Communication apparatus, program, and information processing apparatus

Abstract

SOLUTION: In the system 10, the communication device 150 of the underwater vehicle 100 includes a communication unit that performs optical wireless communication with the information processing device 250 of the host device 200 located on the water while the communication device 110 is located in the water, and a control unit that controls a direction of the communication unit so that the light receiving unit 130 that constitutes the communication unit and may be a camera and / or a photodiode receives more light output from the light source 220 of the information processing device 250. The information processing device 250 of the host device 200 includes a communication unit that performs optical wireless communication with the communication device 150 located underwater in a state in which the information processing device is located on water, and a control unit that controls a direction of the communication unit so that the light receiving unit 130 of the communication device 150 constitutes the communication unit and receives more light output from the light source 220 which may be a laser or an LED.EFFECT: This makes it easier for the light receiving unit 130 of the communication apparatus 150 to receive the light 225 output from the light source 220 of the information processing apparatus 250.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a communication device, a program, and an information processing device. [Background technology]

[0002] Patent Document 1 describes a technique that can guide a diver to the location of a predetermined underwater search target. [Prior art document] [Patent documents] [Patent Document 1] JP 2024-044720 A Summary of the Invention [Means for solving the problem]

[0003] According to one embodiment of the present invention, there is provided a communication device. The communication device may include a communication unit that performs optical wireless communication with an information processing device located above water while the communication device is located underwater. The communication device may include a control unit that controls the orientation of the communication unit so that a light receiving unit constituting the communication unit receives more light output from a light source of the information processing device.

[0004] The communication device may further include a judgment unit that judges whether the light receiving unit was able to receive the light output from the light source within a predetermined period, and if the judgment unit judges that the light receiving unit was unable to receive the light output from the light source within the period, the control unit may control the orientation of the communication unit so that the light receiving surface on which the light receiving unit receives light is more perpendicular to a line parallel to the vertical direction.

[0005] Any of the communication devices may further include an acquisition unit that acquires positional relationship information indicating the positional relationship between the communication device and the information processing device, and the control unit may control the orientation of the communication unit based on the positional relationship information so that the light receiving surface on which the light receiving unit receives light is more perpendicular to a straight line parallel to the propagation direction of the light output from the light source.

[0006] In any of the communication devices, the acquisition unit may acquire movement path information indicating a movement path taken by the communication device underwater, and acquire the positional relationship information based on the acquired movement path information of the communication device.

[0007] In any of the communication devices, the acquisition unit may analyze the light output from the light source and received by the light receiving unit to acquire an optical signal, and acquire the positional relationship information based on positional information indicating the position of the information processing device contained in the acquired optical signal.

[0008] Any of the communication devices may further include a mounting unit that mounts the communication unit, and the control unit may control the orientation of the mounting unit to control the orientation of the communication unit.

[0009] In any of the communication devices described above, the mounting unit may be a gimbal, and the control unit may control the orientation of the communication unit by controlling the gimbal.

[0010] In any of the communication devices, the mounting unit may have a float that mounts the communication unit, a weight that mounts the float, and a thruster that has a function of changing the orientation of the mounting unit, and the control unit may control the orientation of the communication unit by controlling the thruster.

[0011] In any of the communication devices, the light receiving unit may be a camera, and the communication unit may communicate optically wirelessly with the information processing device by performing optical camera communication (OCC) with the information processing device.

[0012] According to one embodiment of the present invention, there is provided a program that, when executed by a computer, causes the computer to function as any one of the communication devices described above.

[0013] According to one embodiment of the present invention, there is provided an information processing device. The information processing device may include a communication unit that, when the information processing device is located above water, performs optical wireless communication with a communication device located underwater. The information processing device may include a control unit that controls the orientation of the communication unit so that a light receiving unit of the communication device receives more light output from a light source constituting the communication unit.

[0014] According to one embodiment of the present invention, there is provided a program that, when executed by a computer, causes the computer to function as the information processing device.

[0015] 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. [Brief explanation of the drawings]

[0016] [Figure 1] An example of a system 10 is shown schematically. [Figure 2] 2 is an explanatory diagram illustrating an example of optical wireless communication between a communication device 150 and an information processing device 250. FIG. [Figure 3] 10 is an explanatory diagram for explaining another example of optical wireless communication between the communication device 150 and the information processing device 250. FIG. [Figure 4] 10 is an explanatory diagram for explaining another example of optical wireless communication between the communication device 150 and the information processing device 250. FIG. [Figure 5] Another example of the system 10 is shown schematically. [Figure 6] Another example of the system 10 is shown schematically. [Figure 7] Another example of the system 10 is shown schematically. [Figure 8] 10 is an explanatory diagram for explaining another example of optical wireless communication between the communication device 150 and the information processing device 250. FIG. [Figure 9] 10 is an explanatory diagram for explaining another example of optical wireless communication between the communication device 150 and the information processing device 250. FIG. [Figure 10]10 is an explanatory diagram for explaining another example of optical wireless communication between the communication device 150 and the information processing device 250. FIG. [Figure 11] An example of a light source 120 is shown schematically. [Figure 12] 2 shows an example of a functional configuration of a communication device 150. [Figure 13] 2 shows an example of a functional configuration of an information processing device 250. [Figure 14] FIG. 2 is an explanatory diagram illustrating an example of a processing flow of a communication device 150. [Figure 15] FIG. 10 is an explanatory diagram illustrating an example of a processing flow of the information processing device 250. [Figure 16] An example of the hardware configuration of a computer 1200 that functions as a communication device 150 or an information processing device 250 is shown schematically. DETAILED DESCRIPTION OF THE INVENTION

[0017] In underwater OCC geofence technology, the light source mounted on the underwater OCC transceiver must always be pointed toward the host side (upward in most cases) to deal with light attenuation in water. The system according to this embodiment employs a mechanism to deal with light attenuation in water, for example, by using an OCC transceiver equipped with a light source that always points upward or in a specific direction. The light source mounted on the OCC transceiver may be integrated with the camera.

[0018] The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0019] 1 is a schematic diagram of an example of a system 10. The system 10 may include an underwater vehicle 100. FIG. 1 illustrates an example in which the system 10 includes a single underwater vehicle 100. The system 10 may include multiple underwater vehicles 100. The system 10 may include a host device 200.

[0020] The underwater vehicle 100 may be any underwater vehicle capable of performing any task underwater. The underwater vehicle 100 is, for example, an unmanned underwater vehicle. The unmanned underwater vehicle is, for example, an unmanned underwater vehicle (UUV). The unmanned underwater vehicle is, for example, a remotely operated vehicle (ROV). The unmanned underwater vehicle is, for example, an underwater drone. The unmanned underwater vehicle may be an autonomous underwater vehicle (AUV). The underwater vehicle 100 may be a manned underwater vehicle. FIG. 1 shows an example in which the underwater vehicle 100 is an underwater drone.

[0021] The underwater vehicle 100 performs, for example, a collection operation to collect objects 50 underwater. The underwater vehicle 100 performs, for example, a survey operation to survey the bottom of a ship or the bottom of the water underwater. The underwater vehicle 100 may also perform any other operation underwater.

[0022] The object 50 is, for example, a herbivorous animal such as a sea urchin or abalone. In this case, the underwater vehicle 100 performs collection work to prevent coastal erosion. The object 50 is, for example, garbage such as plastics, bottles, and cans. In this case, the underwater vehicle 100 performs collection work to clean up the water. The object 50 is, for example, marine products such as shellfish and seaweed. In this case, the underwater vehicle 100 performs collection work to harvest the marine products. The object 50 may also be marine mineral resources such as manganese nodules and cobalt-rich crusts. In this case, the underwater vehicle 100 performs collection work to mine the marine mineral resources.

[0023] The underwater vehicle 100 has, for example, a light source 120, a light receiving unit 130, a mounting unit 140, a communication device 150, and a scanning unit 190. Note that it is not essential that the underwater vehicle 100 has all of these components.

[0024] The underwater vehicle 100 may further include one or more sensors (not shown) that measure information related to the underwater vehicle 100. The sensors include, for example, an acceleration sensor. The sensors include, for example, an angular velocity sensor. The sensors include, for example, an IMU (Inertial Measurement Unit). The sensors include, for example, a positioning sensor. The positioning sensor is, for example, a GNSS (Global Navigation Satellite System) sensor. The positioning sensor is, for example, a GPS (Global Positioning System) sensor. The positioning sensor is, for example, an RTK (Real Time Kinematic) sensor. The sensors include, for example, a water depth sensor.

[0025] The light source 120 outputs light 125. For example, the light source 120 outputs light 125 with a wavelength in the visible light region. The light source 120 may also output light 125 with a wavelength in the infrared region.

[0026] The light source 120 is, for example, a laser, or may be an LED (Light Emitting Diode).

[0027] The light receiving unit 130 receives light. The light receiving unit 130 receives, for example, light with a wavelength in the visible light region. The light receiving unit 130 may also receive light with a wavelength in the infrared region.

[0028] The light receiving unit 130 is, for example, a camera. The camera is, for example, a visible light camera. The camera may be an infrared camera. The light receiving unit 130 may be a photodiode. When the light receiving unit 130 is made up of multiple photodiodes, the multiple photodiodes may be arranged in a plane. In this case, the light receiving surface where the light receiving unit 130 receives light is a plane. When the light receiving unit 130 is made up of multiple photodiodes, the multiple photodiodes may be arranged in a spherical surface. In this case, the light receiving surface where the light receiving unit 130 receives light is a spherical surface. The light receiving unit 130 may include both a camera and a photodiode.

[0029] The communication device 150 has a function of performing wireless communication. The wireless communication is, for example, optical wireless communication. The optical wireless communication is, for example, visible light communication. The optical wireless communication is, for example, infrared communication.

[0030] An example of optical wireless communication is optical camera communication. An example of data communication between a transmitter and a receiver in optical camera communication is as follows: The transmitter encodes communication data into binary data of 1s and 0s and transmits the communication data to the receiver by using a light source to output light carrying an optical signal that is the binary data. The receiver receives the communication data from the transmitter by using a camera to receive the light output from the light source of the transmitter, analyzes the received light to obtain an optical signal, and decodes the obtained optical signal to obtain the communication data.

