Moving body control device and moving body control method

Abstract

To provide a moving body control device and a moving body control method capable of controlling the movement of a moving body even in a building.SOLUTION: A moving body control device (100, 200) includes: a receiving unit (20) that receives electromagnetic waves transmitted from RFID tags (T1, T2 to TN); an intensity information obtaining unit (30) that obtains, based on the electromagnetic wave received by the receiving unit (20), intensity information representing the intensity of the received communication electromagnetic wave from the RFID tag (T1, T2 to TN); a position calculating unit (61, 62) that calculates, based on the intensity information obtained by the intensity information obtaining unit (30), the position of a moving body (D1, D2) that includes the receiving unit (20); and a movement control unit (71, 72) that controls, based on the calculated position of the moving body (D1, D2) by the position calculating unit (61, 62), the movement of the moving body (D1, D2).SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a mobile object control device and a mobile object control method. [Background technology]

[0002] Conventionally, an information processing device has been disclosed that controls the flight of a drone that has a container for home delivery and automatically loads and unloads packages into the container (see, for example, Patent Document 1). The information processing device described in Patent Document 1 controls the drone based on position information from a GPS (Global Positioning System) receiver to move it to the vicinity of a set destination. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 078859 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when controlling a mobile object such as a drone inside a building, there is a problem in that it may be difficult to receive radio waves from GPS satellites depending on the structure of the building.

[0005] The present disclosure was made in response to the recognition of the above-mentioned problems, and aims to provide a mobile object control device and a mobile object control method that can control the movement of a mobile object even inside a building. [Means for solving the problem]

[0006] The mobile body control device according to the present disclosure is characterized by comprising a receiving unit that receives radio waves transmitted from an RFID tag, a strength information acquiring unit that acquires strength information indicating the reception strength of communication radio waves between the RFID tag and the receiving unit based on the radio waves received by the receiving unit, and a movement control unit that calculates the position of a mobile body having the receiving unit based on the strength information acquired by the strength information acquiring unit, and controls the movement of the mobile body based on the position of the mobile body calculated by the position calculating unit. [Effects of the Invention]

[0007] According to the present disclosure, the movement of a moving object can be controlled even inside a building. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic diagram showing a configuration of a mobile object control system according to a first embodiment. [Figure 2] 1 is a block diagram showing a schematic configuration of a mobile object control system according to a first embodiment. [Figure 3] 2 is a diagram illustrating an example of a hardware configuration of a mobile object control device according to the first embodiment. FIG. [Figure 4] 2 is a diagram illustrating an example of a hardware configuration of a mobile object control device according to the first embodiment. FIG. [Figure 5] 4 is a flowchart showing a process performed by a mobile object control device according to the first embodiment. [Figure 6] 1 is a front view schematically showing the positional relationship between a moving object and an RFID tag according to the first embodiment. FIG. [Figure 7] 1 is a plan view schematically showing the positional relationship between a moving object and an RFID tag according to the first embodiment. [Figure 8] 1 is a side view schematically showing the positional relationship between a moving object and an RFID tag according to the first embodiment. FIG. [Figure 9] 1 is a plan view schematically showing the positional relationship between a moving object and an RFID tag according to the first embodiment. [Figure 10] 1 is a plan view schematically showing a movement path of a moving body according to the first embodiment. [Figure 11] FIG. 10 is a block diagram showing a schematic configuration of a mobile object control system according to a second embodiment. [Figure 12] 10 is a flowchart showing a process performed by a mobile object control device according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Embodiment 1 First, the configuration of a mobile object control system according to the first embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a schematic diagram showing the configuration of the mobile object control system according to the first embodiment, and Fig. 2 is a block diagram showing the schematic configuration of the mobile object control system according to the first embodiment. The mobile object control system according to the first embodiment is a system for controlling the movement of a mobile object D1 that moves on a specific plane or within a space. As shown in Figs. 1 and 2, the mobile object control system according to the first embodiment includes a mobile object D1 and a plurality of RFID (Radio Frequency Identification) tags T1, T2, ..., TN. Note that in the first embodiment, N is an integer equal to or greater than 4.

[0010] RFID tags T1, T2, ..., TN are placed at different positions inside a building, for example. Specifically, RFID tags T1, T2, ..., TN are held on one or more shelves placed inside a warehouse. More specifically, one or more RFID tags are held at different positions on each of multiple shelves placed inside the warehouse. For example, as shown in FIG. 1, RFID tags T1 and T2 are held on shelf R1, and RFID tags T3 and T4 are held on shelf R2.

