JP7384513B2 - Mobile object control device, mobile object control method, and program - Google Patents

Description

The present invention relates to a mobile body control device, a mobile body control method, and a program for controlling a mobile body.

Unmanned aerial vehicles can be effectively used for support such as disasters and security, but they are difficult to operate, so there is a desire to make them easier to operate. Moreover, as unmanned aerial vehicles have become easier to purchase and the number of users has increased, such requests are increasing further.

By the way, in many cases, the operation of an unmanned aircraft employs proportional type operating equipment, so that it is difficult for an operator to operate the unmanned aircraft intuitively. Therefore, techniques have been proposed for operating a mobile object such as an unmanned aerial vehicle according to the actions of an operator.

As a related technology, Patent Document 1 discloses a mobile object control system that operates an unmanned aircraft by the actions of an operator. According to the mobile object control system disclosed in Patent Document 1, by turning the operator's head upward, the operator can take off and ascend the mobile object.

International Publication No. 2018/020853

However, in the mobile object control system disclosed in Patent Document 1, although the operator can take off and ascend the unmanned aircraft by turning his head upward, he cannot easily take off and ascend the unmanned aircraft. The reason is that even if the operator intends to turn his head upward, he actually does not turn his head appropriately due to the influence of the operator's physique, posture, personality, etc.

An example of an object of the present invention is to provide a mobile body control device, a mobile body control method, and a program that can facilitate the operation of a mobile body.

In order to achieve the above object, a mobile object control device according to one aspect of the present invention includes:
a measuring means for measuring head inclination;
a setting means for setting determination information used to determine the head inclination in the setting phase;
In the operation phase, when operating the mobile object, a generating means generates operation information used to operate the mobile object based on the set determination information;
It is characterized by having the following.

Furthermore, in order to achieve the above object, a mobile object control method according to one aspect of the present invention includes:
(a) Measure the tilt of the head,
(b) in the setting phase, setting determination information used to determine the head tilt;
(c) In the operation phase, when operating the mobile body, operation information used to operate the mobile body is generated based on the set determination information.

Furthermore, in order to achieve the above object, a program according to one aspect of the present invention includes:
to the computer,
(a) obtaining the measured head tilt;
(b) in the setting phase, setting determination information used to determine the head inclination;
(c) in the operation phase, when operating the mobile body, generating operation information used to operate the mobile body based on the set determination information;
It is characterized by causing the execution.

As described above, according to the present invention, it is possible to easily operate a moving body.

FIG. 1 is a diagram for explaining an example of a method of operating a moving body. FIG. 2 is a diagram for explaining an example of a mobile object control device. FIG. 3 is a diagram illustrating an example of a system having a manipulation mobile body control device. FIG. 4 is a diagram for explaining posture determination using an inclination angle. FIG. 5 is a diagram for explaining an example of the operation of the mobile object control device in the setting phase. FIG. 6 is a diagram for explaining an example of the operation of the mobile object control device in the operation phase. FIG. 7 is a diagram for explaining an example of a computer that implements a mobile object control device.

First, a method of operating an unmanned aerial vehicle (hereinafter referred to as a mobile object) will be explained. FIG. 1 is a diagram for explaining an example of a method of operating a moving body. The example in FIG. 1 shows an operation in which an operator wears the mobile object control device 10 and takes off and ascends the mobile object 20.

In order for the operator to intuitively control the takeoff and rise of the mobile object 20, it is preferable that the operator first take a reference posture and then take a posture facing upward. It is.

The reference posture (hereinafter referred to as the reference posture) is, for example, a standing posture that the operator considers normal (a posture in which the face faces forward/a posture in which the head is not tilted), as shown in scene 1 in Figure 1. This is an attitude like this. When the operator assumes the reference posture, the mobile object control device 10 determines that the head is in the reference state (the head is not tilted).

The upward posture (hereinafter referred to as upward posture) is, for example, a posture in which the operator turns his head upward from the standard posture, as shown in scene 2 of FIG. When the operator assumes an upward posture, the mobile object control device 10 determines that the head is tilted upward with respect to the reference line.

Further, when the mobile object control device 10 obtains the determination result representing the reference attitude and then obtains the determination result representing the upward attitude, the mobile object control device 10 allows the operator to perform an operation (operation) for causing the mobile object 20 to take off or ascend. It is determined that this has occurred, and an instruction indicating takeoff/climb is transmitted to the mobile object 20. As a result, the mobile object 20 takes off and ascends based on the received instructions.

