JP6671078B2 - Moving body - Google Patents

Description

  The present invention relates to a moving object.

  2. Description of the Related Art Conventionally, in response to various accidents that occur under severe natural conditions such as mountains and the sea, a method of searching for a target person from a remote position using a mobile body and finding the target early has been adopted. Recently, an unmanned mobile body (for example, a radio-controlled helicopter or a drone) that uses a battery as a power source, includes a communication device, and performs survey and monitoring from the air has been proposed (for example, Patent Document 1).

  On the other hand, regarding a rescue request from a search target person, a rescue information transmitting device and method using a search target person side mobile terminal have been proposed (for example, Patent Document 2). Among them, an apparatus and a method for efficiently transmitting a rescue signal have been proposed, but it is premised that communication between the search target person and the searcher is established, even if intermittent. is there.

JP 2015-85755 A JP 2009-199542 A

  An object of the present invention is a mobile object that moves by receiving power supply from a battery, moves from a current position when it is determined that communication between a mounted communication device and an external communication device is not established, An object of the present invention is to provide a mobile unit that transmits information related to a user to an external communication device when it is determined that communication has been established.

The moving body of the embodiment is a moving body that is activated by a user and moves by receiving power supply from a battery, and includes a moving mechanism, a communication unit, a determination unit, a control unit, and a user-related information storage unit. Is provided. The moving mechanism moves the moving body. The determination unit determines whether communication between the communication unit and the external communication device has been established. The control unit controls the moving mechanism to move from the current position when the determination unit determines that communication has not been established. The user related information storage unit stores information related to the user. When the determination unit determines that communication has been established, the control unit transmits information related to the user to the external communication device .

  According to the present invention, a mobile object that is activated by a user and moves by receiving power supply from a battery and determines that communication between the mounted communication device and the external communication device has not been established, It is possible to provide a moving body that moves from the current position and transmits information related to the user to the external communication device when it is determined that communication has been established.

It is the schematic which shows an example of the usage pattern of the moving body which concerns on embodiment. It is a schematic diagram showing an example of composition of a mobile concerning an embodiment. It is a schematic diagram for explaining the example of operation of the mobile concerning an embodiment. It is a schematic diagram showing an example of composition of a mobile concerning an embodiment. It is a schematic diagram for explaining the example of operation of the mobile concerning an embodiment. It is a schematic diagram showing an example of composition of a mobile concerning an embodiment. It is a schematic diagram for explaining the example of operation of the mobile concerning an embodiment. It is a schematic diagram showing an example of composition of a mobile concerning an embodiment. It is a schematic diagram for explaining the example of operation of the mobile concerning an embodiment.

<First embodiment>
First, an outline of the present embodiment will be described, and then, specific contents of the present embodiment will be described with reference to the drawings. In the following, the mobile user U refers to the user U who uses the mobile object 10. For example, in mountain climbing or hiking, a person who can be a search target who requests a searcher to rescue the searcher using the mobile object 10 in the event of an accident or distress. (Hill climbers and hikers).

An outline of an example of the present embodiment will be described with reference to FIG. In the present embodiment, the mobile user U starts the mobile 10. The mobile unit 10 moves until communication with the external communication devices 30A to 30C can be secured, and transmits the current position of the mobile unit 10 to the external communication devices 30A to 30C at the position where communication has been secured.

  The external communication devices 30 </ b> A to 30 </ b> C are communication devices provided separately from the mobile unit 10, and correspond to an example of a site. Note that a site is a feature (for example, a building, a machine, or the like) that occupies a certain position and can specify the position. If the position can be specified, the position may or may not change over time. May be.

[Constitution]
A configuration example of the moving object 10 according to the present embodiment will be described with reference to FIG. In the present embodiment, the moving body 10 includes a battery 11, a control unit 12, a communication unit 13, a determination unit 14, a movement mechanism 15, a position identification unit 16, and a current position recording unit 17. Further, the moving body 10 includes a power switch (not shown) for starting power supply to each unit of the moving body 10.

(Battery 11)
When the power switch is turned on, the battery 11 supplies power to the control unit 12, the communication unit 13, the determination unit 14, the moving mechanism 15, and the position identification unit 16.

  The battery 11 may have a function of measuring a state of the battery 11 (hereinafter, referred to as “battery information”). The battery information is, for example, the remaining battery power. Further, the result may be transmitted to the control unit 12 as battery information. The battery 11 may be a single cell or a plurality of cells, such as a lithium ion battery, a lithium polymer battery, and a fuel cell, which are widely used in miniaturized drones and the like, and are small and lightweight and can be charged.

(Control unit 12)
The control unit 12 controls the battery 11, the communication unit 13, the determination unit 14, the moving mechanism 15, the position specifying unit 16, and the current position recording unit 17. For example, the control unit 12 controls the moving mechanism 15 in response to a communication establishment determination signal (a signal notifying that communication has been determined to be established) from a determination unit 14 described later.

  The control performed by the control unit 12 may be automatically performed by a control program provided in the control unit 12 in advance. Further, the mobile user U may transmit a control signal to the mobile 10 via the controller, and the communication unit 13 may receive the control signal. The control unit 12 may control each unit of the mobile unit 10 by the control signal from the mobile unit user U, or may perform the automatic control by starting up the control program.

