JP2020184689A - Control apparatus, program, system, and control method - Google Patents

Abstract

To provide a technique for assisting in appropriately switching a wireless base station for establishing a communication connection, when a movable body, such as an unmanned aircraft, executes cellular communications and the movable body moves.SOLUTION: In an unmanned aircraft 100, there are provided: a gimbal 110; a directional antenna 120 rotatably supported by the gimbal; and a wireless communication unit configured to communicate with a wireless base station by using the directional antenna. A controller 200 includes: a first wireless base station that has established a wireless communication connection; a base station specification unit configured to specify a second wireless base station to which a movable body hands over from the first wireless base station; and a directional control unit configured to control a gimbal to direct a directional antenna in a direction where the directional antenna can receive both of a radio wave from the first wireless base station and a radio wave from the second wireless base station, which is a direction in which receiving intensity of the radio wave from the second wireless base station is stronger than receiving intensity of the radio wave from the first wireless base station.SELECTED DRAWING: Figure 3

Description

The present invention relates to control devices, programs, systems, and control methods.

Unmanned aerial vehicles such as drones capable of performing cellular communication have been known (see, for example, Patent Document 1).
[Prior art literature]
[Patent Document]
[Patent Document 1] Japanese Unexamined Patent Publication No. 2018-117268

When a mobile body such as an unmanned aerial vehicle executes cellular communication, it is desirable to provide a technique for supporting appropriate switching of a radio base station for establishing a communication connection when the mobile body moves.

According to the first aspect of the present invention, a control device is provided. In the control device, a mobile body having a gimbal, a directional antenna rotatably supported by the gimbal, and a wireless communication unit that communicates with a wireless base station using the directional antenna establishes a wireless communication connection. A base station identification unit that identifies one radio base station and a second radio base station to be handovered by a mobile body from the first radio base station may be provided. The control device is in a direction in which the directional antenna can receive both the radio wave from the first radio base station and the radio wave from the second radio base station, and receives the radio wave from the second radio base station. A directional control unit that controls the gimbal to direct the directional antenna in a direction in which the intensity becomes stronger than the reception intensity of the radio wave from the first radio base station may be provided.

The direction control unit has the directivity in a direction in which the reception strength of the radio wave from the second radio base station becomes stronger than the reception strength of the radio wave from the first radio base station by a predetermined value or more. The gimbal may be controlled to point the antenna. The direction control unit uses the gimbal to direct the directional antenna in a direction in which the reception strength of the radio wave from the second radio base station is stronger than the reception strength of the radio wave from the first radio base station. After the mobile body has handed over from the first radio base station to the second radio base station, the mobile body controls the gimbal so as to direct the direction of the directional antenna to the position of the second radio base station. You can do it.

The control device may include a movement direction acquisition unit that acquires the movement direction of the moving body, and a base station information acquisition unit that acquires base station information including the positions of each of the plurality of radio base stations. The station specifying unit may specify the second radio base station from the plurality of radio base stations based on the position and moving direction of the moving body and the positions of the plurality of radio base stations. The control device may include a moving speed acquisition unit that acquires the moving speed of the moving body, and the base station specifying unit includes the position, moving direction, and moving speed of the moving body, and the plurality of radio base stations. The second radio base station may be specified from the plurality of radio base stations based on the position. The base station specifying unit makes the angle adjustment amount of the directional antenna smaller when the direction of the directional antenna is directed from the first radio base station to the second radio base station. The second radio base station may be specified from the plurality of radio base stations.

The control device may include a route acquisition unit that acquires a planned movement route of the mobile body and a base station information acquisition unit that acquires base station information including the positions of each of a plurality of radio base stations. The station identification unit may specify the second radio base station from the plurality of radio base stations based on the position of the mobile body, the planned movement route, and the positions of the plurality of radio base stations. The base station specifying unit gives priority to whether or not each of the plurality of radio base stations is located in the moving direction of the mobile body rather than the distance between the mobile body and each of the plurality of radio base stations. The second radio base station may be specified. In the base station identification unit, each of the plurality of radio base stations is located in the moving direction of the mobile body, rather than the radio wave reception intensity from each of the plurality of radio base stations by the directional antenna of the mobile body. The second radio base station may be specified with priority given to whether or not it is.

The base station specifying unit makes the angle adjustment amount of the directional antenna smaller when the direction of the directional antenna is directed from the first radio base station to the second radio base station. The second radio base station may be specified from the plurality of radio base stations. The control device may be mounted on the moving body. The control device may control the mobile body by transmitting a signal to the mobile body via the radio base station.

According to the second aspect of the present invention, a program for making a computer function as the control device is provided.

According to a third aspect of the present invention, a system including the control device and the mobile body is provided.

According to a fourth aspect of the present invention, there is provided a control method performed by a control device that controls a moving body. The mobile body may have a gimbal, a directional antenna rotatably supported by the gimbal, and a radio communication unit that communicates with the radio base station using the directional antenna. The control method is to specify a base station that identifies a first radio base station in which the mobile body has established a wireless communication connection and a second radio base station to be handed over from the first radio base station by the mobile body. It may have stages. The control method is such that the directional antenna can receive both the radio wave from the first radio base station and the radio wave from the second radio base station, and receives the radio wave from the second radio base station. A directional control step may be provided in which the gimbal is controlled so that the directional antenna is directed in a direction in which the intensity becomes stronger than the reception intensity of the radio wave from the first radio base station.

The outline of the above invention does not list all the necessary features of the present invention. Sub-combinations of these feature groups can also be inventions.

An example of the communication environment of the conventional unmanned aerial vehicle 10 having a cellular communication function is shown schematically. An example of the communication environment of the conventional unmanned aerial vehicle 10 having a cellular communication function is shown schematically. An example of the functional configuration of the unmanned aerial vehicle 100 according to the present embodiment is schematically shown. An example of the communication environment of the unmanned aerial vehicle 100 is shown schematically. An example of the communication environment of the unmanned aerial vehicle 100 is shown schematically. An example of the functional configuration of the controller 200 is shown schematically. It is explanatory drawing for demonstrating the direction switching of a directional antenna 120. It is explanatory drawing for demonstrating the direction switching of a directional antenna 120. It is explanatory drawing for demonstrating the direction switching of a directional antenna 120. An example of the antenna pointing direction 510 at each position of the flight route 502 of the unmanned aerial vehicle 100 is shown schematically. An example of the antenna pointing direction 510 at each position of the flight route 502 of the unmanned aerial vehicle 100 is shown schematically. An example of the functional configuration of the controller 200 is shown schematically. An example of the configuration of the unmanned aerial vehicle 100 is shown schematically. An example of the processing flow by the unmanned aerial vehicle 100 is shown schematically. An example of the hardware configuration of the controller 200 is shown schematically.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the inventions claimed in the claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention.

