Mobile object, program, and control method

Abstract

Provided is a moving body comprising: a moving body information transmission unit that transmits, to another moving body through optical wireless communication by a first optical wireless communication unit, first moving body information which includes first inertia measurement information indicating a measurement result of three-dimensional angular velocity and acceleration of the moving body, and first body control information used by a propulsion unit for propelling the moving body in accordance with the first body control information; a moving body information reception unit that receives, from the other moving body through optical wireless communication by first optical wireless communication, second moving body information which includes second inertia measurement information indicating a measurement result of three-dimensional angular velocity and acceleration of the other moving body, and second body control information used by a propulsion unit for propelling the other moving body in accordance with the second body control information; and an optical axis direction control unit that, on the basis of the first moving body information and the second moving body information, controls an optical axis direction of the first optical wireless communication unit.

Description

Mobile object, program, and control method

[0001] The present invention relates to a mobile object, a program, and a control method.

[0002] A mobile object equipped with an optical wireless communication function has been known (see, for example, Patent Document 1). [Prior art documents] [Patent documents] [Patent Document 1] JP 2018-166256 A Problem to be solved

[0003] It is desirable to provide a technique that helps to stably perform optical wireless communication. General disclosure

[0004] According to a first aspect of the present invention, there is provided a mobile body. The mobile body may include a mobile body information transmitter that transmits, to another mobile body via optical wireless communication using a first optical wireless communication unit, first mobile body information, the first mobile body information including first inertial measurement information indicating measurement results of three-dimensional angular velocity and acceleration of the mobile body and first airframe control information used by a propulsion unit that propels the mobile body in accordance with the first airframe control information. The mobile body may include a mobile body information receiver that receives, from the other mobile body via optical wireless communication using the first optical wireless communication, second mobile body information, the second inertial measurement information indicating measurement results of three-dimensional angular velocity and acceleration of the other mobile body and second airframe control information used by a propulsion unit that propels the other mobile body in accordance with the second airframe control information. The mobile body may include an optical axis direction controller that controls the direction of an optical axis of the first optical wireless communication unit based on the first mobile body information and the second mobile body information.

[0005] The optical axis direction control unit may control a direction of the optical axis of the first optical wireless communication unit so as to maintain alignment between the optical axis of the first optical wireless communication unit and the optical axis of the second optical wireless communication unit of the other moving object. The moving object information transmission unit may transmit the first moving object information further including location information of the moving object to the other moving object, and the moving object information receiving unit may receive the second moving object information further including location information of the other moving object from the other moving object.

[0006] The moving body may include a movement plan control unit that controls the propulsion unit based on first movement plan information including a movement path of the moving body, the moving body information transmitter unit may transmit the first moving body information further including the first movement plan information to the other moving body, and the moving body information receiver unit may receive the second moving body information further including second movement plan information including a movement path of the other moving body. The optical axis direction control unit may predict a change in a relative position between the moving body and the other moving body based on the first movement plan information and the second movement plan information, and control the direction of the optical axis of the first optical wireless communication unit based on a prediction result, while performing finer control of the direction of the optical axis of the first optical wireless communication unit than the control of the direction of the optical axis of the first optical wireless communication unit based on the prediction result, based on the first inertial measurement information, the first airframe control information, the second inertial measurement information, and the second airframe control information.

[0007] The first optical wireless communication unit may be fixed so as not to move relative to the moving body, and the optical axis direction control unit may control the propulsion unit to propel the moving body so that an optical axis of the first optical wireless communication unit and an optical axis of the second optical wireless communication unit of the other moving body coincide with each other. The moving body may include a gimbal that rotatably supports the first optical wireless communication unit, and the optical axis direction control unit may control the gimbal to adjust an angle of the first optical wireless communication unit so as to maintain the alignment of the optical axis of the first optical wireless communication unit and the optical axis of the second optical wireless communication unit of the other moving body.

[0008] The moving body may be an underwater moving body that moves underwater. The moving body information transmitter may transmit to the other moving body the first moving body information further including water pressure information related to water pressure measured by a pressure gauge installed on the moving body, and the moving body information receiver may receive from the other moving body the second moving body information further including water pressure information related to water pressure measured by a pressure gauge installed on the other moving body. The moving body information transmitter may transmit to the other moving body the first moving body information further including flow rate information related to flow rate measured by a flow meter installed on the moving body, and the moving body information receiver may receive from the other moving body the second moving body information further including flow rate information related to flow rate measured by a flow meter installed on the other moving body. The mobile body may be connected to a submersible via a cable, and may be equipped with a communication relay unit that transmits data received from the submersible via the cable to the other mobile body via optical wireless communication using the first optical wireless communication unit, and transmits data received from the other mobile body via optical wireless communication using the first optical wireless communication unit to the submersible via the cable.

[0009] The mobile object may be an unmanned aerial vehicle. The mobile object may be connected to a communication device via a cable, and may include a communication relay unit that transmits data received from the communication device via the cable to the other mobile object by optical wireless communication using the first optical wireless communication unit, and transmits data received from the other mobile object by optical wireless communication using the first optical wireless communication unit to the communication device via the cable.

[0010] According to a second aspect of the present invention, there is provided a program for causing a computer controlling a moving body to function as a moving body information transmitter, a moving body information receiver, and an optical axis direction controller. The moving body information transmitter may transmit, to another moving body via optical wireless communication using the first optical wireless communication unit, first moving body information including first inertial measurement information indicating measurement results of three-dimensional angular velocity and acceleration of the moving body and first airframe control information used by a propulsion unit that propels the moving body in accordance with the first airframe control information. The moving body information receiver may receive, from the other moving body via optical wireless communication using the first optical wireless communication, second moving body information including second inertial measurement information indicating measurement results of the three-dimensional angular velocity and acceleration of the other moving body and second airframe control information used by a propulsion unit that propels the other moving body in accordance with the second airframe control information. The optical axis direction controller may control the direction of the optical axis of the first optical wireless communication unit based on the first moving body information and the second moving body information.