[0031] The wireless communication may be mobile communication. The mobile communication may be, for example, 5G (5th Generation) communication. The mobile communication may be 3G (3rd Generation) communication. The mobile communication may be LTE communication. The mobile communication may be 6G (6th Generation) communication or later. The wireless communication may be short-range wireless communication. The short-range wireless communication may be, for example, Wi-Fi (registered trademark) communication. The short-range wireless communication may be, for example, Bluetooth (registered trademark) communication. The short-range wireless communication may be, for example, Zigbee (registered trademark). The short-range wireless communication may be any other short-range wireless communication. The wireless communication may be acoustic communication.

[0032] The communication device 150 performs optical wireless communication using, for example, the light source 120. The communication device 150 performs optical wireless communication by, for example, generating an optical signal and outputting light 125 carrying the optical signal using the light source 120. The communication device 150 performs optical wireless communication using, for example, the light receiving unit 130. The communication device 150 performs optical wireless communication by, for example, receiving light using the light receiving unit 130 and analyzing the received light to obtain an optical signal. The communication device 150 performs optical wireless communication using, for example, the light source 120 and the light receiving unit 130.

[0033] The light source 120 constitutes, for example, a communication unit of the communication device 150. The light receiving unit 130 constitutes, for example, a communication unit of the communication device 150.

[0034] The communication device 150 is, for example, built into the underwater vehicle 100. The communication device 150 may also be attached to the underwater vehicle 100 externally.

[0035] The mounting unit 140 is equipped with a communication unit of the communication device 150. The mounting unit 140 is equipped with, for example, the light source 120. The mounting unit 140 is equipped with, for example, the light receiving unit 130. The mounting unit 140 is equipped with, for example, the light source 120 and the light receiving unit 130. Note that the communication unit of the communication device 150 may be mounted directly on the body of the underwater vehicle 100.

[0036] The communication device 150 controls the orientation of the communication unit of the communication device 150, for example, by controlling the orientation of the mounting unit 140. The mounting unit 140 is, for example, a gimbal.

[0037] 1 shows an example in which the light source 120 and the light receiving unit 130 are mounted on the same mounting unit 140. The mounting unit 140 on which the light source 120 is mounted and the mounting unit 140 on which the light receiving unit 130 is mounted may be different. In this case, the underwater vehicle 100 may have multiple mounting units 140.

[0038] The scanning unit 190 acquires scan data. The scanning unit 190 acquires scan data, for example, by scanning underwater. The scanning unit 190 acquires scan data, for example, by scanning the bottom of the water.

[0039] The scanning unit 190 is, for example, a camera, or may be a LiDAR (Light Detection and Ranging) device.

[0040] For example, when the underwater vehicle 100 discovers an object 50 based on scan data acquired by the scanning unit 190, the underwater vehicle 100 collects the object 50 using a collection unit included in the underwater vehicle 100. The underwater vehicle 100 may store the collected object 50 in a storage unit included in the underwater vehicle 100.

[0041] The host device 200 provides services to the underwater vehicle 100. For example, the host device 200 provides services to multiple underwater vehicles 100. Note that the underwater vehicle 100 may be referred to as a client device.

[0042] The host device 200 provides, for example, a location management service that manages the location of the client device to the client device. The host device 200 provides, for example, a mobility management service that manages the movement of the client device to the client device. The host device 200 provides, for example, an operation support service that supports the operation of the client device to the client device. The host device 200 may also provide any other service to the client device.

[0043] The host device 200 includes, for example, a light source 220, a light receiving unit 230, a mounting unit 240, and an information processing device 250. Note that it is not essential that the host device 200 includes all of these components.

[0044] The host device 200 may further include one or more sensors (not shown) that measure information related to the host device 200. The sensors included in the host device 200 may be similar to the sensors that the underwater vehicle 100 may include.

[0045] The light source 220 outputs light 225. For example, the light source 220 outputs light 225 with a wavelength in the visible light region. The light source 220 may also output light 225 with a wavelength in the infrared region. The light source 220 may be located underwater when the host device 200 is used. That is, the light source 220 may output the light 225 underwater.

[0046] The light source 220 is, for example, a laser. The light source 220 may be an LED.

[0047] The light receiving unit 230 receives light. For example, the light receiving unit 230 receives light with a wavelength in the visible light region. The light receiving unit 230 may also receive light with a wavelength in the infrared region. The light receiving unit 230 may be located underwater when the host 200 is used. That is, the light receiving unit 230 may receive light underwater.

[0048] The light receiving unit 230 is, for example, a camera. The light receiving unit 230 may be a photodiode. When the light receiving unit 230 is made up of multiple photodiodes, the multiple photodiodes may be arranged in a plane. In this case, the light receiving surface on which the light receiving unit 230 receives light is a plane. When the light receiving unit 230 is made up of multiple photodiodes, the multiple photodiodes may be arranged in a spherical surface. In this case, the light receiving surface on which the light receiving unit 230 receives light is a spherical surface. The light receiving unit 230 may include both a camera and a photodiode.

[0049] For example, when the host device 200 provides a location management service to a client device, the host device 200 manages the location of the client device so that the client device is located inside the light receiving range 235 of the light receiving unit 230. For example, when the host device 200 provides a movement management service to a client device, the host device 200 manages the movement of the client device so that the client device moves underwater inside the light receiving range 235 of the light receiving unit 230. In these cases, the light receiving range 235 is the geofence of the client device. Note that a geofence is an area surrounded by a virtual boundary line.

[0050] The information processing device 250 has various functions, such as a function for wireless communication.

[0051] The information processing device 250 performs optical wireless communication using, for example, the light source 220. The information processing device 250 performs optical wireless communication by, for example, generating an optical signal and outputting light 225 that carries the optical signal using the light source 220. The information processing device 250 performs optical wireless communication using, for example, the light receiving unit 230. The information processing device 250 performs optical wireless communication by, for example, receiving light using the light receiving unit 230 and analyzing the received light to obtain an optical signal. The information processing device 250 performs optical wireless communication using, for example, the light source 220 and the light receiving unit 230.

[0052] The light source 220 constitutes, for example, a communication unit of the information processing device 250. The light receiving unit 230 constitutes, for example, a communication unit of the information processing device 250.

[0053] The information processing device 250 may be located on the water. Note that the information processing device 250 being located on the water includes not only the case where the information processing device 250 is located above the water surface, but also the case where the information processing device 250 is located below the water surface, but at least a part of the host device 200 on which the information processing device 250 is installed is located above the water surface.

[0054] The mounting unit 240 is equipped with a communication unit of the information processing device 250. The mounting unit 240 is equipped with, for example, a light source 220. The mounting unit 240 is equipped with, for example, a light receiving unit 230. The mounting unit 240 is equipped with, for example, the light source 220 and the light receiving unit 230. The communication unit of the information processing device 250 may be directly mounted on the body of the host device 200.

[0055] The mounting unit 240 has a function of controlling, for example, the orientation of a communication unit of the information processing device 250. The mounting unit 240 is, for example, a gimbal.

[0056] 1 shows an example in which the light source 220 and the light receiving unit 230 are mounted on the same mounting unit 240. The mounting unit 240 on which the light source 220 is mounted and the mounting unit 240 on which the light receiving unit 230 is mounted may be different. In this case, the host device 200 may have multiple mounting units 240.

[0057] The host device 200 may be movable on water or may be fixedly installed on water.

[0058] Here, an example will be described in which the communication device 150 and the information processing device 250 communicate wirelessly. Here, the description will be given assuming that the underwater vehicle 100 is on the water as a starting state.

[0059] When the communication device 150 is located on the water, the communication device 150 performs mobile communication or short-range wireless communication with the information processing device 250 located on the water. The communication device 150 receives, for example, position information of the information processing device 250 from the information processing device 250. The communication device 150 transmits, for example, position information of the communication device 150 at the time when the underwater vehicle 100 is dropped into the water to the information processing device 250.

[0060] When the communication device 150 is located underwater, the communication device 150 communicates optically wirelessly with an information processing device 250 located on the surface of the water. For example, the communication device 150 receives position information of the information processing device 250 from the information processing device 250 while the communication device 150 is located underwater. For example, the communication device 150 transmits position information of the underwater vehicle 100 to the information processing device 250 while the communication device 150 is located underwater. A method by which the underwater vehicle 100 acquires position information of the communication device 150 while the underwater vehicle 100 is located underwater will be described later. Note that optical wireless communication between the communication device 150 located underwater and the information processing device 250 located on the surface of the water may be referred to as underwater optical wireless communication. More specifically, for example, with regard to optical wireless communication between the communication device 150 and the information processing device 250, optical wireless communication between the communication device 150 located underwater and the light source 220 and light receiving unit 230 of the information processing device 250 located underwater may be referred to as underwater optical wireless communication. In the following, a case where the light source 220 and the light receiving unit 230 are located underwater will be described as an example.

[0061] The communication device 150 controls the orientation of the communication unit of the communication device 150, for example, so that the light receiving unit 230 of the information processing device 250 can more easily receive the light 125 output from the light source 120. The communication device 150 controls the orientation of the communication unit of the communication device 150, for example, so that the output surface from which the light source 120 outputs the light 125 is more perpendicular to a line parallel to the vertical direction. The communication device 150 controls the orientation of the communication unit of the communication device 150, for example, so that the light receiving unit 230 is located on a line parallel to the propagation direction of the light 125 output from the light source 120.

[0062] The communication device 150 controls the orientation of the communication unit of the communication device 150, for example, so that the light receiving unit 130 can more easily receive the light 225 output from the light source 220. The communication device 150 controls the orientation of the communication unit of the communication device 150, for example, so that the light receiving surface of the light receiving unit 130 that receives light is more perpendicular to a line parallel to the vertical direction. The communication device 150 controls the orientation of the communication unit of the communication device 150, for example, so that the light receiving surface of the light receiving unit 130 is more perpendicular to a line parallel to the propagation direction of the light 225 output by the light source 220. The communication device 150 may control the orientation of the communication unit of the communication device 150 so that the light receiving unit 130 can more easily receive sunlight from the sun 80.