1 and 2 schematically show an example of a communication environment of a conventional unmanned aerial vehicle 10 having a cellular communication function. Since the conventional unmanned aerial vehicle 10 uses an omni-antenna, as shown in FIG. 1, the unmanned aerial vehicle 10 receives not only radio waves from the target station 22 but also radio waves from peripheral stations 24. For this reason, interference occurs and the communication quality on the downlink deteriorates.

When simulations and experiments are performed, the results show that the higher the altitude and the higher the base station density, the worse the communication quality. The main use of the downlink is to control the unmanned aerial vehicle 10 (control, etc.), but due to the deterioration of the communication quality of the downlink, the location rate at which the communication quality required for the control of the unmanned aerial vehicle 10 can be secured is also high. It will be low.

Further, as shown in FIG. 2, the radio wave transmitted by the unmanned aerial vehicle 10 reaches the peripheral station 24 as well as the target station 22. Since the target station 22 can receive the radio waves from the unmanned aerial vehicle 10 with good visibility, the communication quality of the uplink of the unmanned aerial vehicle 10 is high, but the radio waves transmitted by the unmanned aerial vehicle 10 interfere with the peripheral stations 24, for example. , The communication of the communication terminal 60 such as a terrestrial mobile phone using the peripheral station 24 is adversely affected.

Simulations and experiments have shown that the greater the number of unmanned aerial vehicles 10 in the sky and the lower the base station density, the greater the degree of deterioration in the uplink communication quality of the terrestrial communication terminal 60. Shown.

FIG. 3 schematically shows an example of the functional configuration of the unmanned aerial vehicle 100 according to the present embodiment. The unmanned aerial vehicle 100 includes a gimbal 110, a directional antenna 120 rotatably supported by the gimbal 110, a wireless communication unit 300, and a controller 200. The unmanned aerial vehicle 100 may be an example of a moving body. The controller 200 may be an example of a control device.

The unmanned aerial vehicle 100 may further include a camera, but the illustration of the camera is omitted. The camera may be fixedly installed with respect to the unmanned aerial vehicle 100, or may be rotatably supported by a gimbal. In this case, the unmanned aerial vehicle 100 may include a gimbal 110 that supports the directional antenna 120 and a gimbal that supports the camera.

The gimbal 110 can direct the directional antenna 120 in a specific direction without being affected by rotation from the outside or the like. The gimbal 110 maintains the direction of the directional antenna 120 in a specific direction under the control of the controller 200. The gimbal 110 may be, for example, a so-called triaxial gimbal.

The directional antenna 120 may be any antenna as long as it can output a beam 122 having directivity. For example, the directional antenna 120 is a Yagi-Uda antenna.

The wireless communication unit 300 communicates with the wireless base station 20 using the directional antenna 120. The wireless communication unit 300 may communicate with the terrestrial network 30 via the wireless base station 20. The network 30 includes a mobile communication network. The mobile communication network may be compliant with any of a 3G (3rd Generation) communication system, an LTE (Long Term Evolution) communication system, and a 5G (5th Generation) communication system. Here, the case where the network 30 complies with the LTE communication system will be described mainly by taking as an example. The network 30 may include the Internet.

The controller 200 controls the unmanned aerial vehicle 100. The controller 200 controls, for example, the flight of the unmanned aerial vehicle 100 and the gimbal 110. The controller 200 has, for example, an FC (Flight Control) unit that controls the flight of the unmanned aerial vehicle 100, and a gimbal control unit that controls the gimbal 110.

The controller 200 controls, for example, the unmanned aerial vehicle 100 to fly according to a preset flight route. Further, the controller 200 may control the unmanned aerial vehicle 100 so as to fly according to the flight route received from the ground management device 400 that manages the unmanned aerial vehicle 100.

Further, the controller 200 controls the unmanned aerial vehicle 100 so as to fly according to the control signal received from the ground by the wireless communication unit 300, for example. The maneuvering signal may be transmitted by the management device 400 to the unmanned aerial vehicle 100 via the network 30 and the radio base station 20. The maneuvering signal may also be transmitted to the unmanned aerial vehicle 100 via the network 30 and the radio base station 20 by any controller on the ground.

The controller 200 controls the gimbal 110 so that the direction of the directional antenna 120 is aligned with the position of the radio base station 20 when the unmanned aerial vehicle 100 moves. The controller 200 may control the gimbal 110 so that the radio base station 20 is included within the range of the beam 122 of the directional antenna 120. The controller 200 may control the gimbal 110 so that the center of the beam 122 of the directional antenna 120 is aligned with the position of the radio base station 20. As a result, when the unmanned aerial vehicle 100 moves, the direction of the directional antenna 120 and the position of the wireless base station 20 are displaced, the communication quality of the uplink and the downlink is deteriorated, or the wireless communication connection is disconnected. It can be prevented from being done.

The controller 200 may further control the gimbal 110 to adjust the plane of polarization of the directional antenna 120 so that the plane of polarization of the directional antenna 120 matches the plane of polarization of the antenna of the radio base station 20. The controller 200 adjusts the plane of polarization of the directional antenna 120 by, for example, controlling the gimbal 110 and changing the roll angle of the directional antenna 120. The roll angle of the directional antenna 120 may be an angle of rotation about the long axis of the directional antenna 120. By matching the polarization plane of the directional antenna 120 with the polarization plane of the antenna of the radio base station 20, the communication quality can be further improved as compared with the case where the polarization plane is not matched.

