Collision estimation device, collision prevention device, position estimation method, collision prevention method, and program

Abstract

To provide a position estimation device that accurately specifies the position of a target machine in a positional relation between the target machine and a peripheral machine positioned around the target machine.SOLUTION: Radio wave signals transmitted from a plurality of peripheral machines located around a target machine, the radio wave signals including position information of the peripheral machines that have transmitted the radio wave signals, are received. A photographing device that photographs at least one peripheral machine of the plurality of peripheral machines is controlled. Based on an image generated by photographing, a direction of the peripheral machine shown in the image with respect to the target machine is calculated. A range of a position of the target machine in relation to a position of the peripheral machine is estimated based on the direction of the peripheral machine shown in the image and the radio wave signals.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a position estimation device, a collision prevention device, a position estimation method, a collision prevention method, and a program. [Background technology]

[0002] When unmanned aerial vehicles and other mobile devices move in formation, it is necessary to control the positional relationship between a target mobile device and peripheral devices located around the target mobile device. A related technique is disclosed in Patent Document 1.

[0003] Patent document 1 discloses that, based on an image of a sign acquired by an optical sensor, identification information of the sign and the orientation of the sign as seen from the drone are acquired, the coordinates of the sign are acquired based on the acquired identification information of the sign, and the position of the drone is calculated based on the acquired orientation and coordinates of the sign. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-86478 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the technology described above, when multiple mobile devices move in formation, there has been a demand for technology that can accurately identify the position of a target device among those mobile devices in terms of its positional relationship with surrounding devices located around the target device.

[0006] An object of this disclosure is to provide a position estimation device, a collision prevention device, a position estimation method, a collision prevention method, and a program that solve the above problems. [Means for solving the problem]

[0007] According to a first aspect of this disclosure, a position estimation device comprises a receiving means for receiving radio signals transmitted from a plurality of peripheral devices located in the vicinity of a target device, the radio signals including position information of the peripheral devices that transmitted the radio signals, a direction calculation means for calculating a direction of a peripheral device appearing in an image generated by photographing at least one of the plurality of peripheral devices based on the image, relative to the target device, and a position estimation means for estimating a range of the position of the target device in relation to the position of the peripheral devices based on the direction of the peripheral device appearing in the image and the radio signal.

[0008] According to a second aspect of this disclosure, a position estimation method receives radio signals transmitted from a plurality of peripheral devices located in the vicinity of a target device, the radio signals including position information of the peripheral devices that transmitted the radio signals, calculates a direction of a peripheral device appearing in an image generated by photographing at least one of the plurality of peripheral devices, relative to the target device, and estimates a range of the position of the target device in relation to the position of the peripheral devices, based on the direction of the peripheral devices appearing in the image and the radio signals.

[0009] According to a third aspect of this disclosure, the program causes a computer of a position estimation device having a receiving means for receiving radio signals transmitted from a plurality of peripheral devices located in the vicinity of a target device, the radio signals including position information of the peripheral devices that transmitted the radio signals, to function as a direction calculation means for calculating a direction of a peripheral device appearing in an image generated by photographing at least one of the plurality of peripheral devices, relative to the target device, and a position estimation means for estimating a range of the position of the target device in relation to the position of the peripheral devices, based on the direction of the peripheral device appearing in the image and the radio signal. Effect of the Invention

[0010] When multiple mobile devices move in formation, the position of a target device among the mobile devices in terms of its positional relationship with surrounding devices located around the target device can be identified with high accuracy. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram of a flight control system according to one embodiment of the present disclosure. [Diagram 2] FIG. 2 illustrates the functionality provided on each aircraft according to one embodiment of the disclosure. [Diagram 3] 1 is a diagram illustrating the accuracy of calculating the position range of a target aircraft according to an embodiment of the present disclosure. [Figure 4] 1 is a diagram showing a relationship between a peripheral device that transmits a radio signal and a target device that receives the radio signal according to an embodiment of the present disclosure. [Diagram 5] 13 is a diagram showing an example of calculation of the direction of a peripheral device appearing in a captured image according to an embodiment of the present disclosure. [Figure 6] A diagram showing an overview of a process for correcting position information of a peripheral device based on an image according to one embodiment of the present disclosure. [Figure 7] 1 is a first diagram showing a processing flow of a position estimation device for a peripheral device and a target device according to an embodiment of the present disclosure. FIG. [Figure 8] FIG. 2 is a second diagram showing the processing flow of a position estimation device for a peripheral device and a target device according to an embodiment of the present disclosure. [Figure 9] FIG. 2 is a functional block diagram showing a minimum configuration of a position estimation device according to an embodiment of the present disclosure. [Figure 10] FIG. 11 is a diagram showing a processing flow of a position estimation device with a minimum configuration according to an embodiment of the present disclosure. [Figure 11] FIG. 2 is a diagram illustrating a hardware configuration of a position estimation device according to each embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] FIG. 1 is a schematic diagram of a flight control system according to an embodiment of the present disclosure. As shown in FIG. 1, the flight control system 100 is composed of multiple mobile devices. In this embodiment, the mobile devices are aircraft 1, and the flight control system 100 is composed of multiple aircraft 1. FIG. 1 illustrates four aircraft 1, namely aircraft 1A, 1B, 1C, and 1X. The aircraft 1 constituting the flight control system 100 may be composed of multiple aircraft 1 other than four. Among the multiple aircraft 1, an aircraft whose position is to be estimated is called a target aircraft. In addition, an aircraft 1 flying around the target aircraft is called a peripheral aircraft. In the following description, the aircraft 1X shown in FIG. 1 is set as the target aircraft, and the aircraft 1A, 1B, and 1C are set as the peripheral aircraft. Each aircraft is collectively called an aircraft 1.

