Mobile body, method for controlling a mobile body, program, and information processing system

Abstract

This mobile device enables reduced power consumption by acquiring information while simultaneously mitigating the processing load according to the situation. [Solution] A mobile body comprising: a first acquisition unit that acquires the mobile body's location information as first information; a second acquisition unit that acquires information about the mobile body's surroundings as second information; a communication unit that communicates with an external device; and an information processing unit that generates a map of the mobile body's surroundings as first map information based on the first and second information. The information processing unit changes at least one of the information acquisition conditions of the second acquisition unit or the content of communication with the external device based on the communication status with the external device and the first map information or second map information different from the first map information.

Description

Technical Field

[0001] The present invention relates to a mobile body, a control method for a mobile body, a program, and an information processing system.

Background Art

[0002] Conventionally, a system for creating map data (mapping information) by mounting various sensor devices on a drone (mobile body) and causing it to navigate is known. The sensor devices to be mounted include various types such as imaging devices such as visible cameras and thermal cameras, ranging devices such as LIDAR (Light Detection and Ranging), and GPS (Global Positioning System). The drone is remotely controlled from a host system composed of an information processing device or the like, uploads sensor device information mounted on the drone to the host system, and creates mapping information (map information) on the host system. Alternatively, for autonomous operation control of the drone, mapping information is created on the drone and uploaded to the host system.

[0003] Mapping using drones is expected to be used in恶劣 environments such as disaster relief support and dangerous areas where it is difficult for people to enter. However, drones are required to continuously acquire data even in such恶劣 environments.

[0004] In Patent Document 1, when communication with a host system that remotely operates a drone and monitors the acquired video is interrupted, the drone independently performs movement control to continue collecting mapping information. The data collected during this period is stored in a local area on the drone, and when communication with the host system is restored, the data accumulated in this local area is uploaded to the host system.

Prior Art Documents

Patent Documents

[0005] [Patent Document 1] U.S. Patent Application Publication No. 2023 / 0028196 [Overview of the Initiative] [Problems that the invention aims to solve]

[0006] However, the methods described above may result in the drone navigating the same area. Therefore, power consumption is expected to increase due to the continued acquisition of information even when no new data can be obtained. For these reasons, it may be difficult to re-establish communication with the host system. If a power shortage occurs before communication with the host system is restored, the collected mapping information may not be recoverable. To extend flight time, it is necessary to reduce the processing load on the drone and, consequently, reduce power consumption.

[0007] Therefore, the objective of the present invention is to provide a mobile device that can reduce power consumption by reducing the processing load according to the situation while acquiring information. [Means for solving the problem]

[0008] To achieve the above objective, a mobile body as one aspect of the present invention is a mobile body comprising: a first acquisition unit that acquires location information of the mobile body as first information; a second acquisition unit that acquires information about the surroundings of the mobile body as second information; a communication unit that communicates with an external device; and an information processing unit that generates a map of the surroundings of the mobile body as first map information based on the first information and the second information, wherein the information processing unit changes at least one of the information acquisition conditions of the second acquisition unit or the content of communication with the external device based on the communication status with the external device and the first map information or second map information different from the first map information. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a mobile device that can reduce power consumption by reducing the processing load according to the situation while acquiring information. [Brief explanation of the drawing]

[0010] [Figure 1] This is a block diagram of the information processing system of Embodiment 1. [Figure 2] This is a hardware configuration diagram of the information processing system of Embodiment 1. [Figure 3] This is a flowchart showing the processing method of Embodiment 1. [Figure 4] This diagram explains how to determine whether the drone's position is within or outside the range of the map information. [Figure 5] This diagram shows the direction in which information is acquired by an unmanned aerial vehicle and the imaging unit mounted on it. [Figure 6] This figure shows an example of depth of field depending on the control of the optical system, and an example of the image captured when that control is performed. [Modes for carrying out the invention]

[0011] The embodiments for carrying out the present invention will be described in detail below. The embodiments described below are merely examples for realizing the present invention and should be modified or changed as appropriate depending on the configuration of the apparatus to which the present invention is applied and various conditions. The present invention is not limited to the embodiments described below. Furthermore, in all figures, elements with the same function are given the same number, and repeated explanations are omitted.

[0012] <Embodiment 1> Figure 1 is a functional block diagram of the information processing system 1 of this embodiment. Figure 2 is a hardware configuration diagram of the information processing system 1 of this embodiment. The information processing system 1 of this embodiment consists of an unmanned aircraft 100 and an information processing device (external device, host device) 110. The unmanned aircraft 100 and the information processing device 110 are connected to each other so as to be able to communicate with each other. The unmanned aircraft 100 and the information processing device 110 of the information processing system 1 of this embodiment will be described below with reference to Figures 1 and 2.

