Mobile body, system, computer-readable storage medium, and control method

Abstract

Provided is a mobile body including: an optical wireless communication unit that performs optical wireless communication with another mobile body; an object detection unit that detects an object in the vicinity of the mobile body; an object information transmission unit that transmits first object information including position information of the object to the other mobile body via optical wireless communication or radio wave communication; an object information reception unit that receives second object information including position information of an object in the vicinity of the other mobile body from the other mobile body via optical wireless communication or radio wave communication; and a movement control unit that controls movement of the mobile body based on the first object information and the second object information so that the object is not located on an optical axis of the optical wireless communication.

Description

Technical Field

[0001] This invention relates to mobile bodies, systems, computer-readable storage media, and control methods. Background Technology

[0002] Mobile devices equipped with optical wireless communication capabilities are known (see, for example, Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent document 1: Japanese Patent Application Publication No. 2018-166256. Summary of the Invention

[0006] Technical problems to be solved

[0007] The goal is to provide a technology that supports stable execution of optical wireless communication.

[0008] General Disclosure

[0009] According to a first aspect of the present invention, a mobile body is provided. The mobile body may also include an optical wireless communication unit that performs optical wireless communication with other mobile bodies. The mobile body may also include an object detection unit that detects objects around the mobile body. The mobile body may also include an object information transmitting unit that transmits first object information, including object location information, to other mobile bodies via optical wireless communication or radio wave communication. The mobile body may also include an object information receiving unit that receives second object information, including object location information of objects around the other mobile bodies, from other mobile bodies via optical wireless communication or radio wave communication. The mobile body may also include a movement control unit that controls the movement of the mobile body based on the first object information and the second object information, such that the object is not located on the optical axis of the optical wireless communication.

[0010] The object detection unit can also use at least one of a camera, radar, lidar, sonar, and ultrasonic sensors to detect objects around the mobile body. The object information transmission unit can also transmit first object information, including position information indicating the relative position of the object originating from the mobile body, to other mobile bodies via optical wireless communication or radio wave communication. The object detection unit can also detect the movement of objects, and the object information transmission unit can also transmit the first object information, including the object's position information and movement status, to other mobile bodies via optical wireless communication or radio wave communication. The object detection unit can also detect the object's direction of movement and speed, and the object information transmission unit can also transmit the first object information, including the object's position information, direction of movement, and speed status, to other mobile bodies via optical wireless communication or radio wave communication. The movement control unit can also control the movement of the mobile body based on the position and direction of movement of an object predicted to enter the optical axis of the optical wireless communication, such that the object is not located on the optical axis of the optical wireless communication. The aforementioned movement control unit can also communicate with other moving bodies via optical wireless communication or radio wave communication to determine which of the aforementioned moving bodies or other moving bodies should move. When it is determined that the aforementioned moving body should move, the movement of the aforementioned moving body is controlled in a manner that prevents the intruder from being located on the optical axis of the optical wireless communication. The aforementioned movement control unit can also determine which of the aforementioned moving bodies or other moving bodies should move based on the position and direction of movement of the intruder, the positional relationship between the aforementioned moving body and objects surrounding the aforementioned moving body, and the positional relationship between the other moving bodies and objects surrounding the other moving bodies. The aforementioned moving body can also be an unmanned aerial vehicle. The aforementioned moving body can also be an underwater moving body that moves in water.

[0011] According to a second aspect of the present invention, a system is provided. The system may also include the aforementioned mobile body and a first wireless base station connected to the mobile body via a cable. The first wireless base station may also communicate with a second wireless base station connected to the other mobile bodies via a cable, through optical wireless communication between the mobile body and the other mobile bodies.

[0012] According to a third aspect of the present invention, a program is provided for enabling a computer to function as the aforementioned communication device.

[0013] According to a fourth aspect of the present invention, a control method is provided that is executed by a computer mounted on a mobile body. The control method may also include an object detection phase for detecting objects around the mobile body. The control method may also include an object information transmission phase for transmitting first object information, including position information of objects, to other mobile bodies via optical wireless communication or radio wave communication. The control method may also include an object information reception phase for receiving second object information, including position information of objects around other mobile bodies, from other mobile bodies via optical wireless communication or radio wave communication. The control method may also include a movement control phase for controlling the movement of the mobile body based on the first and second object information, such that objects are not located on the optical axis of the optical wireless communication.

[0014] It should be noted that the above summary of the invention does not list all the essential features of the invention. Furthermore, sub-combinations of these feature groups can also constitute an invention. Attached Figure Description

[0015] Figure 1 An example of an unmanned aerial vehicle 100 is shown schematically.

[0016] Figure 2 An example of the movement of an unmanned aerial vehicle 100 is shown schematically.

[0017] Figure 3 An example of the movement of an unmanned aerial vehicle 100 is shown schematically.

