Movement control system, movement control method, and movement control program

Abstract

To provide a movement control system, etc. that enable guide of a moving body by a reference radio wave from the ground.SOLUTION: A movement control system includes a moving body and an antenna mechanism that transmits radio waves. The moving body includes: a receiver antenna that receives radio waves from the antenna mechanism; a drive mechanism that moves the moving body; a control unit that controls the moving body; and a clock that is synchronized with a clock of the antenna mechanism. The antenna mechanism transmits a directional radio wave in a predetermined movable range at a predetermined cycle. The control unit of the moving body includes: measuring means for measuring an electric field intensity of the radio wave received by the receiver antenna and a cycle at which the electric field intensity is received; deviation amount acquiring means for acquiring an amount of deviation of the moving body from a center line of the predetermined movable range of the radio wave, based on the electric field intensity of the radio wave and the cycle measured by the measuring unit; and drive control means for moving the moving body onto the center line of the movable range, based on the acquired amount of deviation of the moving body from the center line.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a movement control system, a movement control method, and a movement control program.

Background Art

[0002] It is disclosed that a flight controller identifies its current position (longitude and latitude) based on GPS satellite signals received by a GPS receiver, and controls each propeller via an ESC to fly along a planned flight route based on the identified current position and a pre-set planned flight route for itself (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, for example, autonomous movement or guidance of a moving body is required even in an environment where GPS signals cannot be received due to jamming or the like.

[0005] The present disclosure has been made to solve such problems, and an object thereof is to provide a movement control system or the like that enables guidance of a moving body by a reference radio wave from the ground.

Means for Solving the Problems

[0006] A movement control system according to an aspect of the present disclosure is a movement control system including a moving body and an antenna mechanism that transmits radio waves, wherein the moving body includes a receiver antenna that receives radio waves from the antenna mechanism, and a drive mechanism that moves the moving body. A control unit that controls the moving body, A clock synchronized with the clock of the antenna mechanism, and is provided with, The antenna mechanism transmits a directional radio wave while moving it within a predetermined movable range at a predetermined period, The control unit of the moving body, Measuring means for measuring the electric field strength of the radio wave received by the receiver antenna and the period during which the electric field strength is received, Based on the measured electric field strength and period of the radio wave, displacement amount acquisition means for acquiring the displacement amount of the moving body from the center line of the predetermined movable range of the radio wave, Based on the displacement amount of the moving body from the acquired center line, drive control means for moving the moving body onto the center line of the movable range of the radio wave.

[0007] A movement control method according to one aspect of the present disclosure is, A movement control system including a moving body and an antenna mechanism that transmits radio waves, The moving body, A receiver antenna that receives radio waves from the antenna mechanism, A drive mechanism that moves the moving body, A control unit that controls the moving body, A clock synchronized with the clock of the antenna mechanism, A movement control method of a movement control system provided with, The antenna mechanism transmits a directional radio wave while moving it within a predetermined movable range at a predetermined period, The moving body, Measures the electric field strength of the radio wave received by the receiver antenna and the period during which the electric field strength is received, Based on the measured electric field strength and period of the radio wave, acquires the displacement amount of the moving body from the center line of the predetermined movable range of the radio wave, Based on the acquired displacement amount of the moving body from the center line, moves the moving body onto the center line of the movable range of the radio wave.

[0008] A movement control program according to one aspect of the present disclosure is a receiver antenna that receives radio waves from an antenna mechanism, a drive mechanism that moves a moving body, a control unit that controls the moving body, a clock synchronized with the clock of the antenna mechanism, and is a movement control program for a moving body provided with the antenna mechanism transmits a directional radio wave while moving it within a predetermined movable range at a predetermined cycle, to the moving body, causes the receiver antenna to measure the electric field strength of the received radio wave and the cycle for receiving the electric field strength, based on the measured electric field strength of the radio wave and the cycle, causes the moving body to acquire the amount of deviation of the moving body from the center line of the predetermined movable range of the radio wave, causes a computer to move the moving body onto the center line of the movable range based on the acquired amount of deviation of the moving body from the center line.