[0013] The unmanned aircraft (mobile device) 100 is a mobile device that can be configured in one of the following forms: a drone that flies through the air, a ship, or a vehicle. For the purpose of this explanation, the unmanned aircraft 100 will be described below as a drone. The unmanned aircraft 100 has an imaging unit 101, a self-position detection unit 102, a communication unit 103, an information processing unit 104, and a recording unit 105.

[0014] The imaging unit (second acquisition unit, camera unit) 101 functions as an imaging means consisting of an optical system (imaging optical system) composed of multiple optical elements such as lenses and holding members, and an image sensor. The imaging optical system forms an image of the subject by focusing light from the subject. The imaging unit 101 also has a configuration that allows adjustment (control) of the aperture, zoom magnification, and focus position by one or more lens drive motors. The lens drive motor is controlled by an optical system control unit (not shown).

[0015] The image sensor has semiconductor elements such as a CMOS (Complementary Metal Oxide Semiconductor) sensor or a CCD (Charge Coupled Device) sensor. The image sensor captures an image of the subject through the imaging optical system (outputs an image).

[0016] Furthermore, the image sensor in the imaging unit 101 may be, for example, a solid-state image sensor that captures the visible light component of the subject image (wavelengths of approximately 380 nm to 780 nm) and outputs a visible image. Alternatively, it may be an infrared image sensor that captures the non-visible light component of the subject image (wavelengths of approximately 800 nm to 1500 nm, or approximately 3 μm to 8 μm, or approximately 8 to 15 μm) and outputs a thermal image. It may also be a distance measuring element such as a LIDAR sensor that projects light onto the subject and acquires distance information to the subject based on the time information from the time it takes to receive the reflected light.

[0017] The imaging unit 101 preferably includes a plurality of different elements as described above. That is, the imaging unit 101 preferably has a solid-state imaging device, an infrared imaging device, and a distance measuring device. Specifically, the imaging unit 101 of the present embodiment has a visible camera 101a having a solid-state imaging device, an infrared camera 101b having an infrared imaging device, and a LIDAR (optical device with a sensing function) 101c having a distance measuring device. Note that it is sufficient to have at least a visible light imaging device and an infrared light imaging device. The imaging unit 101 acquires, for example, a visible image around the drone 100 from the visible camera 101a, an infrared image around the drone 100 from the infrared camera 101b, and distance information between the subject and the drone 100 as second information from the LIDAR 101c. The imaging unit 101 outputs the acquired respective image data and distance information to the information processing unit 104.

[0018] Each piece of information (second information) acquired by the imaging unit 101 is transferred to the communication unit 103 and the information processing unit 104 together with the detection information (position information of the drone 100) of the own vehicle position detection unit 102 described later.

[0019] The own - aircraft position detection unit 102 detects the own - aircraft position (the current position of the unmanned aircraft 100) and acquires it as position information (first information). Specifically, the own - aircraft position detection unit 102 is a so - called GPS, which detects the position of the own - aircraft by receiving signals from several satellites in the sky and acquires three - dimensional positioning information. The own - aircraft position detection unit 102 outputs the acquired three - dimensional positioning information to the information processing unit 104 and records it in the recording unit 105. The received signals include time information and satellite orbit information, and the distance information from the satellite can be derived by multiplying the difference from the receiving - side time by the propagation speed of radio waves. By doing this for multiple satellites, it is possible to derive the current position of the receiver. Alternatively, the own - aircraft position detection unit 102 may be a so - called electronic compass. By measuring the horizontal component of the geomagnetic field with an electronic compass, the direction in which the own - aircraft is facing can be detected. Also, the own - aircraft position detection unit 102 may be an acceleration sensor. The acceleration sensor outputs the combined vector of gravity and the moving acceleration of the own - aircraft, and by referring to the gravity information, the attitude of the own - aircraft can be detected. Here, the own - aircraft position detection unit 102 may be composed of a combination of multiple devices, and the devices to be combined can be arbitrary. For example, the own - aircraft position detection unit 102 may be composed of both GPS and an electronic compass, or may be composed of GPS, an electronic compass, and an acceleration sensor.

[0020] The communication unit 103 communicates with the communication unit 111 of the information processing device 110 regularly or irregularly. The communication unit 103, for example, transmits each piece of information collected (such as the position information acquired by the own - aircraft position detection unit 102 and the map information created by the information processing unit 104 described later) to the communication unit 111. Also, the communication unit 103 receives the accumulated map information (integrated map information).

[0021] The information processing unit 104 functions as a control unit that comprehensively controls the entire unmanned aircraft 100, including its operation and processing. The information processing unit 104 also generates 3D map information as map information of the area around the unmanned aircraft 100, based on the data output by the imaging unit 101 (second information) and the data output by the self-position detection unit 102 (first information). In other words, the information processing unit 104 generates 3D map information based on the image data output by the imaging unit 101 and the 3D positioning information of the self-position output by the self-position detection unit 102. Subsequently, the information processing unit 104 transfers the generated 3D map information to the information processing device 110 via the communication unit 103.