[0013] Fig. 2 is a diagram showing the functions of each aircraft. As shown in Fig. 2, each aircraft 1 is equipped with a position estimation device 10, a flight control device 20, an antenna 30, an image capture device 40, a satellite positioning device 50, a timing device 60, a receiving unit 11, an image capture control unit 12, a first direction calculation unit 13, a second direction calculation unit 14, a position estimation unit 15, and a transmitting unit 16.

[0014] The position estimation device 10 estimates the position of the aircraft 1 on which the device is mounted in place of the satellite positioning device 50 when the satellite positioning device 50 has a malfunction such as a breakdown. The flight control device 20 controls the flight of the aircraft 1 in which the device is installed. The antenna 30 transmits or receives radio signals. The photographing device 40 photographs surrounding aircraft of the aircraft 1 . The satellite positioning device 50 calculates the position of the aircraft 1 on which the device is mounted, using the mechanisms of satellite positioning systems such as the Global Positioning System (GPS) and the Global Navigation Satellite System Profile (GNSS). The timing device 60 keeps track of the time.

[0015] In the position estimation device 10, the receiving unit 11 receives radio signals from the antenna 30. The photographing control unit 12 controls the photographing device 40. The first direction calculation unit 13 calculates the arrival direction of each radio signal. The second direction calculation unit 14 calculates the direction of peripheral aircraft of the aircraft 1 equipped with the position estimation device 10 based on the positions of the peripheral aircraft included in the image generated by the photographing device 40. The position estimation unit 15 estimates the range of the position of the target aircraft (the aircraft 1 equipped with the position estimation device 10) in relation to the positions of the peripheral aircraft based on the directions of the peripheral aircraft shown in the image and the radio signals.

[0016] Here, each aircraft 1 is equipped with a satellite positioning device 50 as described above. Therefore, the position of the aircraft itself can usually be calculated by the function of the satellite positioning device 50. However, if the satellite positioning device 50 breaks down for some reason, the aircraft 1 cannot identify its own position. When multiple aircraft 1 are in formation, it is desirable to be able to continuously calculate the position of each aircraft 1 with high accuracy even if the satellite positioning device 50 is no longer able to calculate its own position. Therefore, the position estimation device 10 of the aircraft 1 according to this disclosure has a function of estimating the range of the aircraft's position in relation to the positions of the surrounding aircraft based on the direction of the surrounding aircraft shown in the image and the radio signal. It is assumed that the time measured by the timing device 60 equipped in each aircraft 1 is synchronized with high accuracy.

[0017] FIG. 3 is a diagram for explaining the calculation accuracy of the position range. In this disclosure, the aircraft 1, which is a peripheral device, transmits a radio signal. The radio signal includes position information calculated by a satellite positioning device 50 provided on the aircraft 1, which is a peripheral device, and the time measured by a timing device 60 included in the aircraft 1. The target device receives the radio signal. The accuracy of the range of the relative position of the target device from the peripheral devices changes as shown in FIG. 3 due to the position error from the ideal position of the peripheral device contained in the radio signal and the time synchronization error between the peripheral device and the target device. In order to estimate the position of the target device, it is necessary to receive radio signals from multiple peripheral devices, and it is desirable to minimize the deviation of the estimated range of the target device's position due to the position error of the peripheral devices and the time synchronization error.

[0018] FIG. 4 is a diagram showing the relationship between a peripheral device that transmits a radio signal and a target device that receives the radio signal. The time it takes for a signal to reach the target aircraft 1X after it transmits it is called t A t B t C The propagation speed of the radio signal is c. In this case, the position error calculated by each satellite positioning device 50 of the peripheral device is ε GPS The time synchronization deviation between the time calculated by the clock device 60 of the peripheral device and the time calculated by the clock device 60 of the target device is t SYNC Then, the position X of the target aircraft 1X satisfies the following expressions (1), (2), and (3). The range of position X that satisfies expressions (1), (2), and (3) includes the effects of the position errors of the peripheral aircraft described above and the time synchronization error between the peripheral aircraft and the target aircraft.

