 when the signals from the external communication devices 30A to 30C are not received.

  The predetermined transmission signal transmitted from the communication unit 13 to the external communication devices 30 </ b> A to 30 </ b> C may be, for example, a standard signal recorded in a memory provided in the communication unit 13.

  For communication between the communication unit 13 and the external communication devices 30A to 30C, for example, the communication unit 13 may receive broadcast signals (beacons) transmitted by the external communication devices 30A to 30C at predetermined intervals. The communication unit 13 may use the broadcast signal as a received signal.

  In communication between the communication unit 13 and the external communication devices 30A to 30C, for example, the communication unit 13 transmits an inquiry signal to the external communication devices 30A to 30C at predetermined intervals and receives the inquiry signal. It is good also as receiving the reply signal from 30C. The communication unit 13 may use return signals from the external communication devices 30A to 30C as reception signals.

  The communication unit 13 can also receive a control signal from the controller and transmit it to the control unit 12.

  Moreover, the frequency band in which the transmission / reception antenna included in the communication unit 13 can be transmitted / received can be variable. The receiving antennas may be arranged omnidirectionally so that signals from the external communication devices 30A to 30C and user terminals (for example, the controller, portable terminal, etc .; not shown) can be received from all directions. The transmission antenna may be arranged omnidirectionally so that a transmission signal can be transmitted in all directions.

  Moreover, although the communication part 13 may receive the electric power supply from the battery 11, the communication part 13 may be provided with the battery for exclusive use. The capacity of the battery only needs to be large enough to transmit the predetermined transmission signal for a predetermined period. The battery is preferably a small, lightweight and rechargeable battery.

  Further, the communication unit 13 may have means for notifying the mobile user U that the communication unit 13 has started transmission or that signals from the external communication devices 30A to 30C have been received. For example, a flashlight is provided at a position where the mobile body user U can visually recognize the mobile body 10. This flash light may be blinked according to transmission / reception. Alternatively, a transmission / reception confirmation signal may be transmitted from the communication unit 13 to the controller on the mobile user U side.

(Determination unit 14)
The determination unit 14 receives a reception signal from the communication unit 13.

  When the reception signal is received from the communication unit 13, the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has been established. The determination unit 14 transmits a communication establishment signal to the control unit 12.

  When the reception signal is not received from the communication unit 13 at a predetermined time, the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has not been established. The determination unit 14 transmits a communication unestablished signal (a signal for notifying that communication is not established) to the control unit 12.

(Movement mechanism 15)
Under the control of the control unit 12, the moving mechanism 15 moves the moving body 10 integrally. As described above, when the control unit 12 receives a communication unestablished signal from the determination unit 14, the moving mechanism 15 moves the moving body 10 integrally under the control of the control unit 12.

  The moving mechanism 15 uses, for example, a motor (not shown) driven by power supply from the battery 11 as a power source, and obtains buoyancy, thrust, and the like via a member such as a propeller by using rotation of the motor shaft. As long as the movable body 10 is moved in a controllable manner. As long as it is a mechanism that moves the moving body 10 by supplying electric power, other moving mechanisms may be adopted without being limited to the mechanism using the motor as a power source.

  As the moving operation, for example, the control unit 12 may control the moving mechanism 15 so that the moving body 10 is moved up by the moving mechanism 15 and then moved horizontally at a predetermined altitude.

(Position specifying unit 16)
The position specifying unit 16 includes an input unit (not shown), and receives a physical signal (“physical input”) related to the current position of the moving body 10 via the input unit. Examples of the physical input include a temperature / pressure signal and a navigation signal from a global positioning satellite system.

  The temperature / pressure signal indicates, for example, a temperature sensor / pressure sensor measurement value (temperature / pressure corresponding to the altitude (depth) of the moving body 10) provided in the moving body 10.

  The navigation signal from the global positioning satellite system is, for example, a signal (including information related to the signal transmission time and the satellite orbit) transmitted by the satellites constituting the global positioning satellite system (GNSS).

  The position specifying unit 16 analyzes the physical input and specifies the current position.

  The position specifying unit 16 specifies the current position of the moving body 10 when the power switch provided in the moving body 10 is in the input state.

  The position specifying unit 16 records the specified current position in the current position recording unit 17.

  The position specifying unit 16 may specify the current position of the moving body 10 at a predetermined time interval. Further, the position specifying unit 16 may record the current position specified at a predetermined time interval into the current position recording unit 17 at the predetermined time interval. The position specifying unit 16 may be set in advance so as to record the current position before the moving body 10 starts moving in the current position recording unit 17 under the control of the control unit 12.

