KR101141592B1 - Mehtod and apparatus for control of a living thing - Google Patents

Abstract

PURPOSE: A living body control method and an apparatus using the same are provided to apply a visual stimulus to a living body using a visual control device. CONSTITUTION: A receiver receives location information of an living body from a position detection device(110). A determination part determines a transfer state of the living body transferred along a desired route. A creation part creates control information. A transmission part transmits the control information to a control device(180). The control device is arranged near the eyes of the living body. The control device controls a movement direction of the living body.

Description

METHOD AND APPARATUS FOR CONTROL OF A LIVING THING}

The present invention relates to a method and apparatus for manipulating a creature to follow a desired path of travel.

Research on small unmanned mobile devices has been actively conducted at home and abroad for military and academic purposes. For example, due to the increasing interest in marine and environmental industries, research on robotic fish is being activated.

However, in the case of robotic organisms such as robot fish or robot insects developed to date, due to the inherent limitations as a mechanical device, there are many technical difficulties in imitating the advantages of the organisms.

For example, in the case of a robot fish, not only the size and weight of the robot increases, but also the limitation of the use range (area and depth of use), the battery duration required for steering, and the cost of manufacturing the robot There are many problems to use such as expensive.

As a small unmanned mobile device that can be actually used easily for the same reason as above, it is necessary to approach the direction of utilizing the organism as a means of direct control.

The present invention seeks to provide an apparatus and method for controlling or directing an organism to follow a desired path of movement.

One aspect of the invention, the step of receiving the position information of the living body from the position detection means provided in the living body, determining whether the living organism is following the desired movement path based on the transmitted position information, and the determination result Generating control information for allowing the creature to move in a desired movement path based on the movement; and transmitting the generated control information to a control means provided around the eye of the creature to suggest a direction to proceed through vision; Provides a way to control creatures.

The generating of the steering information may include generating a virtual image for inducing a moving direction of the organism, and the transmitting of the steering information may include transmitting the generated virtual image to a screen. .

The generating of the steering information may include determining a viewing angle that an organism may watch, and transmitting the steering information may include transmitting the determined viewing angle information to a vision controller that restricts the viewing angle of the creature. .

The determining of whether to follow the movement path includes determining whether the manipulation information is grazing because the organism exists at a specific time or in a specific space, and generating the manipulation information when determining that grazing is possible. It may include the step of allowing the organism to freely graze.

A method of transporting an article using an organism, comprising: providing an article to an organism, and transporting the article by inducing movement of the organism by the organism manipulation method.

Injecting a living organism in a community having a property of moving to a group, and inducing the movement of the living body by inducing the movement of the living body by the method of controlling the living organisms comprising the step of inducing the movement of the population of the organisms to provide.

It provides an exploration method using a living organism comprising the step of inducing the movement of the living organism by the living organism control method, and obtaining information from a camera or sensor provided in the living organism.

Another aspect of the present invention, the receiving unit for receiving the position information of the living body from the position detection means provided in the living body, the determination unit for determining whether the living organism is following the desired movement path based on the transmitted position information, and the determination result The generation unit for generating the steering information to enable the creature to move in the desired movement path based on the transmission unit for transmitting the generated steering information to the control means for presenting the direction to proceed through the eyes provided around the creature's eyes Provides an organism control device that includes.

The generation unit may generate a virtual image for guiding a moving direction of the organism, and the transmission unit may transmit the generated virtual image to a screen provided around the eye of the creature.

The generation unit may determine a viewing angle that an organism may observe, and the transmission unit may transmit the determined viewing angle information to a vision controller for limiting the field of view of the organism.

Still another aspect of the present invention, the control means is provided around the eyes of the creature, and presenting the direction to proceed to the creature through the visual based on the control information transmitted from the control means, provided to the organism to identify and grasp the location information And positioning means for transmitting the received position information to the control means, wherein the control means determines whether the organism follows the desired movement path based on the transmitted position information, and based on the determination result, the movement desired by the organism. Provides a creature control device that generates control information that allows the user to move along a path.

The control information may include a virtual image for deriving a moving direction of the creature, and the control means may include a screen provided around the eyes of the creature.

The organism may be a marine organism, and the virtual image may be an image that simulates the marine environment.

