JP2019204172A - Mobile object guidance system, mobile object guidance method and program - Google Patents

Abstract

To provide a mobile object guidance system, a mobile object guidance method and a program capable of guiding a mobile object to a target position even in an environment such as an indoor place or a dark place.SOLUTION: A mobile object guidance system includes: acquisition means 31 for acquiring information on received signal strength when radio signal transmitted from either a plurality of first communication devices provided at a plurality of positions in a predetermined area or a second communication device provided on a mobile object is received by the other; position estimation means 33 for estimating the position of the mobile object based on the received signal strength; and control means 34 for controlling the mobile object so that the mobile object approaches a target position based on the estimated position.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a mobile body guidance system, a mobile body guidance method, and a program for guiding a mobile body to a predetermined target position.

  In recent years, it is expected that mobile objects such as small unmanned multicopters will be used in various industrial fields. Examples of the use of such moving objects include tracking a suspicious person found by a security guard while imaging with a camera, observing wild animals in an environment where no humans exist nearby, or in a factory or warehouse For example, it is possible to perform a patrol and inspection, and to convey an article to a predetermined position.

  Thus, while utilization of a moving body is expected in various areas, a considerable training period is required for an operator of the moving body to master the operation. Therefore, a technique for autonomously controlling a moving body has been proposed.

  As such a technique, for example, one that performs position control of an unmanned multicopter using a GPS (Global Positioning System) signal is known (for example, see Non-Patent Document 1). In addition, it is also known that guidance control of an unmanned multicopter is performed based on image information captured using a camera mounted on the multicopter (see, for example, Non-Patent Document 2).

Satoshi Suzuki et al., “Navigation of autonomous flying drone in GPS / non-GPS space using extended Kalman filter”, Measurement and Control, Vol.56, No.9, pp.675-678, 2017 Ryosuke Mori and three others, "Guidance control of small unmanned helicopters based on visual information", Journal of the Robotics Society of Japan, November 2008, Vol. 26, No. 8, p.905-912

  In the technique described in Non-Patent Document 1, position control of an unmanned multicopter is performed based on GPS signals received from GPS satellites. For example, indoors, near buildings, under bridges, etc. In an environment where it is difficult to receive a GPS signal, the position control of the unmanned multicopter cannot be performed accurately, and as a result, it may be difficult to guide the unmanned multicopter to the target position.

  In the technique described in Non-Patent Document 2, it is necessary to acquire a sufficient amount of features for image processing. Therefore, in an environment with low luminance such as a dark place, the amount of features to be imaged is set. As a result, it may be difficult to perform guidance control of a small unmanned multicopter.

  The present invention has been made in view of the above problems, and for example, a moving body guiding system, a moving body guiding method capable of guiding a moving body to a target position even in an environment such as indoors or in a dark place, The purpose is to provide a program.

  In order to solve the above problems, firstly, the present invention provides a mobile body guidance system for guiding a mobile body to a target position, and when the mobile body is present in a predetermined area including the target position, When the other receives a radio signal transmitted from one of a plurality of first communication devices provided at each of a plurality of positions in a predetermined area and a second communication device provided on the moving body. Acquisition means for acquiring information on received signal strength over time, and position estimating means for estimating the position of the moving body based on the received signal strength of a radio signal transmitted or received by each of the plurality of first communication devices And a control means for controlling the moving body so that the moving body approaches the target position based on the estimated position (Invention 1).

  Here, the information on the received signal strength may be, for example, a value of the received signal strength, or a value obtained by substituting the received signal strength value into a predetermined calculation formula. Information indicating the degree of received signal strength may be used.

  According to this invention (Invention 1), the position of the moving body is estimated based on the information related to the received signal strength of the radio signal received by the first communication apparatus or the second communication apparatus, and the moving body is based on the estimated position. Is controlled so as to approach the target position, it is possible to guide the moving body to the target position based on the received signal strength of the radio signal received by the first communication device or the second communication device. Here, even when the predetermined area including the target position is provided in an environment such as indoors or in a dark place, wireless signals can be transmitted and received between the first communication device and the second communication device. Since it is possible, when a mobile body exists in a predetermined area | region, a mobile body can be controlled so that it always moves toward a target position. Thereby, the moving body can be guided to the target position even in an environment such as indoors or in a dark place.

  In the said invention (invention 1), the said position estimation means was produced | generated based on the received signal strength of the radio signal corresponding to each of at least 3 1st communication apparatus among these 1st communication apparatuses, A first vector whose element is a distance between each of at least three first communication devices and the second communication device, and a second vector corresponding to a predetermined position in the predetermined region, wherein the at least three first The position of the moving body may be estimated based on the similarity between the second vector having the distance between each communication device and the predetermined position as an element (invention 2).

  Here, of the first communication device and the second communication device, the reception characteristic (for example, antenna gain) of one communication device that receives a radio signal differs depending on, for example, the type and / or individual of the one communication device. Therefore, when the second communication device is present at a certain position within the predetermined area, the received signal strength of the radio signal received by the one communication device is determined for each type and / or individual of the one communication device. May be different. That is, the relationship between the distance between each of the plurality of first communication devices and the second communication device and the received signal strength is the type of one of the first communication device and the second communication device that receives a radio signal. It may be different for each and / or individual.

  According to this invention (Invention 2), the distance between each of the at least three first communication devices and the second communication device is determined based on the information on the received signal strength corresponding to each of the at least three first communication devices. For example, the reception characteristic of one communication device that receives a radio signal among the first communication device and the second communication device is determined for each type and / or individual of the one communication device. Even if different from each other, the relationship between the first vector, the received signal strength corresponding to each of the at least three first communication devices, and the distance between each of the at least three first communication devices and the second communication device. Can be generated for each of at least three first communication devices. Then, the position of the second communication device is estimated based on the similarity between the first vector and the second vector whose element is the distance between each of the at least three first communication devices and the predetermined position in the predetermined region. Therefore, for example, when the similarity between the first vector and the second vector is high, the predetermined position corresponding to the second vector can be estimated as the position of the second communication device. As described above, the second communication device is not simply compared with the distance between the first communication device and the second communication device determined based on the information on the received signal strength, but based on the similarity between the first vector and the second vector. The position of the second communication device can be accurately estimated regardless of the difference in the reception characteristics of one of the first communication device and the second communication device that receives the radio signal. it can.

  In the said invention (invention 1-2), the direction estimation which estimates the moving direction of the said mobile body based on the time-dependent change of the received signal strength of the radio signal which each of the said some 1st communication apparatus transmitted or received The control means may control the moving body so that the moving body approaches the target position based on the estimated moving direction and the estimated position (Invention 3).

  According to this invention (invention 3), the moving direction and position of the moving body are estimated based on the information related to the received signal strength of the radio signal received by the first communication device or the second communication device, and the estimated moving direction and Based on the position, the moving body can be controlled so as to approach the target position (for example, the moving direction of the moving body is directed to the target position), so that the first communication device or the second communication device has received it. The moving body can be easily guided to the target position based on the received signal strength of the radio signal.

  In the said invention (invention 3), the said direction estimation means of the said some 1st communication apparatus from the 1st communication apparatus with which the received signal strength of the radio signal transmitted or received among the said some 1st communication apparatuses decreased. The first communication in which the received signal strength of the radio signal is reduced based on the corresponding reduction amount and increase amount of the received signal strength for the vector directed to the first communication device in which the received signal strength of the transmitted or received radio signal is increased. The moving direction of the moving body may be estimated based on a combined vector generated for each device and the generated vector combined (Invention 4).