[0011] According to a third aspect of the present invention, there is provided a control method executed by a computer mounted on a moving body. The control method may include a moving body information transmitting step of transmitting, to another moving body via optical wireless communication using a first optical wireless communication unit, first moving body information including first inertial measurement information indicating measurement results of three-dimensional angular velocity and acceleration of the moving body and first airframe control information used by a propulsion unit that propels the moving body in accordance with the first airframe control information. The control method may include a moving body information receiving step of receiving, from the other moving body via optical wireless communication using the first optical wireless communication, second moving body information including second inertial measurement information indicating measurement results of three-dimensional angular velocity and acceleration of the other moving body and second airframe control information used by a propulsion unit that propels the other moving body in accordance with the second airframe control information. The control method may include an optical axis direction control unit that controls the direction of an optical axis of the first optical wireless communication unit based on the first moving body information and the second moving body information.

[0012] The above summary of the invention does not list all of the necessary features of the present invention, and subcombinations of these features may also constitute inventions.

[0013] FIG. 1 shows an example of a submersible 100. FIG. 2 shows an explanatory diagram of the control of the optical axis 111 by the submersible 100. FIG. 3 shows an example of the functional configuration of the submersible 100. FIG. 4 shows an example of the processing flow by the submersible 100. FIG. 5 shows another example of a submersible 100. FIG. 6 shows an explanatory diagram of the control of the optical axis 111 by the submersible 100. FIG. 7 shows an example of the functional configuration of the submersible 100. FIG. 8 shows an example of the processing flow by the submersible 100. FIG. 9 shows an example of a mobile communication device 200. FIG. 10 shows an example of the functional configuration of the mobile communication device 200. FIG. 11 shows an example of the hardware configuration of a computer 1200 that functions as a control device 140 or a control device 240.

[0014] The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the scope of the invention as claimed. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0015] Figure 1 shows a schematic diagram of an example of a submersible vehicle 100. The submersible vehicle 100 may be an example of a mobile object. The submersible vehicle 100 is equipped with an optical wireless communication device 110. In the example shown in Figure 1, the optical wireless communication device 110 is fixed so as not to move relative to the submersible vehicle 100. The submersible vehicle 100 can perform optical wireless communication with other submersible vehicles 100 via optical wireless communication using the optical wireless communication device 110.

[0016] The submersible vessel 100 of this embodiment shares moving body information including inertial measurement information and aircraft control information with other submersible vessels 100, and controls the direction of its own optical wireless communication device 110 based on the moving body information so as to maintain alignment between the optical axis of its own optical wireless communication device 110 and the optical axis of the optical wireless communication device 110 possessed by the other submersible vessels 100.

[0017] The inertial measurement information may indicate the measurement results of the three-dimensional angular velocity and acceleration of the submersible vehicle 100. For example, the submersible vehicle 100 may include inertial measurement information indicating the measurement results measured by an inertial measurement unit (IMU) possessed by the submersible vehicle 100 in the moving body information.

[0018] The vehicle control information may be information used by a propulsion device possessed by the submersible vehicle 100. The propulsion device propels the submersible vehicle 100 in accordance with the vehicle control information. The submersible vehicle 100 may include the vehicle control information used by the propulsion device in its moving body information.

[0019] For example, a submersible vehicle 100 first aligns the optical axes of the optical wireless communication devices 110 of another submersible vehicle 100 by any method, thereby establishing an optical wireless communication link. Any method may be used to align the optical axes.

[0020] For example, the user of the first submersible 100 and the user of the second submersible 100 position the first submersible 100 and the second submersible 100 so that the optical axes of the optical wireless communication devices 110 are aligned. Alternatively, for example, the first submersible 100 and the second submersible 100 share information about each other's positions underwater via acoustic communication, automatically aligning the optical axes of the optical wireless communication devices 110. Alternatively, for example, the first submersible 100 and the second submersible 100 located on the water surface share information about each other's positions via radio wave communication, automatically aligning the optical axes of the optical wireless communication devices 110.

[0021] After establishing an optical wireless communication link, the two submersibles 100 share each other's moving body information. By referencing the vehicle control information of the other submersibles 100, each submersibles 100 can determine how the other submersibles 100 are attempting to move their bodies. Furthermore, by referencing the inertial measurement information of the other submersibles 100, each submersibles 100 can determine how the other submersibles 100 have moved. By referencing the vehicle control information and inertial measurement information, each submersibles 100 can determine how the other submersibles 100 are attempting to move their bodies and how they are moving as a result.

[0022] Figure 2 is an explanatory diagram of the control of the optical axis 111 by the submersible vehicle 100. Figure 2 shows the control of the optical axis 111 when the first submersible vehicle 100 ascends and the second submersible vehicle 100 descends.

[0023] The first submersible 100 and the second submersible 100 each understand from the shared moving object information that the first submersible 100 is ascending and the second submersible 100 is descending. In order to maintain the alignment of the optical axis 111 of the first submersible 100 with the optical axis 111 of the second submersible 100, the first submersible 100 controls its propulsion device to pitch down so that the direction of the optical axis 111 of the first submersible 100 is directed toward the optical wireless communication device 110 of the second submersible 100. Similarly, the second submersible 100 controls the propulsion device of the second submersible 100 to pitch up so that the direction of the optical axis 111 of the second submersible 100 points toward the optical wireless communication device 110 of the first submersible 100 in order to maintain the alignment of the optical axis 111.

