Mobile body control system

Abstract

To provide a mobile body control system capable of stably performing position estimation of a mobile body.SOLUTION: A processing device of a drone 2 references moving route area position coordinate information, and the drone 2 moves within a moving route area 51 corresponding to the moving route area position coordinate information. Shortly after the drone 2 departs, a distance between the drone 2 and a first fixed base station 31 is calculated on the basis of LPWA radio waves from the first fixed base station 31, and a direction from the drone 2 to the first fixed base station 31 is identified on the basis of an infrared laser beam from the first fixed base station 31. On the basis of the distance, the direction, and position coordinate information of the first fixed base station 31, current position coordinate information of the drone 2 is estimated. The current position coordinate information is compared with the moving route area position coordinate information. If they are determined not to match, control is performed to move the drone 2 from a first current location 55 toward a destination 53 while approaching the moving route area 51.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a mobile object control system, and more particularly to a mobile object control system for autonomous flight of a drone, for example. [Background technology]

[0002] Unmanned aerial vehicles (UAVs), such as drones, are unmanned, small, lightweight, and low-cost, and are therefore used for inspecting infrastructure at high altitudes, assessing the situation at disaster sites that are difficult to access, and working in tight spaces.

[0003] Specifically, drones are used for "transportation," "spraying," and "photography," such as carrying cargo, loading pesticides onto drones and spraying them, and equipping drones with cameras to obtain footage of high places or places that cannot be photographed by humans.

[0004] In addition to being remotely controlled, drones can also fly autonomously, estimating their own location using GPS satellite positioning information and following pre-programmed flight routes without human control. This autonomy is what makes drones so useful, and various technologies for autonomous flight have been proposed.

[0005] For example, Patent Document 1 describes a system for correcting the estimated position of an unmanned aerial vehicle using a technology called "Visual SLAM," which estimates the vehicle's own position and map in parallel by tracking multiple feature points between multiple frames of continuously captured images.

[0006] In other words, the system described in Patent Document 1 is an unmanned aerial vehicle that extracts feature points from images acquired by an imaging device and flies while estimating its own position based on the feature points, and the system corrects the estimated position of the unmanned aerial vehicle as it flies while imaging the bridge from below, based on a flight plan route formed by interconnecting the ends of multiple crossing routes that cross the bridge via connecting routes that extend along the side edges of the bridge. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Patent Publication No. 2021-92465 Summary of the Invention [Problem to be solved by the invention]

[0008] Because Visual SLAM is based on camera images, it is difficult to use in places with no lighting or outdoors at night, even though HDR (High Dynamic Range) has been significantly improved. Visual SLAM is also unsuitable for nighttime or bad weather, such as rain, where accurate distance measurement is difficult.

[0009] Furthermore, when a disaster such as an earthquake occurs and supplies are to be transported to the affected area using mobile objects such as drones, it is necessary to fly the drones even at night due to the emergency situation.However, with the invention described in Patent Document 1, which is based on the premise of autonomous flight while estimating the position of the mobile object using Visual SLAM, there was concern that when such a disaster occurs, the drone's position cannot be estimated stably and the drone cannot fly sufficiently autonomously.

[0010] Furthermore, since the drone moves within a set movement route area, it is easy to manage the drone. On the other hand, strong winds in bad weather can cause drones to deviate from their set movement route area. In such cases, it is particularly important to estimate the position of the drone that has deviated from the movement route area in order to return the drone to the movement route area.

[0011] For these reasons, there has been a demand for technology that can stably estimate the position of a moving object even during bad weather or when a disaster occurs.

[0012] The present invention has been made in view of the above points, and has an object to provide a mobile object control system that can stably estimate the position of a mobile object. [Means for solving the problem]

[0013] In order to achieve the above object, the mobile object control system of the present invention includes a recording unit capable of recording output object position coordinate information, which is information regarding the position coordinates of a location where an output object capable of outputting radio waves and directional rays is located, and movement route area position coordinate information, which is position coordinate information of a plurality of waypoints and information referenced for movement of a mobile object; a distance calculation unit capable of calculating, based on the radio waves output by the output object, the distance between a mobile object that has received the radio waves and the output object that output the same radio waves; a direction identification unit capable of identifying, based on the directional rays output by the output object, the direction from a mobile object that has received the directional rays to the output object that output the directional rays; distance information, which is information regarding the distance calculated by the distance calculation unit; a moving body position estimation unit capable of estimating current position coordinate information of a moving body based on direction information, which is information regarding the direction specified by the unit, and output body position coordinate information of an output body that is the subject of the same distance information and same direction information, recorded by the recording unit; a determination unit capable of comparing the current position coordinate information of the moving body estimated by the moving body position estimation unit with the movement route area position coordinate information recorded by the recording unit and determining whether the current position coordinate information matches the movement route area position coordinate information; and a movement control unit capable of controlling the moving body to move so that the current position coordinate information of the moving body matches the movement route area position coordinate information, when the determination unit determines that the current position coordinate information of the moving body does not match the movement route area position coordinate information.

[0014] Here, a travel route area along which the mobile body will move can be set using a recording unit capable of recording travel route area position coordinate information, which is position coordinate information of multiple intermediate points and information referenced by the mobile body for movement.

[0015] Furthermore, the current position coordinate information of the moving body is estimated by a moving body position estimation unit that can estimate the current position coordinate information of the moving body based on distance information, which is information about the distance calculated by the distance calculation unit, direction information, which is information about the direction identified by the direction identification unit, and output body position coordinate information of the output body that is the subject of the distance information and direction information, which is recorded by the recording unit, using radio waves and directional light rays output by an output body located on the ground, so that the current position coordinate information of the moving body is less susceptible to the influence of the surrounding environment than position estimation using GPS satellites.

[0016] In addition, a determination unit that can compare the current position coordinate information of the moving body estimated by the moving body position estimation unit with the moving route area position coordinate information recorded by the recording unit and determine whether the current position coordinate information matches the moving route area position coordinate information can confirm whether the moving body is moving within the moving route area. Furthermore, if the determination unit determines that the current position coordinate information of the moving body matches the movement route area position coordinate information, the movement control unit does not operate, and the moving body can continue to move through the movement route area while referring to the movement route area position coordinate information.

[0017] When the determination unit determines that the current position coordinate information of the moving body does not match the travel route area position coordinate information, the movement control unit is capable of controlling the movement of the moving body so that the current position coordinate information of the moving body matches the travel route area position coordinate information, and can return the moving body to the travel route area corresponding to the travel route area position coordinate information even if the moving body deviates from the travel route area corresponding to the travel route area position coordinate information.

