WO2006022410A1 - 物体の姿勢に関連付けた固定情報を引き出す装置、物体姿勢に関連する情報を通信する装置 - Google Patents
物体の姿勢に関連付けた固定情報を引き出す装置、物体姿勢に関連する情報を通信する装置Info
- Publication number
- WO2006022410A1 WO2006022410A1 PCT/JP2005/015641 JP2005015641W WO2006022410A1 WO 2006022410 A1 WO2006022410 A1 WO 2006022410A1 JP 2005015641 W JP2005015641 W JP 2005015641W WO 2006022410 A1 WO2006022410 A1 WO 2006022410A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- posture
- information
- fixed information
- output
- storage means
- Prior art date
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Classifications
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B27/00—Planetaria; Globes
- G09B27/08—Globes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
Definitions
- a device that extracts fixed information related to the posture of the object and a device that communicates information related to the object posture
- the present invention relates to a communication device that remotely transmits fixed information defined by a user, and is a technology that combines communication with a three-axis attitude sensor (three-axis acceleration sensor). . More specifically, we have proposed a method for wirelessly communicating fixed information using an object with a 3-axis attitude sensor and wireless transmission means. Targeting devices that have higher functionality than remote control devices that simply send only on / off signals (information) remotely.
- Examples of fixed information include fixed information on whether or not a financial institution or an elderly person living alone is in an urgent state, presence of a company employee, information on a fixed location such as returning home during a meeting Information on fixed menu orders at restaurants.
- the fixed information can be set and changed freely.
- the present invention is a simple communication device that can be used as a transmission tool such as a rectangular parallelepiped or a sphere, an easy-to-use familiar object, or an object having a shape excellent in design.
- the 3-axis attitude sensor P is a combination of three elements that detect mechanical stagnation at the site of installation.
- the elements for detecting stagnation are fixed in the directions of the A—a axis, B—b axis, and C c axis schematically shown in the regular hexahedron of FIG. These elements detect mechanical stagnation in each direction.
- the stagnation detection axes are not necessarily orthogonal, but if they are not parallel to each other, the 3D posture and 3D acceleration can be obtained by linear transformation of the axial information. (See Patent Document 6)
- the element for detecting the sag is a material having a piezoelectric effect, and generates an electrical signal corresponding to the mechanical sag. If these piezoelectric elements are arranged on each of the non-parallel three axes, the three-dimensional posture can be distinguished from the output of those elements. That is, for posture 1 in Fig. 1, the output of the A-a axis stagnation detection element is 11, the output of the B-b axis stagnation detection element is 21, The output is 32 (this is abbreviated as (11, 21, 32)), (10, 21, 31) for posture 2, (11, 21, 30) for posture 3, and (11 for posture 4) , 22, 31) different stagnation outputs are obtained with different postures. Based on these outputs, postures 1, 2, 3, and 4 can be distinguished. The same applies to the acceleration, and a description thereof will be omitted.
- Three-dimensional posture ⁇ Three-dimensional acceleration sensors are known, for example, "Piezoresistive three-axis acceleration sensor” manufactured by Hitachi Metals, Ltd. This is an analog sensor package that three-dimensionally incorporates three elements into an ultra-small and ultra-thin IC chip using MEMS (micromachine) technology.
- MEMS micromachine
- a three-dimensional posture ⁇ a three-dimensional acceleration sensor is arranged on a moving body such as an automobile or a train to detect and analyze the posture and motion (acceleration) of the moving body.
- the purpose of detection and analysis is to control the moving body and prevent accidents (see Patent Document 1).
- a 3D posture ⁇ 3D acceleration sensor is installed on a door or window to detect its posture (motion) and use it as a security sensor. . (See Patent Document 5)
- Patent Document 7 discloses a remote control unit that detects the posture of a polyhedron such as a dice and controls external devices based on the posture.
- This is a remote control switch used for remote control (remote control) of TVs, games and karaoke performance devices, for example.
- the control signal (information) for simply turning on and off the fixed function is transmitted remotely, and there is no further inventive concept.