[0024] In this way, the first submersible 100 and the second submersible 100 each control the direction of the optical axis 111 by changing their attitude based on the shared mobile object information, thereby making it possible to maintain the alignment of the optical axis 111 and to carry out stable optical wireless communication. In particular, by sharing vehicle control information, it is possible to respond to spontaneous movement of the submersible 100, and by sharing inertial measurement information, it is possible to respond to movement of the submersible 100 caused by external factors.

[0025] 3 shows an example of the functional configuration of the submersible vehicle 100. The submersible vehicle 100 comprises an optical wireless communication device 110, an inertial measurement unit 120, a propulsion unit 130, a wireless communication unit 132, a navigation management unit 134, a light emitter 136, and a control unit 140. Note that it is not essential for the submersible vehicle 100 to comprise all of these components. The submersible vehicle 100 itself may be referred to as the "submersible vehicle," and other submersible vehicles 100 may be referred to as "other vehicles."

[0026] The optical wireless communication device 110 has a light-emitting port 112 and a light-receiving port 114. Any type of light may be used for optical wireless communication by the optical wireless communication device 110, and for example, light with a wavelength between infrared and visible light may be used.

[0027] For example, when visible light is used, LEDs (Light Emitting Diodes) of various wavelengths are inexpensively available, making it easy to broaden the bandwidth by superimposing multiple wavelengths and reducing the manufacturing cost of the optical wireless communication device 110. Furthermore, when infrared light is used, infrared light has a longer wavelength than visible light, so it can reach long distances with a small output. Furthermore, infrared light is safe for the eyes and invisible to the naked eye, so communication can be concealed.

[0028] The optical wireless communication device 110 has an imaging unit 116. The imaging unit 116 captures an image of the optical wireless communication direction. The imaging unit 116 captures an image of the light emission direction of the light-emitting port 112, for example. The vector of the optical wireless communication direction of the light-emitting port 112 and the light-receiving port 114 may be the same as the vector of the main imaging direction of the imaging unit 116. The main imaging direction of the imaging unit 116 is, for example, the direction of the optical axis of a lens included in the imaging unit 116. The optical wireless communication device 110 does not necessarily have to have the imaging unit 116.

[0029] The inertial measurement unit 120 measures the behavior of the boat's body. The inertial measurement unit 120 has a gyro sensor 122, an acceleration sensor 124, and a position sensor 126. The gyro sensor 122 detects angular velocity. The acceleration sensor 124 detects acceleration.

[0030] The position sensor 126 measures the position of the boat. The position sensor 126 may be, for example, a Global Navigation Satellite System (GNSS) unit. In this case, the position sensor 126 performs positioning of the boat when the boat is not in water.

[0031] The position sensor 126 may be an inertial navigation system (INS (registered trademark)). In this case, the position sensor 126 derives the position and speed of the boat based on the angular velocity and acceleration measured by the gyro sensor 122 and the acceleration sensor 124. The position sensor 126 may be a Doppler ground speed meter. The position sensor 126 may be any other sensor that can measure the position of the boat. Note that the inertial measurement unit 120 does not necessarily have to have the position sensor 126.

[0032] The inertial measurement unit 120 may include a pressure gauge (not shown). The pressure gauge outputs, for example, water pressure information related to the measured water pressure. The inertial measurement unit 120 may also include a flow meter (not shown). The flow meter outputs, for example, flow rate information related to the measured flow rate.

[0033] The propulsion device 130 propels the boat by using a drive device such as an engine and a motor, a screw propeller, a rudder, and the like.

[0034] The wireless communication device 132 communicates wirelessly with other boats in locations other than underwater. The wireless communication device 132 communicates wirelessly with other boats, for example, on the surface of the water. The wireless communication device 132 may operate as a secondary communication function until an optical wireless communication link is established by the optical wireless communication device 110. The boat shares with the other boats information necessary to align the optical axis 111 of the optical wireless communication device 110 by wirelessly communicating with the other boats via the wireless communication device 132. The information necessary to align the optical axis 111 includes, for example, position information and movement information indicating how to move.

[0035] The submersible vehicle 100 may be equipped with an acoustic communication device instead of the wireless communication device 132. For example, the submersible vehicle 100 may share with other vehicles information necessary to align the optical axis 111 of the optical wireless communication device 110 by wirelessly communicating with the other vehicles via the acoustic communication device. The submersible vehicle 100 may be equipped with both the wireless communication device 132 and the acoustic communication device.

[0036] The operation management device 134 manages the operation plan of the host boat. The operation management device 134 manages, for example, the navigation plan of the host boat. The operation management device 134 may manage movement plan information including the movement route of the host boat in the navigation plan of the host boat.

[0037] The operation management device 134 may acquire movement plan information from an external source via the wireless communication device 132. The operation management device 134 receives and manages movement plan information from the control system of the submersible vehicle 100, for example.

[0038] The light emitting unit 136 outputs light that is less directional than the light output from the light emitting port 112. The light output by the light emitting unit 136 may have less directivity than the light output from the light emitting port 112, or may be omnidirectional.

[0039] The light-emitting unit 136 may output visible light. The light-emitting unit 136 may output colorless light or colored light. The light-emitting unit 136 may output light of multiple colors. The light-emitting unit 136 may be, for example, an LED strobe light that outputs light of three colors.

[0040] A submersible 100 may transmit information to another submersible 100 by controlling the light emission of the light-emitting unit 136. Transmission of information by light emission may be performed by any method. For example, a blinking signal that transmits information by different light emission patterns may be used. Furthermore, a submersible 100 may acquire information transmitted by another submersible 100 by controlling the light emission of its light-emitting unit 136 by analyzing the light emission of that light-emitting unit 136 captured by the imaging unit 116.

[0041] For example, the submersible 100 communicates using the light-emitting unit 136 as a means of communication until an optical wireless communication link is established with another submersible 100. As a specific example, the submersible 100 and the other submersible 100 transmit authentication numbers by controlling the light emission of the light-emitting unit 136, and if it is determined that authentication is successful, the process of establishing an optical wireless communication link is carried out.

