JP7396639B2 - 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. In addition, as unmanned aerial vehicles have become easier to purchase and the number of users has increased, such requests have further increased.

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, the operator can operate the mobile object to move forward by tilting his or her body.

International Publication No. 2018/020853

However, in the mobile object control system disclosed in Patent Document 1, although the operator can move the unmanned aircraft forward by bending forward, the unmanned aircraft cannot be moved forward easily. The reason is that even though the operator intends to bend forward, due to the influence of the operator's physique, posture, personality, etc., the operator does not actually bend forward appropriately.

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 the inclination of the body;
a setting means for setting determination information used to determine the body inclination in the setting phase;
In an operation phase, generating means determines the inclination of the body based on the set determination information, and generates operation information used to operate the mobile body according to the determined inclination of the body;
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 inclination of the body,
(b) in the setting phase, setting determination information used to determine the inclination of the body;
(c) In the operation phase, determine the inclination of the body based on the set determination information, and generate operation information used to operate the mobile object according to the determined inclination of the body. Features.

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 body inclination;
(b) in the setting phase, setting determination information used to determine the inclination of the body;
(c) In the operation phase, determining the inclination of the body based on the set determination information, and generating operation information used to operate the mobile object according to the determined inclination of the body. and,
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 method of operating a moving body. FIG. 8 is a diagram for explaining posture determination using an inclination angle. FIG. 9 is a diagram for explaining an example of the operation of the mobile object control device in the setting phase. FIG. 10 is a diagram for explaining an example of the operation of the mobile object control device in the operation phase. FIG. 11 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 the operator attaches the mobile body control device 10 and the measurement unit 11 and moves the mobile body 20 forward.

In order for the operator to intuitively control the forward movement of the moving body 20, the operator first takes a standard posture, and then bends forward (bends at the waist and faces forward). It is preferable to take as much as possible.

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 body faces forward/a posture in which the body is not tilted), as shown in scene 1 in Figure 1. This is an attitude like this. When the operator takes the reference posture, the mobile object control device 10 determines that the body is in the reference state (the body is not tilted).

Forward bending (a posture of bending the waist and facing forward; hereinafter referred to as a forward bending posture) is, for example, a posture in which the operator leans his or her body forward from the reference posture, as shown in scene 2 of FIG. When the operator bends forward, the mobile object control device 10 determines that the upper half of the body is tilted forward with respect to the reference line.

In addition, if the determination result representing the forward-bent posture is obtained after obtaining the determination result representing the reference posture, the mobile object control device 10 determines that the operator has performed an action (operation) for moving the mobile object 20 forward. The determination is made and an instruction indicating forward movement is transmitted to the moving body 20. As a result, the mobile object 20 moves forward based on the received instruction.

However, the reference posture, the forward bending posture, and the time required to transition from the reference posture to the forward bending posture vary depending on the physique, posture, personality, etc. of the operator, so the operation of moving the moving body 20 forward depends on the operator. may not be easy to do.

Therefore, the inventor measured in advance the physique/posture/change in movement from the standard posture to the forward bending posture for each operator, and reflected the measured results in the determination of the mobile body control device 10, thereby improving the mobile body 20. I noticed that it was easy to move the machine forward. Hereinafter, the first embodiment will be described.

(First embodiment)
An embodiment of the first invention will be described with reference to FIGS. 2 to 6.

[Device configuration]
The configuration of the mobile object control device 10 in the first embodiment will be described 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 body. In the setting phase, the setting unit 12 sets determination information used to determine the inclination of the body. In the operation phase, the generation unit 13 determines the inclination of the body based on the set determination information, and generates operation information used to operate the mobile object 20 according to the determined inclination of the body.

In this way, in the first embodiment, the determination information of the mobile object control device 10 is adjusted according to the body inclination of each operator, so that the operation of the mobile object 20 such as an unmanned aerial vehicle is facilitated. I can do it.

[System configuration]
Next, the configuration of the mobile object control device 10 in the first 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 the first embodiment includes a moving body 20 in addition to the moving body control device 10. The mobile body control device 10 includes a communication section 14 , a display section 15 , a control section 16 , and a measurement section 17 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.

