Moving object system, moving object, moving object control method and program

Abstract

To make it possible to detect a deviation direction of a position of a moving object from a route along which the moving object should proceed when the moving object moves.SOLUTION: A moving object system comprises a transmitting antenna and a moving object. The transmitting antenna comprises a plurality of transmitting means for transmitting radio waves. The transmitting antenna transmits radio waves where null due to cancellation of radio waves is formed, from the plurality of transmitting means. The moving object comprises: a receiving antenna for receiving radio waves from the transmitting antenna; position deviation detection means for detecting a deviation direction from a scheduled route which is a route where radio waves from the transmitting antenna at a position of the moving object are null based on a phase of reception radio waves; advancing direction determining means for determining an advancing direction of the moving object so that the moving object approaches the scheduled route based on the deviation direction; and driving means for moving the moving object in the determined advancing direction.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a mobile body system, a mobile body, a mobile body control method, and a program. [Background technology]

[0002] When a moving object moves, a route along which the moving object should proceed may be indicated. For example, in the facility inspection system described in Patent Document 1, a marking device transmits laser light, and a drone flies so as to continuously receive the laser light. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-209861 A Summary of the Invention [Problem to be solved by the invention]

[0004] When a moving body moves, it is preferable to be able to detect the direction in which the position of the moving body deviates from the path along which the moving body should proceed.

[0005] An example of an object of the present invention is to provide a mobile body system, a mobile body, a mobile body control method, and a program that can solve the above-mentioned problems. [Means for solving the problem]

[0006] According to a first aspect of the present invention, a mobile body system comprises a transmitting antenna and a mobile body, the transmitting antenna having a plurality of transmitting means for transmitting radio waves, and the plurality of transmitting means transmit radio waves from which a null is formed due to cancellation of the radio waves, and the mobile body comprises a receiving antenna for receiving the radio waves from the transmitting antenna, a position deviation detection means for detecting, based on the phase of the received radio waves, a direction of deviation of the position of the mobile body from a planned route, which is a route along which the radio waves from the transmitting antenna become null, a traveling direction determination means for determining, based on the direction of deviation, a traveling direction of the mobile body so that the mobile body approaches the planned route, and a driving means for moving the mobile body in the determined traveling direction.

[0007] According to a second aspect of the present invention, a moving body includes a transmitting antenna having a plurality of transmitting means, a receiving antenna that receives radio waves transmitted from the plurality of transmitting means, where a null is formed due to cancellation of the radio waves, a position deviation detection means that detects, based on the phase of the received radio waves, a direction of deviation of the position of the moving body from a planned route, which is a route along which the radio waves from the transmitting antennas become null, a traveling direction determination means that determines, based on the direction of deviation, a traveling direction of the moving body so that the moving body approaches the planned route, and a driving means that moves the moving body in the determined traveling direction.

[0008] According to a third aspect of the present invention, a method for controlling a moving body includes a computer controlling a moving body detecting a direction of deviation of a position of the moving body from a planned route, which is a route along which radio waves from a transmitting antenna become null, based on a phase of radio waves received by a receiving antenna that receives radio waves transmitted from a transmitting antenna having a plurality of transmitting means, where the radio waves cancel each other out to form a null, determining a direction of travel of the moving body so that the moving body approaches the planned route based on the direction of deviation, and moving the moving body in the determined direction of travel.

[0009] According to a fourth aspect of the present invention, a program is provided to cause a computer controlling a moving body to detect a direction of deviation of the position of the moving body from a planned route, which is a route along which radio waves from a transmitting antenna become null, based on the phase of radio waves received by a receiving antenna that receives radio waves transmitted from a transmitting antenna having a plurality of transmitting means, where the radio waves cancel each other out to form a null; determine a direction of travel of the moving body so that the moving body approaches the planned route based on the direction of deviation; and move the moving body in the determined direction of travel. Effect of the Invention

[0010] According to the present invention, when a moving object moves, it is possible to detect the direction in which the position of the moving object deviates from the path along which the moving object should proceed. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a mobile system according to an embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of a configuration of a transmitting antenna according to an embodiment. [Diagram 3] 1A to 1C are diagrams illustrating an example of a pattern of radio waves transmitted from each element when a transmitting antenna according to an embodiment is transmitting radio waves in which a peak is formed due to mutual reinforcement of the radio waves from each element. [Figure 4] 11A and 11B are diagrams illustrating an example of radio waves at a peak formed by mutual reinforcement of radio waves from each element according to the embodiment. [Diagram 5] 11 is a diagram showing an example of the relationship between the amount of deviation of the position of a moving body from the center of the plane of the transmitting antenna and the radio wave intensity when the transmitting antenna according to the embodiment is transmitting a peak-shaped radio wave. FIG. [Figure 6] 1 is a diagram showing a first example of a pattern of radio waves transmitted from each element when the transmitting antenna according to the embodiment is transmitting radio waves in which a null is formed due to cancellation of radio waves from each element. FIG. [Figure 7]4 is a diagram showing an example of a position where the received radio wave intensity of a moving body according to the embodiment is 0; FIG. [Figure 8] 11A and 11B are diagrams illustrating an example of radio waves in a null formed by cancellation of radio waves from each element according to the embodiment. [Figure 9] 4 is a diagram showing an example of a position where the received radio wave intensity of a moving body according to the embodiment is greater than 0; FIG. [Figure 10] 1A to 1C are diagrams illustrating an example of radio waves from each element at the position of a moving body when a transmitting antenna according to an embodiment is transmitting null-forming radio waves. [Figure 11] 1A to 1C are diagrams illustrating an example of radio waves received by a mobile body when a transmitting antenna according to an embodiment is transmitting null-forming radio waves. [Figure 12] 1 is a diagram illustrating an example of the relationship between the amount of deviation of the position of a moving body from the axis along which a null is formed and the radio wave intensity when a transmitting antenna according to an embodiment is transmitting a null-forming radio wave. [Figure 13] 11 is a diagram showing a second example of a pattern of radio waves transmitted by each element when the transmitting antenna according to the embodiment transmits null-forming radio waves. FIG. [Figure 14] FIG. 11 is a diagram showing an example of summation of radio waves from each element in a vector representation according to the embodiment. [Figure 15] 11A to 11C are diagrams illustrating an example of a processing procedure for generating deviation data according to the embodiment. [Figure 16] 13 is a diagram showing a third example of a pattern of radio waves transmitted by each element when the transmitting antenna according to the embodiment is transmitting a null-forming radio wave. FIG. [Figure 17] 6A and 6B are diagrams illustrating an example of timing at which a transmission antenna transmits radio waves for detecting a deviation according to the embodiment. [Figure 18] FIG. 2 is a diagram illustrating an example of a planned route of a moving object according to an embodiment. [Figure 19] FIG. 2 is a diagram illustrating an example of a configuration of a moving body according to an embodiment. [Figure 20] 1A to 1C are diagrams illustrating an example of input and output of data in a moving object according to an embodiment. [Figure 21]FIG. 2 is a diagram illustrating an example of a configuration of a transmission device according to an embodiment. [Figure 22] 11A and 11B are diagrams illustrating examples of radio waves with relatively strong directivity and radio waves with relatively weak directivity, which are transmitted as radio waves for detecting deviation from the transmitting antenna according to the embodiment. [Figure 23] 11A and 11B are diagrams illustrating an example of switching between a null-forming radio wave with relatively strong directivity and a null-forming radio wave with relatively weak directivity in an embodiment. [Figure 24] 11A and 11B are diagrams illustrating an example of switching between a peak-forming radio wave with relatively strong directivity and a peak-forming radio wave with relatively weak directivity in an embodiment. [Diagram 25] 11A and 11B are diagrams illustrating an example of timing for transmitting deviation detection radio waves when the transmitting antenna according to the embodiment transmits deviation detection radio waves having a relatively strong directivity and deviation detection radio waves having a relatively weak directivity. [Figure 26] 1 is a diagram illustrating an example of a planned route using a transmission device for relaying the planned route according to an embodiment; [Figure 27] 11A to 11C are diagrams illustrating an example of guiding radio waves from a downstream route to an upstream route transmitted by a transmitting device for relaying a planned route according to an embodiment. [Figure 28] A figure showing an example of the positional relationship between the axis on which a null of a downstream guiding signal is formed, the axis on which a null of a guiding radio wave from a downstream path to an upstream path is formed, and the axis on which a null of an upstream guiding signal is formed in an embodiment. [Figure 29] 11 is a diagram showing an example of a situation in which a moving object according to an embodiment switches from movement based on a GPS signal to movement based on guidance by a transmitting device. [Diagram 30] FIG. 4 is a diagram showing an example of a planned route having a branch in an embodiment; [Diagram 31] FIG. 2 is a diagram showing an example of a transmitting antenna configured using multiple horn antennas according to an embodiment. [Diagram 32] 4A and 4B are diagrams illustrating an example of the arrangement of horn antennas when the transmitting antenna according to the embodiment is viewed from above. [Diagram 33] 6A and 6B are diagrams illustrating an example of timing at which a transmission antenna transmits radio waves for detecting a deviation according to the embodiment. [Diagram 34] 1A and 1B are diagrams illustrating an example of a null-forming radio wave transmitted by a transmitting antenna according to an embodiment. [Diagram 35] 1A to 1C are diagrams illustrating an example of radio waves received by a moving body at a position shifted from an axis extending from the center of the transmitting antenna toward the front of the transmitting antenna according to an embodiment. [Diagram 36] 11 is a diagram showing an example of a processing procedure when a moving body moves according to a guidance signal according to the embodiment. FIG. [Figure 37] 11 is a diagram showing an example of a processing procedure when a moving object moves according to the embodiment; FIG. [Figure 38] FIG. 2 is a diagram illustrating another example of the configuration of a mobile system according to an embodiment. [Figure 39] FIG. 2 is a diagram illustrating an example of a configuration of a moving body according to an embodiment. [Diagram 40] 1 is a diagram showing an example of a processing procedure in a moving object control method according to an embodiment; [Diagram 41] FIG. 1 is a schematic block diagram illustrating a configuration of a computer according to at least one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The following describes embodiments of the present invention, but the following embodiments do not limit the scope of the invention. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention. 1 is a diagram showing an example of the configuration of a mobile body system according to an embodiment. In the configuration shown in Fig. 1, the mobile body system 1 includes a mobile body 100 and a transmitting device 200. The transmitting device 200 includes a transmitting antenna 210.

[0013] The mobile system 1 may include a plurality of transmitting devices 200. When distinguishing between the two transmitting devices 200 included in the mobile system 1, the two transmitting devices 200 are also referred to as a first transmitting device 200a and a second transmitting device 200b. The transmitting antenna 210 included in the first transmitting device 200a is also referred to as a first transmitting antenna 210a. The transmitting antenna 210 included in the second transmitting device 200b is also referred to as a second transmitting antenna 210b. The mobile unit 100 may be configured externally to the transmitting device 200 .

[0014] The mobile object system 1 is a system that moves a mobile object 100 along a route indicated by radio waves. The mobile object here is an object that moves in a controllable manner in terms of its direction of travel. In the following, an example will be described in which the mobile object 100 is a drone. However, the moving body 100 is not limited to a drone. In particular, the moving body 100 is not limited to one that moves in the air. For example, the moving body 100 may be one that moves in outer space (a spacecraft), or one that moves on the ground, such as a vehicle or an autonomous robot. The moving object 100 may move automatically or may move under the control of a person. For example, a person who operates the moving object 100 may control the movement of the moving object 100 by referring to information about the route.

[0015] The transmitting device 200 transmits radio waves from the transmitting antenna 210. The transmitting device 200 indicates a planned route along which the mobile body 100 will travel, by using the radio waves transmitted from the transmitting antenna 210. In particular, the transmitting antenna 210 includes a plurality of transmitting means for transmitting radio waves, and transmits, from these plurality of transmitting means, radio waves in which a null is formed by the cancellation of radio waves and a peak is formed by the reinforcement of radio waves.

[0016] The radio waves transmitted by the transmitting antenna 210, in which nulls are formed by mutual cancellation of radio waves and in which peaks are formed by mutual reinforcement of radio waves, are used to detect deviation of the position of the moving body 100 from the planned route. The radio waves transmitted by the transmitting antenna 210, in which a null is formed due to mutual cancellation of radio waves, and in which a peak is formed due to mutual reinforcement of radio waves, are also referred to as deviation detection radio waves.

[0017] The null here refers to the received radio wave strength becoming 0 or the location thereof. The received radio wave strength becoming 0 is also referred to as the radio wave becoming null or a null being formed. Radio waves in which a null is formed due to the cancellation of radio waves from each element 211 are also referred to as null-forming radio waves. The planned route of the mobile body 100 is shown as a route in which the radio wave from the transmitting antenna 210 becomes null. The peak here refers to the strongest radio wave intensity among positions equidistant from the radio wave transmission source, the radio wave intensity at that time, or that position. Radio waves that form a peak due to the mutual reinforcement of radio waves from each element 211 are also called peak-forming radio waves.

[0018] The transmitting antenna 210 may transmit communication to the moving body 100 in addition to the radio waves for detecting deviation. For example, the transmitting antenna 210 may transmit a signal instructing the moving body 100 to take a photograph using a camera mounted thereon. Alternatively, the transmitting antenna 210 may transmit only the radio waves for detecting deviation.

[0019] In the following, an example will be described in which the transmitting antenna 210 is configured as a phased array antenna. However, the antenna included in the transmitting device 200 is not limited to a specific type of antenna, and may be various antennas that transmit radio waves from multiple transmission means, in which a null is formed by canceling out radio waves, and in which a peak is formed by strengthening radio waves. An example in which the transmitting device 200 includes a plurality of horn antennas will be described later.