The controller 200 may control the directional antenna 120 to adjust the polarization plane of the directional antenna 120 in order to match the polarization plane of the directional antenna 120 with the polarization plane of the antenna included in the radio base station 20. In this case, the directional antenna 120 may be a polarization switching antenna capable of electrically switching the plane of polarization, and the controller 200 electrically switches the plane of polarization of the directional antenna 120 to cause the directional antenna 120. The plane of polarization of the antenna may be aligned with the plane of polarization of the antenna of the radio base station 20.

The unmanned aerial vehicle 100 may be provided with an FCC (Flight Control Computer) in addition to the controller 200. In that case, the controller 200 does not have an FC unit but has a gimbal control unit.

Further, the control of the gimbal 110 may be performed by the management device 400. The management device 400 controls the gimbal 110 by transmitting an instruction to the unmanned aerial vehicle 100 so that the direction of the directional antenna 120 is aligned with the position of the radio base station 20 when the unmanned aerial vehicle 100 moves. You can. In this case, the management device 400 may be an example of the control device.

4 and 5 schematically show an example of the communication environment of the unmanned aerial vehicle 100. According to the unmanned aerial vehicle 100 according to the present embodiment, the direction of the directional antenna 120 is maintained so as to face the direction of the target station 22. As a result, the interference from the peripheral station 24 can be significantly reduced, and the communication quality of the downlink of the unmanned aerial vehicle 100 can be significantly improved. Further, the interference with the peripheral station 24 can be significantly reduced, and the deterioration of the quality of communication between the peripheral station 24 and the communication terminal 60 can be significantly reduced.

FIG. 6 schematically shows an example of the functional configuration of the controller 200. The controller 200 includes a control unit 210, a mobile information acquisition unit 220, a base station information acquisition unit 230, a measurement data storage unit 240, a measurement data acquisition unit 242, a measurement data reception unit 244, and a model generation unit 246. It is not essential that the controller 200 has all of these configurations.

The control unit 210 controls the gimbal 110 so that the direction of the directional antenna 120 is aligned with the position of the radio base station 20 when the unmanned aerial vehicle 100 moves. The control unit 210 may control the gimbal 110 to adjust the polarization plane of the directional antenna 120 in order to match the polarization plane of the directional antenna 120 with the polarization plane of the antenna of the radio base station 20. Further, the control unit 210 may control the directional antenna 120 to adjust the polarization plane of the directional antenna 120 in order to match the polarization plane of the directional antenna 120 with the polarization plane of the antenna of the radio base station 20. ..

The mobile information acquisition unit 220 acquires mobile information related to the unmanned aerial vehicle 100. The mobile information acquisition unit 220 acquires mobile information from, for example, the FC unit or the FCC.

The mobile information may include the location of the unmanned aerial vehicle 100. The mobile information may include the moving speed of the unmanned aerial vehicle 100. The mobile information may include the acceleration of the unmanned aerial vehicle 100. The mobile information may include the angular velocity of the unmanned aerial vehicle 100. The moving object information may include the moving direction of the unmanned aerial vehicle 100. The mobile information may include the planned travel route of the unmanned aerial vehicle 100. The mobile information may include the altitude of the unmanned aerial vehicle 100. The mobile information may include the attitude of the unmanned aerial vehicle 100.

The base station information acquisition unit 230 acquires base station information related to each of the plurality of radio base stations 20. The base station information acquisition unit 230 may acquire the base station information stored in the unmanned aerial vehicle 100 in advance. Further, the base station information acquisition unit 230 receives base station information from the ground base station database (may be described as DB) via the radio base station 20.

The base station information may include the location of the radio base station 20. The base station information may include the height of the antenna of the radio base station 20. The base station information may include the pointing direction of the antenna of the radio base station 20. The base station information may include the beam width of the beam from the antenna of the radio base station 20. The base station information may include tilting the antenna of the radio base station 20. The base station information may include the plane of polarization of the antenna of the radio base station 20.

The control unit 210 may control the gimbal 110 so that the direction of the directional antenna 120 is aligned with the position of the radio base station 20 based on the mobile information acquired by the mobile information acquisition unit 220. The control unit 210 may control the gimbal 110 so that the direction of the directional antenna 120 is aligned with the position of the radio base station 20 based on the base station information acquired by the base station information acquisition unit 230.

The control unit 210 specifies, for example, the relative direction of the radio base station 20 based on the position of the unmanned aircraft 100 from the position and altitude of the unmanned aircraft 100 and the position of the radio base station 20, and the directional antenna 120. The gimbal 110 is controlled so that the direction of the gimbal 110 is directed to the specified relative direction. The control unit 210 can more accurately identify the relative direction by further using the attitude of the unmanned aerial vehicle 100. Further, the control unit 210 may specify the relative direction of the antenna of the radio base station 20 with reference to the position of the directional antenna 120 of the unmanned aerial vehicle 100 by further using the height of the antenna of the radio base station 20. Good. Further, the control unit 210 further uses the moving direction of the unmanned aerial vehicle 100 and the moving speed of the unmanned aerial vehicle 100 to predict the relative direction of the radio base station 20 based on the position of the unmanned aerial vehicle 100 in the future. The gimbal 110 may be controlled according to the prediction result. The acceleration of the unmanned aerial vehicle 100, the angular velocity of the unmanned aerial vehicle 100, and the like may be further used for the prediction. Further, the control unit 210 further uses the planned movement route of the unmanned aerial vehicle 100 to predict the relative direction of the radio base station 20 based on the position of the unmanned aerial vehicle 100 in the future, and controls the gimbal 110 according to the prediction result. You may.

The measurement data storage unit 240 describes the radio wave reception intensity from the radio base station 20 by the directional antenna 120 measured while the unmanned aircraft 100 is moving, the position, orientation, and altitude of the unmanned aircraft 100, and the direction of the directional antenna 120. And the measurement data including the position of the radio base station 20 are stored. The measurement data storage unit 240 may store the measurement data measured by the plurality of unmanned aerial vehicles 100.

The measurement data acquisition unit 242 acquires the measurement data measured by the unmanned aerial vehicle 100 equipped with the controller 200. The measurement data acquisition unit 242 stores the acquired measurement data in the measurement data storage unit 240.