- Patent Document 8 discloses a sensor that remotely transmits the posture of a polyhedron, and describes that it can be applied to a humanoid that emits different sounds depending on the posture. However, this also does not go out of scope for simple use of attitude detectors (sensors).
- This proposal is different from devices such as a remote control (remote control) and attitude remote transmission sensor that only have a function for simply transmitting on / off signals remotely.
- Patent Documents 9, 10, and 11 are examples of a portable terminal that controls the display of the device itself or the like with attitude information from an acceleration sensor, or a cellular phone that controls the cellular phone itself with an acceleration sensor. These are also technologies that combine communication with a 3-axis attitude sensor (3-axis acceleration sensor). However, the 3-axis attitude sensor (3-axis acceleration sensor) is only used to control portable devices and does not send information directly to the wireless transmission destination. As before, this plan is different from mobile devices that simply use the control function of these attitude detectors (sensors).
- Patent Document 1 Japanese Patent Laid-Open No. 10-113343 “Recognition Method and Apparatus and System for Motion and Action” Hitachi, Ltd.
- Patent Document 2 Japanese Patent Application Laid-Open No. 2004-096630 “Living condition environment expression device, expression device and living condition environment expression method” Sekisui Chemical Co., Ltd.
- Patent Document 3 Patent No. 2869720 “Order Management System at Restaurants” Nittsu Kogyo Co., Ltd.
- Patent Document 4 Japanese Patent Laid-Open No. 2002-219044 “Food and Drink Ordering Device at Restaurants” Kurako Co., Ltd.
- Patent Document 5 Japanese Patent Laid-Open No. 11-316881 “Security Sensor” OMRON Corporation
- Patent Document 6 Japanese Patent Application Laid-Open No. 09-005104 “Three-dimensional attitude angle measurement method and three-dimensional posture angle measurement device for moving objects” Nippon Telegraph and Telephone Corporation
- Patent Document 7 Japanese Patent Laid-Open No. 09-84145 “Polyhedral remote control unit and various systems using it” OMRON Corporation
- Patent Document 8 Japanese Patent Application Laid-Open No. 2005-140702 “Attitude Detection Sensor” Sentiurion Co., Ltd.
- Patent Document 9 Japanese Unexamined Patent Application Publication No. 2002-297284 “Mobile Terminal Device” Toshiba Corporation Patent Document 10: Patent 3525665 “Always Wearable Telephone Device” Nippon Telegraph and Telephone Corporation Patent Document 11: JP 2001-144853 “Mobile Phone” Mitsubishi Electric Corporation
- An object of the present invention is to provide an apparatus for simply and remotely transmitting fixed information defined by a user.
- Fixed information includes, for example, emergency information such as ⁇ suspicious person intrusion abnormal state '' at a financial institution, etc., single-person elderly person ⁇ abnormal health condition '', office employee ⁇ in-company seating, meeting, going home '' Information on the fixed location such as, and order information for fixed menu items such as “I want a fried chicken in the menu” at a restaurant.
- Such fixed information can be set (registered) in advance.
- the proposed device is a device for extracting fixed information related to the posture of an object M having a plurality of postures at a station N separated by the force of the object M, and the object M is (three axes) It includes a posture sensor P, a (3-axis) modulation means m2 that modulates the attitude sensor output into a radio wave signal, and a radio wave transmission means m3 that has an antenna.
- n4a is the first storage means for storing the range data of the posture sensor output when the object M is stationary
- n4b is the fixed information associated with the posture of the object M corresponding to the storage of the first storage means.
- the second storage means n4c is a means for storing the correspondence between the storage location of the output range data of n4a and the storage location of the information of n4b by an address or a pointer (see FIG. 13).
- the separation station N includes the following means n6 (see FIG. 3). That is, it is determined whether or not the received signal of the receiving means n2 is included in the range of one output range data stored in the first storage means n4a. If included, the output range data of the first storage means is determined. Means for quoting the fixed information of the second storage means n4b stored in correspondence with the data, and means for outputting (displaying) the assigned fixed information to a liquid crystal display monitor or the like n7 It has.
