Control device, mobile object, and control method

Abstract

To provide a control device, a mobile body, and a control method that correspond to a case where a mobile body approaches an object, and while processing corresponding to the situation should be preferably performed, a situation may occur where a person cannot immediately and explicitly command execution of the processing.SOLUTION: A control device 6 for controlling a mobile body has a control unit 20 that recognizes identification information included in a beacon received by a beacon reception unit 12 and, when a value of the identification information is a value registered in advance, executes processing registered in association with the value. When approaching a transmission source of the beacon to such an extent as to be received by the beacon, the control unit performs pre-registered processing.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a control device, a moving body, and a control method, and is particularly suitable for use in a control device that controls a moving body, that moving body, and a control method using that control device. [Background technology]

[0002] Conventionally, drones and other unmanned aerial vehicles that fly without a human have become widespread. Patent Document 1, which is related to unmanned aerial vehicles, discloses an unmanned aerial vehicle that can more easily warn about intrusion into an area where flight of unmanned aerial vehicles (unmanned aircraft) is restricted. In this Patent Document 1, the unmanned aerial vehicle (controller that controls the unmanned aerial vehicle) receives radio waves and determines whether the strength of the received radio waves exceeds a threshold, and issues a warning if the strength exceeds the threshold. Patent Document 2 also discloses an unmanned aerial vehicle (drone) that has a function of searching for a pedestrian who is lost while walking. In this Patent Document 2, when a management server detects a pedestrian being lost, it transmits the spatial coordinate value of the pedestrian's location to the unmanned aerial vehicle, and the unmanned aerial vehicle flies to the position indicated by the spatial coordinate value as a target position.

[0003] Patent Document 3 discloses a technology that prevents contact between multiple unmanned aerial vehicles (drones) when they are flying simultaneously. In Patent Document 3, for example, when the aerial vehicle is flying, lighting equipment attached to the aerial vehicle lights up or flashes in a color corresponding to the flight pattern. Patent Document 4 discloses a geofencing device that provides a so-called geofence that restricts the flight range of the unmanned aerial vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-193201 A [Patent Document 2] JP 2020-123316 A [Patent Document 3] JP 2020-117129 A [Patent Document 4] Special Publication No. 2017-537012 Summary of the Invention [Problem to be solved by the invention]

[0005] By the way, the flight methods of unmanned aerial vehicles are roughly divided into two types: a method of flying autonomously and a method of flying according to the pilot's operation. In both cases, there are the following characteristics. That is, there is a characteristic that while it is better to have the unmanned aerial vehicle approach a target object and perform a process corresponding to the situation, a situation may occur in which a human cannot immediately and explicitly instruct the execution of the process. For example, when an obstacle approaches while an unmanned aerial vehicle is flying autonomously. In this case, it is better to move the unmanned aerial vehicle so as to avoid approaching or contacting the obstacle, but since the unmanned aerial vehicle is flying autonomously and is not being operated by a human, a human cannot immediately and explicitly instruct the movement, etc. Another example is when an obstacle approaches while an unmanned aerial vehicle is flying according to the pilot's operation, and the obstacle is in the pilot's blind spot or the unmanned aerial vehicle is considerably far away from the pilot, so the pilot cannot recognize the obstacle. In this case too, it would be better to move the unmanned aerial vehicle so as to avoid approaching or coming into contact with the obstacle, but because the pilot is not aware of the obstacle, a human cannot immediately and explicitly instruct the vehicle to move.

[0006] In recent years, autonomous unmanned cars that travel autonomously on the ground and self-driving cars that drive autonomously with a passenger on board (obviously, they do not have to be on board) have become widespread. As with unmanned aerial vehicles, these autonomous unmanned cars and self-driving cars also have the characteristic that, while it is best for the car to perform processing to deal with the situation when it approaches an object, there may be situations in which a human cannot immediately and explicitly instruct the car to perform the processing. This is because both autonomous unmanned cars and self-driving cars are not driven by a driver.

[0007] For mobile bodies that have the characteristic that it is better to perform processing corresponding to a situation when approaching an object, such as the above-mentioned unmanned aerial vehicle, autonomous unmanned automobile, and self-driving car, a situation may occur in which a human cannot immediately and explicitly instruct the execution of the processing. In order to respond to such a situation, the following measures are usually taken. That is, a camera, a distance measurement sensor, a GPS unit, and various other devices used to recognize the environment around the mobile body are provided on the mobile body. The control device of the mobile body recognizes the environment around the corresponding mobile body by analyzing the input from the various devices through information processing, derives processing according to the environment by the information processing means, and executes the derived processing. There has been a demand for a new method to reinforce such measures or, if safety conditions can be met, to replace such measures.

[0008] The present invention has been made to solve such problems, and aims to provide a new method for dealing with a situation in which a moving body approaches a target object and it would be better for the moving body to carry out processing appropriate to the situation, but a human cannot immediately and explicitly instruct the moving body to execute the processing. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems, in the present invention, when a beacon is received, the identification information contained in the beacon is recognized, and if the value of the recognized identification information is a value registered in advance, a process registered in association with the value is executed. In this configuration, the process associated with the value of the identification information includes: Avoid close contact with the source of the beacon. In the case where a first process is included in which a moving object is moved or stopped in a predetermined manner, a value of the recognized identification information is a value registered in advance, and the process registered in association with the value is the first process, Avoid close contact with the source of the beacon. The moving body can be made to automatically and instantly move in a predetermined manner, or automatically and instantly stop moving. Effect of the Invention

[0010] According to the present invention configured as described above, when a beacon is received, a process associated with the value of the identification information included in the beacon is automatically executed. Therefore, an object that a mobile body may approach, or an object that may approach a mobile body, transmits a beacon including a specific value of identification information, and then, by associating an appropriate process to be executed by the mobile body (or a control device of the mobile body) when the corresponding object and the mobile body approach each type of value of the identification information, it is possible to automatically execute the process without a human being issuing an explicit instruction immediately when the mobile body and the object approach each other. That is, the present invention provides a new method for dealing with a situation in which a mobile body approaches an object and it is better to execute a process corresponding to the situation, but a situation in which a human being cannot immediately explicitly instruct the execution of the process occurs. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a perspective view of an unmanned aerial vehicle according to a first embodiment of the present invention. [Diagram 2] A diagram showing an example of the hardware configuration of an unmanned aerial vehicle according to the first embodiment of the present invention. [Diagram 3] 2 is a block diagram showing an example of a functional configuration of a control device according to the first embodiment of the present invention. FIG. [Figure 4] FIG. 4 is a diagram illustrating the contents of a processing table. [Diagram 5] 5 is a flowchart showing an example of the operation of the control device according to the first embodiment of the present invention. [Figure 6] 6 is a flowchart showing an example of the operation of the control device according to a modified example of the first embodiment of the present invention. [Figure 7] FIG. 11 is a block diagram showing an example of a functional configuration of a control device according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] First Embodiment Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view of an unmanned aerial vehicle 1 according to this embodiment. The unmanned aerial vehicle 1 corresponds to the "mobile body" in the claims. The unmanned aerial vehicle 1 is an unmanned flying vehicle called a drone or UAV. The unmanned aerial vehicle 1 has an aerial vehicle body 2, which has a flight mechanism 3, which has four propellers 4. The unmanned aerial vehicle 1 ascends, descends, moves forward, backward, turns, etc. by adjusting the rotation speed of the four propellers 4. As shown in FIG. 1, a camera 9 is attached below the unmanned aerial vehicle 1.