[0042] After establishing an optical wireless communication link with another submersible vehicle 100, the submersible vehicle 100 may communicate using the light-emitting unit 136 as a means of communication when communication is interrupted or unstable due to optical axis misalignment, excessive distance, etc. Furthermore, after establishing an optical wireless communication link with another submersible vehicle 100, the submersible vehicle 100 may communicate information related to the optical wireless communication using the light-emitting unit 136. For example, the submersible vehicle 100 transmits an error correction signal corresponding to the optical wireless communication using the light-emitting unit 136. The uses of communication using the light-emitting unit 136 are not limited to these, and the light-emitting unit 136 may be used for any purpose.

[0043] The control device 140 controls each part of the boat and includes a communication control unit 142, a video analysis unit 144, and an aircraft control unit 146.

[0044] The communication control unit 142 controls the communication of the submarine 100. The communication control unit 142 may control the optical wireless communication by the optical wireless communication device 110. The communication control unit 142 may transmit and receive any data to and from other submarines 100 via optical wireless communication by the optical wireless communication device 110.

[0045] The communication control unit 142 may control wireless communication by the wireless communication device 132. If the boat is equipped with a sonic communication device, the communication control unit 142 may control sonic communication by the sonic communication device. The communication control unit 142 may control communication using light emitted by the light emitting unit 136.

[0046] The video analysis unit 144 analyzes the images captured by the imaging unit 116. For example, the video analysis unit 144 detects a communication target by analyzing the images captured by the imaging unit 116. The video analysis unit 144 also provides the communication content acquired by analyzing the images of the light emitted by the light emitter 136 of the other boat to the communication control unit 142.

[0047] The aircraft control unit 146 controls the aircraft of the boat. The aircraft control unit 146 may control the propulsion of the boat by controlling the propulsion device 130. For example, by controlling the propulsion device 130, the aircraft control unit 146 realizes movements of the boat such as moving forward, turning, returning, rotating, and remaining stationary against external disturbances.

[0048] The aircraft control unit 146 may cooperate with the operation management device 134 and control the propulsion device 130 so that the vessel operates according to the operation plan by exchanging information with the operation management device 134. The aircraft control unit 146 may be an example of a movement plan control unit.

[0049] The inertial measurement unit 120 may measure how the vessel's airframe actually moves when the vessel's airframe is controlled by the airframe control unit 146, and provide feedback to the airframe control unit 146. The airframe control unit 146 may correct control deviations of the vessel's airframe based on the feedback from the inertial measurement unit 120.

[0050] The communication control unit 142 transmits mobile object information (sometimes referred to as "own boat information") including inertial measurement information and aircraft control information of the own boat to the other boat via optical wireless communication using the optical wireless communication device 110. The communication control unit 142 may be an example of a mobile object information transmitting unit. After establishing an optical wireless communication link with the other boat, the communication control unit 142 may transmit the own boat information to the other boat according to a predetermined timing.

[0051] The predetermined timing may be, for example, a regular timing, or may be, for example, a timing when at least one of the position and attitude of the boat changes.

[0052] The communication control unit 142 receives moving body information (sometimes referred to as other boat information) including inertial measurement information and aircraft control information of the other boat with which the communication is being made via optical wireless communication using the optical wireless communication device 110. The communication control unit 142 may store a log of the received other boat information. The communication control unit 142 may be an example of a moving body information receiving unit.

[0053] The aircraft control unit 146 controls the direction of the optical axis 111 of the optical wireless communication device 110 of the own boat based on the own boat information and the other boat information. The aircraft control unit 146 may control the direction of the optical axis 111 of the optical wireless communication device 110 of the own boat so as to maintain alignment between the optical axis 111 of the optical wireless communication device 110 of the own boat and the optical axis 111 of the optical wireless communication device 110 of the other boat. The aircraft control unit 146 may control the direction of the optical axis 111 of the optical wireless communication device 110 of the own boat by controlling the propulsion device 130. The aircraft control unit 146 may be an example of an optical axis direction control unit.

[0054] If, for some reason, the optical axis 111 of the own boat and the optical axis 111 of the other boat become misaligned and the optical wireless communication link is disconnected, the aircraft control unit 146 may control the aircraft of the own boat to align the optical axis 111 of the own boat and the optical axis 111 of the other boat. For example, the aircraft control unit 146 may predict the position and attitude of the other boat based on the log of other boat information stored in the communication control unit 142, and control the aircraft of the own boat based on the prediction result to align the optical axis 111 of the own boat and the optical axis 111 of the other boat. Storing the log of other boat information in this way can contribute to a quick recovery if the optical wireless communication link is disconnected.

[0055] The communication control unit 142 may transmit to the other communication partner boat information that further includes position information indicating the position of the own boat measured by the position sensor 126. The communication control unit 142 may receive from the other communication partner boat information that further includes position information indicating the position of the other communication partner boat. This improves the accuracy of identifying each other's positions compared to when only inertial measurement information and aircraft control information are used, contributing to improved reliability.

[0056] The communication control unit 142 may transmit to the other boat, the boat's own boat information further including the movement plan information received from the boat's own boat operation management device 134. The communication control unit 142 may receive from the other boat, the other boat's other boat information including the movement plan information of the other boat.

