WO2017221867A1 - Dispositif mobile, programme, et support d'enregistrement lisible par ordinateur - Google Patents

Dispositif mobile, programme, et support d'enregistrement lisible par ordinateur Download PDF

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Publication number
WO2017221867A1
WO2017221867A1 PCT/JP2017/022463 JP2017022463W WO2017221867A1 WO 2017221867 A1 WO2017221867 A1 WO 2017221867A1 JP 2017022463 W JP2017022463 W JP 2017022463W WO 2017221867 A1 WO2017221867 A1 WO 2017221867A1
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WO
WIPO (PCT)
Prior art keywords
unit
current position
user
communication
control unit
Prior art date
Application number
PCT/JP2017/022463
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English (en)
Japanese (ja)
Inventor
大悟 草野
Original Assignee
株式会社パテントインベストメント
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2016125978A external-priority patent/JP6143313B1/ja
Application filed by 株式会社パテントインベストメント filed Critical 株式会社パテントインベストメント
Publication of WO2017221867A1 publication Critical patent/WO2017221867A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power

Definitions

  • the present invention relates to a mobile object, a program, and a computer-readable storage medium.
  • Patent Document 2 a rescue information transmission device and method using a search target person mobile terminal have been proposed (for example, Patent Document 2).
  • Patent Document 2 an apparatus and a method for efficiently transmitting a rescue signal have been proposed, but it is assumed that communication between the search target side and the searcher side is established even if it is intermittent. is there.
  • An object of the present invention is a moving body that receives power supplied from a battery and moves when it is determined that communication between an installed communication device and an external communication device has not been established.
  • a program and a computer-readable storage medium for transmitting information related to a user to an external communication device when it is determined that communication is established.
  • a mobile body is a mobile body that is activated by a user and that moves upon receiving power supply from a battery, and includes a mobile mechanism, a communication unit, a determination unit, a control unit, and a user-related information storage unit. Is provided.
  • the moving mechanism moves the moving body.
  • the determination unit determines whether communication between the communication unit and the external communication device has been established.
  • the control unit controls the movement mechanism to move from the current position when the determination unit determines that communication is not established.
  • the user related information storage unit stores information related to the user. When the determination unit determines that communication is established, the control unit transmits information related to the user to the external communication device.
  • a program according to an embodiment is a program for a moving body that is activated by a user and includes a moving mechanism that moves by receiving power supply from a battery, and includes a communication unit, a determination unit, and a control unit in the moving body. , Control.
  • the determination unit determines whether communication between the communication unit and the external communication device has been established.
  • the control unit controls the moving mechanism to move from the current position when the determination unit determines that communication is not established.
  • the control unit is controlled to transmit information related to the user toward the external communication device.
  • the computer-readable storage medium of the embodiment stores the program.
  • the mobile device when it is determined that communication between an installed communication device and an external communication device is not established, the mobile device is activated by a user and moves by receiving power supply from a battery.
  • a mobile body, a program, and a computer-readable storage medium that transmit information related to a user to an external communication device when it is determined that communication has been established after moving from the current position can be provided.
  • the mobile user U refers to the user U who uses the mobile body 10, for example, a person who can be a search target person who uses the mobile body 10 to make a rescue request to the searcher in the event of an accident or distress during mountain climbing or hiking (Climbers and hikers).
  • the mobile user U activates the mobile body 10.
  • the moving body 10 moves until communication with the external communication devices 30A to 30C can be secured, and transmits the current position of the moving body 10 to the external communication devices 30A to 30C at the position where the communication can be secured.
  • External communication devices 30A to 30C are communication devices provided apart from the mobile body 10, and correspond to an example of a site.
  • a site is a feature (eg, building, machine, etc.) that occupies a certain position and can specify the position. If the position can be specified, the position may or may not change with time. Also good.
  • the moving body 10 includes a battery 11, a control unit 12, a communication unit 13, a determination unit 14, a moving mechanism 15, a position specifying unit 16, and a current position recording unit 17.
  • the moving body 10 includes a power switch (not shown) that starts supplying power to each part of the moving body 10.
  • Battery 11 When the power switch is turned on, the battery 11 supplies power to the control unit 12, the communication unit 13, the determination unit 14, the moving mechanism 15, and the position specifying unit 16.
  • the battery 11 may have a function of measuring the state of the battery 11 (hereinafter referred to as “battery information”).
  • the battery information is, for example, a remaining battery level. Moreover, you may transmit the result to the control part 12 as battery information.