[0013] The unmanned aerial vehicle 1 can fly under remote control by a pilot using a radio-controlled device, and can also fly autonomously through autonomous control. Hereinafter, flying under autonomous control will be referred to as "autonomous flight." The operating mode when flying under remote control will be referred to as "manual mode," and the operating mode when flying autonomously will be referred to as "autonomous mode."

[0014] Fig. 2 is a diagram showing an example of the hardware configuration of the unmanned aerial vehicle 1 according to this embodiment. Fig. 3 is a diagram showing an example of the functional configuration of the control device 6 according to this embodiment, together with related hardware elements. As shown in Fig. 2, the unmanned aerial vehicle 1 includes the control device 6, a flight mechanism drive unit 7, a GPS unit 8, a camera 9, a flight-related sensor 10, a wireless communication unit 11, a beacon receiving unit 12, and a storage unit 13.

[0015] The control device 6 includes a processing device such as a CPU, a primary storage device such as a RAM, a secondary storage device such as a ROM, and other hardware. The control device 6 executes various types of arithmetic processing / information processing through cooperation between hardware and software, such as the CPU reading and executing a program stored in the ROM.

[0016] The flight mechanism drive unit 7, under the control of the control device 6, controls the flight mechanism 3 to make the aircraft main body 2 ascend, descend, move forward, move backward, turn, etc. More specifically, the flight mechanism drive unit 7 includes a PMU (Power Management Unit), an ESC (Electric Speed ​​Controller), and a brushless motor. The brushless motor is a motor that rotates the propellers 4, and there is one for each of the four propellers 4. The PMU controls the power supplied from the battery to the ESC. The ESC controls the rotation speed of the brushless motor.

[0017] The GPS unit 8 receives a GPS signal and detects the current position (longitude, latitude, and altitude of the current position of the unmanned aerial vehicle 1) of the unmanned aerial vehicle 1 based on the GPS signal. The GPS unit 8 outputs the detection values ​​to the control device 6 at any time.

[0018] Under the control of the control device 6, the camera 9 captures images at a predetermined cycle (predetermined frame rate).

[0019] The flight-related sensors 10 include various sensors such as a gyro sensor, an acceleration sensor, an air pressure sensor, a magnetic sensor, a distance measurement sensor (eg, LIDAR or a stereo camera), a positioning camera, etc., and output detection values ​​of the various sensors to the control device 6.

[0020] The wireless communication unit 11 includes a baseband unit, an RF unit, an antenna, and the like for wireless communication in a specific frequency band, and transmits wireless signals by radio waves in a specific frequency band under the control of the control device 6, and also receives wireless signals superimposed on radio waves in a specific frequency band and outputs them to the control device 6. With the above configuration, the wireless communication unit 11 wirelessly communicates with a radio-controlled device on the ground and a computer for managing the unmanned aerial vehicle 1 according to a specific wireless communication standard. Hereinafter, the computer for managing the radio-controlled device on the ground and the unmanned aerial vehicle 1 that wirelessly communicates with the wireless communication unit 11 is referred to as a "management device." Any wireless communication standard may be used for wireless communication, and the wireless communication unit 11 and the management device may communicate via a mobile communication network.

[0021] The beacon receiving unit 12 receives beacons by wireless communication in accordance with the Bluetooth (registered trademark) wireless communication standard. However, the wireless communication standard is not limited to Bluetooth, and the beacon receiving unit 12 may receive beacons in accordance with another wireless communication standard instead of or in addition to Bluetooth. The beacon receiving unit 12 corresponds to the "beacon receiving section" in the claims.

[0022] The storage unit 13 includes a non-volatile memory such as an EEPROM, and stores various data in a non-volatile manner. Note that the storage device constituting the control device 6 is distinguished from the storage unit 13 for the sake of convenience of explanation, and the storage unit 13 may be included in the storage device constituting the control device 6.

[0023] 3, the control device 6 includes, as a functional configuration, a control unit 20. As described above, the functions of these functional blocks 20 are realized by cooperation between hardware and software.

[0024] The control unit 20 recognizes the position and attitude of the unmanned aerial vehicle 1 during flight based on inputs from the GPS unit 8, camera 9, flight-related sensors 10, wireless communication unit 11 and beacon receiving unit 12, and controls the flight mechanism drive unit 7 to adjust the rotation speed of each propeller 4 of the flight mechanism 3 and control the flight of the unmanned aerial vehicle 1.

[0025] As described above, the unmanned aerial vehicle 1 according to this embodiment can fly according to remote control by a radio-controlled device, and can also fly autonomously along a predetermined planned route by autonomous control without remote control. The autonomous flight will be briefly described below.

[0026] During autonomous flight, the memory unit 13 stores planned route information by a predetermined means. The planned route information is information that represents the route that the unmanned aerial vehicle 1 will fly by using a plurality of waypoints. Each waypoint has longitude, latitude, and altitude information. During autonomous flight, the control unit 20 controls the flight mechanism drive unit 7 while monitoring the position, attitude, and movement direction of the unmanned aerial vehicle 1 during flight based on the detection values ​​of the GPS unit 8 and the flight-related sensors 10, thereby controlling the ascent, descent, forward movement, backward movement, turning, etc. of the unmanned aerial vehicle 1, and flies the unmanned aerial vehicle 1 so that the unmanned aerial vehicle 1 follows the plurality of waypoints recorded in the planned flight information in order.

[0027] With regard to autonomous flight, it is possible to fly autonomously while photographing an object to be inspected (for example, an electric wire or an overhead ground wire suspended from a steel tower) with the camera 9.

[0028] As described above, the unmanned aerial vehicle 1 can fly autonomously, and can also fly according to the pilot's control. Regardless of the method of flight, the unmanned aerial vehicle 1 may come close to an object of some kind, and while it would be better to have the vehicle perform processing appropriate to that situation, there may be situations in which a human cannot immediately and explicitly instruct the vehicle to perform the processing (specific examples of such situations will be described later). In light of this, the control device 6 of the unmanned aerial vehicle 1 executes the following processing.