[0020] FIG. 2 is a diagram showing an example of the configuration of the transmitting antenna 210. As shown in FIG. In the example of FIG. 2, the transmitting antenna 210 comprises 16 elements 211 arranged in a plane of 4 rows and 4 columns. The four rows of elements 211 are referred to as the first, second, third, and fourth rows from the top of the figure. The four columns of elements 211 are referred to as the first, second, third, and fourth columns from the left of the figure. Each element 211 is identified by a reference number 211-(row number)-(column number). For example, the element 211 located at the top and leftmost position in the figure is also referred to as element 211-1-1.

[0021] However, the number and arrangement of the elements 211 included in the transmitting antenna 210 are not limited to a specific number and arrangement. The number and arrangement of the elements 211 included in the transmitting antenna 210 can be various numbers and arrangements such that radio waves from the elements 211 cancel each other out to form a null.

[0022] The plane on which the elements 211 are arranged is also referred to as the plane of the transmitting antenna 210. The center of the arrangement of the elements 211 on the plane of the transmitting antenna 210 is also referred to as the center of the plane of the transmitting antenna 210. In the example of FIG. 2, point P11 corresponds to the center of the plane of the transmitting antenna 210.

[0023] FIG. 3 is a diagram showing an example of a pattern of radio waves transmitted by each element 211 when the transmitting antenna 210 is transmitting radio waves in which a peak is formed due to mutual reinforcement of the radio waves from each element 211. In FIG. 3, all elements 211 transmit radio waves with the same phase and intensity. In this case, the radio waves from each element 211 are superimposed and strengthened in front of the center of the plane of transmitting antenna 210, forming a peak.

[0024] Alternatively, the direction in which a peak is formed due to mutual reinforcement of the radio waves from each element 211 may be adjusted by adjusting the phase or intensity of the radio waves from each element 211, or both. In the following, an example will be described in which the direction in which a peak is formed due to mutual reinforcement of radio waves from each element 211 is the direction directly in front of the center of the plane of transmitting antenna 210.

[0025] Fig. 4 is a diagram showing an example of radio waves at a peak formed by the reinforcement of radio waves from each element 211. In the example of Fig. 4, the phase and intensity of the radio waves are shown on a complex plane. The horizontal axis of the graph in Fig. 4 indicates the real axis, and the vertical axis indicates the imaginary axis. Vector B111 represents an example of the phase and intensity of the radio wave (composite wave of radio waves from all elements 211) at the peak position. The angle of vector B111 counterclockwise from the positive direction of the horizontal axis (real axis) represents the phase of the radio wave. The larger the counterclockwise angle from the positive direction of the horizontal axis, the more delayed the phase is.

[0026] Moreover, the length of vector B111 represents the strength of the radio wave. Line L11 indicates the maximum value of the strength of the radio wave from the transmitting antenna 210 at a point whose distance from the center of the plane of the transmitting antenna 210 is equal to the distance between the center of the plane of the transmitting antenna 210 and the radio wave observation point (the position of the mobile body 100) in the example of Fig. 4. Vector B111 reaches line L11, and indicates the maximum radio wave strength when the distance from the center of the plane of the transmitting antenna 210 to the radio wave observation point is kept constant.

[0027] FIG. 5 is a diagram showing an example of the relationship between the amount of deviation of the position of the moving body 100 (radio wave observation point) from the center of the plane of the transmitting antenna 210 and the radio wave intensity when the transmitting antenna 210 is transmitting a peak-forming radio wave. 5, the horizontal axis represents radio wave intensity, and the vertical axis represents angle. Line L21 shows an example of the relationship between the amount of deviation of the center of the plane of transmitting antenna 210 from the front and radio wave intensity.

[0028] In the example of FIG. 5, the amount of deviation of the position of the vehicle 100 from in front of the center of the plane of the transmitting antenna 210 is expressed in degrees. In addition, when converting the angle of deviation from the front center of the plane of the transmitting antenna 210 to the distance of deviation from the front center of the plane of the transmitting antenna 210, for example, the distance between the transmitting antenna 210 and the moving body 100 may be measured, and the angle of deviation may be converted to the distance of deviation based on the measured distance.

[0029] If the position of the moving body 100 deviates from the center in front of the plane of the transmitting antenna 210, the distance between each element 211 and the radio wave observation point will change, and the strength of the observed radio waves (the composite wave of radio waves from all elements 211) will become weaker (smaller). For example, in the example of FIG. 3, consider a case where the mobile unit 100 is shifted from directly in front of the center of the plane of the transmitting antenna 210 to the right of the figure.

[0030] In this case, the distance to the moving object 100 is relatively short for elements 211-1-3 to 111-4-3 in the third column located on the right side of the figure, and elements 211-1-4 to 111-4-4 in the fourth column, and it is considered that the phase of the radio waves from these elements will be advanced. On the other hand, the distance to the moving object 100 is relatively long for elements 211-1-1 to 111-4-1 in the first column located on the left side of the figure, and elements 211-1-2 to 111-4-2 in the second column, and it is considered that the phase of the radio waves from these elements will be delayed.

[0031] These phase advances and delays cause the phase of the radio waves reaching the mobile body 100 from each element 211 to vary, and it is thought that the observed radio wave strength of the composite wave of the radio waves from each element 211 will be weaker than when it is directly in front of the center of the plane of the transmitting antenna 210. If the distance from the center of the plane of the transmitting antenna 210 to the radio wave observation point is kept constant, as shown in the example by line L21, the radio wave strength will be strongest directly in front of the center of the plane of the transmitting antenna 210, and it is thought that the radio wave strength will weaken as the angle of deviation from the center of the plane of the transmitting antenna 210 increases. The received radio wave strength of the moving body 100 when the transmitting antenna 210 is transmitting a peak-forming radio wave can be used as one of the pieces of data for calculating the amount of deviation (angle or distance) of the position of the moving body 100 from the center front of the plane of the transmitting antenna 210.

[0032] FIG. 6 is a diagram showing a first example of a pattern of radio waves transmitted from each element 211 when the transmitting antenna 210 is transmitting radio waves in which a null is formed due to cancellation of the radio waves from each element 211. 6, each element 211 transmits radio waves with a phase that corresponds to the direction of the element when viewed from the front at the center of the plane of the transmitting antenna 210. In addition, all elements 211 transmit radio waves with the same radio wave intensity.

[0033] In front of the center of the plane of the transmitting antenna 210, radio waves from each element 211 cancel each other out, forming a null. 6, element 211-1-1 and element 211-4-4 transmit radio waves with the same radio wave intensity but with a phase difference of 180 degrees. In front of the center of the plane of transmitting antenna 210, the distance from these two elements 211 is the same, and these two radio waves cancel each other out, and the radio wave intensity of the composite wave becomes 0. In this way, in front of the center of the plane of transmitting antenna 210, radio waves from elements 211 positioned point-symmetrically with respect to the center of the plane of transmitting antenna 210 cancel each other out, and the radio wave intensity of the composite wave of radio waves from all elements 211 becomes 0.

[0034] FIG. 7 is a diagram showing an example of a position where the received radio wave intensity of the moving object 100 becomes zero. Area A11 indicates an area in which radio waves from the transmitting antenna 210 can be received. The receivable area here is an area in which the mobile body 100 can receive radio waves transmitted by the transmitting antenna 210. However, the receivable area includes an area in which a null is formed due to cancellation of radio waves from a plurality of transmitting means. For example, the receivable area may be defined as an area in which the mobile body 100 can receive at least any of the radio waves transmitted by the transmitting antenna 210.

[0035] The axis C11 is a straight line indicating the position where the radio wave from the transmitting antenna 210 becomes null. 6, for example, the radio waves from the transmitting antenna 210 are null in front of the center of the transmitting antenna 210. In this case, the axis C11 is a straight line extending from the center of the plane of the transmitting antenna 210 in the front direction.

[0036] When the moving body 100 is located on the axis C11, the received radio wave intensity becomes 0. Therefore, by setting the transmitting antenna 210 so that the axis C11 faces the direction in which the moving body 100 is desired to travel, the axis C11 can be set as the planned route of the moving body 100 (the route along which the moving body 100 will travel). The axis C11 may be oriented in the desired direction of travel of the moving body 100 by orienting the front of the transmitting antenna 210 in the desired direction of travel of the moving body 100. Alternatively, the axis C11 may be oriented in the desired direction of travel of the moving body 100 by adjusting the phase or intensity of the radio waves transmitted by each element 211, or a combination thereof.

[0037] Here, these directions are adjusted so that the direction in which a peak is formed by the mutual reinforcement of radio waves from each element 211 coincides with the direction in which a null is formed by the mutual cancellation of radio waves from each element 211 (the direction of axis C11). In the following, an example will be described in which the direction in which a null is formed due to cancellation of radio waves from each element 211 is the direction directly in front of the center of the plane of transmitting antenna 210.

[0038] In addition, when the influence of the communication environment on the phase and strength of the radio wave cannot be ignored, such as fading, the position where the radio wave from the transmitting antenna 210 becomes null may shift compared to the case where the influence of the communication environment on the phase and strength of the radio wave can be ignored. In this case, too, the position where the radio wave from the transmitting antenna 210 becomes null may be linear, and this line may be regarded as a line indicating the planned route of the mobile body 100.

[0039] Fig. 8 is a diagram showing an example of radio waves at a null formed by the cancellation of radio waves from each element 211. In the example of Fig. 8, the phase and intensity of the radio waves are shown on a complex plane. The horizontal axis of the graph in Fig. 8 indicates the real axis, and the vertical axis indicates the imaginary axis. Line L31 indicates the maximum value of the radio wave strength from the transmitting antenna 210 at a point whose distance from the center of the plane of the transmitting antenna 210 is equal to the distance between the center of the plane of the transmitting antenna 210 and the position (radio wave observation point) of the moving body 100 in the example of Figure 8. In the example of FIG. 8, the radio wave strength is 0, so the length of the vector representing the radio wave is 0.

[0040] FIG. 9 is a diagram showing an example of a position where the received radio wave intensity of the moving object 100 is greater than zero. 7, area A11 indicates the receivable area of ​​radio waves from the transmitting antenna 210. Axis C11 is a straight line indicating the position where the radio waves from the transmitting antenna 210 become null. The straight line indicating the position where the radio waves from the transmitting antenna 210 become null is also referred to as the axis where the null is formed. 9, the moving body 100 is located within a receivable area (area A11) of radio waves from the transmitting antenna 210, but at a position other than on the axis C11. In this case, compared to the case where the moving body 100 is located on the axis C11, the distance from each element 211 to the moving body 100 is different, and at the position of the moving body 100, the radio waves from each element 211 do not completely cancel each other out.

[0041] Fig. 10 is a diagram showing an example of radio waves from each element 211 at the position (radio wave observation point) of the mobile body 100 when the transmitting antenna 210 is transmitting null-forming radio waves. Fig. 10 shows an example of radio waves from each element 211 that arrive at a position slightly shifted to the right of the figure from the center in front of the plane of the transmitting antenna 210 when each element 211 of the transmitting antenna 210 transmits the radio waves shown in Fig. 6.

[0042] By shifting the radio wave observation point from the center in front of the plane of transmitting antenna 210 to the right side of the figure, the distance between element 211 on the right side of the figure and the radio wave observation point becomes shorter, and the phase of the radio waves transmitted by these elements advances. On the other hand, the distance between element 211 on the left side of the figure and the radio wave observation point becomes longer, and the phase of the radio waves transmitted by these elements delays.

[0043] In the example of Fig. 10, the phase of the radio waves transmitted by the elements in the fourth row (elements 211-1-4 to 211-4-4) is advanced compared to the example of Fig. 6. On the other hand, the phase of the radio waves transmitted by the elements in the first row (elements 211-1-1 to 211-4-1) and the phase of the radio waves transmitted by the elements in the second row (elements 211-1-2 to 211-4-2) are delayed compared to the example of Fig. 6. Due to these phase advances and delays, the phase difference of the radio waves from elements 211 that are positioned point-symmetrically about the center of the plane of the transmitting antenna 210 will deviate from 180 degrees, and the observed radio wave strength of the composite wave of the radio waves from each element 211 will be greater than 0.

[0044] The phase of the radio waves received by the moving body 100 when the transmitting antenna 210 is transmitting null-forming radio waves can be used as one of the pieces of data for calculating the direction of deviation of the position of the moving body 100 from the center front of the plane of the transmitting antenna 210 (the planned path indicated by axis C11). The strength of the radio waves received by the moving body 100 when the transmitting antenna 210 is transmitting null-forming radio waves can be used as one of the pieces of data for calculating the amount of deviation (magnitude of deviation) of the position of the moving body 100 from the center front of the plane of the transmitting antenna 210 (the planned path indicated by axis C11).

[0045] Fig. 11 is a diagram showing an example of radio waves received by the mobile body 100 when the transmitting antenna 210 is transmitting null-forming radio waves. Fig. 11 shows, on a complex plane, the phase and intensity of the received radio waves when the mobile body 100 is located at a position shifted from the center in front of the plane of the transmitting antenna 210. The horizontal axis of the graph in Fig. 11 indicates the real axis, and the vertical axis indicates the imaginary axis.

[0046] Vector B211 represents an example of the phase and intensity of radio waves (composite waves of radio waves from all elements 211) received by the moving body 100. The angle of vector B211 counterclockwise from the positive direction of the horizontal axis (real axis) represents the phase of the radio waves. Moreover, the length of vector B211 represents the strength of the radio wave.

[0047] Line L31 indicates the maximum value of the radio wave strength from the transmitting antenna 210 at a point whose distance from the center of the plane of the transmitting antenna 210 is equal to the distance between the center of the plane of the transmitting antenna 210 and the position (radio wave observation point) of the moving body 100 in the example of Figure 11. In the example of Figure 11, since the mobile object 100 is positioned away from the center in front of the plane of the transmitting antenna 210, the radio waves from each element 211 do not completely cancel each other out, and the received radio waves have a certain degree of strength.