  • the battery 11 may be used for, for example, a miniaturized drone and the like, and may include a single cell or a plurality of cells including a lithium ion battery, a lithium polymer battery, a fuel cell, and the like that are small and light and can be charged.
  • Control unit 12 The control unit 12 controls the battery 11, the communication unit 13, the determination unit 14, the moving mechanism 15, the position specifying unit 16, and the current position recording unit 17. For example, the control unit 12 controls the moving mechanism 15 in response to a communication establishment determination signal (a signal for notifying that communication has been established) from the determination unit 14 described later.
  • a communication establishment determination signal a signal for notifying that communication has been established
  • the control performed by the control unit 12 may be automatically performed by a control program provided in the control unit 12 in advance. Moreover, the structure which the mobile body user U transmits a control signal to the mobile body 10 via a controller, and the communication part 13 receives the control signal may be sufficient.
  • the control unit 12 may control each unit of the moving body 10 according to the control signal from the moving body user U, or may perform automatic control by starting up the control program.
  • the communication unit 13 includes transmission / reception antennas, and transmits and receives signals under the control of the control unit 12.
  • the communication unit 13 transmits a predetermined transmission signal to the external communication devices 30A to 30C and receives signals from the external communication devices 30A to 30C.
  • the communication unit 13 sends a reception signal to the determination unit 14. Further, the communication unit 13 does not send a signal to the determination unit 14 when signals from the external communication devices 30A to 30C are not received.
  • the predetermined transmission signal transmitted from the communication unit 13 to the external communication devices 30A to 30C may be a standard signal recorded in a memory provided in the communication unit 13, for example.
  • the communication unit 13 may receive broadcast signals (beacons) transmitted by the external communication devices 30A to 30C at predetermined intervals.
  • the communication unit 13 may use the broadcast signal as a received signal.
  • the communication unit 13 For communication between the communication unit 13 and the external communication devices 30A to 30C, for example, the communication unit 13 transmits an inquiry signal to the external communication devices 30A to 30C at predetermined intervals and receives the inquiry signal. It is good also as receiving the reply signal from 30C.
  • the communication unit 13 may use return signals from the external communication devices 30A to 30C as reception signals.
  • the communication unit 13 can also receive a control signal from the controller and transmit it to the control unit 12.
  • the frequency band that can be transmitted / received by the transmission / reception antenna included in the communication unit 13 can be made variable.
  • the receiving antennas may be arranged omnidirectionally so that signals from the external communication devices 30A to 30C and user terminals (for example, the controller, portable terminal, etc .; not shown) can be received from all directions.
  • the transmission antenna may be arranged omnidirectionally so that a transmission signal can be transmitted in all directions.
  • the communication part 13 may receive the electric power supply from the battery 11, the communication part 13 may be provided with the battery for exclusive use.
  • the capacity of the battery only needs to be large enough to transmit the predetermined transmission signal for a predetermined period.
  • the battery is preferably a small, lightweight and rechargeable battery.
  • the communication unit 13 may have means for notifying the mobile user U that the communication unit 13 has started transmission or that signals from the external communication devices 30A to 30C have been received.
  • a flashlight is provided at a position where the mobile body user U can visually recognize the mobile body 10. This flash light may be blinked according to transmission / reception.
  • a transmission / reception confirmation signal may be transmitted from the communication unit 13 to the controller on the mobile user U side.
  • the determination unit 14 receives a reception signal from the communication unit 13.
  • the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has been established.
  • the determination unit 14 transmits a communication establishment signal to the control unit 12.
  • the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has not been established.
  • the determination unit 14 transmits a communication unestablished signal (a signal for notifying that communication is not established) to the control unit 12.
  • the moving mechanism 15 moves the moving body 10 integrally. As described above, when the control unit 12 receives a communication unestablished signal from the determination unit 14, the moving mechanism 15 moves the moving body 10 integrally under the control of the control unit 12.
  • the moving mechanism 15 uses, for example, a motor (not shown) driven by power supply from the battery 11 as a power source, and obtains buoyancy, thrust, and the like via a member such as a propeller by using rotation of the motor shaft. As long as the movable body 10 is moved in a controllable manner. As long as it is a mechanism that moves the moving body 10 by supplying electric power, other moving mechanisms may be adopted without being limited to the mechanism using the motor as a power source.
  • control unit 12 may control the moving mechanism 15 so that the moving body 10 moves up by the moving mechanism 15 and then moves horizontally at a predetermined altitude.
  • the position specifying unit 16 includes an input unit (not shown), and receives a physical signal (“physical input”) related to the current position of the moving body 10 via the input unit.