The measurement data receiving unit 244 receives the measurement data. The measurement data receiving unit 244 receives the measurement data measured by the unmanned aerial vehicle 100 other than the unmanned aerial vehicle 100 on which the controller 200 is mounted. The measurement data receiving unit 244 receives measurement data from, for example, the management device 400. Each of the plurality of unmanned aerial vehicles 100 may transmit the measured measurement data to the management device 400, and the management device 400 may store the received measurement data. Then, the management device 400 may transmit a plurality of measurement data to each of the plurality of unmanned aerial vehicles 100.

The model generation unit 246 uses a plurality of measurement data stored in the measurement data storage unit 240 as teacher data to determine the position of the radio base station 20, the position, attitude, and altitude of the unmanned aircraft 100, and the directional antenna 120. An estimation model for estimating the radio wave reception intensity from the radio base station 20 by the directional antenna 120 is generated by machine learning from the direction.

The control unit 210 may control the gimbal 110 so as to align the direction of the directional antenna 120 with the position of the radio base station 20 by using the estimation model generated by the model generation unit 246. For example, the control unit 210 uses an estimation model to change the current position, orientation, and altitude of the unmanned aircraft 100 and the direction of the directional antenna 120 from the radio base station 20 by the directional antenna 120. When it is predicted that the radio wave reception intensity of the gimbal 110 will be strong, the gimbal 110 is controlled according to the prediction result.

7 to 9 are explanatory views for explaining the direction switching of the directional antenna 120 by the unmanned aerial vehicle 100. FIG. 7 illustrates the direction of the directional antenna 120 when the unmanned aerial vehicle 100 is in the radio base station 26. The unmanned aerial vehicle 100 is in the radio base station 26 may mean that the unmanned aerial vehicle 100 has established a wireless communication connection with the wireless base station 26. The controller 200 controls the gimbal 110 so that the direction of the directional antenna 120 is aligned with the position of the radio base station 26 when the unmanned aerial vehicle 100 moves.

FIG. 8 illustrates the direction of the directional antenna 120 controlled by the controller 200 when the unmanned aerial vehicle 100 hands over from the radio base station 26 to the radio base station 28. The controller 200 has a direction in which the directional antenna 120 can receive both the radio wave from the radio base station 26 and the radio wave from the radio base station 26, and the reception intensity of the radio wave from the radio base station 28 is increased. The gimbal 110 is controlled so that the directional antenna 120 is directed in a direction that is stronger than the reception strength of the radio wave from the radio base station 26.

The controller 200 controls the gimbal 110 so that, for example, the direction of the directional antenna 120 is gradually directed from the direction of the radio base station 26 toward the radio base station 28. The controller 200 may further adjust the position of the drone 100 so that the beam 122 of the directional antenna 120 includes both the radio base station 26 and the radio base station 28. For example, the FC section of the controller 200 includes the radio base station 26, the radio base station 28, and the unmanned aircraft 100 so that the beam 122 of the directional antenna 120 includes both the radio base station 26 and the radio base station 28. The position of the unmanned aircraft 100 is adjusted so as to increase the distance between the two. Also, by transmitting an instruction to the FCC, the controller 200 includes the radio base station 26 and the radio base station 28, so that the radio base station 26 and the radio base station 28 and the unmanned aerial vehicle 100 are included. The position of the unmanned aerial vehicle 100 is adjusted so as to increase the distance.

For example, when event A3 is adopted as a transmission trigger of a measurement report (Measurement Report (may be described as MR)) that reports the state of radio waves received by the unmanned aircraft 100, the radio base station 26 When the radio wave reception strength from the radio base station 28 becomes stronger than the value obtained by adding the offset to the radio wave reception strength of the above, the radio communication unit 300 transmits the MR to the radio base station 26.

The offset is, for example, a value such as 4 dBm. In event A3, for example, when the radio wave reception strength from the radio base station 28 is stronger than the value obtained by adding the offset to the radio wave reception strength from the radio base station 26 for 125 ms, the wireless communication unit 300 MRs. Is sent. The MR transmitted by the unmanned aerial vehicle 100 causes the unmanned aerial vehicle 100 to hand over from the radio base station 26 to the radio base station 28.

FIG. 9 illustrates the direction of the directional antenna 120 after the unmanned aerial vehicle 100 has handed over from the radio base station 26 to the radio base station 28. The controller 200 controls the gimbal 110 so that the direction of the directional antenna 120 is aligned with the position of the radio base station 28 when the unmanned aerial vehicle 100 moves.

While the drone 100 is flying around the radio base station 26, the radio communication connection is maintained by pointing the directional antenna 120 toward the radio base station 26. However, when the unmanned aerial vehicle 100 moves in a direction away from the radio base station 26, it is necessary to make a wireless communication connection with another radio base station, and it is necessary to change the direction of the directional antenna 120. In this case, if the beam 122 of the directional antenna 120 does not face any of the radio base stations and does not receive radio waves from any of the radio base stations, for example, the wireless communication connection of the unmanned aerial vehicle 100 is established. It will be disconnected and you will not be able to communicate with the ground. If the state of not receiving radio waves from either is short, it may not be disconnected, but even in that case, a state of being temporarily unable to communicate with the ground will occur, and the unmanned aerial vehicle 100 Not good for stable flight.

On the other hand, according to the unmanned aircraft 100 according to the present embodiment, when the communication connection destination is switched from the radio base station 26 to another radio base station, the directional antenna 120 is moved from the radio base station 26 by the controller 200. The reception strength of the radio wave from the other radio base station is stronger than the reception strength of the radio wave from the radio base station 26 in the direction in which both the radio wave of the above and the radio wave from the other radio base station can be received. The gimbal 110 is controlled by the controller 200 so as to face the direction. As a result, the unmanned aerial vehicle 100 can be handed over from the radio base station 26 to another radio base station, and it is possible to prevent a state in which communication with the ground cannot occur.

FIG. 10 schematically shows an example of an antenna pointing direction 510 at each position of the flight route 502 of the unmanned aerial vehicle 100. In the example shown in FIG. 10, the unmanned aerial vehicle 100 first establishes a wireless communication connection with the wireless base station 41, and appropriately directs the directional antenna 120 toward the wireless base station 41.