[0018] In addition, in the mobile object control system of the present invention, the radio waves may be LPWA waves, and the directional light beam may be an infrared laser beam.

[0019] In this case, LPWA radio waves and infrared laser beams can be output using a simple output device, so compared to systems that move mobile objects using high-speed communication networks such as the 5th generation mobile communication system (5G), which require large base stations, even in the event of a disaster, a simple output device can be placed on the ground and the current location coordinate information of the mobile object can be estimated.

[0020] Furthermore, in the mobile body control system of the present invention, the mobile body position estimation unit can be configured to be able to estimate the current position coordinate information of the mobile body based on the average value of the distance direction normal distribution obtained by multiplying the distance information, which is a distance normal distribution relating to the distance between the mobile body and the output body, and the direction information, which is a direction normal distribution relating to the direction from the mobile body to the output body, and the output body position coordinate information of the output body.

[0021] In this case, the accuracy of the position estimation can be improved.

[0022] In addition, in the mobile body control system of the present invention, the movement control unit can be configured to be able to control the movement of the mobile body so that it approaches the movement route area corresponding to the movement route area position coordinate information while approaching a destination corresponding to the destination position coordinate information included in the movement route area position coordinate information from a current location corresponding to the current position coordinate information of the mobile body.

[0023] In this case, the mobile body can be made to arrive at the destination earlier than when the mobile body is simply controlled to move closer to the travel route section corresponding to the travel route section position coordinate information.

[0024] In addition, in the mobile object control system of the present invention, the recording unit can record no-entry area position coordinate information, which is position coordinate information of no-entry areas, and the determining unit, when determining that the current position coordinate information of the mobile object does not match the travel route area position coordinate information, can generate return route area position coordinate information, which is position coordinate information of a plurality of return via points, and is information referenced by the mobile object to move from a current location corresponding to the current position coordinate information of the mobile object to a destination corresponding to the destination position coordinate information included in the travel route area position coordinate information while approaching the travel route area corresponding to the travel route area position coordinate information, and the determination The setting unit can compare the return route area position coordinate information with the no-entry area position coordinate information recorded by the recording unit, and if there is a return way point with the same position coordinate information as the no-entry area position coordinate information, change the return way point with the same position coordinate information as the no-entry area position coordinate information to a modified return way point with position coordinate information different from the no-entry area position coordinate information, and change the return route area position coordinate information to modified return route area position coordinate information, and the movement control unit can be configured to be able to control the movement of the moving body so that the current position coordinate information of the moving body matches the return route area position coordinate information or the modified return route area position coordinate information.

[0025] In this case, the moving object can be prevented from entering the no-entry area, and can be returned to the moving route area corresponding to the moving route area position coordinate information.

[0026] Furthermore, the mobile body control system of the present invention may be configured to include a movement information detection unit capable of detecting movement speed information, which is information regarding the movement speed of a mobile body, and movement direction information, which is information regarding the movement direction of a mobile body, and the mobile body position estimation unit may be configured to be capable of estimating the current position coordinate information of the mobile body based on the average value of the movement speed direction normal distribution obtained by multiplying the movement speed information, which is a movement speed normal distribution regarding the movement speed of a mobile body when moving from one waypoint to another waypoint that is the next waypoint of the one waypoint, and the movement direction information, which is a movement direction normal distribution regarding the movement direction of the mobile body from one waypoint to another waypoint, the average value of the distance direction normal distribution obtained by multiplying the distance information, which is a distance normal distribution regarding the distance between the mobile body and an output body, and the direction information, which is a direction normal distribution regarding the direction from the mobile body to the output body, and the output body position coordinate information of the output body recorded by the recording unit.

[0027] In this case, the actual moving state (moving speed and moving direction) of the moving object is also taken into consideration, i.e., the mean value of the moving speed direction normal distribution is also multiplied to estimate the current position coordinate information of the moving object, so the probability is increased and the current position coordinate information of the moving object can be estimated with even greater accuracy.

[0028] Furthermore, in the mobile object control system of the present invention, the mobile object position estimation unit can be configured to compare a first distance normal distribution relating to the distance between the mobile object and one output object with a second distance normal distribution relating to the distance between the mobile object and another output object, and also compare a first direction normal distribution relating to the direction from the mobile object to one output object with a second direction normal distribution relating to the direction from the mobile object to the other output object, and estimate the current position coordinate information of the mobile object based on the mean value of the high-confidence distance direction normal distribution obtained by multiplying the high-confidence distance normal distribution relating to the distance between the mobile object and the output object with a high confidence in both the distance normal distribution and the direction normal distribution with the high-confidence direction normal distribution relating to the direction from the mobile object to the output object with a high confidence in both the distance normal distribution and the direction normal distribution, and the output object position coordinate information of the output object with a high confidence in both the distance normal distribution and the direction normal distribution.

[0029] In this case, the accuracy of estimating the current position coordinate information of the moving object can be improved. Here, "high credibility" means that the width of the normal distribution is narrow, that is, the height of the normal distribution is high. [Effects of the Invention]

[0030] The mobile object control system according to the present invention can stably estimate the position of a mobile object. [Brief explanation of the drawings]

[0031] [Figure 1] 1 is a schematic diagram showing an example of the overall configuration of a mobile object control system to which the present invention is applied. [Figure 2] 1 is a schematic diagram showing an example of how a mobile object moves through a travel route area and returns to the travel route area in a mobile object control system to which the present invention is applied. DETAILED DESCRIPTION OF THE INVENTION

[0032] Hereinafter, embodiments of the present invention will be described with reference to the drawings to facilitate understanding of the present invention. FIG. 1 is a schematic diagram showing an example of the overall configuration of a mobile object control system to which the present invention is applied.

[0033] As shown in Figure 1, the mobile control system 1 of the present invention comprises a drone 2, a fixed base station 3 fixedly installed at a specific location, and an LPWA antenna board 4 detachably attached to a telephone pole, a street tree, or the like.

[0034] Here, the LPWA antenna board 4 is large and heavy enough to be carried by a person in one hand. The drone 2 is an example of a moving body. Other examples of moving bodies that can be targeted by the moving body control system 1 of the present invention include vehicles such as trains, automobiles, and motorcycles, as well as agricultural machinery such as tillers, tractors, rice transplanters, paddy field weeders, four-wheel drive riding weed cutters, and combine harvesters.