  According to this invention (invention 4), the received signal strength of the radio signal is increased (that is, the moving body is reduced) from the first communication device in which the received signal strength of the radio signal is reduced (that is, the moving body is separated). Since the moving direction of the moving body is estimated based on the combined vector obtained by combining the vectors directed to the first communication device (which is approaching), the moving direction of the moving body can be estimated based on the received signal strength of the radio signal. . Thereby, since the moving direction of a moving body can be estimated, for example, without using a direction sensor etc., the manufacturing cost of a moving body guidance system can be held down.

  In the above inventions (1 to 4), any one of the plurality of first communication devices is provided at the target position, and the first communication device provided at the target position transmits. Alternatively, when the received signal strength of the received radio signal satisfies a predetermined condition, a detecting unit that detects that the moving body has reached the target position may be provided (invention 5).

  According to this invention (invention 5), when the received signal strength of the radio signal transmitted or received by the first communication device provided at the target position satisfies a predetermined condition, it is detected that the moving body has reached the target position. This makes it possible to easily recognize that the moving body has reached the target position.

  In the above invention (invention 5), the predetermined condition is that the received signal strength of the radio signal transmitted or received by the first communication device provided at the target position is provided at a plurality of positions in the predetermined area. It may also include that the received signal strength of the wireless signal transmitted or received by the first communication device is higher (Invention 6).

  According to this invention (invention 6), the received signal strength of the radio signal transmitted or received by the first communication device provided at the target position is transmitted by the first communication device provided at a plurality of positions within the predetermined region. Alternatively, when the received signal strength of the received radio signal is higher (that is, the distance between the first communication device provided at the target position and the moving body is the first communication provided at each of the plurality of positions within the predetermined area. It is possible to detect that the moving body has reached the target position when the distance is shorter than the distance between the apparatus and the moving body.

  In the above inventions (inventions 5 to 6), the predetermined condition may include that a received signal strength of a radio signal transmitted or received by the first communication device provided at the target position is equal to or greater than a predetermined value. (Invention 7).

  According to this invention (invention 7), when the received signal strength of the radio signal transmitted or received by the first communication device provided at the target position is equal to or greater than a predetermined value (that is, the first communication device provided at the target position). It is possible to detect that the moving body has reached the target position when the distance between the moving body and the moving body is equal to or less than a predetermined value.

  In the above inventions (Inventions 5 to 7), when it is detected that the moving body has reached the target position, an image pickup means for picking up the direction of the target position from the moving body, and based on the picked up image And second control means for controlling the movement of the movable body (Invention 8).

  According to this invention (invention 8), when the moving body reaches the target position, the direction of the target position can be imaged from the moving body, so the target position and the surrounding safety are confirmed based on the captured image. can do. Therefore, for example, when it is detected based on the captured image that an object such as an obstacle exists at the target position, the moving body is controlled so as to stop or descend near the target position while avoiding the object. For example, when it is detected based on the captured image that the position of the moving body is deviated from the target position, it is possible to control the moving body so that the position of the moving body matches the target position. become.

  In the said invention (invention 1-8), the 2nd acquisition means which acquires the positioning signal transmitted from the artificial satellite, The 2nd position estimation means which estimates the position of the said mobile body based on the acquired positioning signal, And a second control unit that moves the moving body into the predetermined area when the position of the moving body is outside the predetermined area (Invention 9).

  According to this invention (invention 9), when the moving body is outside the predetermined area, the moving body is controlled to move into the predetermined area based on the positioning signal transmitted from the artificial satellite. it can.

  A second aspect of the present invention is a moving body guiding method for guiding a moving body to a target position using a computer, wherein the computer is configured such that when the moving body exists in a predetermined area including the target position, When the other receives a radio signal transmitted from one of a plurality of first communication devices provided at each of a plurality of positions in a predetermined area and a second communication device provided on the moving body. Obtaining information on received signal strength over time, estimating a position of the moving body based on received signal strength of a radio signal transmitted or received by each of the plurality of first communication devices, and estimating And a step of controlling the moving body so that the moving body approaches the target position based on the determined position, and a moving body guidance method for executing each step (Invention 10).

  Thirdly, the present invention is a program for guiding a moving object to a target position using a computer, and the predetermined object when the moving object exists in a predetermined area including the target position in the computer. Reception when the other receives a radio signal transmitted from one of a plurality of first communication devices provided at each of a plurality of positions in the region and a second communication device provided in the mobile body A function of acquiring information on signal strength over time, a function of estimating the position of the mobile body based on a received signal strength of a radio signal transmitted or received by each of the plurality of first communication devices, and And a function for controlling the moving body so that the moving body approaches the target position based on the determined position (invention 11).

  According to the mobile body guidance system, the mobile body guidance method, and the program of the present invention, the mobile body can be guided to the target position even in an environment such as indoors or in a dark place.

It is a figure showing roughly the basic composition of the mobile guidance system concerning a 1st embodiment of the present invention. It is a block diagram which shows the structure of a 2nd communication apparatus. It is a functional block diagram for demonstrating the function which plays a main role in a mobile body guidance system. It is a figure which shows an example of the moving direction of the moving body within an area | region. It is a figure which shows the structural example of acquisition data. It is a figure which shows the relationship between the distance between a 1st communication apparatus and a 2nd communication apparatus, and received signal strength. It is a figure which shows an example of a synthetic | combination vector. It is a figure which shows an example of the moving direction of a moving body, and the direction of a target position. It is a flowchart which shows an example of the main processes of the moving body guidance system which concerns on 1st Embodiment of this invention. It is a figure which shows an example of the several sub area | region used as the object of position estimation in the mobile guidance system which concerns on 2nd Embodiment of this invention. It is a figure which shows the structural example of 2nd vector data. It is a figure which shows an example of a vector space model. It is a figure which shows an example of the some sub area | region used as the object of position estimation in the modification of the mobile body guidance system which concerns on 2nd Embodiment of this invention. It is a functional block diagram for demonstrating the function which plays the main role in the mobile body guidance system which concerns on a modification. It is a functional block diagram for demonstrating the function which plays the main role in the mobile body guidance system which concerns on a modification.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described in detail with reference to the accompanying drawings. However, this embodiment is an exemplification, and the present invention is not limited to this.

(1) Basic Configuration of Moving Body Guiding System FIG. 1 is a diagram schematically showing a basic configuration of a moving body guiding system according to the first embodiment of the present invention. As shown in FIG. 1, this moving body guidance system is a system for guiding a multicopter M to a target position G in a predetermined area R, and when the multicopter M exists in the area R, the target A second communication device provided in the multicopter M with radio signals transmitted from a plurality (five in the example of FIG. 1) of first communication devices 10 provided at each of the positions G and R in the region R. The movement direction and position of the multicopter M are estimated based on the received signal strength (RSSI: Received Signal Strength Indicator) when 20 is received, and the movement direction of the multicopter M is determined as the target position based on the estimated movement direction and position. The multicopter M is guided to the target position by changing in the direction of. The region R may be an outdoor region, for example, in an environment where it is difficult to receive a positioning signal (for example, a GPS signal) transmitted from an artificial satellite (for example, indoors, the vicinity of a building, a bridge, etc. It may be a region provided in the lower part or the like.

  The first communication device 10 may be a communication device such as a Bluetooth (registered trademark) Low Energy (BLE) beacon, for example. When the multicopter M exists in the region R, a wireless communication standard such as BLE is used. And configured to perform wireless communication with the second communication device 20. For example, the first communication device 10 may transmit an advertisement signal (wireless signal) at a predetermined interval (for example, an interval of 100 milliseconds) in BLE advertisement.

