MOBILES, COMMUNICATION SYSTEMS, AND CONTROL METHODS
An aspect of the present invention is a mobile including an optical transmitter that transmits an optical signal by irradiating a light receiver of a reception device with a beam, an instruction receiver that receives a movement instruction to move the mobile to a designated position, a position acquirer that acquires a current position of the mobile, a direction acquirer that acquires a moving direction from the current position to the designated position, and a beam controller that performs change control of changing an irradiation direction of a beam according to the moving direction within a range in which the beam is emitted to the light receiver before the mobile starts to move toward the designated position.
1 . A mobile comprising:
an optical transmitter that transmits an optical signal by irradiating a light receiver of a reception device with a beam;
an instruction receiver that receives a movement instruction to move the mobile to a designated position;
a position acquirer that acquires a current position of the mobile;
a direction acquirer that acquires a moving direction from the current position to the designated position; and
a beam controller that performs change control of changing an irradiation direction of a beam according to the moving direction within a range in which the light receiver is irradiated with the beam before the mobile starts to move toward the designated position.
2 . The mobile according to claim 1 , further comprising:
a movement controller that moves the mobile toward the designated position, wherein
the movement controller moves the mobile toward the designated position after a predetermined delay time has elapsed since the change control is started.
3 . The mobile according to claim 1 , wherein the beam controller changes an irradiation direction in a direction opposite to the moving direction within a range in which the light receiver is irradiated with a beam.
4 . A communication system comprising: a mobile; and a reception device that receives a beam emitted from the mobile, wherein
the mobile comprises
an optical transmitter that transmits an optical signal by irradiating a light receiver of the reception device with a beam,
a first instruction receiver that receives a movement instruction to move the mobile to a designated position,
a first position acquirer that acquires a current position of the mobile,
a first direction acquirer that acquires a moving direction from the current position to the designated position, and
a beam controller that performs change control of changing an irradiation direction of a beam according to the moving direction acquired by the first direction acquirer within a range in which the light receiver is irradiated with the beam before the mobile starts to move toward the designated position, and
the reception device comprises
a second instruction receiver that receives the movement instruction, and
a light reception controller that performs change control of changing an orientation direction of the light receiver according to the movement instruction received by the second instruction receiver.
5 . The communication system according to claim 4 , wherein
the mobile comprises a movement controller that moves the mobile toward the designated position, and
the movement controller moves the mobile toward the designated position after a predetermined delay time has elapsed since the change control is started.
6 . The communication system according to claim 4 , wherein
the reception device comprises
a current position acquirer that acquires a current position of the mobile a plurality of times, and
a measurer that measures a moving speed of the mobile from a current position acquired a plurality of times by the current position acquirer, and
the light reception controller performs change control to change an orientation direction of the light receiver based on a moving speed measured by the measurer.
7 . The communication system according to claim 4 , wherein
the reception device comprises
a light reception position acquirer that acquires a light reception position of the beam,
a detector that detects a start of movement of the mobile from the light reception position acquired by the light reception position acquirer,
a delay time acquirer that acquires a delay time from when the second instruction receiver receives the movement instruction to when the detector detects the start of movement, and
a delay time notifier that notifies the mobile of the delay time acquired by the delay time acquirer.
8 . A control method of a mobile comprising an optical transmitter that transmits an optical signal by irradiating a reception device that receives a beam irradiated from a mobile with a beam, the method comprising:
receiving a movement instruction to move the mobile to a designated position;
acquiring a current position of the mobile;
acquiring a moving direction from the current position to the designated position; and
performing change control of changing an irradiation direction of a beam according to the moving direction within a range in which the light reception device is irradiated with the beam before the mobile starts to move toward the designated position.
9 . The mobile according to claim 2 , wherein the beam controller changes an irradiation direction in a direction opposite to the moving direction within a range in which the light receiver is irradiated with a beam.