Advantages of the Invention

[0009] According to the present disclosure, it is possible to provide a movement control system or the like that enables induction of a moving body by a reference radio wave from the ground.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Embodiments for Carrying Out the Invention

[0011] Hereinafter, the outline of the movement control system 1 will be described with reference to FIG. 1. A configuration example of the moving object 10 and the antenna mechanism 30 constituting the movement control system will be described with reference to FIG. 2. As shown in FIG. 1, the movement control system 1 includes a moving object 10 and an antenna mechanism 30 that transmits radio waves 5. The moving object 10 is, for example, a drone, but is not limited thereto, and may be various moving objects that can be understood by those skilled in the art. The antenna mechanism 30 can be arranged on the ground such as an environment where a GPS signal cannot be received or indoors. The antenna mechanism 30 includes a transmitter antenna 310, a clock 330, and a control unit 300. The control unit 300 includes at least one processor and a computer such as at least one memory. The inductive wave movable part 301 of the control unit 300 moves the transmitted inductive wave.

[0012] The moving object 10 includes a receiver antenna 120 that receives radio waves from the antenna mechanism 30, a drive mechanism 140 that moves the moving object, a control unit 100 that controls the moving object 10, and a clock 130 synchronized with the clock 330 of the antenna mechanism 30. The control unit 100 includes at least one processor and a computer such as at least one memory.

[0013] As shown in FIG. 1, the antenna mechanism 30 transmits a directional radio wave 5 while moving it within a predetermined movable range MR at a predetermined period. That is, the reference radio wave is moved up, down, left, and right of the center line CL for the same time.

[0014] The control unit 100 of the moving body 10 includes a measurement unit 103, a deviation amount acquisition unit 104, and a drive control unit 105. The measurement unit 103 measures the electric field strength of the radio wave received by the receiver antenna 120 and the period during which the electric field strength is received. The deviation amount acquisition unit 104 acquires the deviation amount of the moving body 10 from the center line CL of the predetermined movable range MR of the radio wave 5 based on the measured electric field strength and period of the radio wave 5. The drive control unit 105 moves the moving body 10 onto the center line CL of the movable range MR of the radio wave 5 based on the acquired deviation amount of the moving body 10 from the center line CL. When the moving body is moving with a predetermined acceleration in advance, even if it deviates from the center line CL due to wind or the like, it is driven and controlled to move along the center line CL based on the deviation amount.

[0015] FIG. 3 is a flowchart for explaining the movement control method. The movement control method is used in the movement control system 1 including the moving body 10 and the antenna mechanism 30 that transmits the radio wave 5. The moving body 10 includes a receiver antenna 120 that receives the radio wave from the antenna mechanism 30, a drive mechanism 140 that moves the moving body 10, a control unit 100 that controls the moving body, and a clock 130 synchronized with the clock 330 of the antenna mechanism 30. The movement control method guides a moving body that moves with a predetermined acceleration in a predetermined direction (in FIG. 1, the direction from P1 to P2) along the center line of the movable range of the directional radio wave transmitted by the antenna mechanism 30, and includes the following steps. The antenna mechanism transmits a directional radio wave while moving it within a predetermined movable range at a predetermined period (step S101).

[0016] The measurement unit 103 of the control unit 100 of the moving body 10 measures the electric field strength of the radio wave received by the receiver antenna and the period during which the electric field strength is received (step S102). The deviation amount acquisition unit 104 acquires the deviation amount of the moving body 10 from the center line of the predetermined movable range of the radio wave based on the measured electric field strength and period of the radio wave (step S103). The drive control unit 105 moves the moving body onto the center line of the movable range of the radio wave based on the acquired deviation amount of the moving body from the center line (step S104).

[0017] As described above, even in an environment where the moving body cannot receive the positioning signal from the satellite, the movement control system can receive the radio wave from the ground, measure the electric field strength of the radio wave and the period for receiving the electric field strength, and grasp the deviation amount from the center line, thereby guiding the moving body along the center line.

[0018] FIG. 4 is a diagram for explaining a movement control system according to some embodiments. The movement control system 1 may include a moving body 10, a GPS satellite station 20, and an antenna mechanism 30. The movement control system 1 can mainly be used outdoors even in a place where GPS (Global Positioning System) radio waves cannot reach due to jamming or the like, and can autonomously move the moving body 10 without receiving a GPS signal. Normally, it receives a GPS signal and autonomously moves based on the position information by the received GPS signal, and when the GPS signal cannot be received, it can switch to guiding the moving body by the reference radio wave from the ground. In FIG. 4, one GPS satellite station 20 is shown, but more accurate positioning may be performed using GPS signals from a plurality of GPS satellite stations 20 (for example, three or four).

