Control device, mobile object, control method, and program

Abstract

One objective of the present invention is to provide a control device, etc., capable of assisting control of a plurality of mobile bodies. A control device according to one embodiment of the present disclosure comprises: an acquisition means for acquiring function information indicating a measurement function of each of a plurality of mobile bodies; a determination means for determining, on the basis of the functional information, the role of one of the plurality of mobile bodies having a measurement function that meets a predetermined standard as a lead aircraft, and determining the roles of the other mobile bodies as wingmen; and a control means for performing control to cause the plurality of mobile bodies to be grouped as a formation, in accordance with the determined roles.

Description

Control device, mobile object, control method, and computer-readable storage medium

[0001] The present disclosure relates to a technique for controlling a moving object.

[0002] It is anticipated that services will be provided using mobile vehicles such as drones. For example, when delivering goods using mobile vehicles, it is conceivable that a large number of mobile vehicles will be operated.

[0003] In relation to the control of multiple moving objects, Patent Literature 1 discloses a technique for changing the shape of a formation. Specifically, the technique discloses a technique in which, based on a user operation, an aircraft is selected from the formation displayed on a display, and when the user selects a position within a movable range, a control signal is transmitted to the aircraft to move the aircraft to the selected position.

[0004] Patent Document 2 discloses a technology that allows multiple drones to share a flight airspace on the condition that they fly in formation, controlling the distance between them, when the flight airspace and flight direction of the multiple drones have a predetermined commonality. In this case, the technology disclosed in Patent Document 2 determines the arrangement of the drones during formation flight by arranging them in the order in which they will leave the formation flight.

[0005] JP 2017-222254 A International Publication No. 2019 / 054056

[0006] When moving objects fly in formation, the moving objects in the formation have roles such as a lead aircraft and a wingman. As an example, the lead aircraft navigates to the destination using various functions, and the wingman follows the lead aircraft. Here, depending on the situation, there may be moving objects that are not suited to their roles. For example, in this example, a moving object that does not have the function to navigate to the destination is not suited to be the lead aircraft. In other words, when moving objects are to fly in formation, it is necessary to appropriately define roles.

[0007] The present disclosure has been made in consideration of the above-mentioned problems, and one of its objects is to provide a control device and the like that can assist in the control of multiple moving bodies.

[0008] A control device according to one aspect of the present disclosure includes an acquisition means for acquiring function information indicating the measurement functions possessed by each of a plurality of moving bodies, a determination means for determining the role of one of the plurality of moving bodies that has a measurement function that meets a predetermined standard as a lead aircraft based on the function information, and determining the roles of the other moving bodies as wingmen, and a control means for controlling the plurality of moving bodies to form a formation according to the determined roles.

[0009] A moving body according to one aspect of the present disclosure includes an acquisition means for acquiring, when multiple moving bodies form a formation, function information indicating the measurement functions possessed by each of the multiple moving bodies; a determination means for determining, based on the function information, that the own body is the lead aircraft if the own body has measurement functions that satisfy a predetermined standard, and determining that the own body is the wingman if the own body does not have measurement functions that satisfy the predetermined standard; and a control means for controlling the own body in accordance with the determined role.

[0010] A control device according to one aspect of the present disclosure acquires functional information indicating the measurement functions possessed by each of a plurality of moving bodies, and based on the functional information, determines the role of one of the plurality of moving bodies that has a measurement function that meets a predetermined standard as the lead aircraft, determines the roles of the other moving bodies as wingmen, and controls the plurality of moving bodies to form a formation according to the determined roles.

[0011] A storage medium according to one aspect of the present disclosure stores a program that causes a computer to execute the following processes: when functional information indicating the measurement functions possessed by each of a plurality of moving bodies is acquired, based on the functional information, determining the role of one of the plurality of moving bodies that has a measurement function that meets a predetermined standard as a lead aircraft, and determining the roles of the other moving bodies as wingmen; and controlling the plurality of moving bodies to form a formation according to the determined roles.

[0012] According to the present disclosure, it is possible to assist in the control of multiple moving bodies.

[0013] 1 is a diagram schematically illustrating an example of a configuration including a control device of a first embodiment. FIG. 2 is a block diagram illustrating an example of a functional configuration of a control device of the first embodiment. FIG. 3 is a flowchart illustrating an example of the operation of a control device of the first embodiment. FIG. 4 is a block diagram illustrating an example of a configuration of a mobile object control system of a second embodiment. FIG. 5 is a diagram illustrating an example of a mobile object of the second embodiment. FIG. 6 is an example of functional information of the second embodiment. FIG. 7 is a flowchart illustrating an example of the operation of a control device of the second embodiment. FIG. 8 is a block diagram illustrating an example of a configuration of a mobile object control system of a third embodiment. FIG. 9 is a diagram schematically illustrating an example of a mobile object forming a formation of the third embodiment. FIG. 10 is a flowchart illustrating an example of the operation of a control device of the third embodiment. FIG. 11 is a block diagram illustrating an example of a configuration of a mobile object control system of a fourth embodiment. FIG. 12 is a diagram schematically illustrating an example of formation navigation information of the fourth embodiment. FIG. 13 is a diagram schematically illustrating an example of mobile object navigation information of the fourth embodiment. FIG. 14 is a diagram illustrating an example of a situation in which a mobile object of the fourth embodiment joins a formation. FIG. 15 is a diagram illustrating an example of a situation in which a mobile object of the fourth embodiment leaves a formation. FIG. 16 is a flowchart illustrating a first example of the operation of a control device of the fourth embodiment. FIG. 17 is a flowchart illustrating a second example of the operation of a control device of the fourth embodiment. FIG. 18 is a diagram schematically illustrating an example of a configuration including a mobile object of a fifth embodiment. FIG. 10 is a block diagram showing an example of the configuration of a moving body of a fifth embodiment. FIG. 11 is a flowchart illustrating a first example of the operation of a moving body of a fifth embodiment. FIG. 12 is a flowchart illustrating a second example of the operation of a moving body of a fifth embodiment. FIG. 13 is a flowchart illustrating a third example of the operation of a moving body of a fifth embodiment. FIG. 14 is a flowchart illustrating a fourth example of the operation of a moving body of a fifth embodiment. FIG. 15 is a block diagram showing an example of the functional configuration of a moving body of a third modified example. FIG. 16 is a block diagram showing an example of the hardware configuration of a computer device that realizes the control device and moving body of the first, second, third, fourth, and fifth embodiments of the present disclosure.