[0019]

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[0020]

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[0021]

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[0022] Therefore, the position estimation device 10 improves the estimation accuracy of the position X by correcting the range of the target aircraft's position X using the image obtained from the imaging device.

[0023] FIG. 5 is a diagram showing an example of calculation of the direction of a peripheral aircraft in a captured image. Using FIG. 5, one embodiment of an example of calculation of the direction of a peripheral aircraft in a captured image will be described. The travel direction of the target aircraft (aircraft 1X) is regarded as the z-axis, the distance between a vertical plane α perpendicular to the travel direction z and including the position of the target aircraft on the plane and a vertical plane β perpendicular to the z-axis and including the position of the peripheral aircraft on the plane is d, the straight line connecting the target aircraft and the peripheral aircraft is r, the angle between the z-axis and the straight line r is θ, and the angle between the corresponding straight line in the vertical plane α when the straight line r is projected onto the vertical plane α and the horizontal axis (x-axis) with the target aircraft as the origin in the vertical plane α is φ. The vertical plane α is regarded as the captured image, and the direction of the peripheral aircraft based on the target aircraft in the captured image can be specified as φ. The direction of the peripheral aircraft in the captured image (the peripheral aircraft direction) can be specified by θ and φ. θ can be calculated by the following formula (4).

[0024]

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[0025] The distance d in the z-axis direction (the distance between the vertical planes α and β) can be calculated from the ratio of the number of pixels representing the size of the target aircraft in the image captured by the image capture device 40 to the actual aircraft length, and the focal length of the camera.

[0026] FIG. 6 is a diagram showing an outline of a process for correcting the position information of a peripheral device based on an image. The second direction calculation unit 14 calculates the peripheral aircraft direction (θ, φ) as described above. The second direction calculation unit 14 outputs the peripheral aircraft direction (θ, φ) of the peripheral aircraft (aircraft 1A) to the position estimation unit 15. The position estimation unit 15 calculates the position A (x A , y A , z A ) is corrected by equations (5), (6), and (7) to obtain position A'(x' A , y' A , z' A ) is calculated.

[0027]

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[0028]

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[0029]

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[0030] The position estimation unit 15 replaces the position A in the formula (1) with the position A' corrected by the formulas (5), (6), and (7) (formula (8)). This enables the position estimation device 10 to correct the range of the position X of the target aircraft using the image obtained from the imaging device 40.

[0031]

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[0032] (First embodiment) FIG. 7 is a diagram showing the processing flow of the position estimation device of the peripheral aircraft and the target aircraft according to the first embodiment. Next, the processing flow of the position estimation device 10 of the peripheral aircraft and the position estimation device 10 of the target aircraft will be explained step by step. First, it is assumed that a failure of the satellite positioning device 50 is detected in the target aircraft (aircraft 1X). In this case, the target aircraft waits to receive a radio signal transmitted from the peripheral aircraft (aircraft 1A, 1B, 1C). The times kept by the timing devices 60 in the peripheral aircraft (aircraft 1A, 1B, 1C) are synchronized.

[0033] In the position estimation device 10 of the peripheral aircraft (aircraft 1A, 1B, 1C), the transmitter 16 acquires position information calculated by the satellite positioning device 50 (step S101). In the position estimation device 10 of the peripheral aircraft (aircraft 1A, 1B, 1C), the transmitter 16 acquires time information calculated by the timing device 60 (step S102). The transmitter 16 periodically transmits a radio signal including the position information and time information from the antenna 30 (step S103).

[0034] The receiver 11 of the target aircraft (aircraft 1X) receives each radio signal transmitted from the surrounding aircraft (aircraft 1A, 1B, 1C) via the antenna 30 (step S201). The receiver 11 outputs information (position information, time information) contained in each radio signal to the position estimation unit 15. The position estimation unit 15 estimates the position range of the position X of the target aircraft (aircraft 1X) using equations (1), (2), and (3) (step S202). The position range may be calculated using triangulation technology.

[0035] In estimating the position range of the position X, the radio signals may not be received simultaneously. In this case, the position estimation unit 15 uses the reception time of the first radio signal received among the number of radio signals required for position estimation as a reference. The position estimation unit 15 corrects the position information included in the radio signal so as to cancel the amount of relative movement between the surrounding aircraft that transmitted the radio signal and the target aircraft that occurred between the reference reception time and the reception time of the radio signal received thereafter. Then, the corrected position information may be used to estimate the position range of the position X of the target aircraft (aircraft 1X).