[0018] Figure 4 An example of the configuration of an unmanned aerial vehicle 100 is shown schematically.

[0019] Figure 5 An example of a processing flow based on an unmanned aerial vehicle 100 is illustrated schematically.

[0020] Figure 6 An example of system 30 is shown schematically.

[0021] Figure 7 An example of a moving body 400 in water is shown schematically.

[0022] Figure 8 An example of the hardware configuration of a computer 1200 that functions as a control device 130 is shown schematically. Detailed Implementation

[0023] The present invention will now be described through embodiments thereof; however, these embodiments are not intended to limit the invention as defined in the claims. Furthermore, not all combinations of features described in the embodiments are essential to the solution of the invention.

[0024] Figure 1 An example of an unmanned aerial vehicle 100 is schematically shown. The unmanned aerial vehicle 100 can also be an example of a moving body. The unmanned aerial vehicle 100 has the capability to perform optical wireless communication with other unmanned aerial vehicles 100.

[0025] The unmanned aerial vehicle 100 involved in this embodiment detects surrounding objects and shares object information, including the position information of the object, with other unmanned aerial vehicles 100 through optical wireless communication or radio wave communication. Based on the shared information, the movement of the unmanned aerial vehicle 100 is controlled in such a way that the object is not located on the optical axis of the optical wireless communication between the unmanned aerial vehicle 100 and other unmanned aerial vehicles 100.

[0026] Optical wireless communication is an effective communication method due to its high-speed communication capability and ability to communicate in environments where radio waves cannot be used, such as underwater. However, it suffers from a technical problem where communication is impossible if the optical axis of the optical wireless communication is blocked. The unmanned aerial vehicle 100 described in this embodiment is equipped with sensors for detecting surrounding objects. It shares information about the detected objects with its optical wireless communication counterpart, identifies objects that block or are about to block the optical axis, and controls its movement by ensuring visual confirmation of the optical axis.

[0027] The unmanned aerial vehicle 100 can share information about detected objects with a communication partner, for example, via optical wireless communication. Alternatively, the unmanned aerial vehicle 100 can also share this information via radio wave communication. The unmanned aerial vehicle 100 can directly communicate with a communication partner via radio wave communication, thereby sharing information about detected objects. The method of radio wave communication can be arbitrary. Examples of radio wave communication methods include WiFi (registered trademark), Bluetooth (registered trademark), and inter-aircraft communication using the 920MHz frequency band. Furthermore, the unmanned aerial vehicle 100 can also communicate with a communication partner via radio wave communication through wireless base stations and WiFi access points, thereby sharing information about detected objects. The mobile communication method used by the unmanned aerial vehicle 100 can be any of 3G (3rd Generation), LTE (Long Term Evolution), 5G (5th Generation), 6G (6th Generation), or a later communication method.

[0028] The unmanned aerial vehicle 100 includes a gimbal 108 and a communication unit 110 supported by the gimbal 108 in a rotatable manner. The gimbal 108 is a gimbal with one or more axes. For example, the gimbal 108 is a two-axis gimbal or a three-axis gimbal. The communication unit 110 includes a camera 112 and an optical wireless communication unit 114. In addition, the unmanned aerial vehicle 100 includes a millimeter-wave radar 123 and a lidar (Light Detection and Ranging) 124.

[0029] Camera 112, millimeter-wave radar 123, and LiDAR 124 can also be examples of sensors for detecting objects around the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 may also possess only one of these sensors, or only two of them. Furthermore, the unmanned aerial vehicle 100 may also possess sensors other than these. For example, the unmanned aerial vehicle 100 may possess an ultrasonic sensor. Additionally, for example, the unmanned aerial vehicle 100 may possess sonar.

[0030] The optical wireless communication unit 114 has an optical transmitting port 116 and an optical receiving port 118. The type of light used for optical wireless communication in the wireless communication unit 114 can be any type; for example, light with wavelengths between infrared and visible light can be used.

[0031] For example, when using visible light, LEDs (Light Emitting Diodes) of various wavelengths can be obtained inexpensively. Therefore, it is easy to achieve broadband by superimposing multiple wavelengths, or to reduce the manufacturing cost of the unmanned aerial vehicle 100. Furthermore, when using infrared light, for example, the wavelength of infrared light is longer than that of visible light, thus enabling long-distance travel with low output. Moreover, it is safe for the eyes and invisible to the naked eye, thus allowing for concealment of ongoing communication.

[0032] Camera 112 captures images in the direction of optical wireless communication of optical wireless communication unit 114. For example, camera 112 captures images in the direction of light emission from light emission port 116. The vector of the optical wireless communication direction of optical wireless communication unit 114 and the vector of the main image-capturing direction of camera 112 can also be the same. The main image-capturing direction of camera 112 is, for example, the direction of the optical axis of the lens provided with camera 112.