  When the control unit 12 receives a communication establishment signal from the determination unit 14, the position specifying unit 16 transmits the specified current position from the communication unit 13 to the external communication devices 30 </ b> A to 30 </ b> C under the control of the control unit 12.

  The current position specified by the position specifying unit 16 may be a depth / altitude along the direction of gravity as a one-dimensional position. Also, the two-dimensional position may be latitude / longitude. Further, the three-dimensional position may be latitude, longitude, depth / altitude. The current position specified by the position specifying unit 16 may be at least one of latitude, longitude, depth, and altitude.

  If the one-dimensional position is specified, for example, a temperature sensor or a pressure sensor (a water pressure gauge / barometer) may be mounted as the position specifying unit 16 and the depth and altitude may be converted and calculated based on the result. Alternatively, an ultrasonic sensor (for example, a vision positioning sensor) or the like may be mounted as the position specifying unit 16 and the distance from the ground surface / the seabed to the moving body 10 may be measured.

  If you want to specify a two-dimensional position or a three-dimensional position, the input unit is equipped with a dedicated antenna that uses, for example, a navigation signal from GNSS (Global Navigation Satellite System) as a physical input to specify the position. The unit 16 may perform independent positioning analysis or the like. The dedicated antenna may also be used as the reception antenna of the communication unit 13. Information such as measurement error obtained accompanying analysis such as single positioning may be evaluated, and for example, altitude values may be replaced with altitude values obtained by other sensors. In addition, for example, a three-axis acceleration sensor is mounted as the input unit, and the position specifying unit 16 obtains a movement trajectory from the movement start point through analysis by inertial navigation, and specifies the current three-dimensional relative position with respect to the movement start point. May be.

(Current position recording unit 17)
The current position recording unit 17 records the current position specified by the position specifying unit 16.

  When the control unit 12 receives a communication establishment signal from the determination unit 14, the position specifying unit 16 reads the current position recorded in the current position recording unit 17 and controls the external communication device from the communication unit 13 under the control of the control unit 12. You may transmit to 30A-30C.

  The current position recording unit 17 may be either a volatile memory or a nonvolatile memory. These memories are desirably low power consumption, small size and light weight.

[Operation]
FIG. 3 is a diagram showing the flow of processing in the present embodiment. Below, with reference to FIG. 3, operation | movement of the moving body 10 is demonstrated along a step number (S1-S6).

(S1)
The moving body user U turns on the power switch of the moving body 10.

(S2)
In accordance with control from the control unit 12, the communication unit 13 performs transmission / reception with the external communication devices 30A to 30C. The communication unit 13 sends a reception signal to the determination unit 14.

(S3)
When the reception signal is not received at the predetermined time, the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has not been established (S3; No). Furthermore, the determination unit 14 sends a communication unestablished signal to the control unit 12 and advances the processing to the next step (S4: move the moving body 10).

  When the reception signal is received, the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has been established (S3; Yes). Further, the determination unit 14 sends a communication establishment signal to the control unit 12 and advances the processing to the next step (S5: identification of the current position of the moving body 10).

(S4)
The control unit 12 receives the communication unestablished signal sent from the determination unit 14 and controls the position specifying unit 16 to move the moving body 10. The process returns to step (S2).

(S5)
The control unit 12 receives the communication establishment signal sent from the determination unit 14 and controls the position specifying unit 16 to specify the current position of the moving body 10.

(S6)
The control unit 12 controls the position specifying unit 16 to record the current position of the moving body 10 specified by the position specifying unit 16 in the current position recording unit 17.

(S7)
The control unit 12 controls the communication unit 13 and transmits the specified current position from the communication unit 13 to the external communication devices 30A to 30C.

[effect]
According to this embodiment, the moving body that receives power supplied from the battery includes a moving mechanism, a communication unit, a determination unit, a control unit, a position specifying unit, and a current position recording unit. When the determination unit determines that communication between the communication unit and the external communication device has not been established, the control unit can control the moving mechanism to move the moving body. When the determination unit determines that communication between the communication unit and the external communication device is established, the control unit transmits the current position specified by the position specifying unit based on the physical input from the communication unit to the external communication device. be able to.

<Second Embodiment>
The object of the present embodiment is to select an external communication device that satisfies a predetermined condition and move the mobile body toward the selected external communication device. For example, the mobile body is moved to an environment where communication is more easily secured. It is expected to be able to.