- the received signal is an attitude sensor signal corresponding to the stationary state of the object M. Therefore, in order to facilitate the determination described later, the range with an appropriate margin before and after the signal value is referred to as “attitude sensor output range data” and “the signal range including the signal obtained from n3 is“ Write to n4a as “range data of attitude sensor output”. At the same time, “write fixed information to n4b to associate with the posture of object M”. In addition, three write operations are performed: “write the correspondence of the storage location of“ range data of attitude sensor output ”of n4a” and “information related to the attitude of object M” of n4b to n4c. These writing operations use means n5 for writing and correcting as necessary. FIG.
- FIG. 13 illustrates the state of the storage means n4 (storage means having n4a, n4b, and n4c) that has been written.
- the example in FIG. 13 is the case where the fixed information to be related to the posture is “present”, “going out”, “meeting” ⁇ “going home”.
- Fig. 2 shows an example of a truncated octahedron: a polyhedron Mto called Truncated Octahedron, which has a large number of postures.
- a truncated octahedron is a 14-hedron that is a regular octahedron with a vertex cut out to be a plane (square) and the length of all sides is the same.
- the number in the stationary position is 14.
- a 3-axis attitude sensor (Pto) is fixed inside the Mto.
- Different posture outputs (Xl, X2, X3) ( ⁇ 1, ⁇ 2, ⁇ 3) (Zl, ⁇ 2, ⁇ 3) are output from the internal posture sensor Pto according to posture X ⁇ posture ⁇ ⁇ posture Z, This is transmitted by the modulation means m2 and the radio wave transmission means m3 having an antenna.
- the 14-sided posture output value is different from the 14-sided posture output value. It is considered to be smaller than the six differences. Thus, if the number of faces of the polyhedron is increased and the number in the stationary posture is increased, the margin value must be relatively reduced. The margin is almost The sensor output absolute value is preferably less than 10%.
- the object M may have any shape such as a polyhedron or a part of the polyhedron replaced with a curved surface, a sphere or a part of the sphere with a partial plane cut out.
- An object composed of a curved surface may be indefinite and not static. It is desirable to be able to stand in a specific posture, but it is not essential to be able to stand still. Of course, a form excellent in design such as a figure of a person or an animal may be used.
- the posture of the association target is allowed to be slightly shaken even if it is not completely stationary.
- the object M is a sphere, the object M is unstable without being stationary, but it is only necessary to determine the range of fluctuation of the output of the posture sensor. If the range is stored in n4a, the entire unstable posture state can be registered as the posture to be associated without being stationary.
- the “fixed information associated with the object M” does not need to be “information of the object M”.
- the object M itself which has no relation to the physical state of the object M, may be information that has nothing to do with the object. Users can define and register any information as fixed information. However, on the contrary, for the convenience of the user, the defined and registered information should be associated with the visual information of the surface of the object M.
- “fixed information associated with object M” (Claim 3) is also associated with characters on the surface that can be visually sensed by looking at the surface of object M, a figure drawn on the surface, or a color applied to the surface. It is convenient if it is done. Specific examples are shown in FIGS. In Fig. 6, a rectangular parallelepiped (hexahedron) Mr has the words “going out”, “meeting”, “attended”, “returning home” written on each side so that it can be sensed visually. When a company employee changes location such as “going out”, “meeting”, “attended”, or “going home”, it is easy to operate intuitively.
- Fig. 7 shows a sphere Ms with a partially cut-out surface. This is an example in which “normal” is “normal” and “abnormal” and “normal” is associated with a part of the notched surface and “normal” is associated with all other falling states. At that time, as shown in Fig. 7, if a star figure is drawn on the cut-out surface Ss and it is determined that the star is abnormal, it is convenient to see "normal” and "abnormal” at a glance. The same technique can be applied to the surface coating color.
- the "fixed information associated with the posture of the object M" (claim 4) is convenient even if there is an association with surface irregularities or surface feel that can be sensed by touching the surface of the object M.
- the object M is a solid body (Claim 5) in which a part of the surface is a partial surface and other surface forces can be visually discriminated.
- the posture one of them may be a posture in which the object M is left stationary with the partial surface as the uppermost part of the solid or the lowermost part of the solid.
- the force fixing information which is the fixed information
- the separation station N has n4a, n4b, and n4c, and also has correspondence determination means n4d that selectively determines the correspondence of n4c.