[0063] The information processing device 250 controls the orientation of the communication unit of the information processing device 250, for example, so that the light receiving unit 130 of the communication device 150 can more easily receive the light 225 output from the light source 220. The information processing device 250 controls the orientation of the communication unit of the information processing device 250, for example, so that the output surface from which the light source 220 outputs the light 225 is more perpendicular to a line parallel to the vertical direction. The information processing device 250 controls the orientation of the communication unit of the information processing device 250, for example, so that the light receiving unit 130 is located on a line parallel to the propagation direction of the light 225 output by the light source 220.

[0064] The information processing device 250 controls the orientation of the communication unit of the information processing device 250, for example, so that the light receiving unit 230 can more easily receive the light 125 output from the light source 120. The information processing device 250 controls the orientation of the communication unit of the information processing device 250, for example, so that the light receiving surface of the light receiving unit 230 that receives light is more perpendicular to a line parallel to the vertical direction. The information processing device 250 controls the orientation of the communication unit of the information processing device 250, for example, so that the light receiving surface of the light receiving unit 230 is more perpendicular to a line parallel to the propagation direction of the light 125 output by the light source 120.

[0065] A light receiving unit having a higher sensitivity to the wavelength of the light 225 output by the light source 220 may be selected as the light receiving unit 130. A light receiving unit having a higher sensitivity to the wavelength of the light 125 output by the light source 120 may be selected as the light receiving unit 230.

[0066] The underwater vehicle 100 may further include a projector (not shown). The projector of the underwater vehicle 100 outputs light for the information processing device 250 to find the communication device 150. The projector of the underwater vehicle 100 may be mounted on the mounting unit 140 or may be mounted directly on the body of the underwater vehicle 100.

[0067] For example, the frequency band of the light output by the projector of the underwater vehicle 100 is different from the frequency band of the light output by the light source 120. The frequency band of the light output by the projector of the underwater vehicle 100 may be the same as the frequency band of the light output by the light source 120.

[0068] The host device 200 may further include a light projector (not shown). The light projector of the host device 200 outputs light for the communication device 150 to discover the information processing device 250. The light projector of the host device 200 may be mounted on the mounting unit 240 or may be mounted directly on the body of the host device 200.

[0069] For example, the frequency band of the light output by the projector of host device 200 is different from the frequency band of the light output by light source 220. The frequency band of the light output by the projector of host device 200 may be the same as the frequency band of the light output by light source 220.

[0070] In recent years, there has been an increasing need to use underwater vehicles such as underwater drones to perform tasks such as collection and surveys. When an underwater vehicle performs an underwater task, it is necessary for the underwater vehicle to estimate its own position and receive control signals from a host device located above the water. However, in an underwater environment where radio waves are propagated with a large amount of attenuation, the underwater vehicle cannot stably receive radio waves. Furthermore, in an underwater environment, the attenuation of radio waves propagating in a high frequency band is greater than the attenuation of radio waves propagating in a low frequency band. Therefore, the underwater vehicle cannot stably receive radio waves in a high frequency band in an underwater environment. Furthermore, since the attenuation of radio waves increases as the propagation distance of radio waves increases, the underwater vehicle cannot stably receive radio waves when the underwater vehicle is located at a deep water depth.

[0071] Therefore, it is conceivable that underwater vehicles may perform optical wireless communication in underwater environments. Because light has a longer propagation distance in underwater environments compared to radio waves, it is expected that the underwater vehicle will be able to communicate stably even when the underwater vehicle is located at a deep water depth. However, because light is highly directional, if the orientation of the light-receiving unit of the underwater vehicle is not appropriately controlled, the underwater vehicle may be unable to receive light due to changes in the position or attitude of the underwater vehicle, and as a result, the optical wireless communication of the underwater vehicle in the underwater environment may be interrupted. Therefore, it is desirable to reduce the possibility of the optical wireless communication of the underwater vehicle being interrupted in the underwater environment by appropriately controlling the orientation of the light-receiving unit of the underwater vehicle.

[0072] In contrast, in the system 10 according to the present embodiment, the communication device 150 controls the orientation of the communication unit of the communication device 150 while the communication device 150 is located underwater so that the light receiving unit 130 receives more of the light 225 output from the light source 220. By appropriately controlling the orientation of the communication unit of the communication device 150, the system 10 according to the present embodiment can reduce the possibility that underwater optical wireless communication will be interrupted due to misalignment of the light receiving surface of the light receiving unit 130, thereby contributing to the realization of stable underwater optical wireless communication. Furthermore, the information processing device 250 controls the orientation of the communication unit of the information processing device 250 while the information processing device 250 is located above water so that the light receiving unit 130 of the communication device 150 receives more of the light 225 output from the light source 220. By appropriately controlling the orientation of the communication unit of the information processing device 250, the system 10 according to the present embodiment can reduce the possibility that underwater optical wireless communication will be interrupted due to misalignment of the light receiving surface of the light receiving unit 230, thereby contributing to the realization of stable underwater optical wireless communication. Furthermore, by appropriately controlling both the orientation of the communication unit of the communication device 150 and the orientation of the communication unit of the information processing device 250, the system 10 of this embodiment can further reduce the possibility of underwater optical wireless communication being disconnected, and can further contribute to the realization of stable underwater optical wireless communication.

[0073] 2 is an explanatory diagram illustrating an example of optical wireless communication between the communication device 150 and the information processing device 250. Here, it is assumed that the underwater vehicle 100 is moving underwater within the light receiving range 235 of the light receiving unit 230.

[0074] At t=t1, the communication device 150 acquires positional relationship information indicating the positional relationship between the communication device 150 and the information processing device 250. The communication device 150 acquires the positional relationship information based on, for example, the positional information of the communication device 150 and the positional information of the information processing device 250. Based on the acquired positional relationship information, the communication device 150 controls the mounting unit 140 so that the light receiving unit 130 receives more light 225 output from the light source 220. Here, the communication device 150 controls the mounting unit 140 so that the light receiving surface of the light receiving unit 130 is aligned with a line l parallel to the vertical direction. n The mounting unit 140 is controlled so that it is perpendicular to a line tilted by θ1 in the clockwise direction relative to the axis of rotation.

[0075] At t=t2, the communication device 150 acquires the positional relationship information, and controls the mounting unit 140 based on the acquired positional relationship information so that the light receiving unit 130 receives more of the light 225 output from the light source 220. Here, the communication device 150 controls the mounting unit 140 so that the light receiving surface of the light receiving unit 130 receives more of the light 225 output from the light source 220. n The mounting portion 140 is controlled so that it is perpendicular to the

[0076] At t=t3, the communication device 150 acquires the positional relationship information, and controls the mounting unit 140 based on the acquired positional relationship information so that the light receiving unit 130 receives more of the light 225 output from the light source 220. Here, the communication device 150 controls the mounting unit 140 so that the light receiving surface of the light receiving unit 130 receives more of the light 225 output from the light source 220. n The orientation of the mounting portion 140 is controlled so that it is perpendicular to a line tilted by θ2 in the counterclockwise direction relative to the axis of rotation.

[0077] 2, the communication device 150 controls the orientation of the communication unit of the communication device 150 in accordance with a change in the positional relationship between the communication device 150 and the information processing device 250. This allows the light receiving unit 130 to maintain a state in which it can better receive the light 225 output from the light source 220 even when the underwater vehicle 100 moves underwater, and therefore the system 10 shown in FIG. 2 can reduce the possibility that underwater optical wireless communication will be interrupted due to the underwater movement of the underwater vehicle.

[0078] 3 is an explanatory diagram for explaining another example of optical wireless communication between the communication device 150 and the information processing device 250. It is assumed that the host device 200 is moving on water.

[0079] The communication device 150 acquires positional relationship information when the host device 200 moves on the water surface and the position of the information processing device 250 changes. Based on the acquired positional relationship information, the communication device 150 controls the mounting unit 140 so that the light receiving unit 130 receives more light 225 output from the light source 220. When the host device 200 moves on the water surface and the position of the information processing device 250 changes, the communication device 150 may control the underwater vehicle 100 so that the underwater vehicle 100 follows the movement of the host device 200 on the water surface.

[0080] 4 is an explanatory diagram for explaining another example of optical wireless communication between the communication device 150 and the information processing device 250. Here, it is assumed that the underwater vehicle 100 is moving underwater within the light receiving range 235 of the light receiving unit 230.

[0081] The information processing device 250 acquires positional relationship information when the underwater vehicle 100 moves underwater and the position of the communication device 150 changes. The information processing device 250 acquires the positional relationship information, for example, based on the positional information of the communication device 150 and the positional information of the information processing device 250. Based on the acquired positional relationship information, the communication device 150 controls the mounting unit 240 so that the light receiving unit 230 receives more of the light 125 output from the light source 120. When the host device 200 is capable of moving on water, the information processing device 250 may control the host device 200 so that it follows the underwater movement of the underwater vehicle 100.

[0082] According to the system 10 shown in Fig. 4, the information processing device 250 controls the orientation of the communication unit of the information processing device 250 in accordance with a change in the positional relationship between the communication device 150 and the information processing device 250. This allows the light receiving unit 230 to maintain a state in which it can receive more of the light 125 output from the light source 120 even when the underwater vehicle 100 moves underwater, and therefore the system 10 shown in Fig. 4 can reduce the possibility that underwater optical wireless communication will be interrupted due to the underwater movement of the underwater vehicle.

[0083] 5 is a schematic diagram of another example of the system 10. Here, differences from the system 10 described above will be mainly described.

[0084] The system 10 may include a communication mechanism 110. The communication mechanism 110 has the capability of wireless communication.

[0085] The communication mechanism 110 includes, for example, a communication device 150. The communication mechanism 110 includes, for example, a communication unit of the communication device 150. The communication mechanism 110 includes, for example, a mounting unit 140.

[0086] The communication mechanism 110 may further include one or more sensors (not shown) that measure information related to the communication mechanism 110. The sensors included in the communication mechanism 110 may be similar to the sensors that the underwater vehicle 100 may include.