[0057] For example, the aircraft control unit 146 may predict changes in the relative positions of the host boat and the other boat based on the movement plan information of the host boat and the movement plan information of the other boat, and control the direction of the optical axis 111 of the optical wireless communication device 110 of the host boat based on the prediction result, while performing more precise control of the direction of the optical axis 111 of the optical wireless communication device 111 of the host boat based on the inertial measurement information and aircraft control information included in the host boat information and the inertial measurement information and aircraft control information included in the other boat information than the control of the direction of the optical axis 111 of the optical wireless communication device 110 based on the prediction result. That is, the aircraft control unit 146 not only controls the host boat's aircraft based on the movement path of the host boat (position at each time) and the movement path of the other boat (position at each time) so as to maintain the alignment of the directions of the optical axes 111 of the two boats, but also performs precise control of the host boat's aircraft based on the inertial measurement information and aircraft control information. This allows the inertial measurement information and aircraft control information to correct positioning errors due to low positioning accuracy using movement plan information and external factors, thereby more stably maintaining the alignment of the direction of the optical axis 111.

[0058] If, for some reason, the optical axis 111 of the own boat and the optical axis 111 of the other boat become misaligned and the optical wireless communication link is disconnected, the aircraft control unit 146 may predict the position and attitude of the other boat based on the movement plan information of the other boat, and based on the prediction result, control the aircraft of the own boat so as to align the optical axis 111 of the own boat with the optical axis 111 of the other boat.

[0059] If the inertial measurement unit 120 has a pressure gauge, the communication control unit 142 may transmit to the other vessel information that further includes water pressure information related to the water pressure measured by the pressure gauge. The communication control unit 142 may also receive from the other vessel information that includes water pressure information of the other vessel. This improves the accuracy of determining the position and attitude of the submersible vessel 100 compared to when only inertial measurement information and aircraft control information are used, contributing to improved reliability.

[0060] If the inertial measurement unit 120 has a flow meter, the communication control unit 142 may transmit to the other vessel information that further includes flow rate information related to the flow rate measured by the flow meter. The communication control unit 142 may also receive from the other vessel information that includes the flow rate information of the other vessel. This improves the accuracy of determining the position and attitude of the submersible vessel 100 compared to when only inertial measurement information and aircraft control information are used, contributing to improved reliability.

[0061] 4 shows an example of the flow of processing by the submersible vehicle 100. Here, the flow of processing in which the submersible vehicle 100 searches for other submersible vehicles 100 with which to communicate and performs optical wireless communication with the other submersible vehicles 100 is explained.

[0062] In step (sometimes abbreviated as S) 102, the control device 140 searches for a submersible vehicle 100 with which to communicate. The control device 140 may search for a submersible vehicle 100 with which to communicate based on the analysis results of the video analysis unit 144. If there is no target for communication (NO in S104), the process returns to S102, and if there is a target for communication (YES in S104), the process proceeds to S106.

[0063] In S106, the aircraft control unit 146 controls the aircraft so that the optical axis 111 of the own boat coincides with the optical axis 111 of the other boat with which communication is intended. If the optical axis 111 of the own boat does not coincide with the optical axis 111 of the other boat (NO in S108), the process returns to S106; if they coincide (YES in S108), the process proceeds to S110.

[0064] In S110, the communication control unit 142 establishes an optical wireless communication link with the other boat. In S112, the communication control unit 142 starts sharing moving object information with the other boat via optical wireless communication.

[0065] In S114, the communication control unit 142 shares the moving object information. The communication control unit 142 transmits its own boat information to other boats via optical wireless communication, and receives other boat information from the other boats. In S116, the aircraft control unit 146 determines whether there has been a change in the moving object information. If it determines that there has been no change, the process returns to S114; if it determines that there has been a change, the process proceeds to S118.

[0066] In S118, the aircraft control unit 146 controls the aircraft of the own boat based on the own boat information and the other boat information to maintain the alignment of the optical axis 111 of the own boat with the optical axis 111 of the other boat. In S120, the communication control unit 142 determines whether to end the optical wireless communication with the other boat. If it determines not to end the communication, the process returns to S114; if it determines to end the communication, the process ends.

[0067] In the above embodiment, the submarine 100 is given as an example of a moving body, but this is not limiting. Other examples of moving bodies include unmanned aerial vehicles such as drones and flying vehicles such as helicopters. Further, other examples of moving bodies include automobiles and ships.

[0068] Figure 5 shows a schematic diagram of another example of a submersible vehicle 100. Here, differences from Figure 1 will be mainly described. In the example shown in Figure 5, the submersible vehicle 100 is equipped with a gimbal 150 that rotatably supports the optical wireless communication device 110. The submersible vehicle 100 controls the direction of the optical axis 111 of the optical wireless communication device 110 by controlling the gimbal 150 to adjust the angle of the optical wireless communication device 110 based on moving object information shared with other submersible vehicles 100.

[0069] 6 is an explanatory diagram of the control of the optical axis 111 by the submersible vehicle 100. Here, differences from FIG. 2 will be mainly explained.

[0070] To maintain the alignment of the optical axis 111 of the first submersible 100 with the optical axis 111 of the second submersible 100, the first submersible 100 controls the gimbal 150 to tilt the optical wireless communication device 110 downward so that the direction of the optical axis 111 of the first submersible 100 points toward the optical wireless communication device 110 of the second submersible 100. To maintain the alignment of the optical axis 111 of the second submersible 100 with the optical axis 111 of the first submersible 100, the second submersible 100 controls the gimbal 150 to tilt the optical wireless communication device 110 upward so that the direction of the optical axis 111 of the second submersible 100 points toward the optical wireless communication device 110 of the first submersible 100.

[0071] In this way, the first submersible 100 and the second submersible 100 each control the gimbal 150 based on the shared mobile object information, and change the attitude of the optical wireless communication device 110 to control the direction of the optical axis 111, thereby making it possible to maintain the alignment of the optical axis 111 and to carry out stable optical wireless communication. In particular, by sharing vehicle control information, it is possible to respond to spontaneous movement of the submersible 100, and by sharing inertial measurement information, it is possible to respond to movement of the submersible 100 caused by external factors.

[0072] Figure 7 shows an example of the functional configuration of the submersible vehicle 100. Here, differences from Figure 3 will be mainly explained. The submersible vehicle 100 shown in Figure 7 is equipped with a gimbal 150, and the control device 140 has a gimbal control unit 148.