At the switching point 522, the unmanned aircraft 100 is in a direction in which the directional antenna 120 can receive both the radio wave from the radio base station 41 and the radio wave from the radio base station 43, and the radio wave from the radio base station 43. The directional antenna 120 is directed in a direction in which the reception strength is stronger than the reception strength of the radio wave from the radio base station 41. As a result, the unmanned aerial vehicle 100 hands over from the radio base station 41 to the radio base station 43. After the handover, the unmanned aerial vehicle 100 appropriately directs the directional antenna 120 toward the radio base station 43.

At the switching point 524, the unmanned aerial vehicle 100 directs the directional antenna 120 from the direction of the radio base station 43 toward the radio base station 44. When the wireless base station 43 can be handed over to the wireless base station 44, a wireless communication connection with the wireless base station 44 is established. If the handover cannot be performed, the unmanned aerial vehicle 100 establishes a wireless communication connection with the wireless base station 44. Then, the unmanned aerial vehicle 100 appropriately directs the direction of the directional antenna 120 toward the radio base station 44.

Based on the usual way of thinking in a mobile communication network, a radio base station having a stronger radio wave reception strength may be selected as the radio base station to be switched to by the unmanned aerial vehicle 100. At the switching point 524 in the example shown in FIG. 10, since the radio base station 42 has a shorter distance from the unmanned aerial vehicle 100 than the radio base station 44, the radio base station 42 may be selected as the handover destination.

However, the unmanned aerial vehicle 100 according to the present embodiment switches by giving priority to the angle adjustment amount of the directional antenna 120 and whether or not the radio base station is located in the moving direction of the unmanned aerial vehicle 100, rather than the radio wave reception intensity. Determine the destination. At the switching point 524 in the example shown in FIG. 10, the amount of angle adjustment when the directional antenna 120 is directed from the radio base station 43 to the radio base station 44 is such that the directional antenna 120 is wirelessly transmitted from the radio base station 43. Since it is less than the amount of angle adjustment when facing the base station 42, the unmanned aircraft 100 selects the radio base station 44 as the switching destination. As a result, the time required for switching can be reduced, the possibility that the wireless communication connection of the unmanned aerial vehicle 100 will be disconnected can be reduced, and the temporary non-communication time can be reduced.

Further, at the switching point 524 in the example shown in FIG. 10, the radio base station 44 is located in the moving direction of the unmanned aerial vehicle 100, but the radio base station 42 is not located in the moving direction of the unmanned aerial vehicle 100. , The radio base station 44 is selected as the switching destination. As a result, the switching destination can be determined by giving priority to the wireless base station that can establish the wireless communication connection for a longer time, and the communication of the unmanned aerial vehicle 100 can be further stabilized.

At the switching point 526, the unmanned aircraft 100 is in a direction in which the directional antenna 120 can receive both the radio waves from the radio base station 44 and the radio waves from the radio base station 46, and the radio waves from the radio base station 46 The directional antenna 120 is directed in a direction in which the reception strength is stronger than the reception strength of the radio wave from the radio base station 44. As a result, the unmanned aerial vehicle 100 hands over from the radio base station 41 to the radio base station 46. The unmanned aerial vehicle 100 appropriately directs the directional antenna 120 toward the radio base station 46.

FIG. 11 schematically shows an example of the antenna pointing direction 510 at each position of the flight route 502 of the unmanned aerial vehicle 100. In the example shown in FIG. 11, the unmanned aerial vehicle 100 first establishes a wireless communication connection with the wireless base station 51, and appropriately directs the directional antenna 120 toward the wireless base station 51.

At the switching point 532, the unmanned aircraft 100 is in a direction in which the directional antenna 120 can receive both the radio wave from the radio base station 51 and the radio wave from the radio base station 52, and the radio wave from the radio base station 52. The directional antenna 120 is directed in a direction in which the reception strength is stronger than the reception strength of the radio wave from the radio base station 51. As a result, the unmanned aerial vehicle 100 hands over from the radio base station 51 to the radio base station 52. After the handover, the unmanned aerial vehicle 100 appropriately directs the directional antenna 120 toward the radio base station 52.

At the switching point 534, the unmanned aerial vehicle 100 directs the directional antenna 120 from the direction of the radio base station 52 to the direction of the radio base station 53. In this case, the amount of angle adjustment of the directional antenna 120 becomes large, and there is a high possibility that the wireless communication connection of the unmanned aircraft 100 will be disconnected. However, the unmanned aircraft 100 starts from the positions of the plurality of radio base stations 20 and thereafter. Since it is possible to know in advance that the radio base station is not arranged on the side of the radio base station 52, the radio base station 53 can be selected as the switching destination. After establishing a radio communication connection with the radio base station 53, the unmanned aerial vehicle 100 appropriately directs the directional antenna 120 toward the radio base station 53.

At the switching point 536, the unmanned aircraft 100 is in a direction in which the directional antenna 120 can receive both the radio waves from the radio base station 53 and the radio waves from the radio base station 54, and the radio waves from the radio base station 54 The directional antenna 120 is directed in a direction in which the reception strength is stronger than the reception strength of the radio wave from the radio base station 53. As a result, the unmanned aerial vehicle 100 hands over from the radio base station 53 to the radio base station 54. After the handover, the unmanned aerial vehicle 100 appropriately directs the directional antenna 120 toward the radio base station 54.

At the switching point 538, the unmanned aircraft 100 is in a direction in which the directional antenna 120 can receive both the radio waves from the radio base station 54 and the radio waves from the radio base station 55, and the radio waves from the radio base station 55 The directional antenna 120 is directed in a direction in which the reception strength is stronger than the reception strength of the radio wave from the radio base station 54. As a result, the unmanned aerial vehicle 100 hands over from the radio base station 54 to the radio base station 55. After the handover, the unmanned aerial vehicle 100 appropriately directs the directional antenna 120 toward the radio base station 55.

FIG. 12 schematically shows an example of the functional configuration of the controller 200. Here, the points different from the controller 200 shown in FIG. 6 will be mainly described. The control unit 210 includes a base station identification unit 212 and a direction control unit 214.

The base station identification unit 212 sets the first radio base station in which the unmanned aircraft 100 has established a wireless communication connection and the second radio base station to be handed over by the unmanned aircraft 100 from the first radio base station. Identify. The direction control unit 214 is in a direction in which the directional antenna 120 can receive both the radio waves from the first radio base station and the radio waves from the second radio base station, and is from the second radio base station. The gimbal 110 is controlled so that the directional antenna 120 is directed in a direction in which the reception strength of the radio wave becomes stronger than the reception strength of the radio wave from the first radio base station.