However, the reference attitude, the upward attitude, and the time it takes to transition from the reference attitude to the upward attitude vary depending on the physique, posture, personality, etc. of the operator. may not be easy to do.

Therefore, the inventor measured in advance the physique, posture, and change in movement from the standard posture to the upward posture for each operator, and reflected the measured results in the determination of the mobile body control device 10, thereby improving the movement of the mobile body 20. I realized that it was easy to take off and climb. Hereinafter, embodiments will be described.

(Embodiment)
Embodiments of the present invention will be described with reference to FIGS. 2 to 7.

[Device configuration]
The configuration of the mobile object control device 10 in this embodiment will be explained using FIG. 2. FIG. 2 is a diagram for explaining an example of a mobile object control device.

The mobile object control device 10 shown in FIG. 2 is an operating device that improves the operation accuracy of a mobile object 20 such as an unmanned aircraft. Further, as shown in FIG. 1, the mobile object control device 10 includes a measuring section 11, a setting section 12, and a generating section 13. However, the measurement unit 11 may be mounted on the mobile body control device 10 or may be provided outside the mobile body control device 10.

Of these, the measurement unit 11 measures the inclination of the head. In the setting phase, the setting unit 12 sets determination information used to determine the inclination of the head. When operating the mobile body 20 in the operation phase, the generation unit 13 generates operation information used to operate the mobile body 20 based on the set determination information.

In this way, in this embodiment, the determination information of the mobile object control device 10 is adjusted according to the head tilt of each operator, so that the operation of the mobile object 20 such as an unmanned aerial vehicle can be facilitated. .

[System configuration]
Next, the configuration of the mobile object control device 10 in this embodiment will be described in more detail using FIG. 3. FIG. 3 is a diagram illustrating an example of a system having a manipulation mobile body control device.

As shown in FIG. 3, the system 30 in this embodiment includes a moving object 20 in addition to the moving object control device 10. The mobile body control device 10 includes a communication section 14 , a display section 15 , and a control section 16 in addition to a measurement section 11 , a setting section 12 , and a generation section 13 . The moving body 20 includes a communication section 21 , an imaging section 22 , a position measurement section 23 , a control section 24 , and a thrust generation section 25 .

The mobile object control device will be explained.
The mobile object control device 10 is an operating device that is attached to the head of an operator to operate the mobile object 20. The mobile control device 10 may be, for example, a head mounted display, a VR (Virtual Reality) headset, or the like. Furthermore, a VR headset using a smartphone may also be used.

The communication unit 14 communicates with the communication unit 21 of the mobile body 20. Specifically, the communication unit 14 transmits a signal including control information used to control the mobile body 20 to the mobile body 20. Furthermore, the communication unit 14 receives from the moving object 20 a signal including a measured distance measured by the moving object 20, an image captured by the moving object 20, and the like. The communication unit 14 is realized by, for example, a communication device for wireless communication.

The measurement unit 11 measures the tilt of the operator's head. Specifically, the measurement unit 11 generates tilt information representing the tilt of the operator's head based on the measurement result measured by the sensor, and transmits it to the control unit 16. Inclination information, for example, an inclination angle with respect to a reference line, etc. can be considered. Note that the sensor included in the measurement unit 11 is, for example, a sensor installed in a head-mounted display, a VR headset, a smartphone, or the like. The sensor is, for example, an angular velocity sensor, an acceleration sensor, or the like.

The display unit 15 is a device that displays images captured by the moving body 20. Specifically, the display unit 15 is provided in a head mounted display, a VR headset, or the like, and displays an image captured by the moving object 20 to the operator. The display unit 15 is an image display device having, for example, a liquid crystal, an organic EL (Electro Luminescence), or the like. Furthermore, the display unit 15 may include an audio output device such as a speaker. Note that in the case of a VR headset using a smartphone, the display section of the smartphone is used as the display section 15.

In the setting phase, the setting unit 12 sets determination information used to determine the tilt of the operator's head and a change in the tilt. The setting unit 12 sets the head inclination measured in the reference posture (a reference head inclination state) as first determination information, and sets the head inclination measured in an upward posture (a state in which the head is facing upward) as first determination information. The slope is set as second determination information.