In the example of FIG. 3, it is assumed that the measuring section 11 is attached to the upper body of the operator other than the head, and the measuring section 17 is mounted on the mobile object control device 10. In the example of FIG. 3, the measurement unit 11 measures the inclination of the body, and the measurement unit 17 measures the inclination of the head. You can also measure it.

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 inclination of the operator's body. Specifically, the measurement unit 11 generates body inclination information representing the inclination of the operator's body based on the measurement result measured by the sensor, and transmits it to the control unit 16. Body inclination information, for example, the inclination angle (angle) of the body with respect to a reference line, etc. can be considered. Note that the sensors included in the measurement unit 11 include, for example, an angular velocity sensor and an acceleration sensor. Furthermore, the measurement unit 11 can be worn on the operator's shoulder, chest, or the like.

The measurement unit 17 measures the tilt of the operator's head. Specifically, the measurement unit 17 generates head 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. The head tilt information may be, for example, the tilt angle (angle) of the head when moving the head up, down, left or right, with the reference posture being anything other than the head. Further, the measuring section 17 may be used instead of the measuring section 11 as described above.

Note that the measurement unit 17 is installed in, for example, a head-mounted display, a VR headset, a smartphone, or the like. The sensors included in the measurement unit 17 include, for example, an angular velocity sensor and an acceleration sensor.

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 inclination of the operator's body and a change in the inclination. When the setting unit 12 detects that the body inclination has changed from the reference posture (reference body inclination state) to the forward-bent posture using body inclination information representing the measured body inclination, the setting unit 12 sets the reference posture. The first determination information used to determine whether the posture is bent forward is set, and the second determination information used to determine whether the posture is bent forward is then set.

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 body inclination information measured by the measuring unit 11. Further, as described above, when only the measuring section 17 is used instead of the measuring section 11, head tilt information is acquired and used as body tilt information.

As shown in FIG. 4, for each preset period TS, the setting unit 12 uses the body inclination information acquired in the period TS to determine a change in the body angle representing a change from the standard posture to the forward-bent posture. Detect. In the example of FIG. 4, a change from the reference posture to the forward bent posture (change in body angle) is detected during period T1. Detection of a change (change in body angle) from a standard posture to a forward-bent posture can be performed, for example, by determining in advance the angle change amount α (angle change amount per unit time) calculated based on the acquired body angle. This is to detect that the amount of change in the body angle becomes equal to or greater than a threshold value S1 for detecting the amount of change in the body angle, and that the period during which the amount of change in the body angle is equal to or greater than the threshold value S1 continues for a period TS or longer.

Subsequently, the setting unit 12 uses the body angle acquired in the period T2 (reference posture detection period: first period) before the period T1 to set the change in the body 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 body angle h1 (first determination information) in the operator's reference posture is determined based on the body angle in period T2. Calculate. For example, the setting unit 12 calculates the average of the body angles during the period T2.

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

Note that if the change in the body angle during the period T2 exceeds the first range, it is not stored as the body 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 body angle acquired in the period T3 (forward bending posture detection period: second period) after the period T1 to set the change in the body angle in the period T3 in advance. If the change is within a predetermined range (angular range that can be determined as a forward-bending posture: second range), the body angle h2 (second range) in the forward-bending posture of the operator is determined based on the body angle in period T3. judgment information). For example, the setting unit 12 calculates the average of the body angles during the period T3.

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

Note that if the change in the body angle during the period T3 exceeds the second range, it is not stored as the body angle h2 in the forward bending 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 a storage device provided outside the mobile body control device 10.

In this way, by automatically setting the angle h1 corresponding to the standard posture and the angle h2 corresponding to the forward-bent posture for each operator, it is possible for the operator to operate in an easy-to-use and comfortable posture. Become.

Further, the angles h1 and h2 described above may be set after the operator is instructed to perform a forward operation using, for example, the display unit 15. By doing so, the operator operates while being aware of the reference posture and the bent forward posture, so that the angle h1 corresponding to the reference posture and the angle h2 corresponding to the bent forward posture can be set with higher accuracy.

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, the generation unit 13 generates a movement when the measured body inclination is determined to be a forward bent posture after the body inclination is determined to be a reference posture (a reference body inclination state). Operation information used to move the body 20 forward is generated.

