Moving body, system, computer readable recording medium, and control method

Patent metadata

Field	Value
Publication number	US-12134486-B2
Application number	US-202217686424-A
Country	US
Kind code	B2
Filing date	Mar 4, 2022
Priority date	Sep 20, 2019
Publication date	Nov 5, 2024
Grant date	Nov 5, 2024

Abstract

There is provided a moving body including: an optical wireless communication unit configured to execute an optical wireless communication with another moving body; an object detection unit configured to detect an object around an own moving body; an object information transmission unit configured to transmit, to the other moving body, first object information including location information of the object, by the optical wireless communication or a radio wave communication; an object information receiving unit configured to receive, from the other moving body, second object information including location information of an object around the other moving body, by the optical wireless communication or the radio wave communication; and a movement control unit configured to control, based on the first object information and the second object information, a movement of the own moving body such that an object is not located on an optical axis of the optical wireless communication.

First claim

What is claimed is:

1. A moving body comprising:
an optical wireless communication unit configured to execute an optical wireless communication with another moving body;
an object detection unit configured to detect an object around an own moving body;
an object information transmission unit configured to transmit, to the other moving body, first object information including location information of the object, by the optical wireless communication or a radio wave communication;
an object information receiving unit configured to receive, from the other moving body, second object information including location information of an object around the other moving body, by the optical wireless communication or the radio wave communication; and
a movement control unit configured to control, based on the first object information and the second object information, a movement of the own moving body such that an object is not located on an optical axis of the optical wireless communication.

2. The moving body according to claim 1 , wherein the object detection unit is configured to detect the object around the own moving body by using at least any of a camera, radar, LiDAR, sonar, and an ultrasonic sensor.

3. The moving body according to claim 2 , wherein
the object information transmission unit is configured to transmit, to the other moving body, the first object information including the location information indicating a relative location of the object with the own moving body as a starting point, by the optical wireless communication or the radio wave communication.

4. The moving body according to claim 2 , wherein
the object detection unit is configured to detect a movement state of the object, and
the object information transmission unit is configured to transmit, to the other moving body, the first object information including the location information of the object and the movement state of the object, by the optical wireless communication or the radio wave communication.

5. The moving body according to claim 2 , wherein
the movement control unit is configured to control, based on a location and a movement direction of an approaching object that is an object which is predicted to enter the optical axis of the optical wireless communication, the movement of the own moving body such that the approaching object is not located on the optical axis of the optical wireless communication.

6. The moving body according to claim 2 , the moving body being an unmanned aerial vehicle.

7. The moving body according to claim 2 , the moving body being an underwater moving body configured to move underwater.

8. A system comprising:
the moving body according to claim 2 ; and
a first wireless base station that is connected to the moving body via a cable, wherein
the first wireless base station is configured to communicate with a second wireless base station that is connected to the other moving body via the cable, via the optical wireless communication, which is performed by the moving body, with the other moving body.

9. The moving body according to claim 1 , wherein
the object information transmission unit is configured to transmit, to the other moving body, the first object information including the location information indicating a relative location of the object with the own moving body as a starting point, by the optical wireless communication or the radio wave communication.

10. The moving body according to claim 9 , wherein
the object detection unit is configured to detect a movement state of the object, and
the object information transmission unit is configured to transmit, to the other moving body, the first object information including the location information of the object and the movement state of the object, by the optical wireless communication or the radio wave communication.

11. The moving body according to claim 1 , wherein
the object detection unit is configured to detect a movement state of the object, and
the object information transmission unit is configured to transmit, to the other moving body, the first object information including the location information of the object and the movement state of the object, by the optical wireless communication or the radio wave communication.

12. The moving body according to claim 11 ,
wherein
the object detection unit is configured to detect a movement direction or a movement speed of the object, and
the object information transmission unit is configured to transmit, to the other moving body, the first object information including the location information of the object, and the movement direction and the movement speed of the object, by the optical wireless communication or the radio wave communication.

13. The moving body according to claim 1 , wherein
the movement control unit is configured to control, based on a location and a movement direction of an approaching object that is an object which is predicted to enter the optical axis of the optical wireless communication, the movement of the own moving body such that the approaching object is not located on the optical axis of the optical wireless communication.

14. The moving body according to claim 13 , wherein
the movement control unit is configured to decide which one, between the own moving body and the other moving body, moves by communicating with the other moving body by the optical wireless communication or the radio wave communication, and the movement control unit is configured to control, when deciding that the own moving body moves, the movement of the own moving body such that the approaching object is not located on the optical axis of the optical wireless communication.

15. The moving body according to claim 14 , wherein
the movement control unit is configured to decide which one, between the own moving body and the other moving body, moves based on the location and the movement direction of the approaching object, a location relationship between the own moving body and the object around the own moving body, and a location relationship between the other moving body and the object around the other moving body.

16. The moving body according to claim 1 , the moving body being an unmanned aerial vehicle.

17. The moving body according to claim 1 , the moving body being an underwater moving body configured to move underwater.

18. A system comprising:
the moving body according to claim 1 ; and
a first wireless base station that is connected to the moving body via a cable, wherein
the first wireless base station is configured to communicate with a second wireless base station that is connected to the other moving body via the cable, via the optical wireless communication, which is performed by the moving body, with the other moving body.

19. A computer non-transitory computer-readable recording medium having a program recorded thereon, for causing a moving body to function as:
an optical wireless communication unit configured to execute an optical wireless communication with another moving body;
an object detection unit configured to detect an object around an own moving body;
an object information transmission unit configured to transmit, to the other moving body, first object information including location information of the object, by the optical wireless communication or a radio wave communication;
an object information receiving unit configured to receive, from the other moving body, second object information including location information of an object around the other moving body, by the optical

Assignees

• Softbank Corp

Inventors

• Imai Hiromichi

Classifications

• B64U2201/104

  using satellite radio beacon positioning systems, e.g. GPS · CPC title

• H04B13/02 Primary

  Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy · CPC title

• H04B10/1143 Primary

  Bidirectional transmission · CPC title

• G08G9/00

  Traffic control systems for craft where the kind of craft is irrelevant or unspecified · CPC title

• G08G7/00

  Traffic control systems for simultaneous control of two or more different kinds of craft · CPC title