[0014] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0015] First Embodiment An overview of a control device according to a first embodiment will be described.

[0016] FIG. 1 is a diagram schematically illustrating an example of a configuration including a control device 100. A mobile object control system 1000 includes at least the control device 100. In the example of FIG. 1, the mobile object control system 1000 includes the control device 100 and mobile objects 200-1, 200-2, ..., 200-n (n is a natural number equal to or greater than 2). In the present disclosure, when there is no need to distinguish between the mobile objects 200-1, 200-2, ..., 200-n, they will be simply referred to as "mobile objects 200." The control device 100 is communicably connected to the mobile objects 200 via a wireless or wired network.

[0017] The mobile body 200 is, for example, a manned or unmanned aircraft such as a multicopter (also called a multi-rotor helicopter or multi-rotor). A multicopter without a human on board is sometimes called a UAV (Unmanned Aerial Vehicle), a small unmanned aircraft, or a drone. Note that, although an example in which the mobile body 200 is an aircraft will be mainly described in this disclosure, the mobile body 200 is not limited to this example. For example, the mobile body 200 may be a remotely controllable unmanned ship or the like.

[0018] The mobile body 200 has various functions. More specifically, the mobile body 200 has one or more measurement functions. An example of the measurement function is a photographing function. For example, the mobile body 200 photographs its surroundings and generates a photographed image. The measurement function may also be a positioning function for position information. For example, the mobile body 200 receives signals from satellites to determine its own position information. The measurement function may also be a distance measurement function. For example, the mobile body 200 measures the distance to an object. The measurement function may be a function realized by various sensors, radar, etc. The functions possessed by the mobile body 200 are not limited to this example.

[0019] The mobile objects 200 can fly in formation. The formation has roles. Specifically, the formation has a lead aircraft and wingman aircraft. For example, the lead aircraft leads the wingman aircraft to the destination. The wingman aircraft flies, for example, following the lead aircraft or other wingman aircraft. That is, the wingman aircraft may fly according to the flight path of the lead aircraft. In such cases, the lead aircraft may be responsible for ensuring safety. For example, the lead aircraft measures its own position information and navigates without deviating from a predetermined flight route. For example, the lead aircraft measures the distance to surrounding structures and navigates so as not to get too close to the structures. For example, the lead aircraft photographs its surroundings to detect obstacles and navigates to avoid the obstacles. In this case, the lead aircraft is required to have a position information positioning function, a distance measurement function, and an image capturing function as measurement functions for ensuring safety. Note that the roles of the lead aircraft and wingman aircraft in the formation are not limited to this example. For example, a wingman may be required to have measurement capabilities to monitor the surroundings.

[0020] The control device 100 is, for example, a server. The control device 100 may be realized as a cloud server. The control device 100 may be a device owned by an administrator of the mobile object 200. The control device 100 may also be a device owned by a service provider that provides a service using the mobile object 200. The control device 100 is capable of acquiring information related to the mobile object 200. The control device 100 also controls the mobile object 200.

[0021] As described above, the functions required of the moving body 200 may differ depending on the roles of the lead aircraft and the wingman aircraft. The control device 100 determines the role in the formation for each of the multiple moving bodies 200 that make up a formation.

[0022] Next, an example of the functional configuration of the control device 100 will be described. Fig. 2 is a block diagram showing an example of the functional configuration of the control device 100. As shown in Fig. 2, the control device 100 includes an acquisition unit 110, a determination unit 120, and a control unit 130.

[0023] The acquiring unit 110 acquires functional information of the multiple moving bodies 200. The functional information is information for each moving body 200. The functional information indicates the measurement functions possessed by the moving body 200. The acquiring unit 110 may acquire the functional information from each of the multiple moving bodies 200, for example. Furthermore, if the functional information for each of the multiple moving bodies 200 is stored in a storage device (not shown), the acquiring unit 110 may acquire the functional information from the storage device. In this case, the storage device may be a device included in the control device 100, or may be an external device communicatively connected to the control device 100.

[0024] In this way, the acquiring unit 110 acquires function information indicating the measurement functions possessed by each of the multiple moving bodies 200. The acquiring unit 110 is an example of an acquiring means.

[0025] The determination unit 120 determines the roles of the multiple moving bodies 200 based on the function information. Specifically, the determination unit 120 determines the roles according to predetermined criteria required for the roles in the formation. The predetermined criteria may be criteria related to the functions required for the roles. In other words, the determination unit 120 may determine the roles according to whether the moving bodies 200 have the functions required for the roles. For example, if the lead aircraft is required to have a predetermined measurement function, the determination unit 120 determines one moving body among the multiple moving bodies 200 that has the predetermined measurement function as the lead aircraft based on the function information. Then, the determination unit 120 determines the other moving bodies as wingmen.