[0022] The transferred 3D map information is then integrated with previously generated 3D map information and stored in a storage medium such as the recording unit 113 of the information processing device 110. This process is performed each time new 3D map information is generated and transferred to the information processing device 110. As a result, the 3D map information is always updated. This 3D map information is the global map information (second map information). The integration of the 3D map information transferred to the information processing device 110 may be performed, for example, by the information processing unit 112 of the information processing device 110 (described later) or by the information processing unit 104 of the unmanned aircraft 100. Previously generated 3D map information is not limited to 3D map information generated from the same unmanned aircraft, but may also be information generated from other unmanned aircraft.

[0023] Furthermore, the 3D map information generated by the information processing unit 104 is also transferred to and stored in the recording unit 105 of the unmanned aircraft 100. This 3D map information is the local map information (first map information). The local map information stored in the recording unit 105 of the unmanned aircraft 100 is integrated by the information processing unit 104 of the unmanned aircraft 100 each time additional 3D map information is generated. This process is performed each time new 3D map information is generated and transferred to the recording unit 105, similar to the global map information described above. As a result, the local map information is always updated. In this way, both the global map information and the local map information are updated each time new 3D map information is generated by the information processing unit 104 based on the data output by the imaging unit 101 (second information) and the data output by the aircraft position detection unit 102 (first information).

[0024] Here, the 3D positioning information acquired by the self-position detection unit 102 is synchronized with the 3D map information generated by the information processing unit 104 and is also used to detect the self-position on the map information (on the map).

[0025] The information processing device 110 includes a communication unit 111, an information processing unit 112, a recording unit 113, a display unit 114, and an operation unit 115. The communication unit 111 communicates with the communication unit 111 of the unmanned aircraft 100 periodically or irregularly. The communication unit 111 transmits, for example, stored map information (integrated map information) to the communication unit 103. The communication unit 111 also receives various information collected by the unmanned aircraft 100 (such as location information acquired by the self-position detection unit 102 and map information created by the information processing unit 104, which will be described later). The information processing unit 112 comprehensively controls the entire information processing device 110. The information processing unit 112 also generates map information from the information sent from the unmanned aircraft 100 or integrates stored map information with newly transferred map information and stores it in the recording unit 113.

[0026] The display unit 114 consists of a monitor or display and displays information (for example, image data) transmitted from the unmanned aircraft 100 on the screen. The operation unit 115 consists of operating means such as a keyboard, mouse, controller, or lever. By operating the operation unit 115, the user (operator) can control the movement of the unmanned aircraft 100 and control the information acquisition conditions of the information processing unit 104.

[0027] Here, the movement control of the unmanned aircraft 100 performed via the operation unit 115 is a drive control that changes the position of the unmanned aircraft 100, for example, if it is a flying drone equipped with multiple propellers, it is a control that changes the rotation speed of each propeller. The control of information acquisition conditions refers to, for example, control of changes in the exposure time and gain of a visible camera, and control related to the optical system such as its focus and zoom magnification. The movement control of the unmanned aircraft 100 and the control of information acquisition conditions do not necessarily have to be performed from the information processing device 110, and independent control of the unmanned aircraft 100 alone may be performed based on the results of the information processing unit 104. In this way, the information processing device 110 also functions as a host system that allows the user to control the movement control of the unmanned aircraft 100 and the control of information acquisition conditions.

[0028] The unmanned aircraft 100 is configured with a hardware configuration that includes a CPU 100a, memory 100b, communication unit 100c, GPS 100d, and storage 100e.

[0029] The CPU (processor) 100a is a central processing unit that reads control programs stored in memory 100b and executes various processes, and comprehensively controls the unmanned aircraft 100. Memory 100b is composed of ROM and RAM and constitutes the recording unit 105 described above. ROM is a non-volatile memory that stores programs for each embodiment and other control programs (control programs) and data necessary for control. RAM is a volatile memory and is used as the main memory, work area, and other temporary storage areas of the CPU 100a.

[0030] Since the communication unit 100c constitutes the communication unit 103 described above, a detailed explanation is omitted. Since the GPS 100d constitutes the self-position detection unit 102 described above, a detailed explanation is omitted. The storage 100e stores various data and various programs. The storage 100e is a storage device such as an HDD, flash memory, or SD card. The storage 100e is used as a persistent storage area for the OS, various programs, and various data, as well as a storage area for various short-term data. The storage 100e may also constitute the recording unit 105 described above.

[0031] The information processing device 110 is configured as having a hardware configuration including a CPU 110a, memory 110b, operation unit 110c, storage 110d, monitor 110e, and communication unit 110f.