[0035] In the mobile object control system 1 of the present invention, the fixed base station 3 includes an LPWA radio wave transmitter 3A capable of transmitting LPWA radio waves, and an infrared laser beam irradiator 3B capable of irradiating an infrared laser beam 6. In addition, in the mobile object control system 1 of the present invention, the LPWA antenna board 4 is equipped with an LPWA radio wave transmitter 4A capable of transmitting LPWA radio waves in all directions, and an infrared laser beam irradiator 4B capable of irradiating an infrared laser beam 6 in all directions.

[0036] In addition, in the mobile object control system 1 of the present invention, the drone 2 includes a recording unit 11. Here, the recording unit 11 can record output body position coordinate information (X coordinate and Y coordinate). The output device position coordinate information is information relating to the position coordinates of the location where the fixed base station 3 or the LPWA antenna board 4 capable of outputting the LPWA radio wave 5 and the infrared laser beam 6 is located.

[0037] That is, the fixed base station 3 and the LPWA antenna board 4 are examples of an output body. Furthermore, the LPWA radio waves 5 are an example of radio waves, and the infrared laser beam 6 is an example of directional light.

[0038] Furthermore, the recording unit 11 can record travel route zone position coordinate information (X coordinate, Y coordinate, and Z coordinate). The movement route area position coordinate information consists of position coordinate information of multiple waypoints and is information that drone 2 references in order to move. A waypoint is a specific position set to determine the movement route area of ​​a moving object such as a drone 2 or a car.

[0039] In the present invention, the X coordinate corresponds to latitude, the Y coordinate corresponds to longitude, and the Z coordinate corresponds to altitude (height from the ground surface). Since this is the height from the ground, when Drone 2 flies above a mountain, it means the height from the mountain slope. Here, the Z coordinate of the travel route area position coordinate information, that is, the altitude, is set to a sufficient altitude so as not to hit relatively tall obstacles such as steel towers or trees.

[0040] Furthermore, if the moving body is an agricultural machine such as a tractor, the Z coordinate of the movement route area position coordinate information will be "none" since agricultural machines such as tractors travel on the ground of cultivated land.

[0041] Also, even if the moving object is a drone, when the drone is used for agricultural work, such as measuring the temperature of water stored in rice paddies or spraying pesticides, the presence of obstacles does not need to be taken into consideration, so the altitude, which is the Z coordinate of the movement route area position coordinate information, is, for example, about 1.0m to 1.5m from the ground.

[0042] Although not shown, the drone 2 is equipped with a processing device (processor) that operates to move the drone 2, and the processing device refers to movement route area position coordinate information. As a result, the drone 2 can move along the movement route area corresponding to the movement route area position coordinate information. In addition, the movement route area position coordinate information is computer-readable electronic data and is control data containing digital information necessary to move the drone 2.

[0043] Specifically, when viewed in a plan view, the movement route section is made up of a route that extends in the vertical direction, a route that extends in the horizontal direction, a route that extends diagonally, or a route that extends in a curved shape.

[0044] In addition, the multiple waypoints are assigned sequence information from "1" to "n". The sequence information indicates the order in which drone 2 passes, with the first waypoint corresponding to the start point, i.e., the departure point, of the travel route area, and the nth waypoint corresponding to the end point, i.e., the destination, of the travel route area. Here, n is a natural number greater than 1.

[0045] The processing device mounted on drone 2 refers to the position coordinate information of the waypoints in ascending order according to the order information attached to the multiple waypoints in the movement route area position coordinate information, and moves drone 2 while passing through the waypoints indicated by the position coordinate information in sequence. As a result, drone 2 moves so that the trajectory of its movement range traces the movement route area.

[0046] In addition, when drone 2 returns from the destination to the departure point, the order information assigned to the waypoints is reversed, with the nth waypoint becoming the first waypoint and the first waypoint becoming the nth waypoint, or the processing device of drone 2 refers to the position coordinate information of the waypoints in descending order.

[0047] Furthermore, the recording unit 11 can record no-entry zone position coordinate information (X coordinate, Y coordinate, and Z coordinate). The no-entry area location coordinate information is location coordinate information regarding an area where moving bodies such as drones 2 are prohibited from entering, and since the no-entry area has a certain area, it consists of location coordinate information for multiple points.

[0048] Here, specific examples of "no entry areas" include "nationally important cultural properties and their surrounding areas," "public places such as parks, historical sites, and gardens managed by local governments," or "private land."

[0049] In the mobile object control system 1 of the present invention, the drone 2 includes a distance calculation unit 12. Here, the distance calculation unit 12 can calculate the distance between the drone 2 that received the LPWA radio waves 5 and the fixed base station 3 or LPWA antenna board 4 that transmitted the LPWA radio waves 5 based on the LPWA radio waves 5 output, i.e., transmitted, by the fixed base station 3 or LPWA antenna board 4.

[0050] Specifically, the distance calculation unit 12 calculates the distance between the drone 2 and the fixed base station 3 or the LPWA antenna board 4 based on the received radio wave intensity of the LPWA radio waves 5, for example.

[0051] In addition, in the mobile object control system 1 of the present invention, the drone 2 includes a direction identification unit 13. Here, the direction determination unit 13 can determine the direction from the drone 2 that received the infrared laser beam 6 to the fixed base station 3 or the LPWA antenna board 4 that emitted the infrared laser beam 6, based on the infrared laser beam 6 output, i.e., emitted, by the fixed base station 3 or the LPWA antenna board 4.

[0052] Specifically, the direction identification unit 13 captures the infrared laser beam 6 irradiated toward the drone 2 using a camera capable of capturing 360-degree images, and determines in which direction, as viewed from the drone 2, the fixed base station 3 or LPWA antenna board 4 from which the beam is being irradiated. In addition, the direction identification unit 13 can also measure the irradiation intensity of the infrared laser beam 6 to determine in which direction the fixed base station 3 or LPWA antenna board 4 is being irradiated from as viewed from the drone 2.

[0053] Furthermore, distance information, which is information relating to the distance calculated by the distance calculation unit 12, is expressed as a normal distribution. That is, the distance calculation unit 12 acquires distance data at a rate of, for example, once per 0.01 seconds, and based on this distance data, creates a distance normal distribution regarding the distance between the drone 2 and the fixed base station 3 or the LPWA antenna board 4, which is used as distance information.

[0054] Moreover, direction information, which is information about the direction identified by the direction identification unit 13, is also expressed as a normal distribution. That is, the direction identification unit 13 acquires direction data at a rate of, for example, once per 0.01 seconds, and based on this direction data, creates a direction normal distribution regarding the direction from the drone 2 to the fixed base station 3 or the LPWA antenna board 4, and uses this as direction information.