[0011] For example, when RFID tags T1, T2, ..., TN receive radio waves from a mobile unit D1, they generate power using the received radio waves, and use the generated power to transmit, in a specific direction, a signal as radio waves corresponding to unique information that is pre-set in each of the RFID tags T1, T2, ..., TN and that identifies which of the RFID tags T1, T2, ..., TN it is, and an RSSI (Received Signal Strength Indication) value that indicates the strength of the radio waves when the RFID tags T1, T2, ..., TN receive the radio waves from the mobile unit D1.

[0012] 1 and 2, the mobile object D1 includes a mobile object control device 100, an antenna AN1, a driving source M1, and a power supply (not shown), and is configured such that the mobile object control device 100, the antenna AN1, the driving source M1, and the power supply are electrically connected to one another. For example, the mobile object D1 is an unmanned aircraft that moves while flying in a three-dimensional space. Specifically, the mobile object D1 is configured as a drone that has multiple rotors F1 and moves while flying in a three-dimensional space according to the rotation speed of each rotor F1.

[0013] Antenna AN1 transmits and receives radio wave signals to and from RFID tags T1, T2, ..., TN. For example, antenna AN1 is configured as a directional antenna having directivity, and is capable of transmitting radio waves in a specific direction according to the orientation of mobile object D1, and also receives radio waves from each of RFID tags T1, T2, ..., TN that come from a specific direction according to the orientation of mobile object D1.

[0014] The driving source M1 moves the moving body D1 by supplying electric power. For example, the driving source M1 is composed of a plurality of motors provided corresponding to the plurality of rotors F1 of the moving body D1, and drives the rotors F1 by supplying electric power to move the moving body D1.

[0015] The mobile object control device 100 includes a transmitter 10, a receiver 20, an intensity information acquisition unit 30, a position calculation unit 61, and a movement control unit 71.

[0016] The transmitter 10 transmits radio waves to the outside via the antenna AN1. For example, the transmitter 10 transmits radio waves to the outside via the antenna AN1 by outputting information to be transmitted to the RFID tags T1, T2, ..., TN to the antenna AN1 at a specific interval that is set in advance.

[0017] The receiving unit 20 receives radio waves transmitted from the RFID tags T1, T2, ..., TN via the antenna AN1. For example, based on the reception by the RFID tags T1, T2, ..., TN of radio waves transmitted from the transmitting unit 10 to the outside via the antenna AN1, the receiving unit 20 receives radio waves indicating signals corresponding to the unique information and RSSI values ​​of each RFID tag transmitted from the RFID tags T1, T2, ..., TN via the antenna AN1.

[0018] The intensity information acquiring unit 30 acquires intensity information indicating the reception intensity of radio waves for communication with the RFID tags T1, T2, ..., TN based on the radio waves received by the receiving unit 20. For example, the intensity information acquiring unit 30 acquires an RSSI value, which is included in the radio waves from any of the RFID tags received by the receiving unit 20 when the RFID tag receives the radio waves from the transmitting unit 10, as intensity information indicating the reception intensity of radio waves for communication with the RFID tags T1, T2, ..., TN.

[0019] The position calculation unit 61 calculates the position of the mobile body D1 based on the intensity information acquired by the intensity information acquisition unit 30. For example, based on the fact that there is a correlation between the reception intensity of communication radio waves between the RFID tags T1, T2, ..., TN and the distance from each RFID tag, the position calculation unit 61 calculates the distance between the mobile body D1 and the RFID tag that transmitted the radio waves including the intensity information using the reception intensity of communication radio waves between the RFID tags T1, T2, ..., TN indicated by the intensity information acquired by the intensity information acquisition unit 30. For example, based on the fact that the reception intensity of communication radio waves is inversely proportional to the square of the distance, the position calculation unit 61 calculates an estimated value of the distance between each RFID tag and the mobile body D1.

[0020] In addition, the position calculation unit 61 may be configured to calculate the distance between one RFID tag and the mobile body D1 based on intensity information indicating the reception intensity of communication radio waves between one RFID tag among the RFID tags T1, T2, ..., TN, acquired by the intensity information acquisition unit 30, or, when the intensity information acquisition unit 30 acquires intensity information indicating the reception intensity of communication radio waves between multiple RFID tags among the RFID tags T1, T2, ..., TN, the position calculation unit 61 may be configured to calculate the relative position of each RFID tag and the mobile body D1 by calculating the distance between each RFID tag and the mobile body D1 based on the intensity information indicating the reception intensity of communication radio waves between these multiple RFID tags.