[0026] The predetermined criteria may be criteria related to the performance of the functions required for the role. That is, the determination unit 120 may determine the role according to the performance of the functions possessed by the mobile object 200. In this case, the determination unit 120 may compare function information and determine, among the multiple mobile objects 200, a mobile object having a function with better performance as the long-range mobile object. For example, if a photographing function is required for the long-range mobile object, the determination unit 120 may determine, among the multiple mobile objects 200, a mobile object capable of photographing with the highest number of pixels or a mobile object with the largest zoom magnification as the long-range mobile object. Note that the method of determining roles is not limited to this example.

[0027] In this way, the determination unit 120 determines the role of one of the multiple moving bodies 200 that has a measurement function that satisfies a predetermined standard as the leader, and determines the roles of the other moving bodies as the consort, based on the function information. The determination unit 120 is an example of a determination means.

[0028] The control unit 130 controls the moving body 200. Specifically, the control unit 130 controls the moving body 200 according to the role determined by the determination unit 120. For example, the control unit 130 controls the moving body determined as the lead aircraft to fly to the destination. Furthermore, for example, the control unit 130 controls the moving body determined as the consort aircraft to fly following the lead aircraft. At this time, the control unit 130 may control the moving body determined as the consort aircraft to fly following the other consort aircraft, for example.

[0029] In this way, the control unit 130 controls the multiple moving objects to form a formation in accordance with the determined roles. The control unit 130 is an example of a control means.

[0030] Next, an example of the operation of the control device 100 will be described with reference to Fig. 3. In this disclosure, each step in a flowchart will be represented by a number assigned to the step, such as "S1".

[0031] 3 is a flowchart illustrating an example of the operation of the control device. The acquisition unit 110 acquires function information indicating the measurement functions possessed by each of the multiple moving objects 200 (S1). Based on the function information, the determination unit 120 determines the role of one of the multiple moving objects 200 that has a measurement function that meets a predetermined standard as the lead aircraft, and determines the roles of the other moving objects as wingmen (S2). The control unit 130 controls the multiple moving objects to form a formation in accordance with the determined roles (S3).

[0032] In this way, the control device 100 of the first embodiment acquires function information indicating the measurement functions possessed by each of the multiple moving bodies 200. Furthermore, based on the function information, the control device 100 determines the role of one of the multiple moving bodies 200 that has a measurement function that meets a predetermined standard as the lead aircraft, and determines the roles of the other moving bodies as wingmen. Then, the control device 100 controls the multiple moving bodies to form a formation according to the determined roles.

[0033] When moving objects form a formation, roles such as a lead aircraft and a wingman may be assigned. In this case, the required measurement functions may be determined depending on the role of the lead aircraft or the wingman. For example, in such a case, the control device 100 can appropriately determine the roles based on the function information indicating the measurement functions. In other words, the control device 100 can support the control of multiple moving objects.

[0034] Second Embodiment Next, a control device according to a second embodiment will be described. In the second embodiment, a further example of the control device 100 described in the first embodiment will be described. Note that some of the description overlapping with the first embodiment will be omitted.

[0035] [Details of the Mobile Object Control System 1000] FIG. 4 is a block diagram showing an example of the configuration of the mobile object control system 1000. As shown in FIG.

[0036] The mobile object 200 includes a communication unit 210, a measurement unit 220, and a mobile object control unit 230. The mobile object 200 further includes a storage device 290.

[0037] The communication unit 210 communicates with external devices. Specifically, the communication unit 210 communicates with other mobile bodies 200 and the control device 100. For example, the communication unit 210 transmits function information of its own device to the control device 100. The communication unit 210 may also transmit information measured by the measurement unit 220, the measurement time, and the like to the control device 100. Furthermore, the communication unit 210 may receive control information from the control device 100.

[0038] The measurement unit 220 performs various measurement functions. For example, the measurement unit 220 performs photography. At this time, the measurement unit 220 photographs the surroundings and generates a photographed image. The photographed image may be a visible light image or an infrared light image. That is, the photographing function may be realized by an optical sensor capable of acquiring light of various wavelengths. The optical sensor makes it possible, for example, to detect an object and recognize the shape and color of the object. The measurement unit 220 may store the photographed image in the storage device 290, or may transmit the photographed image to the control device 100 via the communication unit 210.

[0039] The measurement unit 220 also measures, for example, the location information. Specifically, the measurement unit 220 acquires the location information by receiving a positioning signal related to the location information. For example, the measurement unit 220 may receive a signal transmitted from a positioning satellite of the Global Navigation Satellite System (GNSS), such as a Global Positioning System (GPS) satellite, and acquire location information indicating the location of the device based on the received signal. The measurement unit 220 may store the acquired location information in the storage device 290, or may transmit the acquired location information to the control device 100 via the communication unit 210.

[0040] Furthermore, the measurement unit 220 measures distance, for example. At this time, the measurement unit 220 measures the distance to a surrounding object. The distance measurement function may be realized by a distance sensor. The distance sensor may be a sensor that measures distance using laser light, such as a LiDAR (Light Detection and Ranging) sensor.

[0041] The measurement unit 220 may have additional functions. For example, the measurement unit 220 may have an object detection function realized by radar. Furthermore, for example, the measurement unit 220 may have functions realized by a temperature sensor, a barometric pressure sensor, a gyro sensor, an acceleration sensor, an ultrasonic sensor, a magnetic direction sensor, and the like. The functions of the measurement unit 220 may differ depending on the mobile body 200. For example, it is assumed that the mobile body 200-1 is equipped with a magnetic direction sensor, but the mobile body 200-2 is not equipped with a magnetic direction sensor. Such information regarding the measurement functions for each mobile body 200 is indicated in the function information.