- the correspondence determining means n4d is a means for changing the correspondence of n4c by an external operation (see FIG. 13).
- the communication of the present invention has a drawback that it can communicate only fixed information predefined by a user or the like. It is inferior to conventional communication tools such as telegraph and telephone because communication contents are extremely limited. On the other hand, it is possible to communicate with simple operations such as tumbling or rolling an object with very few communication errors, so it can be used for communications that require quick response, such as emergency calls. In addition, since communication can be performed with simple operation, communication is possible even when there is difficulty in using normal communication equipment such as a sick person or a person with a handicap. It can be used as a communication terminal for objects that are easy to handle, and can also be used for objects with forms and patterns with excellent design characteristics. Rare Can be expected.
- the present invention relates to a remote control (remote operation) using a three-axis posture sensor (three-axis acceleration sensor), a device having a function of simply transmitting an on / off signal remotely, such as a posture remote transmission sensor, and posture information using an acceleration sensor.
- a posture remote transmission sensor such as a posture remote transmission sensor
- posture information using an acceleration sensor This has the effect of distinguishing it from a portable terminal that controls the display of the device itself.
- the present invention is information that can be freely changed by the user in which the information stored in association with the associated fixed information and posture is not related to the control of the apparatus, and is not in the transmitting end having the acceleration sensor. Because the information is extracted at the receiving end, unlike these conventional devices, a variety of information defined by the user can be transmitted remotely!
- 3-axis attitude sensor P is a piezoelectric element force A—a, B—b, C c Sensors are not parallel to each other. It is arranged and fixed in the direction.
- FIG.4 Flowchart of n6 processing (processing to output information related to the posture of object M)
- FIG.5 Flow chart of processing to store arbitrary information in n4 in association with the posture of object M
- FIG.7 Explanation of an example in which a sphere with a partial cut-out surface is connected to a normal state when the cut-out surface is placed down and the other is associated with an abnormality, and the emergency of a store or elderly living alone is communicated to a remote location.
- FIG.8 Explanation of Electronic Sugoroku
- FIG. 13 is an explanatory diagram of n4 (storage means having n4a, n4b, and n4c).
- ⁇ 14 Block diagram of a device that communicates fixed information related to the posture of an object.
- m2 Modulation means to modulate the attitude sensor output into a radio signal (with that information)
- mlO Means to output secondary information liquid crystal display, lamp (light emitting diode), speaker power, etc.
- mi l Means to receive secondary information signals
- ml2 A means of demodulating the received radio wave to obtain a signal corresponding to the secondary information signal mounted on the radio wave
- the object is a cuboid.
- Ms Object In the example of M, the object is a sphere with a partially cutaway surface. Mto object M example, object is Truncated Octahedron
- n3 Means to demodulate the received radio wave and obtain a signal corresponding to the attitude sensor output mounted on the radio wave
- Storage means having n4 n4a, n4b, n4c
- n4a First storage means for storing range data of posture sensor output when object M is stationary
- Second storage means for storing candidates for fixed information related to posture of object M
- n4c Storage location of output range data of n4a and n4b Means for storing the correspondence with the storage location of information
- n4d Correspondence determination means for selectively determining the correspondence of n4c
- n5 Means to write or modify the stored information of n4 as necessary
- n6 n3 Signal strength 4a Output range of 4a is determined whether or not included, and if included, means to cite fixed information of n4b stored corresponding to the memory of n4a n7 Quoted by n6 Display means such as a liquid crystal display monitor that outputs the recorded n4b information
- nl3 Modulation method that modulates an electrical signal of secondary information into a radio signal (with that information)
- P 3-axis attitude sensor single-axis piezoelectric sensors A-a, B-b, Cc are fixed with their axes orthogonal to each other
- XI Mto is stationary with the X-plane (not shown) down and Mtx's A—a sensor is tilted “A up”
- Yl Mto is stationary with the Y side (not shown) down, and Mtx's eight-and-sensor is tilted in the “Yagaga” position
- the expected signal reception pattern (Claim 7) is based on the reception time, and means for determining and outputting the difference between the expected signal reception time pattern and the actual reception time pattern. The determination based on the difference is performed and the determination result is output.