[0021] For example, the position calculation unit 61 calculates the relative positions of the RFID tags and the moving body D1 on a virtual plane including the positions of the RFID tags based on strength information indicating the reception strength of radio waves for communication with three or more RFID tags among the RFID tags T1, T2, ..., TN, acquired by the strength information acquisition unit 30. Furthermore, for example, the position calculation unit 61 calculates the relative positions of the RFID tags and the moving body D1 in three-dimensional space based on strength information indicating the reception strength of radio waves for communication with four or more RFID tags among the RFID tags T1, T2, ..., TN that are not on the same virtual plane, acquired by the strength information acquisition unit 30. Note that, when the coordinates of each RFID tag in a specific coordinate system are known, the position calculation unit 61 may be configured to calculate the coordinates of the moving body D1 in the coordinate system based on the relative positions of the RFID tags and the moving body D1.

[0022] The movement control unit 71 controls the movement of the moving object D1 based on the position of the moving object D1 calculated by the position calculation unit 61. For example, the movement control unit 71 outputs control information to the driving source M1 to control the driving source M1 so that the relative position with respect to each RFID tag satisfies a preset condition based on the position of the moving object D1 calculated by the position calculation unit 61. Also, for example, the movement control unit 71 controls the attitude of the moving object D1 so that the direction of the radio waves transmitted from the antenna AN1 changes. Details of the control of the moving object D1 by the movement control unit 71 will be described later.

[0023] Next, the hardware configuration of the mobile object control device 100 will be described with reference to FIGS. 3 and 4. FIG. 3 is a block diagram showing an example of the hardware configuration of the mobile object control device 100 according to the first embodiment, and FIG. 4 is a block diagram showing an example of a hardware configuration of the mobile object control device 100 according to the first embodiment, which is different from that shown in FIG. 3. For example, as shown in FIG. 3, the mobile object control device 100 has a processor 100a, a memory 100b, and an I / O port 100c, and is configured so that the processor 100a reads and executes a program stored in the memory 100b. The memory 100b is configured, for example, by a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, or a combination thereof. The memory 100b may also be a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, a DVD, or the like. The memory 100b may also be an HDD or an SSD.

[0024] 4, the mobile object control device 100 has a processing circuit 100d and an I / O port 100c, which are dedicated hardware. The processing circuit 100d is configured, for example, by a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a system LSI (Large-Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination of these. Each function of the mobile object control device 100 is realized by the processor 100a or the processing circuit 100d, which is dedicated hardware, executing a program, which is software, firmware, or a combination of software and firmware. The mobile object control device 100 may also have hardware other than those described above, such as a hardware timer.

[0025] Next, processing performed by the mobile body control device 100 will be described with reference to Fig. 2 and Fig. 5 to Fig. 10. Fig. 5 is a flowchart showing processing performed by the mobile body control device 100 according to embodiment 1. The processing performed by the mobile body control device 100 shown in Fig. 5 is processing for controlling the movement of a mobile body D1 by the mobile body control device 100 transmitting and receiving data to and from a plurality of RFID tags.

[0026] 5, when the mobile object control device 100 starts processing, it first transmits radio waves (step ST1). In this processing, the mobile object control device 100 transmits a signal generated by the transmitter 10 as radio waves from the antenna AN1 to the outside. For example, the mobile object control device 100 transmits radio waves from the antenna AN1 in multiple directions while changing the position and attitude of the mobile object D1.

[0027] After performing the process of step ST1, the mobile object control device 100 receives radio waves from the RFID tag (step ST2). In this process, for example, when any RFID tag receives radio waves transmitted from the antenna AN1 to the outside, the mobile object control device 100 receives the radio waves transmitted from the RFID tag to the outside by the receiving unit 20.

[0028] After performing the process of step ST2, the mobile object control device 100 acquires intensity information based on the received radio waves (step ST3). In this process, the mobile object control device 100 acquires, by the intensity information acquisition unit 30, intensity information indicating the reception intensity of the communication radio waves between the mobile object control device 100 and the RFID tag that transmitted the radio waves, based on the radio waves received by the receiving unit 20 in the process of step ST2.