  • a physical signal (“physical input”) related to the current position of the moving body 10 via the input unit. Examples of the physical input include a temperature / pressure signal and a navigation signal from a global positioning satellite system.
  • the temperature / pressure signal indicates, for example, a temperature sensor / pressure sensor measurement value (temperature / pressure corresponding to the altitude (depth) of the moving body 10) provided in the moving body 10.
  • the navigation signal from the global positioning satellite system is, for example, a signal (including signal transmission time and information related to the satellite orbit) transmitted by the satellites constituting the global positioning satellite system (GNSS; Global Navigation Satellite System).
  • GNSS Global Navigation Satellite System
  • the position specifying unit 16 analyzes the physical input and specifies the current position.
  • the position specifying unit 16 specifies the current position of the moving body 10 when the power switch provided in the moving body 10 is in the input state.
  • the position specifying unit 16 records the specified current position in the current position recording unit 17.
  • the position specifying unit 16 may specify the current position of the moving body 10 at predetermined time intervals. Further, the position specifying unit 16 may record the current position specified at a predetermined time interval into the current position recording unit 17 at the predetermined time interval. Further, the position specifying unit 16 moves under the control of the control unit 12 after the moving body 10 is activated by the moving body user U in more detail than the current position when the moving body 10 is activated by the moving body user U. It may be set in advance to record the current position before starting the current position in the current position recording unit 17. By configuring the position specifying unit 16 in this way, information on the position where the mobile user U exists can be transmitted to the external communication devices 30A to 30C.
  • the third party can grasp the position where the mobile user U exists when the information on the position where the mobile user U exists is acquired through the external communication devices 30A to 30C.
  • the current position before the mobile body 10 is started by the mobile body user U and before the mobile body U starts moving is the current position when the mobile body 10 is started by the mobile body user U, for example. Including the current position when the switch is turned on.
  • the position specifying unit 16 transmits the specified current position from the communication unit 13 to the external communication devices 30A to 30C under the control of the control unit 12.
  • the current position specified by the position specifying unit 16 may be a depth / altitude along the direction of gravity as a one-dimensional position. Also, the two-dimensional position may be latitude / longitude. Further, the three-dimensional position may be latitude, longitude, depth / altitude. The current position specified by the position specifying unit 16 may be at least one of latitude, longitude, depth, and altitude.
  • a temperature sensor or a pressure sensor may be mounted as the position specifying unit 16, and conversion calculation to depth / altitude may be performed based on the result.
  • an ultrasonic sensor for example, a vision positioning sensor
  • the position specifying unit 16 and the distance from the ground surface / the seabed to the moving body 10 may be measured.
  • the input unit is equipped with a dedicated antenna that uses a navigation signal from GNSS (Global Navigation Satellite System) as a physical input, for example.
  • the unit 16 may perform independent positioning analysis or the like.
  • the dedicated antenna may also be used as the reception antenna of the communication unit 13.
  • Information such as measurement error obtained accompanying analysis such as single positioning may be evaluated, and for example, altitude values may be replaced with altitude values obtained by other sensors.
  • a three-axis acceleration sensor is mounted as the input unit, and the position specifying unit 16 obtains a movement trajectory from the movement start point through analysis by inertial navigation, and specifies the current three-dimensional relative position with respect to the movement start point. May be.
  • the current position recording unit 17 records the current position specified by the position specifying unit 16.
  • the position specifying unit 16 reads the current position recorded in the current position recording unit 17 and controls the external communication device from the communication unit 13 under the control of the control unit 12. You may transmit to 30A-30C.
  • the current position recording unit 17 may be a volatile memory or a nonvolatile memory. These memories are desirably low power consumption, small size and light weight.
  • FIG. 3 is a diagram showing the flow of processing in the present embodiment.
  • the operation of the moving body 10 will be described with reference to step numbers (S1 to S6) with reference to FIG.
  • the communication unit 13 performs transmission / reception with the external communication devices 30A to 30C.
  • the communication unit 13 sends a reception signal to the determination unit 14.
  • the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has not been established (S3; No). Furthermore, the determination unit 14 sends a communication unestablished signal to the control unit 12 and advances the processing to the next step (S4: move the moving body 10).
  • the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has been established (S3; Yes). Further, the determination unit 14 sends a communication establishment signal to the control unit 12 and advances the processing to the next step (S5: identification of the current position of the moving body 10).
  • the control unit 12 receives the communication unestablished signal sent from the determination unit 14 and controls the position specifying unit 16 to move the moving body 10. The process returns to step (S2).
  • the control unit 12 receives the communication establishment signal sent from the determination unit 14 and controls the position specifying unit 16 to specify the current position of the moving body 10.