[0073] The gimbal control unit 148 controls the gimbal 150 to adjust the angle of the optical wireless communication device 110 based on the own boat information and the other boat information so as to maintain alignment between the optical axis 111 of the optical wireless communication device 110 of the own boat and the optical axis 111 of the optical wireless communication device 110 of the other boat. The gimbal control unit 148 may be an example of an optical axis direction control unit.

[0074] Figure 8 shows an example of the flow of processing by the submersible vehicle 100. Differences from Figure 4 will be mainly described here.

[0075] In S202, the control device 140 searches for a communication target submarine 100. If there is no communication target (NO in S204), the process returns to S202, and if there is a communication target (YES in S204), the process proceeds to S206.

[0076] In S206, the gimbal control unit 148 controls the gimbal 150 to align the optical axis 111 of the own boat with the optical axis 111 of the other boat with which communication is to be performed. If the optical axis 111 of the own boat and the optical axis 111 of the other boat do not align (NO in S208), the process returns to S206; if they align (YES in S208), the process proceeds to S210.

[0077] In S210, the communication control unit 142 establishes an optical wireless communication link with the other boat. In S212, the communication control unit 142 starts sharing moving object information with the other boat via optical wireless communication.

[0078] In S214, the communication control unit 142 shares the moving object information. The communication control unit 142 transmits its own boat information to other boats via optical wireless communication, and receives other boat information from the other boats. In S216, the gimbal control unit 148 determines whether there has been a change in the moving object information. If it determines that there has been no change, the process returns to S214; if it determines that there has been a change, the process proceeds to S218.

[0079] In S218, the gimbal control unit 148 controls the gimbal 150 based on the own boat information and the other boat information to maintain alignment between the optical axis 111 of the own boat and the optical axis 111 of the other boat. In S220, the communication control unit 142 determines whether to end the optical wireless communication with the other boat. If it determines not to end the communication, the process returns to S214; if it determines to end the communication, the process ends.

[0080] Figure 9 shows a schematic diagram of an example of a mobile communication device 200. The mobile communication device 200 may be an example of a mobile body. In the example shown in Figure 9, the mobile communication device 200 is connected to a submersible vehicle 300 via a cable 302. The mobile communication device 200 performs optical wireless communication with other mobile communication devices 200, and relays communications between the submersible vehicle 300 connected to the mobile communication device 200 and the submersible vehicle 300 connected to the other mobile communication devices 200. The submersible vehicle 300 may be an example of a communication device.

[0081] 10 shows an example of the functional configuration of the mobile communication device 200. The mobile communication device 200 includes an optical wireless communication device 210, an inertial measurement unit 220, a propulsion device 230, a wireless communication device 232, a light emitting unit 236, and a control device 240. It is not essential that the mobile communication device 200 include all of these components.

[0082] The optical wireless communication device 210 has a light-emitting port 212, a light-receiving port 214, and an imaging unit 216. The optical wireless communication device 210 may be similar to the optical wireless communication device 110.

[0083] The inertial measurement unit 220 measures the behavior of the airframe of the mobile communication device 200. The inertial measurement unit 220 includes a gyro sensor 222, an acceleration sensor 224, and a position sensor 226. The inertial measurement unit 220 may be similar to the inertial measurement unit 120.

[0084] The propulsion device 230 propels the mobile communication device 200. The propulsion device 230 may be similar to the propulsion device 130.

[0085] The wireless communication device 232 communicates wirelessly with other mobile communication devices 200 in locations other than underwater. The wireless communication device 232 may be similar to the wireless communication device 132.

[0086] The light emitting unit 236 outputs light with a lower directivity than the directivity of the light output from the light emitting port 212. The light emitting unit 236 may be similar to the light emitting unit 136.

[0087] The control device 240 controls each unit of the mobile communication device 200. The control device 240 has a communication control unit 242, a video analysis unit 244, an aircraft control unit 246, and a submarine communication unit 252.

[0088] The communication control unit 242 may be similar to the communication control unit 142. The video analysis unit 244 may be similar to the video analysis unit 144. The aircraft control unit 246 may be similar to the aircraft control unit 146.

[0089] The submersible communication unit 252 communicates with the submersible 300 via the cable 302. The submersible communication unit 252 may transmit data received from the submersible 300 via the cable 302 to the other mobile communication device 200 via the communication control unit 242 by optical wireless communication using the optical wireless communication device 210. The other mobile communication device 200 may transmit the received data to the submersible 300 connected to it via the cable 302.

[0090] Another mobile communication device 200 may transmit data received from a submersible 300 connected to itself via cable 302 to the mobile communication device 200 via optical wireless communication. The submersible communication unit 252 may transmit data received from another mobile communication device 200 via optical wireless communication by the optical wireless communication device 210 to the submersible 300 connected to itself via cable 302. The submersible communication unit 252 may be an example of a communication relay unit.

[0091] 9 and 10 show an example in which the mobile communication device 200 is connected to the submarine 100, but this is not limiting. The mobile communication device 200 may be connected to any communication device. For example, the mobile communication device 200 may have flight capabilities and be connected to an air vehicle such as an unmanned aerial vehicle or helicopter, a car, a ship, a wireless base station, etc.

[0092] 11 schematically illustrates an example of the hardware configuration of a computer 1200 that functions as the control device 140 or the control device 240. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of an apparatus according to the present embodiment, or can cause the computer 1200 to perform operations associated with the apparatus according to the present embodiment or one or more "parts," and / or can cause the computer 1200 to perform a process according to the present embodiment or steps of the process. Such a program can be executed by the CPU 1212 to cause the computer 1200 to perform specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0093] The computer 1200 according to this embodiment includes a CPU 1212, a RAM 1214, and a graphics controller 1216, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The storage device 1224 may be a hard disk drive, a solid state drive, or the like. The computer 1200 also includes a ROM 1230 and a legacy input / output unit such as a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0094] The CPU 1212 operates according to programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires image data generated by the CPU 1212 into a frame buffer or the like provided in the RAM 1214 or into the graphics controller 1216 itself, and causes the image data to be displayed on the display device 1218.