[0029] After performing the process of step ST3, the mobile object control device 100 calculates the relative positions between the mobile object D1 and the RFID tags (step ST4). In this process, the mobile object control device 100 calculates the distances between the mobile object D1 and the multiple RFID tags based on the intensity information acquired by the intensity information acquisition unit 30 in the process of step ST3, thereby calculating the relative positions between the mobile object D1 and the multiple RFID tags.

[0030] After performing the process of step ST4, the mobile body control device 100 controls the driving source M1 based on the relative position between the mobile body D1 and the RFID tag (step ST5). In this process, the mobile body control device 100 controls the movement of the mobile body D1 by transmitting a control signal to the driving source M1 for controlling the driving source M1 based on the relative positions between the mobile body D1 and the multiple RFID tags calculated in the process of step ST4.

[0031] FIG. 6 is a front view schematically illustrating the positional relationship between a moving object D1 and RFID tags according to the first embodiment. For example, as shown in FIG. 6, when an RFID tag T1 held on the upper part of shelf R1 (the part on the +Z direction side shown in FIG. 6), an RFID tag T2 held on the lower part of shelf R1 (the part on the −Z direction side shown in FIG. 6), an RFID tag T3 held on the upper part of shelf R2, and an RFID tag T4 held on the lower part of shelf R2 are arranged on the same imaginary plane, the relative positions of the moving object D1 located at point P and these RFID tags T1 to T4 as viewed in the direction shown in FIG. 6 (as viewed from the front) are calculated based on the reception strength of the communication radio waves between the moving object D1 and the RFID tags T1 to T4. As a result, the moving object control device 100 can control the movement of the moving object D1 so that the moving object D1 is maintained on an imaginary line equidistant from the RFID tags T1 to T4.

[0032] 7 is a plan view schematically illustrating the positional relationship between a moving object D1 and RFID tags according to the first embodiment. For example, as shown in FIG. 7, when RFID tags T5 and T6 held on shelf R1 and RFID tags T7 and T8 held on shelf R2 are arranged on the same imaginary plane, the relative positions of the moving object D1 located at point P and these RFID tags T5 to T8 as viewed in the direction shown in FIG. 7 (planar view) are calculated based on the reception strength of the radio waves for communication between the moving object D1 and the RFID tags T5 to T8. As a result, the moving object control device 100 can control the movement of the moving object D1 so that the moving object D1 moves in the direction A1 while maintaining a state in which the moving object D1 is positioned on an imaginary line equidistant from the RFID tags T5 and T7 and equidistant from the RFID tags T6 and T8.

[0033] 8 is a side view schematically illustrating the positional relationship between a moving object D1 and RFID tags according to the first embodiment. For example, as shown in FIG. 8, when RFID tags T5, T6, T9, and T10 held on a shelf R1 are arranged on the same imaginary plane, the relative positions of the moving object D1 located at point P and the RFID tags T5, T6, T9, and T10 as viewed in the direction shown in FIG. 8 (side view) are calculated based on the reception strength of the communication radio waves between the RFID tags T5, T6, T9, and T10. As a result, the moving object control device 100 can control the movement of the moving object D1 so that the moving object D1 moves in the direction A1 while maintaining a state in which the moving object D1 is equidistant from the RFID tags T6 and T10 and is positioned on an imaginary line equidistant from the RFID tags T5 and T9.

[0034] 9 is a plan view schematically illustrating the positional relationship between a moving object D1 and RFID tags according to the first embodiment. For example, as shown in FIG. 9, when an RFID tag T1 held on a shelf R1, an RFID tag T2 held on a shelf R2, an RFID tag T11 held on a shelf R4, and an RFID tag T12 held on a shelf R5 are arranged on the same imaginary plane, the relative positions of the moving object D1 located at point P and the RFID tags T1, T2, T11, and T12 in the direction (planar view) illustrated in FIG. 9 are calculated based on the reception strength of the communication radio waves between the RFID tags T1, T2, T10, and T11. As a result, the moving object control device 100 can control the movement of the moving object D1 so that the moving object D1 moves in the direction A2 while maintaining a state in which the moving object D1 is located on an imaginary line equidistant from the RFID tags T1 and T11 and equidistant from the RFID tags T2 and T12.