  The second communication device 20 is provided in the multicopter M, and is configured to be able to communicate with the multicopter M in a wired or wireless manner. Further, the second communication device 20 performs wireless communication with each of the plurality of first communication devices 10 when the multicopter M exists in the region R, and the wireless communication transmitted from each of the plurality of first communication devices 10. Each time a signal is received, the received signal strength of the received radio signal is measured. Further, the second communication device 20 is configured to estimate the movement direction and position of the multicopter M based on the measured received signal strength, and to control the movement of the multicopter M based on the estimated movement direction and position. ing. The second communication device 20 may be a device that receives a radio signal such as a BLE advertisement signal, and includes a mobile terminal, a smartphone, a PDA (Personal Digital Assistant), a personal computer, and a bidirectional communication function. It may be a communication device such as a television receiver (including a so-called multi-function smart TV).

  The multicopter M is a small unmanned rotorcraft equipped with a plurality of rotors (four in the example of FIG. 1), and includes control commands (for example, takeoff / landing, stop, front / rear, left / right) transmitted from the second communication device 20. Movement, vertical movement, movement speed, rotation, rotation angle, imaging using a camera, etc.). In the present embodiment, the multicopter M is an example of the “moving body” in the present invention.

  In addition, although the case where radio | wireless communication is performed using BLE is demonstrated as an example here, it is not restricted to this case. The first communication device 10 and the second communication device 20 use a wireless communication system such as a wireless LAN (for example, Wi-Fi (registered trademark)), ZigBee (registered trademark), UWB, optical wireless communication (for example, infrared), for example. Wireless communication may be performed.

(2) Configuration of Second Communication Device The second communication device 20 will be described with reference to FIG. FIG. 2 is a block diagram showing an internal configuration of the second communication device 20. As shown in FIG. 2, the second communication device 20 includes a CPU (Central Processing Unit) 21, a ROM (Read Only Memory) 22, a RAM (Random Access Memory) 23, a storage device 24, and a communication interface unit 25. And a bus 20a for transmitting a control signal or a data signal between the respective units.

  When the power is turned on to the second communication device 20, the CPU 21 loads various programs stored in the ROM 22 or the storage device 24 to the RAM 23 and executes them. In the present embodiment, the CPU 21 reads and executes a program stored in the ROM 22 or the storage device 24, thereby obtaining an acquisition unit 31, a direction estimation unit 32, a position estimation unit 33, a control unit 34, a detection unit 35, and The function of the second control means 36 (shown in FIG. 3) is realized. In addition, the CPU 21 executes a program for operating the multicopter M to control the multicopter M (for example, takeoff / landing, stop, forward / backward / left / right movement, up / down movement, movement speed, rotation, rotation angle, Imaging using a camera or the like may be transmitted to the multicopter M via the communication interface unit 25.

  The storage device 24 is a non-volatile storage device such as a flash memory, an SSD (Solid State Drive), a magnetic storage device (for example, an HDD (Hard Disk Drive), a floppy disk (registered trademark), a magnetic tape, or the like), an optical disk, or the like. It may be a volatile storage device such as a RAM, and stores a program executed by the CPU 21 and data referred to by the CPU 21. The storage device 24 stores acquired data (shown in FIG. 5) to be described later.

  The communication interface unit 25 includes an interface circuit for communicating with the plurality of first communication devices 10 and an interface circuit for communicating with the multicopter M. The interface circuit for communicating with the plurality of first communication devices 10 includes an RSSI circuit that detects a received signal strength (RSSI) of the wireless signal when the wireless signal transmitted from the first communication device 10 is received. Is provided.

  Note that the wireless signal transmitted from the first communication device 10 may include identification information (for example, a MAC (Media Access Control) address) of the first communication device 10 that has transmitted the wireless signal.

(3) Overview of Functions in Moving Body Guidance System Functions implemented by the moving body guidance system of the present embodiment will be described with reference to FIG. FIG. 3 is a functional block diagram for explaining functions that play a main role in the moving body guidance system of the present embodiment. In the functional block diagram of FIG. 3, the acquisition unit 31, the position estimation unit 33, and the control unit 34 correspond to the main configuration of the present invention. Other means (direction estimation means 32, detection means 35, and second control means 36) are not necessarily indispensable components, but are components for making the present invention more preferable.

  In describing each function in the moving body guidance system of the present embodiment, as shown in FIG. 4, the region R is xy when the plane extending in the horizontal direction perpendicular to the gravity direction is the xy plane. Assume a case where the plane is provided in a rectangular shape. In addition, here, the target position G is set at the center of the region R (the origins of the x-axis and the y-axis), and the first communication device is placed at a total of five corners of the region R surrounding the target position G and the target position G. Assume that 10 is arranged. Of the five first communication devices 10, the first communication devices 10 arranged at the four corners of the region R are designated as the first communication device A, the first communication device B, the first communication device C, and the first communication device D. The first communication device 10 arranged at the target position G is appropriately expressed as a first communication device E.

  The acquisition unit 31 includes a plurality of first communication devices 10 provided at each of a plurality of positions in the predetermined region R when the multicopter M (moving body) exists in the predetermined region R including the target position G. And a function of acquiring information related to received signal strength over time when the other receives a radio signal transmitted from one of the second communication devices 20 provided in the multicopter M. Here, the information on the received signal strength may be, for example, a received signal strength value (RSSI value) or a value obtained by substituting the received signal strength value into a predetermined calculation formula. Alternatively, it may be information indicating the degree of received signal strength.

  The function of the acquisition means 31 is implement | achieved as follows, for example. Here, a case will be described as an example in which the acquisition unit 31 acquires information on the received signal strength when the second communication device 20 receives radio signals transmitted from the plurality of first communication devices 10. The CPU 21 of the second communication device 20 receives (acquires) the radio signal transmitted from each of the plurality of first communication devices 10 via the communication interface unit 25 when the multicopter M exists in the region R. Each time, the received signal strength value detected by the communication interface unit 25 and the identification information of the first communication device 10 that has transmitted the radio signal are associated with each other and stored in, for example, the acquired data illustrated in FIG. The acquired data is data in which the value of the received signal strength of the radio signal received from the corresponding first communication device is described for each of the plurality of first communication devices (A to E in the example of FIG. 5).

  The direction estimating means 32 has a function of estimating the moving direction of the multicopter M (moving body) based on the change over time of the received signal strength of the radio signal transmitted or received by each of the plurality of first communication devices 10. .

  In addition, the direction estimation unit 32 transmits or receives wireless signals transmitted or received among the plurality of first communication devices 10 from the first communication device 10 whose reception signal strength of the wireless signals transmitted or received among the plurality of first communication devices 10 has decreased. A vector directed to the first communication device 10 in which the received signal strength of the signal has increased is generated for each first communication device 10 in which the received signal strength of the radio signal has decreased based on the corresponding decrease and increase in the received signal strength. Then, the moving direction of the multicopter M (moving body) may be estimated based on the combined vector obtained by combining the generated vectors. In this case, the received signal strength of the radio signal has decreased (that is, the multicopter M has moved away), and the received signal strength of the radio signal has increased from the first communication device 10 (that is, the multicopter M has approached). Since the moving direction of the multicopter M is estimated based on the combined vector obtained by combining the vectors facing the first communication device 10, the moving direction of the multicopter M can be estimated based on the received signal strength of the radio signal. Thereby, since the moving direction of the multicopter M can be estimated, for example, without using a direction sensor etc., the manufacturing cost of a mobile body guidance system can be held down.