[0048] Fig. 12 is a diagram showing an example of the relationship between the amount of deviation of the position of the mobile body 100 (radio wave observation point) from the axis along which the null is formed and the radio wave intensity when the transmitting antenna 210 is transmitting a null-forming radio wave. The horizontal axis of the graph in Fig. 12 indicates the radio wave intensity, and the vertical axis indicates the angle. In the example of Fig. 12, the angle corresponds to an example of the amount of deviation. Line L41 shows an example of the relationship between the angle of deviation from the front of the center of the plane of the transmitting antenna 210 and the radio wave intensity.

[0049] As described above, when the moving body 100 deviates from the front of the center of the plane of the transmitting antenna 210, the distance between each element 211 and the moving body 100 changes, and it is considered that the intensity of the observed radio wave becomes greater than 0. When the distance from the center of the plane of the transmitting antenna 210 to the radio wave observation point is kept constant, as in the example shown by line L41, the radio wave intensity becomes the minimum value of 0 in front of the center of the plane of the transmitting antenna 210, and the radio wave intensity becomes stronger (increases) as the degree of deviation from the center of the plane of the transmitting antenna 210 increases.

[0050] If the angle of deviation from the front of the center of the plane of the transmitting antenna 210 becomes larger, the strength of the radio wave received by the moving body 100 may become weaker due to the directivity of the radio wave from the transmitting antenna 210. When the moving body 100 is located within a range in which the received radio wave strength of the moving body 100 increases as the angle of deviation from the front of the center of the plane of the transmitting antenna 210 increases, the moving body 100 can determine that the stronger the received radio wave strength, the greater the amount of deviation (angle of deviation or distance of deviation) from the front of the center of the plane of the transmitting antenna 210.

[0051] The moving body 100 may store in advance data indicating the relationship between the phase and intensity of the received radio wave of the moving body 100 when the transmitting antenna 210 is transmitting a null-forming radio wave, and the direction and amount (e.g., angle) of the deviation of the position of the moving body 100 from the center in front of the plane of the transmitting antenna 210. The moving body 100 may then refer to this data and determine the traveling direction of the moving body 100 so as to bring the moving body 100 closer to the center in front of the plane of the transmitting antenna 210 (the planned route indicated by the axis C11). Data indicating the relationship between the phase and intensity of the received radio waves of the moving body 100 when the transmitting antenna 210 is transmitting null-forming radio waves and the direction and amount (e.g., angle) of the deviation of the position of the moving body 100 from the center of the plane of the transmitting antenna 210 is also referred to as deviation data.

[0052] The deviation data can be generated in advance by desk calculation. For example, the position of the moving body 100 is set, and the distance to the moving body 100 is calculated for each element 211 of the transmitting antenna 210, and the phase and intensity at the moving body 100 of the radio waves transmitted by the element 211 are calculated. Then, the radio waves from each element 211 are expressed as a vector, and the vectors are added together to calculate a vector expression of the composite wave of the radio waves from all the elements 211 as the radio waves received by the moving body 100.

[0053] By setting various positions of the moving body 100 and calculating the phase and intensity of the radio wave received by the moving body 100 as described above, it is possible to generate deviation data. To make the drawing easier to understand, an example of adding up the radio waves from each element 211 using a vector representation will be described using an example in which transmitting antenna 210 has four elements 211 arranged in two rows and two columns.

[0054] Fig. 13 is a diagram showing a second example of a pattern of radio waves transmitted by each element 211 when the transmitting antenna 210 transmits null-forming radio waves. Fig. 13 shows an example of a pattern of radio waves transmitted by each element 211 when the transmitting antenna 210, which has four elements 211 arranged in two rows and two columns, transmits null-forming radio waves. 13, the transmitting antenna 210 includes four elements 211: elements 211b-1-1, 211b-1-2, 211b-2-1, and 211b-2-2. Point P21 indicates the center position of the transmitting antenna 210 on a plane.

[0055] Element 211b-1-1 is assumed to transmit radio waves with a phase difference of 135 degrees. Elements 211b-1-1, 211b-1-2, 211b-2-1, and 211b-2-2 are assumed to transmit radio waves of the same strength. Element 211b-1-2 is assumed to transmit radio waves with a phase difference of 45 degrees. Element 211b-2-1 is assumed to transmit radio waves with a phase difference of 225 degrees. Element 211b-2-2 is assumed to transmit radio waves with a phase difference of 315 degrees.

[0056] In front of the center of the plane of transmitting antenna 210, the radio waves from elements 211b-1-1 and 211b-2-2 cancel each other out, and the radio waves from elements 211b-1-2 and 211b-2-1 cancel each other out, so the intensity of the composite wave is calculated to be 0.

[0057] Fig. 14 is a diagram showing an example of the summation of radio waves from each element 211 in a vector representation. In the example of Fig. 14, the phase and intensity of the radio waves are shown on a complex plane. The horizontal axis of the graph in Fig. 14 indicates the real axis, and the vertical axis indicates the imaginary axis.

[0058] FIG. 14 shows an example of radio waves received by the mobile body 100 at a position shifted to the right of FIG. 13 from the center in front of the plane of the transmitting antenna 210 when the transmitting antenna 210 is transmitting radio waves in the example of FIG. Vector B311 represents the phase and strength of the radio wave received by the mobile unit 100 from element 211b-1-1. Vector B312 represents the phase and strength of the radio wave received by the mobile unit 100 from element 211b-1-2. Vector B313 represents the phase and strength of the radio wave received by the mobile unit 100 from element 211b-2-1. Vector B314 represents the phase and strength of the radio wave received by the mobile unit 100 from element 211b-2-2.

[0059] The phase and strength of the radio waves from each element 211, indicated by vectors B311 to B314, can be calculated based on the phase and strength of the transmitted radio waves in each element 211 and the distance from that element 211 to the moving body 100. In the example of FIG. 14, the moving object 100 is shifted to the right in FIG. 13 from the center in front of the plane of the transmitting antenna 210, so that the phases indicated by vectors B311 and B313 lag behind the phases at the time of transmission.

[0060] Vector B321 represents the phase and intensity of the composite wave of radio waves from each element 211 received by the moving object 100. The phase and intensity of the radio wave received by the moving object 100, represented by vector B321, can be calculated by adding up vectors B311 to B314. Furthermore, the effect on radio waves due to the mobile body 100 receiving radio waves, such as the attenuation rate of the radio waves when the mobile body 100 receives the radio waves, may be reflected in the calculated values ​​of the phase and intensity of the received radio waves of the mobile body 100, which are indicated by vector B321.

[0061] When the position of the moving object 100 changes, the distance from each element 211 to the moving object 100 changes, and the phase of the radio waves from each element 211, indicated by vectors B311 to B314, also changes. This causes the phase and intensity of the radio waves received by the moving object 100, indicated by vector B321, to change.

[0062] From this, the moving body 100 can estimate the position of the moving body 100 by comparing the phase and intensity of the radio wave received by the moving body 100 when the transmitting antenna 210 is transmitting the null-forming radio wave with the deviation data. In particular, the moving body 100 can estimate the direction and amount of deviation of the position of the moving body 100 from the center front of the plane of the transmitting antenna 210. Based on the estimated direction and amount, the moving body 100 can determine the traveling direction of the moving body 100 to bring the moving body 100 closer to the center front of the plane of the transmitting antenna 210 (the planned path indicated by the axis C11).

[0063] Fig. 15 is a diagram showing an example of a processing procedure for generating deviation data. The mobile body system 1 may perform the processing of Fig. 15, such as by having a computer included in the mobile body system 1 perform the processing of Fig. 15. Alternatively, an external device or system of the mobile body system 1 may perform the processing of Fig. 15. Alternatively, the processing of Fig. 15 may be performed manually. In the following, an example will be described in which the mobile body system 1 performs the process shown in FIG.

[0064] 15, the mobile system 1 starts a loop L11 in which processing is performed for each preset radio wave receiving position (step S11). The radio wave receiving position that is the target of processing in the loop L11 is also referred to as a target position. In the process of loop L11, the mobile system 1 starts loop L12 in which processing is performed for each element 211 included in the transmitting antenna 210 (step S12). The element 211 that is the target of processing in loop L12 is also referred to as a target element.

[0065] In the process of loop L12, the mobile system 1 calculates the phase and intensity of the received radio wave when the mobile 100 receives the radio wave from the target element at the target position (step S13). As described above, the mobile system 1 can calculate the phase and intensity of the received radio wave based on the phase and intensity of the transmitted radio wave at the target element and the distance from the target element to the target position.

[0066] Next, the mobile system 1 performs a termination process for the loop L12 (step S14). Specifically, the mobile system 1 determines whether or not the loop L12 process has been performed for all the elements 211 included in the transmitting antenna 210. If it is determined that there is an element 211 for which the loop L12 process has not been performed, the mobile system 1 continues to perform the loop L12 process for the element 211 for which the loop L12 process has not been performed. On the other hand, if it is determined that the loop L12 process has been performed for all the elements 211 included in the transmitting antenna 210, the mobile system 1 ends the loop L12.

[0067] When loop L12 is completed, the mobile system 1 combines the received radio waves of all the elements 211 included in the transmitting antenna 210 (step S15). Specifically, as described above, the mobile system 1 adds up the vectors indicating the received radio waves of all the elements 211.

[0068] Next, the mobile system 1 performs a termination process of the loop L11 (step S16). Specifically, the mobile system 1 judges whether or not the process of the loop L11 has been performed for all the radio wave receiving positions that have been set in advance. If it is judged that there is a radio wave receiving position for which the process of the loop L11 has not been performed, the mobile system 1 continues to perform the process of the loop L11 for the radio wave receiving position for which the process of the loop L11 has not been performed. On the other hand, if it is judged that the process of the loop L11 has been performed for all the radio wave receiving positions that have been set in advance, the mobile system 1 ends the loop L11.

[0069] When the loop L11 is completed, the mobile system 1 generates deviation data (step S17). For example, the mobile system 1 may generate deviation data that combines the direction of deviation of the position of the mobile body 100 from the planned route with the phase of the received radio waves received by the mobile body 100 from the null-forming radio waves being transmitted by the transmitting antenna 210 at that time.

[0070] Alternatively, the mobile body system 1 may generate deviation data that combines the direction and amount of deviation of the position of the mobile body 100 from the planned route with the phase and strength of the received radio waves received by the mobile body 100 from the null-forming radio waves transmitted by the transmitting antenna 210 at that time, and the strength of the received radio waves received by the mobile body 100 from the peak-forming radio waves transmitted by the transmitting antenna 210.

[0071] Here, the strength of the radio wave received by the moving body 100 when the transmitting antenna 210 is transmitting the null-forming radio wave not only varies depending on the amount of deviation of the position of the moving body 100 from the planned route, but also varies depending on the distance between the transmitting antenna 210 and the moving body 100. For this reason, the moving body 100 cannot determine the amount of deviation of the position of the moving body 100 from the planned route just by referring to the strength of the radio wave received by the moving body 100 when the transmitting antenna 210 is transmitting the null-forming radio wave.

[0072] Therefore, the mobile system 1 may generate deviation data including the phase and intensity of the received radio waves received by the mobile body 100 from the null-forming radio waves transmitted by the transmitting antenna 210, as described above, and the intensity of the received radio waves received by the mobile body 100 from the peak-forming radio waves transmitted by the transmitting antenna 210.

[0073] The strength of the received radio wave received by the mobile body 100 from the null-forming radio wave transmitted by the transmitting antenna 210 and the strength of the received radio wave received by the mobile body 100 from the peak-forming radio wave transmitted by the transmitting antenna 210 change differently according to the amount of deviation of the position of the mobile body 100 from the center front of the transmitting antenna 210 (the planned path indicated by the axis C11). For example, near the center front of the plane of the transmitting antenna 210, the greater the amount of deviation of the position of the mobile body 100 from the center front of the transmitting antenna 210, the greater the strength of the received radio wave received by the mobile body 100 from the null-forming radio wave transmitted by the transmitting antenna 210, whereas the strength of the received radio wave received by the mobile body 100 from the peak-forming radio wave transmitted by the transmitting antenna 210 becomes smaller.

[0074] As a result, the mobile system 1 can determine the amount of deviation of the position of the mobile body 100 from the center in front of the transmitting antenna 210 by referring to the strength of the radio waves received by the mobile body 100 when the transmitting antenna 210 is transmitting null-forming radio waves and the strength of the radio waves received by the mobile body 100 when the transmitting antenna 210 is transmitting peak-forming radio waves.

[0075] The mobile system 1 may determine the amount of deviation of the position of the mobile body 100 from the center in front of the transmitting antenna 210 based on the ratio of the radio wave strength received by the mobile body 100 when the transmitting antenna 210 is transmitting null-forming radio waves and the radio wave strength received by the mobile body 100 when the transmitting antenna 210 is transmitting peak-forming radio waves, instead of using a combination of these radio wave strengths.

[0076] The mobile body system 1 may generate the deviation data as data in a table format, but is not limited to this. After step S17, the mobile system 1 ends the process of FIG.

[0077] Alternatively, the moving body 100 may determine the traveling direction of the moving body 100 using a model that indicates the direction and amount of deviation of the position of the moving body 100 from the center of the transmitting antenna 210 in front of the moving body 100 according to the radio waves received by the moving body 100. This model is also called a deviation calculation model. The deviation calculation model, for example, receives as input the phase and strength of the received radio waves received by the mobile body 100 from the null-forming radio waves transmitted by the transmitting antenna 210, and the strength of the received radio waves received by the mobile body 100 from the peak-forming radio waves transmitted by the transmitting antenna 210, and outputs the direction and amount of deviation of the position of the mobile body 100 from the center in front of the transmitting antenna 210.

[0078] The deviation calculation model is obtained, for example, by machine learning using calculated data as training data for generating the above-mentioned deviation data, which is a combination of the phase and intensity of the received radio waves received by the moving body 100 from the null-forming radio waves transmitted by the transmitting antenna 210, and the intensity of the received radio waves received by the moving body 100 from the peak-forming radio waves transmitted by the transmitting antenna 210, and the direction and amount of deviation of the position of the moving body 100 from the center in front of the transmitting antenna 210.