[0032] The CPU (processor) 110a is a central processing unit that reads control programs stored in memory 110b and executes various processes, and comprehensively controls the information processing device. Memory 110b is composed of ROM and RAM and constitutes the recording unit 113 described above. ROM is a non-volatile memory that stores programs (control programs) and data necessary for each embodiment and other control functions. RAM is a volatile memory and is used as the main memory, work area, and other temporary storage areas of the CPU 110a.

[0033] Since the operation unit 110c constitutes the operation unit 115 described above, a detailed explanation is omitted. The storage 110d stores various data and various programs. The storage 110d is a storage device such as an HDD, flash memory, or SD card. In addition to being used as a persistent storage area for the OS, various programs, and various data, the storage 110d is also used as a storage area for various short-term data. The storage 110d may also constitute the recording unit 113 described above. Since the monitor 110e constitutes the display unit 114 described above, a detailed explanation is omitted. Since the communication unit 110f constitutes the communication unit 111 described above, a detailed explanation is omitted.

[0034] The processing method in the information processing system 1 of this embodiment will be described below with reference to Figures 3 to 6. Figure 3 is a flowchart showing an example of processing performed by the unmanned aircraft 100 of this embodiment. Figure 4 is a diagram illustrating the method for determining whether or not the unmanned aircraft 100 is within the range of map information. Note that each operation (process) shown in the flowchart of Figure 3 is realized (controlled) by the CPU 100a of the unmanned aircraft 100 executing a program stored in memory 100b. In addition, the notation of each process (step) is omitted by adding an S at the beginning of each process (step).

[0035] In S301, the information processing unit 104 determines whether communication is possible between the unmanned aircraft 100 and the information processing unit 110 (communication feasibility). That is, it determines whether communication is possible between the communication unit 103 of the unmanned aircraft 100 and the information processing unit 110. If it is determined that communication between the unmanned aircraft 100 and the information processing unit 110 is possible, the process proceeds to S302. On the other hand, if it is determined that communication between the unmanned aircraft 100 and the information processing unit 110 is impossible, the process proceeds to S303. Here, in determining whether communication is possible between the unmanned aircraft 100 and the information processing unit 110, for example, if no movement control communication or information acquisition condition change control communication has been performed from the information processing unit 110 to the unmanned aircraft 100 for a certain period of time, it is determined that "communication is impossible". Alternatively, map information, etc., may be uploaded from the unmanned aircraft 100 to the information processing unit 110 using bidirectional communication, and the feasibility of communication may be determined by whether or not a return communication from the information processing unit 110 indicating that the communication has been completed successfully is used.

[0036] In S302, the information processing unit 104 determines whether the current location of the aircraft is within the range of the map based on the map information. That is, it determines whether the aircraft's location belongs to the range of the global map. If it is determined that the aircraft's location belongs to the range of the global map, the process proceeds to S304. On the other hand, if it is determined that the aircraft's location does not belong to the range of the global map (i.e., the aircraft's location is outside the range of the global map), the process proceeds to S305. Here, in S302, since communication with the information processing unit 110 is possible, the unmanned aircraft 100 receives a portion of the global map information stored in the information processing unit 110 as known area information. It is preferable that the received known area information be limited to a certain distance range based on the location information of the unmanned aircraft 100. Here, the determination of whether the unmanned aircraft 100 is inside or outside the range of the known area information is performed as follows. The second distance range centered on the player's position is defined as the searchable distance. If part or all of this searchable distance deviates from the range of known area information, the information processing unit 104 determines that the player's position is outside the range of the global map. This situation is shown in Figure 4(B). On the other hand, if the entire searchable distance falls within the range of the acquired known area information, the information processing unit 104 determines that the player's position is within the range of the global map. This situation is shown in Figure 4(A).

[0037] In S303, the information processing unit 104 determines whether the current location of the player is within the range of the map based on the map information. That is, it determines whether the player's location belongs to the range of the local map. If it is determined that the player's location belongs to the range of the local map, the process proceeds to S306. On the other hand, if it is determined that the player's location does not belong to the range of the local map (is located outside the range of the local map), the process proceeds to S307. Here, in S303, since communication with the information processing unit 110 is not possible, the local map information is treated as known area information. After that, the information processing unit 104 determines whether the player's location is inside or outside the range of the local map in the same manner as in S302.

[0038] In S304, the information processing unit 104 performs the processing load reduction process 1 (first control). The processing load reduction process 1 is a process for changing the information acquisition conditions (imaging conditions) by the unmanned aircraft 100 and a process for changing the communication content. The processing load reduction process 1 will be explained in detail below.