[0019] The antenna mechanism 30 can be set, for example, in a predetermined area where a GPS signal cannot be received or is difficult to receive. The clock 330 of the antenna mechanism 30 and the clock 130 of the moving body 10 are synchronized in time. The antenna mechanism 30 and the moving body 10 may communicate with each other and synchronize the clocks before the start of guidance. The clocks 330 and 130 may use an atomic clock from the viewpoint of preventing time deviation associated with the long-distance movement of the moving body 10, but are not limited thereto. The antenna mechanism 30 includes a mechanical or electrical device that moves a directional radio wave up and down, left and right, or rotates it about the center line CL. The directional radio wave may be rotated, for example, by a predetermined rotation angle about the center line CL. This center line CL can be the direction in which the moving body 10 moves, although details will be described later. Any suitable various types of antennas such as a parabolic antenna and a Yagi antenna can be used.

[0020] FIG. 5 is a diagram for explaining a configuration example of a moving body. The moving body 10 includes a positioning signal receiver 110, a receiver antenna 120, a clock 130, a drive mechanism 140, and a control unit 100. The drive mechanism 140 includes a drive source that uses electric power supplied from a battery, and a drive unit (for example, a rotary wing in the case of an aircraft) that operates by the power obtained from the drive source.

[0021] The control unit 100 may include a positioning unit 101, a guidance method switching unit 102, a measurement unit 103, a deviation amount acquisition unit 104, and a drive control unit 105.

[0022] Normally, the moving body 10 receives a positioning signal PS such as a GPS signal from a GPS satellite or the like by the positioning signal receiver 110, and measures the position of the moving body 10 by the positioning unit 101 (also referred to as positioning means). Based on the measured position and the destination, the control unit 100 can control the drive mechanism 140 by the drive control unit 105 to autonomously move the moving body toward the destination.

[0023] Assume that the GPS signal cannot be received while the moving body 10 is moving in a predetermined direction. At this time, the guidance method switching unit 102 of the control unit 106 can switch from the GPS positioning guidance method to another guidance method as described below.

[0024] Specifically, the receiver antenna 120 receives radio waves from the transmitter antenna 310 of the antenna mechanism 30. The measurement unit 103 (also called the measurement means) measures the electric field strength of the received radio waves at the receiver antenna 120 and the period (timing) at which the electric field strength is received. The deviation amount acquisition unit 104 (also called the deviation amount acquisition means) acquires the deviation amount of the moving body 10 from the center line CL. The relationship between the electric field strength of the received radio waves and the period (timing) at which the electric field strength is received, and the deviation amount of the moving body 10 from the center line CL (see FIG. 7) is stored in advance in the storage unit of the moving body 10 and the storage unit of the antenna mechanism 30. The drive control unit 105 (also called the drive control means) can control the drive mechanism 140 based on the deviation amount of the moving body 10 from the center line CL and move the moving body toward the center line CL. That is, even when the moving body 10 deviates from the center line CL due to wind or the like, the deviation amount from the center line CL is grasped from the measured electric field strength of the received radio waves and the period (timing) at which the electric field strength is received, and the movement is controlled to move toward the center line CL based on the deviation amount. Thereby, the moving body 10 moving in a predetermined direction can be guided generally along the center line CL.

[0025] After that, when the positioning signal receiver 110 can receive the GPS signal again, the induction method switching unit 102 (also called the induction method switching means) may switch to the GPS positioning induction method.

[0026] FIG. 6 is a diagram for explaining a configuration example of the antenna mechanism. The antenna mechanism 30 can be installed on the ground. The antenna mechanism 30 may include a transmitter antenna 310, a clock 330, a drive mechanism 340, and a control unit 300. The control unit 300 may include a guiding radio wave movable unit 301 and a drive control unit 302.