When determining the reference posture, the generation unit 13 acquires body inclination information from the measurement unit 11. If the body inclination information is within a predetermined range (h1±Δh1) including a preset body angle h1 for a certain period (for example, about period T1), the generation unit 13 determines that the operator is currently in the reference posture. It is determined that the

When determining the forward bent posture, the generation unit 13 acquires body inclination information from the measurement unit 11. The generation unit 13 determines that the operator is currently bending forward when the body inclination information is within a predetermined range (h2±Δh2) including a preset body angle h2 for a certain period of time (for example, about period T3). It is determined that it is taken.

When the forward bending posture is detected after the reference posture, the generation unit 13 generates operation information assuming that the operator has performed an action (operation) to move the mobile body 20 forward. 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 captures an image 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 imaging 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 25 is controlled by the control section 24 based on control information.

[Device operation]
Next, the operation of the mobile object control device in the first 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 the first 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 the first 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 body tilt information (or head tilt information) measured by the measuring unit 11 (or measuring unit 17) (step A1). Next, for each preset period TS, the setting unit 12 detects a change in the body angle indicating a change from the standard posture to a forward-bent posture, using the body inclination information acquired during the period TS ( Step A2).

In step A2, the detection of the change (change in body angle) from the standard posture to the forward bent posture is performed using, for example, an angle change amount α (angle change amount per unit time) calculated based on the acquired body angle. ) becomes equal to or greater than a preset threshold value S1 for detecting the amount of change in the body angle, and the period in which the value is equal to or greater than the threshold value S1 continues for a period TS or longer.

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

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

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

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

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

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

By repeating the operations from steps A1 to A6 described above, body inclination information corresponding to the reference posture and the forward bending posture is automatically stored in the storage section.

Furthermore, after the operator is instructed to move forward, for example, after the operation is instructed using the display unit 15, the above-mentioned settings may be made. By doing so, the operator operates with the reference posture and the bent forward posture in mind, so that the angle h1 corresponding to the reference posture and the angle h2 corresponding to the bent forward posture can be set with higher accuracy.

Explain the operational phase.
As shown in FIG. 6, when performing an operation (operation) to move the moving body 20 forward, the generation unit 13 generates operation information used to operate the moving body 20 based on the set determination information.

The generation unit 13 first determines whether the body inclination is a reference posture (a reference body inclination state) (step B1). When determining the reference posture, specifically, in step B1, the generation unit 13 acquires body inclination 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 body inclination information is within a predetermined range (h1±Δh1) including the preset body angle h1 during the period T2. It is determined that there is.

Next, after determining the reference posture, the generation unit 13 determines whether the measured body inclination is a forward-bent posture (step B2). Specifically, in step B2, when determining the forward bent posture, the generation unit 13 acquires body inclination information from the measurement unit 11. Subsequently, in step B2, the generation unit 13 determines that the operator is currently bending forward if the body inclination information is within a predetermined range (h2±Δh2) including the preset body angle h2 during the period T3. It is determined that the

Next, when the forward bending posture is detected after the reference posture, the generation unit 13 generates operation information assuming that the operator has performed an action (operation) to move the mobile body 20 forward (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, in step B4, the control unit 16 first obtains operation information from the generation unit 13. Subsequently, in step B4, the control unit 16 generates control information based on the operation information. Subsequently, in step B4, the control unit 16 uses 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 has taken the forward posture after assuming the reference posture by executing the processes from steps B1 to B5 described above.

[Effects of the first embodiment]
As described above, according to the first embodiment, since the mobile object control device 10 is adjusted according to the body inclination 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 forward-bent posture for each operator, the operator can operate in a posture that is easy and comfortable for the operator.

[program]
The program in the first 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 in the first 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 the first 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.

(Second embodiment)
Next, a second embodiment of the present invention will be described with reference to FIGS. 7 to 11.

In the first embodiment, in order to move the mobile body 20 forward, it has been described that the mobile body 20 takes a forward bending posture after taking a reference posture. However, in addition to moving forward, the operation of the moving body 20 includes an operation of turning the moving body 20 to the right, an operation of turning the moving body 20 to the left, and the like.

Intuitively, the operator can rotate the moving body 20 to the right by taking a standard posture and then bending forward to tilt the body to the right (hereinafter referred to as the forward-bent right-facing posture). This is a suitable action (operation). In addition, a suitable operation (operation) for turning the moving body 20 to the left is to take a posture of bending forward and tilting the body to the left after taking the reference posture (hereinafter referred to as the forward bending left posture). be.