  • the control unit 12 controls the position specifying unit 16 to record the current position of the moving body 10 specified by the position specifying unit 16 in the current position recording unit 17.
  • the control unit 12 controls the communication unit 13 and transmits the specified current position from the communication unit 13 to the external communication devices 30A to 30C.
  • the mobile body that is activated by the mobile body user and that receives the power supply from the battery and moves is a moving mechanism, a communication unit, a determination unit, a control unit, a position specifying unit, And a current position recording unit.
  • the control unit can control the moving mechanism to move the moving body.
  • the control unit transmits the current position specified by the position specifying unit based on the physical input from the communication unit to the external communication device. be able to.
  • the object of the present embodiment is to select an external communication device that satisfies a predetermined condition and move the mobile body toward the selected external communication device. For example, the mobile body is moved to an environment where communication is more easily secured. It is expected to be able to.
  • the moving body selects one of the external communication devices based on the current position of the moving body and the position information of the plurality of external communication devices recorded in the position information storage unit. Further, the moving body moves toward the selected external communication device.
  • This embodiment is a moving body 10 that further includes a position information storage unit 18 and a selection unit 19 in addition to the configuration of the first embodiment. Therefore, the configuration has a common part with the configuration of the first embodiment, and detailed description of the common part may be omitted.
  • FIG. 4 shows a configuration example of the moving body 10 according to this embodiment.
  • the moving body 10 includes a battery 11, a control unit 12, a communication unit 13, a determination unit 14, a moving mechanism 15, a position specifying unit 16, a current position recording unit 17, a position information storage unit 18, and a selection. Part 19.
  • the moving body 10 includes a power switch (not shown) that starts supplying power to each part of the moving body 10.
  • the position information storage unit 18 and the selection unit 19 which are added configurations will be described in detail.
  • the control of the control unit 12 added by adding the position information storage unit 18 and the selection unit 19 will also be described.
  • the position information storage unit 18 stores information (particularly position information) related to one or more external communication devices 30A to 30C in a nonvolatile memory such as a hard disk.
  • the stored information items include at least the same items as the information recorded in the position specifying unit 16.
  • the list of the external communication devices 30A to 30C desirably covers all the external communication devices 30A to 30C in the area where communication with the mobile unit 10 is possible.
  • the position information of the external communication devices 30A to 30C stored in the position information storage unit 18 is read by a selection unit 19 (described later) that receives control from the control unit 12.
  • selection unit 19 Under the control of the control unit 12, the selection unit 19 extracts the current position information of the moving body 10 from the current position recording unit 17. In addition, the selection unit 19 extracts the position information of one or more external communication devices 30A to 30C stored in the position information storage unit 18.
  • the selection unit 19 selects the optimal position of the external communication device 30 to which the mobile body 10 is directed. Therefore, for example, the selection unit 19 obtains the distance from the current position to one or more external communication devices 30A to 30C for each of the external communication devices 30A to 30C.
  • the external communication device 30 having the shortest distance is selected from the distance from the current position to one or more external communication devices 30A to 30C.
  • the selection unit 19 sends the selected position of the external communication device 30 and the current position of the moving body 10 to the control unit 12.
  • This distance may be a distance calculated from three-dimensional coordinates (for example, latitude, longitude, altitude (depth)) or may be a distance calculated from two-dimensional plane coordinates (for example, latitude, longitude).
  • Control unit 12 The control unit 12 moves from the current position of the mobile body 10 sent from the selection unit 19 and the optimal position of the external communication device 30 so that the control unit 12 moves closer to the external communication device 30.
  • the mechanism 15 is controlled.
  • the position information storage unit 18 stores 3D map (latitude, longitude, altitude (depth)) information on the ground surface, and the control unit 12 determines the current position of the mobile object 10 and the external communication device 30. The position and the three-dimensional map information may be used. From these pieces of information, the control unit 12 may calculate an optimal locus between the current position of the moving body 10 and the external communication device 30. Then, the control unit 12 may control the moving mechanism 15 so that the moving body 10 approaches the external communication device 30 on the optimal locus.
  • 3D map latitude, longitude, altitude (depth)
  • FIG. 5 is a diagram showing a flow of processing in the present embodiment.
  • the operation of the moving body 10 will be described with reference to step numbers (S21 to S31) with reference to FIG.
  • the communication unit 13 performs transmission / reception with the external communication devices 30A to 30C.
  • the communication unit 13 sends a reception signal to the determination unit 14.