[0042] The mobile object control unit 230 controls the mobile object. Specifically, the mobile object control unit 230 controls the mobile object so that the mobile object flies along a navigation route to the destination. At this time, the mobile object control unit 230 controls the mobile object so that the mobile object does not deviate from the navigation route, for example, by using position information acquired by the measurement unit 220. Information indicating the navigation route is transmitted from, for example, the control device 100. This example is not limiting, and the information indicating the navigation route may be stored in advance in the storage device 290.

[0043] Furthermore, for example, the mobile object control unit 230 performs control to follow another mobile object. At this time, the mobile object control unit 230 may perform the control to follow based on, for example, the distance to the other mobile object measured by the measurement unit 220. Note that the tracking method is not limited to this example, and the mobile object control unit 230 may perform the control to follow the other mobile object by detecting the other mobile object using a photographing function or a function realized by radar or the like.

[0044] Here, an example of tracking using the imaging function will be described. FIG. 5 is a diagram showing an example of a moving object 200. A mark is affixed to the moving object 200. In the example of FIG. 5, a two-dimensional barcode is shown as the mark. Note that the mark is not limited to this example and may be a one-dimensional barcode, a symbol, a graphic, text information, or the like. First, the moving object control unit 230 detects the mark of another moving object from the captured image acquired by the measurement unit 220. The moving object control unit 230 detects the other moving object and calculates the relative position of the moving object with respect to the other moving object based on the position and size of the detected mark on the captured image. In this way, the moving object control unit 230 tracks the other moving object.

[0045] The mobile object control unit 230 may also control the measurement function. Specifically, the mobile object control unit 230 may control the on / off of the measurement function. For example, the mobile object control unit 230 controls the turning off of the imaging function. In this case, the measurement unit 220 does not capture images.

[0046] The control device 100 includes an acquisition unit 110, a determination unit 120, and a control unit 130. The control device 100 also includes a storage device 190. The storage device 190 may be an external device that can communicate with the control device 100.

[0047] The acquisition unit 110 acquires functional information. For example, the acquisition unit 110 acquires functional information from each of the mobile objects 200. The acquisition unit 110 stores the acquired functional information in the storage device 190. Furthermore, when an information processing device (not shown) such as a personal computer is communicatively connected to the control device 100, the acquisition unit 110 may acquire functional information from the information processing device. In this case, the information processing device accepts input of functional information from a user. Furthermore, when the functional information of each of the mobile objects 200 is pre-stored in the storage device 190, the acquisition unit 110 may acquire the functional information from the storage device 190.

[0048] FIG. 6 is an example of functional information. In the example of FIG. 6, functional information related to a moving body with identification information "001" is shown. Identification information is information for identifying a moving body. The functional information includes information related to the measurement functions possessed by the moving body 200. In the example of FIG. 6, the functional information indicates whether or not each measurement function is provided and the performance of each measurement function. For example, the functional information indicates whether or not a photographing function is provided and the performance of the photographing function. The acquisition unit 110 may acquire such functional information for each moving body 200.

[0049] Furthermore, the acquisition unit 110 may acquire information measured at the mobile body 200 from the mobile body 200. Information measured at the mobile body is referred to as measurement information. For example, the acquisition unit 110 may acquire measurement information including measured position information and time from the mobile body 200. This enables the control device 100 to identify the current position of the mobile body 200, the route actually traveled, and the like. The acquisition unit 110 may store the measurement information acquired from the mobile body 200 in the storage device 190. At this time, the acquisition unit 110 may store the measurement information in association with the identification information of the mobile body.

[0050] The determination unit 120 determines the role of the moving object 200 according to a predetermined criterion. For example, information indicating the predetermined criterion is stored in the storage device 190. The determination unit 120 may determine the role based on the information indicating the predetermined criterion stored in the storage device 190. Furthermore, if there is an information processing device that can communicate with the control device 100, the acquisition unit 110 acquires information indicating the predetermined criterion through input from a user. Then, the determination unit 120 may determine the role based on the acquired information indicating the predetermined criterion.

[0051] An example of the predetermined criterion is whether or not a function required for a role is present. For example, assume that a leader is required to have a photographing function, a positioning function based on location information, and a distance measurement function. In this case, the determination unit 120 identifies, from among the multiple moving bodies 200, a moving body that has a photographing function, a positioning function based on location information, and a distance measurement function. The determination unit 120 determines the identified moving body as the leader. Then, the determination unit 120 determines the other moving bodies that were not identified as wingmen.

[0052] Another example of the predetermined criterion is the relative merits of the performance of functions possessed by the mobile object 200. In this case, the determination unit 120 compares the function information. Then, the determination unit 120 may determine, among the multiple mobile objects 200, a mobile object having a function with superior performance as the long object. For example, the determination unit 120 may determine, among the multiple mobile objects 200, a mobile object capable of capturing images with the highest number of pixels or a mobile object with the highest zoom magnification as the long object. Furthermore, for example, the determination unit 120 may determine, among the multiple mobile objects 200, a mobile object with the smallest error in the positioning function of the position information as the long object.

[0053] The method of determining the role is not limited to this example. First, the determination unit 120 may identify at least one of the moving objects 200 based on whether or not the moving object 200 has a function required for the role. Then, when multiple moving objects 200 are identified, the determination unit 120 may determine the role based on the relative merits of the function's performance. For example, assume that a distance measurement function is required for the long-range moving object. Then, assume that the determination unit 120 identifies two moving objects, among the multiple moving objects 200, that have a distance measurement function. In this case, the determination unit 120 may determine that the moving object with the superior distance measurement function (e.g., a moving object with a wide range of measurable distances) is the long-range moving object.