[0033] Optical wireless communication is highly directional; if the optical axes of the communication ports of the communicating objects are not aligned, communication is impossible. The unmanned aerial vehicle 100 according to this embodiment has a structure that automatically aligns the optical axis of the optical wireless communication unit 114 with the optical axis of the optical wireless communication unit of the communicating object.

[0034] For example, the unmanned aerial vehicle 100 (sometimes referred to as the local unit) and the communication partner's unmanned aerial vehicle 100 (sometimes referred to as the communication partner) analyze the video images captured by their respective cameras 112 and identify each other. They continuously adjust the angle of the communication unit 110 via the gimbal 108 to track each other. In addition, when the local unit and the communication partner determine from the video images captured by the cameras 112 that the optical axes of their respective optical wireless communication units 114 are aligned, an optical wireless communication link is established.

[0035] After establishing the optical wireless communication link, the local unit and the communication counterpart recognize the video images captured by their respective cameras 112, and adjust the angle of the communication unit 110 through the gimbal 108, thereby continuously tracking each other and maintaining the optical axis alignment of their respective optical wireless communication units 114.

[0036] The unmanned aerial vehicle (UAV) 100 detects objects around itself using various sensors. For example, the UAV 100 detects objects in front of it using a camera 112. Furthermore, the UAV 100 detects objects in all directions using, for example, a millimeter-wave radar 123. Additionally, the UAV 100 detects objects in all directions using, for example, a LiDAR 124.

[0037] The unmanned aerial vehicle 100 can also acquire position information representing the location of an object. For example, the unmanned aerial vehicle 100 acquires position information representing the relative position of the object, with the location of the unmanned aerial vehicle 100 as the starting point. Furthermore, the unmanned aerial vehicle 100 can also acquire the absolute position of the object. The unmanned aerial vehicle 100 can also acquire the movement status of the object. For example, the unmanned aerial vehicle 100 acquires the direction of movement of the object. Additionally, for example, the unmanned aerial vehicle 100 acquires the speed of movement of the object.

[0038] The unmanned aerial vehicle 100 can obtain the position information and movement status of an object by analyzing continuously captured images from the camera 112. Alternatively, the unmanned aerial vehicle 100 can also obtain the position information and movement status of an object from the LiDAR 124.

[0039] LiDAR124 can also be a so-called imaging LiDAR. Furthermore, LiDAR124 can also be a so-called FMCW (Frequency-Modulated Continuous Wave) LiDAR. Additionally, LiDAR124 can also be a Doppler LiDAR.

[0040] exist Figure 1 In the example shown, one unmanned aerial vehicle (UAV) 100 transmits object information about wall 230 to the other UAV 100 via optical wireless communication or radio wave communication. Furthermore, the other UAV 100 transmits object information about aircraft 210 and vehicle 220 to one UAV 100 via optical wireless communication or radio wave communication. Thus, both UAVs 100 can monitor the status of aircraft 210, vehicle 220, and wall 230.

[0041] Figure 2 and Figure 3 An example of the movement of an unmanned aerial vehicle 100 is illustrated schematically. Here, the following example is used as an example: a first unmanned aerial vehicle 100 and a second unmanned aerial vehicle 100 share object information of surrounding objects, and the first unmanned aerial vehicle 100 moves in a manner that the aircraft 210 is not located on the optical axis 115 of the optical wireless communication between the first unmanned aerial vehicle 100 and the second unmanned aerial vehicle 100.

[0042] The first and second unmanned aerial vehicles (UAVs) predict the entry of aircraft 210 into optical axis 115 based on shared object information. The first and second UAVs share information about the upcoming entry of aircraft 210 into optical axis 115 via optical wireless communication and determine which one will move.

[0043] It is possible to determine whether either the first unmanned aerial vehicle 100 or the second unmanned aerial vehicle 100 moves, or it is possible to determine whether both move. Here, the case where it is determined that the first unmanned aerial vehicle 100 moves will be further explained.

[0044] The first unmanned aerial vehicle 100 moves in a manner that prevents the aircraft 210 from being located on the optical axis 115. The first unmanned aerial vehicle 100 can also refer to shared object information to determine a movement path that will not conflict with other objects while maintaining optical wireless communication with the second unmanned aerial vehicle 100, and move along the determined path. By moving with the first unmanned aerial vehicle 100, optical wireless communication cannot be interrupted due to the aircraft 210, thus maintaining optical wireless communication.

[0045] Even if the optical axis is blocked by an object, the first unmanned aerial vehicle 100 and the second unmanned aerial vehicle 100 can share each other's position information through radio wave communication and reconnect to optical wireless communication by moving in the direction of escaping the blockage.

[0046] Figure 4 An example of the configuration of an unmanned aerial vehicle 100 is schematically shown. The unmanned aerial vehicle 100 includes a main body 102, a propeller 104, legs 106, a gimbal 108, a communication unit 110, a millimeter-wave radar 123, and a LiDAR 124.