FIG. 7 is a diagram for explaining an example of a method of operating a moving body. As shown in scene 1 of FIG. 7, when the operator bends forward from the reference posture and turns to the right, the mobile object control device 10 detects that the operator is bent forward and his body is tilted to the right with respect to the reference line. It is determined that the state is As shown in scene 2 of FIG. 7, when the operator bends forward and faces left from the reference posture, the mobile object control device 10 detects that the operator is bent forward and his body is tilted to the left with respect to the reference line. It is determined that the state is

Further, when the mobile object control device 10 obtains a determination result representing a forward-bent right-facing posture after obtaining a determination result representing a reference posture, the operator performs an operation (operation) for turning the mobile object 20 to the right. It is determined that the vehicle has made a right turn, and an instruction indicating a right turn is transmitted to the moving body 20. As a result, the moving body 20 turns itself to the right based on the received instruction (right turn (solid arrow) in FIG. 7).

On the other hand, when the mobile object control device 10 obtains the determination result representing the standard posture and then obtains the determination result representing the forward-bent, left-facing posture, the operator performs an action (operation) for turning the mobile object 20 to the left. It is determined that the vehicle has made a left turn, and an instruction indicating a left turn is transmitted to the moving body 20. As a result, the mobile body 20 turns itself to the left based on the received instruction (left turn (dashed line arrow) in FIG. 7).

However, the standard posture, forward bending posture, forward bending to the right posture, forward bending to the left posture, and furthermore, the time it takes to transition from the standard posture to the forward bending posture, forward bending to the right posture, or forward bending to the left posture, etc., depend on the operator's physique and It varies depending on your posture, personality, etc. Therefore, even if the operator intends to move the moving body 20 forward, if the operator's body is tilted to the left or right, the moving body 20 may turn to the right or turn to the left. Conversely, even if the user intends to turn the moving object 20 to the right or left, the moving object 20 may end up moving forward. Therefore, depending on the operator, it may not be possible to easily move the moving body 20 forward, or to turn to the right or to the left.

Therefore, in the second embodiment, in addition to the standard posture, forward bending posture, and movement change from the standard posture to the forward bending posture for each operator, the forward bending right posture and the forward bending right posture from the standard posture to the forward bending right posture are performed. A change in motion, a forward-bent left-facing posture, and a change in motion from a reference posture to a forward-bent left-facing posture is measured in advance, and the measured results are reflected in the determination by the mobile body control device 10. Hereinafter, the second embodiment will be described.

[Device configuration]
The configuration of the mobile object control device 10 in the second embodiment is the same as the configuration described in the first embodiment.

In the second embodiment, the measurement unit 11 measures the inclination of the body. In the setting phase, the setting unit 12 sets determination information used to determine the forward-bending right-facing posture or the forward-bending left-facing posture in addition to determining the forward-bending posture. In the operation phase, the generation unit 13 determines the inclination of the body based on the set determination information, and generates operation information used to operate the mobile object 20 according to the determined inclination of the body.

In this way, in the second embodiment, the determination information of the mobile object control device 10 is adjusted according to the body inclination of each operator, so that the operation of the mobile object 20 such as an unmanned aerial vehicle is facilitated. I can do it.

[System configuration]
The configuration of a system including the mobile object control device 10 in the second embodiment is the same as the configuration described in the first embodiment.

A mobile object control device in a second embodiment will be described.
Descriptions of the measurement unit 11, communication unit 14, display unit 15, and control unit 16 included in the mobile body control device 10 of the second embodiment are omitted because they have been described in the first embodiment. Furthermore, descriptions of the communication section 21, the imaging section 22, the position measurement section 23, the control section 24, and the thrust generation section 25 included in the moving body 20 are also omitted since they were explained in the first embodiment.

In the setting phase, the setting unit 12 in the second embodiment uses body inclination information representing the measured body inclination to change the inclination of the body from a reference posture to a forward-bent right-facing posture or a forward-bent left-facing posture. If this is detected, the third determination information used to determine whether the posture is bent forward to the right, and the fourth determination information used to determine whether the posture is bent forward to the left. Set.