[0054] The control unit 130 controls the moving bodies 200 to form a formation according to the determined roles. Specifically, the control unit 130 transmits control information corresponding to the leader to the moving body 200 determined to be the leader. Furthermore, the control unit 130 transmits control signals corresponding to the consort to the moving body 200 determined to be the consort. Here, it is assumed that moving bodies 200-1, 200-2, and 200-3 exist. It is also assumed that the determination unit 120 determines that moving body 200-1 is the leader and that moving bodies 200-2 and 200-3 are the consorts. In this case, the control unit 130 transmits control information to moving body 200-1 that includes information indicating that the role is the leader and information indicating the flight route. As a result, the moving body control unit 230 of moving body 200-1 controls its own body to fly along the flight route.

[0055] Furthermore, the control unit 130 transmits control information to the moving bodies 200-2 and 200-3, including information indicating that the moving body is a wingman and information indicating the moving body to be followed. For example, the control unit 130 transmits control information to the moving body 200-2 indicating that the moving body 200-1 is the moving body to be followed. In this case, the moving body control unit 230 of the moving body 200-2 performs control to follow the moving body 200-1. For example, the control unit 130 controls the moving body 200-2 to follow the moving body 200-1 by detecting the moving body 200-1 using radar. This example is not limiting, and the control unit 130 may, for example, control the moving body 200-2 to follow the moving body 200-1 by photographing a marker attached to the moving body 200-1.

[0056] Then, it is assumed that the control unit 130 transmits control information to the moving unit 200-3, indicating that the moving unit 200-2 is the target to be followed. In this case, the moving unit control unit 230 of the moving unit 200-3 performs control to follow the moving unit 200-2. The specific control related to following is the same as the control for the moving unit 200-2.

[0057] The control information may include information indicating a position in the formation. In this case, the information indicating the moving object to be followed includes information indicating the position in the formation. The position in the formation indicates the location where the moving object is positioned in the formation when flying in formation. For example, the position in the formation may indicate information on the direction and distance based on the moving object to be followed. The moving objects 200-2 and 200-3 may fly in formation based on this information indicating their positions in the formation.

[0058] The control information may include information indicating instructions regarding the measurement function. That is, the control unit 130 may control the measurement function of the mobile unit 200. For example, the control unit 130 transmits control information to the leading mobile unit 200-1, including instructions to perform measurements to ensure safety. In this case, the communication unit 210 of the mobile unit 200-1 receives the control information. The mobile unit control unit 230 of the mobile unit 200-1 then causes the measurement unit 220 to perform various measurements in accordance with the control information. The control unit 130 may also transmit control information to the consort mobile units 200-2 and 200-3, including instructions to turn off measurement functions that are not required for tracking. For example, if the image capture function is not required for tracking, the control unit 130 transmits control information including instructions to turn off the image capture function. In accordance with the control information, the mobile unit control units 230 of the mobile units 200-2 and 200-3 control the measurement units 220 not to capture images. In this way, the control unit 130 may control a moving body determined to be a wingman to follow the leading aircraft or another wingman moving body, and turn off functions not required for following.

[0059] In the above example, the control unit 130 controls each of the moving bodies 200, but the control example of the moving bodies 200 is not limited to this. For example, the control unit 130 may simply transmit control information including information indicating the determined role and information indicating the flight route to each of the moving bodies 200. In this case, the moving body control unit 230 of each of the moving bodies 200 may autonomously control the moving body 200 in accordance with the information indicating the role. In other words, each of the moving bodies 200 may autonomously fly in formation by acquiring control information from the control unit 130.

[0060] [Example of Operation of Control Device 100] Next, an example of operation of the control device 100 will be described with reference to Fig. 7. In this example of operation, it is assumed that moving objects 200-1, 200-2, and 200-3 exist. It is also assumed that the leader aircraft is required to have a predetermined measurement function. It is also assumed that the wingman aircraft use radar to track the leader aircraft or other wingman aircraft.

[0061] FIG. 7 is a flowchart illustrating an example of the operation of the control device 100. The acquisition unit 110 acquires function information of multiple moving objects 200 (S101). For example, the acquisition unit 110 acquires the function information from each of the moving objects 200. The determination unit 120 determines the role of each moving object 200 according to a predetermined criterion (S102). For example, the determination unit 120 identifies a moving object that has a predetermined measurement function among the moving objects 200-1, 200-2, and 200-3 based on the function information. The moving object 200 then determines the identified moving object as the lead aircraft. In this example, it is assumed that the determination unit 120 determines that the moving object 200-1 is the lead aircraft. The determination unit 120 then determines that the moving objects 200-2 and 200-3 are consort aircraft.

[0062] The control unit 130 controls the long-distance mobile unit to navigate to the destination (S103). Specifically, the control unit 130 transmits to the mobile unit 200-1 control information including information indicating that the mobile unit is a long-distance mobile unit, information indicating the navigation route, and an instruction to perform measurements to ensure safety. Based on the control information, the mobile unit control unit 230 of the mobile unit 200-1 controls the mobile unit to navigate so as not to deviate from the navigation route to the destination.

[0063] The control unit 130 also controls the mobile units of the wingmen to follow the lead aircraft or the wingman (S104). Specifically, the control unit 130 transmits control information to the mobile units 200-2 and 200-3, including information indicating that the mobile units are wingmen, information indicating the target mobile unit to follow, and an instruction to turn off measurement functions not required for following. The mobile unit control units 230 of the mobile units 200-2 and 200-3 control the mobile units to follow the target mobile unit based on the control information. At this time, the mobile unit control unit 230 turns off measurement functions not required for following. For example, assume that radar is used for following and the imaging function is not used for following. In this case, the mobile unit control unit 230 turns off the imaging function.

