MOVABLE BODY, PROGRAM, AND CONTROL METHOD

• Main Author: IMAI HIROMICHI
• Format: Patent
• Language: English; Japanese
• Published: 25.03.2021
• Subjects: AIRCRAFT CARRIERS; ELECTRIC COMMUNICATION TECHNIQUE; ELECTRICITY; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; EQUIPMENT FOR SHIPPING; LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS; MINE-LAYING; MINE-SWEEPING; OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; PERFORMING OPERATIONS; RELATED EQUIPMENT; SHIPS OR OTHER WATERBORNE VESSELS; SUBMARINES; TRANSMISSION; TRANSPORTING

To desirably provide a technology to support stable execution of optical wireless communication.SOLUTION: A movable body comprises: a movable body information transmitting unit that transmits first movable body information including first inertia measurement information indicating a result of measurement of the three-dimensional angular velocity and acceleration of the movable body and first body control information used by a propulsion unit that propels the movable body according to the first body control information, to another movable body through optical wireless communication performed by a first optical wireless communication unit; a movable body information receiving unit that receives second movable body information including second inertia measurement information indicating a result of measurement of the three-dimensional angular velocity and acceleration of the other movable body and second body control information used by a propulsion unit that propels the other movable body according to the second body control information, from the other movable body through the optical wireless communication performed by the first optical wireless communication unit; and an optical axis direction control unit that controls the direction of an optical axis of the first optical wireless communication unit based on the first movable body information and the second movable body information.SELECTED DRAWING: Figure 1 【課題】光無線通信を安定して実行することを支援する技術を提供することが望ましい。【解決手段】移動体であって、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、第１機体制御情報に従って移動体を推進させる推進部が用いる第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部と、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、第１光無線通信による光無線通信によって他移動体から受信する移動体情報受信部と、第１移動体情報及び第２移動体情報に基づいて、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る移動体を提供する。【選択図】図１