[0039] Figure 5 shows the direction in which information is acquired by the unmanned aerial vehicle 100 and the imaging unit 101 mounted on the unmanned aerial vehicle 100. In this embodiment, the visible video acquired by the unmanned aerial vehicle 100 is transmitted to the display unit 114 of the information processing device 110 via the communication unit 111, and the user controls the operation of the unmanned aerial vehicle 100 while confirming this on the screen of the display unit 114. When navigating an unexplored area, the unmanned aerial vehicle 100 is imaged in all directions as its surroundings, as shown in Figure 5(A), in order to acquire information about the surrounding environment. However, when navigating a known area, the surrounding map information has already been acquired, and it is unnecessary to acquire multi-directional or high-resolution images or videos. For this reason, in S304, the information processing unit 104 limits the amount of information of the second information acquired by the imaging unit 101 (for example, it limits the direction in which the second information is acquired). In this case, for example, the information processing unit 104 controls the imaging unit 101, etc., to limit the imaging direction to only the direction of travel of the unmanned aircraft 100, as shown in Figure 5(B). Specifically, if the unmanned aircraft 100 is equipped with multiple cameras, the information processing unit 104 stops all cameras except the one imaging the direction of travel. Furthermore, if there are multiple cameras imaging the same field of view, it uses only one of them.

[0040] Alternatively, the imaging unit 101 may be stopped from capturing images, and control may be performed to transfer the unmanned aircraft 100's own position information to the information processing device 110. In other words, control may be performed to change the information transferred to the information processing device 110. In that case, the information processing device 110 selects the 3D map information to be displayed from the unmanned aircraft 100's own position information and displays it on the screen of the display unit 114. The 3D map information to be displayed is determined by calculating the direction of travel from the change in position information and selecting the direction of travel based on that position information. Alternatively, the transfer rate of the captured image data may be changed and distributed. Specifically, since high-quality imaging is not necessary within a known area, highly compressed image data (information with reduced image quality) is transferred to the information processing device 110. Alternatively, instead of changing the compression ratio, the frame rate of one of the camera images may be reduced and the acquired information transferred to the information processing device 110 may be combined with changing the compression ratio.

[0041] Furthermore, it is desirable that each device in the imaging unit 101 (visible camera 101a, infrared camera 101b, LIDAR 101c) that no longer receives information due to this processing load reduction process 1 stop acquiring information. The information processing unit 104 performs the above-mentioned information acquisition condition change processing and communication content change processing as processing load reduction process 1. Thus, the first control is performed when communication between the unmanned aircraft 100 and the information processing device 110 is possible and the current location of the unmanned aircraft 100 is within the range of the global map (when the location of the unmanned aircraft 100 belongs to the range of the map based on the second map information).

[0042] In S305, the information processing unit 104 does not perform any processing to reduce the processing load on the unmanned aircraft 100, but instead performs normal processing. In other words, in S305, the information processing unit 104 does not perform any processing to change the information acquisition conditions or the communication content by the unmanned aircraft 100. Normal processing refers to processes such as acquiring 3D positioning information for unexplored areas and generating map information. In this process, in order to generate map information for unexplored areas, the visible camera 101a, infrared camera 101b, and LIDAR 101c are used to collect information necessary for generating map information. This information collection involves imaging in multiple directions centered on a certain position of the unmanned aircraft. Based on the collected information, map information is generated and transferred to the information processing device 110. Furthermore, since the unmanned aircraft 100 is intended to be operated by a human, the information processing unit 104 transfers the visible camera image to the information processing device 110 for controlling the operation of the unmanned aircraft 100. Thus, normal processing is performed when communication is possible between the unmanned aircraft 100 and the information processing device 110, and the current location of the unmanned aircraft 100 is not within the range of the global map (i.e., the location of the unmanned aircraft 100 does not belong to the range of the map based on the second map information).

[0043] In S306, the information processing unit 104 performs processing load reduction processing 2. Processing load reduction processing 2 is a process that changes the imaging conditions and the recording content. Processing load reduction processing 2 will be explained in detail below.

[0044] If the process proceeds to S306, it means that there is no communication between the unmanned aircraft 100 and the information processing device 110. Therefore, until communication between the unmanned aircraft 100 and the information processing device 110 is restored, the unmanned aircraft 100 may either remain in standby mode or repeatedly perform autonomous movement control. In S306, during this time (until communication between the unmanned aircraft 100 and the information processing device 110 is restored), the unmanned aircraft 100 uses a visible-view camera or the like, which is used to acquire map information, to acquire information about its surroundings for the safety of its own aircraft.

[0045] Figure 6 shows an example of depth of field depending on the control of the optical system, and an example of the image captured when that control is performed. Figure 6(A) shows an example of depth of field depending on the control of the optical system, and Figure 6(B) shows an example of the image captured when the optical system is controlled.

[0046] For map information acquisition, it is desirable for the depth of field of the visible camera 101a to be wide, from near to far, as shown in depth of field 1 in Figure 6(A). However, in autonomous control, the focus is on detecting nearby moving objects. This is because precise imaging of distant subjects can lead to unnecessary image processing. An example of unnecessary image processing is shown in Figure 6(B). Therefore, as processing load reduction processing 2, the depth of field is deliberately excluded from distant subjects that do not need to be acquired, as shown in depth of field 2 in Figure 6(A), making it easier to treat distant subjects as background and avoiding unnecessary image processing. In other words, the information processing unit 104 controls the depth of field of the optical system of the imaging unit 101 to narrow (shorten) by a predetermined amount in the direction of the unmanned aircraft 100.