(Communication unit 13)
The communication unit 13 includes a transmission / reception antenna, and performs transmission and reception of a signal under the control of the control unit 12. The communication unit 13 transmits a predetermined transmission signal to the external communication devices 30A to 30C, and receives signals from the external communication devices 30A to 30C. When receiving signals from the external communication devices 30A to 30C, the communication unit 13 sends the received signals to the determination unit 14. The communication unit 13 does not send a signal to the determination unit 14 when receiving no signal from the external communication devices 30A to 30C.

  The predetermined transmission signal transmitted by the communication unit 13 to the external communication devices 30A to 30C may be, for example, a standard signal recorded in a memory provided in the communication unit 13.

  The communication between the communication unit 13 and the external communication devices 30A to 30C may be, for example, the communication unit 13 receiving a broadcast signal (beacon) transmitted from the external communication devices 30A to 30C at predetermined intervals. The communication unit 13 may use the broadcast signal as a reception signal.

  The communication between the communication unit 13 and the external communication devices 30A to 30C is performed, for example, by transmitting the inquiry signal to the external communication devices 30A to 30C at predetermined intervals and receiving the inquiry signal. A reply signal from 30C may be received. The communication unit 13 may use return signals from the external communication devices 30A to 30C as reception signals.

  Further, the communication unit 13 can receive a control signal from the controller and transmit the control signal to the control unit 12.

  Further, the frequency band in which transmission and reception can be performed by the transmission and reception antennas provided in the communication unit 13 can be made variable. The receiving antennas may be omnidirectionally arranged so as to receive signals from the external communication devices 30A to 30C and user terminals (for example, the controller, the portable terminal, etc .; not shown) from all directions. It is preferable that the transmitting antenna is omnidirectionally arranged so that the transmitting signal can be transmitted in all directions.

  Further, the communication unit 13 may receive power supply from the battery 11, but the communication unit 13 may include a dedicated battery. The capacity of the battery only needs to be large enough to transmit the predetermined transmission signal for a predetermined period. The battery is desirably a small and lightweight rechargeable battery.

  In addition, the communication unit 13 may include a unit that notifies the mobile user U that the communication unit 13 has started transmission or has received signals from the external communication devices 30A to 30C. For example, a flashlight is provided at a position where the mobile user U can visually recognize the mobile object 10. This flash light may be flashed in response to transmission / reception. Alternatively, a transmission / reception confirmation signal may be transmitted from the communication unit 13 to the controller on the mobile user U side.

(Determining unit 14)
The determination unit 14 receives the received signal from the communication unit 13.

  When receiving the received signal from the communication unit 13, the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has been established. The determination unit 14 transmits a communication establishment signal to the control unit 12.

  When a received signal is not received from the communication unit 13 for a predetermined time, the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has not been established. The determination unit 14 transmits a communication non-establishment signal (a signal notifying that communication has not been established) to the control unit 12.

(Moving mechanism 15)
Under the control of the control unit 12, the moving mechanism 15 moves the moving body 10 integrally. As described above, when the control unit 12 receives the communication non-establishment signal from the determination unit 14, the moving mechanism 15 moves the moving body 10 integrally under the control of the control unit 12.

  The moving mechanism 15 uses, for example, a motor (not shown) driven by power supply from the battery 11 as a power source, and obtains buoyancy, thrust, and the like through a member such as a propeller using rotation of the motor shaft. What is necessary is just to be able to move the moving body 10 in a controllable manner. As long as the mechanism moves the moving body 10 by power supply, other mechanisms may be employed without being limited to the mechanism using the motor as a power source.

  As the moving operation, for example, the control unit 12 may control the moving mechanism 15 so that the moving body 10 is moved up by the moving mechanism 15 and then moves horizontally at a position where the altitude is at a predetermined altitude.

(Position specifying unit 16)
The position specifying unit 16 includes an input unit (not shown), and receives a physical signal (“physical input”) related to the current position of the moving object 10 via the input unit. Physical inputs include, for example, temperature and pressure signals, navigation signals from a global positioning satellite system, and the like.

  The temperature / pressure signal indicates, for example, a measurement value (temperature / pressure according to the altitude (depth) of the moving body 10) of a temperature sensor / pressure sensor provided in the moving body 10.

  The navigation signal from the global positioning satellite system is, for example, a signal (including a signal transmission time and information on a satellite orbit) transmitted by a satellite constituting a global positioning satellite system (GNSS).

  The position specifying unit 16 analyzes a physical input and specifies a current position.

  The position specifying unit 16 specifies the current position of the mobile unit 10 when the power switch provided on the mobile unit 10 is in the input state.

  The position specifying unit 16 records the specified current position in the current position recording unit 17.

  The position specifying unit 16 may specify the current position of the moving object 10 at predetermined time intervals. Further, the position specifying unit 16 may record the current position specified at a predetermined time interval in the current position recording unit 17 at the predetermined time interval. Further, the position specifying unit 16 receives the control of the control unit 12 and records the current position before the mobile unit 10 starts moving after the mobile unit 10 is started by the mobile unit user U in the current position recording unit 17. It may be set in advance. By configuring the position specifying unit 16 in this manner, information on the position where the mobile user U exists can be transmitted to the external communication devices 30A to 30C. Therefore, when the information of the position where the mobile user U is present is acquired through the external communication devices 30A to 30C, the third party can grasp the position where the mobile user U is present. Note that the current position before the mobile object 10 starts moving after the mobile object 10 is activated by the mobile user U is, for example, the current position when the mobile object 10 is activated by the mobile user U. This includes the current position when the switch is turned on.