[0079] When the transmitting antenna 210 transmits a null-forming radio wave, the phase pattern in each element 211 is not limited to a specific one. FIG. 16 is a diagram showing a third example of the pattern of radio waves transmitted by each element 211 when the transmitting antenna 210 is transmitting a null-forming radio wave.

[0080] In the example of FIG. 16, elements 211-1-1, 211-1-2, 211-2-1, and 211-2-2 all transmit radio waves with a phase of 135 degrees. Elements 211-1-3, 211-1-4, 211-2-3, and 211-2-4 all transmit radio waves with a phase of 45 degrees. Elements 211-3-1, 211-3-2, 211-4-1, and 211-4-2 all transmit radio waves with a phase of 225 degrees. Elements 211-3-3, 211-3-4, 211-4-3, and 211-4-4 all transmit radio waves with a phase of 315 degrees. In addition, all elements 211 transmit radio waves of the same intensity.

[0081] 16, for example, element 211-1-1 and element 211-4-4 transmit radio waves with the same radio wave intensity but with a phase difference of 180 degrees. In front of the center of the plane of transmitting antenna 210, the distance from these two elements 211 is the same, and these two radio waves cancel each other out, and the radio wave intensity of the composite wave becomes 0. In this way, in front of the center of the plane of transmitting antenna 210, radio waves from elements 211 positioned point-symmetrically with respect to the center of the plane of transmitting antenna 210 cancel each other out, and the radio wave intensity of the composite wave of radio waves from all elements 211 becomes 0.

[0082] The transmitting antenna 210 may transmit null-forming radio waves with different patterns, for example, transmitting null-forming radio waves with the pattern in the example of Fig. 6 at one timing and transmitting null-forming radio waves with the pattern in the example of Fig. 16 at another timing. Also, the transmitting antenna 210 may transmit null-forming radio waves with different frequencies, for example, transmitting null-forming radio waves with a first frequency at one timing and transmitting null-forming radio waves with a second frequency at another timing.

[0083] In this way, it is considered that the transmitting antenna 210 transmits multiple types of null-forming radio waves, and thus the change in phase of the received radio waves in response to the change in the position of the mobile body 100 differs for each null-forming radio wave. It is expected that the mobile body 100 can estimate the direction and amount of deviation of the position of the mobile body 100 from the front center of the plane of the transmitting antenna 210 with high accuracy by estimating the direction and amount of deviation of the position of the mobile body 100 from the front center of the plane of the transmitting antenna 210 based on the reception conditions of multiple types of null-forming radio waves.

[0084] FIG. 17 is a diagram showing an example of the timing at which the transmission antenna 210 transmits radio waves for detecting deviation. 17, the transmitting device 200 generates a frame including a frame symbol, a data symbol, and a deviation detection radio wave, and transmits the frame from the transmitting antenna 210. The frame symbol is a symbol representing the header of the frame. The data symbol is a symbol representing data (actual data) to be transmitted from the transmitting device 200 to the mobile object 100. The transmitting device 200 transmits the data symbol by beamforming so that the received radio wave strength at the mobile object 100 is strong.

[0085] As described above, the transmitting device 200 may transmit a command to the moving body 100 as actual data, such as a command to cause the moving body 100 to take an image. Alternatively, the transmitting device 200 may not transmit actual data to the moving body 100. In the example of FIG. 17, a deviation detection radio wave consisting of a combination of a peak-forming radio wave and a null-forming radio wave is placed at the end of each frame.

[0086] In the example of FIG. 17, the transmission antenna 210 transmits the deviation detection radio wave for each frame, thereby repeatedly transmitting the deviation detection radio wave. Here, the direction and amount of deviation of the position of the moving body 100 from the center in front of the plane of the transmitting antenna 210 changes over time as the moving body 100 moves. In response to this, the transmitting antenna 210 repeatedly transmits deviation detection radio waves, so that the moving body 100 repeatedly calculates the direction and amount of deviation of the position of the moving body 100 from the center in front of the plane of the transmitting antenna 210, and can move the moving body 100 closer to the center in front of the plane of the transmitting antenna 210 (planned route). For example, in the example of Figure 17, the moving body 100 can determine the direction and speed of travel of the moving body 100 until the next reception of the difference detection radio wave, based on the reception conditions of the difference detection radio wave received at the end of the frame.

[0087] However, the timing at which the transmitting antenna 210 transmits the deviation detection radio wave is not limited to a specific timing. For example, the transmitting antenna 210 may transmit the deviation detection radio wave once for each set of frames. Alternatively, the transmitting antenna 210 may transmit the deviation detection radio wave multiple times within one frame.

[0088] Furthermore, the timing at which the transmitting antenna 210 transmits the deviation detection radio wave may be treated as a timing outside the frame. When the transmitting antenna 210 transmits the deviation detection radio wave by including it in the frame, the position of the deviation detection radio wave within the frame is not limited to a specific position. Furthermore, the transmitting antenna 210 may transmit a peak-forming radio wave and then a null-forming radio wave, or may transmit a null-forming radio wave and then a peak-forming radio wave.

[0089] In addition, the transmission timing of the peak-forming radio wave and the transmission timing of the null-forming radio wave are preferably close in time, but do not need to be consecutive. For example, the transmission antenna 210 may transmit the peak-forming radio wave, then transmit one or more data symbols, and then transmit the null-forming radio wave.

[0090] The timing at which the transmitting antenna 210 transmits the null-forming radio wave is also referred to as a first timing, and the timing at which the transmitting antenna 210 transmits the peak-forming radio wave is also referred to as a second timing. When the moving body 100 detects only the direction and amount of deviation of the position of the moving body 100 from the front of the center of the plane of the transmitting antenna 210, the transmitting antenna 210 may be configured to transmit only the null-forming radio waves out of the peak-forming radio waves and the null-forming radio waves as radio waves for deviation detection.

[0091] 18 is a diagram showing an example of a planned route of the moving body 100. FIG 18 shows an example in which the planned route of the moving body 100 is displayed using two transmitting antennas 210. 18, an area A11 indicates an area where radio waves from the first transmitting antenna 210a can be received, and an area A21 indicates an area where radio waves from the second transmitting antenna 210b can be received.

[0092] An axis C11 indicates an axis along which a null of the radio wave from the first transmitting antenna 210a is formed, and an axis C21 indicates an axis along which a null of the radio wave from the second transmitting antenna 210b is formed. A route R11 indicates a planned route of the moving object 100. In the example of Fig. 18, the planned route of the moving object 100 is indicated by a combination of an axis C11 and an axis C21.

[0093] The moving object 100 moves along the axis C11 away from the first transmitting antenna 210a. When the moving body 100 determines that it is receiving radio waves from the second transmitting antenna 210b, it switches the radio waves for detecting deviation from the planned route from the radio waves from the first transmitting antenna 210a to the radio waves from the second transmitting antenna 210b. Then, the moving body 100 moves along the axis C21 so as to approach the second transmitting antenna 210b.

[0094] The mobile body system 1 can display a planned route that appears to be bent. In addition, the mobile body 100 can automatically switch the radio waves, which are used to detect deviation from the planned route, from the radio waves from the first transmitting antenna 210a to the radio waves from the second transmitting antenna 210b by determining whether or not the mobile body 100 is receiving radio waves from the second transmitting antenna 210b. The first transmitting antenna 210a and the second transmitting antenna 210b may transmit radio waves at different frequencies, allowing the mobile body 100 to distinguish between the radio waves from the first transmitting antenna 210a and the radio waves from the second transmitting antenna 210b.

[0095] Fig. 19 is a diagram showing an example of the configuration of a moving body 100. In the configuration shown in Fig. 19, the moving body 100 includes a receiving antenna 110, a receiving unit 120, a traveling direction determining unit 130, a sensor 140, a drive control unit 150, and a driving unit 160. The receiving unit 120 includes a demodulating unit 121, a discriminator 122, a frame synchronizing unit 123, a position deviation detecting unit 124, and a demapping unit 125. The positional deviation detection unit 124 corresponds to an example of a positional deviation detection means, the travel direction determination unit 130 corresponds to an example of a travel direction determination means, and the driving unit 160 corresponds to an example of a driving means.

[0096] 19, the moving object 100 includes two receiving units 120. When distinguishing between the two receiving units 120 and each unit thereof, they are also referred to as an uplink guiding signal receiving unit 120a, a demodulating unit 121a, a discriminator 122a, a frame synchronizer 123a, a position shift detector 124a, a demapping unit 125a, a downlink guiding signal receiving unit 120b, a demodulating unit 121b, a discriminator 122b, a frame synchronizer 123b, a position shift detector 124b, and a demapping unit 125b.

[0097] The upward guiding signal receiving unit 120a processes a signal received from the transmitting antenna 210 when the moving object 100 moves away from the transmitting antenna 210, as shown by the axis C11 in Fig. 18. A signal transmitted by the transmitting antenna 210 when the moving object 100 moves away from the transmitting antenna 210 is also referred to as an upward guiding signal. A planned route indicated by the upward guiding signal is also referred to as an upward route.

[0098] The downstream guiding signal receiving unit 120b processes a signal received from the transmitting antenna 210 when the moving object 100 approaches the transmitting antenna 210, as shown by the axis C21 in Fig. 18. A signal transmitted by the transmitting antenna 210 when the moving object 100 approaches the transmitting antenna 210 is also referred to as a downstream guiding signal. A planned route indicated by the downstream guiding signal is also referred to as a downstream route. Alternatively, the moving object 100 may include one receiving unit 120. For example, the moving object 100 may have one receiving unit 120 that switches between the function of the upward guiding signal receiving unit 120a and the function of the downward guiding signal receiving unit 120b.

[0099] Fig. 20 is a diagram showing an example of data input / output in a moving body 100. In the example of Fig. 20, a receiving antenna 110 receives radio waves transmitted from a transmitting antenna 210, and outputs the received signal to a demodulator 121a and a demodulator 121b. The receiving antenna 110 does not need to have directionality.

[0100] The upstream guiding signal receiving unit 120a processes the received signal from the transmitting antenna 210 when the receiving antenna 110 receives the upstream guiding signal. The demodulator 121a performs demodulation processes such as carrier recovery, clock recovery, and quadrature demodulation on the received signal to obtain vector information indicating the phase and amplitude (intensity) of the received signal. The demodulator 121a outputs the obtained vector information to the identifier 122a and the position shift detector 124a.

[0101] The discrimination unit 122a discriminates a signal point indicated by the vector information obtained from the demodulation unit 121a, based on the vector information, and outputs the identified signal point to the frame synchronization unit 123a. The frame synchronization unit 123a performs frame synchronization of the received signal based on the signal point acquired from the discrimination unit 122a. By performing frame synchronization of the input signal, the frame synchronization unit 123a detects the reception timing of the data symbol and the reception timing of the deviation detection radio wave among the timings at which the receiving antenna 110 receives the radio wave. The frame synchronization unit 123a outputs the signal point detected by the discrimination unit 122a for the reception timing of the data symbol to the demapping unit 125a. The frame synchronization unit 123a also notifies the position deviation detection unit 124a of the reception timing of the deviation detection radio wave.

[0102] The position deviation detection unit 124a detects the direction and amount of deviation of the position of the moving object 100 from the center front (planned route) of the plane of the transmitting antenna 210, based on vector information at the reception timing of the deviation detection radio wave, among the vector information acquired from the demodulation unit 121a. The position deviation detection unit 124a outputs the detected direction and amount of deviation to the traveling direction determination unit 130. The demapping unit 125a performs demapping on the signal points acquired from the frame synchronization unit 123a to restore actual data. The actual data restored by the demapping unit 125a is used as an operation command for the moving object 100, for example.

[0103] The downstream guiding signal receiving unit 120b processes the received signal from the transmitting antenna 210 when the receiving antenna 110 receives the downstream guiding signal. The demodulator 121b performs demodulation processes such as carrier recovery, clock recovery, and quadrature demodulation on the received signal to obtain vector information indicating the phase and amplitude of the received signal. The demodulator 121b outputs the obtained vector information to the identifier 122b and the position shift detector 124b.

[0104] The discrimination unit 122b discriminates the signal point indicated by the vector information based on the vector information acquired from the demodulation unit 121b, and outputs the identified signal point to the frame synchronization unit 123b. The frame synchronization unit 123b performs frame synchronization of the received signal based on the signal point acquired from the discrimination unit 122b. By performing frame synchronization of the input signal, the frame synchronization unit 123b detects the reception timing of the data symbol and the reception timing of the deviation detection radio wave among the timings at which the receiving antenna 110 receives the radio wave. The frame synchronization unit 123b outputs the signal point detected by the discrimination unit 122b for the reception timing of the data symbol to the demapping unit 125b. The frame synchronization unit 123b also notifies the position deviation detection unit 124b of the reception timing of the deviation detection radio wave.

[0105] The position deviation detection unit 124b detects the direction and amount of deviation of the position of the moving object 100 from the center front (planned route) of the plane of the transmitting antenna 210, based on vector information at the reception timing of the deviation detection radio wave, among the vector information acquired from the demodulation unit 121b. The position deviation detection unit 124b outputs the detected direction and amount of deviation to the traveling direction determination unit 130. The demapping unit 125b performs demapping on the signal points acquired from the frame synchronization unit 123b to restore actual data. The actual data restored by the demapping unit 125b is used as an operation command for the moving object 100, for example.

[0106] The traveling direction determination unit 130 determines the traveling direction of the moving body 100 based on the direction and amount of the shift acquired from the positional shift detection unit 124a or the direction and amount of the shift acquired from the positional shift detection unit 124b. The traveling direction determination unit 130 determines the traveling direction of the moving body 100 so as to bring the moving body 100 closer to the planned route. The traveling direction determination unit 130 outputs the determined traveling direction to the drive unit 160.