[0047] Furthermore, as an alternative or combined method, the imaging resolution may be further reduced by, for example, 2x2 pixel addition. In other words, the information processing unit 104 may control the resolution setting of the image sensor to be set to a value smaller than the specified value. In addition, although a drive unit such as a lens drive motor is provided in this embodiment as described above, it can also be applied when a drive unit such as a lens drive motor is not provided. Thus, the second control is performed when communication between the unmanned aircraft 100 and the information processing unit 110 is impossible, and the current position of the unmanned aircraft 100 is within the range of the local map (when the position of the unmanned aircraft 100 belongs to the range of the map based on the first map information).

[0048] In S307, the information processing unit 104 performs processing load reduction process 3. Processing load reduction process 3 is a process that modifies the recorded content. Processing load reduction process 3 will be explained in detail below.

[0049] When collecting information in an unexplored area while communication with the information processing device 110 is not possible, the recording unit 105 of the unmanned aircraft 100 records each piece of information collected by the unmanned aircraft 100. Typically, the information recorded in the recording unit 105 includes information acquired from the imaging unit 101, generated map information, and the aircraft's own position information. In the processing load reduction process performed in S307, the information recorded in the recording unit 105 is limited to a portion of the information, depending on the user's (operator's) purpose. For example, only visible images acquired by the visible camera 101a may be recorded in the recording unit 105, or only infrared images acquired by the infrared camera 101b may be recorded in the recording unit 105. Thus, the third control is performed when communication between the unmanned aircraft 100 and the information processing device 110 is impossible, and the current position of the unmanned aircraft 100 is not within the range of the local map (when the position of the unmanned aircraft 100 does not belong to the range of the map based on the first map information).

[0050] According to the above process, the information processing unit 104 can change at least one of the information acquisition conditions in the imaging unit 101 or the content of communication with the information processing unit 110 based on the communication status with the information processing unit 110 and the first map information or the second map information. More specifically, the information processing unit 104 determines whether or not communication with the information processing unit 110 is possible and whether or not the first map information or the second map information is available, and changes at least one of the information acquisition conditions in the imaging unit 101 or the content of communication with the information processing unit 110 according to the determination result.

[0051] In addition, S304, S306, and S307 describe different processes that reduce the processing load of the unmanned aircraft 100, but the system is not limited to these. For example, the method described in S306 may be implemented in S307, or the processing load reduction processes 1 to 3 may be combined and implemented.

[0052] In this embodiment, the system determines whether communication with the information processing device 110 is possible and whether or not the first map information or the second map information is present. By simplifying or disabling a part of the normal processing according to the determination result, the processing load on the unmanned aircraft 100 is reduced. As a result, when processing other than normal processing occurs, the power consumption does not become the same as normal processing, and an information processing system including the unmanned aircraft 100 is provided that enables efficient reduction of the power consumption of the unmanned aircraft.

[0053] Although preferred embodiments of the present invention have been described above with reference to examples and figures, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of its essence.

[0054] Furthermore, some or all of the control in each of the embodiments described above may be provided to the unmanned aircraft 100, information processing device 110, system, etc., via a network or various storage media, by supplying a computer program that realizes the functions of each embodiment described above. The computer (or CPU, MPU, etc.) in the system or device may then read and execute the program. In that case, the program and the storage medium storing the program constitute the present invention.

[0055] This embodiment includes the following configuration.

[0056] (Composition 1) It is a mobile object, A first acquisition unit that acquires the position information of the moving object as first information, A second acquisition unit acquires information about the surroundings of the aforementioned moving object as second information, A communication unit that communicates with external devices, The system includes an information processing unit that generates a map of the surroundings of the moving object as first map information based on the first information and the second information, The information processing unit changes at least one of the information acquisition conditions of the second acquisition unit or the content of the communication with the external device based on the communication status with the external device and the first map information or second map information different from the first map information. A mobile body characterized by the following features.

[0057] (Configuration 2) The mobile body according to Configuration 1, characterized in that the information processing unit determines whether or not communication with the external device is possible, whether or not the first map information or the second map information is available, and changes at least one of the information acquisition conditions of the second acquisition unit or the content of the communication with the external device according to the determination result.

[0058] (Composition 3) The mobile body according to configuration 1 or 2, characterized in that the information processing unit performs the first control when it is able to communicate with the external device and the current position of the mobile body falls within the range of the map based on the second map information.

[0059] (Composition 4) The mobile body according to any one of configurations 1 to 3, characterized in that the information processing unit does not change the information acquisition conditions of the second acquisition unit or the content of the communication with the external device when it is in a state where it can communicate with the external device and the current location of the mobile body does not fall within the range of the map based on the second map information.