[0064] Note that this operation example is merely an example, and the operation of the control device 100 is not limited to this example.

[0065] In this way, the control device 100 of the second embodiment acquires function information indicating the measurement functions possessed by each of the multiple moving bodies 200. Furthermore, based on the function information, the control device 100 determines the role of one of the multiple moving bodies 200 that has a measurement function that meets a predetermined standard as the lead aircraft, and determines the roles of the other moving bodies as wingmen. Then, the control device 100 controls the multiple moving bodies to form a formation according to the determined roles.

[0066] When moving objects form a formation, roles such as a lead aircraft and a wingman may be assigned. In this case, the required measurement functions may be determined depending on the role of the lead aircraft or the wingman. For example, in such a case, the control device 100 can appropriately determine the roles based on the function information indicating the measurement functions. In other words, the control device 100 can support the control of multiple moving objects.

[0067] Delivery of goods is sometimes provided as a service using multiple mobile objects. In this case, goods are loaded onto the mobile objects and the mobile objects travel to the delivery destination. Here, the mobile objects have a payload. Payload refers to the weight of an object that can be loaded onto the mobile object. The larger the payload, the more efficient the delivery of goods. The payload may also be related to the weight of the mobile objects themselves. For example, consider two mobile objects with the same buoyancy but different weights. In this case, the payload of the heavier mobile object tends to be smaller than the payload of the lighter mobile object. Mobile objects may be equipped with various functions, including measurement functions. The more functions are equipped, the heavier the mobile object becomes because sensors and devices required for those functions are installed on the mobile object, and the weight of the mobile object itself increases. Therefore, in order to ensure the payload, mobile objects with the minimum necessary functions may be used for delivering goods. For example, when multiple mobile objects are formed into a formation and used to deliver goods, at least one mobile object is equipped with various functions, such as measurement functions for ensuring safety. The other moving bodies are equipped with at least the functionality required to follow the one moving body. In such a situation, the control device 100 of the present disclosure can appropriately determine, among the multiple moving bodies 200, a moving body that has a measurement function for ensuring safety as the leader. Furthermore, the control device 100 can appropriately determine, among the multiple moving bodies 200, the other moving bodies as consorts.

[0068] Furthermore, the control device 100 may control the moving object determined as the wingman to follow the leading aircraft or another moving object of the wingman, and turn off functions not required for following, thereby enabling the control device 100 to reduce battery consumption by functions not required for following of the wingman.

[0069] Furthermore, a marker may be affixed to each of the multiple moving bodies 200. Then, the control device 100 may cause the consort moving body to photograph the marker and follow the other moving body. In this way, the control device 100 can cause even a moving body that does not have a sensor such as a radar to follow the other moving body.

[0070] [Variation 1] The formation of the moving bodies 200 when flying in formation may be various. For example, the moving bodies 200 may be lined up in a line along the direction of travel, or in a line across the direction of travel. The moving bodies 200 may also be lined up in multiple lines.

[0071] The control unit 130 may also identify an optimal formation depending on the conditions and control the mobile bodies 200 to form the identified formation. In this case, the control unit 130 uses a learning model that has learned the relationship between various conditions and the formation of the formation. An example of the learning model is a model that has learned the relationship between weather information, the battery consumption of the mobile bodies, and the formation of the formation. The learning model is learned by reinforcement learning, deep learning using a neural network, or the like, but is not limited to these examples. The learning model may be stored in the storage device 190.

[0072] At this time, the acquisition unit 110 acquires weather information for the navigation route of the mobile body 200. The weather information is information related to the weather, such as the weather, precipitation, wind speed, temperature, and air pressure. The acquisition unit 110 acquires the weather information from, for example, an external server that has data related to weather forecasts.

[0073] The control unit 130 uses weather information based on the learning model to identify a formation that consumes less battery power, and then controls the mobile units 200 to navigate in the identified formation.

[0074] This allows the control device 100 to reduce battery consumption.

[0075] Third Embodiment Next, a control device according to a third embodiment will be described. In the third embodiment, an example will be described in which a mobile object is controlled in response to a notification from the mobile object. Note that some of the content overlapping with the first and second embodiments will not be described.

[0076] In the third embodiment, a situation is assumed in which multiple moving objects are flying in formation. That is, a role has already been determined for each of the multiple moving objects. In this embodiment, a control example when a notification is transmitted from the leading moving object will be mainly described.

[0077] [Details of Mobile Object Control System 1001] Fig. 8 is a block diagram showing an example of the configuration of the mobile object control system 1001. The mobile object control system 1001 includes a control device 101 and a mobile object 201. Like the mobile objects 200, there are a plurality of mobile objects 201. That is, there are mobile objects 201-1, 201-2, ..., 201-n (n is a natural number of 2 or more). When there is no need to distinguish between the mobile objects 201-1, 201-2, ..., 201-n, they will simply be referred to as mobile objects 201. The mobile object 201 may perform the operations described below in addition to the operations of the mobile object 200. Similarly, the control device 101 may perform the operations described below in addition to the operations of the control device 100.