The control information may include information about a viewing angle that an organism may observe, and the control means may include a view adjuster for limiting the view of the creature.

The view adjuster may include a liquid crystal module in which transparency is adjusted.

The visual field regulator may include a variable eye cart covering the eyes of the organism.

And a stimulus applying means provided in the organism and inducing a moving direction by applying a stimulus to the organism based on the stimulus applying information transmitted from the control means, wherein the control means is further configured based on the determination result. Stimulus application information may be generated to move to a desired movement path.

The control means may be a remote control means provided separately from the organism.

The control means may be an internal control means provided in the living organism and can be controlled by itself without external control.

It may further comprise a power supply means provided to the living body and the electric power supplied to the positioning means and the control means.

The power supply means may include a piezoelectric element that is provided in the living organism and generates electricity according to the movement of the living organism, and a rechargeable battery in which the electricity generated by the piezoelectric element is charged.

The piezoelectric element may be provided at the fin of a marine organism.

The present invention can be used to control or guide the organism to follow the desired path of movement by applying a visual stimulus to the organism using the visual control means of the organism, such as a screen or visual field adjuster.

In addition, according to the present invention it is possible to control the organism to follow the desired movement path by additionally applying the pure or reverse stimulation in accordance with the characteristics of the organism.

Furthermore, according to the present invention, it is possible to control the direction of movement remotely or by the organism itself while tracking the position of the creature in real time.

According to various applications of the present invention, it is possible to transport an article for a long time, to induce the movement of a community, or to transport the article safely and secretly, while securing the time to feed the organisms without the need for a separate power device for movement. Will be.

1 is a conceptual diagram showing a state of an organism provided with an organism control device according to an embodiment of the present invention.
FIG. 2 is a conceptual view illustrating various methods of locating a living organism provided with the living creature controlling device of FIG. 1. FIG. 3 is a view illustrating a living organism provided with a living creature controlling device according to another embodiment of the present invention. It is a conceptual diagram.
4 is a view showing the use of the screen and the liquid crystal module according to an embodiment of the present invention.
5 is a flow chart showing the flow of the method for controlling the living organism according to an embodiment of the present invention.

The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated and described in the drawings. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. In the following description of the present invention, if it is determined that detailed descriptions of related well-known technologies or functions may obscure the gist of the present invention, the detailed description thereof will be omitted.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

DETAILED DESCRIPTION Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings, and in the following description with reference to the accompanying drawings, the same or corresponding components will be given the same reference numerals and redundant description thereof will be omitted. .

1 is a conceptual diagram showing a state of an organism provided with an organism control device according to an embodiment of the present invention. FIG. 2 is a conceptual diagram exemplarily illustrating various methods of locating a living organism provided with the living creature controlling device of FIG. 1.

Embodiments of the present invention can provide an apparatus and method for controlling or directing an organism to follow a desired movement path by applying an appropriate stimulus while tracking the position of the organism using a navigation device. Referring to FIG. 2, the movement path may be, for example, an optimum path P connecting the point A to the point B, and as shown, the path may have a constant value or range. Following a travel path may include moving to a desired destination. Further, the desired movement path may be a value input in advance and may be a value that is elastically designated according to a situation.

The apparatus for controlling a living organism according to the embodiment of the present invention includes a position detecting means 110, a control means 200, a control means 180, a stimulus applying means 120, and a power supply means 130. do. The creature 100 to be manipulated will generally be an animal, and can be a variety of animals such as land animals or fish in the water or birds in the sky. If you use more than three territories, you can safely move. In the present embodiment, marine life, i.e., fish is exemplified, but the present invention is not limited to marine life.

The location detecting means 110 may identify or recognize the location of the organism using the navigation device. Positioning means 110 may be provided in the organism of the organism, wherein the term is provided collectively both inserted into or attached to the outside. The location detecting means 110 may transmit the identified location information to the remote control means 200. The positioning means 110 may include one or more of a GPS (GPS) 112, an inertial navigation device (INS) 114, a depth gauge 118, and a sound wave transceiver 116.

Since the applicant has described in detail the various location detecting means in Korean Patent Application No. 10-2010-0078886, detailed description of the location detecting means will be omitted here. The positioning means 110 of the present invention is not limited only to the positioning means described in the specification.