[0107] The sensor 140 includes an obstacle sensor such as an infrared sensor, and detects the presence or absence of an obstacle in the traveling direction of the moving body 100. The sensor 140 outputs the result of the obstacle detection to the drive control unit 150. The drive control unit 150 generates a control command for the drive unit 160 based on the traveling direction acquired from the traveling direction determination unit 130 and the obstacle detection result acquired from the sensor 140. When the obstacle detection result by the sensor 140 indicates that there is no obstacle in the traveling direction of the moving body 100, the drive control unit 150 controls the drive unit 160 to move the moving body 100 in the traveling direction determined by the traveling direction determination unit 130. On the other hand, when the obstacle detection result by the sensor 140 indicates that there is an obstacle in the traveling direction of the moving body 100, the drive control unit 150 controls the drive unit 160 to make the moving body 100 avoid the obstacle. The drive unit 160 moves the moving body 100 in accordance with a control command from the drive control unit 150 .

[0108] Fig. 21 is a diagram showing an example of the configuration of the transmission device 200. In the configuration shown in Fig. 21, the transmission device 200 includes a transmission antenna 210, a communication data acquisition unit 220, a deviation detection radio wave transmission instruction unit 230, and a transmission control unit 240. The communication data acquisition unit 220 acquires actual data. For example, the communication data acquisition unit 220 acquires data indicating a command from a higher-level device to the mobile object 100 by a user. The communication data acquisition unit 220 outputs the acquired actual data to the transmission control unit 240.

[0109] The deviation detection radio wave transmission instruction section 230 outputs an instruction to transmit the deviation detection radio wave to the transmission control section 240 . The transmission control unit 240 controls the transmission of radio waves by the transmission antenna 210. The transmission control unit 240 modulates the actual data acquired from the communication data acquisition unit 220 and transmits it from the transmission antenna 210. In addition, the transmission control unit 240, in accordance with an instruction from the deviation detection radio wave transmission instruction unit 230, transmits the deviation detection radio wave from the transmission antenna 210. The transmitting antenna 210 transmits radio waves under the control of the transmission control unit 240 .

[0110] The transmitting antenna 210 may transmit, as the deviation detection radio waves, radio waves with relatively strong directivity and radio waves with relatively weak directivity. FIG. 22 is a diagram showing an example of radio waves with relatively strong directivity and relatively weak directivity, which are transmitted from the transmitting antenna 210 as radio waves for detecting deviation.

[0111] Area A11 indicates an area where radio waves with relatively strong directivity can be received, while area A12 indicates an area where radio waves with relatively weak directivity can be received. The axis C11 is a straight line indicating a position where the radio wave from the transmitting antenna 210 becomes null. The axis C11 indicates the planned route of the moving object 100.

[0112] When the moving body 100 is capable of receiving radio waves with a relatively strong directivity, it is expected that the moving body 100 will be able to detect deviation from the planned route with a relatively high degree of accuracy by detecting deviation from the planned route based on the radio waves with a relatively strong directivity. On the other hand, even if the moving body 100 cannot receive radio waves with a relatively strong directivity, if the moving body 100 can receive radio waves with a relatively weak directivity, the moving body 100 can detect a deviation from the planned route based on the radio waves with a relatively weak directivity.

[0113] FIG. 23 is a diagram showing an example of switching between a null-forming radio wave with relatively strong directivity and a null-forming radio wave with relatively weak directivity. 23, the transmitting antenna 210 changes the directivity of the null-forming radio wave by changing the number of elements 211 that transmit radio waves among the elements 211. The transmitting antenna 210 transmits radio waves from all 16 elements 211, thereby transmitting a null-forming radio wave with relatively strong directivity. The transmitting antenna 210 also transmits radio waves from four elements 211 that are close to point P11, which is the center of the plane of the transmitting antenna 210, among the 16 elements 211, thereby transmitting a null-forming radio wave with relatively weak directivity.

[0114] The transmitting antenna 210 may transmit the null-forming radio waves having a relatively strong directivity and the null-forming radio waves having a relatively weak directivity at different times, for example by inserting the null-forming radio waves having a relatively strong directivity and the null-forming radio waves having a relatively weak directivity into a transmission frame, thereby switching between the null-forming radio waves having a relatively strong directivity and the null-forming radio waves having a relatively weak directivity.

[0115] Alternatively, the transmission control unit 240 of the transmitting device 200 may obtain information indicating whether or not a null-forming radio wave with a relatively strong directionality can be received from the mobile body 100, and determine whether to transmit a null-forming radio wave with a relatively strong directionality or a null-forming radio wave with a relatively weak directionality, thereby switching between transmitting a null-forming radio wave with a relatively strong directionality and a null-forming radio wave with a relatively weak directionality.

[0116] The transmitting antenna 210 may also be configured to transmit a peak-forming radio wave having a relatively strong directivity and a peak-forming radio wave having a relatively weak directivity. FIG. 24 is a diagram showing an example of switching between a peak-forming radio wave with a relatively strong directivity and a peak-forming radio wave with a relatively weak directivity. In the example of Fig. 24, the transmitting antenna 210 changes the directivity of the peak-forming radio wave by changing the number of elements 211 that transmit radio waves among the elements 211. As in the case of transmitting the null-forming radio wave in Fig. 23, the transmitting antenna 210 transmits a peak-forming radio wave with relatively strong directivity by transmitting radio waves from all 16 elements 211. Also, the transmitting antenna 210 transmits a peak-forming radio wave with relatively weak directivity by transmitting radio waves from 4 elements 211 that are close to point P11, which is the center of the plane of the transmitting antenna 210, among the 16 elements 211.

[0117] By the transmitting antenna 210 transmitting a peak-forming radio wave with a relatively strong directivity and a peak-forming radio wave with a relatively weak directivity, the position shift detection unit 124 of the moving body 100 can compare the receiving strength of the null-forming radio wave with the receiving strength of the peak-forming radio wave with higher accuracy. The transmitting antenna 210 may transmit a peak-forming radio wave with a relatively strong directivity and a peak-forming radio wave with a relatively weak directivity at different times, for example by inserting a peak-forming radio wave with a relatively strong directivity and a peak-forming radio wave with a relatively weak directivity into a transmission frame, thereby switching between transmitting a peak-forming radio wave with a relatively strong directivity and a peak-forming radio wave with a relatively weak directivity.

[0118] Alternatively, as described above, the transmission control unit 240 of the transmitting device 200 may acquire information indicating whether or not a null-forming radio wave with relatively strong directivity can be received from the mobile body 100, and determine whether to transmit a null-forming radio wave with relatively strong directivity or a null-forming radio wave with relatively weak directivity. In this case, the transmission control unit 240 may transmit either a peak-forming radio wave with relatively strong directivity or a peak-forming radio wave with relatively weak directivity depending on the null-forming radio wave to be transmitted.

[0119] FIG. 25 is a diagram showing an example of the timing of transmitting deviation detection radio waves in the case where the transmitting antenna 210 transmits deviation detection radio waves with a relatively strong directivity and deviation detection radio waves with a relatively weak directivity. 25, the transmitting device 200 generates a frame including a frame symbol, a data symbol, and a deviation detection radio wave, and transmits the frame from the transmitting antenna 210. In particular, the transmitting device 200 generates a frame including a peak-forming radio wave with a relatively narrow directivity, a null-forming radio wave with a relatively narrow directivity, a peak-forming radio wave with a relatively wide directivity, and a null-forming radio wave with a relatively wide directivity as deviation detection radio waves, and transmits the frame from the transmitting antenna 210.

[0120] One or more transmitting devices 200 may be used as transmitting devices 200 for relaying a planned route. FIG. 26 is a diagram showing an example of a planned route using a transmitting device 200 for relaying the planned route. 26, the mobile system 1 includes three transmitting devices 200: a first transmitting device 200a, a second transmitting device 200b, and a third transmitting device 200c. Of these three transmitting devices 200, the second transmitting device 200b is used as a transmitting device 200 for relaying a planned route. The transmitting antenna 210 included in the first transmitting device 200a is also referred to as a first transmitting antenna 210a. The transmitting antenna 210 included in the second transmitting device 200b is also referred to as a second transmitting antenna 210b. The transmitting antenna 210 included in the third transmitting device 200c is also referred to as a third transmitting antenna 210c.

[0121] An area A11 indicates a receivable area of ​​radio waves from the first transmitting antenna 210a. An axis C11 is an axis on which a null of the radio waves from the first transmitting antenna 210a is formed. The radio waves from the first transmitting antenna 210a are used as an upstream guiding signal.

[0122] An area A21 indicates a receivable area of ​​the downstream guiding signal transmitted by the second transmitting antenna 210b. An axis C21 is an axis on which a null of the downstream guiding signal transmitted by the first transmitting antenna 210a is formed. The downstream guiding signal transmitted by the second transmitting antenna 210b corresponds to an example of a radio wave in the first direction. The downstream path indicated by the downstream guiding signal transmitted by the second transmitting antenna 210b corresponds to an example of a path in the first direction.

[0123] Area A22 indicates a receivable area of ​​the upstream guiding signal transmitted by the second transmitting antenna 210b. Axis C22 is an axis on which a null of the upstream guiding signal transmitted by the second transmitting antenna 210b is formed. The upstream guiding signal transmitted by the second transmitting antenna 210b corresponds to an example of a radio wave in the second direction. The upstream path indicated by the upstream guiding signal transmitted by the second transmitting antenna 210b corresponds to an example of a path in the second direction.

[0124] An area A31 indicates a receivable area of ​​radio waves from the third transmitting antenna 210c. An axis C31 is an axis on which a null of the radio waves from the third transmitting antenna 210c is formed. The radio waves from the third transmitting antenna 210c are used as a downstream guiding signal. A route R21 represents a planned route. In the example of Fig. 26, the planned route is set to pass through the axis C11, the axis C21, the axis C22, and the axis C31 in this order.

[0125] The transmitter 200 for relaying the planned route may transmit a guiding radio wave for guiding the moving object 100 from the down route to the up route. FIG. 27 is a diagram showing an example of a guiding radio wave from the down route to the up route, which is transmitted by the transmitting device 200 for relaying the planned route.

[0126] In the example of Fig. 27, the second transmitting antenna 210b of the second transmitting device 200b transmits a null-forming radio wave as a guided radio wave from the downlink path to the uplink path so that the axis along which the null is formed is oriented vertically upward. Area A23 indicates a receivable area of ​​the guided radio wave transmitted by the second transmitting antenna 210b from the downlink path to the uplink path. Axis C23 is an axis along which the null of the guided radio wave transmitted by the second transmitting antenna 210b from the downlink path to the uplink path is formed. Axis C23 extends vertically upward from the center of the plane of the second transmitting antenna 210b.

[0127] The second transmitting antenna 210b may be configured to switch and transmit the downward guiding signal, the guiding radio wave from the downward path to the upward path, and the upward guiding signal depending on the position of the moving body 100. Alternatively, the second transmitting device 200b may be configured to transmit these radio waves simultaneously by including a second transmitting antenna 210b that transmits the downward guiding signal, a second transmitting antenna 210b that transmits the guiding radio wave from the downward path to the upward path, and a second transmitting antenna 210b that transmits the upward guiding signal.

[0128] FIG. 28 is a diagram showing an example of the positional relationship between the axis on which the null of the downlink guiding signal is formed, the axis on which the null of the guided radio wave from the downlink path to the uplink path is formed, and the axis on which the null of the uplink guiding signal is formed. Part (a) of FIG. 28 shows an example of the positional relationship between the axis (axis C21) on which the null of the downlink guiding signal is formed, the axis (axis C23) on which the null of the guided radio wave from the downlink path to the uplink path is formed, and the axis (axis C22) on which the null of the uplink guiding signal is formed, when the second transmitting antenna 210b is viewed from the side (horizontal direction). Part (b) of FIG. 28 shows an example of the positional relationship between the axis (axis C21) on which the null of the downlink guiding signal is formed, the axis (axis C23) on which the null of the guided radio wave from the downlink path to the uplink path is formed, and the axis (axis C22) on which the null of the uplink guiding signal is formed, when the second transmitting antenna 210b is viewed from above.

[0129] In the example of FIG. 28, both the axis C21 and the axis C22 extend from a point P11 that is the center of the plane of the second transmitting antenna 210b at an angle θ from the vertical upward direction. When the moving body 100 approaches the second transmitting antenna 210b along the axis C21 and enters an area (area A23) where it can receive guiding radio waves from the down path to the up path, it moves while keeping its altitude constant and with a constant amount of deviation from the axis C23. As a result, the moving body 100 rotates in an arc around the axis C23. The moving body 100 reaches the axis C22 by rotating in the horizontal direction by the angle φ formed by the axis C21 and the axis C22. After reaching the axis C22, the moving body 100 travels along the axis C22 so as to move away from the second transmitting antenna 210b.

[0130] In this way, when the axis (axis C21) on which the null of the downstream guiding signal is formed and the axis (axis C22) on which the null of the upstream guiding signal is formed extend vertically from the same point (point P11) at the same angle (angle θ), the moving body 100 can reach the axis (axis C22) on which the null of the upstream guiding signal is formed from the axis (axis C21) on which the null of the downstream guiding signal is formed by rotating around the axis (axis C23) extending vertically upward from the same point (point P11) while maintaining a constant altitude.

[0131] However, the direction of the axis on which the null of the guided radio wave from the down path to the up path is formed is not limited to a specific direction and can be any direction. The moving body 100 can reach the up path from the down path by rotating around the axis on which the null is formed and moving so as to adjust the distance from the axis (i.e., the position of the moving body 100 in the radial direction of the rotation of the moving body 100) as necessary.

[0132] When the mobile object 100, which moves based on a GPS (Global Positioning System) signal from a positioning satellite, is no longer able to move based on the GPS signal, the mobile object 100 may move according to guidance from the transmitting device 200. FIG. 29 is a diagram showing an example of a situation in which the moving object 100 switches from movement based on the GPS signal to movement based on guidance by the transmitting device 200. In FIG.