[0027] The transmitter antenna 310 transmits a directional radio wave. The clock 330 is synchronized with the clock 130 in time. The drive mechanism 340 can move the direction of the antenna. Thereby, the direction of the center line CL can be changed, and the moving body can be guided along the center line CL.

[0028] As shown in the lower diagram of FIG. 4, the guided radio wave movable unit 301 can move a directional radio wave symmetrically with respect to the axis of the center line CL (for example, up and down, left and right, or rotation, etc.) within a predetermined movable range MR at a predetermined period. The drive control unit 302 can move the drive mechanism 340 to change the direction of the center line so that the moving body can move.

[0029] FIG. 7 is a diagram for explaining the peak and period of the electric field strength of the radio wave received by a moving body on the center line or deviated from the center line by a predetermined distance. The solid line arrow indicates the peak and period of the electric field strength of the radio wave received by the moving body on the center line CL. The one-dot broken line arrow indicates the peak and period of the electric field strength of the radio wave received by the moving body deviated from the center line CL by d1. The two-dot broken line arrow indicates the peak and period of the electric field strength of the radio wave received by the moving body deviated from the center line CL by d2. Here, only two points (d1, d2) deviated from the center line are shown, but it is not limited thereto, and the peak and period of the electric field strength of a large number of points can be shown.

[0030] These relationship tables are stored in advance in the storage unit of the moving body and the storage unit of the antenna mechanism. Since the clock 330 of the antenna mechanism 30 is synchronized with the clock 130 of the moving body 10 in terms of time, these relationship tables can be established between the antenna mechanism 30 and the moving body 10.

[0031] The moving body 10 can collate the measured peak and period of the electric field strength of the radio wave with this relationship table to obtain the deviation amount from the center line. The drive control unit 105 can control the drive mechanism 140 based on this deviation amount so that the moving body 10 moves toward the center line CL (arrow in the lower diagram of FIG. 4), and thereby, the moving body 10 can be generally moved along the center line CL.

[0032] FIG. 8 is a flowchart for explaining the movement control method. The movement control method is used in a movement control system 1 including a moving body 10 and an antenna mechanism 30 that transmits radio waves 5. The moving body 10 includes a positioning signal receiver 110 that receives a positioning signal from a satellite station, a receiver antenna 120 that receives radio waves from the antenna mechanism 30, a drive mechanism 140 that moves the moving body 10, a control unit 100 that controls the moving body, and a clock 130 synchronized with a clock 330 of the antenna mechanism 30.

[0033] The movement control method according to this embodiment includes the following steps. A positioning unit 101 of the control unit 100 of the moving body 10 identifies the position of the moving body 10 based on the received positioning signal (step S201). A drive control unit 105 of the control unit 100 of the moving body 10 controls the drive mechanism 140 of the moving body 10 based on the identified position of the moving body and the input destination (step S202). When the moving body 10 can receive the positioning signal (Yes in step S203), steps S201 and S202 are repeated.

[0034] On the other hand, when the moving body 10 cannot receive the positioning signal (No in step S203), the guidance method is switched as follows. That is, the antenna mechanism 30 disposed on the ground moves the transmitted directional radio wave within a predetermined movable range at a predetermined period (step S204).

[0035] A measurement unit 103 of the control unit 100 of the moving body 10 measures the electric field strength of the radio wave received by the receiver antenna 120 and the period during which the electric field strength is received (step S205). A deviation amount acquisition unit 104 acquires the deviation amount of the moving body 10 from the center line of the predetermined movable range of the radio wave based on the measured electric field strength and period of the radio wave (step S206). The drive control unit 105 moves the moving body 10 onto the center line CL of the movable range MR of the radio wave based on the acquired deviation amount of the moving body 10 from the center line (step S207). When the moving body 10 can receive the positioning signal (Yes in step S208), the guidance method is switched to the position control method based on the above-described positioning signal, and steps S201 and S202 are repeated.

[0036] On the other hand, when the mobile body 10 cannot receive the positioning signal (No in step S208), steps S204 to S207 are repeated.

[0037] As described above, according to whether the positioning signal from the satellite station can be received or not, the guidance method can be appropriately switched to guide the mobile body.

[0038] In the above-described embodiment, an example of guiding the mobile body in one direction toward the center line has been described. However, two antenna mechanisms may be arranged opposite to each other to guide the mobile body to reciprocate in both directions.