[0036] The amount of relative movement between the target device and the peripheral device that transmitted the radio signal that occurs between the reference reception time and the reception time of the radio signal subsequently received may be calculated based on the change in distance to the peripheral device, which is calculated periodically based on the radio signal received from the peripheral device.

[0037] On the other hand, the first direction calculation unit 13 estimates the radio wave arrival direction based on each radio wave signal. When the antenna 30 is an array antenna or the like, this radio wave arrival direction may be estimated by a known technique using the signals received from each antenna 30. The first direction calculation unit 13 outputs the radio wave arrival direction calculated based on each radio wave signal to the imaging control unit 12. The imaging control unit 12 compares the radio wave arrival direction calculated based on each radio wave signal with the current imaging direction of the imaging device 40, and selects the radio wave arrival direction that is closest to the current imaging direction of the imaging device 40. The imaging control unit 12 calculates a drive amount so that the imaging direction of the imaging device 40 faces the selected radio wave arrival direction, and controls the rotation of the arm of the imaging device 40 using the drive amount. Note that the first direction calculation unit 13 may calculate only the radio wave arrival direction of any one of the radio wave signals, and the imaging control unit 12 may control so that the imaging direction of the imaging device 40 faces the radio wave arrival direction. One radio wave signal for which the radio wave arrival direction is calculated may be the radio wave signal received earliest.

[0038] The photographing control unit 12 uses the drive amount to control the photographing direction of the photographing device 40 to face the radio wave arrival direction, and then issues an instruction to photograph. The photographing device 40 photographs the peripheral device based on the photographing instruction. The photographing device control unit 12 acquires an image from the photographing device 40. This process is one aspect of a process in which the photographing control unit 12 calculates a drive amount for driving the photographing direction of the photographing device to an angle of view including one peripheral device based on a radio wave signal, and controls the photographing direction of the photographing direction based on the drive amount to acquire an image. The photographing control unit 12 outputs the image to the second direction calculation unit 14. The second direction calculation unit 14 calculates the peripheral device direction (θ, φ) by the method described using FIG. 5 (step S203). The second direction calculation unit 14 outputs the peripheral device direction (θ, φ) to the position estimation unit 15.

[0039] If the photographing device 40 has a fisheye lens or a wide-angle lens, the peripheral device will appear in the image generated by the photographing device 40 even if the photographing direction of the photographing device 40 is not changed. Therefore, if the photographing device 40 has a fisheye lens or a wide-angle lens, the first direction calculation unit 13 of the position estimation device 10 does not need to calculate the radio wave arrival direction. For example, the second direction calculation unit 14 may convert (distortion correction, etc.) a part of the image photographed by the fisheye lens or the wide-angle lens using a known technique to generate the vertical plane α shown in FIG. 5, and use the vertical plane α to calculate the peripheral device direction (θ, φ) in the same manner as described above.

[0040] The image capturing device 40 may be an optical sensor or a range image sensor. The optical sensor is, for example, a high-sensitivity camera or an infrared camera. The range image sensor is, for example, a Time of Flight (TOF) sensor or a Laser Imaging Detection and Ranging (LiDAR).

[0041] The position estimation unit 15 corrects the position information of the peripheral aircraft captured in the captured image using the peripheral aircraft direction (θ, φ) according to equations (5), (6), and (7). Then, the position estimation unit 15 derives equation (8) from equation (1) based on the corrected position information, and estimates the position range of position X of the target aircraft (aircraft 1X) using equations (8), (2), and (3) (step S204).

[0042] Through such processing, the position estimation device 10 can calculate with higher accuracy the range of the position of the target aircraft (aircraft 1X) on which the position estimation device 10 is equipped.

[0043] Second embodiment In the first embodiment, the position range of the target aircraft's position X is estimated based on multiple radio signals, and then the direction (θ, φ) of one surrounding aircraft (aircraft 1A) obtained from a captured image is fed back to estimate the position range of the position X. However, in another method, the position estimation device 10 may receive radio signals, acquire an image captured by the imaging device 40, and immediately estimate the position range of the target aircraft's position X (aircraft 1X) using equations (8), (2), and (3).

[0044] FIG. 8 is a diagram showing the processing flow of the position estimation device of the peripheral aircraft and the target aircraft according to the second embodiment. Next, the processing flow of the position estimation device 10 of the peripheral aircraft and the position estimation device 10 of the target aircraft according to the second embodiment will be explained step by step. As in the first embodiment, it is assumed that a failure of the satellite positioning device 50 is detected in the target aircraft (aircraft 1X). In this case, the target aircraft waits to receive a radio signal transmitted from the peripheral aircraft (aircraft 1A, 1B, 1C). The times kept by the timing devices 60 in the peripheral aircraft (aircraft 1A, 1B, 1C) are synchronized.