[0035] Fig. 10 is a plan view schematically showing the positional relationship between a moving object D1 and RFID tags according to embodiment 1. For example, as shown in Fig. 10, when an RFID tag T1 held on shelf R1, an RFID tag T2 held on shelf R2, an RFID tag T13 held on shelf R3, an RFID tag T11 held on shelf R4, an RFID tag T12 held on shelf R5, and an RFID tag T14 held on shelf R6 are arranged on the same imaginary plane, the relative positions of the moving object D1 located at point P and these RFID tags T1, T2, T11 to T14 in the direction (planar view) shown in Fig. 10 are calculated based on the reception strength of communication radio waves between the RFID tags T1, T2, T11 to T14. As a result, the mobile body control device 100 can control the movement of the mobile body D1, for example, so that the mobile body D1 moves along a specific pre-set path (for example, the path shown by the dotted line in Figure 10) while maintaining the mobile body D1 positioned on a virtual plane parallel to the virtual plane on which the RFID tags T1 and T11 are located.

[0036] After performing the process of step ST5, the mobile object control device 100 returns the process to step ST1.

[0037] As described above, the mobile body control device 100 according to the first embodiment includes a receiving unit that receives radio waves transmitted from an RFID tag, an intensity information acquiring unit that acquires intensity information indicating the reception intensity of the communication radio waves between the RFID tag and the mobile body based on the radio waves received by the receiving unit, a position calculation unit that calculates the position of the mobile body based on the intensity information acquired by the intensity information acquiring unit, and a movement control unit that controls the movement of the mobile body having the transmitting unit and the receiving unit based on the position of the mobile body calculated by the position calculation unit.

[0038] With this configuration, the mobile object control device 100 controls the movement of the mobile object D1 based on the strength of the radio waves for communication with the RFID tag, and therefore, for example, it can control the movement of the mobile object D1 even inside a building where radio waves from GPS satellites cannot reach. Furthermore, for example, if multiple RFID tags are held on each of multiple shelves arranged inside a building, the mobile object control device 100 can move near the multiple shelves while maintaining a distance from the multiple shelves. Furthermore, for example, if multiple RFID tags are held on each of multiple shelves arranged inside a building, the mobile object control device 100 can manage the items stored on the shelves by autonomously controlling the mobile object D1.

[0039] For example, as shown in FIG. 8, if multiple items C1, C2, and C3 are stored on shelf R1 and RFID tags T21, T22, and T23 are respectively held on these multiple items C1, C2, and C3, the mobile object control device 100 can detect that items C1 to C3 are stored on shelf R1 by communicating with RFID tags T21 to T23 while moving mobile object D1 while the mobile object D1 is positioned on a virtual line equidistant from RFID tags T6 and T10 and equidistant from RFID tags T5 and T9.

[0040] Furthermore, the mobile body control device 100 according to the first embodiment is configured to acquire an RSSI value included in radio waves from an RFID tag as strength information indicating the strength of radio waves for communication with the RFID tag. With this configuration, the mobile body control device 100 can perform autonomous control of a mobile body, for example, by communicating with an RFID tag held on an item, using a device that communicates with an RFID tag provided on the mobile body that manages the item. This prevents a new device from being provided on the mobile body to cause a mobile body that does not perform autonomous control to perform autonomous control, and makes it possible to reduce the weight of the mobile body and prevent an increase in costs.

[0041] Furthermore, the mobile body control device 100 according to embodiment 1 calculates the position of the mobile body D1 based on strength information indicating the reception strength of communication radio waves between the mobile body D1 and multiple RFID tags, which is acquired by the strength information acquisition unit 30. This makes it possible to control the movement of the mobile body D1 in a more complex manner than when the movement of the mobile body D1 is controlled based on strength information indicating the reception strength of communication radio waves between the mobile body D1 and a single RFID tag.

[0042] In the first embodiment, the mobile body control device 100 is provided in the mobile body D1, but is not limited to this. The mobile body control device may be configured to receive radio waves transmitted from an RFID tag and control the mobile body based on the intensity of the received radio waves. For example, a portion of the configuration of the mobile body control device may be provided in an external device communicatively connected to the mobile body, or a portion of the configuration may be provided in another mobile body communicatively connected to the mobile body. For example, if one or both of the intensity information acquisition unit and the position calculation unit of the mobile body control device are provided in an external device communicatively connected to a specific mobile body or in another mobile body, it is possible to reduce the weight of the specific mobile body and the processing load of the device when processing information.