[0095] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0096] The ROM 1230 stores therein a boot program or the like that is executed by the computer 1200 upon activation, and / or programs that depend on the hardware of the computer 1200. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, etc.

[0097] The programs are provided by a computer-readable storage medium such as an IC card. The programs are read from the computer-readable storage medium, installed in the storage device 1224, RAM 1214, or ROM 1230, which are also examples of computer-readable storage media, and executed by the CPU 1212. Information processing described in these programs is read by the computer 1200, and causes cooperation between the programs and the various types of hardware resources described above. An apparatus or a method may be configured by implementing operations or processing of information in accordance with the use of the computer 1200.

[0098] For example, when communication is performed between computer 1200 and an external device, CPU 1212 may execute a communication program loaded in RAM 1214 and instruct communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of CPU 1212, communication interface 1222 reads transmission data stored in a transmission buffer area provided in RAM 1214, storage device 1224, or a recording medium such as an IC card, and transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area or the like provided on the recording medium.

[0099] Furthermore, the CPU 1212 may cause all or a necessary portion of a file or database stored in an external recording medium such as the storage device 1224, an IC card, etc. to be read into the RAM 1214, and may perform various types of processing on the data on the RAM 1214. The CPU 1212 may then write back the processed data to the external recording medium.

[0100] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and may undergo information processing. The CPU 1212 may perform various types of processing on data read from the RAM 1214, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search / replacement, etc., as described throughout this disclosure and specified by the instruction sequences of the programs, and write the results back to the RAM 1214. The CPU 1212 may also search for information in a file, database, etc. on the recording medium. For example, if multiple entries, each having an attribute value of a first attribute associated with an attribute value of a second attribute, are stored on the recording medium, the CPU 1212 may search for an entry whose attribute value of the first attribute matches a specified condition from among the multiple entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0101] The above-described programs or software modules may be stored in a computer-readable storage medium on or near the computer 1200. A recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can also be used as a computer-readable storage medium, thereby providing the programs to the computer 1200 via the network.

[0102] The blocks in the flowcharts and block diagrams in the present embodiments may represent stages of a process in which an operation is performed or "parts" of a device responsible for performing the operation. Particular stages and "parts" may be implemented by dedicated circuitry, programmable circuitry provided with computer-readable instructions stored on a computer-readable storage medium, and / or a processor provided with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuitry may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuitry may include reconfigurable hardware circuits, such as field programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), including AND, OR, XOR, NAND, NOR, and other logical operations, flip-flops, registers, and memory elements.

[0103] A computer-readable storage medium may include any tangible device capable of storing instructions that are executed by an appropriate device, such that a computer-readable storage medium having instructions stored thereon comprises an article of manufacture, including instructions that can be executed to create means for performing the operations specified in the flowcharts or block diagrams. Examples of computer-readable storage media may include electronic, magnetic, optical, electromagnetic, and semiconductor storage media. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), electrically erasable programmable read-only memories (EEPROMs), static random access memories (SRAMs), compact disc read-only memories (CD-ROMs), digital versatile discs (DVDs), Blu-ray discs, memory sticks, integrated circuit cards, and the like.

[0104] The computer readable instructions may include either assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, JAVA, C++, etc., and conventional procedural programming languages ​​such as the "C" programming language or similar programming languages.

[0105] Computer-readable instructions may be provided locally or over a local area network (LAN), a wide area network (WAN) such as the Internet, to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, or programmable circuitry, such that the processor or programmable circuitry executes the computer-readable instructions to generate means for performing the operations specified in the flowcharts or block diagrams. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0106] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the claims that such modifications and improvements can also be included within the technical scope of the present invention.

[0107] It should be noted that the execution order of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before," "prior to," etc., and that the processes can be performed in any order unless the output of a previous process is used in a subsequent process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," etc. for convenience, this does not mean that the processes must be performed in this order.

[0108] 100 Submersible vehicle, 110 Optical wireless communication device, 111 Optical axis, 112 Light-emitting port, 114 Light-receiving port, 116 Imaging unit, 120 Inertial measurement unit, 122 Gyro sensor, 124 Acceleration sensor, 126 Position sensor, 130 Propulsion device, 132 Wireless communication device, 134 Operation management device, 136 Light-emitting unit, 140 Control device, 142 Communication control unit, 144 Image analysis unit, 146 Aircraft control unit, 148 Gimbal control unit, 150 Gimbal, 200 Mobile communication device, 210 Optical wireless communication device, 212 Light-emitting port, 214 Light-receiving port, 216 Imaging unit, 220 Inertial measurement unit, 222 Gyro sensor, 224 Acceleration sensor, 226 Position sensor, 230 Propulsion device, 232 Wireless communication device, 236 Light-emitting unit, 240 Control device, 242 communication control unit, 244 video analysis unit, 246 aircraft control unit, 252 submarine communication unit, 1200 computer, 1210 host controller, 1212 CPU, 1214 RAM, 1216 graphic controller, 1218 display device, 1220 input / output controller, 1222 communication interface, 1224 storage device, 1230 ROM, 1240 input / output chip

Claims

1. A moving body comprising: a moving body information transmitting unit that transmits first moving body information, including first inertial measurement information indicating the measurement results of the three-dimensional angular velocity and acceleration of the moving body and the first aircraft control information used by a propulsion unit that propels the moving body in accordance with the first aircraft control information, to another moving body via optical wireless communication using a first optical wireless communication unit; a moving body information receiving unit that receives second moving body information, including second inertial measurement information indicating the measurement results of the three-dimensional angular velocity and acceleration of the other moving body and the second aircraft control information used by a propulsion unit that propels the other moving body in accordance with the second aircraft control information, from the other moving body via optical wireless communication using the first optical wireless communication unit; and an optical axis direction control unit that controls the direction of the optical axis of the first optical wireless communication unit based on the first moving body information and the second moving body information.