This will be explained in detail using FIG. 4. FIG. 4 is a diagram for explaining posture determination using an inclination angle.

The setting unit 12 acquires the tilt information measured by the measuring unit 11. As shown in FIG. 4, the setting unit 12 detects a change in the angle of the head for each preset period TS using the tilt information acquired in the period TS. In the example of FIG. 4, a change in the angle of the head is detected during period T1. The detection of a change in the angle is performed, for example, when the angle change amount α calculated based on the acquired head angle becomes equal to or greater than a preset threshold value S1 for detecting the amount of change in the head angle, and the threshold value S1 is detected. If the above period continues for longer than the period TS, a change in angle is detected.

Subsequently, the setting unit 12 uses the head angle acquired in the period T2 (reference posture detection period: first period) before the period T1 to set the change in the head angle in the period T2 in advance. If the change is within a predetermined range (angle range that can be determined as the reference posture: first range), the head angle h1 (first determination information) in the operator's reference posture is determined based on the head angle in period T2. Calculate. For example, the setting unit 12 calculates the average of the head angles during the period T2.

Thereafter, the setting unit 12 stores the calculated head angle h1 in a storage unit (not shown) as the head angle h1 in the operator's reference posture. Note that the head angle h1 may be within a predetermined range (for example, h1±Δh1) that includes the head angle h1.

Note that if the change in the head angle during the period T2 exceeds the first range, it is not stored as the head angle h1 in the reference posture.

It is preferable to set the period T2 to, for example, 1 [second] to 4 [second]. However, the period T2 is not limited to the settings described above.

Subsequently, the setting unit 12 uses the head angle acquired in the period T3 (upward posture detection period: second range) after the period T1 to set the change in the head angle in the period T3 in advance. If the change is within a predetermined range (angular range that can be determined as an upward posture: second range), the head angle h2 in the upward posture of the operator (second determination information) is based on the head angle in the period T3. Calculate. For example, the setting unit 12 calculates the average of the head angles during the period T3.

Thereafter, the setting unit 12 stores the calculated head angle h2 in the storage unit as the head angle h2 in the upward posture of the operator. Note that the head angle h2 may be within a predetermined range (eg, h2±Δh2, etc.) including the head angle h2.

Note that if the change in the head angle during the period T3 exceeds the second range, it is not stored as the head angle h2 in the upward posture.

It is preferable to set the period T3 to, for example, 1 [second] to 4 [second]. However, the period T3 is not limited to the settings described above.

The storage unit may be provided in the mobile body control device 10 or may be provided in a storage device provided outside the mobile body control device 10.

In this way, by automatically setting the angle h1 corresponding to the reference posture and the angle h2 corresponding to the upward posture for each operator, it becomes possible for the operator to operate in an easy-to-use and comfortable posture. .

Further, the above-mentioned settings may be made after the operator is instructed to take off and climb, for example, after the operator is instructed to perform the operation using the display unit 15 or the like. By doing so, the angle h1 corresponding to the reference posture and the angle h2 corresponding to the upward posture can be set with higher accuracy.

In addition, the setting unit 12 sets the head angle h3 (third determination information) in the downward posture (head facing downward) used in the landing operation, in the same way as the takeoff/climb operation described above. You may.

When operating the mobile body 20 in the operation phase, the generation unit 13 generates operation information used to operate the mobile body 20 based on the set determination information. Specifically, after the head tilt is determined to be a reference posture (a reference head tilt state), the generation unit 13 determines that the measured head tilt is an upward posture (a state in which the head is facing upward). ), operation information used to raise the mobile object 20 is generated.

When determining the reference posture, the generation unit 13 acquires tilt information from the measurement unit 11. If the tilt information is within a predetermined range (h1±Δh1) including the preset head angle h1 during the period T, the generation unit 13 determines that the operator is currently in the reference posture.

When determining the upward posture, the generation unit 13 acquires tilt information from the measurement unit 11. If the tilt information is within a predetermined range (h2±Δh2) including the preset head angle h2 during the period T3, the generation unit 13 determines that the operator is currently in an upward posture.

When the upward attitude is detected after the reference attitude, the generating unit 13 generates operation information assuming that the operator has performed an action (operation) to take off or raise the mobile object 20 . The generation unit 13 then transmits the operation information to the control unit 16.