  When the control unit 12 receives the communication establishment signal from the determination unit 14, the position specifying unit 16 transmits the specified current position from the communication unit 13 to the external communication devices 30A to 30C under the control of the control unit 12.

  The current position specified by the position specifying unit 16 may be a depth / altitude along the direction of gravity as a one-dimensional position. In addition, latitude and longitude may be used as the two-dimensional position. Further, the three-dimensional position may be latitude, longitude, depth / altitude. The current position specified by the position specifying unit 16 may be at least one of latitude, longitude, depth, and altitude.

  If the one-dimensional position is specified, for example, a temperature sensor and a pressure sensor (a water pressure gauge / a barometer) may be mounted as the position specifying unit 16 and the result may be converted into depth and altitude based on the result. Alternatively, an ultrasonic sensor (for example, a vision positioning sensor) or the like may be mounted as the position specifying unit 16 to measure the distance from the ground surface, the seabed, or the like to the mobile unit 10.

  If the two-dimensional position or the three-dimensional position is to be specified, a dedicated antenna for physically inputting a navigation signal from, for example, GNSS (Global Navigation Satellite System) is mounted as the input unit, and the position is specified. The unit 16 may perform independent positioning analysis or the like. The dedicated antenna may double as a receiving antenna of the communication unit 13. It is also possible to evaluate information such as a measurement error accompanying the analysis of the independent positioning or the like, and replace the altitude value with an altitude value obtained by another sensor, for example. Further, for example, a three-axis acceleration sensor is mounted as the input unit, and the position specifying unit 16 obtains a movement trajectory from the movement start point based on analysis by inertial navigation, and specifies a current three-dimensional relative position with respect to the movement start point. May be.

(Current position recording unit 17)
The current position recording unit 17 records the current position specified by the position specifying unit 16.

  When the control unit 12 receives the communication establishment signal from the determination unit 14, under the control of the control unit 12, the position specifying unit 16 reads the current position recorded in the current position recording unit 17, You may transmit to 30A-30C.

  The current position recording unit 17 may be either a volatile memory or a nonvolatile memory. It is desirable that these memories have low power consumption, small size and light weight.

[motion]
FIG. 3 is a diagram showing the flow of processing in the present embodiment. Hereinafter, with reference to FIG. 3, the operation of the moving body 10 will be described along with step numbers (S1 to S6).

(S1)
The mobile user U turns on the power switch of the mobile 10.

(S2)
Under the control of the control unit 12, the communication unit 13 performs transmission and reception with the external communication devices 30A to 30C. The communication unit 13 sends the received signal to the determination unit 14.

(S3)
If the received signal has not been received within the predetermined time, the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has not been established (S3; No). Further, the determination unit 14 sends a communication non-establishment signal to the control unit 12, and proceeds the processing to the next step (S4: move the mobile unit 10).

  When receiving the received signal, the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has been established (S3; Yes). Further, the determination unit 14 sends a communication establishment signal to the control unit 12, and proceeds with the process to the next step (S5: specifying the current position of the mobile unit 10).

(S4)
The control unit 12 receives the communication non-establishment signal sent from the determination unit 14 and controls the position specifying unit 16 to move the mobile unit 10. The process returns to step (S2).

(S5)
The control unit 12 receives the communication establishment signal transmitted from the determination unit 14 and controls the position specifying unit 16 to specify the current position of the mobile unit 10.

(S6)
The control unit 12 controls the position specifying unit 16 to record the current position of the moving object 10 specified by the position specifying unit 16 in the current position recording unit 17.

(S7)
The control unit 12 controls the communication unit 13 and transmits the specified current position from the communication unit 13 to the external communication devices 30A to 30C.

[effect]
According to the present embodiment, the moving body that is activated by the moving body user and moves by receiving power supply from the battery is a moving mechanism, a communication unit, a determination unit, a control unit, a position identification unit, A current position recording unit. When the determination unit determines that communication between the communication unit and the external communication device has not been established, the control unit can control the moving mechanism to move the moving body. When the determining unit determines that communication between the communication unit and the external communication device is established, the control unit transmits the current position specified by the position specifying unit based on the physical input from the communication unit to the external communication device. be able to.

<Second embodiment>
An object of the present embodiment is to select an external communication device that satisfies a predetermined condition and move the mobile device toward the selected external communication device.For example, the mobile device is moved to an environment where communication can be more easily secured. It is expected that it can be done.

  In the present embodiment, the mobile selects one of the external communication devices based on the current position of the mobile and the position information of the plurality of external communication devices recorded in the position information storage unit. Further, the mobile moves toward the selected external communication device.

  This embodiment is a moving body 10 further including a position information storage unit 18 and a selection unit 19 in the configuration of the first embodiment. Therefore, the configuration has portions common to those of the first embodiment, and detailed description of the common portions may be omitted. FIG. 4 shows a configuration example of the moving body 10 according to this embodiment.