2. A moving body as described in claim 1, wherein the optical axis direction control unit controls the direction of the optical axis of the first optical wireless communication unit so as to maintain alignment between the optical axis of the first optical wireless communication unit and the optical axis of the second optical wireless communication unit of the other moving body.

3. A mobile body as described in claim 1 or 2, wherein the mobile body information transmitting unit transmits the first mobile body information, which further includes location information of the mobile body, to the other mobile body, and the mobile body information receiving unit receives the second mobile body information, which further includes location information of the other mobile body, from the other mobile body.

4. A moving body as described in any one of claims 1 to 3, comprising a movement plan control unit that controls the propulsion unit based on first movement plan information including a movement route of the moving body, wherein the moving body information transmission unit transmits the first moving body information further including the first movement plan information to the other moving body, and the moving body information receiving unit receives the second moving body information further including second movement plan information including a movement route of the other moving body.

5. The moving body described in claim 4, wherein the optical axis direction control unit predicts changes in the relative position between the moving body and the other moving body based on the first movement plan information and the second movement plan information, controls the direction of the optical axis of the first optical wireless communication unit based on the prediction result, and performs finer control of the direction of the optical axis of the first optical wireless communication unit based on the first inertial measurement information, the first aircraft control information, the second inertial measurement information, and the second aircraft control information than the control of the direction of the optical axis of the first optical wireless communication unit based on the prediction result.

6. A moving body described in any one of claims 1 to 5, wherein the first optical wireless communication unit is fixed so as not to move relative to the moving body, and the optical axis direction control unit controls the propulsion unit to propel the moving body so that the optical axis of the first optical wireless communication unit coincides with the optical axis of the second optical wireless communication unit of the other moving body.

7. A moving body as described in any one of claims 1 to 5, comprising a gimbal that rotatably supports the first optical wireless communication unit, wherein the optical axis direction control unit controls the gimbal to adjust the angle of the first optical wireless communication unit so as to maintain alignment between the optical axis of the first optical wireless communication unit and the optical axis of the second optical wireless communication unit of the other moving body.

8. The moving body according to any one of claims 1 to 7, wherein the moving body is an underwater moving body that moves underwater.

9. A mobile body as described in claim 8, wherein the mobile body information transmitting unit transmits the first mobile body information to the other mobile body, which further includes water pressure information regarding water pressure measured by a pressure gauge installed in the other mobile body, and the mobile body information receiving unit receives the second mobile body information from the other mobile body, which further includes water pressure information regarding water pressure measured by a pressure gauge installed in the other mobile body.

10. A mobile body as described in claim 8, wherein the mobile body information transmitting unit transmits the first mobile body information to the other mobile body, which further includes flow rate information regarding the flow rate measured by a flow meter installed in the other mobile body, and the mobile body information receiving unit receives the second mobile body information from the other mobile body, which further includes flow rate information regarding the flow rate measured by a flow meter installed in the other mobile body.

11. A mobile body described in any one of claims 8 to 10, wherein the mobile body is connected to a submersible via a cable, and comprises a communication relay unit that transmits data received from the submersible via the cable to the other mobile body via optical wireless communication using the first optical wireless communication unit, and transmits data received from the other mobile body via optical wireless communication using the first optical wireless communication unit to the submersible via the cable.

12. A mobile body according to any one of claims 1 to 7, wherein the mobile body is an unmanned aerial vehicle.

13. The mobile body described in claim 12, wherein the mobile body is connected to a communication device via a cable, and comprises a communication relay unit that transmits data received from the communication device via the cable to the other mobile body via optical wireless communication using the first optical wireless communication unit, and transmits data received from the other mobile body via optical wireless communication using the first optical wireless communication unit to the communication device via the cable.

14. A program for causing a computer that controls a moving body to function as: a moving body information transmitting unit that transmits first moving body information, including first inertial measurement information indicating the measurement results of the three-dimensional angular velocity and acceleration of the moving body and the first aircraft control information used by a propulsion unit that propels the moving body in accordance with the first aircraft control information, to another moving body via optical wireless communication using a first optical wireless communication unit; a moving body information receiving unit that receives second moving body information, including second inertial measurement information indicating the measurement results of the three-dimensional angular velocity and acceleration of the other moving body and the second aircraft control information used by a propulsion unit that propels the other moving body in accordance with the second aircraft control information, from the other moving body via optical wireless communication using the first optical wireless communication unit; and an optical axis direction control unit that controls the direction of the optical axis of the first optical wireless communication unit based on the first moving body information and the second moving body information.

15. A control method executed by a computer mounted on a moving body, comprising: a moving body information transmitting step of transmitting, to another moving body via optical wireless communication by a first optical wireless communication unit, first moving body information including first inertial measurement information indicating the measurement results of the three-dimensional angular velocity and acceleration of the moving body and the first aircraft control information used by a propulsion unit that propels the moving body in accordance with the first aircraft control information; a moving body information receiving step of receiving, from the other moving body via optical wireless communication by the first optical wireless communication unit, second moving body information including second inertial measurement information indicating the measurement results of the three-dimensional angular velocity and acceleration of the other moving body and the second aircraft control information used by a propulsion unit that propels the other moving body in accordance with the second aircraft control information; and an optical axis direction control step of controlling the direction of the optical axis of the first optical wireless communication unit based on the first moving body information and the second moving body information.

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