  • the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has not been established (S23; No). Further, the determination unit 14 sends a communication non-established signal to the control unit 12 and advances the processing to the next step (S24: identification of the current position of the moving body 10).
  • the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has been established (S23; Yes). Further, the determination unit 14 sends a communication establishment signal to the control unit 12, and proceeds to the next step (S29: identification of the current position of the moving body 10).
  • the control unit 12 receives the communication unestablished signal sent from the determination unit 14 and controls the position specifying unit 16 to specify the current position of the moving body 10.
  • the control unit 12 controls the position specifying unit 16 to record the current position of the moving body 10 specified by the position specifying unit 16 in the current position recording unit 17.
  • the selection unit 19 reads the current position recorded in the current position recording unit 17 and the position information of one or more external communication devices 30A to 30C recorded in the position information storage unit 18.
  • the selection unit 19 selects the optimum position of the external communication device 30 to which the mobile body 10 is directed from the current position of the mobile body 10 and the position information of one or more external communication devices 30A to 30C.
  • control unit 12 determines the moving direction of the moving body 10 and controls the moving mechanism 15 to move the moving body 10. The process returns to step (S22).
  • the control unit 12 receives the communication establishment signal sent from the determination unit 14 and controls the position specifying unit 16 to specify the current position of the moving body 10.
  • the control unit 12 controls the position specifying unit 16 to record the current position of the moving body 10 specified by the position specifying unit 16 in the current position recording unit 17.
  • the control unit 12 controls the communication unit 13 and transmits the specified current position from the communication unit 13 to the external communication devices 30A to 30C.
  • the purpose of the present embodiment is to transmit the current position of the mobile object and information related to the mobile user U (hereinafter referred to as user-related information) to an external communication device. It is expected that discovery, identification, and securing can be made more quickly and reliably.
  • This embodiment is a mobile unit 10 that further includes a user-related information storage unit 20 in addition to the configuration of the second embodiment. Therefore, the configuration has a common part with the configuration of the second embodiment, and detailed description of the common part may be omitted.
  • a configuration example of the moving body 10 according to this embodiment is shown in FIG.
  • the moving body 10 includes a battery 11, a control unit 12, a communication unit 13, a determination unit 14, a moving mechanism 15, a position specifying unit 16, a current position recording unit 17, a position information storage unit 18, and a selection. Unit 19 and a user-related information storage unit 20.
  • the moving body 10 includes a power switch (not shown) that starts supplying power to each part of the moving body 10.
  • the user related information storage unit 20 that is the added configuration will be described in detail. Moreover, the control by the control part 12 added by adding the user related information storage part 20 is also demonstrated.
  • the user related information storage unit 20 records information about the mobile user U (hereinafter referred to as “user related information”).
  • the user-related information storage unit 20 includes a simple input device (for example, a simple keyboard, a recording microphone, a digital camera, a simple medical device, etc.), and user-related information is additionally input as needed via the simple input device. May be.
  • the storage format may be, for example, a character string, sound, image, or the like.
  • the user related information may be input by an external device other than the moving body 10.
  • the user related information includes at least information indicating that the mobile user U is in an emergency. It is preferable that the information indicating that there is an emergency includes information indicating that the disaster has occurred, information indicating that rescue is sought, and the like.
  • the user-related information includes, for example, information that can recognize the mobile user U (name, etc.), medical information that is sequentially accumulated on the spot (body temperature, blood pressure, etc.), messages from the mobile user U (so far It may be a travel route, a future action schedule, etc.), environmental information (temperature, humidity, etc.) around the mobile user U, and the like.
  • the user related information storage unit 20 may use a non-volatile memory such as a hard disk or may be a volatile memory.
  • Control unit 12 When the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has been established, the control unit 12 controls the communication unit 13 and is recorded in the user related information storage unit 20. The user related information is transmitted to the external communication devices 30A to 30C.
  • FIG. 7 is a diagram showing a flow of processing in the present embodiment.
  • the operation of the moving body 10 will be described with reference to step numbers (S41 to S53) with reference to FIG.
  • step numbers (S41 to S53) with reference to FIG.
  • the steps from (S41: power-on) to (S51: current position transmission) of this embodiment are the same as the steps (S21 to S31) of the second embodiment (FIG. 5), and thus the description thereof is omitted. To do.
  • the control unit 12 reads the user related information recorded in the user related information storage unit 20.
  • the control unit 12 controls the communication unit 13 and transmits the user related information recorded in the user related information storage unit 20 to the external communication devices 30A to 30C.
  • the third embodiment may be configured not to include the position information storage unit 18 and the selection unit 19. In this case, the above processing relating to selection of the external communication devices 30A to 30C is not performed.