[0029] While the unmanned aerial vehicle 1 is operating, the control unit 20 monitors whether a beacon has been received by the beacon receiving unit 12. The fact that a beacon has been received by the beacon receiving unit 12 means that the unmanned aerial vehicle 1 has approached the source of the beacon to a degree that allows it to receive the beacon. The control unit 20 may be configured to monitor whether a beacon with a radio wave strength equal to or greater than a certain level has been received, rather than simply monitoring whether a beacon has been received. When a beacon has been received by the beacon receiving unit 12, the control unit 20 recognizes the value of the beacon identification information (corresponding to "identification information" in the claims) included in the beacon received by the beacon receiving unit 12. The control unit 20 then refers to a processing table stored in the memory unit 13.

[0030] Fig. 4 is a diagram showing the contents of the process table. The process table is a table in which information for identifying a process (hereinafter referred to as "process identification information") is recorded in association with each type of value of the beacon identification information. Fig. 4 shows that in the process table, the beacon identification information value "N001" is associated with the process identification information indicating process A, the beacon identification information value "N002" is associated with the process identification information indicating process B, and the beacon identification information value "N003" is associated with the process identification information indicating process C. The significance of the beacon identification information and the process table will become clear later.

[0031] The control unit 20 refers to the processing table and determines whether the value of the recognized beacon identification information matches any of the values ​​of beacon identification information registered in the processing table. If there is no matching value, the control unit 20 does not execute processing in response to the reception of the beacon. On the other hand, if there is a matching value, the control unit 20 executes the processing indicated by the processing identification information associated with the matching value in the processing table.

[0032] There may be cases where the beacon does not include beacon identification information, or where the format is different from the expected format and the information corresponding to the beacon identification information cannot be recognized. In this case, the control unit 20 does not execute processing in response to the reception of the beacon. As will be clear later, the beacon transmitting device that transmits the beacon transmits the beacon intermittently and continuously. Therefore, while the distance between the beacon transmitting device and the unmanned aerial vehicle 1 is close, the control unit 20 receives beacons including beacon identification information of the same value intermittently and continuously from the beacon transmitting device. In light of this, appropriate measures are taken to prevent the processing indicated by the processing identification information from being performed each time a beacon including beacon identification information of the same value is intermittently received. For example, when the control unit 20 receives a beacon including beacon identification information of a certain value, the control unit 20 executes the above processing, while thereafter discarding the received beacon while the control unit 20 is receiving beacons including beacon identification information of the certain value intermittently and continuously.

[0033] The above is the processing of the control device 6. Below, specific examples of the processing indicated by the processing identification information will be given, and the operation of the control device 6 (and the unmanned aerial vehicle 1) will be described along with specific examples of how the processing is applied.

[0034] <Movement stop processing> An example of the process indicated by the process identification information is a process to stop movement (hereinafter, referred to as a "movement stop process"). Stopping movement means causing the unmanned aerial vehicle 1 to remain in its current position (three-dimensional position including altitude). The movement stop process is applied, for example, in the following manner.

[0035] That is, regardless of whether the unmanned aerial vehicle 1 is in manual mode or automatic mode, a state is created in which a person who may be approached by the unmanned aerial vehicle 1 or who may approach the unmanned aerial vehicle 1 carries a device that intermittently transmits a beacon while the unmanned aerial vehicle 1 is operating. Hereinafter, devices that intermittently transmit a beacon are collectively referred to as "beacon transmission devices." Also, a person who may be approached by the unmanned aerial vehicle 1 or who may approach the unmanned aerial vehicle 1 is referred to as "approachable person." An approachable person is, for example, a pilot and a person assisting in piloting the unmanned aerial vehicle 1 when the unmanned aerial vehicle 1 flies in manual mode, or, for example, a spectator who watches the flight of the unmanned aerial vehicle 1. In accordance with the purpose, it is also possible to attach a beacon transmission device not only to a human being but also to other living beings (for example, a pet when the pilot pilots the unmanned aerial vehicle with a pet).

[0036] Regardless of whether the mode is manual or automatic, a beacon transmitter is attached to an object (assuming an object other than a human or other living thing) that the unmanned aerial vehicle 1 may approach or approach the unmanned aerial vehicle 1 during flight of the unmanned aerial vehicle 1. Hereinafter, an object that the unmanned aerial vehicle 1 may approach or approach the unmanned aerial vehicle 1 is referred to as a "probably approachable object". Probably approachable objects include not only stationary objects but also moving objects. For example, when the unmanned aerial vehicle 1 flies indoors, a potentially approachable object is a wall, a facility installed indoors, or other object that exists indoors and should be prevented from coming into contact with the unmanned aerial vehicle 1. As an example of this, when the unmanned aerial vehicle 1 flies in a huge warehouse, a wall, a shelf for storing luggage, a vehicle used to transport luggage, etc. may be a potentially approachable object. For example, when an inspection object is photographed by a camera 9 during autonomous flight, the inspection object may be a potentially approachable object.

[0037] Hereinafter, accessible humans and accessible objects are collectively referred to as "accessible objects." For convenience, the state in which a human (accessible human) has a beacon transmitter may be expressed as "attaching a beacon transmitter to a human."

[0038] The beacon transmitter is, for example, a small dedicated device that is provided with a switch and transmits a beacon intermittently while the switch is on. Another example of the beacon transmitter is a small device available on the market called a Bluetooth LE (Low Energy) beacon. Another example of the beacon transmitter is a smartphone, tablet terminal, or other portable device with a Bluetooth communication function that transmits a beacon intermittently by the function of an installed dedicated application. The dedicated application has a function of providing a user interface for instructing the start and end of beacon transmission, and a function of cooperating with an OS to cause a Bluetooth module to transmit an intermittent beacon while a beacon transmission is instructed.

[0039] Also, for example, when the source of the beacon is a drone or other unmanned aerial vehicle, and the unmanned aerial vehicle is required by the regulations of the area in which it flies to transmit a beacon with a specified content (which includes information that can be used as beacon identification information), the beacon transmitter is a device that has the function of transmitting the specified beacon. An example of this device is a Remote ID device.

[0040] Each approachable human carries a beacon transmission device, and each beacon transmission device is in an active state (a state in which a beacon is transmitted intermittently) while the unmanned aerial vehicle 1 is operating. Also, while the unmanned aerial vehicle 1 is operating, each beacon transmission device attached to the approachable object is in an active state.

[0041] In addition, in the processing table, the value of the beacon identification information included in the beacon output by the beacon transmission device carried by the approachable person and the processing identification information indicating the movement stop processing are registered in association with each other. The value of the beacon identification information included in the beacon transmitted by different beacon transmission devices may be the same (in this case, a record in which the beacon identification information of a common value and the processing identification information indicating the movement stop processing are registered in the processing table). In addition, as an actual application, a configuration may be adopted in which a record in which the beacon identification information of a predetermined value and the processing identification information indicating the movement stop processing are associated with each other is registered in the processing table, and a beacon including the beacon identification information of the predetermined value is transmitted for each of the beacon transmission devices.