[0047] The main body 102 includes a GNSS unit 120, an accelerometer 121, a gyroscope 122, and a control device 130. The GNSS unit 120 specifies the position of the unmanned aerial vehicle 100 and outputs position information. The accelerometer 121 detects acceleration. The gyroscope 122 detects angular velocity.

[0048] The control device 130 controls the unmanned aerial vehicle 100. The control device 130 includes a motion control unit 132, a communication control unit 134, and an object detection unit 136.

[0049] The motion control unit 132 controls the movement of the unmanned aerial vehicle 100. Based on information output from various sensors, the motion control unit 132 controls the propeller 104 to perform flight control of the unmanned aerial vehicle 100. The motion control unit 132 can also control the movement of the unmanned aerial vehicle 100 according to external commands. Furthermore, the motion control unit 132 can also refer to information indicating an operation plan to control the movement of the unmanned aerial vehicle 100 by flying along a path determined by the operation plan.

[0050] The communication control unit 134 controls the communication of the unmanned aerial vehicle 100. The communication control unit 134 controls the optical wireless communication of the optical wireless communication unit 114.

[0051] The communication control unit 134 can also communicate with other unmanned aerial vehicles (UAVs) 100 via radio waves through an antenna (not shown). For example, the communication control unit 134 communicates with other UAVs 100 via WiFi. Alternatively, the communication control unit 134 communicates with other UAVs 100 via Bluetooth. Furthermore, the communication control unit 134 communicates with other UAVs 100 via inter-aircraft communication using the 920MHz frequency band.

[0052] The communication control unit 134 can also communicate with a wireless base station via an antenna (not shown). The communication control unit 134 can also perform communication via a mobile communication network through the wireless base station. The mobile communication network can be any of 3G (3rd Generation), LTE (Long Term Evolution), 5G (5th Generation), 6G (6th Generation), or later communication methods. The communication control unit 134 can also access the mobile communication network via a WiFi (registered trademark) access point or the like.

[0053] The object detection unit 136 detects objects around the unmanned aerial vehicle 100 (sometimes referred to as the vehicle itself). The object detection unit 136 may also use at least one of the camera 112, millimeter-wave radar 123, and LiDAR 124 to detect objects around the vehicle.

[0054] The object detection unit 136 can also detect the movement of an object. For example, the object detection unit 136 detects the direction of movement of the object. Furthermore, the object detection unit 136 detects, for example, the speed of movement of the object.

[0055] The communication control unit 134 can also transmit object information (sometimes referred to as local object information), including the position information of the object detected by the object detection unit 136, to the unmanned aerial vehicle 100 (sometimes referred to as the communication counterpart) which is a communication counterpart in optical wireless communication. For example, the communication control unit 134 transmits the local object information to the communication counterpart via optical wireless communication through the optical wireless communication unit 114. Alternatively, the communication control unit 134 may transmit the local object information to the communication counterpart via radio wave communication. The object's position information can also represent the relative position of the object originating from the local unit. Furthermore, the object's position information can also represent an absolute position. The communication control unit 134 can also transmit object information, including the movement status of the object detected by the object detection unit 136, to the communication counterpart. The communication control unit 134 can also be an example of an object information transmission unit.

[0056] The communication control unit 134 may also receive object information (sometimes referred to as other machine object information) from the communication counterpart, including the position information of objects surrounding the communication counterpart. The communication control unit 134 may receive other machine object information from the communication counterpart, for example, via optical wireless communication through the optical wireless communication unit 114. Alternatively, the communication control unit 134 may receive other machine object information from the communication counterpart via radio wave communication, for example. The object position information may also represent the relative position of the object with the communication counterpart as its starting point. Furthermore, the object position information may also represent an absolute position. The communication control unit 134 may also receive object information from the communication counterpart that includes the object's movement status. The communication control unit 134 may also be an example of an object information receiving unit.

[0057] The motion control unit 132 can also control the movement of the device based on local object information and other object information, in a way that prevents the object from being located on the optical axis of the optical wireless communication unit 114. The motion control unit 132 can also use the position information and movement status of the object included in the local object information, and the position information and movement status of the object included in the other object information, to predict the possibility of an object entering the optical axis 115 of the optical wireless communication unit 114. This entry includes the object entering the optical axis 115 through movement, the object entering the optical axis 115 due to movement of at least one of the device and the communication counterpart, and the object entering the optical axis 115 due to movement of both the object and at least one of the device and the communication counterpart.

[0058] The movement control unit 132 can also control the movement of the machine based on the position of the object entering, so that the object is not located on the optical axis 115 of the optical wireless communication unit 114. The object entering is an object predicted to enter the optical axis 115 of the optical wireless communication unit 114. The movement control unit 132 can also control the movement of the machine based on the position, direction of movement, and speed of the object entering, so that the object is not located on the optical axis 115 of the optical wireless communication unit 114.