The control unit 16 generates control information for controlling the mobile object 20 using the operation information. Specifically, the control unit 16 first obtains operation information from the generation unit 13. Subsequently, the control unit 16 generates control information based on the operation information. Subsequently, the control unit 16 causes the communication unit 14 to transmit the generated control information to the communication unit 21 of the mobile body 20.

Further, the control unit 16 controls each unit using the measured distance measured by the moving body 20 and the image captured by the moving body 20, which are received via the communication unit 14.

The moving body 20 will be explained.
The mobile object 20 is, for example, a so-called drone such as a multicopter having multiple rotors.

The communication unit 21 communicates with the communication unit 14 of the mobile object control device 10 . Specifically, the communication unit 21 receives a signal including control information and the like transmitted from the mobile control device 10. Furthermore, the communication unit 21 transmits a signal including a measured distance, an image, etc. to be transmitted to the mobile object control device 10. The communication unit 21 is realized by, for example, a communication device for wireless communication.

The imaging unit 22 is an imaging device mounted on the moving body 20. Specifically, the imaging unit 22 takes a picture when the operator performs a predetermined action (operation). The imaging unit 22 is, for example, a video camera, a digital camera, or the like. Further, the imaging unit 22 is attached to an adjustment mechanism for changing the imaging direction. The adjustment mechanism can change the photographing direction by an operator performing a predetermined action (operation).

The position measuring unit 23 measures the current position (latitude and longitude) and altitude (measured distance) of the moving body 20. The position measurement unit 23 receives, for example, a GPS (Global Positioning System) signal from a satellite, and measures the current position and altitude based on the received GPS signal.

The control unit 24 calculates the speed of the moving body 20 based on the current position and the measured distance measured by the position measurement unit 23. Further, the control unit 24 transmits the calculated speed, the current position, the measured distance, and the image as status information to the mobile object control device 10 via the communication unit 21. Further, the control unit 24 controls the speed, measured distance, and traveling direction of the moving object 20 by adjusting the thrust of the thrust generating unit 25.

The thrust generating unit 25 includes a propeller that generates thrust and an electric motor connected to the propeller. Further, each part of the thrust generating section 22 is controlled by the control section 24 based on control information.

[Device operation]
Next, the operation of the mobile object control device in the embodiment of the present invention will be explained using FIGS. 5 and 6. FIG. 5 is a diagram for explaining an example of the operation of the mobile object control device in the setting phase. FIG. 6 is a diagram for explaining an example of the operation of the mobile object control device in the operation phase. In the following description, reference will be made to FIGS. 1 to 4 as appropriate. Furthermore, in this embodiment, the moving object control method is implemented by operating the moving object control device. Therefore, the description of the mobile object control method in this embodiment will be replaced with the following explanation of the operation of the mobile object control device.

Describe the configuration phase.
As shown in FIG. 5, first, the setting unit 12 acquires the tilt information measured by the measuring unit 11 (step A1). Next, the setting unit 12 detects a change in the angle of the head for each preset period TS using the tilt information acquired in the period TS (step A2).

Next, the setting unit 12 uses the head angle acquired in the period T2 before the period T1, and if the change in the head angle in the period T2 is within a preset first range, Based on the head angle in period T2, the head angle h1 in the operator's reference posture is calculated (step A3). For example, the setting unit 12 calculates the average of the head angles during the period T2.

Thereafter, the setting unit 12 stores the calculated head angle h1 in the storage unit (not shown) as the head angle h1 in the operator's reference posture (step A4). Note that the head angle h1 may be within a predetermined range (h1±Δh1) including the head angle h1.

Note that if the change in the head angle during the period T2 exceeds the first range, it is not stored as the head angle h1 in the reference posture.

Next, the setting unit 12 uses the head angle acquired in the period T3 after the period T1, and if the change in the head angle in the period T3 is within a preset second range, Based on the head angle in period T3, the head angle h2 in the upward posture of the operator is calculated (step A5). For example, the setting unit 12 calculates the average of the head angles during the period T3.

Thereafter, the setting unit 12 stores the calculated head angle h2 in the storage unit as the head angle h2 in the upward posture of the operator (step A6). Note that the head angle h2 may be within a predetermined range (h2±Δh2) including the head angle h2.

Note that if the change in the head angle during the period T3 exceeds a predetermined range, it is not stored as the head angle h2 in the upward posture.

By repeating the operations from steps A1 to A6 described above, the head tilt information corresponding to the reference posture and the upward posture is automatically stored in the storage section.