[0078] The mobile object 201 includes a communication unit 210, a measurement unit 220, a mobile object control unit 230, an abnormality detection unit 240, and a storage device 290. The abnormality detection unit 240 detects an abnormality that has occurred in the mobile object 201. Specifically, the abnormality detection unit 240 may detect an abnormality related to the measurement function. For example, it is assumed that the measurement unit 220 has a location information positioning function. At this time, it is assumed that the measurement unit 220 stops measuring location information. At this time, the abnormality detection unit 240 detects that an abnormality has occurred in the location information positioning function. Similarly, it is assumed that the measurement unit 220 has an imaging function. When the measurement unit 220 is no longer able to take images, the abnormality detection unit 240 detects that an abnormality has occurred in the imaging function. In this way, the abnormality detection unit 240 detects an abnormality that has occurred in the measurement function. The abnormality detection unit 240 is an example of an abnormality detection means.

[0079] However, examples of abnormality detection are not limited to this. The abnormality detection unit 240 may detect an abnormality related to the battery. For example, if the remaining battery charge of the mobile object 201 falls below a predetermined threshold, the abnormality detection unit 240 detects that an abnormality has occurred in the battery. Furthermore, for example, if the rotation of the propeller stops or slows down, the abnormality detection unit 240 detects that an abnormality has occurred in the propeller.

[0080] When the abnormality detection unit 240 detects that an abnormality has occurred, it transmits a notification indicating the occurrence of the abnormality to the control device 101 via the communication unit 210. The notification indicating the occurrence of the abnormality includes information indicating the type of abnormality, identification information of the mobile object in which the abnormality has occurred, and the role of the mobile object. For example, when the abnormality detection unit 240 detects that an abnormality has occurred in the position information positioning function, it transmits a notification including identification information of its own aircraft, information indicating whether its own aircraft is the lead aircraft or the wingman, and information indicating that an abnormality has occurred in the position information positioning function. Hereinafter, the notification indicating the occurrence of an abnormality will be referred to as an abnormality notification.

[0081] The control device 101 includes an acquisition unit 111, a determination unit 121, and a control unit 131. The acquisition unit 111 acquires an abnormality notification from the mobile object 201. Furthermore, the acquisition unit 111 acquires functional information of the multiple mobile objects 201. For example, the acquisition unit 111 acquires the functional information from each of the mobile objects 201. If the functional information of the mobile object 201 is pre-stored in the storage device 190, the acquisition unit 111 may acquire the functional information from the storage device 190.

[0082] The determination unit 121 determines the role of the moving object 201. First, the determination unit 121 determines whether the moving object in which the abnormality occurred is the lead aircraft or the consort aircraft based on the abnormality notification. If the moving object in which the abnormality occurred is the lead aircraft, the determination unit 121 determines new roles for the multiple moving objects 201. Specifically, if the moving object in which the abnormality occurred is the lead aircraft, the determination unit 121 determines the new role of the leading moving object as the consort aircraft. Then, based on the function information, the determination unit 121 determines the role of the leading moving object from among the other moving objects that are not the moving object newly determined as the consort aircraft. That is, based on the function information, the determination unit 121 determines the role of one moving object that has a measurement function that meets a predetermined standard among the consort aircraft flying in formation as the lead aircraft. The method of determining the leading moving object may be the same as in the first and second embodiments.

[0083] The control unit 131 controls the moving object 201 in accordance with the newly determined role. At this time, the control unit 131 rearranges the formation in accordance with the newly determined role. Specifically, the control unit 131 controls the moving object newly determined as the lead aircraft to fly along the flight route while taking measurements to ensure safety. The control unit 131 also controls the moving object newly determined as the wingman (i.e., the moving object in which the abnormality occurred) to follow the moving object newly determined as the lead aircraft or other wingman moving objects. The control unit 131 may then control the moving object newly determined as the wingman to turn off functions not required for following.

[0084] In this case, the control unit 131 may perform control according to the content of the abnormality notification. For example, suppose the abnormality notification indicates an abnormality in the measurement function related to position information. In this case, the moving object in which the abnormality occurred may not be able to be tracked using the position information positioning function. Therefore, the control unit 131 controls the moving object to track another moving object using a tracking method that does not use the position information positioning function. For example, the control unit 131 controls the moving object to track the leading aircraft or other consort aircraft using a photographing function.

[0085] Furthermore, for example, suppose the abnormality notification indicates an abnormality regarding the remaining battery charge. In this case, the mobile object in which the abnormality occurred may run out of battery charge during flight. Therefore, in such a case, the control unit 131 may perform control on the mobile object to turn off functions that are not required for tracking other mobile objects.

[0086] Here, an example of the process for determining a new role when an abnormality occurs in the lead aircraft will be described. Figure 9 is a diagram that schematically shows an example of mobile bodies 201 in formation. In the example of Figure 9, mobile bodies 201-1, 201-2, and 201-3 are lined up in a line and traveling in the direction indicated by the arrow. Mobile body 201-1 is the lead aircraft, and mobile bodies 201-2 and 201-3 are wingmen.

[0087] In this case, an abnormality occurs in the moving object 201-1. The determination unit 121 determines the moving object 201-1 in which the abnormality occurred as a wingman. The determination unit 121 also determines the leading object from the moving objects 201-2 and 201-3. At this time, the determination unit 121 determines the moving object that meets predetermined criteria as the leading object based on the function information. In this example, it is assumed that the moving object 201-3 is newly determined as the leading object. The control unit 131 controls the moving objects 201 according to the newly determined role. For example, the control unit 131 causes each of the moving objects 201 to hover and stop in the air. The control unit 131 swaps the positions of the moving objects 201-1 and 201-3. Then, the control unit 131 controls the moving object 201-2 to follow the moving object 201-1. At this time, the control unit 131 may change the following method depending on the content of the abnormality notification and perform the following control.