[0045] In the position estimation device 10 of the peripheral aircraft (aircraft 1A, 1B, 1C), the transmitter 16 acquires position information calculated by the satellite positioning device 50 (step S301). In the position estimation device 10 of the peripheral aircraft (aircraft 1A, 1B, 1C), the transmitter 16 acquires time information calculated by the timing device 60 (step S302). The transmitter 16 periodically transmits a radio signal including the position information and time information from the antenna 30 (step S303). The processing in the peripheral aircraft is similar to that in the first embodiment.

[0046] The receiver 11 of the target aircraft (aircraft 1X) receives each radio signal transmitted from the surrounding aircraft (aircraft 1A, 1B, 1C) via the antenna 30 (step S401). The receiver 11 outputs information (position information, time information) included in each radio signal to the position estimation unit 15.

[0047] On the other hand, the first direction calculation unit 13 estimates the radio wave arrival direction based on each radio wave signal. When the antenna 30 is an array antenna or the like, this radio wave arrival direction may be estimated by a known technique using the signals received from each antenna 30. The first direction calculation unit 13 outputs the radio wave arrival direction calculated based on each radio wave signal to the imaging control unit 12. The imaging control unit 12 compares the radio wave arrival direction calculated based on each radio wave signal with the current imaging direction of the imaging device 40, and selects the radio wave arrival direction that is closest to the current imaging direction of the imaging device 40. The imaging control unit 12 calculates a drive amount so that the imaging direction of the imaging device 40 faces the selected radio wave arrival direction, and controls the rotation of the arm of the imaging device 40 using this drive amount. Note that the first direction calculation unit 13 may calculate only the radio wave arrival direction of any one of the radio wave signals, and the imaging control unit 12 may control so that the imaging direction of the imaging device 40 faces the radio wave arrival direction. One radio wave signal for which the radio wave arrival direction is calculated may be the radio wave signal received earliest.

[0048] After controlling the photographing control unit 12 to orient the photographing direction of the photographing device 40 in the direction from which the radio waves are coming, it issues an instruction to photograph. The photographing device 40 photographs the peripheral device based on the photographing instruction. The photographing device control unit 12 acquires an image from the photographing device 40. The photographing control unit 12 outputs the image to the second direction calculation unit 14. The second direction calculation unit 14 calculates the peripheral device direction (θ, φ) by the method described using FIG. 5 (step S402). The second direction calculation unit 14 outputs the peripheral device direction (θ, φ) to the position estimation unit 15.

[0049] The position estimation unit 15 corrects the position information of the peripheral aircraft captured in the captured image using the peripheral aircraft direction (θ, φ) with equations (5), (6), and (7). The position estimation unit 15 then derives equation (9) based on the corrected position information, and estimates the position range of the target aircraft (aircraft 1X)'s position X using equations (9), (1), and (2) (step S403). The position range may be calculated using triangulation technology. Note that equation (9) is the same as equation (8) above.

[0050]

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[0051]

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[0052]

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[0053] In the second embodiment, the reception of radio signals may not be simultaneous in estimating the position range of position X. In this case, the position estimation unit 15 uses the reception time of the first radio signal among the number of radio signals required for position estimation as a reference. The position estimation unit 15 corrects the position information included in the radio signal so as to cancel the amount of relative movement between the surrounding device that transmitted the radio signal and the target device that occurred between the reference reception time and the reception time of the radio signal received thereafter. Then, the corrected position information may be used to estimate the position range of position X of the target device (aircraft 1X).

[0054] The amount of relative movement between the target device and the peripheral device that transmitted the radio signal that occurs between the reference reception time and the reception time of the radio signal subsequently received may be calculated based on the change in distance to the peripheral device, which is calculated periodically based on the radio signal received from the peripheral device.

[0055] In the second embodiment, when the photographing device 40 has a fisheye lens or a wide-angle lens, the peripheral device is reflected in the image generated by the photographing device 40 even if the photographing direction of the photographing device 40 is not changed. Therefore, when the photographing device 40 has a fisheye lens or a wide-angle lens, the first direction calculation unit 13 of the position estimation device 10 does not need to calculate the radio wave arrival direction. For example, the second direction calculation unit 14 may convert (distortion correction, etc.) a part of the image photographed by the fisheye lens or the wide-angle lens using a known technique to generate the vertical plane α shown in FIG. 5, and use the vertical plane α to calculate the peripheral device direction (θ, φ) in the same manner as described above.