[0055] In addition, in the mobile object control system 1 of the present invention, the drone 2 includes a drone position estimation unit 14. Here, the drone position estimation unit 14 can estimate the current position coordinate information (X coordinate, Y coordinate, and Z coordinate) of the drone 2 based on distance information, which is information about the distance calculated by the distance calculation unit 12, direction information, which is information about the direction identified by the direction identification unit 13, and the output body position coordinate information of the fixed base station 3 or LPWA antenna board 4 that is the subject of the distance information and direction information, recorded by the recording unit 11.

[0056] In addition, the drone position estimation unit 14 can estimate the current position coordinate information of the moving object based on the average value of the distance direction normal distribution and the output object position coordinate information of the fixed base station 3 or LPWA antenna board 4 that is the subject of the distance information and direction information. Here, the "average value of the distance direction normal distribution" is obtained by multiplying the distance normal distribution, which is distance information, by the direction normal distribution, which is direction information.

[0057] In addition, the LPWA antenna board 4 transmits the position coordinate information of the LPWA antenna board itself to the drone 2, and the transmitted position coordinate information of the LPWA antenna board is recorded in the recording unit 11. Therefore, the drone position estimation unit 14 can estimate the position of the drone 2 based on the position coordinate information of the hastily installed LPWA antenna board.

[0058] In addition, in the mobile object control system 1 of the present invention, the drone 2 includes a determination unit 15. Here, the determination unit 15 can compare the current position coordinate information of the drone 2 estimated by the drone position estimation unit 14 with the movement route area position coordinate information recorded by the recording unit 11, and determine whether the current position coordinate information of the drone 2 matches the movement route area position coordinate information.

[0059] Furthermore, when the determination unit 15 determines that the current position coordinate information of the drone 2 does not match the movement route zone position coordinate information, it can generate return route zone position coordinate information. The return route area position coordinate information is information that drone 2 references to move from its current location corresponding to the current position coordinate information of drone 2 to approach the destination corresponding to the destination position coordinate information included in the travel route area position coordinate information, while approaching the travel route area corresponding to the travel route area position coordinate information, and is position coordinate information of multiple return waypoints.

[0060] In addition, the determination unit 15 compares the return route area position coordinate information with the no-entry area position coordinate information recorded by the recording unit 11, and if there is a return route point with the same position coordinate information as the no-entry area position coordinate information, it can change the return route point with the same position coordinate information as the no-entry area position coordinate information to a corrected return route point with position coordinate information different from the no-entry area position coordinate information, and change the return route area position coordinate information to corrected return route area position coordinate information.

[0061] In addition, the processing device mounted on drone 2 also refers to the return route area position coordinate information. The return route section position coordinate information includes position coordinate information of a plurality of return waypoints. The return waypoint is a specific position generated by the determination unit 15 to determine a return route area along which the drone 2 will move to approach the travel route area while approaching the destination if the drone 2 deviates from the travel route area.

[0062] The recording unit 11 can also record return route section position coordinate information and corrected return route section position coordinate information.

[0063] In the mobile object control system 1 of the present invention, the drone 2 is equipped with a movement control unit 16. Here, when the determination unit 15 determines that the current position coordinate information of the drone 2 does not match the movement route area position coordinate information, the movement control unit 16 can control the movement of the drone 2 so that the current position coordinate information of the drone 2 matches the movement route area position coordinate information. Specifically, for example, the movement control unit 16 can control the movement of the drone 2 so that it approaches the movement route area corresponding to the movement route area position coordinate information while approaching the destination corresponding to the destination position coordinate information included in the movement route area position coordinate information from the current location corresponding to the current position coordinate information of the drone 2.

[0064] In addition, the movement control unit 16 can control the movement of the drone 2 so that the current position coordinate information of the drone 2 matches the return route area position coordinate information or the corrected return route area position coordinate information.

[0065] In the mobile object control system 1 of the present invention, the drone 2 includes a movement information detection unit 17. Here, the movement information detection unit 17 can detect movement speed information and movement direction information of the drone 2. Specifically, the movement speed information can be acquired by, for example, a speed sensor, and specifically, the movement direction information can be acquired by, for example, an acceleration sensor.

[0066] Furthermore, the movement speed information, which is information relating to the movement speed of the moving object detected by the movement information detection unit 17, is expressed as a normal distribution. That is, the movement information detection unit 17 acquires movement speed data at a rate of, for example, once per 0.01 seconds, and based on this movement speed data, creates a movement speed normal distribution relating to the movement speed of the moving body when moving from one waypoint to another waypoint that is the next waypoint after the one waypoint, and uses this as movement speed information.

[0067] Furthermore, movement direction information, which is information about the movement direction of the moving object detected by the movement information detection unit 17, is also expressed as a normal distribution. That is, the movement information detection unit 17 acquires movement direction data at a speed of, for example, once per 0.01 seconds, and based on this movement direction data, creates a movement direction normal distribution regarding the movement direction of the same moving body from one same waypoint to another same waypoint, and uses this as movement direction information.

[0068] In addition, the drone position estimation unit 14 can estimate the current position coordinate information of the drone 2 based on the average value of the moving speed direction normal distribution, the average value of the distance direction normal distribution, and the output body position coordinate information of the fixed base station 3 or the LPWA antenna board 4.

[0069] Here, the "average value of the moving speed direction normal distribution" is obtained by multiplying the moving speed normal distribution, which is moving speed information, by the moving direction normal distribution, which is moving direction information.

[0070] In addition, the drone position estimation unit 14 can select a fixed base station 3 or an LPWA antenna board 4 by referring to the reliability of each of the distance normal distribution and the direction normal distribution, and estimate the current position coordinate information of the drone 2. In other words, the drone position estimation unit 14 can estimate the current position coordinate information of the drone 2 based on the average value of the highly reliable distance-direction normal distribution and the output body position coordinate information of the fixed base station 3 or LPWA antenna board 4, whichever has a higher reliability in both the distance normal distribution and the direction normal distribution.

[0071] Here, the "average value of the high-confidence distance directional normal distribution" is obtained by multiplying the high-confidence distance normal distribution by the high-confidence directional normal distribution.

[0072] Furthermore, the "highly reliable distance normal distribution" is a distance normal distribution relating to the distance between the drone 2 and a fixed base station 3 or an LPWA antenna board 4 that has a higher reliability in both the distance normal distribution and the directional normal distribution, when a first distance normal distribution relating to the distance between the drone 2 and one fixed base station 3 or one LPWA antenna board 4 is compared with a second distance normal distribution relating to the distance between the drone 2 and another fixed base station 3 or another LPWA antenna board 4, and when a first directional normal distribution relating to the direction from the drone 2 to one fixed base station 3 or one LPWA antenna board 4 is compared with a second directional normal distribution relating to the direction from the drone 2 to another fixed base station 3 or another LPWA antenna board 4.