The function of the direction estimation means 32 is implement | achieved as follows, for example. Here, as shown in FIG. 4, it is assumed that the multicopter M is moving from the position P1 in the region R toward the position P2. First, the CPU 21 of the second communication device 20 changes the plurality of first communication devices 10 to the multicopter M based on the change over time of the received signal strength of the radio signal received from each of the plurality of first communication devices 10. Are classified into the first communication device 10 that is moving away and the first communication device 10 that is approaching the multicopter M. Here, the relationship between the received signal strength of the radio signal received from any of the first communication devices 10 by the second communication device 20 and the distance between the second communication device 20 and the first communication device 10 is as follows. It is expressed using equation (1).

  In the formula (1), d represents the distance (m) between the multicopter M and the first communication device 10, and λ represents the wavelength (m) of the radio signal. Here, λ is about 0.125 (m), for example, assuming that the radio wave speed of the radio signal is the same as the speed of light and the frequency of the radio signal is 2.4 (Ghz). That is, the relationship between the received signal strength of the radio signal received from any of the first communication devices 10 by the second communication device 20 and the distance between the second communication device 20 and the first communication device 10 is, for example, FIG. The received signal strength value increases as the distance between the second communication device 20 and the first communication device 10 is shorter.

  Therefore, the CPU 21 replaces the first communication device 10 in which the value of the received signal strength of the corresponding wireless signal among the plurality of first communication devices 10 becomes smaller with the first communication device 10 in which the multicopter M moves away. It discriminate | determines and the 1st communication apparatus 10 from which the value of the received signal strength of a corresponding radio signal becomes large among the some 1st communication apparatuses 10 is discriminate | determined from the 1st communication apparatus 10 to which the multicopter M approaches. In the example of FIG. 4, the first communication devices C and D among the plurality of first communication devices A to D are determined as the first communication device 10 from which the multicopter M is separated, and the first communication devices A and D B can be identified as the first communication device 10 to which the multicopter M is approaching.

Next, for each first communication device 10 (here, the first communication devices C and D) from which the multicopter M is separated, the CPU 21 performs a multicopter from each of the first communication devices 10 from which the multicopter M is separated. A vector directed to each of the first communication devices 10 (here, the first communication devices A and B) that M approaches is generated. The magnitude of the generated vector may be, for example, the slope of a regression line when a time-dependent change in received signal strength of a radio signal is used as time series data. Then, after generating all the vectors, the CPU 21 generates a combined vector v _d of the generated vectors using the following equation (2).

In equation (2), b ⁻ is the position (∀b ⁻ ∈B ⁻ ) of the first communication device 10 where the multicopter M is moving away, and b ⁺ is the first communication device where the multicopter M is approaching. There are 10 positions (∀b ⁺ εB ⁺ ). Further, i _{b +} is the amount of increase in received signal strength, and d _b− is the amount of decrease in received signal strength. The combined vector v _d generated in this way is shown in FIG. Here, an angle (in this case, the angle between the resultant vector v _d and x-axis) when expressed in the resultant vector v _d a polar coordinate system by obtaining the .theta.1, the moving direction of the multirotor M is estimated.

  The position estimation unit 33 has a function of estimating the position of the multicopter M (moving body) based on the received signal strength of the radio signal transmitted or received by each of the plurality of first communication devices 10.

The function of the position estimation means 33 is implement | achieved as follows, for example. First, the CPU 21 of the second communication device 20 has the first communication device 10 existing on the positive side of each of the x-axis and the y-axis on the xy plane (in the example of the figure, the first one existing on the positive side of the x axis) The communication device 10 is the first communication device C, D, and the first communication device 10 existing on the positive side of the y-axis is the first communication device B, C) 1st communication device 10 existing on the side (in the example of the figure, the first communication device 10 existing on the negative side of the x-axis is the first communication device A, B, and the first communication existing on the negative side of the y-axis. And the average value of the latest received signal strengths of the first communication devices A and D). Next, the CPU 21 estimates coordinates (x, y) on the xy plane of the position P2 of the multicopter M using the following formula (3).

  The control unit 34 has a function of controlling the multicopter M so that the multicopter M (moving body) approaches the target position G based on the position estimated by the position estimation unit 33.

  Further, the control means 34 is configured so that the multicopter M (moving body) approaches the target position G based on the moving direction estimated by the direction estimating means 32 and the position estimated by the position estimating means 33. M may be controlled.

The function of the control means 34 is implement | achieved as follows, for example. Here, the control unit 34 causes the multicopter M (moving body) to approach the target position G based on the movement direction estimated by the direction estimation unit 32 and the position estimated by the position estimation unit 33. A case where the multicopter M is controlled will be described as an example. The CPU 21 of the second communication device 20 generates a vector Ad from the position P2 of the multicopter M estimated based on the function of the position estimating means 33 to the coordinates on the xy plane of the target position G (that is, the coordinates of the origin). Then, the direction from the position P2 of the multicopter M to the target position G is estimated by determining the angle θ2 of the vector Ad (here, the angle between the vector Ad and the x axis). Then, CPU 21 changes the direction of the vector Ad the moving direction of the multirotor M from the direction of the resultant vector v _d (i.e., change in the angle between x-axis from .theta.1 .theta.2) by the movement of the multirotor M The direction is changed to the direction of the target position G.

  The detection means 35 is configured to detect the multicopter M (moving body) reaching the target position G when the received signal strength of the radio signal transmitted or received by the first communication device 10 provided at the target position G satisfies a predetermined condition. It has a function to detect what happened. Thereby, when the received signal strength of the radio signal transmitted or received by the first communication device 10 provided at the target position G satisfies a predetermined condition, it can be detected that the multicopter M has reached the target position G. Since it becomes possible, it can be easily recognized that the multicopter M has reached the target position G.

  Here, the predetermined condition is that the received signal strength of the radio signal transmitted or received by the first communication device 10 provided at the target position G is the first communication device 10 provided at a plurality of positions in the predetermined region R. May be higher than the received signal strength of the transmitted or received radio signal. Thereby, the received signal strength of the radio signal transmitted or received by the first communication device 10 provided at the target position G is transmitted or received by the first communication device 10 provided at a plurality of positions within the predetermined region R. When the received signal strength of the radio signal is higher (that is, the distance between the first communication device 10 provided at the target position G and the multicopter M is the first provided at each of the plurality of positions in the predetermined region R). It is possible to detect that the multicopter M has reached the target position G when the distance is shorter than the distance between the communication device 10 and the multicopter M).

  The predetermined condition may include that the received signal strength of a radio signal transmitted or received by the first communication device 10 provided at the target position G is equal to or greater than a predetermined value. Thus, when the received signal strength of the radio signal transmitted or received by the first communication device 10 provided at the target position G is equal to or higher than a predetermined value (that is, the first communication device 10 provided at the target position G and the multicopter It is possible to detect that the multicopter M has reached the target position G when the distance to M is equal to or less than a predetermined value.

  The function of the detection means 35 is implement | achieved as follows, for example. When the CPU 21 of the second communication device 20 acquires information on the received signal strength of the radio signal transmitted from each of the plurality of first communication devices 10 based on the function of the acquisition unit 31, for example, the target position G The received signal strength of the radio signal transmitted by the first communication device 10 (here, the first communication device E) provided in the first communication device 10 (here, the first communication device 10 provided in a plurality of positions in the region R) When the received signal strength of the radio signal transmitted by the first communication device A to D) is higher, it may be detected that the multicopter M has reached the target position G. In addition, for example, when the received signal strength of the radio signal transmitted by the first communication device 10 (first communication device E) provided at the target position G is equal to or higher than a predetermined value (for example, −50 dBm), the CPU 21 It may be detected that the copter M has reached the target position G.