[0087] The communication mechanism 110 may further include a light projector (not shown). The light projector of the communication mechanism 110 may be the same as the light projector of the underwater vehicle 100.

[0088] The mounting portion 140 includes, for example, a float 142 that mounts a communication portion of the communication device 150, and a weight 144 that mounts the float 142. The float 142 may further mount a projector.

[0089] For example, the combination of the float 142 and the weight 144 is selected so that the communication mechanism 110 has attitude stability in a vertically upward orientation. When the communication mechanism 110 is oriented vertically upward, the output surface of the light source 120 and the light receiving surface of the light receiving unit 130 face toward the water surface.

[0090] The communication mechanism 110 has, for example, neutral buoyancy. Neutral buoyancy is the buoyancy that causes an object to neither float nor sink in water. The communication mechanism 110 may have a buoyancy greater than neutral buoyancy.

[0091] The communication mechanism 110 is connected to a tank 350 of the user 300 via a tether 170. The communication mechanism 110 may be connected to the underwater vehicle 100 via a tether 170. The user 300 may be a diver.

[0092] 5 shows an example in which the communication device 150 is disposed between the light source 120 and the light receiving unit 130 and the float 142. In this case, the float 142 further carries the communication device 150. The communication device 150 may be disposed at any other position. For example, the communication device 150 is disposed between the float 142 and the weight 144. For example, the communication device 150 is disposed between the weight 144 and the tether 170.

[0093] According to the system 10 shown in FIG. 5 , the communication mechanism 110, which has attitude stability in a vertically upward direction, is connected to the tank 350 of the user 300 via the tether 170. As a result, even if the user 300, who has difficulty autonomously stabilizing his or her attitude, moves underwater and tows the communication mechanism 110, the communication mechanism 110 can maintain a vertically upward state as long as the user 300 moves underwater at a slow speed. Even if the communication mechanism 110 can no longer maintain a vertically upward state due to the user 300's violent movements, such as when the user 300 moves underwater at a high speed or when the user 300 turns over, the communication mechanism 110 can return to a vertically upward state when the user 300's movements have settled down. Therefore, the system 10 shown in FIG. 5 can reduce the possibility of disconnection of underwater optical wireless communication. Furthermore, the communication mechanism 110 controls the orientation of the communication unit of the communication device 150 using buoyancy, and therefore does not require a control mechanism to control the orientation of the communication unit of the communication device 150, thereby reducing the possibility of underwater optical wireless communication being interrupted with a small, inexpensive communication mechanism.

[0094] 6 is a schematic diagram of another example of the system 10. Here, differences from the system 10 described above will be mainly described.

[0095] The mounting unit 140 may further include thrusters 146 that have the function of changing the orientation of the mounting unit 140. The communication device 150 controls the orientation of the communication unit of the communication device 150, for example, by controlling the thrusters 146. The communication device 150 controls the thrusters 146, for example, so that the communication mechanism 110 faces vertically upward. The communication device 150 controls the thrusters 146, for example, so that the communication mechanism 110 follows the underwater movement of the user 300. The mounting unit 140 may further include a gimbal on which the weight 144 is mounted.

[0096] 6 shows an example in which the mount 140 has four thrusters 146. The number of thrusters 146 that the mount 140 has may be more than four or less than four.

[0097] The thruster 146 is disposed, for example, on the weight 144. The thruster 146 may also be disposed on the float 142.

[0098] According to the system 10 shown in Fig. 6, the communication mechanism 110 has the thrusters 146, which enhances the attitude stability of the communication mechanism 110 in the vertically upward direction. This allows the communication mechanism 110 to maintain a vertically upward direction even when the user 300 moves violently, compared to when the communication mechanism 110 is not equipped with the thrusters 146. Therefore, the system 10 shown in Fig. 6 can further reduce the possibility of underwater optical wireless communication being disconnected.

[0099] Fig. 7 shows a schematic diagram of another example of the system 10. Here, the following mainly describes the differences from the above-described system 10. In Fig. 7, the host device 200 is a ship.

[0100] The system 10 may include a communication mechanism 210. The communication mechanism 210 may be communicatively connected to an information processing device 250 via a cable 270. The information processing device 250 may use the communication mechanism 210 to communicate wirelessly.

[0101] The communication mechanism 210 includes, for example, a communication unit of the information processing device 250. The communication mechanism 210 includes, for example, a mounting unit 240.

[0102] The communication mechanism 210 may further include one or more sensors (not shown) that measure information related to the communication mechanism 210. The sensors included in the communication mechanism 210 may be similar to the sensors that the underwater vehicle 100 may include.

[0103] The communication mechanism 210 may further include a light projector (not shown). The light projector of the communication mechanism 210 may be the same as the light projector of the host device 200.

[0104] The mounting unit 240 has, for example, a weight 244 that mounts a communication unit of the information processing device 250, a float 242 that mounts the weight 244, and a thruster 246 that has a function of changing the orientation of the mounting unit 240. The weight 244 may further mount a floodlight. The mounting unit 240 may further have a gimbal that mounts the float 242.

[0105] For example, the combination of the float 242 and the weight 244 is selected so that the communication mechanism 210 has attitude stability in a vertically upward orientation. When the communication mechanism 210 is oriented vertically upward, the output surface of the light source 220 and the light receiving surface of the light receiving unit 230 face the bottom of the water.

[0106] 7 shows an example in which the mounting unit 240 has four thrusters 246. The number of thrusters 246 that the mounting unit 240 has may be more than four or less than four. The mounting unit 240 may not have any thrusters 246.

[0107] The thruster 246 is disposed, for example, on the weight 244. The thruster 146 may also be disposed on the float 242.

[0108] The information processing device 250 controls the orientation of the communication unit of the information processing device 250, for example, by controlling the thruster 246. The information processing device 250 controls the thruster 246, for example, so that the communication mechanism 210 faces vertically upward. The information processing device 250 controls the thruster 146, for example, so that the communication mechanism 210 follows the movement of the ship on the water.

[0109] For example, when the host device 200 is stopped, the information processing device 250 controls the position of the communication mechanism 210 by controlling the thrusters 246. For example, the information processing device 250 controls the thrusters 246 so that the communication mechanism 210 is located at a predetermined position.

[0110] The communication mechanism 210 has, for example, neutral buoyancy. The communication mechanism 210 may have a buoyancy that is less than neutral buoyancy.

[0111] According to the system 10 shown in FIG. 7 , the information processing device 250 performs underwater optical wireless communication using the communication mechanism 210, which has attitude stability in a vertically upward direction. As a result, even when the host device 200 tows the communication mechanism 210, the communication mechanism 210 can maintain a vertically upward state. Even if the host device 200 moves on the water at high speed and the communication mechanism 210 can no longer maintain a vertically upward state, the communication mechanism 210 can return to a vertically upward state when the host device 200 decelerates or stops. Furthermore, when the host device 200 is stopped, the information processing device 250 can control the position of the communication mechanism 210 by controlling the thruster 246. Therefore, the system 10 shown in FIG. 7 can reduce the possibility of underwater optical wireless communication being disconnected.

[0112] 8 is an explanatory diagram illustrating another example of optical wireless communication between the communication device 150 and the information processing device 250. Here, it is assumed that the communication mechanism 110 of the user 302 and the communication mechanism 110 of the user 304 are moving underwater within the light receiving range 235 of the light receiving unit 230 of the communication mechanism 210.

[0113] The information processing device 250 receives water depth information indicating the water depth of the communication device 150 of the communication mechanism 110 of the user 302, for example, from the communication device 150 of the communication mechanism 110 of the user 302, via the communication mechanism 210. The information processing device 250 receives water depth information indicating the water depth of the communication device 150 of the communication mechanism 110 of the user 304, for example, from the communication device 150 of the communication mechanism 110 of the user 304, via the communication mechanism 210.

[0114] The information processing device 250 determines the water depth for the information processing device 250 based on, for example, the water depth information of the communication device 150 of the communication mechanism 110 of the user 302 and the water depth information of the communication device 150 of the communication mechanism 110 of the user 304. The information processing device 250 determines the water depth for the information processing device 250 so that, for example, the communication mechanism 110 of the user 302 and the communication mechanism 110 of the user 304 are located within the light receiving range 235 of the light receiving unit 230 of the communication mechanism 210. The information processing device 250 may control the thrusters 246 so that the information processing device 250 is located at the determined water depth.

[0115] The left diagram in Fig. 8 is a diagram showing the water depth of the information processing device 250 when the water depths of the communication device 150 of the communication facility 110 of the user 302 and the communication device 150 of the communication facility 110 of the user 304 are shallow. The right diagram in Fig. 8 is a diagram showing the water depth of the information processing device 250 when the water depths of the communication device 150 of the communication facility 110 of the user 302 and the communication device 150 of the communication facility 110 of the user 304 are deep. As shown in Fig. 8, the information processing device 250 appropriately controls the water depth of the communication facility 210 depending on the water depths of the communication device 150 of the communication facility 110 of the user 302 and the communication device 150 of the communication facility 110 of the user 304.

[0116] According to the system 10 shown in Fig. 8, the information processing device 250 controls the communication mechanism 210 in accordance with the water depth of the communication device 150 of the communication mechanism 110 so that the communication mechanism 210 follows the underwater movement of the communication mechanism 110. As a result, the system 10 shown in Fig. 8 can maintain underwater optical wireless communication even when the communication mechanism 110 moves underwater while changing the water depth.

[0117] 9 is an explanatory diagram illustrating another example of optical wireless communication between the communication device 150 and the information processing device 250. Here, it is assumed that two communication mechanisms 210 are communicatively connected to the information processing device 250 via a cable 270.

[0118] The communication mechanism 110 of user 302 and the communication mechanism 110 of user 304 are located within the light receiving range 235 of the light receiving unit 230 of the communication mechanism 210 located in the shallower water position of the two communication mechanisms 210 that are communicatively connected to the information processing device 250 via the cable 270. The communication mechanism 110 of user 306 and the communication mechanism 110 of user 308 are located within the light receiving range 235 of the light receiving unit 230 of the communication mechanism 210 located in the deeper water position of the two communication mechanisms 210 that are communicatively connected to the information processing device 250 via the cable 270.