This will be explained in detail using FIG. 8. FIG. 8 is a diagram for explaining posture determination using an inclination angle. The setting unit 12 acquires body inclination information measured by the measuring unit 11. Further, as described above, when only the measuring section 17 is used instead of the measuring section 11, head tilt information is acquired and used as body tilt information.

As shown in FIG. 8, the setting unit 12 uses the body inclination information acquired in the period TS for each preset period TS to determine the body angle representing the change from the standard posture to the forward-bent right-facing posture. A change in the angle of the body indicating a change from the standard posture to a forward-bent, left-facing posture is detected.

In the example of FIG. 8, a change (change in body angle) from the reference posture to a forward-bending right-facing posture (or a forward-bent left-facing posture) is detected in period T1. Detection of a change (change in body angle) from the standard posture to a forward-bent right-facing posture (or a forward-bent left-facing posture) is performed using, for example, the angle change amount β (per unit time) calculated based on the acquired body angle. This is to detect that the amount of change in the angle) has become equal to or greater than a preset threshold value S2 for detecting the amount of change in the angle of the body, and that the period in which the amount of change in the angle of the body has been equal to or greater than the threshold value S2 has continued for a period of time TS or more.

Next, the setting unit 2 uses the body angle acquired in the period T2 (reference posture detection period: first period) before the period T1 to set the change in the body 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 body angle h11 (first determination information) in the operator's reference posture is determined based on the body angle in the period T2. Calculate. For example, the setting unit 12 calculates the average of the body angles during the period T2.

Thereafter, the setting unit 2 stores the calculated body angle h11 in a storage unit (not shown) as the body angle in the operator's reference posture. Note that the body angle h11 may be within a predetermined range (for example, h11±Δh11) that includes the body angle h11.

Note that if the change in the body angle during the period T2 exceeds a predetermined range, it is not stored as the body angle h11 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 body angle acquired in the period Ta (forward bending posture detection period (or forward bending left facing posture): third period) after the period T1 to determine the body angle in the period Ta. If the change in is within a preset predetermined range (angle range that can be determined as forward bending right posture (or forward bending left posture): third range), based on the body angle in period Ta, The body angle h22 (third determination information) in the forward-bending right-facing posture (or forward-bent left-facing posture) of the operator is calculated. For example, the setting unit 12 calculates the average of the body angles during the period T3.

Thereafter, the setting unit 12 stores the calculated body angle h22 in the storage unit as the body angle in the forward-bent right-facing posture (or forward-bent left-facing posture) of the operator. Note that the body angle h22 may be within a predetermined range (for example, h22±Δh22) that includes the body angle h22.

Note that if the change in the body angle during the period Ta exceeds the third range, it is not stored as the body angle h22 in the forward bending rightward posture (or forward bending leftward posture).

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

Subsequently, the setting unit 12 detects a change (change in body angle) from the forward-bent right-facing posture (or forward-bent left-facing posture) to the forward-bent left-facing posture (or forward-bent right-facing posture) during period Tb. The detection of a change (change in body angle) from a forward-bending right-facing posture (or a forward-bent left-facing posture) to a forward-bent left-facing posture (or a forward bending right-facing posture) is, for example, calculated based on the acquired body angle. The amount of change in angle γ (the amount of change in angle per unit time) becomes equal to or greater than a preset threshold value S3 for detecting the amount of change in body angle, and the period in which the amount of change in angle is equal to or greater than threshold S3 continues for a period of time TS or more. It is to detect that.

Subsequently, the setting unit 2 uses the body angle acquired in the period Tc (forward bending left-facing posture (or forward bending right-facing posture): fourth period) after the period Tb to determine the body angle in the period Tc. If the change is within a predetermined range set in advance (angle range that can be determined as forward bending left-facing posture (or forward bending right-facing posture): fourth range), the operation is performed based on the body angle in period Tc. The body angle h33 (fourth determination information) of the person in the forward-bending left-facing posture (or the forward-bending right-facing posture) is calculated. For example, the setting unit 12 calculates the average of the body angles during the period Tc.

Thereafter, the setting unit 2 stores the calculated body angle h33 in the storage unit as the body angle in the forward-bent left-facing posture (or forward-bent right-facing posture) of the operator. Note that the body angle h33 may be within a predetermined range (for example, h33±Δh33) that includes the body angle h33.