Explain the operational phase.
As shown in FIG. 6, when performing an operation (operation) to take off or ascend the mobile object 20, the generation unit 13 generates operation information used to operate the mobile object 20 based on the set determination information. .

The generation unit 13 first determines whether or not the head tilt is a reference posture (a reference head tilt state) (step B1). When determining the reference posture, specifically, in step B1, the generation unit 13 acquires tilt information from the measurement unit 11. Subsequently, in step B1, the generation unit 13 determines that the operator is currently in the reference posture if the tilt information is within a predetermined range (h1±Δh1) including the preset head angle h1 during the period T2. It is determined that

Next, after determining the reference posture, the generation unit 13 determines whether the measured head inclination is an upward posture (a state in which the head is turned upward) (step B2). Specifically, in step B2, when determining the upward orientation, the generation unit 13 acquires tilt information from the measurement unit 11. Subsequently, in step B2, when determining the upward posture, the generation unit 13 determines whether the operator is determined to be currently in an upward position.

Next, when the upward attitude is detected after the reference attitude, the generation unit 13 generates operation information assuming that the operator has performed an action (operation) to take off and raise the mobile object 20 (step B3). The generation unit 13 then transmits the operation information to the control unit 16.

Next, the control unit 16 uses the operation information to generate control information for controlling the mobile object 20 (step B4). Specifically, when determining the upward orientation in step B4, the control unit 16 first acquires operation information from the generation unit 13. Subsequently, in step B4, when determining the upward orientation, the control unit 16 generates control information based on the operation information. Subsequently, the control unit 16 causes the communication unit 14 to transmit the generated control information to the communication unit 21 of the mobile body 20 (step B5).

It is possible to detect that the operator assumes the upward posture after assuming the reference posture by executing the processes from steps B1 to B5 described above.

Further, the above-mentioned settings may be made after the operator is instructed to take off and climb, for example, after the operator is instructed to perform the operation using the display unit 15 or the like. By doing so, the angle h1 corresponding to the reference posture and the angle h2 corresponding to the upward posture can be set with higher accuracy.

In addition, the setting unit 12 sets the head angle h3 (third determination information) in the downward posture (head facing downward) used in the landing operation, in the same way as the takeoff/climb operation described above. You may.

[Effects of this embodiment]
As described above, according to the present embodiment, since the determination information of the mobile object control device 10 is adjusted according to the head tilt of each operator, the operation of the mobile object 20 such as an unmanned aerial vehicle can be facilitated. can. That is, by automatically setting the angle h1 corresponding to the reference posture and the angle h2 corresponding to the upward posture for each operator, it becomes possible for the operator to perform operations in an easy-to-use and comfortable posture.

[program]
The program in the embodiment of the present invention may be any program that causes a computer to execute steps A1 to A6 and steps B1 to B5 shown in FIGS. 5 and 6. By installing and executing this program on a computer, the operating moving object control device and operating moving object control method of this embodiment can be realized. In this case, the processor of the computer functions as the setting section 12, the generation section 13, and the control section 16 to perform processing.

Further, the program in this embodiment may be executed by a computer system constructed by a plurality of computers. In this case, for example, each computer may function as either the setting section 12, the generation section 13, or the control section 16.

[Physical configuration]
Here, a computer that realizes a mobile object control device by executing a program in the embodiment will be described using FIG. 7. FIG. 7 is a block diagram showing an example of a computer that implements a mobile object control device according to an embodiment of the present invention.

As shown in FIG. 7, the computer 110 includes a CPU (Central Processing Unit) 111, a main memory 112, a storage device 113, an input interface 114, a display controller 115, a data reader/writer 116, and a communication interface 117. Equipped with. These units are connected to each other via a bus 121 so that they can communicate data. Note that the computer 110 may include a GPU (Graphics Processing Unit) or an FPGA (Field-Programmable Gate Array) in addition to or in place of the CPU 111.

The CPU 111 deploys programs (codes) according to the present embodiment stored in the storage device 113 to the main memory 112, and executes them in a predetermined order to perform various calculations. Main memory 112 is typically a volatile storage device such as DRAM (Dynamic Random Access Memory). Further, the program in this embodiment is provided in a state stored in a computer-readable recording medium 120. Note that the program in this embodiment may be distributed on the Internet connected via the communication interface 117. Note that the recording medium 120 is a nonvolatile recording medium.