[Constitution]
An example of the configuration of the moving object 10 according to the present embodiment will be described with reference to FIG. The mobile unit 10 includes a battery 11, a control unit 12, a communication unit 13, a determination unit 14, a movement mechanism 15, a position identification unit 16, a current position recording unit 17, a position information storage unit 18, And a unit 19. Further, the moving body 10 includes a power switch (not shown) for starting power supply to each unit of the moving body 10.

  The position information storage unit 18 and the selection unit 19 which are the added configurations will be described in detail. The control of the control unit 12 added by adding the position information storage unit 18 and the selection unit 19 will also be described.

(Position information storage unit 18)
The position information storage unit 18 stores information (particularly, position information) on one or a plurality of external communication devices 30A to 30C in a nonvolatile memory such as a hard disk. The stored information items include at least the same items as the information recorded in the position specifying unit 16. It is desirable that the list of the external communication devices 30A to 30C cover all the external communication devices 30A to 30C in an area where communication with the mobile unit 10 is possible.

  The position information of the external communication devices 30 </ b> A to 30 </ b> C stored in the position information storage unit 18 is read by the selection unit 19 (described later) under the control of the control unit 12.

(Selector 19)
Under the control of the control unit 12, the selection unit 19 extracts the current position information of the moving object 10 from the current position recording unit 17. Further, the selection unit 19 extracts the position information of one or more external communication devices 30A to 30C stored in the position information storage unit 18.

  From the current position information and the position information of one or more external communication devices 30A to 30C, the selection unit 19 selects an optimum position of the external communication device 30 to which the mobile unit 10 is to go. Therefore, the selection unit 19 obtains, for example, the distance from the current position to one or more external communication devices 30A to 30C for each of the external communication devices 30A to 30C.

  The external communication device 30 having the shortest distance is selected from the distances from the current position to one or a plurality of external communication devices 30A to 30C.

  The selection unit 19 sends the selected position of the external communication device 30 and the current position of the mobile unit 10 to the control unit 12.

  This distance may be a distance calculated from three-dimensional coordinates (for example, latitude, longitude, altitude (depth)) or a distance calculated from two-dimensional plane coordinates (for example, latitude, longitude).

(Control unit 12)
The control unit 12 moves the mobile unit 10 from the current position of the mobile unit 10 sent from the selection unit 19 and the optimum position of the external communication device 30 so that the mobile unit 10 approaches the external communication device 30. The mechanism 15 is controlled.

  In addition, a three-dimensional map (latitude, longitude, altitude (depth) of the ground surface) information and the like are stored in the position information storage unit 18, and the control unit 12 determines the current position of the mobile unit 10 and the external communication device 30. The position and the three-dimensional map information may be used. From these pieces of information, the control unit 12 may calculate an optimal trajectory between the current position of the mobile unit 10 and the external communication device 30. Then, the control unit 12 may control the moving mechanism 15 so that the moving object 10 moves closer to the external communication device 30 on the optimal trajectory.

[motion]
FIG. 5 is a diagram showing a flow of processing in the present embodiment. Hereinafter, with reference to FIG. 5, the operation of the moving body 10 will be described along with step numbers (S21 to S31).

(S21)
The mobile user U turns on the power switch of the mobile 10.

(S22)
Under the control of the control unit 12, the communication unit 13 performs transmission and reception with the external communication devices 30A to 30C. The communication unit 13 sends the received signal to the determination unit 14.

(S23)
If the received signal has not been received within the predetermined time, the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has not been established (S23; No). Further, the determination unit 14 sends a communication non-establishment signal to the control unit 12, and proceeds with the process to the next step (S24: specifying the current position of the mobile unit 10).

  When receiving the received signal, the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C is established (S23; Yes). Further, the determination unit 14 sends a communication establishment signal to the control unit 12, and proceeds with the process to the next step (S29: specifying the current position of the mobile unit 10).

(S24)
The control unit 12 receives the communication non-establishment signal sent from the determination unit 14 and controls the position specifying unit 16 to specify the current position of the moving object 10.

(S25)
The control unit 12 controls the position specifying unit 16 to record the current position of the moving object 10 specified by the position specifying unit 16 in the current position recording unit 17.

(S26)
The selection unit 19 reads the current position recorded in the current position recording unit 17 and the position information of one or more external communication devices 30A to 30C recorded in the position information storage unit 18.

(S27)
The selection unit 19 selects an optimal position of the external communication device 30 to which the mobile device 10 travels from the current position of the mobile device 10 and the position information of one or more external communication devices 30A to 30C.

(S28)
The control unit 12 determines the moving direction of the moving body 10 based on the current position of the moving body 10 and the optimum position of the external communication device 30 and controls the moving mechanism 15 to move the moving body 10. The process returns to step (S22).

(S29)
The control unit 12 receives the communication establishment signal transmitted from the determination unit 14 and controls the position specifying unit 16 to specify the current position of the mobile unit 10.

(S30)
The control unit 12 controls the position specifying unit 16 to record the current position of the moving object 10 specified by the position specifying unit 16 in the current position recording unit 17.

(S31)
The control unit 12 controls the communication unit 13 and transmits the specified current position from the communication unit 13 to the external communication devices 30A to 30C.