  Further, the CPU 21 receives the first communication device in which the received signal strength of the radio signal transmitted by the first communication device 10 (first communication device E) provided at the target position G is provided at a plurality of positions in the region R. 10 (first communication devices A to D) is higher than the received signal strength of the wireless signal transmitted, and is transmitted by the first communication device 10 (first communication device E) provided at the target position G. When the received signal strength of the signal is equal to or higher than a predetermined value (for example, −50 dBm or the like), it may be detected that the multicopter M has reached the target position G.

  Whether or not the detection means 35 has a significant difference in average values within a predetermined period of received signal strength corresponding to at least two first communication devices 10 including the first communication device 10 provided at the target position G. When it is determined that there is a significant difference, it may be detected that the multicopter M has reached the target position G. Thus, the received signal strength corresponding to each of the plurality of first communication devices 10 is not simply compared in magnitude, but for example, the received signal strength corresponding to the first communication device 10 provided at the target position G and other Based on whether or not there is a significant difference from the received signal strength corresponding to one communication apparatus 10 (that is, whether or not the received signal strength difference is accidental), the multicopter M is set to the target position G. By detecting that the multi-copter M has reached the target position G, it is possible to accurately detect that the multi-copter M has reached the target position G.

  In this case, for example, the CPU 21 has received signal strengths of radio signals transmitted from the first communication device 10 (first communication device E) provided at the target position G at the plurality of positions in the region R. The first communication device 10 (first communication device A) provided at a plurality of positions in the region R when the received signal strength of the radio signal transmitted by the first communication device 10 (first communication devices A to D) is higher. To D), the first communication device 10 corresponding to the highest received signal strength is selected, and the received signal strength corresponding to the selected first communication device 10 and the first communication device 10 provided at the target position G are selected. Whether or not the received signal strength corresponding to (first communication device E) follows a normal distribution (whether or not it has normality), a normality test (for example, Kolmogorv-Smirnov test, Shapiro-Wilk test, etc.) ) May be determined.

  Next, when it is determined that the CPU 21 has normality, the CPU 21 may perform a parametric test. Specifically, the CPU 21 receives the received signal strength corresponding to the selected first communication device 10 and the received signal strength corresponding to the first communication device 10 (first communication device E) provided at the target position G. May be discriminated by performing, for example, F test.

  Next, when it is determined that the CPU 21 has equal dispersibility, the received signal strength corresponding to the selected first communication device 10 and the first communication device 10 (first first) provided at the target position G are displayed. Whether or not there is a significant difference in the average value of the received signal strength with the received signal strength corresponding to the communication device E) may be determined, for example, by performing a t-test. Further, when the CPU 21 determines that there is no equidispersity, the CPU 21 connects the selected first communication device 10 and the first communication device 10 (first communication device E) provided at the target position G. Whether or not there is a significant difference between the average values of the received signal strengths within a predetermined period may be determined, for example, by performing Welch's t-test.

  Further, when the CPU 21 determines that the normality is not established, the CPU 21 determines between the selected first communication device 10 and the first communication device 10 (first communication device E) provided at the target position G. Whether or not there is a significant difference in the average value of the received signal strength within a predetermined period may be determined by performing a non-parametric test such as Mann-Whitney U test or Wilcoxon rank sum test.

  Then, the CPU 21 determines the significance of the average value of the received signal strength within a predetermined period between the selected first communication device 10 and the first communication device 10 (first communication device E) provided at the target position G. When it is determined that there is a difference, it may be detected that the multicopter M has reached the target position G.

  The second control unit 36 has a function of controlling the movement of the multicopter M when it is detected that the multicopter M (moving body) has reached the target position G.

  The function of the 2nd control means 36 is implement | achieved as follows, for example. When the CPU 21 of the second communication device 20 detects that the multicopter M has reached the target position G based on the function of the detection means 35, the CPU 21 stops the movement of the multicopter M (that is, the movement of the multicopter M). The control command for the speed to be zero) may be transmitted to the multicopter M via the communication interface unit 25, or the control command for lowering the multicopter M may be transmitted via the communication interface unit 25. May be sent to.

(4) Flow of main processing of mobile body guidance system of this embodiment Next, an example of the flow of main processing performed by the mobile body guidance system of this embodiment will be described with reference to the flowchart of FIG. .

  First, the CPU 21 of the second communication device 20 receives (acquires) a radio signal transmitted from each of the plurality of first communication devices 10 via the communication interface unit 25 when the multicopter M exists in the region R. Then (step S100), the value of the received signal strength detected by the communication interface unit 25 and the identification information of the first communication device 10 that has transmitted the radio signal are associated with each other and stored in the acquired data.

Next, the CPU 21 of the second communication device 20 determines the moving direction of the multicopter M (moving body) based on the change over time of the received signal strength of the radio signal transmitted by each of the plurality of first communication devices 10. Estimate (step S102). Specifically, the CPU 21 first sets the plurality of first communication devices 10 to the multicopter M based on the change over time of the received signal strength of the radio signal received from each of the plurality of first communication devices 10. Are classified into the first communication device 10 that is moving away and the first communication device 10 that is approaching the multicopter M. Next, for each first communication device 10 (for example, the first communication devices C and D) from which the multicopter M is separated, the CPU 21 determines the multicopter M from each of the first communication devices 10 from which the multicopter M is separated. Generates a vector directed to each of the first communication devices 10 (for example, the first communication devices A and B) approaching. Then, the CPU 21 generates a combined vector v _d of the generated vectors. The moving direction of the multicopter M can be estimated by determining the angle θ1 when the combined vector v _d is expressed in a polar coordinate system.

  Next, the CPU 21 of the second communication device 20 estimates the position of the multicopter M (moving body) based on the received signal strength of the radio signal transmitted by each of the plurality of first communication devices 10 (step S104). Specifically, for each of the x-axis and the y-axis on the xy plane, the CPU 21 calculates the latest average received signal strength of the first communication device 10 present on the positive side and the first value present on the negative side. The latest average received signal strength of the communication device 10 is obtained. Next, the CPU 21 estimates the coordinates (x, y) on the xy plane of the position P2 of the multicopter M using the above-described equation (3).

Next, the CPU 21 of the second communication device 20 changes the moving direction of the multicopter M (moving body) based on the estimated moving direction and position (step S106). More specifically, the CPU 21 generates a vector Ad from the estimated position P2 of the multicopter M toward the coordinates on the xy plane of the target position G (that is, the coordinates of the origin), and determines the angle θ2 of the vector Ad. Thus, the direction from the position P2 of the multicopter M to the target position G is estimated. Then, CPU 21 by changing the direction of the vector Ad the moving direction of the multirotor M from the direction of the resultant vector v _d, changes the moving direction of the multirotor M in the direction of the target position G.

  Next, the CPU 21 of the second communication device 20 determines whether or not the received signal strength of the radio signal transmitted by the first communication device 10 provided at the target position G among the plurality of first communication devices 10 satisfies a predetermined condition. Is determined (step S108). Here, the predetermined condition is that the received signal strength of the radio signal transmitted by the first communication device 10 provided at the target position G is transmitted by the first communication device 10 provided at a plurality of positions in the predetermined region R. The received signal strength of the radio signal transmitted by the first communication device 10 provided at the target position G may be higher than a predetermined value. It may be a combination thereof. Further, the predetermined condition is verified that there is a significant difference in the average value within a predetermined period of the received signal strength corresponding to at least two first communication devices 10 including the first communication device 10 provided at the target position G. May be.

  Next, when the CPU 21 of the second communication device 20 determines that the received signal strength of the radio signal transmitted by the first communication device 10 provided at the target position G satisfies a predetermined condition (step S108: YES). Then, it is detected that the multicopter M has reached the target position G (step S110), and the movement of the multicopter M is controlled (step S112). For example, the CPU 21 may transmit a control command for stopping the movement of the multicopter M to the multicopter M via the communication interface unit 25, or send a control command for lowering the multicopter M to the communication interface unit. 25 may be transmitted to the multicopter M.