[0119] 9, the information processing device 250 can communicate with multiple communication devices 150 located at different water depths via underwater optical wireless communication by using multiple communication mechanisms 210 that are communicatively connected to the information processing device 250 via cables 270. This allows the information processing device 250 to set multiple geofences at different water depths in the system 10 shown in FIG.

[0120] 10 is an explanatory diagram illustrating another example of optical wireless communication between the communication device 150 and the information processing device 250. Here, it is assumed that one communication mechanism 210 is communicatively connected to the information processing device 250 via a cable 272, and one communication mechanism 210 is communicatively connected to the information processing device 250 via a cable 274.

[0121] The communication mechanism 110 of user 302 and the communication mechanism 110 of user 304 are located within the light receiving range 235 of the light receiving unit 230 of the communication mechanism 210 that is communicatively connected to the information processing device 250 via a cable 272. The communication mechanism 110 of user 306 and the communication mechanism 110 of user 308 are located within the light receiving range 235 of the light receiving unit 230 of the communication mechanism 210 that is communicatively connected to the information processing device 250 via a cable 274.

[0122] The information processing device 250 controls the communication mechanism 210, for example, so that the communication mechanism 210, which is communicatively connected to the information processing device 250 via a cable 272, follows the underwater movements of the communication mechanism 110 of the user 302 and the communication mechanism 110 of the user 304. The information processing device 250 controls the communication mechanism 210, which is communicatively connected to the information processing device 250 via a cable 274, so that the communication mechanism 210 follows the underwater movements of the communication mechanism 110 of the user 306 and the communication mechanism 110 of the user 308.

[0123] According to the system 10 shown in FIG. 10, the information processing device 250 sets a geofence underwater using the communication mechanism 210 communicatively connected to the information processing device 250 via the cable 272 and the communication mechanism 210 communicatively connected to the information processing device 250 via the cable 274. As a result, for example, the information processing device 250 can set one large geofence underwater by arranging the communication mechanism 210 communicatively connected to the information processing device 250 via the cable 272 and the communication mechanism 210 communicatively connected to the information processing device 250 via the cable 274 at the same water depth, or can set multiple geofences at different water depths by arranging the communication mechanism 210 communicatively connected to the information processing device 250 via the cable 272 and the communication mechanism 210 communicatively connected to the information processing device 250 via the cable 274 at different water depths. Therefore, the system 10 shown in FIG. 10 can further increase the degree of freedom of the geofences that the information processing device 250 can set underwater.

[0124] Fig. 11 schematically shows an example of the light source 120. The upper diagram of Fig. 11 is a perspective view of the light source 120. The lower diagram of Fig. 11 is a top view of the light source 120.

[0125] 11, the light source 120 includes a light source unit 121, a light source unit 122, a light source unit 123, a light source unit 124, a light source unit 126, a light source unit 127, and a light source unit 128. That is, the light source 120 is a light source arrayed by the light source units 121 to 128.

[0126] 11, the orientation of the output surfaces that output light from light source units 121 to 128 are different from each other. By configuring light source 120 with a plurality of light source units that have output surfaces that are oriented differently and have a narrow light emission angle, the light output by light source 120 can achieve both a wide emission angle and a long propagation distance.

[0127] The light source 220 may have the same structure as the light source 120 shown in Fig. 11. That is, the light source 220 may be an array of a plurality of light source units.

[0128] 12 shows an example of the functional configuration of the communication device 150. The communication device 150 includes a mounting unit 140, a storage unit 152, an acquisition unit 154, a communication unit 156, a control unit 158, a determination unit 160, and a scanning unit 190. Note that the communication device 150 does not necessarily need to include all of these components.

[0129] The storage unit 152 stores various types of information, such as location information of the information processing device 250.

[0130] The acquiring unit 154 acquires various types of information and may store the acquired information in the storage unit 152.

[0131] The acquisition unit 154 acquires various pieces of information from, for example, the information processing device 250. The acquisition unit 154 acquires various pieces of information from the information processing device 250, for example, by analyzing the light 225 output from the light source 220 and received by the light receiving unit 130 to acquire an optical signal.

[0132] The acquisition unit 154 acquires, for example, the position information of the information processing device 250 from the information processing device 250. When the light receiving unit 130 is a camera, the acquisition unit 154 may acquire the position information of the information processing device 250 by analyzing a captured image of the host device 200. When the underwater vehicle 100 or the communication mechanism 110 is equipped with a lidar, the acquisition unit 154 may acquire the position information of the information processing device 250 by measuring the distance and direction to the host device 200 using the lidar. The acquisition unit 154 may acquire the position information of the information processing device 250 by utilizing acoustic reflection.

[0133] The acquisition unit 154 acquires, for example, various types of information measured by sensors mounted on the underwater vehicle 100. The acquisition unit 154 acquires, for example, position information of the communication device 150. The acquisition unit 154 acquires, for example, water depth information of the communication device 150. The acquisition unit 154 acquires, for example, acceleration information indicating the acceleration of the communication device 150. The acquisition unit 154 acquires, for example, angular velocity information indicating the angular velocity of the communication device 150. The acquisition unit 154 acquires, for example, position information indicating the position of the communication device 150.

[0134] The acquisition unit 154 acquires, for example, travel path information indicating a travel path traveled by the communication device 150 underwater. The travel path information includes, for example, travel distance information indicating a travel distance. The travel path information includes, for example, travel direction information indicating a travel direction.

[0135] The acquisition unit 154 acquires the position of the communication device 150 while the communication device 150 is underwater, for example, based on the movement path information of the communication device 150. For example, the acquisition unit 154 may use the position of the communication device 150 at the time the underwater vehicle 100 is dropped into the water as a reference point, and may determine the position of the communication device 150 after the communication device 150 has moved in the water by the movement path indicated by the movement path information of the communication device 150 as the position of the communication device 150 in the water.

[0136] The acquisition unit 154 acquires the position of the communication device 150 while the communication device 150 is underwater, for example, using an inertial navigation system mounted on the underwater vehicle 100 or the communication mechanism 110.

[0137] The inertial navigation system may employ, for example, a platform system in which the IMU is attached to a stabilized platform. Alternatively, the inertial navigation system may employ a strap-down system in which the IMU is directly attached to the underwater vehicle 100 or the communication mechanism 110 without providing a platform.

[0138] The acquisition unit 154 acquires, for example, travel route information indicating a travel route on water taken by the information processing device 250. The acquisition unit 154 acquires the travel route information of the information processing device 250 using, for example, a Doppler speedometer mounted on the underwater vehicle 100 or the communication mechanism 110.

[0139] The acquisition unit 154 acquires, for example, positional relationship information indicating the positional relationship between the communication device 150 and the information processing device 250. The acquisition unit 154 acquires, for example, the positional relationship information based on the positional information of the communication device 150. The acquisition unit 154 acquires, for example, the positional relationship information based on movement route information of the communication device 150. The acquisition unit 154 acquires, for example, the positional relationship information based on the positional information of the information processing device 250.

[0140] When the light receiving unit 130 is a camera, the acquiring unit 154 may acquire the positional relationship information based on the analysis result of analyzing a captured image of the host device 200 or the communication mechanism 210. When the light receiving unit 130 is a photodiode, the acquiring unit 154 may acquire the positional relationship information based on the light intensity of the light 225 output from the light source 220 and received by the light receiving unit 130.

[0141] The communication unit 156 has a function of wireless communication and includes, for example, a light source 120 and a light receiving unit 130.

[0142] The communication unit 156 wirelessly communicates with the information processing device 250. The communication unit 156 wirelessly communicates with the information processing device 250 located on the water, for example.

[0143] For example, while the communication device 150 is located on the water, the communication unit 156 performs mobile communication with the information processing device 250. For example, while the communication device 150 is located on the water, the communication unit 156 performs short-range wireless communication with the information processing device 250.

[0144] For example, the communication unit 156 performs optical wireless communication with the information processing device 250 while the communication device 150 is located underwater. For example, the communication unit 156 performs optical camera communication with the information processing device 250 while the communication device 150 is located underwater. The communication unit 156 may perform acoustic communication with the information processing device 250 while the communication device 150 is located underwater.

[0145] For example, while the communication device 150 is located underwater, the communication unit 156 transmits various types of information to the information processing device 250. For example, the communication unit 156 generates an optical signal and transmits the optical signal to the information processing device 250 by using the light source 120 to output light 125 that carries the optical signal.

[0146] The communication unit 156, for example, transmits identification information of the communication device 150 to the information processing device 250. The communication unit 156, for example, transmits position information of the communication device 150 to the information processing device 250. The communication unit 156, for example, transmits movement route information of the communication device 150 to the information processing device 250. The communication unit 156, for example, transmits water depth information of the communication device 150 to the information processing device 250.

[0147] The control unit 158 ​​controls the control target. The control unit 158 ​​controls the control target, for example, based on various information stored in the storage unit 152. The control unit 158 ​​controls the control target, for example, based on various information acquired by the acquisition unit 154.

[0148] The control unit 158 ​​controls the controlled object based on a control signal for controlling the controlled object. The control signal is generated by, for example, the control unit 158. The control signal may be generated by the information processing device 250 and acquired by the acquisition unit 154.

[0149] The control signal includes, for example, a position control signal for controlling the position of the controlled object, movement control information for controlling the movement of the controlled object, and an attitude control signal for controlling the attitude of the controlled object.

[0150] The control unit 158 ​​controls, for example, the underwater vehicle 100 on which the communication device 150 is mounted. The control unit 158 ​​controls, for example, the position of the underwater vehicle 100. The control unit 158 ​​controls, for example, the movement of the underwater vehicle 100. The control unit 158 ​​controls, for example, the attitude of the underwater vehicle 100.

[0151] The control unit 158 ​​controls the underwater vehicle 100 based on, for example, the positional relationship information. The control unit 158 ​​controls the underwater vehicle 100 so as to maintain the positional relationship between the communication device 150 and the information processing device 250, for example.

[0152] The control unit 158 ​​controls, for example, the communication mechanism 110 that mounts the communication device 150. The control unit 158 ​​controls, for example, the position of the communication mechanism 110. The control unit 158 ​​controls, for example, the movement of the communication mechanism 110. The control unit 158 ​​controls, for example, the attitude of the communication mechanism 110.