Note that if the change in the body angle during the period Tc exceeds the fourth range, it is not stored as the body angle h33 in the reference posture.

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

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

In this way, by automatically setting the angle h22 corresponding to the forward-bent right-facing posture and the angle h33 corresponding to the forward-bent left-facing posture for each operator, the operator can perform operations in an easy-to-use and comfortable posture. You will be able to do this.

Furthermore, after the operator is instructed to perform an operation to turn right or turn left, for example, using the display unit 15 or the like, the operator is instructed to perform an operation to turn right or turn left. h33 may be set. By doing so, the operator operates while keeping in mind the reference posture, the forward bent right-facing posture, and the forward bent left-facing posture, so the settings of the angle h22 corresponding to the forward bent right-facing posture and the angle h33 corresponding to the forward bent left-facing posture are adjusted. , even more precisely.

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 body inclination is determined to be a forward bending right-facing posture (or a forward bending left-facing posture), the generation unit 13 converts the measured body inclination into a reference posture (a reference body tilt state). ), and then when it is determined that the moving body 20 is in a forward-bent right-facing posture (or a forward-bent left-facing posture), operation information used for turning the moving body 20 to the right (or left turning) is generated.

When determining a forward-bent, right-facing posture, the generation unit 13 acquires body inclination information from the measurement unit 11 . If the body inclination information is within a predetermined range (h22±Δh22) including a preset body angle h22 during the period Ta, the generation unit 13 determines that the operator is currently bending forward and facing right.

When determining a forward-bent, left-facing posture, the generation unit 13 acquires body inclination information from the measurement unit 11 . If the body inclination information is within a predetermined range (h33±Δh33) including a preset body angle h33 during the period Tc, the generation unit 13 determines that the operator is currently bending forward and facing left.

When the generation unit 13 detects the forward bent rightward posture after the reference posture, the generation unit 13 generates operation information on the assumption that the operator has performed an action (operation) of turning the moving body 20 to the right. On the other hand, when the generation unit 13 detects the forward bent leftward posture after the reference posture, the generation unit 13 generates operation information assuming that the operator has performed an action (operation) of turning the mobile body 20 to the left. The generation unit 13 then transmits the operation information to the control unit 16.

[Device operation]
Next, the operation of the mobile object control device according to the second embodiment of the present invention will be explained using FIGS. 9 and 10. FIG. 9 is a diagram for explaining an example of the operation of the mobile object control device in the setting phase. FIG. 10 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 8 as appropriate. Furthermore, in the second embodiment, a moving object control method is implemented by operating a moving object control device. Therefore, the explanation of the moving object control method in the second embodiment is replaced with the following explanation of the operation of the moving object control device.

Describe the configuration phase.
As shown in FIG. 9, first, the setting unit 12 acquires body tilt information (or head tilt information) measured by the measuring unit 11 (or measuring unit 17) (step C1). Next, for each preset period TS, the setting unit 12 uses the body inclination information acquired in the period TS to display a body that indicates a change from the standard posture to a forward-bent right-facing posture (or a forward-bent left-facing posture). A change in the angle of is detected (step C2).

In step C2, the detection of a change (change in body angle) from the standard posture to a forward-bent right-facing posture (or forward-bent left-facing posture) is performed using, for example, an angle change amount β calculated based on the acquired body angle. (Amount of change in angle per unit time) becomes equal to or greater than a preset threshold value S2 for detecting the amount of change in body angle, and it is detected that the period during which the amount of change in angle of the body is equal to or greater than threshold S2 continues for a period of time TS or more. That's true.

Next, using the body angle acquired in the period T2 before the period T1, the setting unit 12 determines, if the change in the body angle in the period T2 is within a preset first range, Based on the body angle in the period T2, the body angle h11 in the standard posture of the operator is calculated (step C3). For example, the setting unit 12 calculates the average of the body angles during the period T2.

Thereafter, the setting unit 12 stores the calculated body angle h11 in the storage unit (not shown) as the body angle h11 in the standard posture of the operator (step C4). Note that the body angle h11 may be within a predetermined range (h11±Δh11) including the body angle h11.

Note that if the change in the body angle during the period T2 exceeds the first range, it is not stored as the body angle h11 in the reference posture.