[0060] (Composition 5) The mobile body according to any one of configurations 1 to 4, characterized in that the information processing unit performs a second control when communication with the external device is not possible and the current position of the mobile body falls within the range of the map based on the first map information.

[0061] (Composition 6) The mobile body according to any one of configurations 1 to 5, characterized in that the information processing unit performs a third control when communication with the external device is not possible and the current location of the mobile body does not fall within the range of the map based on the first map information.

[0062] (Composition 7) The mobile body according to any one of configurations 1 to 6, characterized in that the first map information is information that is integrated with previously generated first map information each time new first map information is generated.

[0063] (Composition 8) The mobile body according to any one of configurations 1 to 7, characterized in that the second map information is information obtained by integrating the current first map information generated by the information processing unit and the first map information generated in the past.

[0064] (Composition 9) The mobile body according to any one of configurations 1 to 8, characterized in that the second map information is information transmitted from the external device and received by the communication unit.

[0065] (Composition 10) The mobile body according to configuration 3, characterized in that the first control is at least one of the following: a control that limits the amount of information of the second information acquired by the second acquisition unit, or a control that changes the information transmitted from the communication unit to the external device.

[0066] (Composition 11) The mobile body according to configuration 3 or 10, characterized in that, in the first control, the information processing unit controls the second acquisition unit to acquire information only about the direction of travel of the mobile body.

[0067] (Composition 12) In the first control, the information processing unit transmits either the first information or the second information to the external device. The information described above is video or images captured by the camera. The mobile body according to configuration 3 or 10, characterized in that when transmitting the second information to the external device in the first control, it transmits information with a changed frame rate or reduced image quality.

[0068] (Composition 13) The information described above is video or images captured by the camera. The moving body according to configuration 5, characterized in that the second control is a control that reduces the depth of field of the optical system of the camera by a predetermined amount in the direction of the moving body.

[0069] (Composition 14) The information described above is video or images captured by the camera. The mobile body according to configuration 5 or 13, characterized in that the second control is a control that sets the resolution setting of the image sensor of the camera to a value smaller than a specified value.

[0070] (Composition 15) It has a recording unit in which the first information, the second information, and the first map information are stored, The mobile body according to configuration 6, characterized in that the third control is a control that changes the content of the second information recorded in the recording unit.

[0071] (Composition 16) The mobile body according to any one of configurations 1 to 15, characterized in that the second acquisition unit has at least one of a visible camera, an infrared camera, and a LiDAR.

[0072] (Composition 17) A method for controlling a moving object, A first acquisition step of acquiring the position information of the moving object as first information, A second acquisition step involves acquiring information about the surroundings of the moving object as second information, Communication process for communicating with external devices, The system includes an information processing step of generating a map of the surroundings of the moving object as first map information based on the first information and the second information, In the information processing step, based on the communication status with the external device and the first map information or second map information different from the first map information, at least one of the information acquisition conditions in the second acquisition step or the content of the communication with the external device is changed. A method for controlling a moving object, characterized by the features described above.

[0073] (Composition 18) A program for causing a computer to execute a control method for a mobile object, wherein the program causes the computer to: A first acquisition step of acquiring the position information of the moving object as first information, A second acquisition step involves acquiring information about the surroundings of the moving object as second information, Communication process for communicating with external devices, Based on the first information and the second information, an information processing step is performed to generate map information of the surroundings of the moving object as first map information, In the information processing step, based on the communication status with the external device and the first map information or second map information different from the first map information, at least one of the information acquisition conditions in the second acquisition step or the content of the communication with the external device is changed. A program characterized by the following features.

[0074] (Composition 19) An information processing system comprising a mobile body and an information processing device that is communicated with the mobile body, The aforementioned moving body is A first acquisition unit that acquires the position information of the moving object as first information, A second acquisition unit acquires information about the surroundings of the aforementioned moving object as second information, A first communication unit that communicates with the aforementioned information processing device, The system includes an information processing unit that generates a map of the surroundings of the moving object as first map information based on the first information and the second information, The information processing unit changes at least one of the information acquisition conditions of the second acquisition unit or the content of the communication with the information processing unit based on the communication status with the information processing unit and the first map information or second map information different from the first map information. The aforementioned information processing device is A second communication unit that communicates with the aforementioned mobile body, The system includes an operating unit for controlling the movement of the moving body, An information processing system characterized by the following: [Explanation of symbols]

[0075] 100 drones 101 Imaging optical system 102 Information acquisition department 103 Self-position detection unit 104 Communications Department 105 Information Processing Section 106 Records Section

Claims

1. It is a mobile object, A first acquisition unit that acquires the position information of the moving object as first information, A second acquisition unit acquires information about the surroundings of the aforementioned moving object as second information, A communication unit that communicates with external devices, The system includes an information processing unit that generates a map of the surroundings of the moving object as first map information based on the first information and the second information, The information processing unit changes at least one of the information acquisition conditions of the second acquisition unit or the content of the communication with the external device based on the communication status with the external device and the first map information or second map information different from the first map information. A mobile body characterized by the following features.