The direction control unit 214 sets the directional antenna 120 in a direction in which the reception strength of the radio wave from the second radio base station is stronger than the reception strength of the radio wave from the first radio base station by a predetermined value or more. The gimbal 110 may be controlled to point. The direction control unit 214 controls the gimbal 110 so that the directional antenna 120 is directed in a direction in which the reception strength of the radio wave from the second radio base station is stronger than the reception strength of the radio wave from the first radio base station. After the unmanned aircraft 100 has handed over from the first radio base station to the second radio base station, the gimbal 110 may be controlled so that the direction of the directional antenna 120 is directed to the position of the second radio base station.

As described above, the mobile information acquisition unit 220 acquires the mobile information related to the unmanned aerial vehicle 100. The mobile body information acquisition unit 220 may acquire the moving direction of the unmanned aerial vehicle 100. The mobile body information acquisition unit 220 may be an example of a movement direction acquisition unit. The mobile body information acquisition unit 220 may acquire the moving speed of the unmanned aerial vehicle 100. The moving body information acquisition unit 220 may be an example of a moving speed acquisition unit. The mobile information acquisition unit 220 may acquire the planned travel route of the unmanned aerial vehicle 100. The mobile information acquisition unit 220 may be an example of a route acquisition unit.

The base station specifying unit 212 may specify the second radio base station from the plurality of radio base stations based on the position and moving direction of the unmanned aerial vehicle 100 and the positions of the plurality of radio base stations. The base station specifying unit 212 may specify the second radio base station from the plurality of radio base stations based on the position, the moving direction, and the moving speed of the unmanned aerial vehicle 100 and the positions of the plurality of radio base stations.

The base station identification unit 212 has a plurality of directional antennas 120 so that the amount of angle adjustment of the directional antenna 120 when the direction of the directional antenna 120 is directed from the first radio base station to the second radio base station is smaller. A second radio base station may be identified from the radio base station.

The base station specifying unit 212 may specify the second radio base station from the plurality of radio base stations based on the position of the unmanned aerial vehicle 100, the planned movement route, and the positions of the plurality of radio base stations. The base station identification unit 212 gives priority to whether or not each of the plurality of radio base stations is located in the moving direction of the moving body, rather than the distance between the unmanned aerial vehicle 100 and each of the plurality of radio base stations. Radio base station may be specified. The base station identification unit 212 determines whether or not each of the plurality of radio base stations is located in the moving direction of the unmanned aircraft 100, rather than the radio wave reception intensity from each of the plurality of radio base stations by the directional antenna 120 of the unmanned aircraft 100. The second radio base station may be specified with priority given to.

When the management device 400 functions as a control device, the management device 400 may have the same configuration as the controller 200. In this case, the mobile information acquisition unit 220 may receive the mobile information from the unmanned aerial vehicle 100. Further, the base station information acquisition unit 230 may acquire the base station information stored in the management device 400 in advance. The base station information acquisition unit 230 may receive base station information from the base station DB. Further, the control unit 210 may control the gimbal 110 by transmitting an instruction to the unmanned aerial vehicle 100 via the network 30 and the radio base station 20.

FIG. 13 schematically shows an example of the configuration of the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 may include a gimbal 110, a directional antenna 120, an FCC 610, an LTE chip 620, and a microcomputer 630. The microcomputer 630 may be an example of the controller 200. The microcomputer 630 and the FCC 610 may correspond to the controller 200. The LTE chip 620 may be an example of the wireless communication unit 300.

FIG. 14 schematically shows an example of the processing flow by the unmanned aerial vehicle 100. Here, the unmanned aerial vehicle 100 starts in a state where it can communicate with the base station DB 80, establishes a wireless communication connection with the wireless base station A station 72, starts moving, and moves along with the movement. From 72, the flow of the process in the case of handing over to the B station 74 which is a radio base station will be described.

In step 102 (the step may be abbreviated as S) 102, the FCC 610 transmits the mobile information of the unmanned aerial vehicle 100 to the microcomputer 630. In S104, the microcomputer 630 transmits the current position and the traveling direction of the unmanned aerial vehicle 100 to the base station DB80.

In S106, the base station DB80 transmits information (peripheral base station information) of the radio base station located in the moving direction of the unmanned aerial vehicle 100 around the unmanned aerial vehicle 100 from the current position and the traveling direction of the unmanned aerial vehicle 100 to the microcomputer 630. Send. The base station DB 80 may specify a radio base station located within a predetermined range from the current position of the unmanned aerial vehicle 100 as a radio base station around the unmanned aerial vehicle 100.

In S108, the microcomputer 630 selects station A 72 from a plurality of radio base stations included in the peripheral base station information, controls the gimbal 110, and directs the directional antenna 120 toward station A 72. .. Along with this, the LTE chip 620 transmits a connection request to the A station 72, which has the strongest radio wave (S110). In S112, a wireless communication connection is established between the LTE chip 620 and the A station 72.

In S114, the FCC 610 begins the movement of the unmanned aerial vehicle 100. The microcomputer 630 may appropriately orient the directional antenna 120 toward the A station 72 as the unmanned aerial vehicle 100 moves. In S116, the LTE chip 620 transmits the reception status of radio waves to the microcomputer 630. The LTE chip 620 periodically transmits the reception status of radio waves to the microcomputer 630, for example. In S118, the FCC 610 transmits the mobile information of the unmanned aerial vehicle 100 to the microcomputer 630. The FCC 610 periodically transmits, for example, mobile information to the microcomputer 630.

In S120, the microcomputer 630 selects the switching destination station (station B 74) and the transition timing based on the reception status from the LTE chip 620 and the mobile information from the FCC 610. In S122, the microcomputer 630 gradually points the directional antenna 120 in the direction of the B station 74 according to the transition timing selected in S120.

In S124, the station having the strongest radio field strength changes to station B 74. The LTE chip 620 reports the reception status to the A station 72 accordingly. The LTE chip 620 may transmit the Measurement Report to the A station 72. Station A 72 decides to hand over the unmanned aerial vehicle 100 from station A 72 to station B 74.