[0039] FIG. 9 is a block diagram showing a configuration example of the control units 100 and 300 (hereinafter referred to as the control unit 100 etc.). Referring to FIG. 9, the control unit 100 etc. includes a network interface 1201, a processor 1202, and a memory 1203. The network interface 1201 is used to communicate with other network node devices constituting the communication system. The network interface 1201 may be used to perform wireless communication. For example, the network interface 1201 may be used to perform wireless LAN communication defined in the IEEE 802.11 series or mobile communication defined in 3GPP (3rd Generation Partnership Project) (registered trademark). Alternatively, the network interface 1201 may include, for example, a network interface card (NIC) compliant with the IEEE 802.3 series.

[0040] The processor 1202 reads and executes software (computer program) from the memory 1203, thereby performing the processing of the control unit 100 and the like described using the flowchart or sequence in the above-described embodiments. As the processor 1202, for example, a CPU (Central Processing Unit), GPU (Graphic Processing Unit), DSP (Digital Signal Processor), MPU (Micro Processing Unit), FPU (Floating point number Processing Unit), PPU (Physics Processing Unit), TPU (Tensor Processing Unit), quantum processor, microcontroller, or a combination thereof can be used.

[0041] The memory 1203 is composed of a combination of a volatile memory and a non-volatile memory. The memory 1203 may include storage located away from the processor 1202. In this case, the processor 1202 may access the memory 1203 via an I / O interface (not shown).

[0042] In the example of FIG. 9, the memory 1203 is used to store a group of software modules. The processor 1202 can perform the processing of the control unit 100 and the like described in the above-described embodiments by reading and executing these groups of software modules from the memory 1203.

[0043] As described with reference to FIG. 9, each of the processors included in the control unit 100 and the like executes one or more programs including a group of instructions for causing a computer to perform the algorithms described with reference to the drawings.

[0044] In the above example, when the movement control program is loaded into a computer, it includes a set of instructions (or software code) for causing the computer to perform one or more functions described in the embodiments. The movement control program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, a computer-readable medium or a tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD), or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disc, or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage, or other magnetic storage devices. The program may be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, a transitory computer-readable medium or a communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0045] As described above, the present disclosure has been described with reference to the embodiments, but the present disclosure is not limited to the above-described embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. And each embodiment can be combined with other embodiments as appropriate.

[0046] The drawings are merely illustrative for explaining one or more embodiments. Each drawing may be associated with not only one specific embodiment but also one or more other embodiments. As can be understood by those skilled in the art, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings to create, for example, embodiments not explicitly illustrated or described. Not all of the features or steps shown in any one drawing for explaining exemplary embodiments are necessarily essential, and some features or steps may be omitted. The order of the steps described in any drawing may be changed as appropriate.