  In the present embodiment, the moving body selects one of the external communication devices based on the current position of the moving body and the position information of the plurality of external communication devices recorded in the position information storage unit. Further, the moving body moves toward the selected external communication device.

  The present embodiment is a moving body 10 that further includes a position information storage unit 18 and a selection unit 19 in addition to the configuration of the first embodiment. Therefore, the configuration has a common part with the configuration of the first embodiment, and detailed description of the common part may be omitted. FIG. 4 shows a configuration example of the moving body 10 according to this embodiment.

[Constitution]
With reference to FIG. 4, the structural example of the moving body 10 which concerns on this embodiment is demonstrated. The moving body 10 includes a battery 11, a control unit 12, a communication unit 13, a determination unit 14, a moving mechanism 15, a position specifying unit 16, a current position recording unit 17, a position information storage unit 18, and a selection. Part 19. In addition, the moving body 10 includes a power switch (not shown) that starts supplying power to each part of the moving body 10.

  The position information storage unit 18 and the selection unit 19 which are added configurations will be described in detail. The control of the control unit 12 added by adding the position information storage unit 18 and the selection unit 19 will also be described.

(Position information storage unit 18)
The position information storage unit 18 stores information (particularly position information) related to one or more external communication devices 30A to 30C in a nonvolatile memory such as a hard disk. The stored information items include at least the same items as the information recorded in the position specifying unit 16. It is desirable that the list of the external communication devices 30A to 30C covers all the external communication devices 30A to 30C in the area where communication with the mobile unit 10 is possible.

  The position information of the external communication devices 30 </ b> A to 30 </ b> C stored in the position information storage unit 18 is read by the selection unit 19 (described later) that receives control from the control unit 12.

(Selection unit 19)
Under the control of the control unit 12, the selection unit 19 extracts the current position information of the moving body 10 from the current position recording unit 17. In addition, the selection unit 19 extracts the position information of one or more external communication devices 30 </ b> A to 30 </ b> C stored in the position information storage unit 18.

  Based on the current position information and the position information of one or more external communication devices 30 </ b> A to 30 </ b> C, the selection unit 19 selects the optimal position of the external communication device 30 toward which the mobile body 10 is headed. Therefore, the selection part 19 calculates | requires the distance from the present position to one or some external communication apparatus 30A-30C about each external communication apparatus 30A-30C, for example.

  The external communication device 30 having the shortest distance is selected from the distances from the current position to one or a plurality of external communication devices 30A to 30C.

  The selection unit 19 sends the selected position of the external communication device 30 and the current position of the moving body 10 to the control unit 12.

  This distance may be a distance calculated from three-dimensional coordinates (for example, latitude, longitude, altitude (depth)) or may be a distance calculated from two-dimensional plane coordinates (for example, latitude, longitude).

(Control unit 12)
The control unit 12 moves from the current position of the mobile body 10 sent from the selection unit 19 and the optimal position of the external communication device 30 so that the control unit 12 moves closer to the external communication device 30. The mechanism 15 is controlled.

  Further, the position information storage unit 18 stores 3D map (latitude, longitude, altitude (depth)) information on the ground surface, and the control unit 12 determines the current position of the mobile object 10 and the external communication device 30. The position and the three-dimensional map information may be used. From these pieces of information, the control unit 12 may calculate an optimal locus between the current position of the moving body 10 and the external communication device 30. Then, the control unit 12 may control the moving mechanism 15 so that the moving body 10 approaches the external communication device 30 on the optimal locus.

[Operation]
FIG. 5 is a diagram showing a flow of processing in the present embodiment. Below, with reference to FIG. 5, operation | movement of the moving body 10 is demonstrated along a step number (S21-S31).

(S21)
The moving body user U turns on the power switch of the moving body 10.

(S22)
In accordance with control from the control unit 12, the communication unit 13 performs transmission / reception with the external communication devices 30A to 30C. The communication unit 13 sends a reception signal to the determination unit 14.

(S23)
When the reception signal is not received at a predetermined time, the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has not been established (S23; No). Further, the determination unit 14 sends a communication non-established signal to the control unit 12 and advances the processing to the next step (S24: identification of the current position of the moving body 10).

  When the reception signal is received, the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has been established (S23; Yes). Further, the determination unit 14 sends a communication establishment signal to the control unit 12, and proceeds to the next step (S29: identification of the current position of the moving body 10).