  When the CPU 21 determines in step S108 that the received signal strength of the radio signal transmitted by the first communication device 10 provided at the target position G does not satisfy the predetermined condition (step S108: NO), step 21 is performed. You may transfer to the process of S100.

  In this way, the multicopter M can be guided to the target position G based on the received signal strength of the radio signals received by the second communication device 20 from the plurality of first communication devices 10.

  As described above, according to the mobile body guidance system, the mobile body guidance method, and the program according to the present embodiment, the position of the multicopter M is estimated based on the information related to the received signal strength of the radio signal received by the second communication device 20. Since the multicopter M is controlled to approach the target position G based on the estimated position, the multicopter M is set to the target position G based on the received signal strength of the radio signal received by the second communication device 20. It becomes possible to guide. Here, even when the predetermined region R including the target position G is provided in an environment such as indoors or in a dark place, a wireless signal is transmitted between the first communication device 10 and the second communication device 20. Since transmission / reception is possible, when the multicopter M exists in the predetermined region R, the multicopter M can be controlled so as to always move toward the target position G. Thereby, the multicopter M can be guided to the target position G even in an environment such as indoors or in a dark place.

  Further, in the present embodiment, by including the direction estimation unit 32, the moving direction and position of the multicopter M are determined based on information on the received signal strength of the radio signal transmitted or received by each of the plurality of first communication devices 10. Since it is possible to control the multicopter M so as to approach the target position G based on the estimated movement direction and position (for example, the movement direction of the multicopter M is directed to the target position G). The multicopter M can be easily guided to the target position G based on the received signal strength of the radio signal received by the first communication device 10 or the second communication device 20.

(Second Embodiment)
Hereinafter, a second embodiment of the present invention will be described. The mobile body guidance system, the mobile body guidance method, and the program according to the present embodiment are different from the first embodiment in that the direction estimation unit 32 is not provided. In the present embodiment, the position estimation method by the position estimation means 33 is different from that in the first embodiment. Hereinafter, a configuration different from the first embodiment will be described.

  In the present embodiment, the position estimation unit 33 generates at least three first communication devices 10 generated based on received signal strengths of radio signals corresponding to each of at least three first communication devices 10 among the plurality of first communication devices 10. A first vector whose element is a distance between each of the first communication devices 10 and the second communication device 20, and a second vector corresponding to a predetermined position in the predetermined region R, wherein at least three of the first communication devices 10 A function of estimating the position of the multicopter M (moving body) is provided based on the degree of similarity between each and the second vector whose element is the distance between the predetermined position.

The function of the position estimation means 33 in this embodiment is implement | achieved as follows, for example. In describing the function of the position estimation means 33 in the present embodiment, the multicopter M provided with the second communication device 20 moves the region R along the x direction and the y direction as shown in FIG. A case is assumed in which the sub-regions exist in any one of a plurality of sub-regions to be divided (in the example of FIG. 10, nine sub-regions R _{11 to} R ₃₃ ).

  First, the CPU 21 of the second communication device 20 has a plurality of first communication devices 10 (in the example of FIG. 10, a plurality of first communication devices A, B, C, D, E) based on the function of the acquisition unit 31. When the information related to the received signal strength when the second communication device 20 receives the radio signal transmitted from the second communication device 20 is acquired, the information about the received signal strength (for example, the RSSI value) is used to obtain a plurality of first communication devices A, The distance between each of B, C, D, and E and the second communication device 20 is obtained. Here, the distance between each of the plurality of first communication devices A, B, C, D, and E and the second communication device 20 may be determined using the above equation (1).

Next, the CPU 21 of the second communication device 20 includes at least three of the plurality of first communication devices A, B, C, D, and E (here, three of the first communication devices A, B, and C) and A first vector u (shown in FIG. 12) having the distance from the second communication device 20 as an element is generated. In the present embodiment, the first vector u is a three-dimensional vector. For example, the CPU 21 sets the distance between the first communication device A and the second communication device 20 to d ₁ , sets the distance between the first communication device B and the second communication device 20 to d ₂ , and sets the first communication device C to the second communication. If the distance from the device 20 is d ₃ , a first vector u having elements d ₁ , d ₂ , and d ₃ is generated, and the values of d ₁ , d ₂ , and d ₃ are stored in the RAM 23, for example.

Next, the CPU 21 of the second communication device 20 has at least three of the plurality of first communication devices A, B, C, D, and E (here, the first communication) for each of the plurality of sub-regions R _{11 to} R _33. A second vector v (shown in FIG. 12) having a distance between each of the devices A, B, and C) and each of the sub-regions R _{11 to} R ₃₃ is generated. Here, the distance between each of the plurality of first communication devices A, B, C, D, and E and the sub-regions R _{11 to} R ₃₃ may be measured in advance. Further, the CPU 21 may store each element of the second vector v corresponding to each of the plurality of sub-regions R _{11 to} R ₃₃ in, for example, second vector data illustrated in FIG. The second vector data has a plurality of distances between each of the plurality of first communication devices A, B, C, D, and E and predetermined positions (for example, center positions of the sub areas) of the sub areas R _{11 to} R ₃₃ . This is data described for each of the sub-regions R _{11 to} R ₃₃ . The second vector data is stored, for example, in the storage device 24 of the second communication device 20.

Next, the CPU 21 of the second communication device 20 determines the similarity between the first vector u and the second vector v for each of the plurality of sub-regions R _{11 to} R ₃₃ . Here, the similarity may be, for example, a cosine similarity, and the cosine similarity can be determined using the following equation (4). Further, the relationship between the first vector u, the second vector v, and the angle θ is shown in FIG. In the example of FIG. 12 shows a first vector u, the relationship between the second vector v corresponding to the region R _11.

The maximum value of cos θ is 1, which indicates that the first vector u and the second vector v are oriented in the same direction. Further, the minimum value of cos θ is −1, and in this case, it indicates that the first vector u and the second vector v are directed in opposite directions. Further, when the value of cos θ is 0, it indicates that the first vector u and the second vector v are oriented in directions orthogonal to each other. For example, the value of each element of the first vector u (the distance between each of the first communication devices A, B, and C and the second communication device 20) and the second vector v (the first communication devices A, B, and C) The closer the value of each element of the distance (distance from the predetermined position of each of the sub-regions R _{11 to} R ₃₃ ) is, the higher the vector similarity is.

Then, for example, the CPU 21 estimates a sub-region (for example, the sub-region R ₁₁ ) corresponding to the maximum similarity among the plurality of sub-regions R _{11 to} R ₃₃ as the position of the second communication device 20. Here, the case where the sub-region corresponding to the maximum similarity among the plurality of sub-regions R _{11 to} R ₃₃ is estimated as the position of the second communication device 20 has been described as an example, but the present invention is not limited to this case. . For example, a sub-region having a similarity greater than or equal to a predetermined value may be estimated as the position of the second communication device 20.

Moreover, the function of the control means 34 in this embodiment is implement | achieved as follows, for example. When the position of the second communication device 20 is estimated by the function of the position estimation means 33, the CPU 21 of the second communication device 20 moves the multicopter M from the estimated position (for example, sub-region R ₁₁ ) of the second communication device 20. subregion target position G is present (in this case, the sub-region R ₂₂₎ may be controlled so as to move towards.