[0133] In the example of Figure 29, a mobile body 100 that was moving by receiving GPS signals from four positioning satellites 910 is no longer able to receive GPS signals from two of the positioning satellites 910, and is now unable to move based on the GPS signals. Therefore, the moving object 100 switches from movement based on the GPS signal to movement based on guidance by the transmitting device 200 and moves closer to the transmitting antenna 210.

[0134] An area A12 indicates a receivable area of ​​radio waves from the transmitting antenna 210. An axis L12 indicates an axis along which a null is formed for radio waves from the transmitting antenna 210. A route R31 indicates a planned route. The route R31 is along the axis L12. The transmitting device 200 may start transmitting the difference detection radio waves in response to a request from the moving object 100. Alternatively, the transmitting device 200 may constantly transmit the difference detection radio waves and switch whether or not to use the difference detection radio waves.

[0135] The moving object 100 may move along any one of the branched planned routes. Fig. 30 is a diagram showing an example of a planned route branching. In the example of Fig. 30, the mobile system 1 includes four transmission devices 200: a first transmission device 200a, a second transmission device 200b, a third transmission device 200c, and a fourth transmission device 200d.

[0136] The transmitting antenna 210 provided in the first transmitting device 200a is also referred to as a first transmitting antenna 210a. The transmitting antenna 210 provided in the second transmitting device 200b is also referred to as a second transmitting antenna 210b. The transmitting antenna 210 provided in the third transmitting device 200c is also referred to as a third transmitting antenna 210c. The transmitting antenna 210 provided in the fourth transmitting device 200d is also referred to as a fourth transmitting antenna 210d.

[0137] Path R41 represents an uplink path extending from the first transmitting antenna 210a. Path R42 represents a downlink path extending from the second transmitting antenna 210b. Path R43 represents a downlink path extending from the third transmitting antenna 210c. Path R44 represents a downlink path extending from the fourth transmitting antenna 210d. Three downward routes, route R42, route R43, and route R44, branch off from route R41, which is an upward route. When the moving object 100 traveling along route R41 reaches a branching point, the moving object 100 selects one of the three downward routes and travels along the selected downward route.

[0138] The moving body 100 may store in advance (before departure) a route to be selected from the three down routes, route R42, route R43, and route R44. Alternatively, the moving body 100 may receive a designation of the route to be selected by radio waves from the first transmitting antenna 210a while traveling along route R41. Alternatively, the moving body 100 may receive a designation of the route to be selected by radio waves from any one of the second transmitting antenna 210b, the third transmitting antenna 210c, and the fourth transmitting antenna 210d when the moving body 100 reaches a branch point of the planned route.

[0139] The transmitting antenna included in the transmitting device 200 may be configured using a plurality of horn antennas. Fig. 31 is a diagram showing an example of a transmitting antenna configured using multiple horn antennas, showing an example of a transmitting antenna 310 viewed from the front of the transmitting antenna 310. The transmitting device 200 may include a transmitting antenna 310 instead of the transmitting antenna 210 .

[0140] 31, the transmitting antenna 310 includes three horn antennas 311. These three horn antennas 311 are arranged such that the center of each horn antenna 311 is located at the vertices of an equilateral triangle with point P31, which is the center of the transmitting antenna 310, as the center. When the three horn antennas 311 need to be distinguished, they are also referred to as a first horn antenna 311a, a second horn antenna 311b, and a third horn antenna 311c.

[0141] The beam direction (direction of radio wave directivity) of each horn antenna 311 is shifted by the same angle outward from the center of transmitting antenna 310. These horn antennas 311 are arranged with the beam directions slightly shifted so that the radio waves transmitted from these horn antennas 311 form a composite wave and the reception level of mobile object 100 differs depending on the amount of deviation of the position of mobile object 100 from the axis extending from the center (P41) of transmitting antenna 310 toward the front of transmitting antenna 310. The axis extending from the center (P41) of the transmitting antenna 310 toward the front of the transmitting antenna 310 is the axis along which a null is formed for the radio waves from the transmitting antenna 310. A planned route is set along this axis.

[0142] Fig. 32 is a diagram showing an example of the arrangement of horn antennas 311 when viewed from above transmitting antenna 310. As described with reference to Fig. 31, the three horn antennas 311 are arranged so that the centre of each horn antenna 311 is located at the vertices of an equilateral triangle with point P31, which is the centre of transmitting antenna 310, as the centre. FIG. 32 also shows an axis C41 that extends from the center (P41) of the transmitting antenna 310 toward the front of the transmitting antenna 310.

[0143] FIG. 33 is a diagram showing an example of the timing at which the transmission antenna 310 transmits radio waves for detecting deviation. In the example of Fig. 33, the transmitting device 200 generates a frame including a frame symbol, a data symbol, and a deviation detection radio wave, and transmits the frame from the transmitting antenna 310. As described above, the frame symbol is a symbol representing the header of the frame. The data symbol is a symbol representing data (actual data) to be transmitted from the transmitting device 200 to the mobile object 100. The transmitting device 200 transmits the data symbol by beamforming so that the received radio wave strength at the mobile object 100 is strong.

[0144] As described above, the transmitting device 200 may transmit a command to the moving body 100 as actual data, such as a command to cause the moving body 100 to take an image. Alternatively, the transmitting device 200 may not transmit actual data to the moving body 100. In the example of FIG. 33, a deviation detection radio wave consisting of a combination of a peak-forming radio wave and a null-forming radio wave is placed at the end of each frame.

[0145] In peak shaped radio wave transmission, the three horn antennas 311 transmit radio waves of the same strength and in phase. In transmitting null-forming radio waves, the three horn antennas 311 transmit radio waves of the same intensity with phase differences of 120°.

[0146] 33, the transmitting antenna 310 repeatedly transmits the deviation detection radio waves by transmitting the deviation detection radio waves for each frame, which allows the moving body 100 to repeatedly calculate the direction and amount of deviation of the position of the moving body 100 from the axis extending from the center of the transmitting antenna 310 toward the front of the horn antenna, and allows the moving body 100 to approach the axis (planned route) extending from the center of the transmitting antenna 310 toward the front of the horn antenna. For example, in the example of Figure 33, the moving body 100 can determine the direction and speed of the moving body 100 until the next reception of the difference detection radio wave, based on the reception conditions of the difference detection radio wave received at the end of the frame.

[0147] However, the timing at which the transmitting antenna 310 transmits the deviation detection radio wave is not limited to a specific timing. For example, the transmitting antenna 310 may transmit the deviation detection radio wave once for each set of frames. Alternatively, the transmitting antenna 310 may transmit the deviation detection radio wave multiple times within one frame.

[0148] Furthermore, the timing at which the transmitting antenna 310 transmits the radio wave for detecting deviation may be treated as a timing outside the frame. When the transmitting antenna 310 transmits the radio wave for detecting deviation included in the frame, the position of the radio wave for detecting deviation within the frame is not limited to a specific position. Furthermore, the transmitting antenna 310 may transmit a peak-forming radio wave and then a null-forming radio wave, or may transmit a null-forming radio wave and then a peak-forming radio wave.

[0149] In addition, the transmission timing of the peak-forming radio wave and the transmission timing of the null-forming radio wave are preferably close in time, but do not need to be consecutive. For example, the transmission antenna 310 may transmit the peak-forming radio wave, then transmit one or more data symbols, and then transmit the null-forming radio wave.

[0150] The timing when the transmitting antenna 310 transmits a null-forming radio wave corresponds to an example of a first timing, and the timing when the transmitting antenna 310 transmits a peak-forming radio wave corresponds to an example of a second timing. When the moving body 100 detects only the direction and amount of deviation of the position of the moving body 100 from an axis extending from the center of the transmitting antenna 310 toward the front of the transmitting antenna 310, the transmitting antenna 310 may be configured to transmit only the null-forming radio waves of the peak-forming radio waves and the null-forming radio waves as radio waves for deviation detection.

[0151] Fig. 34 is a diagram showing an example of a null-forming radio wave transmitted by the transmitting antenna 310. The horizontal axis of the graph in Fig. 34 indicates the real axis, and the vertical axis indicates the imaginary axis. In the example of FIG. 34, the three horn antennas 311 of the transmitting antenna 310 transmit radio waves of the same intensity with a phase difference of 120°.

[0152] Vector B411 represents the phase and intensity of the radio wave transmitted from first horn antenna 311a. Vector B412 represents the phase and intensity of the radio wave transmitted from second horn antenna 311b. Vector B413 represents the phase and intensity of the radio wave transmitted from third horn antenna 311c. The composite wave of the radio waves from the three horn antennas 311 becomes null on the axis extending from the center of the transmitting antenna 310 toward the front of the transmitting antenna 310. In other words, the radio waves from the three horn antennas 311 cancel each other out, and the intensity of the composite wave becomes zero.

[0153] Fig. 35 is a diagram showing an example of radio waves received by the moving body 100 at a position offset from the axis extending from the center of the transmitting antenna 310 toward the front of the transmitting antenna 310. The horizontal axis of the graph in Fig. 35 indicates the real axis, and the vertical axis indicates the imaginary axis. Vector B511 represents the phase and intensity of the received radio wave when mobile object 100 receives a radio wave from first horn antenna 311a. Vector B512 represents the phase and intensity of the received radio wave when mobile object 100 receives a radio wave from second horn antenna 311b. Vector B513 represents the phase and intensity of the received radio wave when mobile object 100 receives a radio wave from third horn antenna 311c. Vector B521 represents the phase and intensity of the composite wave of the radio wave from first horn antenna 311a, the radio wave from second horn antenna 311b, and the radio wave from third horn antenna 311c.

[0154] FIG. 35 shows an example in which the moving object 100 is shifted upward from the center in front of the transmitting antenna 310 and slightly to the right when facing the transmitting antenna 310. As the position of the moving body 100 shifts from directly in front of the center of the transmitting antenna 310, the moving body 100 moves closer to the first horn antenna 311a, and the strength of the radio waves from the first horn antenna 311a indicated by vector B511 becomes stronger than in the case of Figure 34.

[0155] On the other hand, moving object 100 is moving away from second horn antenna 311b, and the intensity of the radio wave from second horn antenna 311b indicated by vector B512 is weaker than in the case of FIG. Also, moving object 100 is somewhat farther away from third horn antenna 311c, and the intensity of the radio wave from third horn antenna 311c indicated by vector B513 is somewhat weaker than in the case of FIG.

[0156] The resultant wave vector B521 calculated by vector addition points upward and slightly to the right. In this way, when the three horn antennas 311 of the transmitting antenna 310 transmit radio waves of the same intensity with a phase difference of 120° each, the phase of the composite wave roughly indicates the direction of deviation of the position of the moving body 100 from the axis extending forward from the center of the transmitting antenna 310. Therefore, the position shift detection unit 124 of the moving body 100 can estimate the direction of shift of the position of the moving body 100 from the axis extending forward from the center of the transmitting antenna 310 by referring to the phase of the radio waves received from the transmitting antenna 310.

[0157] Fig. 36 is a diagram showing an example of a processing procedure when the moving body 100 moves according to a guide signal. Fig. 36 shows an example of a processing procedure when the moving body 100 moves along a planned route indicated by two transmitting antennas 210, as in the example of Fig. 18. In the process of FIG. 36, the moving body 100 (for example, the traveling direction determining unit 130) selects the upward guiding signal as a signal used to detect deviation of the position of the moving body 100 from the planned route (step S21).

[0158] Then, the moving body 100 moves along the planned route based on the deviation detection result (step S22). Next, the moving object 100 (for example, the traveling direction determining unit 130) determines whether or not the receiving antenna 110 is receiving a downward guiding signal (step S23).

[0159] If the moving object 100 determines that it has not received the downward guiding signal (step S23: NO), the process returns to step S22. In this case, the moving object 100 continues to move along the scheduled route based on the deviation detection result using the upward guiding signal. On the other hand, if it is determined in step S23 that a downward guidance signal has been received (step S23: YES), the moving body 100 (e.g., the travel direction determination unit 130) selects the downward guidance signal as a signal to be used to detect deviation of the position of the moving body 100 from the planned route (step S24).

[0160] Then, the moving body 100 moves along the planned route based on the deviation detection result (step S25). Next, the moving object 100 (for example, the traveling direction determining unit 130) determines whether the moving object 100 has arrived at the destination (step S26).

[0161] If the moving object 100 determines that it has not arrived at the destination (step S26: NO), the process returns to step S25. In this case, the moving object 100 continues to move along the planned route based on the result of the deviation detection using the downlink guiding signal. On the other hand, if it is determined in step S26 that the moving body 100 has arrived at the destination (step S26: YES), the moving body 100 lands at the destination (step S27). After step S27, the moving object 100 ends the process of FIG.

[0162] 37 is a diagram showing an example of a processing procedure when the moving object 100 moves. The moving object 100 performs the processing of FIG. 37 in steps S22 and S25 of FIG. In the process of FIG. 37, the traveling direction determination unit 130 determines whether or not there is a deviation of the position of the moving object 100 from the planned route (step S31).

[0163] If it is determined that there is a deviation (step S31: YES), the travel direction determination unit 130 detects the direction of travel of the moving body 100 so that the moving body 100 approaches the planned route, and the drive unit 160, under the control of the drive control unit 150, moves the moving body 100 in the travel direction determined by the travel direction determination unit 130 (step S32).

[0164] After step S32, the moving object 100 ends the process of FIG. On the other hand, if it is determined in step S31 that there is no deviation (step S31: NO), the traveling direction determination unit 130 leaves the traveling direction of the moving body 100 unchanged (the traveling direction at that time), and the drive unit 160 moves the moving body 100 in the traveling direction determined by the traveling direction determination unit 130 under the control of the drive control unit 150 (step S33). After step S33, the moving object 100 ends the process of FIG.