[0042] Furthermore, in the processing table, a record is registered in advance in which the value of the beacon identification information included in the beacon output by the beacon transmitting device attached to the approachable object is associated with processing identification information indicating a movement stop processing.

[0043] In the state where the above-mentioned state is established, the control device 6 executes the following process. That is, regardless of whether the unmanned aerial vehicle 1 is in manual mode or autonomous mode, when the unmanned aerial vehicle 1 and the approachable object (attached to a beacon transmission device) approach each other while the unmanned aerial vehicle 1 is flying, the beacon transmitted by the beacon transmission device of the approachable object is received by the beacon receiving unit 12 of the control device 6. In response to this, the control unit 20 recognizes the value of the beacon identification information transmitted by the beacon transmission device and refers to the processing table. Since the processing table has a record in which the value of the beacon identification information included in the beacon output by the beacon transmission device of the approachable object and the processing identification information indicating the movement stop processing are associated with each other, the control unit 20 determines that the same value as the recognized value of the beacon identification information exists. Next, the control unit 20 executes the processing indicated by the processing identification information associated with the value that matches the value of the recognized beacon identification information in the processing table. Here, since the processing indicated by the processing identification information is the movement stop processing, the control unit 20 executes the movement stop processing.

[0044] As a result, regardless of whether the unmanned aerial vehicle 1 is in manual mode or autonomous mode, when the unmanned aerial vehicle 1 approaches an approachable object to a degree that allows it to receive a beacon transmitted by the beacon transmitter of the approachable object, the movement of the unmanned aerial vehicle 1 automatically and instantly stops without human instructions (for example, operation by a pilot or a person operating a management computer). This makes it possible to appropriately avoid proximity or contact between the approachable object and the unmanned aerial vehicle 1. Note that in this embodiment, when the unmanned aerial vehicle 1 "approaches" an object, it means that the distance between the unmanned aerial vehicle 1 and the object is shortened to the extent that some adverse effect may occur to the unmanned aerial vehicle 1 or the object, and this is clearly distinguished from the state represented by the expression "approaching" and the state represented by the expression "coming close".

[0045] The processing after the movement stop processing is executed can be set appropriately. For example, the control unit 20 stops the movement of the unmanned aerial vehicle 1 until the beacon is no longer received (or until the strength of the radio wave becomes equal to or less than a certain level). In addition, for example, the control unit 20 controls the wireless communication unit 11 to send a message indicating that the movement of the unmanned aerial vehicle 1 has been stopped based on the processing table to the management device.

[0046] <Other examples of application of movement stop processing> The above-mentioned application example of the movement stop processing is aimed at preventing the unmanned aerial vehicle 1 from approaching or coming into contact with an object. In addition, the following application is possible. That is, suppose that there are objects scattered around that, when the unmanned aerial vehicle 1 approaches during autonomous flight in autonomous mode, the movement of the unmanned aerial vehicle 1 should be stopped for a certain period of time and the unmanned aerial vehicle 1 should execute some processing. For example, the object is in a position close to the unmanned aerial vehicle 1 and is required to be photographed by the camera 9 in a stopped state. In such a case, by attaching a beacon transmission device to each object and registering in advance in the processing table a record in which the value of the beacon identification information included in the beacon transmitted by each beacon transmission device and the processing identification information indicating the movement stop processing are associated, the unmanned aerial vehicle 1 can be stopped for a certain period of time at a position close to each object when the unmanned aerial vehicle 1 approaches each object during autonomous flight in autonomous mode.

[0047] <Rising process> An example of the process indicated by the process identification information is a process of raising the aircraft (hereinafter referred to as "ascending process"). Raising the aircraft means moving the unmanned aerial vehicle 1 vertically upward from its current position. For example, the following application is made to the ascending process. That is, regardless of whether the mode is manual or autonomous, a beacon transmitter is attached to the following objects (a concept including living things including humans and non-living objects, as described above) within the range where the unmanned aerial vehicle 1 can fly. That is, a beacon transmitter is attached to an object that can safely raise the unmanned aerial vehicle 1 when the unmanned aerial vehicle 1 approaches the object, and can reliably or effectively prevent the unmanned aerial vehicle 1 from approaching or coming into contact with the object by raising the unmanned aerial vehicle 1. Hereinafter, such an object is referred to as an ascending process-compatible object. The ascending process corresponds to "a process of moving a moving object in a predetermined manner."

[0048] An object that can be subjected to ascent processing is basically an object that does not move vertically upward. This is because, if the unmanned aerial vehicle 1 approaches such an object, the unmanned aerial vehicle 1 can physically move away from the object by rising. Examples of objects that can be subjected to ascent processing include humans (including pilots), automobiles that move on the ground, and equipment installed on the ground.

[0049] A beacon transmitter is attached to the ascent process compatible object, and a record in which the value of the beacon identification information included in the beacon transmitted by each beacon transmitter and the process identification information indicating the ascent process are associated with each other is registered in advance in the process table. This makes it possible to effectively prevent the unmanned aerial vehicle 1 from approaching or coming into contact with the ascent compatible object.

[0050] The extent to which the value is increased, the process to be executed along with the increase, the process to be executed after the increase, etc. are appropriately set.

[0051] <Reverse Processing> An example of the process indicated by the process identification information is a process of moving backwards (hereinafter referred to as "reverse processing"). Reverse processing means moving the unmanned aerial vehicle 1 from the current position in the opposite direction to the direction of movement up to that point. Reverse processing corresponds to "processing of moving a moving body in a predetermined manner". For example, the following application is made to the reverse processing. That is, regardless of the manual mode or the autonomous mode, a beacon transmission device is attached to the following object within the range where the unmanned aerial vehicle 1 can fly. That is, a beacon transmission device is attached to an object that can safely move the unmanned aerial vehicle 1 backwards when the unmanned aerial vehicle 1 approaches the object, and can reliably or effectively prevent the unmanned aerial vehicle 1 from approaching or coming into contact with the object by moving backwards. Hereinafter, such an object is referred to as a reverse processing compatible object. The reverse processing compatible object is, for example, the above-mentioned approachable human and approachable object.

[0052] A beacon transmitter is attached to the reverse-progression processing compatible object, and a record in which the value of the beacon identification information included in the beacon transmitted by each beacon transmitter corresponds to the processing identification information indicating the reverse-progression processing is registered in advance in the processing table. This makes it possible to effectively prevent the unmanned aerial vehicle 1 from approaching or coming into contact with the reverse-progression compatible object. In addition, in the case of an object that is expected to move toward the unmanned aerial vehicle 1, it is considered that there are cases in which the approach or contact can be more effectively prevented by performing the reverse-progression processing rather than the movement stop processing.