Further, specific examples of the storage device 113 include a hard disk drive and a semiconductor storage device such as a flash memory. Input interface 114 mediates data transmission between CPU 111 and input devices 118 such as a keyboard and mouse. The display controller 115 is connected to the display device 119 and controls the display on the display device 119.

The data reader/writer 116 mediates data transmission between the CPU 111 and the recording medium 120, reads programs from the recording medium 120, and writes processing results in the computer 110 to the recording medium 120. Communication interface 117 mediates data transmission between CPU 111 and other computers.

Specific examples of the recording medium 120 include general-purpose semiconductor storage devices such as CF (Compact Flash (registered trademark)) and SD (Secure Digital), magnetic recording media such as flexible disks, or CD-ROMs. Examples include optical recording media such as ROM (Compact Disk Read Only Memory).

[Additional notes]
Regarding the above embodiments, the following additional notes are further disclosed. Part or all of the embodiments described above can be expressed by (Appendix 1) to (Appendix 15) described below, but are not limited to the following description.

(Additional note 1)
A measurement unit that measures the tilt of the head;
a setting unit configured to set determination information used to determine the head inclination in the setting phase;
in the operation phase, when operating the mobile object, a generation unit that generates operation information used to operate the mobile object based on the set determination information;
A mobile object control device comprising:

(Additional note 2)
The mobile body control device according to supplementary note 1,
The setting unit sets the head tilt measured in the head tilt state as a reference as first determination information, and sets the head tilt measured in the head tilt state as second determination information. A mobile object control device characterized in that the determination information is set to .

(Additional note 3)
The mobile body control device according to supplementary note 2,
If a change in the measured inclination of the head is within a first preset range during a preset first period, the setting unit is configured to perform a change based on the measured inclination of the head. A mobile object control device, characterized in that the first determination information is set.

(Additional note 4)
The mobile body control device according to supplementary note 3,
After being set in the first determination information, the setting unit determines whether the measured change in slope is within a second preset range in a second preset period, A mobile object control device, wherein the second determination information is set based on the determined head tilt.

(Appendix 5)
The mobile body control device according to any one of Supplementary Notes 2 to 4,
The generation unit generates the movement when the measured head tilt is determined to be a state in which the head is turned upward after the head tilt is determined to be the reference head tilt state. A mobile object control device that generates operation information used to raise a body.

(Appendix 6)
(a) Measure the tilt of the head,
(b) in the setting phase, setting determination information used to determine the head inclination;
(c) in the operation phase, when operating the mobile body, generating operation information used to operate the mobile body based on the set determination information;
A mobile object control method comprising:

(Appendix 7)
The mobile body control method according to appendix 6,
In the step (b), the head tilt measured in the reference head tilt state is set as first determination information, and the head tilt measured in the head tilt state is set as first determination information. A mobile object control method characterized in that: is set as second determination information.

(Appendix 8)
The mobile body control method according to appendix 7, comprising:
In step (b), if the change in the measured inclination of the head is within a first preset range during a preset first period, the measured inclination of the head is changed. A mobile object control method characterized in that the first determination information is set based on.

(Appendix 9)
The mobile body control method according to appendix 8, comprising:
In the step (b), when the measured change in slope is within a second preset range in a second preset period after being set in the first determination information; , setting the second determination information based on the measured tilt of the head.

(Appendix 10)
The mobile body control method according to any one of Supplementary Notes 7 to 9,
In the step (c), after the head tilt is determined to be the reference head tilt state, if the measured head tilt is determined to be the head tilted state; , generating operation information used to raise the moving body.

(Appendix 11)
to the computer,
(a) obtaining the measured head tilt;
(b) in the setting phase, setting determination information used to determine the head inclination;
(c) in the operation phase, when operating the mobile body, generating operation information used to operate the mobile body based on the set determination information;
A program characterized by executing.

(Appendix 12)
The program described in Appendix 11,
In the step (b), the head tilt measured in the reference head tilt state is set as first determination information, and the head tilt measured in the head tilt state is set as first determination information. A program characterized in that the second judgment information is set.

(Appendix 13)
The program described in Appendix 12,
In step (b), if the change in the measured inclination of the head is within a first preset range during a preset first period, the measured inclination of the head is changed. A program characterized in that the first determination information is set based on.