[0043] Furthermore, in the first embodiment, the mobile object control device 100 is configured to receive radio waves transmitted from the RFID tag as a result of transmitting radio waves to the RFID tag, but is not limited to this. The mobile object control device may be configured to receive radio waves transmitted from the RFID tag. For example, if the RFID tag is an RFID tag that transmits radio waves by receiving power from a power source (not shown) without receiving radio waves from a mobile object, the mobile object control device may be configured to receive radio waves transmitted from the RFID tag without transmitting radio waves to the RFID tag. When the mobile object control device is configured in this manner, the strength information acquisition unit may be configured to acquire strength information indicating the reception strength of radio waves for communication with the RFID tag, for example, by calculating the reception strength when the receiving unit receives radio waves from the RFID tag.

[0044] Furthermore, in the first embodiment, the mobile object control device 100 is configured to control the movement of the mobile object D1 based on the strength information indicating the reception strength of radio waves for communication with a plurality of RFID tags, acquired by the strength information acquisition unit 30, but is not limited to this. The mobile object control device may be configured to control the movement of the mobile object based on the strength information indicating the reception strength of radio waves for communication with RFID tags, acquired by the strength information acquisition unit, and for example, when controlling the movement of a mobile object moving on a preset imaginary line, the mobile object control device may be configured to control the movement of the mobile object by calculating the position of the mobile object on the imaginary line based on strength information indicating the reception strength of radio waves for communication with one RFID tag.

[0045] Furthermore, in the first embodiment, the mobile body control device 100 is configured to control the movement of the mobile body D1, which is an unmanned flying body that moves while flying in a three-dimensional space, but is not limited thereto. The mobile body control device may be configured to control the movement of the mobile body based on strength information indicating the reception strength of the communication radio wave between the RFID tag and the mobile body D1, acquired by the strength information acquisition unit. For example, the mobile body control device may be configured to control the movement of a mobile body that can carry a passenger, or may be configured to control the movement of a mobile body whose movement can be controlled by the passenger so as to assist the passenger in moving the mobile body, or may be configured to control the movement of a mobile body that is a vehicle that runs on a two-dimensional plane such as the ground, floor, or wall.

[0046] Furthermore, in the first embodiment, the mobile body control device 100 is configured to calculate the position of the mobile body D1 based on the intensity information acquired by the intensity information acquisition unit 30, but the mobile body control device is not limited to one that calculates the position of the mobile body based only on the intensity information. For example, the mobile body control device may be configured to control the movement of the mobile body based on information from various sensors such as an inertial sensor, a distance measurement sensor, and an image sensor that the mobile body is equipped with, in addition to the intensity information, or may be configured to control the movement of the mobile body based on position information that indicates the position of a preset RFID tag.

[0047] Embodiment 2 Next, a mobile object control system according to embodiment 2 will be described with reference to Figures 11 and 12. The mobile object control system according to embodiment 2 differs from the mobile object control system according to embodiment 1 in the configuration in which a mobile object control device calculates the position of a mobile object, but other configurations are similar, and the same reference numerals and names are used for configurations similar to those of embodiment 1, and descriptions thereof will be omitted. As shown in Figure 11, the mobile object control system according to embodiment 2 includes a mobile object D2 and a plurality of RFID tags T1, T2, ..., TN.

[0048] The moving body D2 includes a moving body control device 200, an antenna AN1, an inertial sensor S1, a driving source M1, and a power supply (not shown), and is configured such that the moving body control device 200, the antenna AN1, the inertial sensor S1, the driving source M1, and the power supply are electrically connected to each other. For example, the moving body D2 is an unmanned flying object that moves while flying in a three-dimensional space.

[0049] The inertial sensor S1 outputs a signal corresponding to the inertial force acting on the moving body D2. For example, the inertial sensor S1 is configured with an acceleration sensor, a gyro sensor, or both an acceleration sensor and a gyro sensor, and outputs a signal corresponding to the inertial force acting on the moving body D2, such as acceleration or angular acceleration.

[0050] The mobile object control device 200 includes a transmitter 10, a receiver 20, an intensity information acquisition unit 30, a position information acquisition unit 42, an inertial information acquisition unit 52, a position calculation unit 62, and a movement control unit 72.