[0165] As described above, the transmitting antenna 210 or the transmitting antenna 310 includes a plurality of transmitting means for transmitting radio waves, and transmits radio waves from the plurality of transmitting means, which form a null due to the cancellation of the radio waves. The receiving antenna 110 receives radio waves from the transmitting antenna 210 or the transmitting antenna 310. The position deviation detection unit 124 detects the direction of deviation of the position of the moving body 100 from the planned route, which is the route along which the radio waves from the transmitting antenna become null, based on the phase of the received radio waves. The traveling direction determination unit 130 determines the traveling direction of the moving body 100 so that the moving body 100 approaches the planned route, based on the direction of deviation detected by the position deviation detection unit 124. The driving unit 160 moves the moving body 100 in the determined traveling direction. According to the mobile object system 1, based on the radio waves received from the transmitting antenna 210, it is possible to detect the direction in which the position of the mobile object 100 deviates from the planned route along which the mobile object 100 should move.

[0166] Moreover, the positional deviation detection unit 124 detects the magnitude of the deviation based on the intensity of the radio wave received by the receiving antenna 110 . The moving body system 1 can detect not only the direction of deviation of the position of the moving body 100 from the planned route, but also the magnitude of the deviation. This is expected to enable the moving body 100 to move along the planned route with higher accuracy.

[0167] Moreover, the transmitting antenna 210 or the transmitting antenna 310 transmits radio waves from the multiple transmitting means at a first timing, where a null is formed by the radio waves canceling each other out, and transmits radio waves from the multiple transmitting means at a second timing, where a peak is formed by the radio waves strengthening each other. The position shift detection unit 124 detects the magnitude of the shift based on a comparison between the strength of the received radio waves at the first timing and the strength of the received radio waves at the second timing.

[0168] According to the moving body 100, by comparing the reception strength of the radio wave where a null is formed with the reception strength of the radio wave where a peak is formed, it is possible to detect with high accuracy the degree of deviation of the position of the moving body 100 from the planned route. This is expected to enable the moving body 100 to move along the planned route with high accuracy.

[0169] Furthermore, the transmitting antenna 210 transmits radio waves with relatively strong directivity and radio waves with relatively weak directivity as radio waves in which nulls are formed. When the position deviation detection unit 124 cannot detect the direction of deviation of the position of the moving object 100 from the planned route based on the radio waves with relatively strong directivity, the position deviation detection unit 124 detects the direction of deviation of the position of the moving object 100 from the planned route based on the radio waves with relatively weak directivity.

[0170] When the moving body 100 is capable of receiving radio waves with a relatively strong directivity, it is expected that the moving body 100 will be able to detect deviation from the planned route with a relatively high degree of accuracy by detecting deviation from the planned route based on the radio waves with a relatively strong directivity. On the other hand, even if the moving body 100 cannot receive radio waves with a relatively strong directivity, if the moving body 100 can receive radio waves with a relatively weak directivity, the moving body 100 can detect a deviation from the planned route based on the radio waves with a relatively weak directivity.

[0171] In addition, when the position deviation detection unit 124 is receiving radio waves from the first transmitting antenna 210a and detecting the direction of deviation of the position of the moving body 100 from the planned route based on the radio waves from the first transmitting antenna 210a, if it determines that it is receiving radio waves from the second transmitting antenna 210b, it switches the radio waves used to detect the direction of deviation of the position of the moving body 100 from the planned route from the radio waves from the first transmitting antenna 210a to the radio waves from the second transmitting antenna 210b.

[0172] In the mobile body system 1, a planned route can be set based on a combination of radio waves from a plurality of transmitting antennas 210. This allows the mobile body 100 to set various planned routes, such as a bent planned route or a long planned route that cannot be set by only one transmitting antenna 210. In addition, the mobile body 100 can automatically switch the radio waves used to detect the deviation from the radio waves from the first transmitting antenna 210a to the radio waves from the second transmitting antenna 210b by making a relatively simple determination of whether or not it is receiving radio waves from the second transmitting antenna 210b.

[0173] In addition, the transmitting antenna 210 transmits radio waves in a first direction, which are radio waves that become null on a path in the first direction, guided radio waves that guide a moving body coming from the first direction to a path in a second direction different from the first direction, and radio waves in a second direction, which are radio waves that become null on a path in the second direction. In the mobile system 1, the planned route can be relayed using the transmitting antenna 210. In this respect, the mobile system 1 makes it possible to set a longer planned route or a more complicated planned route.

[0174] Moreover, the transmitting antenna 210 transmits radio waves as guided radio waves so that a null is formed in a predetermined direction. The position deviation detection unit 124 detects the position of the moving body 100 and the direction of deviation from the position where the null of the guided radio waves is formed. The traveling direction determination unit 130 determines the traveling direction of the moving body 100 as a direction of rotation around the axis formed by the null of the guided radio waves. The moving body 100 can move from a path in the first direction to a path in the second direction by a relatively simple movement of rotating about an axis on which a null of the guided radio wave is formed.

[0175] Moreover, the transmitting antenna 210 transmits, as a guided radio wave, a radio wave such that a null is formed in a direction in which the angle from the first direction is equal to the angle from the second direction. The moving body 100 can reach the path in the second direction from the path in the first direction by a relatively simple movement of rotating about an axis on which the null of the guided radio wave is formed. In particular, in the circular arc described by the moving path of the moving body 100, the path in the first direction and the path in the second direction are at the same distance from the axis. Therefore, if the moving body 100 rotates around the axis on which the null of the guided radio wave is formed, it can reach the path in the second direction, and there is no need to separately adjust the distance from the axis to the moving body 100 (i.e., the position of the moving body 100 in the radial direction of the circular arc).

[0176] Fig. 38 is a diagram showing another example of the configuration of the mobile body system according to the embodiment. In the configuration shown in Fig. 38, the mobile body system 610 includes a transmitting antenna 611 and a mobile body 612. The mobile body 612 includes a receiving antenna 613, a position deviation detection unit 614, a traveling direction determination unit 615, and a driving unit 616.

[0177] In this configuration, the transmitting antenna 611 includes a plurality of transmitting means for transmitting radio waves, and transmits radio waves from the plurality of transmitting means, which form a null due to the cancellation of the radio waves. The receiving antenna 613 receives the radio waves from the transmitting antenna 611. The position deviation detection unit 614 detects the direction of deviation of the position of the moving body 612 from a planned route, which is a route along which the radio waves from the transmitting antenna become null, based on the phase of the received radio waves. The traveling direction determination unit 615 determines the traveling direction of the moving body 612 so that the moving body 612 approaches the planned route, based on the direction of deviation of the position of the moving body 612 from the planned route. The driving unit 616 moves the moving body in the determined traveling direction.

[0178] The positional deviation detection unit 614 corresponds to an example of a positional deviation detection means, the travel direction determination unit 615 corresponds to an example of a travel direction determination means, and the driving unit 616 corresponds to an example of a driving means. According to the mobile system 610, based on radio waves received from a transmission antenna 611, it is possible to detect the direction in which the position of the mobile unit 612 deviates from a planned route along which the mobile unit 612 should move.

[0179] FIG. 39 is a diagram illustrating an example of a configuration of a moving object according to an embodiment. In the configuration shown in FIG. 39, a moving object 620 includes a receiving antenna 621, a position deviation detection unit 622, a traveling direction determination unit 623, and a driving unit 624.

[0180] In this configuration, the receiving antenna 621 receives radio waves transmitted from a transmitting antenna having a plurality of transmitting means, where a null is formed due to cancellation of the radio waves. The position deviation detection unit 622 detects the direction of deviation of the position of the moving body 620 from a planned route, which is a route where the radio waves from the transmitting antenna become null, based on the phase of the received radio waves. The traveling direction determination unit 623 determines the traveling direction of the moving body 620 so that the moving body 620 approaches the planned route based on the direction of deviation. The driving unit 624 moves the moving body 620 in the determined traveling direction.

[0181] The positional deviation detection unit 622 corresponds to an example of a positional deviation detection means, the travel direction determination unit 623 corresponds to an example of a travel direction determination means, and the driving unit 624 corresponds to an example of a driving means. According to the moving body 620, it is possible to detect the direction in which the position of the moving body 620 deviates from the planned route along which the moving body 620 should move, based on the radio waves received from the transmitting antenna.

[0182] Fig. 40 is a diagram showing an example of a process procedure in a moving object control method according to an embodiment. The moving object control method shown in Fig. 40 includes detecting a positional deviation (step S611), determining a direction of travel (step S612), and moving (step S613).

[0183] In detecting the position deviation (step S611), the computer controlling the mobile body detects the direction of deviation of the mobile body's position from the planned route, which is the route along which the radio waves from the transmitting antenna become null, based on the phase of the radio waves received by the receiving antenna, which receives the radio waves transmitted from the transmitting antenna having multiple transmitting means and which form a null due to the cancellation of the radio waves.

[0184] In determining the travel direction (step S612), the computer controlling the moving object determines the travel direction of the moving object based on the direction of the deviation so that the moving object approaches the planned route. In moving (step S613), the computer that controls the moving object moves the moving object in the determined traveling direction.

[0185] According to the moving object control method shown in FIG. 40, it is possible to detect the direction in which the position of the moving object deviates from a planned route along which the moving object should move, based on radio waves received from a transmitting antenna.

[0186] FIG. 41 is a schematic block diagram illustrating a configuration of a computer according to at least one embodiment. In the configuration shown in FIG. 41, a computer system 700 includes a CPU 710, a main memory device 720, an auxiliary memory device 730, an interface 740, and a non-volatile recording medium 750.

[0187] Any one or more of the above-mentioned mobile body 100 and mobile body 620 or a part thereof may be implemented in the computer system 700. In this case, the operation of each of the above-mentioned processing units is stored in the auxiliary storage device 730 in the form of a program. The CPU 710 reads the program from the auxiliary storage device 730, develops it in the main storage device 720, and executes the above-mentioned processing according to the program. The CPU 710 also secures a storage area corresponding to each of the above-mentioned storage units in the main storage device 720 according to the program. Communication between each device and other devices is executed by the interface 740 having a communication function and performing communication according to the control of the CPU 710. The interface 740 also has a port for the non-volatile recording medium 750, and reads information from the non-volatile recording medium 750 and writes information to the non-volatile recording medium 750.

[0188] When the moving body 100 is implemented in the computer system 700, the operations of the receiving unit 120, the traveling direction determining unit 130, and the drive control unit 150 are stored in the form of a program in the auxiliary storage device 730. The CPU 710 reads the program from the auxiliary storage device 730, loads it into the main storage device 720, and executes the above-mentioned processing according to the program.

[0189] Furthermore, the CPU 710 allocates a memory area in the main memory device 720 for the mobile object 100 to perform processing in accordance with the program. Communication by the mobile object 100 is performed by the interface 740 having an antenna and operating under the control of the CPU 710. Interaction between the mobile object 100 and a user is performed by the interface 740 having an input device and an output device, presenting information to the user via the output device under the control of the CPU 710, and accepting user operations via the input device.

[0190] When the moving object 620 is implemented in the computer system 700, the operations of the positional deviation detection unit 622 and the traveling direction determination unit 623 are stored in the form of a program in the auxiliary storage device 730. The CPU 710 reads the program from the auxiliary storage device 730, loads it into the main storage device 720, and executes the above-mentioned processing according to the program.

[0191] Furthermore, the CPU 710, in accordance with the program, secures a storage area in the main memory 720 for the mobile object 620 to perform processing. Communication by the mobile object 620 is performed by the interface 740 having an array antenna and operating under the control of the CPU 710. Interaction between the mobile object 620 and a user is performed by the interface 740 having an input device and an output device, presenting information to the user via the output device under the control of the CPU 710, and accepting user operations via the input device.

[0192] Any one or more of the above-mentioned programs may be recorded in non-volatile recording medium 750. In this case, interface 740 may read the program from non-volatile recording medium 750. Then, CPU 710 may directly execute the program read by interface 740, or may temporarily store the program in main storage device 720 or auxiliary storage device 730 and execute it.

[0193] Note that a program for executing all or part of the processing performed by the mobile body system 1, the mobile body 100, the mobile body system 610, and the mobile body 620 may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer system and executed to perform processing of each part. Note that the term "computer system" here includes hardware such as an OS (Operating System) and peripheral devices. Furthermore, the term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs (Read Only Memory), and CD-ROMs (Compact Disc Read Only Memory), as well as storage devices such as hard disks built into computer systems. The above-mentioned program may be for realizing part of the above-mentioned functions, or may be capable of realizing the above-mentioned functions in combination with a program already recorded in the computer system.

[0194] Although an embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and designs that do not deviate from the gist of the present invention are also included.

[0195] A part or all of the above-described embodiments can be described as, but is not limited to, the following supplementary notes.

[0196] (Appendix 1) A transmitting antenna and a mobile object are provided, The transmitting antenna includes a plurality of transmitting means for transmitting radio waves, and transmits radio waves from the plurality of transmitting means in which radio waves cancel each other out to form a null; The moving body is a receiving antenna for receiving radio waves from the transmitting antenna; a position deviation detection means for detecting a direction of deviation of the position of the moving object from a planned route, which is a route where the radio wave from the transmitting antenna becomes null, based on a phase of the received radio wave; a travel direction determining means for determining a travel direction of the moving object so as to approach the planned route based on the direction of the deviation; A driving means for moving the moving body in the determined traveling direction; Equipped with Mobile systems.

[0197] (Appendix 2) The positional deviation detection means detects the magnitude of the deviation based on the intensity of the received radio wave. 2. A mobile system as described in claim 1.

[0198] (Appendix 3) the transmitting antenna transmits radio waves from the plurality of transmitting means at a first timing, in which a null is formed by mutual cancellation of radio waves, and transmits radio waves from the plurality of transmitting means at a second timing, in which a peak is formed by mutual reinforcement of radio waves; the positional deviation detection means detects the magnitude of the deviation based on a comparison between the intensity of the received radio wave at the first timing and the intensity of the received radio wave at the second timing. 3. A mobile system as described in claim 2.