[0056] In the second embodiment, the image capturing device 40 may be an optical sensor or a range image sensor. The optical sensor is, for example, a high-sensitivity camera or an infrared camera. The range image sensor is, for example, a Time of Flight (TOF) sensor or a Laser Imaging Detection and Ranging (LiDAR).

[0057] In the explanation of the first and second embodiments, the position information of only one peripheral aircraft (aircraft 1A) is corrected using the captured image, and the position range of the position X of the target aircraft (aircraft 1X) is estimated using equation (8) (=equation (9)), equation (2), and equation (3) using the corrected position information of the peripheral aircraft (aircraft 1A). However, when multiple peripheral aircraft are captured in the captured image, or when multiple peripheral aircraft can be captured in sequence in each of the multiple captured images, the position information of the multiple peripheral aircraft may be further corrected, and the position range of the position X of the target aircraft (aircraft 1X) may be estimated in a similar manner. In this case, for example, when the position B (x B , y B , z B ) is corrected using the same formulas as above (5), (6), and (7) to obtain position B'(x' B , y' B , z' B ) is calculated, and the position range of position X of the target aircraft (aircraft 1X) is estimated in the same manner as above using an equation corresponding to equation (2) in which position B is corrected by position B'. Similarly, the position range of position X of the target aircraft (aircraft 1X) is estimated in the same manner as above using an equation corresponding to equation (3) in which position C is corrected by position C'.

[0058] In the first and second embodiments described above, the position estimation device 10 may output the position range of the estimated position X of the target aircraft (aircraft 1A) to the flight control device 20. The flight control device 20 may then perform movement control to maintain the positional relationship between the target aircraft (aircraft 1X) and the peripheral aircraft (aircraft 1A, 1B, 1C) based on the position range of the estimated position X of the target aircraft (aircraft 1X). For example, the flight control device 20 may compare the position information (coordinates) of the peripheral aircraft (aircraft 1A, 1B, 1C) with the position range (coordinate range) of the position X of the target aircraft (aircraft 1X) and, when it is determined that the target aircraft is approaching any of the peripheral aircraft, perform flight control to move away from the approaching peripheral aircraft and move to approximately the center of the range of the triangle defined by the coordinates of the peripheral aircraft (aircraft 1A, 1B, 1C).

[0059] In the above description of the embodiment, an example is shown in which the target machine and the peripheral machine are an aircraft 1. The aircraft 1 may be an unmanned aerial vehicle such as a drone. Alternatively, the target machine and the peripheral machine may be other moving bodies (mobile devices). For example, the target machine and the peripheral machine may be automobiles. Furthermore, the target machine and the peripheral machine may not be unmanned mobile devices, but may be mobile devices operated by people.

[0060] FIG. 9 is a functional block diagram showing a minimum configuration of a position estimation device according to an embodiment of the present disclosure. FIG. 10 is a diagram showing a processing flow of a position estimation device with a minimum configuration according to an embodiment of the present disclosure.

[0061] The position estimation device 10 includes at least a receiving means 101 , a direction calculation means 102 , and a position estimation means 103 . The receiving means 101 receives radio signals transmitted from a plurality of peripheral devices located in the vicinity of the target device, the radio signals including the position information of the peripheral devices that transmitted the radio signals (step S1001). The direction calculation means 102 calculates, based on an image generated by photographing at least one of the multiple peripheral devices, a direction of a peripheral device shown in the image relative to the target device (step S1002). The position estimation means 103 estimates the range of the position of the target aircraft in relation to the positions of the peripheral aircraft, based on the direction of the peripheral aircraft shown in the image and the radio signal (step S1003).

[0062] The program of the position estimation device 10 may be for realizing part of the above-mentioned functions, or may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

[0063] (Hardware configuration) FIG. 11 is a hardware configuration diagram of the position estimation device according to this embodiment. As shown in this figure, the position estimation device 10 may be a computer equipped with various hardware components such as a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, a HDD (Hard Disk Drive) 104, and a communication module 105.

[0064] A program corresponding to each of the above-mentioned processes in the above-mentioned position estimation device 10 is stored in a computer-readable recording medium, and the computer reads and executes this program to perform each of the above-mentioned processes. Here, the computer-readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, etc. Also, this computer program may be distributed to a computer via a communication line, and the computer that receives this distribution may execute the program.

[0065] The program may be a program for implementing some of the above-mentioned functions, or may be a so-called differential file (differential program) that can implement the above-mentioned functions in combination with a program already recorded in the computer system.

[0066] Although the position estimation device of this disclosure has been described above, this disclosure is not limited to the above-mentioned embodiment. Various modifications that can be understood by a person skilled in the art can be made to the configuration and details of this disclosure within the scope of this disclosure. Furthermore, each embodiment can be appropriately combined with other embodiments.