[0059] The movement control unit 132 communicates with the communication counterpart via the communication control unit 134 through the optical wireless communication unit 114 to determine which of the two devices is moving. If it is determined that only the device is moving or both devices are moving, the movement of the device can also be controlled by ensuring that the object is not located on the optical axis 115 of the optical wireless communication unit 114.

[0060] The movement control unit 132 can determine which of the two devices will move based on the position of the object entering, the positional relationship between the device and its surrounding objects, and the positional relationship between the communication counterpart and its surrounding objects. When the object is moving, the movement control unit 132 can also determine which of the two devices will move based on the position of the object, its direction of movement and speed, the positional relationship between the device and its surrounding objects, and the positional relationship between the communication counterpart and its surrounding objects.

[0061] The movement control unit 132 may, for example, determine to perform movement (sometimes described as shielding movement) to prevent the object from entering the optical axis 115 for the one closer to the intruder among the two devices (the mobile unit and the communication counterpart). The movement control unit 132 may also determine to perform shielding movement for the one with fewer surrounding objects among the two devices. The movement control unit 132 may also determine to perform shielding movement for the one not flying on the path determined by the operation plan when only one of the two devices is flying on the path determined by the operation plan.

[0062] For example, when the intruder is stationary and both the local unit and the communication counterpart are moving, such that the intruder is about to enter the optical axis 115 of the optical wireless communication unit 114, the motion control unit 132 determines that one of the local unit and the communication counterpart is moving towards the intruder and blocks it to prevent further movement. Furthermore, for example, when the intruder is moving, the motion control unit 132 determines that one of the local unit and the communication counterpart is moving with a movement vector approaching the intruder and blocks it to prevent further movement.

[0063] When the movement control unit 132 determines that it is necessary to shield the aircraft to prevent movement, it moves the aircraft in a direction where there are no surrounding objects. Furthermore, the movement control unit 132 moves the aircraft in a direction that does not leave the area defined by law. For example, the movement control unit 132 moves the aircraft in a direction that does not enter DID (Densely Inhabited District) or airspace above airports.

[0064] Furthermore, when the aircraft is flying along a path determined by the operation plan, the movement control unit 132 provides shielding to prevent movement in the direction along the path. If it is impossible to avoid the shielding of the optical axis 115 by an intruder in the direction along the path, the movement control unit 132 moves the aircraft in a direction that facilitates returning to the path. For example, the movement control unit 132 moves the unmanned aerial vehicle 100 in a vector direction with less change relative to the movement vector along the path. For example, when moving in a direction completely opposite to the movement direction along the path, the load for returning to the path increases; however, by moving in a direction with less change in angle relative to the movement direction along the path, returning to the path can be made easier.

[0065] Figure 5 An example of the processing flow of the unmanned aerial vehicle 100 is illustrated schematically. Here, the starting state is described as the state in which the vehicle performs optical wireless communication with the communicating counterpart and periodically shares object information.

[0066] In step (sometimes abbreviated as S) 102, the motion control unit 132 searches for a moving object approaching the optical axis 115 of the optical wireless communication unit 114 of the local and communication counterpart units based on shared object information. When a moving object is detected (yes in S104), the process proceeds to S106; when no moving object is detected (NO in S104), the process returns to S102.

[0067] In S106, the movement control unit 132 determines whether the moving object is ascending. If it is determined to be ascending, it proceeds to S108; if it is determined not to be ascending, it proceeds to S110. In S108, the movement control unit 132 causes the aircraft to descend. At this time, the communication counterpart also descends. In S110, the movement control unit 132 causes the aircraft to ascend. At this time, the communication counterpart also descends. In this way, by moving the aircraft and the communication counterpart in the opposite direction to the ascending and descending direction of the moving object, the possibility of the aircraft 210 approaching the optical axis 115 again after temporarily avoiding obstruction can be suppressed.

[0068] In S112, the motion control unit 132 determines whether the optical axis 115 has deviated from the moving direction of the moving object. If it is determined that there is no deviation, it returns to S106; if it is determined that there is a deviation, it proceeds to S114.

[0069] In S114, the movement control unit 132 determines whether the process of avoiding the shielding of the optical axis 115 has ended. For example, if an end instruction is received, the movement control unit 132 determines that the process has ended; if no end instruction is received, it determines that the process has not ended. If the process has not ended, it returns to S102.

[0070] Figure 6 An example of system 30 is schematically shown. System 30 includes multiple unmanned aerial vehicles 100 and multiple wireless base stations 300 connected to the unmanned aerial vehicles 100 via cables 302. Figure 6 The example illustrates a system 30 comprising two sets: a first unmanned aerial vehicle 100 and a first wireless base station 300, and a second unmanned aerial vehicle 100 and a second wireless base station 300.