  • the moving body that is activated by the moving body user U and moves by receiving power supply from the battery includes the moving mechanism, the communication unit, the determination unit, the control unit, and the user related information storage. Unit, a position specifying unit, and a current position recording unit.
  • the control unit can control the moving mechanism to move the moving body.
  • the control unit transmits the current position specified by the position specifying unit based on the physical input from the communication unit to the external communication device. be able to.
  • the control unit provides information indicating that there is an emergency in more detail to the external communication device than information related to the mobile user U. Can be sent to. Thereby, the third party can grasp that the user is in an emergency when the information related to the mobile user U is acquired through the external communication devices 30A to 30C.
  • the purpose of this embodiment is to capture an image relating to a mobile user and its surrounding environment, and send it to an external communication device.
  • the searcher side is the mobile user and its surroundings, the moving path of the mobile body, etc. It is expected that this information can be acquired and the mobile user can be secured more quickly and reliably.
  • This embodiment is a mobile body that further includes a photographing unit 21 in addition to the configuration of the third embodiment. Therefore, the configuration has a common part with the configuration of the third embodiment, and detailed description of the common part may be omitted.
  • a configuration example of the moving body 10 according to this embodiment is shown in FIG.
  • the moving body 10 includes a battery 11, a control unit 12, a communication unit 13, a determination unit 14, a moving mechanism 15, a position specifying unit 16, a current position recording unit 17, a position information storage unit 18, and a selection. Unit 19, user-related information storage unit 20, and photographing unit 21.
  • the moving body 10 includes a power switch (not shown) that starts supplying power to each part of the moving body 10.
  • the imaging unit 21 that is the added configuration will be described in detail. Further, the control by the control unit 12 added by adding the photographing unit 21 will be described.
  • the photographing unit 21 includes a digital camera (not shown). Shooting by the digital camera may be performed at a predetermined interval from immediately after the power switch of the moving body 10 is turned on (step S1). The obtained image is stored in a memory provided in the digital camera. Images captured by the digital camera are transferred from the communication unit 13 to the external communication devices 30A to 30C under the control of the control unit 12 when communication between the mobile unit 10 and the external communication devices 30A to 30C is established. Sent.
  • the image includes at least one of a still image and a moving image.
  • the digital camera provided in the photographing unit 21 can turn freely in a range in which physical interference (contact) with the main body of the moving body 10 does not occur via, for example, a camera mount including a triaxial stabilizer. It is good to be attached to. Further, it is preferable that the digital camera can select a shooting angle within the range of the degree of freedom of rotation.
  • the digital camera provided in the photographing unit 21 can photograph high-resolution images (both still images and moving images), and is preferably a visible light or infrared (light) camera.
  • the obtained image may be output from an output terminal provided in the digital camera.
  • the digital camera is preferably provided with a zoom function and can be photographed with a wide range of angles.
  • the digital camera desirably has a face recognition function.
  • the photographing by the photographing unit 21 may be controlled via the control unit 12 by operation of the user terminal.
  • the control unit 12 may be controlled by a control program provided in advance. Or you may control by the input from the simple input device with which the mobile user U was equipped with the user relevant-information memory
  • the photographing by the photographing unit 21 may be, for example, photographing of the mobile user U, photographing of the vicinity of the mobile user U, and photographing from any point on the route from the initial position of the mobile body 10 to the current position. .
  • Control unit 12 When the determination unit 14 determines that communication is established, the control unit 12 transmits the image captured by the imaging unit 21 to the external communication devices 30A to 30C. At that time, the control unit 12 may transmit the photographed image after compressing it with software installed in the control unit 12, or may transmit the image as it is.
  • control unit 12 may control the moving mechanism 15 using a digital camera or the like provided in the photographing unit 21 so as to perform safe navigation that avoids a collision or a crash.
  • the moving body 10 includes, for example, a 3-axis acceleration sensor, a 3-axis gyroscope, a 3-axis magnetic force sensor, an ultrasonic altitude sensor, a pressure in addition to the digital camera provided in the imaging unit 21. It is desirable to include a sensor, a vertical camera for measuring ground speed, and the like. It is desirable for the control unit 12 to perform safe navigation using inputs from these sensors.
  • FIG. 9 is a diagram showing a flow of processing in the present embodiment.
  • the operation of the moving body 10 will be described with reference to step numbers (S61 to S75) with reference to FIG.
  • step numbers S61 to S75
  • the steps from (S61: power-on) to (S73: user-related information transmission) of this embodiment are the same as the steps (S41 to S53) of the third embodiment (FIG. 7). Omitted.