  As described above, according to the mobile body guidance system, the mobile body guidance method, and the program according to the present embodiment, at least three of the first communication devices 10 are based on the information about the received signal strength corresponding to each of the first communication apparatuses 10. Since the first vector u having the distance between each of the first communication devices 10 and the second communication device 20 as an element is generated, for example, one of the first communication device 10 and the second communication device 20 that receives a radio signal. Even if the reception characteristics of the one communication device are different for each type and / or individual of the one communication device, the first vector u is used as the received signal strength corresponding to each of the at least three first communication devices 10. And based on the relationship between the distance between each of the at least three first communication devices 10 and the second communication device 20, it can be generated for each of at least three first communication devices 10. The position of the second communication device 20 is based on the degree of similarity between the first vector u and the second vector v whose element is the distance between each of the at least three first communication devices 10 and a predetermined position in the region R. For example, when the similarity between the first vector u and the second vector v is high, a predetermined position corresponding to the second vector v can be estimated as the position of the second communication device 20. . In this way, the distance between the first communication device 10 and the second communication device 20 determined based on the information on the received signal strength is not simply compared, but based on the similarity between the first vector u and the second vector v. By estimating the position of the second communication device 20, the first communication device 10 and the second communication device 20 can receive the radio signal regardless of the difference in reception characteristics of one communication device. The position can be estimated accurately.

In the second embodiment, the case where the first communication device E is provided at the target position G as illustrated in FIG. 10 is described as an example. However, for example, as illustrated in FIG. The apparatus 10 may not be arranged at the target position G. In this case, the detection unit 35 may not be provided in the moving body guidance system of the second embodiment. As described above, in the second embodiment, since the position of the second communication device 20 can be estimated from the similarity between the first vector u and the second vector v, for example, the sub-region where the target position G exists If it is estimated that the second communication device 20 exists in (here, the sub-region R ₂₂ ), it is determined that the second communication device 20 has reached the target position G without using the function of the detection unit 35. May be.

Hereinafter, modified examples of the above-described embodiments will be described.
(Modification 1)
In each of the above embodiments, the case where the acquisition unit 31 acquires information on the received signal strength when the second communication device 20 receives wireless signals transmitted from the plurality of first communication devices 10 has been described as an example. This is not the only case. For example, the acquisition unit 31 may acquire information related to the received signal strength when the plurality of first communication devices 10 receive the radio signal transmitted from the second communication device 20. Here, the plurality of first communication devices 10 may be provided with an RSSI circuit that detects the value of the received signal strength when the radio signal transmitted from the second communication device 20 is received.

  In this case, the CPU 21 of the second communication device 20 uses, as a function of the acquisition unit 31, the received signal strength value of the radio signal received from the second communication device 20 to the plurality of first communication devices 10 in the second communication. The device 20 may be requested to transmit. And CPU21 will memorize | store the received information in acquisition data, if the information (value of the received signal strength of a radio signal) transmitted from the some 1st communication apparatus 10 is received (acquisition) via the communication interface part 25. FIG. May be. The functions of the direction estimation unit 32, the position estimation unit 33, the control unit 34, the detection unit 35, and the second control unit 36 may be the same as those in the above-described embodiments.

  Thus, according to the mobile body guidance system, mobile body guidance method, and program concerning this modification, it is possible to show the same operation effect as each embodiment mentioned above.

(Modification 2)
In each of the above-described embodiments, the case where the first communication device 10 is provided at the target position G and four positions other than the target position G has been described as an example. Five or more positions may be provided. Even in this case, it is possible to exhibit the same effects as the above-described embodiments.

(Modification 3)
Hereinafter, Modification 3 will be described. As shown in FIG. 14, the mobile body guidance system, the mobile body guidance method, and the program according to the present modification are different from the above embodiments in that they include second acquisition means 37 and second position estimation means 38. Hereinafter, a configuration different from the above embodiments will be described.

  The second acquisition unit 37 has a function of acquiring a positioning signal transmitted from an artificial satellite. Here, the artificial satellite may be an artificial satellite used in a satellite positioning system (NSS: Navigation Satellite System) such as GPS.

  The function of the 2nd acquisition means 37 is implement | achieved as follows, for example. For example, the CPU 21 of the second communication device 20 receives (acquires) a positioning signal transmitted from each of a plurality of (for example, four) artificial satellites via the communication interface unit 25 over time, and receives the acquired positioning signal. For example, it is stored in the RAM 23 or the storage device 24. In this modification, the communication interface unit 25 may be provided with an antenna for receiving a positioning signal transmitted from an artificial satellite.

  The second position estimating means 38 has a function of estimating the position of the multicopter M (moving body) based on the acquired positioning signal. The function of the 2nd position estimation means 38 is implement | achieved as follows, for example. For example, the CPU 21 of the second communication device 20 measures the distance between the second communication device 20 and each of the plurality of artificial satellites based on the positioning signal acquired from each of the plurality of artificial satellites, and the measurement distances coincide with each other. The position (latitude, longitude, altitude) may be estimated as the position of the second communication device 20 (that is, the multicopter M).

  In the present modification, the second control means 36 may move the multicopter M into the predetermined region R when the position of the multicopter M (moving body) is outside the predetermined region R. The function of the 2nd control means 36 in this modification is implement | achieved as follows, for example. When the CPU 21 of the second communication device 20 determines that the position of the multicopter M estimated based on the function of the second position estimating means 38 is outside the range of the region R, the multicopter M is placed in the region R. A control command for movement is transmitted to the multicopter M via the communication interface 25. Here, the position (latitude, longitude, altitude) of the region R may be stored in the RAM 23 or the storage device 24, for example.

  According to this modification, when the multicopter M (moving body) exists outside the region R, the multicopter M is controlled to move into the region R based on the positioning signal transmitted from the artificial satellite. can do.

(Modification 4)
Hereinafter, Modification 4 will be described. The mobile body guidance system, the mobile body guidance method, and the program according to the present modification are different from the above embodiments in that they include an imaging unit 39 as shown in FIG. Hereinafter, a configuration different from the above embodiments will be described.

  The imaging means 39 has a function of imaging the direction of the target position G from the multicopter M when it is detected that the multicopter M (moving body) has reached the target position G. The function of the imaging means 39 in this modification is implement | achieved as follows, for example. Here, an example in which an imaging device (for example, a digital camera, a digital video camera, or the like) that captures a vertically lower side of the multicopter M as the direction of the target position G is provided so as to be controllable by the multicopter M is an example. Will be described.

  When the CPU 21 of the second communication device 20 detects that the multicopter M has reached the target position G based on the function of the detection means 35, the CPU 21 changes the direction from the multicopter M to the target position G (vertically below the multicopter M). A control command for imaging is transmitted to the multicopter M via the communication interface unit 25. On the other hand, when receiving the control command, the multicopter M images the direction of the target position G using the imaging device and transmits the captured image to the second communication device 20. And CPU21 of the 2nd communication apparatus 20 will memorize | store the received captured image in RAM23 or the memory | storage device 24, for example, if a captured image is received (acquisition) via the communication interface part 25. FIG.

  In the present modification, the second control unit 36 may control the movement of the multicopter M (moving body) based on the captured image. The function of the 2nd control means 36 in this modification is implement | achieved as follows, for example. The CPU 21 of the second communication device 20 uses, for example, a well-known image recognition process for the captured image in the direction of the target position G, so that an object such as an obstacle exists around the target position G and its surroundings. It may be determined whether or not the position of the multicopter M and the target position G are deviated.

  Here, when an object such as an obstacle is present in the target position G and its surroundings, the CPU 21 sets the multicopter M, for example, in order to prevent the object and the multicopter M from contacting each other. A control command for lowering after moving a predetermined distance in the horizontal direction from the position (that is, moving the target position G so as to deviate by a predetermined distance in the horizontal direction) is transmitted to the multicopter M via the communication interface 25. May be.