(Appendix 14)
The program described in Appendix 13,
In the step (b), when the measured change in slope is within a second preset range in a second preset period after being set in the first determination information; , a program characterized in that the second determination information is set based on the measured head inclination.

(Additional note 15)
The program described in any one of Supplementary Notes 12 to 14,
In the step (c), after the head tilt is determined to be the reference head tilt state, if the measured head tilt is determined to be the head tilted state; , a program that generates operation information used to raise the moving object.

As described above, according to the present invention, it is possible to easily operate a moving body. INDUSTRIAL APPLICATION This invention is useful in the field|area where it is necessary to operate a moving body by the operation|movement of an operator.

10 Mobile object control device 11 Measurement section 12 Setting section 13 Generation section 14 Communication section 15 Display section 16 Control section 20 Moving object 21 Communication section 22 Imaging section 23 Position measurement section 24 Control section 25 Thrust generation section 30 System 110 Computer 111 CPU
112 Main memory 113 Storage device 114 Input interface 115 Display controller 116 Data reader/writer 117 Communication interface 118 Input device 119 Display device 120 Recording medium 121 Bus

Claims (12)

a measuring means for measuring head inclination;
a setting means for setting determination information used to determine the head inclination in the setting phase;
generating means for generating operation information used to operate the mobile body based on the set determination information when the mobile body is operated in the operation phase;
The setting means sets the head tilt measured in the reference head tilt state as first determination information, and sets the head tilt measured in the head-up state as second determination information. Set in the judgment information of
A mobile object control device characterized by: The mobile body control device according to claim 1 ,
If the change in the measured inclination of the head is within a first preset range during a preset first period, the setting means may be configured to change the setting based on the measured inclination of the head. A mobile object control device, characterized in that the first determination information is set. The mobile body control device according to claim 2 ,
The setting means, after being set in the first determination information, determines whether the measured change in the slope is within a second preset range in a second preset period, when the change in the slope is within a second preset range. A mobile object control device, wherein the second determination information is set based on the determined head tilt. The mobile body control device according to any one of claims 1 to 3 ,
The generating means is configured to generate the movement when the measured head tilt is determined to be a state in which the head is turned upward after the head tilt is determined to be the reference head tilt state. A mobile object control device that generates operation information used to raise a body. (a) Measure the tilt of the head,
(b) In the setting phase, determination information used to determine the head inclination is set, and (c) In the operation phase, when operating the mobile object, the mobile object is determined based on the set determination information. generate operation information used to operate the
In (b) above, the head tilt measured in the reference head tilted state is set as first determination information, and the head tilt measured in the head tilted state is set as the first determination information. Set in the second judgment information,
A mobile object control method characterized by: The mobile body control method according to claim 5 ,
In (b) above, if the change in the measured inclination of the head is within the first preset range during the first preset period, the change is based on the measured inclination of the head. A method for controlling a mobile object, characterized in that the first determination information is set using the following steps. The mobile body control method according to claim 6 ,
In (b) above, if the change in the measured slope is within the second preset range in the second preset period after being set in the first determination information, then the A moving object control method, characterized in that the second determination information is set based on the measured tilt of the head. The mobile body control method according to any one of claims 5 to 7 ,
In (c) above, after the head tilt is determined to be the reference head tilt state, if the measured head tilt is determined to be a state in which the head is turned upward; A moving object control method characterized by generating operation information used to raise the moving object. to the computer,
(a) obtaining the measured head tilt;
(b) in the setting phase, setting determination information used to determine the head inclination;
(c) in the operation phase, when operating the mobile body, generate operation information used to operate the mobile body based on the set determination information ;
In the step (b), the head tilt measured in the reference head tilt state is set as first determination information, and the head tilt measured in the head tilt state is set as first determination information. is set as the second judgment information,
A program characterized by: The program according to claim 9 ,
In step (b), if the change in the measured inclination of the head is within a first preset range during a preset first period, the measured inclination of the head is changed. A program characterized in that the first determination information is set based on. The program according to claim 10 ,
In the step (b), when the measured change in slope is within a second preset range in a second preset period after being set in the first determination information; , a program characterized in that the second determination information is set based on the measured head inclination. The program according to any one of claims 9 to 11 ,
In the step (c), after the head tilt is determined to be the reference head tilt state, if the measured head tilt is determined to be the head tilted state; , a program that generates operation information used to raise the moving object.

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