In S128, the A station 72 transmits a handover (may be described as HO) instruction to the B station 74, which is the handover destination. In S130, station A 72 transmits the HO instruction to the LTE chip 620. In S132, the unmanned aerial vehicle 100 hands over to the B station 74, thereby establishing a wireless communication connection between the LTE chip 620 and the B station 74.

In S134, the LTE chip 620 reports the establishment of the wireless communication connection with the B station 74 to the microcomputer 630. In S136, the microcomputer 630 completely points the directional antenna 120 toward the B station 74. According to the above flow, the wireless communication connection of the unmanned aerial vehicle 100 accompanying the movement of the unmanned aerial vehicle 100 is smoothly switched from the A station 72 to the B station 74.

In the above embodiment, the unmanned aerial vehicle 100 has been described as an example of the moving body, but the present invention is not limited to this. The moving body may be an aircraft such as an airplane, an airship, a helicopter, and a flying car. Further, the moving body may be a ship moving on the water or the sea. Further, the moving body may be a vehicle such as an automobile that moves on the ground.

FIG. 15 schematically shows an example of a hardware configuration of a computer 1200 that functions as a controller 200 or a management device 400. A program installed on the computer 1200 causes the computer 1200 to function as one or more "parts" of the device according to the present embodiment, or causes the computer 1200 to perform an operation associated with the device according to the present embodiment or the one or more. A plurality of "parts" can be executed and / or a computer 1200 can be made to execute a process according to the present embodiment or a stage of the process. Such a program may be executed by the CPU 1212 to cause the computer 1200 to perform a specific operation associated with some or all of the blocks of the flowcharts and block diagrams described herein.

The computer 1200 according to this embodiment includes a CPU 1212, a RAM 1214, and a graphic controller 1216, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive 1226, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive 1226 may be a DVD-ROM drive, a DVD-RAM drive, or the like. The storage device 1224 may be a hard disk drive, a solid state drive, or the like. The computer 1200 also includes a legacy I / O unit such as a ROM 1230 and a keyboard, which are connected to the I / O controller 1220 via an I / O chip 1240.

The CPU 1212 operates according to the programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphic controller 1216 acquires the image data generated by the CPU 1212 in a frame buffer or the like provided in the RAM 1214 or itself so that the image data is displayed on the display device 1218.

Communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive 1226 reads a program or data from a DVD-ROM 1227 or the like and provides it to the storage device 1224. The IC card drive reads the program and data from the IC card and / or writes the program and data to the IC card.

The ROM 1230 stores in it a boot program or the like executed by the computer 1200 at the time of activation and / or a program depending on the hardware of the computer 1200. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, and the like.

The program is provided by a computer-readable storage medium such as a DVD-ROM 1227 or an IC card. The program is read from a computer-readable storage medium, installed in a storage device 1224, RAM 1214, or ROM 1230, which is also an example of a computer-readable storage medium, and executed by the CPU 1212. The information processing described in these programs is read by the computer 1200 and provides a link between the program and the various types of hardware resources described above. The device or method may be configured to implement the operation or processing of information according to the use of the computer 1200.

For example, when communication is executed between the computer 1200 and an external device, the CPU 1212 executes a communication program loaded in the RAM 1214, and performs communication processing on the communication interface 1222 based on the processing described in the communication program. You may order. Under the control of the CPU 1212, the communication interface 1222 reads and reads transmission data stored in a transmission buffer area provided in a recording medium such as a RAM 1214, a storage device 1224, a DVD-ROM 1227, or an IC card. The data is transmitted to the network, or the received data received from the network is written to the reception buffer area or the like provided on the recording medium.

Further, the CPU 1212 makes the RAM 1214 read all or necessary parts of a file or a database stored in an external recording medium such as a storage device 1224, a DVD drive 1226 (DVD-ROM1227), an IC card, etc., on the RAM 1214. Various types of processing may be performed on the data of. The CPU 1212 may then write back the processed data to an external recording medium.

Various types of information such as various types of programs, data, tables, and databases may be stored in recording media and processed. The CPU 1212 describes various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information retrieval described in various parts of the present disclosure with respect to the data read from the RAM 1214, and is specified by the instruction sequence of the program. Various types of processing may be performed, including / replacement, etc., and the results are written back to the RAM 1214. Further, the CPU 1212 may search for information in a file, a database, or the like in the recording medium. For example, when a plurality of entries each having an attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 is the first of the plurality of entries. The attribute value of the attribute of is searched for the entry that matches the specified condition, the attribute value of the second attribute stored in the entry is read, and the first attribute satisfying the predetermined condition is selected. You may get the attribute value of the associated second attribute.

The program or software module described above may be stored on a computer 1200 or in a computer readable storage medium near the computer 1200. In addition, a recording medium such as a hard disk or RAM provided in a dedicated communication network or a server system connected to the Internet can be used as a computer-readable storage medium, whereby the program can be transferred to the computer 1200 via the network. provide.

The blocks in the flowchart and block diagram of this embodiment may represent a stage of the process in which the operation is performed or a "part" of the device responsible for performing the operation. Specific stages and "parts" are supplied with dedicated circuits, programmable circuits supplied with computer-readable instructions stored on computer-readable storage media, and / or computer-readable instructions stored on computer-readable storage media. It may be implemented by the processor. Dedicated circuits may include digital and / or analog hardware circuits and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuits include logical products, logical sums, exclusive logical sums, negative logical products, negative logical sums, and other logical operations, such as, for example, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like. , Flip-flops, registers, and reconfigurable hardware circuits, including memory elements.

The computer-readable storage medium may include any tangible device capable of storing instructions executed by the appropriate device, so that the computer-readable storage medium having the instructions stored therein is in a flow chart or block diagram. It will include a product that contains instructions that can be executed to create means for performing the specified operation. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable storage media include floppy (registered trademark) disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), and erasable programmable read-only memory (EPROM or flash memory). , Electrically Erasable Programmable Read Only Memory (EEPROM), Static Random Access Memory (SRAM), Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD), Blu-ray® Disc, Memory Stick , Integrated circuit card, etc. may be included.

Computer-readable instructions are assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or object-oriented programming such as Smalltalk, JAVA®, C ++, etc. Includes either source code or object code written in any combination of one or more programming languages, including languages and conventional procedural programming languages such as the "C" programming language or similar programming languages. Good.