[0053] <Scheduled route change processing> An example of the process indicated by the process identification information is a process of changing the planned route (hereinafter referred to as "planned route change process"). The planned route change process is applied, for example, as follows. That is, in relation to the flight of the unmanned aerial vehicle 1 in the autonomous mode, a beacon transmitter is attached to the following object, or the beacon transmitter is held by the object. That is, a beacon transmitter is attached to an object that the unmanned aerial vehicle 1 may approach or come into contact with when the unmanned aerial vehicle 1 is flying in the autonomous mode, and when the unmanned aerial vehicle 1 approaches the object, it is effective to change the planned route in order to reliably avoid approaching or coming into contact with the object and to smoothly continue the autonomous flight thereafter. Hereinafter, such an object is referred to as an object compatible with planned route change process. An object compatible with planned route change process is, for example, the above-mentioned inspection object.

[0054] Regarding the planned route change process, the control device 6 executes the following process, for example. That is, when the planned route change process is executed, the control unit 20 temporarily stops the movement of the unmanned aerial vehicle 1. Next, the control unit 20 controls the wireless communication unit 11 to send a command to the management device to request a change in the planned route. This command includes the GPS unit 8, the camera 9, the flight-related sensor 10, the beacon identification information included in the beacon, and other information used by the management device to newly derive the planned route. When the management device receives this command, it newly derives an appropriate planned route that avoids proximity or contact with the object that is the source of the beacon, and transmits the planned route information to the control device 6. The control unit 20 of the control device 6 receives the planned route information, updates the value of the planned route information in the memory unit 13, and moves the unmanned aerial vehicle 1 along the planned route.

[0055] A beacon transmitter is attached to the object corresponding to the planned route change process, and a record in which the value of the beacon identification information included in the beacon transmitted by each beacon transmitter and the processing identification information indicating the planned route change process are associated with each other is registered in advance in the processing table. This makes it possible to effectively prevent the unmanned aerial vehicle 1 from approaching or contacting the object corresponding to the planned route change, and to smoothly continue autonomous flight thereafter.

[0056] <Speed ​​deceleration process> Moreover, one example of the process indicated by the process identification information is a process of decelerating speed (hereinafter, referred to as "speed deceleration process"). The speed deceleration process means decelerating the speed of the unmanned aerial vehicle 1. Particularly in the manual mode, the speed deceleration process means flying at a speed slower than the speed at that time. Also, in the autonomous mode, the speed deceleration process means reducing the target speed described above. For example, the following is applied to the speed deceleration process.

[0057] In other words, regardless of whether the unmanned aerial vehicle 1 is in manual mode or autonomous mode, a beacon transmitter is attached to an object that should be prevented from approaching or coming into contact with within the range in which the unmanned aerial vehicle 1 can fly. Hereinafter, an object that is the subject of speed deceleration processing is referred to as a speed deceleration processing compatible object. Speed ​​deceleration processing compatible objects are, for example, the above-mentioned approachable humans and approachable objects.

[0058] A beacon transmitter is attached to the object corresponding to the speed deceleration process, and a record in which the value of the beacon identification information included in the beacon transmitted by each beacon transmitter and the processing identification information indicating the speed deceleration process are associated with each other is registered in advance in the processing table. This allows the speed of the unmanned aerial vehicle 1 to be decelerated when the unmanned aerial vehicle 1 approaches the object corresponding to the speed deceleration process. This allows the pilot to more easily and accurately avoid the approach or contact between the unmanned aerial vehicle 1 and the object corresponding to the speed deceleration process in the manual mode. In addition, the following effects are achieved in the autonomous mode. That is, the control unit 20 has a function of controlling the movement of the unmanned aerial vehicle 1 based on the detection value of the flight-related sensor 10, in addition to the processing using the beacon, and avoiding the approach or contact between the unmanned aerial vehicle 1 and the object. In order to exercise this function, the movement speed of the unmanned aerial vehicle 1 is reduced in advance, so that the unmanned aerial vehicle 1 can avoid the approach or contact between the unmanned aerial vehicle 1 and the object more reliably and smoothly.

[0059] <Log recording process> An example of the process indicated by the process identification information is a log recording process in which the control unit 20 records the beacon identification information as a log. Recording the beacon identification signal as a log means that the control unit 20 records information indicating the date and time (date + time) when the beacon was received and the beacon identification information in association with each other in the log data stored in the storage unit 13. Naturally, information other than the date and time and the beacon identification information may be recorded in the log data. Furthermore, when the control unit 20 recognizes the same beacon identification information consecutively, it may be configured to record only the first beacon identification information. For example, the following is applied to the log recording process.

[0060] For example, regardless of whether it is in manual mode or autonomous mode, a beacon transmitter is attached to other unmanned aerial vehicles that may approach the unmanned aerial vehicle 1. Furthermore, a record in which the value of the beacon identification information included in the beacon transmitted by each beacon transmitter corresponds to processing identification information indicating a log recording process is registered in advance in the processing table. As a result, when the unmanned aerial vehicle 1 approaches another unmanned aerial vehicle, the beacon identification information corresponding to the other unmanned aerial vehicle is recorded in the log data as a log, and the log data can be used to effectively analyze the flights of the unmanned aerial vehicle 1 and the other unmanned aerial vehicles after the fact.

[0061] Also, for example, in the autonomous mode, a beacon transmitter is attached to each point that the unmanned aerial vehicle 1 must pass (provided that the point is a point where a beacon transmitter can be attached). Furthermore, a record is registered in advance in the processing table in which the value of the beacon identification information contained in the beacon transmitted by each beacon transmitter corresponds to processing identification information indicating the log recording processing. As a result, when the unmanned aerial vehicle 1 approaches a point during autonomous flight, the beacon identification information corresponding to the point is recorded in the log data as a log, and the log data can be used to effectively analyze the flight behavior of the unmanned aerial vehicle 1 after the fact.

[0062] <Message sending process> An example of the process indicated by the process identification information is a process in which the control unit 20 controls the wireless communication unit 11 to transmit a message to a management device on the ground (specific examples of the contents of the message will be described later). When the control unit 20 continuously recognizes the same beacon identification information, the control unit 20 may be configured to transmit a message only when the beacon identification information is recognized for the first time. For example, the following applies to the message transmission process.

[0063] For example, regardless of whether it is in manual mode or autonomous mode, a beacon transmitter is attached to another unmanned aerial vehicle that may approach the unmanned aerial vehicle 1. Furthermore, a record in which the value of the beacon identification information included in the beacon transmitted by each beacon transmitter corresponds to the processing identification information indicating the message transmission processing is registered in advance in the processing table. As a result, when the unmanned aerial vehicle 1 approaches another unmanned aerial vehicle, a message including the beacon identification information of the other unmanned aerial vehicle and information indicating the approach of the other unmanned aerial vehicle is transmitted to the management device, and the person operating the management device can recognize that the other unmanned aerial vehicle has approached the unmanned aerial vehicle 1 through the message. The message can also be stored as a log.