The GPS (Global Positioning System) 112 can obtain not only the position of latitude, longitude, and altitude but also accurate time with three-dimensional velocity information. In the present embodiment, the satellite navigation device 112 may be a device capable of transmitting not only the reception but also the satellite 310.

The Inertial Navigation System (INS) 114 can measure the three-dimensional movement of an organism, and can recognize positional information including the attitude, speed, or direction of movement of the creature. By the inertial navigation device 114, even when the use of the satellite navigation device 114 is difficult, for example, location information can be recognized even at a deep depth where GPS reception is difficult.

Embodiments of the present invention may include a depth gauge 118 in addition to the above navigation device. The depth gauge 118 may measure and transmit the depth. When GPS is used on the seabed, there is a depth limit, so it can be used to guide marine organisms approaching the depth below or above the limit.

Alternatively, an embodiment of the present invention may include a sound wave transceiver 116. The sound wave transceiver 116 transmits position information as sound waves. The sound wave transceiver 116 may transmit location information regardless of the depth of the organism. At this time, the sound waves generated in the sound wave transceiver 116 may be converted into radio waves by the signal conversion means 320 in the water body and transmitted to the satellite 310. Conversely, the control information converted into sound waves by the signal conversion means 320 may be received.

The various location-related devices described above may be used by selecting one or more as necessary, and may be used complementary to each other. According to an embodiment of the present invention it is possible to control the direction of movement while tracking the position of the organism in real time.

The remote control means 200 determines whether the creature follows the desired movement path based on the reception unit 210 for receiving the position information of the organism from the position detecting means 110 provided in the creature and the transmitted position information. The generator 220, a generation unit 230 for generating control information for allowing the creature to move to the desired movement path based on the determination result, and the generated control information is provided around the eyes of the creature to the direction to proceed through the vision It includes a transmitter 240 for transmitting to the control means 180 to present.

Receiving unit 210 of the remote control means receives the position information of the organism from the various position detection means 110 provided in the organism.

The determination unit 220 of the remote control means determines whether the organism follows the desired movement path based on the transmitted position information. It is possible to automatically determine whether a creature is moving within a range of a predetermined movement path that has been input in advance, or may be elastically determined according to a situation. Here, the range of the desired movement path may be determined in consideration of the location of the living thing or the moving direction of the living thing. Among the judgments, there may be a judgment as to whether the creature should be freely grazed at a specific time or a specific space by identifying the time or the location of the creature. If it is determined that the grazing time, it can be controlled to freely graze the organism.

The generation unit 230 of the remote control means generates the steering information for controlling the movement direction of the organism based on the determination result. For example, when a creature moves more than a predetermined condition (for example, a predetermined time) in an area where GPS reception is impossible, it is possible to generate steering information for controlling the movement direction of the creature in order to guide the creature beyond the limit depth. The steering information may include stimulus applying information for controlling the stimulus applying means 120 in addition to the steering information for controlling the steering means 180.

The transmitter 240 of the remote control means may transmit the steering information to the steering means 180 and the stimulus applying means 120 in the form of radio waves or sound waves similarly to the method of transmitting the position information described above.

As shown in Figures 1 and 2, in one embodiment of the present invention, the remote control means 200 is provided separately from the organism (100). The remote control means 200 may be located anywhere on land, at sea, or in the air. By the remote control means 200 it is possible to control the movement of the creature in real time wherever the creature.

3 is a view showing the appearance of the living organism control device according to another embodiment of the present invention. In another embodiment of the present invention, the control means may be an internal control means 140 provided in the organism (100). The internal control means 140 may control the organism itself without external control. Or even in this case, it may also be controlled by the remote control means 200 while transmitting and receiving from the outside. Using the internal control means 140 allows the organism to quickly follow the movement path without the need for telecommunications.

The control means 180 and the stimulus applying means 120 are provided around the eyes of the creature, but present the direction to proceed to the organism through the vision based on the control information transmitted from the control means 200.

The steering unit 180 may be a screen 180a provided around the eyes of the creature. In this case, the generation unit 230 of the remote control means generates a virtual image for guiding the movement direction of the organism, and the transmission unit 240 may transmit the generated virtual image to the screen 180a. The virtual image may be an image that simulates the environment of the habitat of the organism. For example, when the organism is a marine organism, the virtual image may be an image that simulates the marine environment.