[0071] The first unmanned aerial vehicle 100 performs optical wireless communication with the second unmanned aerial vehicle 100. The first unmanned aerial vehicle 100 communicates with the second wireless base station 300 through optical wireless communication between the first and second unmanned aerial vehicles 100. Thus, the first and second wireless base stations 300 are configured to communicate through optical wireless communication between the first and second unmanned aerial vehicles 100, thereby enabling the installation of the first and second wireless base stations 300 in locations where it is difficult to lay cables between them.

[0072] By providing fixed optical wireless communication units in both the first and second wireless base stations 300, communication between the first and second wireless base stations 300 can be achieved. However, in this case, communication between the first and second wireless base stations 300 is interrupted when objects such as birds or unmanned aerial vehicles (UAVs) are located on the optical axis of the optical wireless communication unit. To address this, by appropriately moving the first and second UAVs according to this embodiment so that objects are not located on the optical axis of the optical wireless communication unit, communication between the first and second wireless base stations 300 can be maintained.

[0073] It should be pointed out that, in Figure 6 The example given is two unmanned aerial vehicles (UAVs) 100 connected to a wireless base station 300 via cables 302, but this is not a limitation. For example, one UAV 100 could be connected to the wireless base station 300 via cable 302, and the other UAV 100 could be connected to a ship via cable 302. This allows the UAVs 100 to communicate with the wireless base station 300 and the ship via optical wireless communication. The two UAVs 100 can also be connected to any object with which communication is desired.

[0074] Figure 7 An example of a moving body 400 in water is schematically shown. Figures 1 to 6 The text primarily uses an unmanned aerial vehicle (UAV) 100 as an example of a mobile body, but it is not limited to this. Examples of mobile bodies include airplanes, helicopters, and cars. Furthermore, as... Figure 7 As shown, as an example, an aquatic moving body 400 that moves in water can also be listed.

[0075] The underwater mobile body 400 includes an underwater mobility mechanism 404, a communication unit 410, and an underwater LiDAR 424. The communication unit 410 may also be the same as the communication unit 110.

[0076] In addition, the underwater mobile body 400 includes a GNSS unit (not shown), an accelerometer, a gyroscope, and a control device. The GNSS unit, accelerometer, gyroscope, and control device may also be the same as the GNSS unit 120, accelerometer 121, gyroscope 122, and control device 130.

[0077] The underwater mobile body 400 is capable of performing actions similar to those of the unmanned aerial vehicle 100. The underwater mobile body 400 performs optical wireless communication with other underwater mobile bodies 400. It transmits object information about surrounding objects to other underwater mobile bodies 400 via optical wireless communication and receives object information about surrounding objects from other underwater mobile bodies 400 via optical wireless communication, thereby sharing object information. Based on the shared object information, the underwater mobile body 400 controls its movement in a manner that ensures the objects are not located on the optical axis of the optical wireless communication.

[0078] For example Figure 7 As shown, the underwater mobile body 400 is connected to the submarine 500 via cable 502. The submarine 500, connected to the underwater mobile body 400, can communicate with other submarines 500 via the underwater mobile body 400. While communication using radio waves is difficult to achieve underwater, the underwater mobile body 400 of this embodiment enables easy communication between underwater devices such as submarines 500.

[0079] Figure 8 An example of the hardware configuration of a computer 1200 that functions as a control device 130 is schematically shown. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the apparatus according to this embodiment, or to perform operations associated with the apparatus or the one or more "parts" according to this embodiment, and / or to perform processes or stages of processes according to this embodiment. Such a program can also be executed by the CPU 1212 to cause the computer 1200 to perform several or all of the associated specified operations within the blocks of the flowcharts and block diagrams described in this specification.

[0080] The computer 1200 of this embodiment includes a CPU 1212, RAM 1214, and a graphics controller 1216, which are interconnected via a host controller 1210. The computer 1200 also includes an input / output unit such as a communication interface 1222, a storage device 1224, and an IC card driver, which are connected to the host controller 1210 via an input / output controller 1220. The storage device 1224 can also be a hard disk drive or a solid-state drive. The computer 1200 also includes conventional input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0081] CPU 1212 operates according to the programs stored in ROM 1230 and RAM 1214, thereby controlling each unit. Graphics controller 1216 obtains the image data generated by CPU 1212 from the frame buffer provided in RAM 1214 or from itself, and displays the image data on display device 1218.

[0082] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores the programs and data used by the CPU 1212 within the computer 1200. The IC card driver reads programs and data from the IC card and / or writes programs and data to the IC card.

[0083] ROM 1230 stores the boot program executed by computer 1200 during activation, and / or programs dependent on the hardware of computer 1200. Input / output chip 1240 can also connect various input / output units to input / output controller 1220 via USB port, parallel port, serial port, keyboard port, mouse port, etc.