- the rule that the elderly who are living alone is alive is to ⁇ stand the object up in the day '', ⁇ turn the object down at night ''
- the pattern of “Standing posture with the cut-out surface Ss down at 10:00 am” and “Other falling posture at 10:00 pm” is assumed as the expected signal reception time pattern and stored in the third memory means.
- An example of a system that checks the difference between this memory and the actual reception time pattern on a regular basis to confirm the safety of the elderly living alone can be considered.
- an example of a system that monitors whether the object M is illegally removed by checking whether it is in a stationary position for theft detection of the object M by order communication at a restaurant is provided. Conceivable. If stolen and carried around, it will tilt and deviate from the static signal. In this case as well, it is only necessary to store a received signal in a stationary posture at regular intervals as an “expected signal reception time pattern”.
- the expected signal reception pattern is (Claim 8) based on the change order of the received signal according to the change order of the posture of the object M, and means for determining and outputting the difference is expected Judgment based on the difference between the received signal change order and the actual received signal change order is performed, and the judgment result is output.
- a specific example is authentication by path motion identification. This is a method of using a posture change order of a specific object as an authentication cipher and determining the change order in advance and performing an object posture change corresponding to the change order to authenticate based on power. Specifically, as shown in Fig.
- the numerical order of the polyhedral dice surface or the change order that makes the surface of the character, figure, and color directly above is determined in advance as the expected signal reception pattern and stored in the third memory as the authentication encryption Store in the means. Authentication is performed based on whether this authentication encryption memory matches the actual received signal pattern.
- An object other than the polyhedral dice may be prepared, and it may be devised to transmit the start and completion of path motion identification. Also, as a pass motion, the acceleration signal generated by a specific action can be used as an authentication code.
- an electronic game using the polyhedral dice of FIG. 9 may be configured.
- the instruction information generated by rolling the polyhedral dice is received and automatically displayed on the display unit (see Fig. 8).
- the instruction information here is not a simple numerical value, but it can be changed with complicated instruction information such as “pause once” and “gives the right to roll polyhedron again”, making the game more diverse and entertaining Increases nature.
- the object M is a sphere, and the sphere is a globe, a moon globe, a Mars globe, a celestial globe, etc., and the geographical position on the earth, the moon surface, etc. is associated with the posture where the globe is right above the moon globe, You may make it display the position quoted with the attitude
- Fig. 10 shows an example of the configuration
- Fig. 11 shows a plan map display.
- Figure 11 shows that the geographical position corresponding to the position directly above the globe is included in the Russian Federation, and the latitude and longitude (north latitude and east longitude) are 55.44 and 100.32.
- the moon ball may be placed on a support that can freely rotate as shown in Fig.
- the change in the attitude of the resulting sphere can be displayed as a trajectory on a flat map.
- the curve in Fig. 11 is an example of the change trajectory.
- a numerical value with a large number of digits can be quoted, so that it can be used as a dice that produces a numerical value that is much larger than that of a polyhedron. This configuration would be useful as a game or teaching material.
- a form in which bidirectional communication is performed between the force object M and the station N, which was unidirectional communication to the object M force station N is also effective.
- the configuration is the one-way communication configuration described so far plus the following components (see Fig. 14). That is, (in claim 9), in the remote station N, means nlO for obtaining secondary information based on the fixed information cited in the processing of n6, and means ni l for remotely transmitting the secondary information, in the object M,
- the receiving means ml 1 that receives the remote transmission signal of the secondary information and the output means mlO of the secondary information are combined.
- Means for obtaining secondary information nlO determines the difference (secondary information) between the above-mentioned third storage means for storing the expected signal reception pattern in advance and the expected signal reception pattern and the actual reception pattern, for example. Is a means to output.
- the secondary information output means mlO included in the object M outputs the secondary information so that it can be visually sensed by optical display, or so that the secondary information can be sensed auditoryly by sound waves. Outputs or outputs secondary information so that tactile sensing or visual sensing can be performed when an action occurs, such as a liquid crystal display, a lamp (light emitting diode), a speaker, etc., or an actuator driven based on secondary information It is.