<Third embodiment>
An object of the present embodiment is to transmit a current position of a mobile unit and information related to the mobile unit user U (hereinafter, referred to as user-related information) to an external communication device. It is expected that discovery, identification, and securing can be done more quickly and reliably.

  This embodiment is a moving object 10 further including a user-related information storage unit 20 in the configuration of the second embodiment. Therefore, the configuration has portions common to the configuration of the second embodiment, and detailed description of the common portions may be omitted. FIG. 6 shows a configuration example of the moving body 10 according to this embodiment.

[Constitution]
With reference to FIG. 6, a configuration example of the moving object 10 according to the present embodiment will be described. The mobile unit 10 includes a battery 11, a control unit 12, a communication unit 13, a determination unit 14, a movement mechanism 15, a position identification unit 16, a current position recording unit 17, a position information storage unit 18, And a user-related information storage unit 20. Further, the moving body 10 includes a power switch (not shown) for starting power supply to each unit of the moving body 10.

  The user-related information storage unit 20 having the added configuration will be described in detail. The control by the control unit 12 added by adding the user-related information storage unit 20 will also be described.

(User related information storage unit 20)
The user-related information storage unit 20 stores information on the mobile user U (hereinafter, referred to as “user-related information”).

  Alternatively, the user-related information storage unit 20 includes a simple input device (for example, a simple keyboard, a recording microphone, a digital camera, a simple medical device, and the like), and the user-related information is additionally input at any time via the simple input device. May be done. The storage format may be, for example, a character string, sound, image, or the like. Further, the input of the user-related information may be performed by an external device other than the mobile unit 10.

  The user-related information preferably includes at least information indicating that the mobile user U is in an emergency. It is preferable that the information indicating that there is an emergency includes information indicating that the person was in distress, information indicating that rescue is required, and the like. Further, the user-related information includes, for example, information (name, etc.) that can recognize the mobile user U, medical information (body temperature, blood pressure, etc.) that is sequentially accumulated on the spot, and a message from the mobile user U (previously, It may be a moving route, a future action plan, etc.), environmental information (temperature, humidity, etc.) around the mobile user U, or the like.

  The user-related information storage unit 20 may use a non-volatile memory such as a hard disk, or may be a volatile memory.

(Control unit 12)
When the determination unit 14 determines that communication between the communication unit 13 and the external communication devices 30A to 30C has been established, the control unit 12 controls the communication unit 13 and records the data in the user-related information storage unit 20. The user-related information is transmitted to the external communication devices 30A to 30C.

[motion]
FIG. 7 is a diagram showing the flow of processing in the present embodiment. Hereinafter, with reference to FIG. 7, the operation of the moving body 10 will be described along with step numbers (S41 to S53). Note that the steps from (S41: power on) to (S51: current position transmission) in the present embodiment are the same as the steps (S21 to S31) in the second embodiment (FIG. 5), and a description thereof will be omitted. I do.

(S52)
The control unit 12 reads out the user-related information recorded in the user-related information storage unit 20.

(S53)
The control unit 12 controls the communication unit 13 and transmits the user-related information recorded in the user-related information storage unit 20 to the external communication devices 30A to 30C.

Note that the third embodiment may have a configuration in which the position information storage unit 18 and the selection unit 19 are not provided. In that case, the above-described processing related to the selection of the external communication devices 30A to 30C is not performed.
[effect]
According to the present embodiment, a moving object that is activated by the moving object user U and moves by receiving power supply from the battery includes a moving mechanism, a communication unit, a determination unit, a control unit, and a user-related information storage. Unit, a position specifying unit, and a current position recording unit. When the determination unit determines that communication between the communication unit and the external communication device has not been established, the control unit can control the moving mechanism to move the moving body. When the determining unit determines that communication between the communication unit and the external communication device has been established, the control unit transmits the current position specified by the position specifying unit based on the physical input from the communication unit to the external communication device. be able to. Further, when the determination unit determines that communication between the communication unit and the external communication device has been established, the control unit transmits, to the external communication device, information indicating that there is an emergency in more detail than the information related to the mobile user U. Can be sent to. Thus, when the third party acquires information related to the mobile user U through the external communication devices 30A to 30C, the third party can grasp that the user is in an emergency.

<Fourth embodiment>
An object of the present embodiment is to capture an image relating to a mobile user and its surrounding environment and send the image to an external communication device. For example, the searcher side needs the mobile user and its surroundings, the moving path of the mobile, and the like. Is expected to be able to acquire mobile users more quickly and reliably.

  This embodiment is a moving object further including a photographing unit 21 in the configuration of the third embodiment. Therefore, the configuration has portions common to those of the third embodiment, and detailed description of the common portions may be omitted. FIG. 8 shows a configuration example of the moving body 10 according to this embodiment.

[Constitution]
With reference to FIG. 8, a configuration example of the moving object 10 according to the present embodiment will be described. The mobile unit 10 includes a battery 11, a control unit 12, a communication unit 13, a determination unit 14, a movement mechanism 15, a position identification unit 16, a current position recording unit 17, a position information storage unit 18, It comprises a unit 19, a user-related information storage unit 20, and a photographing unit 21. Further, the moving body 10 includes a power switch (not shown) for starting power supply to each unit of the moving body 10.