The steering unit 180 may be a field adjuster 180b that covers a part of the eye of the creature to limit the view of the creature. The field adjuster 180b may be a liquid crystal module in which transparency is adjusted. Alternatively, the visual field adjuster 180b may be a variable eye patch covering an eye of an organism. In this case, the generation unit 230 may determine a viewing angle at which the organism may look, and the transmission unit 240 may transmit the determined viewing angle information to the viewing controller 180b.

4 is a view showing the use of the screen and the liquid crystal module according to an embodiment of the present invention. 4A to 4D illustrate virtual images formed on a screen. Marine life modifies its direction of movement, avoiding the walls virtually formed on the screen. Although not shown in the drawings, it may be possible to display an image of the food preferred by marine organisms. It is also possible to display an image that can guide marine life in the vertical direction.

4E to 4H show the liquid crystal module covering the field of view of marine life. Marine organisms modify their direction of movement in a direction that appears transparent. According to an exemplary embodiment of the present invention, various visual stimuli may be applied to a living organism by using a control means such as a screen or a visual field adjuster to control or guide the living creature to follow a desired movement path.

Stimulus applying means 120 induces the movement direction of the organism based on the steering information (that is, the steering information including the stimulus applying information) transmitted from the control means 200. Here, the stimulus applying unit 120 is used to mean a device for applying a stimulus other than the visual stimulus.

The stimulus applying unit 120 may include a net stimulus applying device 122 for applying a stimulus preferred by the organism. In the case of an organism that is sensitive to hearing or vibration, the net stimulation applying device 122 may be a device that applies an acoustic stimulus around the ear of the organism. In addition, a variety of stimulus applying device for a variety of senses, such as smell, touch, chemical sense can be used.

The stimulus applying unit 120 may include a reverse stimulus applying device 124 for applying a stimulus to which the organism is reluctant. For example, the reverse stimulus applying device 124 may be a device for applying an electric shock or pressure when the organism deviates from the desired movement path as a result of the determination. In addition, the reverse stimulus applying device 124 may apply a non-preferred stimulus to a variety of senses.

According to an embodiment of the present invention, by appropriately applying a stimulus to various senses in accordance with the characteristics of the organism, it is possible to control the organism to follow the desired movement path. For example, referring to FIG. 2, the stimulus applying unit 120 applies an electric shock to the organism 100a that is moving out of the movement path or to the organism 100b that is going to be below the limit depth capable of transmitting / receiving GPS. The steering information can be transmitted.

The power supply unit 130 supplies power to the positioning unit 110, the steering unit 180, the magnetic pole applying unit 120, and further, the internal control unit 140. The power supply unit 130 may be a disposable battery or a rechargeable battery. The rechargeable battery 132 may be charged by a power generator, for example, a piezoelectric element 134 provided in a living organism.

The piezoelectric element 134 may be attached to a large portion of the movement of the living organism, for example, to the tail fin of the fish to generate electricity as the living creature moves. In the present embodiment, the electricity generated from the piezoelectric element 134 is charged in the rechargeable battery 132 attached to the organism, and the electricity is supplied from the rechargeable battery 132.

According to the embodiment of the present invention, it is possible to induce the long-distance movement of the creature while supplying power to the devices provided in the creature using the movement of the creature itself.

5 is a flow chart showing the flow of the method for controlling the living organism according to an embodiment of the present invention.

According to an embodiment of the present invention, a method for manipulating a living body may include receiving location information of a living organism at a location detecting means 110 provided in the living organism (S210) and following a movement path desired by the living organism based on the transmitted location information. Determining whether it is going (S220), generating control information allowing the creature to move to a desired movement path based on the determination result (S230), and generating the generated control information around the eyes of the creature through visual It transmits to the control means for presenting the direction to proceed (S240). Hereinafter, the steps will be described in detail, but the descriptions of the devices that have already been described can be omitted.