[0064] However, it is possible to set messages to be sent when approaching various objects, not just other unmanned aerial vehicles.

[0065] As described above, the control device 6 and unmanned aerial vehicle 1 of this embodiment recognize the beacon identification information (identification information) contained in the beacon when receiving a beacon, and if the value of the recognized beacon identification information is a pre-registered value, they execute the registered processing in association with that value.

[0066] According to this configuration, when a beacon is received, a process associated with the value of the beacon identification information (identification information) included in the beacon is automatically executed. For this reason, an object that the unmanned aerial vehicle 1 may approach, or an object that may approach the unmanned aerial vehicle 1, transmits a beacon including a specific value of beacon identification information, and then, for each type of value of the beacon identification information, an appropriate process to be executed by the unmanned aerial vehicle 1 (or the control device 6 of the unmanned aerial vehicle 1) when the corresponding object and the unmanned aerial vehicle 1 approach each other is associated, so that when the unmanned aerial vehicle 1 and the object approach each other, the process can be automatically executed without a human being immediately issuing an explicit instruction.

[0067] Here, for drones and other UAVs, there is a technology that uses a geofence to restrict the movement range of the UAV. However, the geofence is not effective in avoiding collisions between the UAV and a moving object. On the other hand, according to this embodiment, collisions between the UAV and a moving object can be appropriately avoided. In this embodiment, various sensors and devices that can be used to avoid collisions with objects are mounted, but if the use of the unmanned aerial vehicle 1 is limited and safety can be ensured, the technology described in this embodiment can be implemented to configure the vehicle without mounting various sensors, thereby reducing costs and weight. In addition, by combining a conventional UAV-related contact avoidance system with the technology described in this embodiment, more reliable contact avoidance can be achieved.

[0068] Next, the control method by the control device 6 (and the unmanned aerial vehicle 1) will be described using a flowchart. FIG. 5 is a flowchart showing an example of the operation of the control device 6 (and the unmanned aerial vehicle 1). As shown in FIG. 5, while the unmanned aerial vehicle 1 is operating, the control unit 20 monitors whether a beacon has been received by the beacon receiving unit 12 (step SA1). If a beacon has been received (step SA1: YES), the control unit 20 recognizes the beacon identification information contained in the beacon (step SA2). The control unit 20 then refers to a processing table stored in the memory unit 13 (step SA3).

[0069] Next, the control unit 20 determines whether the value of the beacon identification information recognized in step SA3 matches any of the values ​​of the beacon identification information registered in the processing table (step SA4). If there is no matching value (as described above, this includes the case where the beacon identification information is not included and the beacon identification information cannot be recognized) (step SA4: NO), the control unit 20 does not execute processing in response to the reception of the beacon. On the other hand, if there is a matching value (step SA4: YES), the control unit 20 executes the processing indicated by the processing identification information associated with the matching value in the processing table (step SA5).

[0070] <Modification of the first embodiment> Next, a modified example of the first embodiment will be described. The control unit 20 according to this modified example executes the following process instead of the process of the first embodiment. That is, in the first embodiment, if the value of the beacon identification information included in the received beacon does not match any of the values ​​of the beacon identification information registered in the process table, the control unit 20 does not execute the process in response to the reception of the beacon. On the other hand, the control unit 20 according to this modified example executes the following process.

[0071] If the value of the beacon identification information included in the received beacon does not match any of the values ​​of the beacon identification information registered in the processing table (including cases where the beacon does not include the beacon identification information and cases where the beacon identification information has not been recognized), the control unit 20 according to this modification analyzes the information included in the beacon to determine whether or not it is possible to identify the type of device that has transmitted the beacon. In this modification, the device is a concept that includes various devices, including unmanned aerial vehicles.

[0072] Here, if the value of the beacon identification information included in the received beacon does not match any of the beacon identification information values ​​registered in the processing table, there is a possibility that a beacon of a specific format that was transmitted for a purpose other than to be received by the beacon receiving unit 12 of the unmanned aerial vehicle 1 has been received by the beacon receiving unit 12. In this case, the beacon may contain information that identifies the device, and the control unit 20 analyzes the contents of the beacon based on information about various formats and determines whether it is possible to identify the type of device that sent the beacon.

[0073] If the type of device that transmitted the beacon cannot be identified, the control unit 20 does not execute processing in response to the reception of the beacon. On the other hand, if the type of device that transmitted the beacon can be identified, the control unit 20 identifies the type of device. Next, the control unit 20 refers to a type table stored in the storage unit 13. The type table is a table in which, for each type of device, information indicating the type (hereinafter referred to as "type information") and processing identification information are registered in association with each other. The processing identification information corresponding to information indicating a certain type indicates the processing that the control device 6 should execute when the type of device is that type.

[0074] After referring to the type table, the control unit 20 determines whether the type of the identified device matches any of the types indicated by type information registered in the type table. If there is no matching type, the control unit 20 does not execute a process in response to the reception of the beacon. On the other hand, if there is a matching type, the control unit 20 executes a process indicated by the process identification information associated with the matching type in the type table.

[0075] For example, in the type table, a record is registered in which type information indicating that the type is a type of device generally carried by humans (e.g., a mobile phone including a smartphone, a tablet terminal, a notebook computer, a laptop computer, etc.) is associated with processing identification information indicating an ascent process. According to this, when the unmanned aerial vehicle 1 approaches a human, even if the human does not have a beacon transmission device (a device having a function of transmitting a beacon including beacon identification information), if the device carried by the human transmits a beacon that can identify the type of device, contact between the human and the unmanned aerial vehicle 1 can be appropriately prevented without the explicit instruction of the human. Note that in the above example, the part designated as the ascent process may be any process that avoids proximity or contact, and may be, for example, a movement stop process.

[0076] Also, for example, in the type table, a record is registered in which type information indicating that the type is an unmanned aerial vehicle is associated with processing identification information indicating a message transmission process. According to this, when the unmanned aerial vehicle 1 approaches another unmanned aerial vehicle, even if the other unmanned aerial vehicle is not equipped with a beacon transmission device (a device having a function of transmitting a beacon including beacon identification information), the message transmission process can be automatically executed without human instructions when the other unmanned aerial vehicle approaches (the content of the message is adjusted appropriately). Note that, in the above example, the part designated as the message transmission process may be any process that responds to the approach of another unmanned aerial vehicle, and may be, for example, a log recording process.