Computer-readable instructions are used to generate means for a general-purpose computer, a special-purpose computer, or the processor of another programmable data processing device, or a programmable circuit, to perform an operation specified in a flowchart or block diagram. General purpose computers, special purpose computers, or other programmable data processing locally or via a local area network (LAN), a wide area network (WAN) such as the Internet, etc. to execute the computer readable instructions. It may be provided in the processor of the device or in a programmable circuit. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers and the like.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that such modified or improved forms may also be included in the technical scope of the present invention.

The order of execution of each process such as operation, procedure, step, and step in the device, system, program, and method shown in the claims, specification, and drawings is particularly "before" and "prior to". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. It's not a thing.

10 unmanned aircraft, 20 radio base stations, 22 target stations, 24 peripheral stations, 26 radio base stations, 28 radio base stations, 30 networks, 41, 42, 43, 44, 46, 51, 52, 53, 54, 55 radios. Base station, 60 communication terminals, 72 A station, 74 B station, 80 base station DB, 100 unmanned aircraft, 110 gimbal, 120 directional antenna, 122 beam, 200 controller, 210 control unit, 212 base station identification unit, 214 directions Control unit, 220 mobile information acquisition unit, 230 base station information acquisition unit, 240 measurement data storage unit, 242 measurement data acquisition unit, 244 measurement data reception unit, 246 model generation unit, 300 wireless communication unit, 400 management device, 502 Flight route, 510 antenna pointing direction, 522, 524, 526, 532, 534, 536, 538 switching points, 610 FCC, 620 LTE chip, 630 microcomputer, 1200 computer, 1210 host controller, 1212 CPU, 1214 RAM, 1216 graphic controller , 1218 Display Device, 1220 I / O Controller, 1222 Communication Interface, 1224 Storage Device, 1226 DVD Drive, 1227 DVD-ROM, 1230 ROM, 1240 I / O Chip

Claims (15)

It ’s a control device,
A first method in which a mobile body having a gimbal, a directional antenna rotatably supported by the gimbal, and a wireless communication unit that communicates with a wireless base station using the directional antenna establishes a wireless communication connection. A base station identification unit that identifies a radio base station and a second radio base station to be handovered by the mobile body from the first radio base station.
The directional antenna is in a direction capable of receiving both the radio wave from the first radio base station and the radio wave from the second radio base station, and receives the radio wave from the second radio base station. A control device including a direction control unit that controls the gimbal so as to direct the directional antenna in a direction in which the intensity becomes stronger than the reception intensity of radio waves from the first radio base station. The direction control unit has the directivity in a direction in which the reception strength of the radio wave from the second radio base station is stronger than the reception strength of the radio wave from the first radio base station by a predetermined value or more. The control device according to claim 1, wherein the gimbal is controlled so as to direct an antenna. The direction control unit sets the gimbal so that the directional antenna is directed in a direction in which the reception strength of the radio wave from the second radio base station is stronger than the reception strength of the radio wave from the first radio base station. Controlling and controlling the gimbal to direct the direction of the directional antenna to the position of the second radio base station after the mobile body has handovered from the first radio base station to the second radio base station. The control device according to claim 1 or 2. A movement direction acquisition unit that acquires the movement direction of the moving body,
It is equipped with a base station information acquisition unit that acquires base station information including the positions of each of a plurality of radio base stations.
The claim that the base station specifying unit identifies the second radio base station from the plurality of radio base stations based on the position and moving direction of the mobile body and the positions of the plurality of radio base stations. The control device according to any one of 1 to 3. A moving speed acquisition unit for acquiring the moving speed of the moving body is provided.
The base station specifying unit identifies the second radio base station from the plurality of radio base stations based on the position, moving direction, and moving speed of the moving body and the positions of the plurality of radio base stations. , The control device according to claim 4. The base station identification unit makes the angle adjustment amount of the directional antenna smaller when the direction of the directional antenna is directed from the first radio base station to the second radio base station. The control device according to claim 4 or 5, wherein the second radio base station is identified from the plurality of radio base stations. A route acquisition unit that acquires the planned movement route of the moving body, and
It is equipped with a base station information acquisition unit that acquires base station information including the positions of each of a plurality of radio base stations.
The base station specifying unit identifies the second radio base station from the plurality of radio base stations based on the position of the mobile body, the planned movement route, and the positions of the plurality of radio base stations. The control device according to any one of claims 1 to 3. The base station specifying unit gives priority to whether or not each of the plurality of radio base stations is located in the moving direction of the mobile body rather than the distance between the mobile body and each of the plurality of radio base stations. The control device according to claim 7, wherein the second radio base station is specified. In the base station identification unit, each of the plurality of radio base stations is located in the moving direction of the mobile body, rather than the radio wave reception intensity from each of the plurality of radio base stations by the directional antenna of the mobile body. The control device according to claim 7, wherein the second radio base station is specified with priority given to whether or not it is. The base station identification unit makes the angle adjustment amount of the directional antenna smaller when the direction of the directional antenna is directed from the first radio base station to the second radio base station. The control device according to any one of claims 7 to 9, wherein the second radio base station is identified from the plurality of radio base stations. The control device according to any one of claims 1 to 10, wherein the control device is mounted on the moving body. The control device according to any one of claims 1 to 10, wherein the control device controls the mobile body by transmitting a signal to the mobile body via the radio base station. A program for causing a computer to function as the control device according to any one of claims 1 to 12. The control device according to any one of claims 1 to 12.
A system including the moving body. A control method performed by a control device that controls a moving body.
The mobile body has a gimbal, a directional antenna rotatably supported by the gimbal, and a radio communication unit that communicates with a radio base station using the directional antenna.
Base station identification stage for identifying a first radio base station to which the mobile body has established a wireless communication connection and a second radio base station to be handed over from the first radio base station by the mobile body. When,
The directional antenna is in a direction capable of receiving both the radio wave from the first radio base station and the radio wave from the second radio base station, and receives the radio wave from the second radio base station. A control method including a direction control step for controlling the gimbal so as to direct the directional antenna in a direction in which the intensity becomes stronger than the reception intensity of radio waves from the first radio base station.

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