[0047] Some or all of the above embodiments may be described as follows, but are not limited thereto. (Appendix 1) A mobile control system comprising a moving body and an antenna mechanism for transmitting radio waves, wherein the moving body comprises a receiver antenna for receiving radio waves from the antenna mechanism, a drive mechanism for moving the moving body, a control unit for controlling the moving body, and a clock synchronized with the clock of the antenna mechanism, and the antenna mechanism moves the transmitted directional radio waves within a predetermined movable range at a predetermined period, the control unit of the moving body comprises measuring means for measuring the electric field strength of the radio waves received by the receiver antenna and the period for receiving the electric field strength, displacement amount acquisition means for acquiring the displacement amount of the moving body from the center line of the predetermined movable range of the radio waves based on the measured electric field strength and period of the radio waves, and drive control means for moving the moving body onto the center line of the movable range of the radio waves based on the acquired displacement amount of the moving body from the center line. A mobile control system. (Appendix 2) The mobile body further includes a positioning signal receiver that receives a positioning signal from a satellite station. The control unit of the mobile body further includes a positioning means for identifying the position of the mobile body based on the received positioning signal, and a drive control means for controlling the drive mechanism of the mobile body based on the identified position of the mobile body and the destination, according to the mobile control system described in Supplementary Note 1. (Supplementary Note 3) When the positioning signal receiver can receive a positioning signal from a satellite station, the drive control means controls the drive unit of the mobile body based on the identified position of the mobile body and the destination, When the positioning signal receiver cannot receive a positioning signal from a satellite station, the drive control means moves the mobile body onto the center line of the movable range based on the deviation amount of the mobile body from the acquired center line, according to the mobile control system described in Supplementary Note 2. (Supplementary Note 4) The clock uses an atomic clock, according to the mobile control system described in any one of Supplementary Notes 1 to 3. (Supplementary Note 5) A mobile control system including a mobile body and an antenna mechanism that transmits radio waves, wherein the mobile body includes a receiver antenna that receives radio waves from the antenna mechanism, a drive mechanism that moves the mobile body, a control unit that controls the mobile body, and a clock synchronized with the clock of the antenna mechanism, and a mobile control method of the mobile control system, wherein the antenna mechanism moves the transmitted directional radio waves within a predetermined movable range at a predetermined period, and the mobile body measures the electric field strength of the radio waves received by the receiver antenna and the period for receiving the electric field strength, acquires the deviation amount of the mobile body from the center line of the predetermined movable range of the radio waves based on the measured electric field strength and period of the radio waves, A movement control method for moving the moving body onto the center line of the movable range of the radio wave based on the amount of deviation of the moving body from the obtained center line. (Appendix 6) The moving body further includes a positioning signal receiver that receives a positioning signal from a satellite station, The moving body identifies the position of the moving body based on the received positioning signal, The movement control method according to Appendix 5, wherein the drive mechanism of the moving body is controlled based on the identified position of the moving body and the destination. (Appendix 7) When the positioning signal receiver can receive a positioning signal from a satellite station, Based on the identified position of the moving body and the destination, the drive mechanism of the moving body is controlled, When the positioning signal receiver cannot receive a positioning signal from a satellite station, The movement control method according to Appendix 6, wherein the moving body is moved onto the center line of the movable range of the radio wave based on the obtained amount of deviation of the moving body from the center line. (Appendix 8) A receiver antenna that receives radio waves from an antenna mechanism, A drive mechanism that moves a moving body, A control unit that controls the moving body, A clock synchronized with the clock of the antenna mechanism, A movement control program for a moving body including: The antenna mechanism transmits a directional radio wave while moving it within a predetermined movable range at a predetermined period, To the moving body, Measure the electric field strength of the radio wave received by the receiver antenna and the period during which the electric field strength is received, Based on the measured electric field strength of the radio wave and the period, obtain the amount of deviation of the moving body from the center line of the predetermined movable range of the radio wave, A movement control program for causing a computer to move the moving body onto the center line of the movable range based on the obtained amount of deviation of the moving body from the center line. (Appendix 9) The mobile body further includes a positioning signal receiver that receives a positioning signal from a satellite station. Based on the received positioning signal, the position of the mobile body is specified. The computer is caused to execute a movement control program according to Appendix 8, which controls the drive mechanism of the mobile body based on the specified position of the mobile body and the destination. (Appendix 10) When the positioning signal receiver can receive a positioning signal from a satellite station, Based on the specified position of the mobile body and the destination, the drive mechanism of the mobile body is controlled. When the positioning signal receiver cannot receive a positioning signal from a satellite station, The computer is caused to execute a movement control program according to Appendix 9, which moves the mobile body onto the center line of the movable range based on the deviation amount of the mobile body from the acquired center line.

Explanation of Signs

[0048] 1 Movement control system 5 Radio wave 10 Mobile body 20 GPS satellite station 30 Antenna mechanism 100 Control unit 101 Positioning unit 102 Guidance mode switching unit 103 Measurement unit 104 Deviation amount acquisition unit 105 Drive control unit 110 Positioning signal receiver 120 Receiver antenna 130 Clock 140 Drive mechanism 300 Control unit 301 Inductive radio wave movable unit 302 Drive control unit 310 Transmitter antenna 330 Clock 340 Drive mechanism PS Positioning signal CL Center line MR Movable range of radio wave

Claims

1. A mobile control system comprising a mobile body and an antenna mechanism for transmitting radio waves, wherein the mobile body comprises a receiver antenna for receiving radio waves from the antenna mechanism, a drive mechanism for moving the mobile body, a control unit for controlling the mobile body, a clock synchronized with the clock of the antenna mechanism, and is provided with, the antenna mechanism transmits a directional radio wave while moving it within a predetermined movable range at a predetermined period, the control unit of the mobile body measurement means for measuring the electric field strength of the radio wave received by the receiver antenna and the period for receiving the electric field strength, displacement amount acquisition means for acquiring the displacement amount of the mobile body from the center line of the predetermined movable range of the radio wave based on the measured electric field strength and period of the radio wave, a mobile control system comprising drive control means for moving the mobile body onto the center line of the movable range of the radio wave based on the displacement amount of the mobile body from the acquired center line.