[0073] Furthermore, a "highly reliable directional normal distribution" is a directional normal distribution relating to the direction from drone 2 to a fixed base station 3 or LPWA antenna board 4 that has a higher reliability in both the distance normal distribution and the directional normal distribution, by comparing a first distance normal distribution relating to the distance between drone 2 and one fixed base station 3 or one LPWA antenna board 4 with a second distance normal distribution relating to the distance between drone 2 and another fixed base station 3 or another LPWA antenna board 4, and also by comparing a first directional normal distribution relating to the direction from drone 2 to one fixed base station 3 or one LPWA antenna board 4 with a second directional normal distribution relating to the direction from drone 2 to another fixed base station 3 or other LPWA antenna board 4.

[0074] For example, if the reliability of the distance normal distribution and the reliability of the directional normal distribution differ between fixed base stations 3 or LPWA antenna boards 4, i.e., if one fixed base station 3 or one LPWA antenna board 4 has a higher reliability of the distance normal distribution and another fixed base station 3 or another LPWA antenna board 4 has a higher reliability of the directional normal distribution, the drone position estimation unit 14 does not estimate the current position coordinate information of the drone 2 by referring to the reliability of each of the distance normal distribution and the directional normal distribution.

[0075] In the mobile control system 1 of the present invention, the drone position estimation unit 14 does not necessarily have to be configured to be able to estimate the current position coordinate information of the drone 2 based on the average value of the distance-direction normal distribution and the output body position coordinate information of the fixed base station 3 or LPWA antenna board 4 that is the subject of the distance information and direction information. However, if the drone position estimation unit 14 can estimate the current position coordinate information of the drone 2 based on the mean value of the distance direction normal distribution and the output body position coordinate information, this is preferable because it can improve the accuracy of position estimation.

[0076] Furthermore, in the mobile object control system 1 of the present invention, the movement control unit 16 does not necessarily have to be able to control the movement of the drone 2 so that it approaches the movement route area corresponding to the movement route area position coordinate information while approaching the destination corresponding to the destination position coordinate information included in the movement route area position coordinate information from the current location corresponding to the current position coordinate information of the drone 2. For example, the movement control unit 16 can also control the movement of the drone 2 so that it approaches the movement route area in the shortest distance from the current location corresponding to the current position coordinate information of the drone 2.

[0077] However, if the movement control unit 16 controls the movement of the drone 2 so that it approaches the movement route area corresponding to the movement route area position coordinate information while approaching the destination, this is preferable because it allows the drone 2 to arrive at the destination more quickly than if the movement control unit 16 simply controls the movement of the drone 2 so that it approaches the movement route area corresponding to the movement route area position coordinate information.

[0078] Furthermore, in the mobile object control system 1 of the present invention, the drone 2 does not necessarily have to include the movement information detection unit 17. Furthermore, in the mobile object control system 1 of the present invention, the drone position estimation unit 14 does not necessarily have to be able to estimate the current position coordinate information of the drone 2 based on the average value of the moving speed direction normal distribution, the average value of the distance direction normal distribution, and the output object position coordinate information of the fixed base station 3 or the LPWA antenna board 4.

[0079] However, if the drone position estimation unit 14 can estimate the current position coordinate information of the drone 2 based on the average value of the moving speed direction normal distribution, the average value of the distance direction normal distribution, and the output body position coordinate information, the current position coordinate information of the drone 2 is estimated taking into account the actual moving state of the moving body (moving speed and moving direction), i.e., by multiplying it with the average value of the moving speed direction normal distribution, which is preferable because it increases the probability and allows the current position coordinate information of the drone 2 to be estimated with even greater accuracy.

[0080] Furthermore, in the mobile control system 1 of the present invention, the drone position estimation unit 14 does not necessarily have to be able to select a fixed base station 3 or an LPWA antenna board 4 by referring to the reliability of each of the distance normal distribution and the direction normal distribution, and estimate the current position coordinate information of the drone 2.

[0081] However, if the drone position estimation unit 14 can select a fixed base station 3 or an LPWA antenna board 4 by referring to the reliability of the distance normal distribution and the direction normal distribution, and estimate the current position coordinate information of the drone 2, this is preferable because it can improve the estimation accuracy of the current position coordinate information of the drone 2.

[0082] Next, the movement of a mobile object using the mobile object control system of the present invention will be described. That is, an example will be described in which a drone travels through a travel route area in which the departure point and destination are far apart using the mobile object control system of the present invention. FIG. 2 is a schematic diagram showing an example of how a moving object moves through a moving path area and returns to a moving path area in a moving object control system to which the present invention is applied.

[0083] As shown in FIG. 2, a series of routes connecting a plurality of waypoints 50 together constitute one "travel route area 51." Here, multiple such movement path areas 51 are set, and they are adjacent to each other on the coordinate system and extend approximately parallel to each other so that the determination unit 15 can determine that the drone 2 is moving within the movement path area 51 even if the drone 2 meanders to some extent while moving.

[0084] As shown in FIG. 2, multiple waypoints 50 for the departure point 52, the destination point 53, and the transit point 50 for the passing point 54 are set corresponding to each of the multiple travel route areas 51, and are close to each other in terms of coordinates.

[0085] As shown in FIG. 2, a first fixed base station 31, a second fixed base station 32, a third fixed base station 33, a fourth fixed base station 34, a first LPWA antenna board 41, a second LPWA antenna board 42, and a third LPWA antenna board 43 are scattered around the travel route area 51.

[0086] A processing device mounted on the drone 2 refers to the movement route area position coordinate information recorded by the recording unit 11 of the drone 2, and the drone 2 moves through the movement route area 51 corresponding to the movement route area position coordinate information.

[0087] Also, shortly after the drone 2 departs from the departure point 52, the distance calculation unit 12 of the drone 2 calculates the distance between the drone 2 and the first fixed base station 31 based on the LPWA radio waves 5 transmitted by the first fixed base station 31. At this time, the distance calculation unit 12 acquires distance data at a rate of one item per 0.01 second for one second, and creates a normal distance distribution based on the large number of distance data items acquired in one second.