[0067] Note that some or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0068] (Appendix 1) a receiving means for receiving radio signals transmitted from a plurality of peripheral devices located in the vicinity of the target device, the radio signals including location information of the peripheral devices that transmitted the radio signals; a direction calculation means for calculating, based on an image generated by photographing at least one of the plurality of peripheral devices, a direction of a peripheral device shown in the image relative to the target device; a position estimation means for estimating a range of a position of the target aircraft relative to a position of the peripheral aircraft based on a direction of the peripheral aircraft shown in the image and the radio signal; A position estimation device comprising:

[0069] (Appendix 2) 2. The position estimation device according to claim 1, further comprising an imaging control means for controlling an imaging device that generates the image by imaging.

[0070] (Appendix 3) The position estimation means Estimating a range of a first position of the target aircraft based on the radio signal; The range of the first position is corrected based on a direction of a peripheral device shown in the image relative to the target device. 3. A location estimation device as claimed in claim 2.

[0071] (Appendix 4) the photographing control means calculates a drive amount for driving the photographing direction of the photographing device to an angle of view including the one peripheral device based on the radio wave signal, and controls the photographing direction based on the drive amount to acquire the image. 4. A location estimation device according to claim 2 or 3.

[0072] (Appendix 5) the photographing control means controls the photographing device equipped with a fisheye lens or a wide-angle lens to acquire the image; 4. A location estimation device according to claim 2 or 3.

[0073] (Appendix 6) The imaging device is an optical sensor or a range image sensor. 4. A location estimation device according to claim 2 or 3.

[0074] (Appendix 7) 4. A position estimation device according to claim 2 or 3, stored in the target aircraft.

[0075] (Appendix 8) a movement control means for maintaining a positional relationship with the peripheral device based on the position range of the target device after the correction; 4. A position estimation device as described in claim 3, comprising:

[0076] (Appendix 9) A collision prevention device that performs collision prevention processing between the target aircraft and the peripheral aircraft based on the relationship between the position of the target aircraft and the positions of the peripheral aircraft estimated by the position estimation device described in Appendix 1 or Appendix 2.

[0077] (Appendix 10) receiving radio signals transmitted from a plurality of peripheral devices located in the vicinity of the target device, the radio signals including location information of the peripheral devices that transmitted the radio signals; Calculating a direction of a peripheral device shown in an image generated by photographing at least one of the plurality of peripheral devices with respect to the target device; Based on the direction of the peripheral devices shown in the image and the radio signal, a range of the position of the target device relative to the positions of the peripheral devices is estimated. Location estimation method.

[0078] (Appendix 11) Controlling an image capturing device that captures the image 11. The location estimation method of claim 10.

[0079] (Appendix 12) Estimating a range of a first position of the target aircraft based on the radio signal; The range of the first position is corrected based on a direction of a peripheral device shown in the image relative to the target device. 12. The location estimation method of claim 11.

[0080] (Appendix 13) a driving amount for driving the imaging direction of the imaging device to an angle of view including the one peripheral device based on the radio wave signal, and controlling the imaging direction based on the driving amount to acquire the image. 13. The location estimation method of claim 11 or 12.

[0081] (Appendix 14) Controlling the image capture device equipped with a fisheye lens or a wide-angle lens to capture the image; 13. The location estimation method of claim 11 or 12.

[0082] (Appendix 15) The imaging device is an optical sensor or a range image sensor. 13. The location estimation method of claim 11 or 12.

[0083] (Appendix 16) The position estimation method according to claim 11 or 12, stored in the target aircraft.

[0084] (Appendix 17) maintain a positional relationship with the peripheral device based on the position range of the target device after the correction; 13. The location estimation method of claim 12.

[0085] (Appendix 18) A collision prevention method that performs collision prevention processing between the target aircraft and the peripheral aircraft based on the relationship between the position of the target aircraft estimated by the position estimation method described in Appendix 10 and the positions of the peripheral aircraft.

[0086] (Appendix 19) A computer of a position estimation device including a receiving means for receiving radio signals transmitted from a plurality of peripheral devices located in the vicinity of a target device, the radio signals including position information of the peripheral devices that transmitted the radio signals, a direction calculation means for calculating, based on an image generated by photographing at least one of the plurality of peripheral devices, a direction of a peripheral device shown in the image relative to the target device; a position estimation means for estimating a range of the position of the target aircraft in relation to the position of the peripheral aircraft based on the direction of the peripheral aircraft shown in the image and the radio wave signal; A program that functions as a

[0087] (Appendix 20) 20. The program according to claim 19, further comprising an imaging control means for controlling an imaging device that generates the image by imaging.