In step S210 of transmitting the location information, the location information of the living organism may be recognized by the satellite navigation device 112 or the inertial navigation device 114. The location information is transmitted to the control means and used as judgment data to adjust the direction of movement. At this time, the position information including at least one of the posture or the speed of the creature as well as the position can be recognized. In the step of transmitting the location information (S210), the depth may be recognized by the depth gauge 118, and information about the recognized depth may be transmitted. Alternatively, location information may be transmitted by generating sound waves in the sound wave transceiver 116.

In step S220, it is determined whether the creature is following the desired movement path based on the position information transmitted from the positioning device in the control unit 140 or 200. In the determining step (S220) it may be automatically determined whether the organism is moving within the range of the predetermined movement path input in advance, or may be elastically determined according to the situation.

 Generating the steering information (S230) may include generating a virtual image for deriving the movement direction of the organism. Alternatively, the generating of the steering information (S230) may include determining a viewing angle that can be observed by the organism. In step S230 of generating control information, if it is determined that grazing is possible, the organism may be grazed freely.

In step S240 of transmitting the steering information, the steering information may be transmitted similarly to the method of transmitting the position information described above. In the internal control means 140, the steering information is transmitted to the steering means 180 and the magnetic pole applying means 120. In the remote control means 200, the steering information may be transmitted via the position detecting means 110, which also serves as a transmission and reception means. In step S240 of transmitting the control information, the generated virtual image may be transmitted to the screen, or the determined viewing angle information may be transmitted to a view controller for limiting the view of the organism.

The organism control apparatus according to the embodiment of the present invention can be used for various purposes. In the case of movement by mounting the article on the creature can be used as a method of transporting the article using the organism. According to the present invention, it is possible to transport articles safely and secretly using living organisms. For example, a fish can be equipped with a bomb and moved, and furthermore, a fish equipped with a bomb can be moved to a place where a mine is installed to hit the mine, thereby destroying the mine in a safer manner. Alternatively, when an organism is introduced into a community of organisms having a property of moving to a group, the organism may be used as a method of inducing movement of a community of organisms. According to the present invention it is possible to transport the goods for a long time or induce the movement of the colony while ensuring the time to feed the living organisms without the need for a separate power unit for movement.

In addition, a camera or a sensor may be attached to the fish to be used for underwater exploration or reconnaissance. In particular, the fish may be used for exploration of a water body having an environment inaccessible to humans such as the deep sea. It can also be used to study and protect ecosystems by manipulating rare endangered fish. Or, it can be used as a new concept of leisure and tourism that can be used to directly control fish by breaking away from the concept of an aquarium.

As mentioned above, although specific embodiment of this invention was described, this is only an illustration and this invention is not limited to this, It should be interpreted that it has the broadest range based on the basic idea disclosed in this specification. Those skilled in the art can change the material, size, etc. of each component according to the application field, it is possible to implement a pattern of the shape not shown by combining or replacing the disclosed embodiments, but this is also not departing from the scope of the present invention. In addition, those skilled in the art can easily change or modify the disclosed embodiments based on the present specification, it is apparent that such changes or modifications are included in the scope of the present invention.

100: creature 110: location
112: satellite navigation system 114: inertial navigation system
116: sound wave transceiver 118: depth gauge
120: stimulation applying means 122: net stimulation applying device
124: reverse stimulation applying device
130: power supply means 132: battery
134: piezoelectric element 140: internal control means
180: control means
200: remote control means 210: receiver
220: determination unit 230: generation unit
240: transmitter
310: satellite 320: signal conversion means

Claims (24)