[0088] Furthermore, the direction determination unit 13 of the drone 2 determines the direction from the drone 2 that received the infrared laser beam 6 to the first fixed base station 31 based on the infrared laser beam 6 also emitted by the first fixed base station 31. At this time, the direction identification unit 13 acquires direction data for one second at a rate of one data point per 0.01 second, and creates a direction normal distribution based on the large number of direction data points acquired in one second.

[0089] In addition, the movement information detection unit 17 of the drone 2 detects movement speed information of the drone 2 using a speed sensor, and detects movement direction information using an acceleration sensor. At this time, the movement information detection unit 17 acquires movement speed data for one second at a rate of one data item per 0.01 second, and creates a movement speed normal distribution based on the large number of movement speed data items acquired in one second. At this time, the movement information detection unit 17 acquires movement direction data for one second at a speed of one data point per 0.01 second, and creates a movement direction normal distribution based on the large number of movement direction data points acquired in one second.

[0090] In addition, the drone position estimation unit 14 of the drone 2 multiplies the movement speed normal distribution and the movement direction normal distribution created by the movement information detection unit 17 to obtain the average value of the movement speed direction normal distribution. In addition, the drone position estimation unit 14 of the drone 2 multiplies the distance normal distribution created by the distance calculation unit 12 with the direction normal distribution created by the direction identification unit 13 to obtain the average value of the distance direction normal distribution.

[0091] Then, the drone position estimation unit 14 estimates the current position coordinate information (X coordinate, Y coordinate, and Z coordinate) of the drone 2 based on the average value of the moving speed direction normal distribution, the average value of the distance direction normal distribution, and the output body position coordinate information of the first fixed base station 31. The drone position estimation unit 14 estimates the current position coordinate information of the drone 2 every second.

[0092] Next, the determination unit 15 of the drone 2 compares the current position coordinate information of the drone 2 estimated by the drone position estimation unit 14 with the movement route area position coordinate information recorded by the recording unit 11, and determines whether the current position coordinate information of the drone 2 matches the movement route area position coordinate information. In this specification, for the sake of simplicity, the Z coordinate is assumed to be constant, and comparison of position coordinate information is performed based on the X and Y coordinates.

[0093] If the determination unit 15 determines that the current position coordinate information of the drone 2 matches the movement route area position coordinate information, the movement control unit 16 of the drone 2 does not operate, and the drone 2 continues to move through the movement route area 51 while referring to the movement route area position coordinate information.

[0094] Also, suppose that while drone 2 is moving through movement route area 51, it deviates from movement route area 51 due to a sudden gust of wind or the like, and the current location corresponding to the current position coordinate information of drone 2 estimated by drone position estimation unit 14 at that time is first current location 55.

[0095] In this case, the determination unit 15 determines that the current position coordinate information of the drone 2 does not match the movement route area position coordinate information. Then, the movement control unit 16 of the drone 2 controls the movement of the drone 2 so that it approaches the travel route area 51 corresponding to the travel route area position coordinate information while approaching the destination 53 corresponding to the destination position coordinate information included in the travel route area position coordinate information from the first current location 55 corresponding to the current position coordinate information of the drone 2.

[0096] That is, when the determination unit 15 determines that the current position coordinate information of the drone 2 does not match the movement route area position coordinate information, it generates return route area position coordinate information, which is the position coordinate information of multiple return via points. Furthermore, the recording unit 11 records the return route section position coordinate information.

[0097] As shown in FIG. 2, a series of routes connecting a plurality of return way points 60 together form one "return route section 61." Furthermore, the return waypoint 60 at the end of the return route section 61 is the same as the waypoint 50 of the movement route section 51 .

[0098] Next, the determination unit 15 compares the return route zone position coordinate information with the no-entry zone position coordinate information recorded by the recording unit 11. As shown in Figure 2, the return route area 61 from the first current location 55 does not cross the no-entry area 70, and the determination unit 15 determines that there is "no" return way point with position coordinate information that is the same as the no-entry area position coordinate information. Therefore, the determination unit 15 does not change the return path section position coordinate information to the corrected return path section position coordinate information.

[0099] Then, the movement control unit 16 controls the movement of the drone 2 so that the current position coordinate information of the drone 2 matches the return route area position coordinate information.

[0100] The processing device mounted on the drone 2 also refers to the return route area position coordinate information, so after the current position coordinate information of the drone 2 moved by the movement control unit 16 matches the return route area position coordinate information, the drone 2 moves through the return route area 61 while referring to the return route area position coordinate information. After moving through the return route area 61 and returning to the movement route area 51, the drone 2 again moves through the movement route area 51 while referring to the movement route area position coordinate information.

[0101] Also, when the drone 2 is moving in the return route area 61, the drone position estimation unit 14 estimates the current position coordinate information of the drone 2, but in this case, the determination unit 15 compares the current position coordinate information of the drone 2 with the return route area position coordinate information recorded by the recording unit 11 and determines whether the current position coordinate information of the drone 2 matches the return route area position coordinate information.

[0102] In this case too, if the determination unit 15 determines that the current position coordinate information of the drone 2 matches the return route area position coordinate information, the drone 2 continues to move through the return route area 61 while referring to the return route area position coordinate information.

[0103] Also, suppose that while drone 2 is moving through return path area 61, it strays from the return path area 61 due to a sudden gust of wind or the like. In this case, the determination unit 15 determines that the current position coordinate information of the drone 2 does not match the return route area position coordinate information.

[0104] Then, the determination unit 15 generates new return route section position coordinate information. Furthermore, the recording unit 11 records the newly generated return route section position coordinate information. Then, the movement control unit 16 controls the movement of the drone 2 so that the current position coordinate information of the drone 2 matches the newly generated return route area position coordinate information.

[0105] On the other hand, suppose that while drone 2 is moving through movement route area 51, it is blown out of movement route area 51 by a sudden gust of wind or the like and is then blown into no-entry area 70. At this time, the current location corresponding to the current position coordinate information of the drone 2 estimated by the drone position estimation unit 14 is assumed to be the second current location 56.

[0106] In this case, the determination unit 15 determines that the current position coordinate information of the drone 2 does not match the movement route area position coordinate information. Then, the movement control unit 16 of the drone 2 controls the movement of the drone 2 so that it approaches the movement route area 51 while approaching the destination 53 corresponding to the destination position coordinate information included in the movement route area position coordinate information from the second current location 56 corresponding to the current position coordinate information of the drone 2.

[0107] That is, when the determination unit 15 determines that the current position coordinate information of the drone 2 does not match the movement route area position coordinate information, it generates return route area position coordinate information, which is the position coordinate information of multiple return via points. Furthermore, the recording unit 11 records the return route section position coordinate information.