  The photographing unit 21 having the added configuration will be described in detail. The control by the control unit 12 added by the addition of the imaging unit 21 will also be described.

(Shooting unit 21)
The photographing unit 21 includes a digital camera (not shown). The photographing by the digital camera may be performed at a predetermined interval immediately after the power switch provided on the moving object 10 is turned on (step S1). The obtained image is stored in a memory provided inside the digital camera. The image captured by the digital camera is transmitted from the communication unit 13 to the external communication devices 30A to 30C under the control of the control unit 12 when communication between the mobile unit 10 and the external communication devices 30A to 30C is established. Sent. Here, the image includes at least one of a still image and a moving image.

  The digital camera provided in the photographing unit 21 can rotate freely within a range in which physical interference (contact) with the main body of the moving body 10 does not occur, for example, via a camera mount having a three-axis stabilizer. It is good to be attached to. Further, it is preferable that the digital camera can select a photographing angle within the range of the degree of freedom of rotation.

  Further, the digital camera provided in the photographing unit 21 can photograph high-resolution images (both still images and moving images), and is preferably a visible light or infrared (light) camera. Further, it is preferable that the obtained image can be output from an output terminal provided in the digital camera. In addition, it is preferable that the digital camera has a zoom function and can shoot in a wide angle of view. It is desirable that the digital camera has a face recognition function.

  The shooting by the shooting unit 21 may be controlled via the control unit 12 by an operation of the user terminal. Alternatively, it may be controlled by a control program provided in the control unit 12 in advance. Alternatively, the control may be performed by an input from a simple input device provided in the user-related information storage unit 20 by the mobile user U.

  The imaging by the imaging unit 21 may be, for example, imaging of the mobile user U, imaging of the vicinity of the mobile user U, and imaging from any point on the route from the initial position of the mobile object 10 to the current position. .

(Control unit 12)
When the determining unit 14 determines that the communication is established, the control unit 12 transmits the image captured by the capturing unit 21 to the external communication devices 30A to 30C. At that time, the control unit 12 may transmit the captured image after compressing it by software installed in the control unit 12, or may transmit the image in the same format.

  Further, the control unit 12 may control the moving mechanism 15 using a digital camera or the like provided in the imaging unit 21 so as to perform safe navigation for avoiding a collision or a fall.

  In order for the control unit 12 to perform safe navigation, the moving body 10 includes, for example, a three-axis acceleration sensor, a three-axis gyro, a three-axis magnetic force sensor, an ultrasonic altitude sensor, and a pressure in addition to the digital camera provided in the imaging unit 21. It is desirable to have a sensor, a vertical camera for measuring ground speed, and the like. It is desirable that the control unit 12 implements safe navigation by using inputs from these sensors.

[motion]
FIG. 9 is a diagram showing a flow of processing in the present embodiment. Hereinafter, with reference to FIG. 9, the operation of the moving body 10 will be described along with step numbers (S61 to S75). Note that the steps from (S61: power on) to (S73: user related information transmission) in the present embodiment are the same as the steps (S41 to S53) in the third embodiment (FIG. 7), and will not be described. Omitted.

(S74)
The image capturing unit 21 acquires an image by capturing an image of the mobile user U, capturing an image in the vicinity of the mobile user U, and capturing from any point on the route from the initial position to the current position.

(S75)
The control unit 12 controls the communication unit 13 and transmits an image captured by the imaging unit 21 to the external communication devices 30A to 30C.

  Note that the fourth embodiment may have a configuration that does not include the position information storage unit 18, the selection unit 19, and the user-related information storage unit 20. In this case, the above-described processing related to the selection of the external communication devices 30A to 30C and the above-described processing related to the user-related information are not performed.

<Modification>
The configuration described above is merely an example for embodying the present invention. Therefore, arbitrary modifications (omission, substitution, addition, etc.) within the scope of the gist of the present invention can be appropriately made. An example of an arbitrary modification will be described below.

  In any of the first to fourth embodiments, the communication unit 13 can perform data communication with the user terminal, and the determination unit 14 determines whether the mobile unit 10 can communicate with the external communication devices 30A to 30C. When it is determined that the communication is established, the control unit 12 can be configured to be able to relay the communication between the user terminal and the external communication devices 30A to 30C.

  Note that relaying refers to processing received data from one side or transferring it to the other side without processing.

  In any of the first to fourth embodiments, the control unit 12 may be configured to transmit the determination result of the determination unit 14 to the user terminal of the mobile user U. It is possible. In this modification, the user terminal is a mobile phone.

  Further, in any of the first to fourth embodiments, the control unit 12 controls the moving mechanism 15 after the determination unit 14 determines that communication has been established. Thus, it is possible to adopt a configuration in which the moving body 10 is moved to the retreat position.

  The movement to the evacuation position may be a landing, a stop, or the like according to the state of the moving body 10. For example, assuming that the moving object 10 is a flying object such as a radio-controlled helicopter or a drone that moves by flying, the control unit 12 transmits information related to the moving object user U to the external communication devices 30A to 30C. It is possible to transmit the current position to the external communication devices 30A to 30C, transmit the current position to the external communication devices 30A to 30C, and then move vertically downward to land. By moving vertically downward in this manner, the current position of the flying object when transmitting information related to the mobile user U to the external communication devices 30A to 30C, and the latitude and longitude at the position where the flying object lands. The difference in longitude (position on the horizontal plane) can be reduced. Therefore, for example, when a third party grasps the current position transmitted to the external communication devices 30A to 30C, it is expected that the position where the flying object has landed can be easily estimated. The moving object 10 can be configured to move not only on a flying object but also on land or sea.