Receiving location information of the living organism from the location detecting means provided in the living organism;
Determining, by the control means, whether the living organism follows the desired movement path based on the received position information;
Generating control information in the control means for allowing the creature to move to a desired movement path using the vision of the creature based on the determination result;
And providing the generated steering information to the control means for controlling the movement direction of the creature provided around the eyes of the creature.
How to control creatures.
The method of claim 1,
The step of generating the steering information includes the step of generating a virtual image for inducing the direction of movement of the organism,
The transmitting of the steering information includes transmitting the generated virtual image to a screen provided around the eye of the creature.
How to control creatures.
The method of claim 1,
The step of generating the steering information includes the step of determining the viewing angle that the creature can observe,
The step of transmitting the steering information comprises the step of transmitting the determined viewing angle information to the field of view controller that limits the field of view of the organism
How to control creatures.
The method of claim 1,
The control information further includes stimulus applying information for inducing the direction of movement by applying a stimulus to the organism in the stimulus applying means provided in the organism
How to control creatures.
The method of claim 1,
The positioning means includes an inertial navigation device,
Receiving the location information includes the step of recognizing the location information including any one or more of the attitude or speed of the organism by the inertial navigation device;
How to control creatures. The method of claim 5,
The positioning means includes a satellite navigation device,
The position information by the inertial navigation device is corrected by the satellite navigation device.
How to control creatures.
The method of claim 1,
Determining whether or not to follow the movement path includes the step of determining whether the steering information can graze because the organism is located at a specific time or a specific space,
Generating the steering information includes the step of allowing the organism to freely graze if it is determined that grazing is possible.
How to control creatures.
Providing the article to the organism,
Transporting the article by inducing movement of the organism by the method of controlling an organism according to any one of claims 1 to 7.
Method of transporting goods using living organisms. Injecting the organism into a community of creatures having the property of moving to a group;
Inducing the movement of the organism by inducing the movement of the organism by the method of controlling the organism according to any one of claims 1 to 7 comprising the
How to induce community movement of organisms.
Inducing the movement of the organism by the method of controlling the organism according to any one of claims 1 to 7,
Obtaining information from a camera or sensor provided in the living organism;
Exploration method using living organisms.
Receiving unit for receiving the position information of the living body from the position detection means provided in the living body,
A determination unit determining whether the living organism follows the desired movement path based on the transmitted location information;
A generation unit for generating control information for allowing the creature to move to a desired movement path using the perspective of the creature based on the determination result;
It includes a transmitter for providing the generated steering information around the eyes of the creature to the control means for controlling the movement direction of the creature
Creature Control.
The method of claim 11,
The generation unit generates a virtual image to induce the movement direction of the organism,
The transmitter transmits the generated virtual image to a screen provided around the eye of the creature.
Creature Control.
The method according to claim 11 or 12, wherein
The generation unit determines the viewing angle that the organism can observe,
The transmitting unit transmits the determined viewing angle information to the visual field controller which limits the visual field of the organism.
Creature Control.
A control means provided around the eyes of the creature and controlling the direction of movement of the creature using the vision of the creature based on the steering information transmitted from the control means;
Positioning means provided in the living being to grasp the position information and transmit the identified position information to the control means,
The control means determines whether the creature is following the desired movement route based on the transmitted position information, and generates control information for allowing the creature to move to the desired movement route based on the determination result.
Creature Control.
The method of claim 14,
The steering information includes a virtual image for inducing the direction of movement of the organism,
The control means includes a screen provided around the eye of the creature
Creature Control.
16. The method of claim 15,
The virtual image is an image that simulates the environment of the habitat of the organism
Creature Control.
The method of claim 14,
The control information includes information on the viewing angle that the creature can observe,
The control means includes a field adjuster for limiting the field of view of the organism
Creature Control.
The method of claim 17,
The visual field adjuster includes a liquid crystal module in which transparency is controlled.
Creature Control.
The method of claim 17,
The visual field regulator includes a variable eye cart covering the eye of the organism
Creature Control.
The method according to any one of claims 14 to 19,
A stimulus applying means provided in the organism and inducing a direction of movement by applying a stimulus to the organism,
The control means generates and transmits the stimulus applying information to the stimulus applying means to enable the organism to move to the desired movement path based on the determination result
Creature Control.
Claim 21 has been abandoned due to the setting registration fee. The method of claim 20,
The stimulus application information includes information for applying an electric shock when the organism deviates from the desired movement path as a result of the determination.
Creature Control.
Claim 22 is abandoned in setting registration fee. The method according to any one of claims 14 to 19,
The control means is a remote control means provided separately from the living organism
Creature Control.
Claim 23 was abandoned upon payment of a set-up fee. The method according to any one of claims 14 to 19,
The control means is an internal control means provided in the living organism that can be controlled by itself without external control
Creature Control.
Claim 24 is abandoned in setting registration fee. The method according to any one of claims 14 to 19,
It further comprises a power supply means provided to the living body and the electric power supplied to the positioning means and the control means.
Creature Control.

Images