  Further, when the position of the multicopter M and the target position G are displaced in the horizontal direction, the CPU 21 moves the multicopter M in the horizontal direction so that the position of the multicopter M matches the target position G. The control command may be transmitted to the multicopter M via the communication interface 25. Then, the CPU 21 may transmit a control command for lowering the multicopter M to the multicopter M via the communication interface 25 when the position of the multicopter M matches the target position G.

  Here, the case where the direction of the target position G is imaged using an imaging device controlled by the multicopter M has been described as an example. For example, the CPU 21 of the second communication device 20 is connected via the communication interface unit 25. In this case, the imaging device may be directly controlled.

  According to this modification, when the multicopter M reaches the target position G, the direction of the target position G can be picked up from the multicopter M. Therefore, the safety of the target position G and its surroundings based on the picked-up image, etc. Can be confirmed. Therefore, for example, when it is detected based on the captured image that an object such as an obstacle is present at the target position G, the multicopter M is arranged so as to stop or descend near the target position G while avoiding the object. For example, when it is detected based on the captured image that the position of the multicopter M is deviated from the target position G, the multicopter M is adjusted so that the position of the multicopter M matches the target position G. The copter M can be controlled.

  The program of the present invention may be stored in a computer-readable storage medium. The storage medium storing this program may be the storage device 24 shown in FIG. Further, it may be a CD-ROM that can be read by being inserted into a program reading device such as a CD-ROM drive. Further, the storage medium may be a magnetic tape, a cassette tape, a flexible disk, an MO / MD / DVD, or a semiconductor memory.

  Each embodiment and modification described above are described for facilitating understanding of the present invention, and are not described for limiting the present invention. Accordingly, each element disclosed in the above embodiments and modifications is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  For example, in each of the above-described embodiments, the case where one multicopter M is guided has been described as an example, but the number of multicopters M to be guided may be plural.

  In each of the above-described embodiments, the case where the multicopter M is used as a moving body has been described as an example. However, the moving body may be, for example, another unmanned moving body (for example, a vehicle, a ship, an aircraft, or the like). However, it may be a manned mobile body.

  In each of the above-described embodiments, the second communication device 20 causes the acquisition unit 31, the direction estimation unit 32, the position estimation unit 33, the control unit 34, the detection unit 35, the second control unit 36, the second acquisition unit 37, the second acquisition unit 31. Although the configuration of realizing the functions of the position estimation unit 38 and the imaging unit 39 has been described, the configuration is not limited thereto. For example, each of the above-described units 31 to 31 is performed by a computer or the like (for example, a general-purpose personal computer or a server computer) that is communicably connected to the second communication device 20 via a communication network such as the Internet or a LAN (Local Area Network). It is good also as a structure which implement | achieves 39 functions. Moreover, it is good also as a structure which implement | achieves the function of at least 1 means among each said means 31-39 by the said terminal device. Furthermore, all these means may be realized by the multicopter M or the first communication device 10, or at least one means may be realized by the multicopter M or the first communication device 10.

  The mobile body guidance system, the mobile body guidance method, and the program of the present invention as described above can guide the mobile body to a target position even in an environment such as indoors or in a dark place. Since it can be suitably used for a service for transporting to a predetermined position, its industrial applicability is extremely large.

DESCRIPTION OF SYMBOLS 10 ... 1st communication apparatus 20 ... 2nd communication apparatus 31 ... Acquisition means 32 ... Direction estimation means 33 ... Position estimation means 34 ... Control means 35 ... Detection means 36 ... 2nd control means 37 ... 2nd acquisition means 38 ... 2nd Position estimating means 39 ... Imaging means G ... Target position M ... Multicopter R ... Area

Claims (11)

A moving body guidance system for guiding a moving body to a target position,
When the moving body is present in a predetermined area including the target position, a plurality of first communication devices provided at each of the plurality of positions in the predetermined area and a second communication provided in the moving body An acquisition means for acquiring, over time, information relating to received signal strength when the other receives a radio signal transmitted from any one of the devices;
Position estimating means for estimating the position of the moving body based on the received signal strength of a radio signal transmitted or received by each of the plurality of first communication devices;
Control means for controlling the moving body so that the moving body approaches the target position based on the estimated position;
A moving body guidance system comprising:   Each of the at least three first communication devices is generated based on a received signal strength of a radio signal corresponding to each of at least three first communication devices among the plurality of first communication devices. And a second vector corresponding to a predetermined position in the predetermined area, each of the at least three first communication apparatuses and the predetermined position, The moving body guidance system according to claim 1, wherein the position of the moving body is estimated based on a similarity with a second vector having a distance of 2 as an element. Direction estimation means for estimating a moving direction of the moving body based on a change over time of a received signal strength of a radio signal transmitted or received by each of the plurality of first communication devices;
The moving body guidance system according to claim 1, wherein the control unit controls the moving body so that the moving body approaches the target position based on the estimated moving direction and the estimated position. .   The direction estimating means receives a radio signal transmitted or received from among the plurality of first communication devices from a first communication device whose reception signal strength of the radio signal transmitted or received from among the plurality of first communication devices has decreased. A vector directed to the first communication device with increased signal strength is generated for each first communication device with decreased received signal strength of the radio signal based on the corresponding decrease and increase in received signal strength. The moving body guidance system according to claim 3, wherein the moving direction of the moving body is estimated based on a combined vector obtained by combining the two. One of the plurality of first communication devices is provided at the target position,
When the received signal strength of a radio signal transmitted or received by the first communication device provided at the target position satisfies a predetermined condition, the detection unit includes a detecting unit that detects that the mobile body has reached the target position. The moving body guidance system in any one of Claims 1-4.   The predetermined condition is that the received signal strength of the radio signal transmitted or received by the first communication device provided at the target position is transmitted or received by the first communication device provided at a plurality of positions in the predetermined region. The moving body guidance system according to claim 5, comprising higher than the received signal strength of the received radio signal.   The mobile guidance system according to claim 5 or 6, wherein the predetermined condition includes that a received signal strength of a radio signal transmitted or received by the first communication device provided at the target position is equal to or greater than a predetermined value. . An imaging means for imaging the direction of the target position from the moving body when it is detected that the moving body has reached the target position;
The mobile body guidance system in any one of Claims 5-7 provided with the 2nd control means which controls the movement of the said mobile body based on the imaged image. Second acquisition means for acquiring a positioning signal transmitted from an artificial satellite;
Second position estimating means for estimating the position of the moving body based on the acquired positioning signal;
The mobile body guidance system according to any one of claims 1 to 8, further comprising second control means for moving the mobile body into the predetermined area when the position of the mobile body is outside the predetermined area. A moving body guiding method for guiding a moving body to a target position using a computer,
The computer
When the moving body is present in a predetermined area including the target position, a plurality of first communication devices provided at each of the plurality of positions in the predetermined area and a second communication provided in the moving body Obtaining over time information on received signal strength when the other receives a radio signal transmitted from one of the devices;
Estimating the position of the moving body based on a received signal strength of a radio signal transmitted or received by each of the plurality of first communication devices;
Controlling the moving body based on the estimated position so that the moving body approaches the target position;
The moving body guidance method which performs each step of. A program for guiding a moving body to a target position using a computer,
In the computer,
When the moving body is present in a predetermined area including the target position, a plurality of first communication devices provided at each of the plurality of positions in the predetermined area and a second communication provided in the moving body A function of acquiring information related to received signal strength over time when the other receives a radio signal transmitted from one of the devices;
A function of estimating the position of the moving body based on a received signal strength of a radio signal transmitted or received by each of the plurality of first communication devices;
A function of controlling the moving body based on the estimated position so that the moving body approaches the target position;
A program to realize

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