[0084] The program is provided by a computer-readable storage medium such as an IC card. The program is read from the computer-readable storage medium and installed in a storage device 1224, RAM 1214, or ROM 1230, which is also an example of a computer-readable storage medium, and executed by the CPU 1212. The information processing described within these programs is read by the computer 1200, enabling cooperation between the program and the aforementioned hardware resources of various types. The apparatus or method can also be configured to perform information manipulation or processing according to the use of the computer 1200.

[0085] For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 can also execute a communication program loaded in the RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in the transmission buffer area provided in the RAM 1214, storage device 1224, or a recording medium such as an IC card, and sends the read transmission data to the network, or writes received data received from the network into the receive buffer area provided on the recording medium, etc.

[0086] Furthermore, the CPU 1212 can also enable the RAM 1214 to read all or necessary portions of files or databases stored on external recording media such as the storage device 1224 or an IC card, and perform various types of processing on the data in the RAM 1214. Then, the CPU 1212 can also write the processed data back to the external recording medium.

[0087] Various types of information, such as programs, data, tables, and databases, can be stored in the recording medium and processed. The CPU 1212 can also perform various types of processing on data read from RAM 1214 and write the results back to RAM 1214. These types of processing include various types of operations specified by a sequence of program commands, as described in various parts of this disclosure, such as information processing, conditional judgment, conditional branching, unconditional branching, and information retrieval / replacement. Furthermore, the CPU 1212 can also retrieve information from files, databases, etc., within the recording medium. For example, when multiple entries with attribute values ​​of a first attribute respectively associated with the attribute value of a second attribute are stored in the recording medium, the CPU 1212 can retrieve from these multiple entries an entry that matches the condition specifying the attribute value of the first attribute, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0088] The programs or software modules described above can be stored on or near the computer 1200 in a computer-readable storage medium. Furthermore, recording media such as hard disks or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as computer-readable storage media, thereby providing the program to the computer 1200 via the network.

[0089] The boxes in the flowcharts and block diagrams of this embodiment may also represent stages of a process for performing an operation or "parts" of a device that performs the operation. Specific stages and "parts" may also be installed by dedicated circuitry, programmable circuitry provided with computer-readable commands stored on a computer-readable storage medium, and / or a processor provided with computer-readable commands stored on a computer-readable storage medium. Dedicated circuitry may also include digital and / or analog hardware circuitry, and may include integrated circuits (ICs) and / or discrete circuitry. Programmable circuitry may also include reconfigurable hardware circuitry, including logic products, logical OR, logical XOR, logical NAND, logical NOR, and other logic operations, flip-flops, registers, and memory elements such as field-programmable gate arrays (FPGAs) and programmable logic arrays (PLAs).

[0090] Computer-readable storage media can include any tangible device capable of storing commands that can be executed by a suitable device. As a result, a computer-readable storage medium having commands stored therein comprises an article of products, the article of products including commands that can be executed to create units for performing operations specified in a flowchart or block diagram. Examples of computer-readable storage media include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks (registered trademark), magnetic disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), CD-ROM, digital multipurpose disk (DVD), Blu-ray disc, memory sticks, integrated circuit cards, etc.

[0091] Computer-readable commands may include any one of source code or object code described in any combination of one or more programming languages, including assembly commands, command group architecture (ISA) commands, machine commands, machine-dependent commands, microcode, firmware commands, status setting data, or object-oriented programming languages ​​such as Smalltalk, JAVA (registered trademark), C++, and existing procedural programming languages ​​such as the "C" programming language or similar programming languages.

[0092] The computer-readable commands are executed by the processor or programmable circuitry of a general-purpose computer, special-purpose computer, or other programmable data processing device to generate units for performing operations specified by a flowchart or block diagram. These computer-readable commands can also be provided to the processor or programmable circuitry of the general-purpose computer, special-purpose computer, or other programmable data processing device via a wide area network (WAN) such as a local area network (LAN) or the Internet. Examples of processors include processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0093] The present invention has been described above using embodiments; however, the technical scope of the present invention is not limited to the scope described in the above embodiments. Those skilled in the art will understand that various changes or modifications can be added to the above embodiments. It is clear from the claims that such changes or modifications can also be included within the technical scope of the present invention.

[0094] It should be noted that the execution order of actions, sequences, steps, and stages in the apparatus, systems, programs, and methods shown in the claims, specification, and drawings can be implemented in any order, unless specifically stated as "before" or "before," and the output of a previous process is not used in a subsequent process. For convenience, even if the flow of actions in the claims, specification, and drawings is described using terms such as "firstly" or "next," it does not mean that the actions must be performed in that order.