2. The mobile body further comprises a positioning signal receiver for receiving a positioning signal from a satellite station, the control unit of the mobile body further comprises positioning means for specifying the position of the mobile body based on the received positioning signal, and drive control means for controlling the drive mechanism of the mobile body based on the specified position of the mobile body and the destination, according to the mobile control system of Claim 1.

3. When the positioning signal receiver can receive a positioning signal from a satellite station, the drive control means controls the drive unit of the mobile body based on the specified position of the mobile body and the destination, when the positioning signal receiver cannot receive a positioning signal from a satellite station, the drive control means moves the mobile body onto the center line of the movable range based on the displacement amount of the mobile body from the acquired center line, according to the mobile control system of Claim 2.

4. The clock uses an atomic clock, according to the mobile control system of Claim 1.

5. A mobile control method for a mobile control system comprising a mobile body and an antenna mechanism for transmitting radio waves, wherein the mobile body comprises a receiver antenna for receiving radio waves from the antenna mechanism, a drive mechanism for moving the mobile body, a control unit for controlling the mobile body, a clock synchronized with the clock of the antenna mechanism, and is provided with, the antenna mechanism transmits a directional radio wave while moving it within a predetermined movable range at a predetermined period, the mobile body Measure the electric field strength of the radio wave received by the receiver antenna and the period during which the electric field strength is received, Based on the measured electric field strength of the radio wave and the period, obtain the deviation amount of the moving body from the center line of the predetermined movable range of the radio wave, A movement control method for moving the moving body onto the center line of the movable range of the radio wave based on the deviation amount of the moving body from the obtained center line.

6. The moving body further includes a positioning signal receiver that receives a positioning signal from a satellite station, The moving body identifies the position of the moving body based on the received positioning signal, The movement control method according to claim 5, wherein the drive mechanism of the moving body is controlled based on the identified position of the moving body and the destination.

7. When the positioning signal receiver can receive a positioning signal from a satellite station, Based on the identified position of the moving body and the destination, control the drive mechanism of the moving body, When the positioning signal receiver cannot receive a positioning signal from a satellite station, The movement control method according to claim 6, wherein the moving body is moved onto the center line of the movable range of the radio wave based on the deviation amount of the moving body from the obtained center line.

8. A receiver antenna that receives radio waves from an antenna mechanism, A drive mechanism that moves a moving body, A control unit that controls the moving body, A clock synchronized with the clock of the antenna mechanism, A movement control program for a moving body including: The antenna mechanism transmits a directional radio wave while moving it within a predetermined movable range at a predetermined period, To the moving body, Cause the receiver antenna to measure the electric field strength of the radio wave received and the period during which the electric field strength is received, Based on the measured electric field strength of the radio wave and the period, cause the deviation amount of the moving body from the center line of the predetermined movable range of the radio wave to be obtained, A movement control program that causes a computer to move the moving body onto the center line of the movable range based on the obtained deviation amount of the moving body from the center line.

9. The moving body further includes a positioning signal receiver that receives a positioning signal from a satellite station, Cause the moving body to identify the position of the moving body based on the received positioning signal, The movement control program according to claim 8, wherein a computer is caused to control the drive mechanism of the moving body based on the identified position of the moving body and the destination.

10. When the positioning signal receiver can receive a positioning signal from a satellite station, Based on the specified position of the moving body and the destination, control the drive mechanism of the moving body. When the positioning signal receiver cannot receive a positioning signal from the satellite station, The movement control program according to claim 9, causing a computer to move the moving body onto the center line of the movable range based on the deviation amount of the moving body from the acquired center line.

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