[0051] The location information acquisition unit 42 acquires location information indicating the locations of the RFID tags T1, T2, ..., TN. For example, the location information acquisition unit 42 acquires location information indicating the coordinates at which each of the RFID tags T1, T2, ..., TN is located in a specific coordinate system. The location information acquisition unit 42 may be configured to acquire the location information for each RFID tag by referring to location information pre-stored in a storage unit (not shown) that is included in the mobile object D2 and stores information, or may be configured to acquire the location information for each RFID tag from an external device (not shown) that is communicatively connected via the antenna AN1.

[0052] The inertial information acquiring unit 52 acquires inertial information indicating the inertial force applied to the moving body D2 from the inertial sensor S1 of the moving body D2. For example, the inertial information acquiring unit 52 acquires inertial information indicating the inertial force such as acceleration and angular acceleration applied to the moving body D2.

[0053] The position calculation unit 62 calculates the position of the moving body D2 based on the intensity information acquired by the intensity information acquisition unit 30, the position information acquired by the position information acquisition unit 42, and the inertial information acquired by the inertial information acquisition unit 52. For example, the position calculation unit 62 calculates the coordinates at which the moving body D2 is located in a specific coordinate system based on the intensity information acquired by the intensity information acquisition unit 30 and the position information acquired by the position information acquisition unit 42. Furthermore, for example, the position calculation unit 62 detects any one or more of changes in the velocity, acceleration, and attitude of the moving body D2 based on the inertial information acquired by the inertial information acquisition unit 52, and calculates the position of the moving body D2 based on these detection results and the intensity information acquired by the intensity information acquisition unit 30.

[0054] The movement control unit 72 controls the movement of the moving body D2 based on the position of the moving body D2 calculated by the position calculation unit 62. For example, the movement control unit 72 controls the movement of the moving body D2 based on the coordinates of a coordinate system in a three-dimensional space in which the moving body D2 moves calculated by the position calculation unit 62, so that the moving body D2 moves along a route that is set in advance and indicated by the coordinates of the coordinate system.

[0055] The hardware configuration of the mobile object control device 200 according to the second embodiment is the same as that of the mobile object control device 100 according to the first embodiment, and therefore a description thereof will be omitted.

[0056] 12 is a flowchart showing processing performed by the mobile body control device 200 according to Embodiment 2. Note that part of the processing performed by the mobile body control device 200 according to Embodiment 2 is similar to the processing performed by the mobile body control device 100 according to Embodiment 1, and therefore, description of processing similar to the processing performed by the mobile body control device 100 according to Embodiment 1 will be omitted.

[0057] 12, after performing the process of step ST3, the mobile object control device 200 according to the second embodiment acquires the position information of the RFID tag (step ST6). In this process, the mobile object control device 200 identifies the RFID tag that transmitted the radio wave received in the process of step ST2, for example, based on the unique information of the RFID tag included in the radio wave, and acquires the position information indicating the position of the RFID tag.

[0058] After performing the process of step ST6, the mobile body control device 200 acquires inertial information from the inertial sensor S1 (step ST7). In this process, the mobile body control device 100 acquires, by the inertial information acquisition unit 52, information indicating the inertial force that the mobile body D2 has received when the speed or attitude of the mobile body D2 has changed since the last time the inertial information was acquired from the inertial sensor S1, for example.

[0059] After performing the process of step ST7, the mobile body control device 200 calculates the position of the mobile body D2 (step ST8). In this process, the mobile body control device 100 calculates the position of the mobile body D2 based on the strength information acquired in the process of step ST3, the position information acquired in the process of step ST6, and the inertia information acquired in the process of step ST7.

[0060] After completing the process of step ST8, the mobile body control device 200 controls the driving source M1 based on the position of the mobile body D2 (step ST9). In this process, the mobile body control device 200 controls the movement of the mobile body D2 by transmitting a control signal to the driving source M1 to control the driving source M1 based on the position of the mobile body D2 calculated in the process of step ST8. After completing the process of step ST9, the mobile body control device 200 returns the process to step ST1.

[0061] As described above, the mobile object control device 200 according to the first embodiment includes the position information acquisition unit 42 that acquires position information indicating the position of the RFID tag, and is configured to calculate the position of the mobile object D2 based on the intensity information acquired by the intensity information acquisition unit 30 and the position information acquired by the position information acquisition unit 42. With this configuration, the mobile object control device 200 can control the movement of the mobile object D2 based on, for example, the absolute position of the mobile object D2 in the space in which the RFID tag is placed, and can perform more complex control of the movement compared to when the movement of the mobile object is controlled only based on the relative position between the mobile object and the RFID tag.