[0095] Explanation of reference numerals in the attached figures

[0096] 30 System, 100 Unmanned Aerial Vehicle, 102 Main Body, 104 Propeller, 106 Legs, 108 Gimbal, 110 Communication Unit, 112 Camera, 114 Optical Wireless Communication Unit, 115 Optical Axis, 116 Optical Transmitter Port, 118 Optical Receiver Port, 120 GNSS Unit, 121 Accelerometer Sensor, 122 Gyroscope Sensor, 123 Millimeter-Wave Radar, 124 LiDAR, 130 Control Unit, 132 Motion Control Unit, 134 Communication Control Unit, 136 Object Detection Unit, 210 Flight Device, 220 Vehicle, 230 Wall, 300 Wireless Base Station, 302 Cable, 400 Underwater Mobile Body, 404 Underwater Mobile Mechanism, 410 Communication Unit, 424 Underwater LiDAR, 500 Submarine, 502 Cable, 1200 Computer, 1210 Host Controller, 1212 CPU, 1214 RAM, 1216 Graphics Controller, 1218 Display Device, 1220 Input / Output Controller, 1222 Communication Interface, 1224 Storage Device, 1230 ROM, 1240 Input / Output Chip.

Claims

1. A mobile body, comprising: The optical wireless communication unit performs optical wireless communication with other mobile units; The object detection unit detects objects around the moving object. The object information transmitting unit transmits first object information, including the object's location information, to the other mobile body via the optical wireless communication or radio wave communication. The object information receiving unit receives second object information, including the location information of objects surrounding the other mobile body, from the other mobile body via the optical wireless communication or the radio wave communication. as well as The movement control unit determines and controls the movement of the mobile body based on the first object information and the second object information, in a manner that ensures the object is not located on the optical axis of the optical wireless communication performed between the mobile body and the other mobile body.

2. The mobile body according to claim 1, wherein, The object detection unit uses at least one of a camera, radar, lidar, sonar, and ultrasonic sensor to detect objects around the mobile body.

3. The mobile body according to claim 1 or 2, wherein, The object information transmitting unit transmits first object information, including position information representing the relative position of the object with the mobile body as the starting point, to the other mobile body via the optical wireless communication or the radio wave communication.

4. The mobile body according to claim 1 or 2, wherein, The object detection unit detects the movement of the object. The object information transmitting unit transmits the first object information, including the object's location information and the object's movement status, to the other mobile body via the optical wireless communication or the radio wave communication.

5. The mobile body according to claim 4, wherein, The object detection unit detects the object's direction of movement and speed of movement. The object information transmitting unit transmits the first object information, including the object's position information, movement direction, and movement speed, to the other moving body via the optical wireless communication or the radio wave communication.

6. The mobile body according to claim 1 or 2, wherein, The movement control unit controls the movement of the mobile body based on the position and direction of the object entering, in a manner that prevents the object from being located on the optical axis of the optical wireless communication. The object entering is an object that is predicted to enter the optical axis of the optical wireless communication.

7. The mobile body according to claim 6, wherein, The movement control unit communicates with the other moving body via the optical wireless communication or the radio wave communication to determine which of the moving body and the other moving body should move. When it is determined that the moving body should move, the movement of the moving body is controlled in such a way that the object entering is not located on the optical axis of the optical wireless communication.

8. The mobile body according to claim 7, wherein, The movement control unit determines which of the two mobile bodies should move based on the position and direction of the object entering, the positional relationship between the mobile body and the objects surrounding it, and the positional relationship between the other mobile bodies and the objects surrounding them.

9. The mobile body according to claim 1 or 2, wherein, The mobile body is an unmanned aerial vehicle.

10. The mobile body according to claim 1 or 2, wherein, The object information transmitting unit transmits the first object information via radio wave communication. The object information receiving unit receives the second object information via radio wave communication.

11. The mobile body according to claim 1 or 2, wherein, The moving body is an underwater moving body that moves in water.

12. A system having: The mobile body according to any one of claims 1 to 10; and The first wireless base station is connected to the mobile body via a cable. The first wireless base station communicates with the second wireless base station via optical wireless communication between the mobile body and the other mobile bodies, and the second wireless base station is connected to the other mobile bodies via a cable.

13. A computer-readable storage medium, The computer-readable storage medium stores a program that enables the computer to function as a mobile body as described in any one of claims 1 to 11.

14. A control method, wherein the control method is executed by a computer mounted on a mobile body, the control method comprising: During the object detection phase, objects around the moving object are detected. During the object information transmission phase, first object information, including the location information of the object, is transmitted to other mobile bodies that perform optical wireless communication with the mobile body via optical wireless communication or radio wave communication. During the object information receiving phase, second object information, including the location information of objects surrounding the other mobile body, is received from the other mobile body via the optical wireless communication or the radio wave communication. as well as During the movement control phase, based on the first object information and the second object information, the movement of the mobile body is determined and controlled in such a way that the object is not located on the optical axis of the optical wireless communication performed between the mobile body and the other mobile bodies.

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