(S24)
The control unit 12 receives the communication unestablished signal sent from the determination unit 14 and controls the position specifying unit 16 to specify the current position of the moving body 10.

(S25)
The control unit 12 controls the position specifying unit 16 to record the current position of the moving body 10 specified by the position specifying unit 16 in the current position recording unit 17.

(S26)
The selection unit 19 reads the current position recorded in the current position recording unit 17 and the position information of one or more external communication devices 30 </ b> A to 30 </ b> C recorded in the position information storage unit 18.

(S27)
The selection unit 19 selects the optimum position of the external communication device 30 to which the mobile body 10 is directed from the current position of the mobile body 10 and the position information of the one or more external communication devices 30A to 30C.

(S28)
From the current position of the moving body 10 and the optimal position of the external communication device 30, the control unit 12 determines the moving direction of the moving body 10 and controls the moving mechanism 15 to move the moving body 10. The process returns to step (S22).

(S29)
The control unit 12 receives the communication establishment signal sent from the determination unit 14 and controls the position specifying unit 16 to specify the current position of the moving body 10.

(S30)
The control unit 12 controls the position specifying unit 16 to record the current position of the moving body 10 specified by the position specifying unit 16 in the current position recording unit 17.

(S31)
The control unit 12 controls the communication unit 13 and transmits the specified current position from the communication unit 13 to the external communication devices 30A to 30C.

<Third Embodiment>
The object of the present embodiment is to transmit the current position of the mobile unit and user-related information to an external communication device. For example, the mobile user can be discovered, specified, and secured more quickly and reliably. It is expected.

  The present embodiment is a moving body 10 that further includes a user-related information storage unit 20 in addition to the configuration of the second embodiment. Therefore, the configuration has a common part with the configuration of the second embodiment, and detailed description of the common part may be omitted. A configuration example of the moving body 10 according to this embodiment is shown in FIG.

[Constitution]
With reference to FIG. 6, the structural example of the moving body 10 which concerns on this embodiment is demonstrated. The moving body 10 includes a battery 11, a control unit 12, a communication unit 13, a determination unit 14, a moving mechanism 15, a position specifying unit 16, a current position recording unit 17, a position information storage unit 18, and a selection. Unit 19 and a user-related information storage unit 20. In addition, the moving body 10 includes a power switch (not shown) that starts supplying power to each part of the moving body 10.

  The user related information storage unit 20 having the added configuration will be described in detail. Moreover, the control by the control part 12 added by adding the user related information storage part 20 is also demonstrated.

(User related information storage unit 20)
The user related information storage unit 20 records information about the mobile user U (hereinafter referred to as “user related information”).

  Alternatively, the user-related information storage unit 20 includes a simple input device (for example, a simple keyboard, a recording microphone, a digital camera, a simple medical device, etc.), and user-related information is additionally input as needed via the simple input device. May be. The storage format may be, for example, a character string, sound, image or the like. The user related information may be input by an external device other than the moving body 10.

  The user-related information includes, for example, information that can recognize the mobile user U (name, etc.), medical information that is sequentially accumulated on the spot (body temperature, blood pressure, etc.), messages from the mobile user U (travel routes so far) , Future action schedules, etc.), environmental information (temperature, humidity, etc.) around the mobile user U, and the like.

  The user related information storage unit 20 may use a non-volatile memory such as a hard disk or may be a volatile memory.

(Control unit 12)
When the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30 </ b> A to 30 </ b> C is established, the control unit 12 controls the communication unit 13 and is recorded in the user related information storage unit 20. The user related information is transmitted to the external communication devices 30A to 30C.

[Operation]
FIG. 7 is a diagram showing a flow of processing in the present embodiment. Below, with reference to FIG. 7, operation | movement of the moving body 10 is demonstrated along a step number (S41-S53). Note that the steps from (S41: power-on) to (S51: current position transmission) of this embodiment are the same as the steps (S21 to S31) of the second embodiment (FIG. 5), and thus description thereof is omitted. To do.

(S52)
The control unit 12 reads the user related information recorded in the user related information storage unit 20.

(S53)
The control unit 12 controls the communication unit 13 and transmits the user related information recorded in the user related information storage unit 20 to the external communication devices 30A to 30C.

  Note that the third embodiment may be configured not to include the position information storage unit 18 and the selection unit 19. In that case, the above processing relating to selection of the external communication devices 30A to 30C is not performed.

<Fourth Embodiment>
The purpose of this embodiment is to capture an image relating to a mobile user and its surrounding environment, and send it to an external communication device. For example, the searcher side is the mobile user and its surroundings, the moving path of the mobile body, etc. It is expected that this information can be acquired and the mobile user can be secured more quickly and reliably.