  • the photographing unit 21 acquires an image by photographing the mobile user U, photographing near the mobile user U, and photographing from any point on the route from the initial position to the current position.
  • the control unit 12 controls the communication unit 13 and transmits the images captured by the imaging unit 21 to the external communication devices 30A to 30C.
  • the fourth embodiment may be configured not to include the position information storage unit 18, the selection unit 19, and the user related information storage unit 20. In that case, the above processing relating to the selection of the external communication devices 30A to 30C and the above processing relating to the user related information are not performed.
  • the communication unit 13 can perform data communication with the user terminal, and the determination unit 14 uses the mobile unit 10 and the external communication devices 30A to 30C.
  • the control unit 12 can be configured to relay communication between the user terminal and the external communication devices 30A to 30C.
  • relaying means that the received data from one side is processed or transferred to the other side without being processed.
  • control unit 12 may be configured to transmit the determination result of the determination unit 14 to the user terminal of the mobile user U.
  • the user terminal is a mobile phone.
  • control unit 12 controls the moving mechanism 15 after the determination unit 14 determines that communication is established.
  • the moving body 10 can be moved to the retracted position.
  • moving to the retreat position may be landing, stopping, or the like according to the state of the moving body 10.
  • the control unit 12 transmits information related to the mobile user U to the external communication devices 30A to 30C, assuming that the mobile body 10 is a radio controlled helicopter or a drone that moves by flight.
  • the current position is transmitted to the external communication devices 30A to 30C, and the current position is transmitted to the external communication devices 30A to 30C, and then moved and landed in the vertical downward direction.
  • the current position of the flying object when information related to the moving object user U is transmitted to the external communication devices 30A to 30C, and the latitude and The difference in longitude (position on the horizontal plane) can be reduced.
  • the moving body 10 can be configured to move not only on a flying object but also on land or on the sea.
  • the moving direction may be determined based on the remaining battery level or the strength of the signal received by the communication unit 13 from the external communication devices 30A to 30C.
  • the control unit 12 may control the moving mechanism 15 so that the moving body 10 moves in the determined moving direction.
  • the control section 12 moves to the current position.
  • the moving mechanism 15 may be controlled (to return).
  • the control unit 12 returns to the initial position (the current position before the movement starts after the moving body 10 is activated by the moving body user U)
  • the control unit 12 notifies the moving body user U that the communication is completed.
  • the mobile user U may be notified that information related to the mobile user U has been transmitted to the external communication devices 30A to 30C. This notification may be notification by a display unit (not shown) or an audio output unit.
  • the moving body user U exists at the current position (position where the moving body returns) before the moving body 10 is started by the moving body user U, the communication with the external communication devices 30A to 30C.
  • the mobile user U can recognize that communication has been made.
  • a radio wave relay point is interposed for communication between the communication unit 13 and the external communication devices 30A to 30C. It is. That is, the radio wave relay point is a place having a device that relays radio waves when communicating with the communication unit 10 and the external communication devices 30A to 30C, and is a place where a base station, a wireless LAN device, and the like are installed. .
  • a radio relay point corresponds to an example of a site.
  • the position information storage unit 18 stores position information of a plurality of radio wave relay points that relay radio waves during communication between the communication unit 13 and the external communication devices 30A to 30C.
  • the position information of the plurality of radio relay points is read, and the selection unit 19 is based on the current position specified by the position specifying unit 16 and the position information of the plurality of radio relay points.
  • the distance from the current position to a plurality of radio relay points is obtained for each radio relay point, and the selection unit 19 selects a radio relay point, and more specifically, from the plurality of radio relay points,
  • the radio relay point with the shortest distance is selected, and the control unit 12 can be configured to control the moving mechanism 15 to move to the radio relay point selected by the selection unit 19. For this reason, compared with the case where the mobile body 10 has not memorize
  • the mobile unit 10 is further configured to have an emergency setting unit for setting the emergency mode (style). Also good.
  • the emergency mode refers to a state in which the mobile body 10 performs a function or operates in response to a case where the mobile user U is in an emergency.
  • the control unit 12 controls the moving mechanism 15 to move from the current position when the determination unit 14 determines that communication has not been established and the moving body 10 is set to the emergency mode. It can be configured as follows.
  • information related to the mobile user U more specifically, information indicating that the mobile user U is in an emergency situation is determined by the determination unit 14 and the mobile body 10 is in an emergency state.