- an abnormal state is determined by time or change order, An example of transmitting it to the station N force Ms and turning on the light emitting diode, an example of arranging a liquid crystal display on the Ms surface that displays ⁇ an abnormal state was recognized remotely '', a speaker that communicates remote recognition by voice This is an example in which a drive motor is installed in Ms and Ms is rotated by recognizing an abnormal condition.
- the acceptance of the order is displayed with the blue lamp of object M
- the sold-out information is displayed with the red lamp of object M
- the cooking status of the order is displayed as ⁇ cooking completed in 3 minutes ''
- secondary information such as “The total amount of the order is 2500 yen” may be displayed.
- the fixed information can be easily set at the remote station N and the setting can be changed as in the case of the unidirectional communication. It is preferable to do this.
- the fixed information associated with the posture of the object M can be visually recognized by looking at the surface of the object M It may be related to the figure drawn on the surface or the color applied to the surface, or even if it is related to the surface unevenness or surface feel that can be sensed by touching the surface of the object M. It is preferable to improve (Claims 11 and 12).
- a part of the surface is a partial surface
- the other surface force is a solid that can be visually discriminated, one force S of the posture of the object M, the object with the partial surface as the top of the solid or the bottom of the solid
- the separation step is also performed.
- the remote station N stores the expected signal reception pattern in advance for the remote transmission signal of the attitude sensor output received by the receiver N receiving means, and the expected signal reception pattern and the actual reception.
- a mode that also has a means for determining and outputting a difference from a pattern (claim 14), wherein the difference determination is based on a difference between an expected signal reception time pattern and an actual reception time pattern.
- the judgment based on the difference between the expected change order of the received signal and the actual change order of the received signal (Claim 16) may be a deviation.
- Embodiments such as emergency information communication of stores and elderly people living alone, location communication of company employees, order communication at restaurants, and sugoroku instruction information communication have been described so far.
- the ⁇ majority decision system '' by receiving multiple support postures' opposite postures using multiple objects M, the relationship between the object M posture and the problem option, and the posture of the expected correct option It is possible to realize a “problem correct answer / incorrect answer automatic determination system” that stores the correct answer / incorrect answer as secondary information.
- the location communication of a company employee can be used as a "work management system".
- the remote station N may also serve as a clock and may also include a storage means for reading and storing the time when the receiving means of the remote station N received the remote transmission signal of the attitude sensor output.
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Abstract
Description
Claims
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JP2010098372A (ja) * | 2008-10-14 | 2010-04-30 | Panasonic Electric Works Co Ltd | 遠隔管理器および遠隔操作装置 |
CN102902402A (zh) * | 2012-06-29 | 2013-01-30 | 联想(北京)有限公司 | 电子装置、电子设备和辨别电子装置的表面的方法 |
JP2015065585A (ja) * | 2013-09-25 | 2015-04-09 | 日本電信電話株式会社 | 遠隔制御システムとその方法 |
CN105068700A (zh) * | 2014-04-06 | 2015-11-18 | 浙江科创新材料科技有限公司 | 一种触摸屏的信息输入方法及信息输入*** |
CN105068700B (zh) * | 2014-04-06 | 2019-01-22 | 浙江科创新材料科技有限公司 | 一种触摸屏的信息输入方法及信息输入*** |
JP2016021613A (ja) * | 2014-07-11 | 2016-02-04 | 日本電信電話株式会社 | センシングユニット及び機能制御システム |
JP2016021612A (ja) * | 2014-07-11 | 2016-02-04 | 日本電信電話株式会社 | センシングユニット、センシングシステム及び機能制御システム |
JP2018026813A (ja) * | 2016-08-05 | 2018-02-15 | インディゴ株式会社 | 通信装置および通信システム |
JP2021111823A (ja) * | 2020-01-07 | 2021-08-02 | 国立大学法人信州大学 | 情報伝送装置および移動体および情報伝送方法および情報伝送プログラム |
JP7315924B2 (ja) | 2020-01-07 | 2023-07-27 | 国立大学法人信州大学 | 情報伝送装置および移動体および情報伝送方法および情報伝送プログラム |
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