  The present embodiment is a mobile body that further includes a photographing unit 21 in the configuration of the third embodiment. Therefore, the configuration has a common part with the configuration of the third embodiment, and detailed description of the common part may be omitted. A configuration example of the moving body 10 according to this embodiment is shown in FIG.

[Constitution]
With reference to FIG. 8, the structural example of the moving body 10 which concerns on this embodiment is demonstrated. The moving body 10 includes a battery 11, a control unit 12, a communication unit 13, a determination unit 14, a moving mechanism 15, a position specifying unit 16, a current position recording unit 17, a position information storage unit 18, and a selection. Unit 19, user-related information storage unit 20, and photographing unit 21. In addition, the moving body 10 includes a power switch (not shown) that starts supplying power to each part of the moving body 10.

  The imaging unit 21 having the added configuration will be described in detail. Further, the control by the control unit 12 added by adding the photographing unit 21 will be described.

(Photographing unit 21)
The photographing unit 21 includes a digital camera (not shown). Shooting by the digital camera may be performed at a predetermined interval from immediately after the power switch of the moving body 10 is turned on (step S1). The obtained image is stored in a memory provided in the digital camera. Images captured by the digital camera are transferred from the communication unit 13 to the external communication devices 30A to 30C under the control of the control unit 12 when communication between the mobile unit 10 and the external communication devices 30A to 30C is established. Sent. Here, the image includes at least one of a still image and a moving image.

  The digital camera provided in the photographing unit 21 can turn freely in a range in which physical interference (contact) with the main body of the moving body 10 does not occur via, for example, a camera mount including a triaxial stabilizer. It is good to be attached to. Further, it is preferable that the digital camera can select a shooting angle within the range of the degree of freedom of rotation.

  The digital camera provided in the photographing unit 21 can photograph high-resolution images (both still images and moving images), and is preferably a visible light or infrared (light) camera. The obtained image may be output from an output terminal provided in the digital camera. In addition, the digital camera is preferably provided with a zoom function and can be photographed with a wide range of angles. The digital camera desirably has a face recognition function.

  Moreover, the imaging | photography by the imaging | photography part 21 may be controlled via the control part 12 by operation of a user terminal. Alternatively, the control unit 12 may be controlled by a control program provided in advance. Or you may control by the input from the simple input device with which the mobile user U was equipped with the user relevant-information memory | storage part 20.

  The photographing by the photographing unit 21 may be, for example, photographing of the mobile user U, photographing of the vicinity of the mobile user U, and photographing from any point on the route from the initial position of the mobile body 10 to the current position. .

(Control unit 12)
When the determination unit 14 determines that communication has been established, the control unit 12 transmits the image captured by the imaging unit 21 to the external communication devices 30A to 30C. At that time, the control unit 12 may transmit the photographed image after compressing it with software installed in the control unit 12, or may transmit the image as it is.

  In addition, the control unit 12 may control the moving mechanism 15 using a digital camera or the like provided in the photographing unit 21 so as to perform safe navigation that avoids a collision or a crash.

  In order to enable the control unit 12 to perform safe navigation, the moving body 10 includes, for example, a 3-axis acceleration sensor, a 3-axis gyroscope, a 3-axis magnetic force sensor, an ultrasonic altitude sensor, a pressure in addition to the digital camera provided in the imaging unit 21. It is desirable to include a sensor, a vertical camera for measuring ground speed, and the like. It is desirable for the control unit 12 to perform safe navigation using inputs from these sensors.

[Operation]
FIG. 9 is a diagram showing a flow of processing in the present embodiment. Below, with reference to FIG. 9, operation | movement of the moving body 10 is demonstrated along a step number (S61-S75). Note that the steps from (S61: power-on) to (S73: user-related information transmission) of this embodiment are the same as the steps (S41 to S53) of the third embodiment (FIG. 7). Omitted.

(S74)
The photographing unit 21 acquires an image by photographing the mobile user U, photographing near the mobile user U, and photographing from any point on the route from the initial position to the current position.

(S75)
The control unit 12 controls the communication unit 13 and transmits the image captured by the imaging unit 21 to the external communication devices 30A to 30C.

  The fourth embodiment may be configured not to include the position information storage unit 18, the selection unit 19, and the user related information storage unit 20. In that case, the process related to the selection of the external communication devices 30A to 30C and the process related to the user related information are not performed.