  • the setting to the emergency mode is performed, for example, by providing a button, switch, or icon for an emergency in the mobile body 10 and pressing or touching the mobile user U. Further, the mobile unit 10 may be activated and set to the emergency mode.
  • the moving body 10 is configured to be portable in any of the first to fourth embodiments.
  • Portable means that the mobile body 10 can be held by the mobile user U, or can be carried by the mobile user U, or the mobile user U can carry it in a backpack or the like. It refers to a formed configuration, and includes a foldable configuration, a disassembleable configuration, or an assemblyable configuration.
  • the weight within 20 kg and the size within 0.027 m ⁇ 3 (cubic meter) shall be portable weight and size.
  • the weight and size of the mobile body 10 are preferably 10 kg or less and 0.004 m ⁇ 3 (cubic meter) or less, respectively. Furthermore, it is preferable to set it to 5 kg or less and 0.002 m ⁇ 3 (cubic meter) or less. In addition, even if the mobile body 10 has a weight and size that can be carried, the mobile body 10 that is not normally carried by the mobile user U is not portable.
  • a main body a communication unit provided in the main body and communicating with an external communication device, a moving mechanism provided in the main body for moving the main body, and the communication unit can communicate with the external communication device.
  • a control unit that controls the moving mechanism to move the main body to a position where the communication unit can communicate with the external communication device.
  • the moving body may be a feature.
  • the determination unit determines whether or not the communication unit can communicate with the external communication device, and determines that the communication unit cannot communicate with the external communication device
  • the control unit may be a moving body that controls the moving mechanism to move the main body to a position where the communication unit can communicate with the external communication device.
  • the moving body that moves by receiving power supplied from the battery includes at least a moving mechanism, a communication unit, a determination unit, and a control unit.
  • the control unit controls the movement mechanism to move There is a common effect that the body can be moved.
  • the mobile unit 10 has a general configuration as a computer, and together with the above-described memory, an arithmetic device (CPU, MPU, MCU, DSP, GPU, etc.), input It has a device (keyboard, mouse, touch panel, etc.) and a display device (display, etc.).
  • the control program is stored in a memory, and the memory functions as a computer-readable storage medium.
  • the control program is stored on the memory and executed by the arithmetic device.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Telephone Function (AREA)

Abstract

Le problème décrit par la présente invention est de fournir un dispositif mobile qui se déplace depuis l'emplacement actuel s'il est déterminé que la communication entre un dispositif de communication et un dispositif de communication externe n'est pas établie et qui transmet des informations relatives à l'utilisateur au dispositif de communication externe s'il est déterminé que la communication est établie, ainsi qu'un programme et un support d'enregistrement lisible par ordinateur. La solution selon l'invention porte sur un dispositif mobile, qui est activé par un utilisateur et déplacé avec l'énergie fournie par une batterie, qui comprend un mécanisme de déplacement, une unité de communication, une unité de détermination, une unité de commande et une unité de stockage d'informations relatives à l'utilisateur. Le mécanisme de déplacement déplace le dispositif mobile, l'unité de détermination détermine si la communication entre l'unité de communication et un dispositif de communication externe est établie, l'unité de commande commande le déplacement du mécanisme de déplacement depuis l'emplacement actuel lorsqu'il est déterminé par l'unité de détermination que la communication n'est pas établie, l'unité de stockage d'informations relatives à l'utilisateur stocke des informations relatives à l'utilisateur, et l'unité de commande transmet les informations relatives à l'utilisateur au dispositif de communication externe s'il est déterminé par l'unité de détermination que la communication est établie.
PCT/JP2017/022463 2016-06-24 2017-06-19 Dispositif mobile, programme, et support d'enregistrement lisible par ordinateur WO2017221867A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2016-125978 2016-06-24
JP2016125978A JP6143313B1 (ja) 2016-06-24 2016-06-24 移動体
JP2016-220917 2016-11-11
JP2016220917A JP6671078B2 (ja) 2016-06-24 2016-11-11 移動体

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WO2017221867A1 true WO2017221867A1 (fr) 2017-12-28

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005301461A (ja) * 2004-04-07 2005-10-27 Katsumi Ikeda 携帯型救助信号発信システム
JP2009077313A (ja) * 2007-09-21 2009-04-09 Nippon Telegr & Teleph Corp <Ntt> 飛翔体に備えられる位置情報検出装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005301461A (ja) * 2004-04-07 2005-10-27 Katsumi Ikeda 携帯型救助信号発信システム
JP2009077313A (ja) * 2007-09-21 2009-04-09 Nippon Telegr & Teleph Corp <Ntt> 飛翔体に備えられる位置情報検出装置

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