2. The mobile body according to claim 1, characterized in that the information processing unit determines whether or not communication with the external device is possible, whether or not the first map information or the second map information is available, and changes at least one of the information acquisition conditions of the second acquisition unit or the content of the communication with the external device according to the determination result.

3. The mobile body according to claim 1, characterized in that the information processing unit performs the first control when it is able to communicate with the external device and the current position of the mobile body falls within the range of the map based on the second map information.

4. The mobile body according to claim 1, characterized in that the information processing unit does not change the information acquisition conditions of the second acquisition unit or the content of the communication with the external device when it is in a state where it can communicate with the external device and the current location of the mobile body does not fall within the range of the map based on the second map information.

5. The mobile body according to claim 1, characterized in that the information processing unit performs a second control when communication with the external device is not possible and the current position of the mobile body falls within the range of the map based on the first map information.

6. The mobile body according to claim 1, characterized in that the information processing unit performs a third control when communication with the external device is not possible and the current location of the mobile body does not fall within the range of the map based on the first map information.

7. The mobile body according to claim 1, characterized in that the first map information is information that is integrated with previously generated first map information each time new first map information is generated.

8. The mobile body according to claim 1, characterized in that the second map information is information obtained by integrating the current first map information generated by the information processing unit and the first map information generated in the past.

9. The mobile body according to claim 1, characterized in that the second map information is information transmitted from the external device and received by the communication unit.

10. The mobile body according to claim 3, characterized in that the first control is at least one of the following: a control that limits the amount of information of the second information acquired by the second acquisition unit, or a control that changes the information transmitted from the communication unit to the external device.

11. The mobile body according to claim 3, characterized in that, in the first control, the information processing unit controls the second acquisition unit to acquire information only about the direction of travel of the mobile body.

12. In the first control, the information processing unit transmits either the first information or the second information to the external device. The aforementioned second information is video or images captured by a camera. The mobile body according to claim 3, characterized in that when transmitting the second information to the external device in the first control, it transmits information with a changed frame rate or reduced image quality.

13. The aforementioned second information is video or images captured by a camera. The moving body according to claim 5, characterized in that the second control is a control that reduces the depth of field of the optical system of the camera by a predetermined amount in the direction of the moving body.

14. The aforementioned second information is video or images captured by a camera. The mobile body according to claim 5, characterized in that the second control is a control that sets the resolution setting of the image sensor of the camera to a value smaller than a specified value.

15. It has a recording unit in which the first information, the second information, and the first map information are stored, The mobile body according to claim 6, characterized in that the third control is a control that changes the content of the second information recorded in the recording unit.

16. The mobile body according to claim 1, characterized in that the second acquisition unit has at least one of a visible camera, an infrared camera, and a LIDAR.

17. A method for controlling a moving object, A first acquisition step of acquiring the position information of the moving object as first information, A second acquisition step involves acquiring information about the surroundings of the moving object as second information, Communication process for communicating with external devices, The system includes an information processing step of generating a map of the surroundings of the moving object as first map information based on the first information and the second information, In the information processing step, based on the communication status with the external device and the first map information or second map information different from the first map information, at least one of the information acquisition conditions in the second acquisition step or the content of the communication with the external device is changed. A method for controlling a moving object, characterized by the features described above.

18. A program for causing a computer to execute a control method for a mobile object, wherein the program causes the computer to: A first acquisition step of acquiring the position information of the moving object as first information, A second acquisition step involves acquiring information about the surroundings of the moving object as second information, Communication process for communicating with external devices, Based on the first information and the second information, an information processing step is performed to generate map information of the surroundings of the moving object as first map information, In the information processing step, based on the communication status with the external device and the first map information or second map information different from the first map information, at least one of the information acquisition conditions in the second acquisition step or the content of the communication with the external device is changed. A program characterized by the following features.

19. An information processing system comprising a mobile body and an information processing device that is communicated with the mobile body, The aforementioned moving body is A first acquisition unit that acquires the position information of the moving object as first information, A second acquisition unit acquires information about the surroundings of the aforementioned moving object as second information, A first communication unit that communicates with the aforementioned information processing device, The system includes an information processing unit that generates a map of the surroundings of the moving object as first map information based on the first information and the second information, The information processing unit changes at least one of the information acquisition conditions of the second acquisition unit or the content of the communication with the information processing unit based on the communication status with the information processing unit and the first map information or second map information different from the first map information. The aforementioned information processing device is A second communication unit that communicates with the aforementioned mobile body, The system includes an operating unit for controlling the movement of the moving body, An information processing system characterized by the following:

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