[0108] Next, the determination unit 15 compares the return route zone position coordinate information with the no-entry zone position coordinate information recorded by the recording unit 11. As shown in Figure 2, the return route area 61 from the second current location 56 crosses the no-entry area 70, and the determination unit 15 determines that there is a return way point with position coordinate information that is the same as the no-entry area position coordinate information.

[0109] In this case, the judgment unit 15 changes the prohibited return via point 60A, which is a return via point with the same position coordinate information as the no-entry area position coordinate information, to a corrected return via point 62 with position coordinate information different from the no-entry area position coordinate information, and changes the return route area position coordinate information to the corrected return route area position coordinate information. Moreover, the recording unit 11 records the corrected return path section position coordinate information.

[0110] As shown in FIG. 2, the return way point 60 and the corrected return way point 62 form one "corrected return path section 63." Also, the return waypoint 60 at the end of the corrected return path section 63 is the same as the waypoint 50 of the movement path section 51 .

[0111] Then, the movement control unit 16 controls the movement of the drone 2 so that the current position coordinate information of the drone 2 matches the corrected return route area position coordinate information.

[0112] The processing device mounted on drone 2 refers to the return path area position coordinate information, and therefore can naturally also refer to the modified return path area position coordinate information that has been changed from the return path area position coordinate information. Then, after the current position coordinate information of the drone 2 moved by the movement control unit 16 matches the corrected return path area position coordinate information, the drone 2 moves through the corrected return path area 63 while referring to the corrected return path area position coordinate information.

[0113] After moving through the corrected return route area 63 and returning to the movement route area 51, the drone 2 moves through the movement route area 51 again while referring to the movement route area position coordinate information.

[0114] Furthermore, when the drone 2 moves through a movement path area 51 that extends vertically to the right of the second fixed base station 32 in Figure 2, for example, a fourth fixed base station 34 is also present on the upper right side of this movement path area 51, as shown in Figure 2. In this way, when there are multiple fixed base stations located relatively close to some movement route areas, the drone position estimation unit 14 compares a first distance normal distribution relating to the distance between the drone 2 and the second fixed base station 32 with a second distance normal distribution relating to the distance between the drone 2 and the fourth fixed base station 34, and also compares a first directional normal distribution relating to the direction from the drone 2 to the second fixed base station 32 with a second directional normal distribution relating to the direction from the drone 2 to the fourth fixed base station 34, and determines that the fourth fixed base station 34 has a higher reliability in both the distance normal distribution and the directional normal distribution.

[0115] In this case, the highly reliable distance normal distribution is a distance normal distribution for the distance between the fourth fixed base station 34 and the drone 2, and the highly reliable direction normal distribution is a direction normal distribution for the direction from the drone 2 to the fourth fixed base station 34.

[0116] Then, the drone position estimation unit 14 estimates the current position coordinate information of the drone 2 based on the average value of the high-confidence distance direction normal distribution obtained by multiplying the high-confidence distance normal distribution and the high-confidence direction normal distribution, and the output body position coordinate information of the fourth fixed base station 34.

[0117] As described above, the mobile control system 1 of the present invention is equipped with a drone position estimation unit 14, and therefore estimates the current position coordinate information of the drone 2 using LPWA radio waves 5 and infrared laser beams 6 output from a fixed base station 3 or an LPWA antenna board 4 located on the ground, and is therefore less susceptible to the influence of the surrounding environment than drone position estimation using GPS satellites.

[0118] Therefore, the mobile object control system 1 of the present invention can stably estimate the position of the drone 2. In particular, since the LPWA radio waves 5 and infrared laser beam 6 can be output using a simple output device, compared to systems that move the drone 2 using high-speed communication networks such as the fifth-generation mobile communication system (5G), which require large base stations, even in the event of a disaster, a simple LPWA antenna board 4 can be placed on the ground to estimate the current location coordinate information of the drone 2, allowing for stable position estimation of the drone 2.

[0119] It is also conceivable that the mobile object control system of the present invention may be used to move a drone or a tractor along a travel route area where the starting point and destination are close to each other. An example of such a travel route area is an area in which a roughly rectangular cultivated field (e.g., a rice paddy) surrounded by ridges on all sides has a starting point and a destination set at each end of the same diagonal, and a drone or tractor travels back and forth, repeatedly going straight and turning, to move from the starting point to the destination.

[0120] In this case, the LPWA antenna board is placed near the cultivated land so that it can be repositioned or removed as needed. Also, since it is a limited area of ​​cultivated land, there are no no-entry zones.

[0121] The drones and tractors are equipped with a processing device (processor) that operates to move the drones and tractors, and the processing device refers to the movement route area position coordinate information. As a result, the drone or tractor moves along the movement route area set on the cultivated land, which corresponds to the movement route area position coordinate information. Here, the drone and tractor can travel together through the travel route area.

[0122] Also, suppose a drone is moving within its travel route area when it strays from the area due to a sudden gust of wind, or a tractor is moving within its travel route area when it strays from the area due to uneven ground. Even in this case, the determination unit 15 provided in the drone determines that the drone's current position coordinate information does not match the movement route area position coordinate information, and the determination unit 15 provided in the tractor determines that the tractor's current position coordinate information does not match the movement route area position coordinate information.

[0123] Furthermore, the travel route area in which drones and tractors move involves repeated straight forward and backward movements and turns within a limited area of ​​cultivated land, so it is possible that they may leave the travel route area and move into an adjacent travel route area. In this case, the drone or tractor does not pass through the waypoints in order according to the order information attached to the waypoints, but instead moves from, for example, the second waypoint straight to the ninth waypoint. Since the drone or tractor moves through the ninth waypoint when it should have moved through the third waypoint, the determination unit 15 provided in the drone or tractor determines that the current position coordinate information of the drone or tractor does not match the position coordinate information of the movement route area (does not match the position coordinate information of the third waypoint).

[0124] In addition, the movement route area set on cultivated land is also the area where drones and tractors travel and perform agricultural work-related operations, such as spraying pesticides, spreading fertilizer, scattering seeds, mowing, and plowing (in the case of tractors). In other words, it is necessary to travel through all travel route sections so that there are no areas where farm work-related operations are not performed.

[0125] Therefore, when the drone leaves the movement route area, the movement control unit 16 provided in the drone controls the drone to move from its current location corresponding to the drone's current position coordinate information to the movement route area so that the drone's current position coordinate information matches the movement route area position coordinate information immediately before the drone left the movement route area.