[0088] (Appendix 21) The position estimation means Estimating a range of a first position of the target aircraft based on the radio signal; The range of the first position is corrected based on a direction of a peripheral device shown in the image relative to the target device. 21. The program according to claim 20.

[0089] (Appendix 22) the photographing control means calculates a drive amount for driving the photographing direction of the photographing device to an angle of view including the one peripheral device based on the radio wave signal, and controls the photographing direction of the photographing device based on the drive amount to obtain the image. 22. The program according to claim 20 or 21.

[0090] (Appendix 23) the photographing control means controls the photographing device equipped with a fisheye lens or a wide-angle lens to acquire the image; 22. The program according to claim 20 or 21.

[0091] (Appendix 24) The imaging device is an optical sensor or a range image sensor. 22. The program according to claim 20 or 21.

[0092] (Appendix 25) 22. The program according to claim 20 or 21 stored in the target machine.

[0093] (Appendix 26) a movement control means for maintaining a positional relationship with the peripheral device based on the position range of the target device after the correction; 22. The program of claim 21, comprising:

[0094] (Appendix 27) A program that causes a computer of a collision prevention device to execute a collision prevention process between the target aircraft and the peripheral aircraft based on the relationship between the position of the target aircraft and the position of the peripheral aircraft estimated by a position estimation device that executes the program described in Supplementary Note 19 or Supplementary Note 20. [Explanation of symbols]

[0095] 1, 1A, 1B, 1C, 1X...Aircraft (mobile device) 10...Position estimation device 11 Receiving unit (receiving means 101) 12. Imaging control section 13...First direction calculation section 14...Second direction calculation section (direction calculation means 102) 15...Position estimation unit (position estimation means 103) 16 Transmitter 20. Flight control device 30 Antenna 40....Photographing device 50. Satellite positioning device 60...Timekeeping device 100 Flight control system

Claims

1. a receiving means for receiving radio signals transmitted from a plurality of peripheral devices located in the vicinity of the target device, the radio signals including location information of the peripheral devices that transmitted the radio signals; a direction calculation means for calculating, based on an image generated by photographing at least one of the plurality of peripheral devices, a direction of a peripheral device shown in the image relative to the target device; a position estimation means for estimating a range of a position of the target aircraft relative to a position of the peripheral aircraft based on a direction of the peripheral aircraft shown in the image and the radio signal; A position estimation device comprising:

2. The position estimation device according to claim 1 , further comprising an imaging control unit that controls an imaging device that generates the image by imaging.

3. The position estimation means Estimating a range of a first position of the target aircraft based on the radio signal; The range of the first position is corrected based on a direction of a peripheral device shown in the image relative to the target device. The position estimation device according to claim 2 .

4. the photographing control means calculates a drive amount for driving the photographing direction of the photographing device to an angle of view including the one peripheral device based on the radio wave signal, and controls the photographing direction based on the drive amount to acquire the image. The position estimation device according to claim 2 or 3.

5. the photographing control means controls the photographing device equipped with a fisheye lens or a wide-angle lens to acquire the image; The position estimation device according to claim 2 or 3.

6. The imaging device is an optical sensor or a range image sensor. The position estimation device according to claim 2 or 3.

7. The position estimation device according to claim 2 or 3, which is stored in the target aircraft.

8. a movement control unit that maintains a positional relationship with the peripheral device based on the position range of the target device after the correction; The position estimation device according to claim 3 .

9. 3. A collision prevention device that performs collision prevention processing between the target aircraft and the peripheral aircraft based on a relationship between the position of the target aircraft and the positions of the peripheral aircraft estimated by the position estimation device according to claim 1 or 2.

10. receiving radio signals transmitted from a plurality of peripheral devices located in the vicinity of the target device, the radio signals including location information of the peripheral devices that transmitted the radio signals; Calculating a direction of a peripheral device shown in an image generated by photographing at least one of the plurality of peripheral devices with respect to the target device; Based on the direction of the peripheral devices shown in the image and the radio signal, a range of the position of the target device relative to the positions of the peripheral devices is estimated. Location estimation method.

11. A collision prevention method for performing collision prevention processing between the target aircraft and the peripheral aircraft based on a relationship between the position of the target aircraft and the positions of the peripheral aircraft estimated by the position estimation method according to claim 10.

12. A computer of a position estimation device including a receiving means for receiving radio signals transmitted from a plurality of peripheral devices located in the vicinity of a target device, the radio signals including position information of the peripheral devices that transmitted the radio signals, a direction calculation means for calculating, based on an image generated by photographing at least one of the plurality of peripheral devices, a direction of a peripheral device shown in the image relative to the target device; a position estimation means for estimating a range of the position of the target aircraft in relation to the position of the peripheral aircraft based on the direction of the peripheral aircraft shown in the image and the radio wave signal; A program that functions as a

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