  When moving, the moving direction may be determined based on the remaining battery power or the strength of a signal received by the communication unit 13 from the external communication devices 30A to 30C. The control unit 12 may control the moving mechanism 15 so that the moving body 10 moves in the determined moving direction.

  In addition, when the current position before the start of movement after the mobile unit 10 is started by the mobile user U is recorded in the current position recording unit 17, the control unit 12 moves to the current position. The moving mechanism 15 may be controlled (to return). Further, when the control unit 12 returns to the initial position (the current position before the mobile unit 10 is started by the mobile unit U and before the mobile unit 10 starts moving), the control unit 12 notifies the mobile unit user U that the communication has been completed. Alternatively, the mobile user U may be notified that the information related to the mobile user U has been transmitted to the external communication devices 30A to 30C. This notification may be a display unit (not shown) or a notification by an audio output unit. Accordingly, when the mobile user U is present at the current position (position at which the mobile body returns) before the mobile body 10 starts moving after the mobile body 10 is started, the communication with the external communication devices 30A to 30C is performed. The mobile user U can recognize that the communication has been performed.

  Further, in any of the first to fourth embodiments, the communication unit 13 may be configured to interpose a radio relay point when communicating with the external communication devices 30A to 30C. It is. That is, the radio wave relay point is a place having a device that relays a radio wave at the time of communication between the communication unit 10 and the external communication devices 30A to 30C, and is a place where a base station, a wireless LAN device, and the like are installed. . The radio relay point corresponds to an example of a site.

That is, in the mobile unit 10, the position information storage unit 18 stores the position information of a plurality of radio relay points that relay radio waves during communication between the communication unit 13 and the external communication devices 30A to 30C. Under the control of the control unit 12, the position information of the plurality of radio relay points is read out, and the selection unit 19 determines based on the current position specified by the position specifying unit 16 and the position information of the plurality of radio relay points. The distance from the current position to the plurality of radio relay points is obtained for each radio relay point, and the selecting unit 19 further selects the radio relay point having the shortest distance from the current position among the plurality of radio relay points. However, the control unit 12 can be configured to control the moving mechanism 15 to move to the radio relay point selected by the selection unit 19. For this reason, compared with the case where the mobile unit 10 does not store the position information of the radio relay point, it is possible to approach the radio relay point closest to the current position where the mobile unit 10 exists.

Further, in any of the first to fourth embodiments, the mobile unit 10 is configured to further include an emergency setting unit for setting the mobile unit 10 in the emergency mode (style). Is also good. The emergency mode refers to a state in which the mobile unit 10 performs functions and operates in response to a case where the mobile user U is in an emergency. For example, the control unit 12 controls the moving mechanism 15 so as to move from the current position when the communication is not established by the determination unit 14 and the mobile unit 10 is set to the emergency mode. It can be configured as follows. Further, the information relating to the mobile user U, more specifically, the information indicating that the mobile user U is in an emergency, is determined by the determination unit 14 to have established communication, and It is also possible to configure to transmit to the external communication devices 30A to 30C via the communication unit 13 when the situation mode is set. The setting to the emergency mode is performed, for example, by providing an emergency button, switch, or icon on the mobile body 10 and pressing and touching the mobile user U. Alternatively, the mobile unit 10 may be activated and set to the emergency mode.

Further, in any of the first to fourth embodiments, the moving body 10 is preferably configured to be portable. Portable means that the mobile object 10 can be held by the mobile user U, held by the mobile user U, or carried by the mobile user U in a backpack or the like. Refers to a formed configuration, including a foldable configuration, a decomposable configuration, or an assemblable configuration. Also, in any of the first to fourth embodiments, the weight within 20 kg and the size within 0.027 m ＾ 3 (cubic meter) shall be the portable weight and size. Considering that the mobile user U carries the mobile 10 during mountain climbing, hiking, and the like, the weight and size of the mobile 10 are preferably 10 kg or less and 0.004 m メ ー ト ル 3 (cubic meter) or less, respectively. It is further preferable that the weight is 5 kg or less and 0.002 m ＾ 3 (cubic meter) or less. Note that, even if the mobile object 10 is portable and has a weight and size, it is assumed that the mobile object 10 that is not normally carried by the mobile user U is not portable.

  In addition, an embodiment having the following configuration may be used. A main body, a communication unit provided in the main body for communicating with an external communication device, a moving mechanism provided in the main body for moving the main body, and the communication unit capable of communicating with the external communication device And a control unit that controls the moving mechanism to move the main body to a position where the communication unit can communicate with the external communication device. The moving body may be a characteristic moving body.

  Further, an embodiment may be further provided with the following configuration depending on the embodiment. The determination unit determines whether or not the communication unit can communicate with the external communication device, and when the communication unit determines that it is not possible to communicate with the external communication device, The control unit may be a moving body that controls the moving mechanism to move the main body to a position where the communication unit can communicate with the external communication device.