[0126] For example, if the drone moves beyond the movement route area after passing the second waypoint, the movement control unit 16 provided in the drone controls the drone to move from its current location corresponding to the drone's current position coordinate information to the movement route area so that the drone's current position coordinate information matches the position coordinate information of the second waypoint.

[0127] In addition, when the tractor deviates from the travel route area, the movement control unit 16 provided in the tractor also controls the tractor to move from its current location corresponding to the tractor's current position coordinate information to the travel route area so that the tractor's current position coordinate information matches the travel route area position coordinate information immediately before the tractor deviates from the travel route area.

[0128] Therefore, the return route area position coordinate information generated by the determination unit 15 is also information that allows the drone or tractor to return to the movement route area as described above. [Explanation of symbols]

[0129] 1. Mobile control system 2. Drone 3 Fixed base station 3A LPWA radio wave transmitter 3B Infrared laser beam irradiation unit 4 LPWA antenna board 4A LPWA radio wave transmitter 4B Infrared laser beam irradiation unit 5 LPWA radio waves 6. Infrared laser beam 11 Recording section 12 Distance calculation unit 13 Direction identification part 14 Drone position estimation unit 15 Judgment section 16 Movement control unit 17. Movement information detection unit 31 First fixed base station 32 Secondary fixed base station 33 Third fixed base station 34 Fourth Fixed Base Station 41 First LPWA antenna board 42 Second LPWA antenna board 43 Third LPWA antenna board 50 Waypoints 51 Travel Route Area 52 Departure point 53 Destination 54 Passing place 55 First Current Location 56 Second Current Location 60 Return Waypoint 60A Prohibited return waypoint 61 Return Route Area 62 Correction return waypoint 63 Corrected Return Route Area 70 No entry area

Claims

1. a recording unit capable of recording output body position coordinate information, which is information relating to the position coordinates of an output body capable of outputting radio waves and directional light rays, and movement route area position coordinate information, which is position coordinate information of a plurality of via points and information referenced for movement of a moving body; a distance calculation unit that can calculate, based on the radio waves output by the output unit, a distance between a moving body that receives the radio waves and the output unit that outputs the radio waves; a direction specifying unit that can specify a direction from a moving object that receives a directional light ray to the output body that outputs the directional light ray, based on the directional light ray output from the output body; a moving body position estimation unit capable of estimating current position coordinate information of a moving body based on distance information, which is information about the distance calculated by the distance calculation unit, direction information, which is information about the direction identified by the direction identification unit, and output body position coordinate information of an output body that is the subject of the distance information and the direction information, which is recorded by the recording unit; a determination unit that compares the current position coordinate information of the moving object estimated by the moving object position estimation unit with the movement route zone position coordinate information recorded by the recording unit and determines whether the current position coordinate information matches the movement route zone position coordinate information; and a movement control unit that, when the determination unit determines that the current position coordinate information of the moving object does not match the movement route zone position coordinate information, controls the moving object to move so that the current position coordinate information of the moving object matches the movement route zone position coordinate information. Mobile control system.

2. The radio wave is an LPWA wave, The directional light beam is an infrared laser beam. The mobile object control system according to claim 1 .

3. The moving body position estimation unit is capable of estimating current position coordinate information of the moving body based on the average value of the distance direction normal distribution obtained by multiplying the distance information, which is a distance normal distribution relating to the distance between the moving body and the output body, by the direction information, which is a direction normal distribution relating to the direction from the moving body to the output body, and the output body position coordinate information of the output body. The mobile object control system according to claim 1 .

4. The movement control unit is capable of controlling the movement of the moving object so that the moving object approaches a destination corresponding to destination position coordinate information included in the movement route area position coordinate information from a current location corresponding to the current position coordinate information of the moving object and approaches a movement route area corresponding to the movement route area position coordinate information. The mobile object control system according to claim 1 .

5. the recording unit is capable of recording no-entry area position coordinate information, which is position coordinate information of the no-entry area; when it is determined that the current position coordinate information of the moving object does not match the movement route area position coordinate information, the determination unit is capable of generating return route area position coordinate information, which is information referenced by the moving object to move from a current location corresponding to the current position coordinate information of the moving object to approach a destination corresponding to the destination position coordinate information included in the movement route area position coordinate information while approaching a movement route area corresponding to the movement route area position coordinate information, and which is position coordinate information of a plurality of return via points; the determination unit compares the return route zone position coordinate information with the no-entry zone position coordinate information recorded by the recording unit, and if there is a return route point with the same position coordinate information as the no-entry zone position coordinate information, changes the return route point with the same position coordinate information as the no-entry zone position coordinate information to a corrected return route point with position coordinate information different from the no-entry zone position coordinate information, and changes the return route zone position coordinate information to corrected return route zone position coordinate information; The movement control unit is capable of controlling the movement of the moving object so that current position coordinate information of the moving object coincides with the return path area position coordinate information or the corrected return path area position coordinate information. The mobile object control system according to claim 1 .

6. a movement information detection unit capable of detecting movement speed information, which is information relating to the movement speed of a moving object, and movement direction information, which is information relating to the movement direction of the moving object; The moving object position estimation unit the average value of the moving speed direction normal distribution obtained by multiplying the moving speed information, which is a moving speed normal distribution relating to the moving speed of the moving object when moving from one via point to another via point that is the next via point of the one via point, by the moving direction information, which is a moving direction normal distribution relating to the moving direction of the moving object from the one via point to the other via point; the mean value of a distance direction normal distribution obtained by multiplying a distance normal distribution relating to the distance between the moving body and the output body, which is the distance information, by a direction normal distribution relating to the direction from the moving body to the output body, which is the direction information; The current position coordinate information of the moving object can be estimated based on the output object position coordinate information of the output object recorded by the recording unit. The mobile object control system according to claim 1 .

7. The moving object position estimation unit comparing a first distance normal distribution relating to the distance between the moving body and one output body with a second distance normal distribution relating to the distance between the moving body and another output body, and also comparing a first direction normal distribution relating to the direction from the moving body to one of the output bodies with a second direction normal distribution relating to the direction from the moving body to the other output body, and obtaining a mean value of a high-confidence distance normal distribution obtained by multiplying the high-confidence distance normal distribution relating to the distance between the moving body and the output body having a higher confidence in both the distance normal distribution and the direction normal distribution with the high-confidence direction normal distribution relating to the direction from the moving body to the output body having a higher confidence in both the distance normal distribution and the direction normal distribution; The current position coordinate information of the moving object can be estimated based on the position coordinate information of the output object that has a higher reliability in both the distance normal distribution and the direction normal distribution. The mobile object control system according to claim 3 .

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