JP6792686B1 - 移動体、プログラム、及び制御方法 - Google Patents
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Abstract
Description
[先行技術文献]
[特許文献]
[特許文献1]特開2018−166256号公報
Claims (17)
- 移動体であって、
前記移動体を推進させる推進部と、
他移動体と光無線通信を行う第1光無線通信部と、
前記移動体の3次元の角速度及び加速度の計測結果を示す第1慣性計測情報、及び前記移動体の推進を制御する情報を示す第1機体制御情報、を含む第1移動体情報を、前記光無線通信を介して前記他移動体に送信させる移動体情報送信部と、
前記他移動体の3次元の角速度及び加速度の計測結果を示す第2慣性計測情報、及び前記他移動体の推進を制御する情報を示す第2機体制御情報、を含む第2移動体情報を、前記光無線通信を介して前記他移動体から受信させる移動体情報受信部と、
前記第1移動体情報及び前記第2移動体情報に基づいて、前記第1光無線通信部の光軸の方向を制御する光軸方向制御部と、
を備え、
前記光軸方向制御部は、前記移動体を推進させて前記光軸の方向を制御するように前記推進部を制御する、
移動体。 - 移動体であって、
前記移動体を推進させる推進部と、
他移動体と光無線通信を行う第1光無線通信部と、
前記移動体の3次元の角速度及び加速度の計測結果を示す第1慣性計測情報、及び前記移動体の推進を制御する情報を示す第1機体制御情報、を含む第1移動体情報を、前記光無線通信を介して前記他移動体に送信させる移動体情報送信部と、
前記他移動体の3次元の角速度及び加速度の計測結果を示す第2慣性計測情報、及び前記他移動体の推進を制御する情報を示す第2機体制御情報、を含む第2移動体情報を、前記光無線通信を介して前記他移動体から受信させる移動体情報受信部と、
前記第1光無線通信部の光軸の方向を制御する光軸方向制御部と、
を備え、
前記光軸方向制御部は、前記第1移動体情報及び前記第2移動体情報に基づいて、前記移動体と前記他移動体との相対位置の変化を予測し、予測結果に基づいて光軸の方向を制御する
移動体。 - 前記光軸方向制御部は、前記第1光無線通信部の光軸と前記他移動体の第2光無線通信部の光軸との一致を維持するように、前記第1光無線通信部の光軸の方向を制御する、請求項1又は2に記載の移動体。
- 前記移動体情報送信部は、前記移動体の位置情報をさらに含む前記第1移動体情報を前記他移動体に送信し、
前記移動体情報受信部は、前記他移動体の位置情報をさらに含む前記第2移動体情報を前記他移動体から受信する、請求項1から3のいずれか一項に記載の移動体。 - 前記移動体の移動経路を含む第1移動計画情報に基づいて前記推進部を制御する移動計画制御部
を備え、
前記移動体情報送信部は、前記第1移動計画情報をさらに含む前記第1移動体情報を前記他移動体に送信し、
前記移動体情報受信部は、前記他移動体の移動経路を含む第2移動計画情報をさらに含む前記第2移動体情報を受信する、請求項1から4のいずれか一項に記載の移動体。 - 前記光軸方向制御部は、前記第1移動計画情報及び前記第2移動計画情報に基づいて前記移動体と前記他移動体との相対位置の変化を予測して、予測結果に基づいて前記第1光無線通信部の光軸の方向を制御しつつ、前記第1慣性計測情報、前記第1機体制御情報、前記第2慣性計測情報、及び前記第2機体制御情報に基づいて、前記第1光無線通信部の光軸の方向の、前記予測結果に基づく前記第1光無線通信部の光軸の方向の制御よりも細かい制御を実行する、請求項5に記載の移動体。
- 前記第1光無線通信部は、前記移動体に対して相対的に移動しないよう固定されており、
前記光軸方向制御部は、前記第1光無線通信部の光軸と前記他移動体の第2光無線通信部の光軸とが一致するように、前記移動体を推進させるよう前記推進部を制御する、請求項1から6のいずれか一項に記載の移動体。 - 前記移動体は、水中を移動する水中移動体である、請求項1から7のいずれか一項に記載の移動体。
- 前記移動体情報送信部は、前記移動体に設置された圧力計によって計測された水圧に関する水圧情報をさらに含む前記第1移動体情報を前記他移動体に送信し、
前記移動体情報受信部は、前記他移動体に設置された圧力計によって計測された水圧に関する水圧情報をさらに含む前記第2移動体情報を前記他移動体から受信する、請求項8に記載の移動体。 - 前記移動体情報送信部は、前記移動体に設置された流量計によって計測された流量に関する流量情報をさらに含む前記第1移動体情報を前記他移動体に送信し、