  In the first to fourth embodiments and the modifications, the moving body that moves by receiving power supply from the battery includes at least a moving mechanism, a communication unit, a determination unit, and a control unit. . In the first to fourth embodiments and the modifications, when the determination unit determines that communication between the communication unit and the external communication device has not been established, the control unit controls the moving mechanism to perform movement. There is a common effect that the body can be moved.

  Although several embodiments of the present invention have been described, these embodiments are provided by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in other various forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and equivalents thereof.

DESCRIPTION OF SYMBOLS 10 Moving body 11 Battery 12 Control part 13 Communication part 14 Judgment part 15 Moving mechanism 16 Position specifying part 17 Current position recording part 18 Position information storage part 19 Selection part 20 User related information storage part 21 Imaging part 30 External communication device U Mobile A user

Claims (8)

A moving object that is activated by a user and moves by receiving power supply from a battery,
A moving mechanism for moving;
A communication unit;
A determining unit that determines whether communication between the communication unit and the external communication device has been established,
When it is determined that communication is not established by the determination unit, a control unit that controls the moving mechanism to move from the current position,
A user-related information storage unit that stores information related to the user,
The control unit, when it is determined that the communication is established by the determination unit , transmits information related to the user to the external communication device ,
The moving body is a flying body that moves by flight, the control unit transmits a current position to the external communication device when transmitting information related to the user to the external communication device, A moving body , wherein the moving mechanism is controlled so that the current position is transmitted to the external communication device and then moves vertically downward to land . A moving object that is activated by a user and moves by receiving power supply from a battery,
A moving mechanism for moving;
A communication unit;
A determining unit that determines whether communication between the communication unit and the external communication device has been established,
When it is determined that communication is not established by the determination unit, a control unit that controls the moving mechanism to move from the current position,
A user-related information storage unit that stores information related to the user,
The control unit, when it is determined that the communication is established by the determination unit, transmits information related to the user to the external communication device,
Further, the control unit, when the control unit transmits information related to the user toward the external communication device, the mobile body is activated by the user, the current position before starting to move And controlling the moving body to return . A moving object that is activated by a user and moves by receiving power supply from a battery,
A moving mechanism for moving;
A communication unit;
A determining unit that determines whether communication between the communication unit and the external communication device has been established,
When it is determined that communication is not established by the determination unit, a control unit that controls the moving mechanism to move from the current position,
A user-related information storage unit that stores information related to the user,
The control unit, when it is determined that the communication is established by the determination unit, transmits information related to the user to the external communication device,
Further, the control unit, when the mobile unit is returned to the current position before starting to move after being started by the user, the control unit directs information related to the user to the external communication device A moving object characterized by notifying that a transmission has been made . A moving object that is activated by a user and moves by receiving power supply from a battery,
A moving mechanism for moving;
A communication unit;
A determining unit that determines whether communication between the communication unit and the external communication device has been established,
When it is determined that communication is not established by the determination unit, a control unit that controls the moving mechanism to move from the current position,
A user-related information storage unit that stores information related to the user,
The control unit, when it is determined that the communication is established by the determination unit, transmits information related to the user to the external communication device,
Further, a position information storage unit that stores position information of a plurality of radio relay points,
A position identification unit that identifies a current position based on external physical input;
Based on the current position specified by the position specifying unit and the position information of the plurality of radio relay points, a radio relay point having a shortest distance from the current position is selected from the plurality of radio relay points. Selector and
Including
The moving body , wherein the control unit controls the moving mechanism so as to move to the radio relay point selected by the selecting unit . A moving object that is activated by a user and moves by receiving power supply from a battery,
A moving mechanism for moving;
A communication unit;
A determining unit that determines whether communication between the communication unit and the external communication device has been established,
When it is determined that communication is not established by the determination unit, a control unit that controls the moving mechanism to move from the current position,
A user-related information storage unit that stores information related to the user,
The control unit, when it is determined that the communication is established by the determination unit, transmits information related to the user to the external communication device,
It further includes a shooting unit,
The control unit causes the photographing unit to execute either photographing of the user or photographing from any point on a route from an initial position to a current position.
A mobile object characterized by the fact that: A moving object that is activated by a user and moves by receiving power supply from a battery,
A moving mechanism for moving;
A communication unit;
A determining unit that determines whether communication between the communication unit and the external communication device has been established,
When it is determined that communication is not established by the determination unit, a control unit that controls the moving mechanism to move from the current position,
A user-related information storage unit that stores information related to the user,
The control unit, when it is determined that the communication is established by the determination unit, transmits information related to the user to the external communication device,
The moving body is a flying body that moves by flying, the control unit performs a movement by ascending, moves in a vertically downward direction after transmitting information related to the user to the external communication device, and lands. To control the moving mechanism
A mobile object characterized by the fact that: It further includes a position specifying unit that specifies the current position based on an external physical input,
When it is determined that the communication has been established by the determination unit, the control unit specifies the current position specified by the position specifying unit, the current position before starting moving after the mobile is started by a user. moving body according to any one of claims 1 to 6, wherein Rukoto was transmitted to the communication unit. The controller according to claim 1 , wherein the control unit controls a unit that notifies the user that the communication unit has started transmission or that a signal from the external communication device has been received . The moving object according to any one of the above.