[0077] Next, a control method of the control device 6 (and the unmanned aerial vehicle 1) according to this modified example will be described using a flowchart. FIG. 6 is a flowchart showing an example of the operation of the control device 6 (and the unmanned aerial vehicle 1). As shown in FIG. 6, while the unmanned aerial vehicle 1 is being driven, the control unit 20 monitors whether a beacon has been received by the beacon receiving unit 12 (step SB1). If a beacon has been received (step SB1: YES), the control unit 20 recognizes the beacon identification information (step SB2), refers to the processing table (step SB3), and determines whether the value of the beacon identification information matches any of the values ​​of the beacon identification information registered in the processing table (step SB4). If a matching value is found (step SB4: YES), the control unit 20 executes the processing indicated by the processing identification information associated with the matching value in the processing table (step SB5).

[0078] On the other hand, if there is no matching value (including the case where the beacon does not include beacon identification information and the case where the beacon identification information was not recognized) (step SB4: NO), the control unit 20 determines whether or not the type of the device that transmitted the beacon can be identified (step SB6). If it cannot be identified (step SB6: NO), the control unit 20 does not execute a process in response to the reception of the beacon. On the other hand, if it can be identified (step SB6: YES), the control unit 20 identifies the type of the device (step SB7) and refers to the type table (step SB8). Next, the control unit 20 determines whether or not the identified device type matches any of the types indicated by the type information registered in the type table (step SB9). If there is no matching type (step SB9: NO), the control unit 20 does not execute a process in response to the reception of the beacon. On the other hand, if there is a matching type (step SB9: YES), the control unit 20 executes a process indicated by the process identification information associated with the matching type in the type table (step SB10).

[0079] <Second embodiment> Next, a second embodiment will be described. FIG. 7 is a block diagram showing an example of the functional configuration of a control device 6A according to this embodiment. The control device 6A according to this embodiment is a device mounted on a compliant automobile 1A. The compliant automobile 1A is an autonomous unmanned automobile or an automatically driven automobile. An autonomous unmanned automobile is a so-called UGV, an automobile that runs autonomously without a passenger on board. An automatically driven automobile is an automobile that runs autonomously with a passenger on board (naturally, it does not have to be a passenger on board). Hereinafter, the autonomous unmanned automobile and the automatically driven automobile are collectively referred to as the "compliant automobile 1A". The compliant automobile 1A corresponds to the "moving body" in the claims.

[0080] 7, the control device 6A is connected to a beacon receiving unit 12A, a storage unit 13A, and a driving execution device 30. The beacon receiving unit 12A has a function equivalent to the beacon receiving unit 12 according to the first embodiment. The storage unit 13A has a function equivalent to the storage unit 13 according to the first embodiment.

[0081] The driving execution device 30 is a device that executes automatic driving or autonomous driving. The driving execution device 30 is connected to various sensors that detect the vehicle environment (the vehicle position, the surrounding conditions in which the vehicle is driving, the inter-vehicle distance, etc.), various sensors that detect the vehicle state (vehicle speed, relative direction, gear state, etc.), and various ECUs that control various mechanisms related to the propulsion of the vehicle (engine, transmission, brake, steering, etc.), and executes automatic driving or autonomous driving by controlling the various ECUs according to the vehicle environment and the vehicle state.

[0082] 7, the control device 6A includes a control unit 20A as a functional configuration. The control unit 20A executes various types of arithmetic processing / information processing through cooperation between hardware and software, such as a CPU reading and executing a program stored in a ROM.

[0083] In this embodiment, a processing table is stored in the storage unit 13A as in the first embodiment. Furthermore, in this embodiment, as in the first embodiment, a beacon transmission device is attached to an object (including living things including humans and non-living objects as described above) that is required to be prevented from approaching or contacting the compatible automobile 1A within the range in which the compatible automobile 1A travels, as in the first embodiment. In addition, a record is registered in the processing table in which the value of the beacon identification information included in the beacon transmitted by the beacon transmission device attached to the object is associated with processing identification information indicating processing for preventing the approach or contact with the object. The processing for preventing the approach or contact with the compatible automobile 1A is processing for controlling the travel execution device 30 to stop the vehicle while ensuring safety, reverse (move in a predetermined manner), reduce the traveling speed, output a warning, etc.

[0084] In this embodiment, a beacon transmitter is attached to an object within the range where the compatible vehicle 1A travels, for which it is desired that the control device 6A execute some process (other than the process of avoiding proximity or contact) when the compatible vehicle 1A approaches. Then, a record is registered in the process table in which the value of the beacon identification information included in the beacon transmitted by the beacon transmitter attached to the object is associated with the process identification information indicating the process to be executed by the control device 6A when the object approaches.

[0085] The control device 6A according to this embodiment executes the following process. The operation of the control device 6A described below is the same as that of the first embodiment, and the operation of the control device 6A will be described with reference to the flowchart in FIG. 5. While the compatible vehicle 1A is driving, the control unit 20A monitors whether a beacon has been received by the beacon receiving unit 12 (step SA1). If a beacon has been received (step SA1: YES), the control unit 20A recognizes the beacon identification information included in the beacon (step SA2). Next, the control unit 20A refers to the processing table stored in the storage unit 13A (step SA3).

[0086] Next, the control unit 20A determines whether the value of the beacon identification information recognized in step SA2 matches any of the values ​​of the beacon identification information registered in the processing table (step SA4). If there is no matching value (step SA4: NO), the control unit 20A does not execute processing in response to the reception of the beacon. On the other hand, if there is a matching value (step SA4: YES), the control unit 20A executes processing indicated by the processing identification information associated with the matching value in the processing table (step SA5).

[0087] According to this embodiment, the following effects are achieved, as in the first embodiment. That is, when a beacon is received, a process associated with the value of the beacon identification information (identification information) included in the beacon is automatically executed. Therefore, by making an object that the compatible automobile 1A may approach, or an object that may approach the compatible automobile 1A transmit a beacon including a specific value of beacon identification information, and by associating an appropriate process to be executed by the compatible automobile 1A (or the control device 6A of the compatible automobile 1A) when the corresponding object and the compatible automobile 1A approach each type of value of the beacon identification information, it is possible to automatically execute the process when the compatible automobile 1A and the object approach each other without a human being immediately issuing an explicit instruction.

[0088] <Modification of the second embodiment> Next, a modified example of the second embodiment will be described. The operation of the control device 6A described below is the same as that of the modified example of the first embodiment, and the operation of the control device 6A according to this modified example will be described below with reference to the flowchart in FIG. 6. While the compatible automobile 1A is driving, the control unit 20A monitors whether a beacon is received by the beacon receiving unit 12A (step SB1). If a beacon is received (step SB1: YES), the control unit 20A recognizes the beacon identification information (step SB2), refers to the processing table (step SB3), and determines whether the value of the beacon identification information matches any of the values ​​of the beacon identification information registered in the processing table (step SB4). If a matching value is found (step SB4: YES), the control unit 20A executes the processing indicated by the processing identification information associated with the matching value in the processing table (step SB5).