前記移動体情報受信部は、前記他移動体に設置された流量計によって計測された流量に関する流量情報をさらに含む前記第2移動体情報を前記他移動体から受信する、請求項8又は9に記載の移動体。 - 前記移動体は、ケーブルを介して潜水艇と接続され、
前記ケーブルを介して前記潜水艇から受信したデータを、前記第1光無線通信部による光無線通信によって前記他移動体に送信し、前記第1光無線通信部による光無線通信によって前記他移動体から受信したデータを、前記ケーブルを介して前記潜水艇に送信する通信中継部を備える、請求項8から10のいずれか一項に記載の移動体。 - 前記移動体は、無人航空機である、請求項1から7のいずれか一項に記載の移動体。
- 前記移動体は、ケーブルを介して通信装置と接続され、
前記ケーブルを介して前記通信装置から受信したデータを、前記第1光無線通信部による光無線通信によって前記他移動体に送信し、前記第1光無線通信部による光無線通信によって前記他移動体から受信したデータを、前記ケーブルを介して前記通信装置に送信する通信中継部を備える、請求項12に記載の移動体。 - 移動体を制御するコンピュータを、
前記移動体の推進を制御する機体制御部、
他移動体との光無線通信を行う第1光無線通信部を制御し、
前記移動体の3次元の角速度及び加速度の計測結果を示す第1慣性計測情報と、前記移動体の推進を制御する情報を示す第1機体制御情報とを含む第1移動体情報を、前記光無線通信によって他移動体に送信し、
前記他移動体の3次元の角速度及び加速度の計測結果を示す第2慣性計測情報と、前記他移動体の推進を制御する情報を示す第2機体制御情報とを含む第2移動体情報を、前記光無線通信によって前記他移動体から受信する、
通信制御部、及び
前記第1移動体情報及び前記第2移動体情報に基づいて、前記第1光無線通信部の光軸の方向を制御する光軸方向制御部
として機能させ、
前記光軸方向制御部を、前記移動体を推進させて前記光軸の方向を制御するように前記機体制御部を制御させる、
ためのプログラム。 - 移動体を制御するコンピュータを、
前記移動体の推進を制御する機体制御部、
他移動体との光無線通信を行う第1光無線通信部を制御し、
前記移動体の3次元の角速度及び加速度の計測結果を示す第1慣性計測情報と、前記移動体の推進を制御する情報を示す第1機体制御情報とを含む第1移動体情報を、前記光無線通信によって他移動体に送信し、
前記他移動体の3次元の角速度及び加速度の計測結果を示す第2慣性計測情報と、前記他移動体の推進を制御する情報を示す第2機体制御情報とを含む第2移動体情報を、前記光無線通信によって前記他移動体から受信する、
通信制御部、及び
前記第1移動体情報及び前記第2移動体情報に基づいて、前記移動体と前記他移動体との相対位置の変化を予測し、予測結果に基づいて前記第1光無線通信部の光軸の方向を制御する光軸方向制御部
として機能させるためのプログラム。 - 移動体に搭載されるコンピュータによって実行される制御方法であって、
前記移動体の3次元の角速度及び加速度の計測結果を示す第1慣性計測情報と、前記移動体の推進を制御する情報を示す第1機体制御情報とを含む第1移動体情報を、第1光無線通信部による光無線通信によって他移動体に送信する移動体情報送信段階と、
前記他移動体の3次元の角速度及び加速度の計測結果を示す第2慣性計測情報と、第2機体制御情報に従って前記他移動体を推進させる推進部が用いる第2機体制御情報とを含む第2移動体情報を、前記第1光無線通信部による光無線通信によって前記他移動体から受信する移動体情報受信段階と、
前記第1移動体情報及び前記第2移動体情報に基づいて、前記移動体を推進させて前記第1光無線通信部の光軸の方向を制御する光軸方向制御段階と
を備える制御方法。 - 移動体に搭載されるコンピュータによって実行される制御方法であって、
前記移動体の3次元の角速度及び加速度の計測結果を示す第1慣性計測情報と、前記移動体の推進を制御する情報を示す第1機体制御情報とを含む第1移動体情報を、第1光無線通信部による光無線通信によって他移動体に送信する移動体情報送信段階と、
前記他移動体の3次元の角速度及び加速度の計測結果を示す第2慣性計測情報と、第2機体制御情報に従って前記他移動体を推進させる推進部が用いる第2機体制御情報とを含む第2移動体情報を、前記第1光無線通信部による光無線通信によって前記他移動体から受信する移動体情報受信段階と、
前記第1移動体情報及び前記第2移動体情報に基づいて、前記移動体と前記他移動体との相対位置の変化を予測し、予測結果に基づいて前記第1光無線通信部の光軸の方向を制御する光軸方向制御段階と
を備える制御方法。
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