Next, using the body angle acquired in the period Ta after the period T1, the setting unit 12 determines, if the change in the body angle in the period Ta is within a preset third range, Based on the body angle in the period Ta, the body angle h22 in the forward bending rightward posture (or forward bending leftward posture) of the operator is calculated (step C5). For example, the setting unit 12 calculates the average of the body angles during the period Ta.

Thereafter, the setting unit 12 stores the calculated body angle h22 in the storage unit as the body angle h22 in the forward bending posture of the operator (step C6). Note that the body angle h22 may be within a predetermined range (h22±Δh22) including the body angle h22.

Note that if the change in the body angle during the period Ta exceeds the third range, it is not stored as the body angle h22 in the forward bending rightward posture (or forward bending leftward posture).

Next, the setting unit 12 detects a change (change in body angle) from the forward bending right posture (or forward bending left posture) to the forward bending left posture (or forward bending right posture) during the period Tb (step C7 ).

In step C7, the detection of the change (change in body angle) from the forward bending right posture (or forward bending left posture) to the forward bending left posture (or forward bending right posture) is performed based on the acquired body angle, for example. The amount of change in angle γ (the amount of change in angle per unit time) calculated based on the above is equal to or greater than a preset threshold value S3 for detecting the amount of change in body angle, and the period during which the amount of change in angle is equal to or greater than threshold S3 is This is to detect that the period has continued for a period longer than TS.

Next, using the body angle acquired in the period Tc after the period Tb, the setting unit 2 determines, if the change in the body angle in the period Tc is within a preset fourth range, Based on the body angle in the period Tc, the body angle h33 in the forward-bent left-facing posture (or forward-bent right-facing posture) of the operator is calculated (step C8). For example, the setting unit 12 calculates the average of the body angles during the period Tc.

Thereafter, the setting unit 2 stores the calculated body angle h33 in the storage unit as the body angle in the forward-bent left-facing posture (or forward-bent right-facing posture) of the operator (step C9). Note that the body angle h33 may be within a predetermined range (for example, h33±Δh33) that includes the body angle h33.

Note that if the change in the body angle during the period Tc exceeds the fourth range, it is not stored as the body angle h33 in the reference posture.

By repeating the operations from steps C1 to C9 described above, body inclination information corresponding to the reference posture, the forward-bent left-facing posture, and the forward-bent right-facing posture is automatically stored in the storage section.

Explain the operational phase.
As shown in FIG. 10, when performing an operation (operation) to move the moving body 20 forward, the generation unit 13 generates operation information used to operate the moving body 20 based on the set determination information.

The generation unit 13 first determines whether or not the body inclination is a reference posture (a reference body inclination state) (step D1). When determining the reference posture, specifically, in step D1, the generation unit 13 acquires body inclination information from the measurement unit 11. Subsequently, in step D1, the generation unit 13 determines that the operator is currently in the reference posture if the body inclination information is within a predetermined range (h11±Δh11) including the preset body angle h11 during the period T2. It is determined that there is.

Next, after determining the reference posture, the generation unit 13 determines whether the measured body inclination is a forward-bent right-facing posture (or a forward-bent left-facing posture) (step D2). Specifically, in step D<b>2 , when determining the forward bending rightward posture (or forward bending leftward posture), the generation unit 13 acquires body inclination information from the measurement unit 11 . Subsequently, in step D2, the generation unit 13 determines that if the body inclination information is within a predetermined range (h22±Δh22) including the preset body angle h22 during the period Ta, the operator is currently bent forward to the right ( It is determined that the patient is in a forward-bent, left-facing posture).

Next, when a forward-bending right-facing posture (or a forward-bent left-facing posture) is detected after the reference posture, the generation unit 13 generates an operation (operation) in which the operator turns the moving body 20 to the right (or to the left). Then, operation information is generated (step D3). 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 D4). Specifically, in step D4, the control unit 16 first obtains operation information from the generation unit 13. Subsequently, in step D4, the control unit 16 generates control information based on the operation information. Subsequently, in step D4, the control unit 16 uses the communication unit 14 to transmit the generated control information to the communication unit 21 of the mobile body 20 (step D5).

It is possible to detect that the operator has taken the forward-bent right-facing posture (or the forward-bent left-facing posture) after taking the reference posture by executing the processes from steps D1 to D5 described above.