[0089] On the other hand, if there is no matching value (step SB4: NO), the control unit 20A determines whether or not the type of the device that is the source of the beacon can be identified (step SB6). If it cannot be identified (step SB6: NO), the control unit 20A does not execute a process in response to the reception of the beacon. On the other hand, if it can be identified, the control unit 20A identifies the type of the device (step SB7) and refers to the type table (step SB8). Next, the control unit 20A determines whether or not the identified device type matches any of the types indicated by the type information registered in the type table (step SB9). If there is no matching type (step SB9: NO), the control unit 20A does not execute a process in response to the reception of the beacon. On the other hand, if there is a matching type (step SB9: YES), the control unit 20A executes a process indicated by the process identification information associated with the matching type in the type table (step SB10). According to the configuration of this modification, the same effect as the modification of the first embodiment is achieved.

[0090] Although one embodiment of the present invention has been described above, the above-mentioned embodiments are merely examples of the embodiment of the present invention, and the technical scope of the present invention should not be interpreted as being limited thereby. In other words, the present invention can be embodied in various forms without departing from the gist or main characteristics thereof.

[0091] For example, in the above embodiments, the unmanned aerial vehicle 1 (first embodiment) and the corresponding automobile 1A (second embodiment) are exemplified as the moving body, but the moving body is not limited to the objects exemplified in each embodiment. In other words, the moving body to which the present invention is applied may be any moving body that, when approaching a target object, should be made to perform a process corresponding to the situation, but may be in a situation where a human being cannot immediately and explicitly instruct the execution of the process.

[0092] Also, in the first embodiment, the flight mechanism 3 has four propellers 4. However, it goes without saying that the flight mechanism 3 is not limited to the structure exemplified in the embodiment. For example, the number of propellers 4 does not need to be four, and may be, for example, three, six, eight, etc. Also, for example, the flight mechanism 3 may have a main rotor (rotor) like a normal helicopter, and the unmanned aerial vehicle may be configured to take off and fly by the lift of the main rotor. [Explanation of symbols]

[0093] 1 Unmanned aerial vehicles (mobile vehicles) 1A compatible automobiles (mobile objects) 6, 6A Control Device 12, 12A Beacon receiving unit 20, 20A Control Unit

Claims

1. A control device for controlling a moving object, comprising: a control unit that recognizes identification information included in a beacon received by a beacon receiving unit that receives a beacon, and when a value of the recognized identification information is a value registered in advance, executes a process registered in association with the value; The process associated with the value of the identification information includes a first process of moving or stopping the moving object in a predetermined manner so as to avoid proximity or contact with a source of a beacon; When the value of the recognized identification information is a pre-registered value and the process registered in association with the value is the first process, the control unit automatically and immediately moves the moving body in a predetermined manner so as to avoid proximity or contact with a source of a beacon, or automatically and immediately stops the movement. A control device comprising:

2. When the value of the recognized identification information is not a preregistered value or when the identification information is not included, the control unit determines whether or not it is possible to identify the type of device that has transmitted the beacon from information included in the beacon, and when it is possible to identify the type of device, identifies the type of device and executes a process associated with the identified type of device.

2. The control device according to claim 1, characterized in that

3. The moving object is an unmanned aerial vehicle, The process associated with the value of the identification information includes the first process of moving or stopping the unmanned aerial vehicle in a predetermined manner so as to avoid proximity or contact with a source of the beacon, When the value of the recognized identification information is a pre-registered value and the process registered in association with the value is the first process, the control unit automatically and immediately moves the unmanned aerial vehicle in a predetermined manner so as to avoid proximity or contact with the source of the beacon, or automatically and immediately stops the movement. The control device according to claim 1 .

4. The process associated with the value of the identification information further includes a process of transmitting a message to a management device on the ground.

4. The control device according to claim 3.

5. The process associated with the value of the identification information further includes a process of recording information including the identification information as a log.

5. The control device according to claim 3 or 4.

6. When the value of the recognized identification information is not a preregistered value or when the identification information is not included, the control unit determines whether or not it is possible to identify the type of device that has transmitted the beacon from information included in the beacon, and when it is possible to identify the type of device, identifies the type of device and executes a process associated with the identified type of device.

6. The control device according to claim 3, wherein the control device is a control unit for controlling a vehicle.

7. The process associated with the type of device indicating that the device is a type carried by a human includes a process of moving or stopping the movement of the unmanned aerial vehicle so as to avoid proximity or contact between the unmanned aerial vehicle and a human.

7. The control device according to claim 6.

8. The moving object is an autonomous unmanned automobile or a self-driving vehicle, The process associated with the value of the identification information includes the first process of moving or stopping the autonomous unmanned automobile or the self-driving vehicle in a predetermined manner so as to avoid proximity or contact with a source of a beacon, When the value of the recognized identification information is a pre-registered value and the process registered in association with the value is the first process, the control unit automatically and immediately moves the autonomous unmanned automobile or the self-driving vehicle in a predetermined manner or automatically and immediately stops the movement so as to avoid proximity or contact with a source of a beacon. The control device according to claim 1 .

9. When the value of the recognized identification information is not a preregistered value or when the identification information is not included, the control unit determines whether or not it is possible to identify the type of device that has transmitted the beacon from information included in the beacon, and when it is possible to identify the type of device, identifies the type of device and executes a process associated with the identified type of device. The control device according to claim 8 .

10. a control unit that recognizes identification information included in a beacon received by a beacon receiving unit that receives a beacon, and when a value of the recognized identification information is a value registered in advance, executes a process registered in association with the value; The process associated with the value of the identification information includes a first process of moving or stopping the movement of the own device in a predetermined manner so as to avoid proximity or contact with a source of the beacon, When the value of the recognized identification information is a pre-registered value and the process registered in association with the value is the first process, the control unit automatically and immediately moves the device in a predetermined manner so as to avoid proximity or contact with a source of a beacon, or automatically and immediately stops the device from moving. A moving object characterized by:

11. A control method for a control device that controls a moving object, comprising: A first step in which a control unit of the control device recognizes identification information included in a beacon received by a beacon receiving unit that receives a beacon; a second step of executing a process registered in association with the value of the identification information recognized by the control unit of the control device when the value of the identification information recognized is a pre-registered value; The process associated with the value of the identification information includes a first process of moving or stopping the moving object in a predetermined manner so as to avoid proximity or contact with a source of a beacon; In the second step, when the value of the recognized identification information is a pre-registered value and the process registered in association with the value is the first process, the control unit automatically and immediately moves the moving body in a predetermined manner so as to avoid proximity or contact with a source of a beacon, or automatically and immediately stops the movement. A control method comprising:

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