[0199] (Appendix 4) the transmitting antenna transmits, as the radio waves in which the null is formed, radio waves having relatively strong directivity and radio waves having relatively weak directivity; when the positional deviation detection means cannot detect the direction of deviation based on the radio wave having the relatively strong directivity, the positional deviation detection means detects the direction of deviation based on the radio wave having the relatively weak directivity. 4. A mobile system according to any one of claims 1 to 3.

[0200] (Appendix 5) a first transmitting antenna, a second transmitting antenna that transmits radio waves such that a receivable area of ​​the radio waves transmitted by the first transmitting antenna overlaps a part of the receivable area; Equipped with when it is determined that radio waves are being received from the second transmitting antenna while detecting the direction of the deviation based on the radio waves from the first transmitting antenna, the position deviation detection means switches the radio waves used for detecting the direction of the deviation from the radio waves from the first transmitting antenna to the radio waves from the second transmitting antenna. 5. A mobile system according to any one of claims 1 to 4.

[0201] (Appendix 6) The transmitting antenna transmits a first direction radio wave, which is a radio wave having a null on a path in a first direction, a guided radio wave that guides a moving body coming from the first direction to a path in a second direction different from the first direction, and a second direction radio wave, which is a radio wave having a null on a path in the second direction. 6. A mobile system according to any one of claims 1 to 5.

[0202] (Appendix 7) The transmitting antenna transmits radio waves as the guided radio waves so that a null is formed in a predetermined direction, the position deviation detection means detects the position of the moving body and a direction of deviation from a position where a null of the guided radio wave is formed, The traveling direction determination means determines the traveling direction of the moving body to be a direction of rotation around an axis formed by a null of the guided radio wave. 7. The mobile system of claim 6.

[0203] (Appendix 8) The transmitting antenna transmits the guided radio wave so that a null is formed in a direction in which an angle from the first direction is equal to an angle from the second direction. 8. The mobile system of claim 7.

[0204] (Appendix 9) a transmitting antenna having a plurality of transmitting means, a receiving antenna for receiving radio waves transmitted from the plurality of transmitting means, the radio waves canceling each other out to form a null; a position deviation detection means for detecting a direction of deviation of a position of a moving object from a planned route, which is a route where the radio wave from the transmitting antenna becomes null, based on a phase of the received radio wave; a travel direction determining means for determining a travel direction of the moving object so as to approach the planned route based on the direction of the deviation; A driving means for moving the moving body in the determined traveling direction; A moving body comprising:

[0205] (Appendix 10) The positional deviation detection means detects the magnitude of the deviation based on the intensity of the received radio wave. 10. A moving object as described in Supplementary Note 9.

[0206] (Appendix 11) the transmitting antenna transmits radio waves from the plurality of transmitting means at a first timing, in which a null is formed by mutual cancellation of radio waves, and transmits radio waves from the plurality of transmitting means at a second timing, in which a peak is formed by mutual reinforcement of radio waves; the positional deviation detection means detects the magnitude of the deviation based on a comparison between the intensity of the received radio wave at the first timing and the intensity of the received radio wave at the second timing. 11. A moving object as described in claim 10.

[0207] (Appendix 12) the transmitting antenna transmits, as the radio waves in which the null is formed, radio waves having relatively strong directivity and radio waves having relatively weak directivity; when the positional deviation detection means cannot detect the direction of deviation based on the radio wave having the relatively strong directivity, the positional deviation detection means detects the direction of deviation based on the radio wave having the relatively weak directivity. 12. A moving object according to any one of claims 9 to 11.

[0208] (Appendix 13) When the position deviation detection means detects the direction of deviation based on radio waves from a first transmitting antenna, which is the transmitting antenna, and determines that the position deviation detection means is receiving radio waves from a second transmitting antenna, which is the transmitting antenna that transmits radio waves such that a receivable area of ​​the radio waves transmitted by the first transmitting antenna partially overlaps with the receivable area, the position deviation detection means switches the radio waves used for detecting the direction of deviation from the radio waves from the first transmitting antenna to the radio waves from the second transmitting antenna. 13. A moving object according to any one of claims 9 to 12.

[0209] (Appendix 14) The travel direction determination means, when the receiving antenna receives radio waves in a first direction, which are radio waves that become null on a path in a first direction, determines the travel direction of the moving body to be a direction approaching the path in the first direction and toward the transmitting antenna that is the sender of the radio waves, when the receiving antenna receives guided radio waves that guide the moving body coming from the first direction to a path in a second direction different from the first direction, determines the travel direction of the moving body based on the guided radio waves, and when the receiving antenna receives radio waves in a second direction, which are radio waves that become null on the path in the second direction, determines the travel direction of the moving body to be a direction approaching the path in the second direction and away from the transmitting antenna that is the sender of the radio waves. 14. A moving object according to any one of claims 9 to 13.

[0210] (Appendix 15) The transmitting antenna transmits radio waves as the guided radio waves so that a null is formed in a predetermined direction, the position deviation detection means detects the position of the moving body and a direction of deviation from a position where a null of the guided radio wave is formed, The traveling direction determination means determines the traveling direction of the moving body to be a direction of rotation around an axis formed by a null of the guided radio wave. 15. A moving object as described in appended claim 14.

[0211] (Appendix 16) The transmitting antenna transmits the guided radio wave so that a null is formed in a direction in which an angle from the first direction is equal to an angle from the second direction. 16. A moving object as described in appended claim 15.

[0212] (Appendix 17) The computer that controls the moving object a transmitting antenna having a plurality of transmitting means detects a direction of deviation of the position of the moving body from a planned route, which is a route along which radio waves from the transmitting antenna have a null, based on a phase of radio waves received by a receiving antenna that receives radio waves transmitted from the plurality of transmitting means and which have a null formed due to cancellation of the radio waves; determining a traveling direction of the moving object so as to approach the planned route based on the direction of the deviation; moving the moving body in the determined traveling direction; A mobile object control method comprising the steps of:

[0213] (Appendix 18) The computer that controls the moving object A transmitting antenna having a plurality of transmitting means detects a direction of deviation of the position of the moving body from a planned route, which is a route where radio waves from the transmitting antenna become null, based on a phase of radio waves received by a receiving antenna that receives radio waves transmitted from the plurality of transmitting means and where a null is formed due to cancellation of the radio waves; determining a traveling direction of the moving object based on the direction of the deviation so that the moving object approaches the planned route; moving the moving object in the determined traveling direction; A program for executing the above. [Explanation of symbols]

[0214] 1, 610 Mobile Systems 100, 612, 620 Mobile 110, 613, 621 Receiving antenna 120 Receiving unit 121 Demodulation section 122 Identification unit 123 Frame Synchronization Unit 124, 614, 622 Position shift detection unit 125 Demapping section 130, 615, 623 Direction determining section 140 Sensors 150 Drive control unit 160, 616, 624 Drive unit 200 Transmitting device 210, 611 Transmitting antenna 220 Communication Data Acquisition Unit 230 Radio wave transmission instruction unit for detecting deviation 240 Transmission control section

Claims

1. A transmitting antenna and a mobile object are provided, The transmitting antenna includes a plurality of transmitting means for transmitting radio waves, and transmits radio waves from the plurality of transmitting means in which radio waves cancel each other out to form a null; The moving body is a receiving antenna for receiving radio waves from the transmitting antenna; a position deviation detection means for detecting a direction of deviation of the position of the moving object from a planned route, which is a route where the radio wave from the transmitting antenna becomes null, based on a phase of the received radio wave; a travel direction determining means for determining a travel direction of the moving object so as to approach the planned route based on the direction of the deviation; A driving means for moving the moving body in the determined traveling direction; Equipped with Mobile systems.

2. The positional deviation detection means detects the magnitude of the deviation based on the intensity of the received radio wave. The mobile system of claim 1 .

3. The transmitting antenna transmits radio waves from the plurality of transmitting means at a first timing, in which a null is formed by mutual cancellation of radio waves, and transmits radio waves from the plurality of transmitting means at a second timing, in which a peak is formed by mutual reinforcement of radio waves; the positional deviation detection means detects the magnitude of the deviation based on a comparison between the intensity of the received radio wave at the first timing and the intensity of the received radio wave at the second timing. The mobile system according to claim 2 .

4. the transmitting antenna transmits, as the radio waves in which the null is formed, radio waves having relatively strong directivity and radio waves having relatively weak directivity; when the positional deviation detection means cannot detect the direction of deviation based on the radio wave having the relatively strong directivity, the positional deviation detection means detects the direction of deviation based on the radio wave having the relatively weak directivity. The mobile system of claim 1 .

5. a first transmitting antenna, a second transmitting antenna that transmits radio waves such that a receivable area of ​​the radio waves transmitted by the first transmitting antenna overlaps a part of the receivable area; Equipped with when it is determined that radio waves are being received from the second transmitting antenna while detecting the direction of the deviation based on the radio waves from the first transmitting antenna, the position deviation detection means switches the radio waves used for detecting the direction of the deviation from the radio waves from the first transmitting antenna to the radio waves from the second transmitting antenna. The mobile system of claim 1 .

6. The transmitting antenna transmits a first direction radio wave, which is a radio wave having a null on a path in a first direction, a guided radio wave that guides a moving body coming from the first direction to a path in a second direction different from the first direction, and a second direction radio wave, which is a radio wave having a null on the path in the second direction. The mobile system of claim 1 .

7. The transmitting antenna transmits radio waves as the guided radio waves so that a null is formed in a predetermined direction, the position deviation detection means detects the position of the moving body and a direction of deviation from a position where a null of the guided radio wave is formed, The traveling direction determination means determines the traveling direction of the moving body to be a direction of rotation around an axis formed by a null of the guided radio wave. The mobile system according to claim 6.

8. The transmitting antenna transmits, as the guided radio wave, a radio wave such that a null is formed in a direction in which an angle from the first direction is equal to an angle from the second direction. The mobile system according to claim 7.

9. a transmitting antenna having a plurality of transmitting means, a receiving antenna for receiving radio waves transmitted from the plurality of transmitting means, the radio waves canceling each other out to form a null; a position deviation detection means for detecting a direction of deviation of a position of a moving object from a planned route, which is a route where the radio wave from the transmitting antenna becomes null, based on a phase of the received radio wave; a travel direction determining means for determining a travel direction of the moving object so as to approach the planned route based on the direction of the deviation; A driving means for moving the moving body in the determined traveling direction; A mobile body comprising:

10. The positional deviation detection means detects the magnitude of the deviation based on the intensity of the received radio wave. The moving body according to claim 9.

11. The transmitting antenna transmits radio waves from the plurality of transmitting means at a first timing, in which a null is formed by mutual cancellation of radio waves, and transmits radio waves from the plurality of transmitting means at a second timing, in which a peak is formed by mutual reinforcement of radio waves; the positional deviation detection means detects the magnitude of the deviation based on a comparison between the intensity of the received radio wave at the first timing and the intensity of the received radio wave at the second timing. The moving body according to claim 10.

12. the transmitting antenna transmits, as the radio waves in which the null is formed, radio waves having relatively strong directivity and radio waves having relatively weak directivity; when the positional deviation detection means cannot detect the direction of deviation based on the radio wave having the relatively strong directivity, the positional deviation detection means detects the direction of deviation based on the radio wave having the relatively weak directivity. The moving body according to claim 9.

13. When the position deviation detection means detects the direction of deviation based on radio waves from a first transmitting antenna, which is the transmitting antenna, and determines that the position deviation detection means is receiving radio waves from a second transmitting antenna, which is the transmitting antenna that transmits radio waves such that a receivable area of ​​the radio waves transmitted by the first transmitting antenna partially overlaps with the receivable area, the position deviation detection means switches the radio waves used for detecting the direction of deviation from the radio waves from the first transmitting antenna to the radio waves from the second transmitting antenna. The moving body according to claim 9.

14. The travel direction determination means, when the receiving antenna receives radio waves in a first direction, which are radio waves that become null on a path in a first direction, determines the travel direction of the moving body to be a direction approaching the path in the first direction and toward the transmitting antenna that is the sender of the radio waves, when the receiving antenna receives guided radio waves that guide the moving body coming from the first direction to a path in a second direction different from the first direction, determines the travel direction of the moving body based on the guided radio waves, and when the receiving antenna receives radio waves in a second direction, which are radio waves that become null on the path in the second direction, determines the travel direction of the moving body to be a direction approaching the path in the second direction and away from the transmitting antenna that is the sender of the radio waves. The moving body according to claim 9.

15. The transmitting antenna transmits radio waves as the guided radio waves so that a null is formed in a predetermined direction, the position deviation detection means detects the position of the moving body and a direction of deviation from a position where a null of the guided radio wave is formed, The traveling direction determination means determines the traveling direction of the moving body to be a direction of rotation around an axis formed by a null of the guided radio wave. The moving body according to claim 14.

16. The transmitting antenna transmits, as the guided radio wave, a radio wave such that a null is formed in a direction in which an angle from the first direction is equal to an angle from the second direction. The moving body according to claim 15.

17. The computer that controls the moving object a transmitting antenna having a plurality of transmitting means detects a direction of deviation of the position of the moving body from a planned route, which is a route along which radio waves from the transmitting antenna have a null, based on a phase of radio waves received by a receiving antenna that receives radio waves transmitted from the plurality of transmitting means and which have a null formed due to cancellation of the radio waves; determining a traveling direction of the moving object so as to approach the planned route based on the direction of the deviation; moving the moving body in the determined traveling direction; A mobile object control method comprising the steps of:

18. The computer that controls the moving object A transmitting antenna having a plurality of transmitting means detects a direction of deviation of the position of the moving body from a planned route, which is a route where radio waves from the transmitting antenna become null, based on a phase of radio waves received by a receiving antenna that receives radio waves transmitted from the plurality of transmitting means and where a null is formed due to cancellation of the radio waves; determining a traveling direction of the moving object based on the direction of the deviation so that the moving object approaches the planned route; moving the moving object in the determined traveling direction; A program for executing.

Images