[0153] The control unit 158 ​​controls, for example, the communication unit 156. The control unit 158 ​​controls, for example, the orientation of the communication unit 156. The control unit 158 ​​controls, for example, the mounting unit 140 to control the orientation of the communication unit 156. The control unit 158 ​​controls, for example, the orientation of the communication unit 156 by controlling the gimbal that is the mounting unit 140. The control unit 158 ​​controls, for example, the orientation of the communication unit 156 by controlling the thrusters 146 that the mounting unit 140 has. The control unit 158 ​​may control the orientation of the communication unit 156 by controlling the attitude of the underwater vehicle 100 or the communication mechanism 110.

[0154] For example, while the communication device 150 is located underwater, the control unit 158 ​​controls the orientation of the communication unit 156 so that the light receiving unit 230 of the information processing device 250 located above water receives more of the light 125 output from the light source 120. For example, the control unit 158 ​​controls the orientation of the communication unit 156 so that the output surface from which the light source 120 outputs the light 125 becomes more perpendicular to a line parallel to the vertical direction. For example, the control unit 158 ​​controls the orientation of the communication unit 156 based on the positional relationship information so that the light receiving unit 230 is located on a line parallel to the propagation direction of the light 125 output from the light source 120.

[0155] For example, while the communication device 150 is located underwater, the control unit 158 ​​controls the orientation of the communication unit 156 so that the light receiving unit 130 receives more of the light 225 output from the light source 220 of the information processing device 250 located above water. For example, the control unit 158 ​​controls the orientation of the communication unit 156 so that the light receiving surface of the light receiving unit 130 that receives the light 225 becomes more perpendicular to a line parallel to the vertical direction. For example, the control unit 158 ​​controls the orientation of the communication unit 156 based on the positional relationship information so that the light receiving surface of the light receiving unit 130 becomes more perpendicular to a line parallel to the propagation direction of the light 225.

[0156] The control unit 158 ​​may control the orientation of the communication unit 156 while the communication device 150 is located underwater so that the light receiving unit 130 receives more light output from the light projector of the information processing device 250 located above water. The control unit 158 ​​may control the orientation of the communication unit of the communication device 150 while the communication device 150 is located underwater so that the light receiving unit 130 receives more sunlight from the sun 80.

[0157] The determination unit 160 executes various determination processes. For example, the determination unit 160 executes various determination processes periodically.

[0158] The determination unit 160 determines, for example, whether or not the communication device 150 has lost sight of the communication target. Note that a state in which the communication device 150 has lost sight of the communication target may be referred to as a lost state.

[0159] The determination unit 160 determines, for example, whether the light receiving unit 130 was able to receive the light 225 output from the light source 220 within a predetermined period. If the light receiving unit 130 was able to receive the light 225 within the period, the communication device 150 is not in a lost state. On the other hand, if the light receiving unit 130 was not able to receive the light 225 within the period, the communication device 150 is in a lost state.

[0160] For example, if the light receiving surface of the light receiving unit 130 does not face the propagation direction of the light 225, the light receiving unit 130 will not be able to receive the light 225. For example, if the separation distance between the light receiving unit 130 and the light source 220 is longer than the propagation distance of the light 225, the light receiving unit 130 will not be able to receive the light 225. For example, if an obstacle exists between the light receiving unit 130 and the light source 220, the light receiving unit 130 will not be able to receive the light 225. In addition, there are cases where the light receiving unit 130 will not be able to receive the light 225, such as when the water between the light receiving unit 130 and the light source 220 is highly turbid.

[0161] When the determination unit 160 determines that the communication device 150 was able to receive the light 225 within the period, the control unit 158 ​​may control the orientation of the communication unit 156 based on the positional relationship information so that the light receiving surface of the light receiving unit 130 becomes more perpendicular to a line parallel to the propagation direction of the light 225. By controlling the orientation of the communication unit 156 based on the positional relationship information as described above when the communication device 150 is not in a lost state, the orientation of the communication unit 156 can be controlled taking into account three-dimensional shaking and positional deviation of the host device 200 and the communication mechanism 210 incorporating the information processing device 250 caused by waves, which are the ups and downs of the water surface. As a result, the possibility of underwater optical wireless communication being disconnected can be reduced.

[0162] On the other hand, when the determination unit 160 determines that the communication device 150 was unable to receive the light 225 within the period, the control unit 158 ​​may control the orientation of the communication unit 156 so that the light-receiving surface of the light-receiving unit 130 is more perpendicular to a line parallel to the vertical direction. In underwater optical wireless communication, because the communication device 150 is located underwater and the information processing device 250 is located above the water, the propagation direction of the light 225 output from the light source 220 tends to be vertically downward. Therefore, when the communication device 150 is in a lost state, the possibility that the communication device 150 can be recovered from the lost state can be increased by controlling the orientation of the communication unit 156 so that the light-receiving surface of the light-receiving unit 130 is more oriented vertically upward.

[0163] When the determination unit 160 determines that the communication device 150 has not received the light 225 within the period, the control unit 158 ​​may control the orientation of the communication unit 156 so that the light receiving unit 130 searches above the communication device 150 to find the light 225 output from the light source 220. When the determination unit 160 determines that the communication device 150 has not received the light 225 within the period, the control unit 158 ​​may control the orientation of the communication unit 156 so that the light receiving unit 130 searches above the communication device 150 to find the light output from the projector of the information processing device 250.

[0164] If the determination unit 160 determines that the communication device 150 was unable to receive the light 225 within the period, the control unit 158 ​​controls the position of the underwater vehicle 100 so that the light receiving unit 130 finds the light 225 output from the light source 220. If the determination unit 160 determines that the communication device 150 was unable to receive the light 225 within the period, the control unit 158 ​​controls the position of the underwater vehicle 100 so that the light receiving unit 130 finds the light output from the projector of the information processing device 250.

[0165] The control unit 158 ​​controls the position of the underwater vehicle 100 so that the underwater vehicle 100 moves toward a home position so that the light receiving unit 130 can detect the light 225 output from the light source 220 or the light output from the projector of the information processing device 250. The home position may be set in advance.

[0166] For example, while the underwater vehicle 100 is moving toward the home position, the control unit 158 ​​controls the orientation of the communication unit 156 so that the light receiving surface of the light receiving unit 130 becomes more perpendicular to a line parallel to the vertical direction. The control unit 158 ​​may also control the orientation of the communication unit 156 so that the light receiving surface of the light receiving unit 130 maintains the state in which it last received the light 225 while the underwater vehicle 100 is moving toward the home position.

[0167] If the determination unit 160 determines that the communication device 150 has not received the light 225 within the period, the control unit 158 ​​may control the position of the underwater vehicle 100 so that the underwater vehicle 100 surfaces. For example, the control unit 158 ​​controls the position of the underwater vehicle 100 so that the underwater vehicle 100 surfaces to the water surface.

[0168] The acquisition unit 154 may acquire the three-dimensional map data by, for example, generating the three-dimensional map data based on a plurality of pieces of scan data acquired by the scanning unit 190.

[0169] The acquisition unit 154 may further acquire, based on the three-dimensional map data, the position information of the communication device 150. The acquisition unit 154 acquires the three-dimensional map data and the position information of the communication device 150 simultaneously using, for example, a Simultaneous Localization and Mapping (SLAM) technique.

[0170] When communication device 150 acquires its own position information using only data measured by the IMU, the longer the travel distance of communication device 150, the more the IMU measurement error accumulates, resulting in a so-called drift phenomenon. As a result, the longer the travel distance of communication device 150, the lower the accuracy of the position information of communication device 150. In contrast, when communication device 150 acquires its own position information based additionally on three-dimensional map data, the drift phenomenon can be suppressed. As a result, even if communication device 150 travels a long distance, highly accurate position information of communication device 150 can be acquired.

[0171] 13 shows an example of the functional configuration of the information processing device 250. The information processing device 250 includes a mounting unit 240, a storage unit 252, an acquisition unit 254, a communication unit 256, a control unit 258, a determination unit 260, and a notification unit 262. Note that it is not essential that the information processing device 250 include all of these components.

[0172] The storage unit 252 stores various types of information, such as reference position information indicating the reference position of the host device 200.

[0173] The acquiring unit 254 acquires various types of information. The acquiring unit 254 may store the acquired various types of information in the storage unit 252.

[0174] The acquisition unit 254 acquires, for example, various pieces of information from the communication device 150. The acquisition unit 254 acquires, for example, various pieces of information from the communication device 150 by analyzing the light 125 output from the light source 120 and received by the light receiving unit 230 to acquire an optical signal.

[0175] The acquisition unit 254 acquires, for example, the position information of the communication device 150 from the communication device 150. If the light receiving unit 230 is a camera, the acquisition unit 254 may acquire the position information of the communication device 150 by analyzing a captured image of the underwater vehicle 100 or the communication mechanism 110. If the host device 200 is equipped with a lidar, the acquisition unit 254 may acquire the position information of the communication device 150 by measuring the distance and direction to the underwater vehicle 100 or the communication mechanism 110 using the lidar. The acquisition unit 254 may acquire the position information of the communication device 150 by using acoustic reflection.

[0176] The acquisition unit 254 may acquire identification information of the communication device 150 from the communication device 150. The acquisition unit 254 may acquire movement route information of the communication device 150 from the communication device 150. The acquisition unit 254 may acquire water depth information of the communication device 150.

[0177] The acquisition unit 254 acquires, for example, various pieces of information measured by sensors mounted on the host device 200. The acquisition unit 254 acquires, for example, location information of the information processing device 250.

[0178] The acquisition unit 254 acquires, for example, various types of information measured by sensors mounted on the communication mechanism 210. The acquisition unit 254 acquires, for example, location information of the communication mechanism 210. The acquisition unit 254 acquires, for example, water depth information of the communication mechanism 210.