Further, the above-mentioned settings may be made after the operator is instructed to perform a right turn and a left turn, for example, using the display unit 15 or the like. By doing so, the angle h11 corresponding to the reference posture and the angle h22 corresponding to the forward bent posture can be set with higher precision.

[Effects of second embodiment]
As described above, according to the second embodiment, since the mobile object control device 10 is adjusted according to the body inclination of each operator, the operation of the mobile object 20 such as an unmanned aerial vehicle can be facilitated. can. In other words, by automatically setting the angle h11 corresponding to the reference posture and the angle h22 (or h33) corresponding to the forward bending rightward posture (or forward bending leftward posture) for each operator, it is easy to use and easy for the operator. You will be able to operate it without any posture.

[program]
The program in the second embodiment of the present invention may be any program that causes a computer to execute steps C1 to C9 and steps D1 to D5 shown in FIGS. 9 and 10. By installing and executing this program on a computer, the operating moving object control device and operating moving object control method in the second 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 the second 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 the programs in the first and second embodiments will be described using FIG. 11. FIG. 11 is a block diagram showing an example of a computer that implements the mobile object control device in the first and second embodiments of the present invention.

As shown in FIG. 11, 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 loads the programs (codes) according to the first and second embodiments stored in the storage device 113 into 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 programs in the first and second embodiments are provided stored in a computer-readable recording medium 120. Note that the programs in the first and second embodiments 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).

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, 17 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 (6)

A measuring means for measuring the inclination of the body;
a setting means for setting determination information used to determine the body inclination in the setting phase;
a generating means that determines the inclination of the body based on the set determination information and generates operation information used to operate the mobile object according to the determined inclination of the body in the operation phase; have,
When the setting means detects that the body inclination has changed from a reference posture to a bent forward posture using body inclination information representing the measured inclination of the body, the setting means determines whether or not the posture is in the reference posture. setting first determination information used to determine whether the posture is bent forward, and then setting second determination information used to determine whether or not the posture is bent forward;
A mobile object control device characterized by: The mobile body control device according to claim 1 ,
When the setting means detects that the inclination of the body has changed from the reference posture to the forward-bent right-facing posture or the forward-bent right-facing posture using body inclination information representing the measured body inclination, the setting means changes the forward-bent right-facing posture. A mobile object characterized in that third determination information used to determine whether the body is in the posture and fourth determination information used to determine whether the posture is bent forward and facing left are set. Control device. (a) Measure the inclination of the body,
(b) in the setting phase, setting determination information used to determine the inclination of the body;
(c) in the operation phase, determining the inclination of the body based on the set determination information, and generating operation information used to operate the mobile object according to the determined inclination of the body ;
In (b) above, when it is detected that the body inclination has changed from the standard posture to the forward bending posture using the body inclination information representing the measured body inclination, it is determined whether the body is in the standard posture or not. setting first determination information used for determination, and then setting second determination information used for determining whether or not the posture is bent forward;
A mobile object control method characterized by: The mobile body control method according to claim 3 ,
In (b) above, if it is detected that the body inclination has changed from the reference posture to the forward bending right posture or the forward bending left posture using the body inclination information representing the measured body inclination, the forward bending Movement characterized by setting third determination information used to determine whether or not the posture is facing right, and fourth determination information used to determine whether the posture is bent forward to the left. Body control method. to the computer,
(a) a step of measuring the inclination of the body;
(b) in the setting phase, setting determination information used to determine the inclination of the body;
(c) in the operation phase, determining the inclination of the body based on the set determination information, and generating operation information used to operate the mobile object according to the determined inclination of the body; , execute
In the step (b), if it is detected that the body inclination has changed from the standard posture to the forward bent posture using the body inclination information representing the measured body inclination, it is determined whether the body is in the standard posture or not. setting first determination information used to determine whether the posture is bent forward, and then setting second determination information used to determine whether the posture is bent forward;
A program characterized by: 6. The program according to claim 5 ,
In step (b), if it is detected that the body inclination has changed from the reference posture to the forward bending rightward posture or the forward bending leftward posture using the body inclination information representing the measured inclination of the body; It is characterized by setting third determination information used to determine whether or not the posture is bent forward to the right, and fourth determination information used to determine whether the posture is bent forward to the left. program to do.

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