[0062] Furthermore, the mobile body control device 200 according to the first embodiment includes an inertial information acquisition unit 52 that acquires inertial information indicating the inertial force received by the mobile body D2 from the inertial sensor S1 of the mobile body D2, and is configured to control the movement of the mobile body D2 based on the intensity information acquired by the intensity information acquisition unit 30 and the inertial information acquired by the inertial information acquisition unit 52. With this configuration, the mobile body control device 200 can control the movement of the mobile body even when there is a state where it is temporarily unable to receive radio waves from an RFID tag while the mobile body is moving. Furthermore, with this configuration, the mobile body control device 200 can control the movement of the mobile body with higher accuracy than when the movement of the mobile body is controlled based only on the intensity information acquired by the intensity information acquisition unit 30.

[0063] In the first embodiment, the mobile body control device 200 is configured to calculate the position of the mobile body D2 based on the strength information acquired by the strength information acquisition unit 30, the position information acquired by the position information acquisition unit 42, and the inertia information acquired by the inertia information acquisition unit 52, but is not limited to this. The mobile body control device may be configured to calculate the position of the mobile body based on the strength information acquired by the strength information acquisition unit and the position information acquired by the position information acquisition unit, without relying on the inertia information acquired by the inertia information acquisition unit, or may be configured to calculate the position of the mobile body based on the strength information acquired by the strength information acquisition unit and the inertia information acquired by the inertia information acquisition unit, without relying on the position information acquired by the position information acquisition unit.

[0064] In addition, the present disclosure allows for free combination of the respective embodiments, modification of any of the components of the respective embodiments, or omission of any of the components of the respective embodiments. [Explanation of symbols]

[0065] 10: Transmitter 20: Receiving unit 30: Strength information acquisition unit 42: Location information acquisition section 52:Inertial information acquisition section 61, 62: Position calculation section 71, 72: Movement control unit 100, 200: Mobile control device AN1: Antenna C1, C2, C3: Goods D1, D2: Moving object F1: Rotor M1: Drive source R1, R2, R3, R4, R5, R6: Shelf S1: Inertial sensor T1~T14, TN: RFID tag

Claims

1. a receiving unit that receives radio waves transmitted from the RFID tag; an intensity information acquiring unit that acquires intensity information indicating the reception intensity of radio waves for communication with the RFID tag based on the radio waves received by the receiving unit; a position calculation unit that calculates a position of a moving object having the receiving unit based on the intensity information acquired by the intensity information acquisition unit; a movement control unit that controls the movement of the moving body based on the position of the moving body calculated by the position calculation unit; A mobile object control device characterized by:

2. The strength information acquisition unit acquires an RSSI value included in radio waves from the RFID tag as strength information indicating the strength of radio waves for communication with the RFID tag.

2. The mobile object control device according to claim 1.

3. The position calculation unit calculates the position of the mobile object based on strength information indicating reception strength of radio waves for communication with the plurality of RFID tags, which is acquired by the strength information acquisition unit.

2. The mobile object control device according to claim 1.

4. a location information acquisition unit that acquires location information indicating the location of the RFID tag; The position calculation unit calculates the position of the moving object based on the intensity information acquired by the intensity information acquisition unit and the position information acquired by the position information acquisition unit.

2. The mobile object control device according to claim 1.

5. an inertial information acquisition unit that acquires inertial information indicating an inertial force applied to the moving body from an inertial sensor included in the moving body; The movement control unit controls the movement of the moving body based on the strength information acquired by the strength information acquisition unit and the inertia information acquired by the inertia information acquisition unit.

2. The mobile object control device according to claim 1.

6. The movement control unit controls the movement of the flying moving object in three-dimensional space.

5. The mobile object control device according to claim 1, wherein the mobile object control device is a control device for controlling a mobile object.

7. A mobile object control method performed by a device including a receiving unit, an intensity information acquiring unit, a position calculating unit, and a mobile control unit, a step in which the receiving unit receives radio waves transmitted from an RFID tag; a step in which the strength information acquiring unit acquires strength information indicating a reception strength of a radio wave for communication with the RFID tag based on the radio wave received by the receiving unit; a step in which the position calculation unit calculates a position of the moving object having the receiving unit based on the intensity information acquired by the intensity information acquisition unit; a step in which the movement control unit controls the movement of the moving body based on the position of the moving body calculated by the position calculation unit. A mobile object control method comprising:

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