[0179] The acquisition unit 254 acquires, for example, positional relationship information indicating the positional relationship between the communication device 150 and the information processing device 250. The acquisition unit 254 acquires, for example, the positional relationship information based on the positional information of the information processing device 250. The acquisition unit 254 acquires, for example, the positional relationship information based on the positional information of the communication device 150. The acquisition unit 254 acquires, for example, the positional relationship information based on movement route information of the communication device 150.

[0180] When the light receiving unit 230 is a camera, the acquiring unit 254 may acquire the positional relationship information based on the analysis results of an image captured of the underwater vehicle 100, the communication mechanism 110, or the user 300. When the light receiving unit 230 is a photodiode, the acquiring unit 254 may acquire the positional relationship information based on the light intensity of the light 125 output from the light source 120 and received by the light receiving unit 230.

[0181] The communication unit 256 has a function of wireless communication. The communication unit 256 includes, for example, a light source 220 and a light receiving unit 230.

[0182] The communication unit 256 communicates wirelessly with the communication device 150. For example, the communication unit 256 communicates wirelessly with the communication device 250 when the information processing device 250 is located on water.

[0183] The communication unit 256 performs mobile communication with the communication device 150 located on the water, for example. The communication unit 256 performs short-range wireless communication with the communication device 150 located on the water, for example.

[0184] The communication unit 256 may, for example, perform optical wireless communication with the communication device 150 located underwater. The communication unit 256 may, for example, perform optical camera communication with the communication device 150 located underwater. The communication unit 256 may, for example, perform acoustic communication with the communication device 150 located underwater.

[0185] The communication unit 256 transmits various information to the communication device 150, for example, while the communication device 150 is located underwater. The communication unit 256 transmits various information to the communication device 150, for example, by generating an optical signal and using the light source 220 to output light 225 that carries the optical signal.

[0186] The control unit 258 controls the controlled object. The control unit 258 controls the controlled object, for example, by generating a control signal for controlling the controlled object.

[0187] The control unit 258 generates a control signal based on, for example, various pieces of information stored in the storage unit 252. The control unit 258 generates a control signal based on, for example, various pieces of information acquired by the acquisition unit 254.

[0188] The control unit 258 controls, for example, the host device 200. The control unit 258 controls, for example, the position of the host device 200. The control unit 258 controls, for example, the movement of the host device 200.

[0189] The control unit 258 controls the host device 200 based on, for example, the reference position information of the host device 200 stored in the storage unit 252. The control unit 258 controls the host device 200 so that, for example, the host device 200 is located at the reference position of the host device 200 indicated by the reference position information of the host device 200.

[0190] The control unit 258 controls, for example, the communication mechanism 210. The control unit 258 controls, for example, the communication mechanism 210 by controlling the thrusters 246.

[0191] The control unit 258 controls, for example, the position of the communication mechanism 210. The control unit 258 controls, for example, the movement of the communication mechanism 210.

[0192] The control unit 258 controls the communication mechanism 210 based on, for example, the position information of the communication device 150 and the position information of the communication mechanism 210. The control unit 258 controls the communication mechanism 210 based on, for example, the water depth information of the communication device 150 and the water depth information of the communication mechanism 210.

[0193] The control unit 258 controls the communication mechanism 210, for example, so that the communication device 150 is located within the light-receiving range 235 of the light-receiving unit 230 of the communication mechanism 210. The control unit 258 controls the communication mechanism 210, for example, so that a plurality of communication devices 150 are located within the light-receiving range 235 of the light-receiving unit 230 of the communication mechanism 210.

[0194] For example, when the multiple communication devices 150 are located within the light receiving range 235 of the light receiving unit 230, the control unit 258 controls the communication mechanism 210 so that the light receiving unit 130 of each of the multiple communication devices 150 located underwater receives more of the light 225 output from the light source 220. For example, the control unit 258 controls the communication mechanism 210 so that more of the light 225 is output toward the center of gravity of the multiple communication devices 150 based on the position information of each of the multiple communication devices 150. For example, when three communication devices 150 are located within the light receiving range 235 and the positions of each of the three communication devices 150 are (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3), the control unit 258 controls the communication mechanism 210 to output more light 225 toward the center of gravity of the three communication devices 150, which is ((x1+x2+x3) / 3, (y1+y2+y3) / 3, (z1+z2+z3) / 3).

[0195] The control unit 258 controls the underwater vehicle 100. The control unit 258 controls, for example, the position of the underwater vehicle 100. The control unit 258 controls, for example, the movement of the underwater vehicle 100. The communication unit 256 may transmit a control signal to the communication device 150.

[0196] The control unit 258 controls the underwater vehicle 100 based on, for example, position information of the communication device 150. The control unit 258 controls the underwater vehicle 100 based on, for example, movement path information of the communication device 150. The control unit 258 controls the underwater vehicle 100 based on, for example, positional relationship information.

[0197] The control unit 258 controls the communication device 150, for example, so that the communication device 150 is located within the light receiving range 235 of the light receiving unit 230 of the information processing device 250. The control unit 258 controls the communication device 150, for example, so that the communication device 150 moves within the light receiving range 235 of the light receiving unit 230 of the information processing device 250.

[0198] The control unit 258 controls, for example, the communication unit 256. The control unit 258 controls, for example, the orientation of the communication unit 256. The control unit 258 controls, for example, the mounting unit 240 to control the orientation of the communication unit 256. The control unit 258 controls, for example, the gimbal that is the mounting unit 240 to control the orientation of the communication unit 256. The control unit 258 controls, for example, the thruster 246 that the mounting unit 240 has to control the orientation of the communication unit 256.

[0199] For example, when the information processing device 250 is located above water, the control unit 258 controls the orientation of the communication unit 256 so that the light receiving unit 130 of the communication device 150 located underwater receives more of the light 225 output from the light source 220. For example, the control unit 258 controls the orientation of the communication unit 256 so that the output surface from which the light source 220 outputs the light 225 is more perpendicular to a line parallel to the vertical direction. For example, the control unit 258 controls the orientation of the communication unit 256 based on the positional relationship information so that the light receiving unit 130 is located on a line parallel to the propagation direction of the light 225 output by the light source 220.

[0200] For example, when the information processing device 250 is located above water, the control unit 258 controls the orientation of the communication unit 256 so that the light receiving unit 230 receives more of the light 125 output from the light source 120 of the communication device 150 located underwater. For example, the control unit 258 controls the orientation of the communication unit 256 so that the light receiving surface of the light receiving unit 230 that receives the light 125 becomes more perpendicular to a line parallel to the vertical direction. For example, the control unit 258 controls the orientation of the communication unit 256 based on the positional relationship information so that the light receiving surface of the light receiving unit 230 becomes more perpendicular to a line parallel to the propagation direction of the light 125. When the information processing device 250 is located above water, the control unit 258 may also control the orientation of the communication unit 256 so that the light receiving unit 230 receives more of the light output from the projector of the communication device 150 located underwater.

[0201] The determination unit 260 executes various determination processes. For example, the determination unit 260 executes various determination processes periodically.

[0202] The determination unit 260 determines, for example, whether or not the information processing device 250 has lost sight of a communication target. Note that a state in which the information processing device 250 has lost sight of a communication target may be referred to as a lost state.

[0203] The determination unit 260 determines, for example, whether the light receiving unit 230 was able to receive the light 125 output from the light source 120 within a predetermined period. If the light receiving unit 230 was able to receive the light 125 within the period, the information processing device 250 is not in a lost state. On the other hand, if the light receiving unit 230 was not able to receive the light 125 within the period, the information processing device 250 is in a lost state.

[0204] When the determination unit 260 determines that the information processing device 250 was able to receive the light 125 within the period, the control unit 258 may control the orientation of the communication unit 256 based on the positional relationship information so that the light receiving surface of the light receiving unit 230 becomes more perpendicular to a line parallel to the propagation direction of the light 125. On the other hand, when the determination unit 260 determines that the information processing device 250 was not able to receive the light 125 within the period, the control unit 258 may control the orientation of the communication unit 256 so that the light receiving surface of the light receiving unit 230 becomes more perpendicular to a line parallel to the vertical direction. When the determination unit 260 determines that the information processing device 250 was not able to receive the light 125 within the period, the control unit 258 may control the orientation of the communication unit 256 so that the light receiving unit 230 searches below the information processing device 250 to find the light 125 output from the light source 120. If the determination unit 260 determines that the information processing device 250 has not received the light 125 within the period, the control unit 258 may control the orientation of the communication unit 256 so that the light receiving unit 230 searches below the information processing device 250 to find the light output from the light projector of the communication device 150.

[0205] The notification unit 262 notifies various types of information. For example, the notification unit 262 notifies various types of information by transmitting the various types of information to an external device using the communication unit 256. For example, the notification unit 262 notifies various types of information by displaying and outputting the various types of information using a display output unit included in the information processing device 250. For example, the notification unit 262 notifies various types of information by outputting the various types of information as audio using an audio output unit included in the information processing device 250.

[0206] For example, when the information processing device 250 enters a lost state, the notification unit 262 notifies that the information processing device 250 is in a lost state. For example, when a predetermined period has elapsed since the information processing device 250 entered a lost state, the notification unit 262 notifies that the information processing device 250 is in a lost state.

[0207] Fig. 14 is an explanatory diagram illustrating an example of the processing flow of the communication device 150. In Fig. 14, the explanation will be given assuming that the communication device 150 is located underwater as a starting state. It should be noted that the communication device 150 is assumed to be mounted on the underwater vehicle 100.

[0208] In step (sometimes abbreviated as S) 102, the determination unit 160 determines whether or not the communication device 150 is in a lost state. If the determination unit 160 determines that the communication device 150 is in a lost state, the process proceeds to S104. If the determination unit 160 determines that the communication device 150 is not in a lost state, the process proceeds to S118.

[0209] In S104, the control unit 158 ​​controls the orientation of the communication unit 156 so that the light receiving surface of the light receiving unit 130 becomes more perpendicular to a line parallel to the vertical direction. Thereafter, in S106, the determination unit 160 determines whether the communication device 150 has recovered from the lost state. If the determination unit 160 determines that the communication device 150 has recovered from the lost state, the process proceeds to S118. If the determination unit 160 determines that the communication device 150 has not recovered from the lost state, the process proceeds to S108.