<Modification>
The configuration described above is merely an example for carrying out the present invention. Therefore, arbitrary modifications (omitted, replacement, addition, etc.) within the scope of the present invention can be made as appropriate. An example of arbitrary modifications will be described below.

  In any of the first to fourth embodiments, the communication unit 13 can perform data communication with the user terminal, and the determination unit 14 uses the mobile unit 10 and the external communication devices 30A to 30C. When it is determined that the communication is established, the control unit 12 can be configured to relay the communication between the user terminal and the external communication devices 30A to 30C.

  Note that the relaying means that the received data from one side is processed or transferred to the other side without being processed.

  In any of the first to fourth embodiments, the control unit 12 may be configured to transmit the determination result of the determination unit 14 to the user terminal of the mobile user U. Is possible. In this modification, the user terminal is a mobile phone.

  In any of the first to fourth embodiments, the control unit 12 controls the moving mechanism 15 after the determination unit 14 determines that communication is established. Thus, the moving body 10 can be moved to the retracted position.

  It should be noted that moving to the retreat position may be landing, stopping, or the like according to the state of the moving body 10.

  Further, when moving, the moving direction may be determined based on the remaining battery level or the strength of the signal received by the communication unit 13 from the external communication devices 30A to 30C. The control unit 12 may control the moving mechanism 15 so that the moving body 10 moves in the determined moving direction.

  In addition, when the current position before the moving body 10 starts moving is recorded in the current position recording unit 17, the control unit 12 moves the moving mechanism 15 so as to move (return) to the current position. You may control. Furthermore, the control unit 12 may notify the mobile user U that the communication has been completed when returning to the initial position. This notification may be notification by a display unit (not shown) or an audio output unit.

  Further, an embodiment having the following configuration may be used. A main body, a communication unit provided in the main body and communicating with an external communication device, a moving mechanism provided in the main body for moving the main body, and the communication unit can communicate with the external communication device. And a control unit that controls the moving mechanism to move the main body to a position where the communication unit can communicate with the external communication device. The moving body may be a feature.

  In addition, an embodiment further including the following configuration may be employed depending on the embodiment. The determination unit determines whether or not the communication unit can communicate with the external communication device, and determines that the communication unit cannot communicate with the external communication device, The control unit may be a moving body that controls the moving mechanism to move the main body to a position where the communication unit can communicate with the external communication device.

  In the first embodiment to the fourth embodiment and the modification, the moving body that moves by receiving power supplied from the battery includes at least a moving mechanism, a communication unit, a determination unit, and a control unit. . In the first to fourth embodiments and the modification, when the determination unit determines that communication between the communication unit and the external communication device is not established, the control unit controls the movement mechanism to move There is a common effect that the body can be moved.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 10 Mobile body 11 Battery 12 Control part 13 Communication part 14 Judgment part 15 Movement mechanism 16 Position specific | specification part 17 Current position recording part 18 Position information storage part 19 Selection part 20 User related information storage part 21 Imaging | photography part 30 External communication apparatus U Mobile body User

Claims (3)

A moving body that is activated by a user and moves by receiving power supply from a battery,
A moving mechanism for moving;
A communication department;
A determination unit for determining whether communication is established between the communication unit and the external communication device;
A location information storage unit that stores location information of a plurality of sites;
A position identifying unit that identifies the current position based on physical input from the outside;
A selection unit that selects one of the plurality of sites based on the current position identified by the position identification unit and the position information of the plurality of sites;
A control unit that controls the moving mechanism to move from the current position to the site selected by the selection unit when it is determined by the determination unit that communication is not established;
A user related information storage unit for storing information related to the user ;
With
The control unit transmits information related to the user to the external communication device when the determination unit determines that communication is established. A moving body that is activated by a user and moves by receiving power supply from a battery,
A moving mechanism for moving;
A communication department;
A determination unit for determining whether communication is established between the communication unit and the external communication device;
A controller that controls the movement mechanism to move from a current position when the determination unit determines that communication is not established;
A user related information storage unit for storing information related to the user;
And an imaging unit,
When the determination unit determines that communication is established , the control unit transmits information related to the user to the external communication device and transmits an image acquired by the photographing unit to the communication unit. it characterized moving body to be originated in part. For example Bei the imaging unit,
Wherein the control unit, imaging of the user, and, according to claim 1 or claim 2, characterized in that to perform any of the shooting from any point of the path from the initial position to the current position in the imaging unit The moving body described in 1.

Images