[0210] In S108, the control unit 158 ​​controls the orientation of the communication unit 156 so that the light receiving unit 130 searches above the communication device 150 to find the light 225 output from the light source 220. Thereafter, in S110, the determination unit 160 determines whether the communication device 150 has recovered from the lost state. If the determination unit 160 determines that the communication device 150 has recovered from the lost state, the process proceeds to S118. If the determination unit 160 determines that the communication device 150 has not recovered from the lost state, the process proceeds to S112.

[0211] In S112, the light receiving unit 130 controls the position of the underwater vehicle 100 so as to find the light 225 output from the light source 220. Thereafter, in S114, the determination unit 160 determines whether or not the communication device 150 has recovered from the lost state. If the determination unit 160 determines that the communication device 150 has recovered from the lost state, the process proceeds to S118. If the determination unit 160 determines that the communication device 150 has not recovered from the lost state, the process proceeds to S116.

[0212] In S116, the control unit 158 ​​controls the position of the underwater vehicle 100 so that the underwater vehicle 100 surfaces. Thereafter, the processing of the communication device 150 when it is determined whether the communication device 150 is in a lost state ends.

[0213] In S118, the control unit 158 ​​controls the orientation of the communication unit 156 so that the light receiving surface of the light receiving unit 130 becomes more perpendicular to a line parallel to the propagation direction of the light 225. Thereafter, the processing of the communication device 150 when it is determined whether or not the communication device 150 is in a lost state ends.

[0214] Fig. 15 is an explanatory diagram illustrating an example of the flow of processing by the information processing device 250. In Fig. 15, the description will be given assuming that the communication device 150 is located in water as a starting state.

[0215] In S202, the determination unit 260 determines whether the information processing device 250 is in a lost state. If the determination unit 260 determines that the information processing device 250 is in a lost state, the process proceeds to S204. If the determination unit 260 determines that the information processing device 250 is not in a lost state, the process proceeds to S214.

[0216] In S204, the control unit 258 controls the orientation of the communication unit 256 so that the light receiving surface of the light receiving unit 230 becomes more perpendicular to a line parallel to the vertical direction. Thereafter, in S206, the determination unit 260 determines whether the information processing device 250 has recovered from the lost state. If the determination unit 260 determines that the information processing device 250 has recovered from the lost state, the process proceeds to S214. If the determination unit 260 determines that the information processing device 250 has not recovered from the lost state, the process proceeds to S208.

[0217] In S208, the control unit 258 controls the orientation of the communication unit 256 so that the light receiving unit 230 searches below the information processing device 250 to find the light 125 output from the light source 120. Thereafter, in S210, the determination unit 260 determines whether the information processing device 250 has recovered from the lost state. If the determination unit 260 determines that the information processing device 250 has recovered from the lost state, the process proceeds to S214. If the determination unit 260 determines that the information processing device 250 has not recovered from the lost state, the process proceeds to S212.

[0218] In S212, the notification unit 262 notifies that the information processing device 250 is in a lost state. Thereafter, the process of the information processing device 250 when it is determined whether the information processing device 250 is in a lost state ends.

[0219] In S214, the control unit 258 controls the orientation of the communication unit 256 so that the light receiving surface of the light receiving unit 230 becomes more perpendicular to a line parallel to the propagation direction of the light 125. Thereafter, the processing of the information processing device 250 when it is determined whether the information processing device 250 is in a lost state ends.

[0220] 16 schematically illustrates an example of the hardware configuration of a computer 1200 functioning as the communication device 150 or the information processing device 250. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "units" of the device according to the present embodiment, or can cause the computer 1200 to perform operations associated with the device according to the present embodiment or one or more "units," 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.

[0221] 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 communications interface 1222, a storage device 1224, a DVD drive 1226, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive 1226 may be a DVD-ROM drive, a DVD-RAM drive, or the like. 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 legacy input / output units such as a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0222] 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 itself, and causes the image data to be displayed on the display device 1218.

[0223] 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 DVD drive 1226 reads programs or data from a DVD-ROM 1227 or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0224] 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.

[0225] The programs are provided by a computer-readable storage medium such as a DVD-ROM 1227 or 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 method may be configured by implementing operations or processing of information in accordance with the use of the computer 1200.

[0226] For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into the RAM 1214 and instruct the communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in the RAM 1214, the storage device 1224, the DVD-ROM 1227, or a recording medium such as an IC card, and transmits the read transmission data to the network, or writes reception data received from the network to a reception buffer area or the like provided on the recording medium.

[0227] 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, the DVD drive 1226 (DVD-ROM 1227), 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.

[0228] 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.

[0229] 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.

[0230] 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 an apparatus 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, including 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.

[0231] A computer-readable medium may include any tangible device capable of storing instructions that are executed by a suitable device, such that the computer-readable medium having instructions stored thereon comprises an article of manufacture containing instructions that can be executed to create means for performing the operations specified in the flowcharts or block diagrams. Examples of computer-readable media may include electronic, magnetic, optical, electromagnetic, and semiconductor storage media. More specific examples of computer-readable media may include floppy disks, diskettes, 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), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray disc, memory stick, integrated circuit card, and the like.

[0232] 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.

[0233] The computer-readable instructions may be provided to a processor or programmable circuit of a programmable data processing device, such as a computer, locally or via a wide area network (WAN) such as a local area network (LAN) or the Internet, and the computer-readable instructions may be executed to create means for performing the operations specified in the flowcharts or block diagrams. Here, the computer may be a personal computer (PC), a tablet computer, a smartphone, a workstation, a server computer, a general-purpose computer, a special-purpose computer, or the like, or may be a computer system in which multiple computers are connected. Such a computer system in which multiple computers are connected is also called a distributed computing system, and is a broad definition of computer. In a distributed computing system, the multiple computers collectively execute a program by each executing a portion of the program and passing data between the computers as needed during program execution.

[0234] Examples of processors include a computer processor, a central processing unit (CPU), a processing unit, a microprocessor, a digital signal processor, a controller, a microcontroller, etc. A computer may have one or more processors. In a multiprocessor system with multiple processors, each processor executes a portion of a program and passes data between processors as needed during program execution, allowing the multiple processors to collectively execute the program. For example, in multitasking, each of the multiple processors may execute a portion of each task in small chunks by switching tasks at time slice intervals. In this case, which portion of a program each processor executes changes dynamically. Which portion of a program each of the multiple processors executes may also be statically determined by multiprocessor-aware programming.

[0235] 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.

[0236] 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 later 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. [Explanation of symbols]

[0237] 10 system, 50 object, 80 sun, 100 underwater vehicle, 110 communication mechanism, 120 light source, 121 light source unit, 122 light source unit, 123 light source unit, 124 light source unit, 125 light, 126 light source unit, 127 light source unit, 128 light source unit, 130 light receiving unit, 140 mounting unit, 142 float, 144 weight, 146 thruster, 150 communication device, 152 storage unit, 154 acquisition unit, 156 communication unit, 158 control unit, 160 determination unit, 170 tether, 190 scanning unit, 200 host device, 210 communication mechanism, 220 light source, 225 light, 230 light receiving unit, 235 light receiving range, 240 mounting unit, 242 float, 244 weight, 246 Thruster, 250 information processing device, 252 storage unit, 254 acquisition unit, 256 communication unit, 258 control unit, 260 determination unit, 262 notification unit, 270 cable, 272 cable, 274 cable, 300 user, 302 user, 304 user, 306 user, 308 user, 350 cylinder, 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, 1226 DVD drive, 1227 DVD-ROM, 1230 ROM, 1240 input / output chip

Claims

1. A communication device, a communication unit that, while the communication device is located underwater, communicates optically and wirelessly with an information processing device located on the surface of the water; a control unit that controls the orientation of the communication unit so that the light receiving unit that constitutes the communication unit receives more light output from a light source of the information processing device; A communication device comprising:

2. a determination unit that determines whether the light receiving unit has received the light output from the light source within a predetermined period of time; Furthermore, 2. The communication device according to claim 1, wherein when the determination unit determines that the light receiving unit was unable to receive light output from the light source within the period, the control unit controls the orientation of the communication unit so that the light receiving surface on which the light receiving unit receives light is more perpendicular to a line parallel to the vertical direction.

3. an acquisition unit that acquires positional relationship information indicating a positional relationship between the communication device and the information processing device; Furthermore, the control unit controls the orientation of the communication unit based on the positional relationship information so that a light receiving surface of the light receiving unit that receives light becomes more perpendicular to a line parallel to a propagation direction of the light output from the light source. The communication device according to claim 1 .

4. the acquisition unit acquires movement path information indicating a movement path traveled by the communication device underwater, and acquires the positional relationship information based on the acquired movement path information of the communication device. The communication device according to claim 3 .

5. the acquiring unit acquires an optical signal by analyzing the light output from the light source and received by the light receiving unit, and acquires the positional relationship information based on position information indicating a position of the information processing device that is included in the acquired optical signal. The communication device according to claim 3 .

6. a mounting section for mounting the communication section thereon; Furthermore, The control unit controls the orientation of the communication unit by controlling the orientation of the mounting unit. A communication device according to any one of claims 1 to 5.

7. the mounting portion is a gimbal, The control unit controls the gimbal to control the orientation of the communication unit. The communication device according to claim 6.

8. the mounting unit has a float on which the communication unit is mounted, a weight on which the float is mounted, and a thruster having a function of changing the orientation of the mounting unit, The control unit controls the orientation of the communication unit by controlling the thruster. The communication device according to claim 6.

9. the light receiving unit is a camera, the communication unit performs optical camera communication (OCC) with the information processing device to perform optical wireless communication with the information processing device; A communication device according to any one of claims 1 to 5.

10. A program that, when executed by a computer, causes the computer to function as the communication device according to any one of claims 1 to 5.

11. An information processing device, a communication unit that performs optical wireless communication with a communication device located underwater while the information processing device is located on water; a control unit that controls the orientation of the communication unit so that the light receiving unit of the communication device receives more light output from the light source that constitutes the communication unit; An information processing device comprising:

12. A program that, when executed by a computer, causes the computer to function as the information processing device according to claim 11.

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