[0088] Furthermore, the control unit 131 controls the moving body 201-3 to fly along the navigation route while taking measurements to ensure safety. If functions not required for tracking are turned off in the moving body 201-3, the moving body control unit 230 of the moving body 201-3 turns on the measurement functions to ensure safety.

[0089] In this way, when moving bodies are flying in formation, the control unit 131 swaps the positions in the formation of the moving body newly determined as the lead aircraft and the moving body newly determined as the wingman.

[0090] The method for determining the new lead aircraft is not limited to the above example. For example, suppose that moving body 201-2 and moving body 201-3 are moving bodies with the same functions. In other words, suppose that there is no difference in function between moving body 201-2 and moving body 201-3. In this case, the determination unit 121 may determine the moving body closest to the original lead aircraft as the new lead aircraft. In the example of FIG. 9, moving body 201-2 is closer to moving body 201-1 than moving body 201-3. Therefore, the determination unit 121 determines moving body 201-2 as the new lead aircraft. This allows the moving body newly determined as the lead aircraft and the moving body newly determined as the wingman to regroup in formation without moving significantly.

[0091] Furthermore, when reassembling the formation, it is not necessary to swap the moving body newly determined as the lead aircraft with the moving body newly determined as the wingman. For example, in the example of FIG. 9 , assume that moving body 201-3 is newly determined as the lead aircraft. At this time, the control unit 131 may reassemblage the formation by moving moving body 201-3 ahead of moving body 201-1. In this case, the control unit 131 causes moving body 201-3 to follow moving body 201-1, and causes moving body 201-1 to follow moving body 201-2.

[0092] [Example of Operation of Control Device 101] Next, an example of operation of the control device 101 will be described with reference to Fig. 10. In this example of operation, it is assumed that there are moving objects 201-1, 201-2, and 201-3 as shown in Fig. 9. It is also assumed that the moving object 201-1 is a long object, and that an abnormality in the position information measurement function of the moving object 201-1 has been detected.

[0093] FIG. 10 is a flowchart illustrating an example of the operation of the control device 101.

[0094] When the abnormality detection unit 240 of the mobile unit 201-1 detects an abnormality, it transmits an abnormality notification to the control device 101. The acquisition unit 111 of the control device 101 acquires the abnormality notification from the mobile unit 201-1 (S201). The determination unit 121 determines the mobile unit 201-1 in which the abnormality occurred as a consort (S202). The determination unit 121 also determines the lead aircraft from the mobile units 201-2 and 201-3 based on the function information (S203). For example, the determination unit 121 determines the mobile unit 201-3 as the lead aircraft.

[0095] The control unit 131 controls the moving body 201 according to the role. Specifically, the control unit 131 swaps the moving body newly determined as the leader with the moving body newly determined as the wingman (S204). For example, the control unit 131 swaps the positions of the moving body 201-1 and the moving body 201-3 in the formation.

[0096] The control unit 131 controls the moving unit newly determined as a wingman so that it follows the other moving units (S205). At this time, an abnormality has occurred in the position information positioning function of the moving unit 201-1. Therefore, the control unit 131 causes the moving unit 201-1 to follow using a following method that does not utilize the position information positioning function. For example, the control unit 131 uses a photographing function to detect a mark attached to the moving unit 201-2, and controls the moving unit 201-1 to follow the moving unit 201-2.

[0097] The control unit 131 also controls the newly determined moving object to turn off functions that are not required for following other moving objects (S206), and controls the newly determined moving object to fly along the flight route (S207).

[0098] Note that this operation example is merely an example, and the operation of the control device 101 is not limited to this example.

[0099] In this way, the control device 101 of the third embodiment may receive a notification indicating the occurrence of an abnormality from the lead moving object flying in formation. The control device 101 then determines a new role for the lead moving object as a wingman, and determines the role of one moving object among the wingman moving objects flying in formation that has a measurement function that satisfies a predetermined standard as the lead moving object based on the function information.

[0100] This allows the control device 101 to navigate the moving body 200 without halting formation flight even if an abnormality occurs in the leading aircraft.

[0101] If the notification indicates an abnormality in the measurement function related to the location information, the control device 101 may control the newly determined mobile object to follow the leading mobile object or another mobile object using the photographing function. This allows the control device 101 to follow the mobile object in which the abnormality occurred, depending on the functions available to the mobile object.

[0102] Furthermore, if an abnormality in the remaining battery power is indicated, the control device 101 may control the newly determined wingman to turn off functions that are not required for following other moving bodies, thereby allowing the newly determined wingman to navigate while suppressing a decrease in the remaining battery power.

[0103] [Modification 2] In the third embodiment, an example in which an abnormality occurs in the leading mobile object has been mainly described. Even if an abnormality occurs in the mobile object of a consort aircraft, the control device 101 may control the mobile object according to the nature of the abnormality.

[0104] 9, suppose that an abnormality occurs in the mobile unit 201-2. At this time, the abnormality detection unit 240 of the mobile unit 201-2 detects the abnormality. Then, the abnormality detection unit 240 transmits an abnormality notification to the control device 101.

[0105] The acquisition unit 111 acquires the abnormality notification. The decision unit 121 determines whether the mobile object in which the abnormality occurred is a lead aircraft or a consort aircraft based on the abnormality notification. Because the mobile object 201-2 is a consort aircraft, the decision unit 121 determines that the mobile object in which the abnormality occurred is a consort aircraft. The decision unit 121 then determines whether to evacuate the mobile object in which the abnormality occurred, based on the content of the abnormality notification. For example, assume that the abnormality notification indicates an abnormality regarding the remaining battery charge. In this case, the decision unit 121 determines whether the mobile object in question can navigate to the destination, based on the remaining battery charge and the remaining navigation route. If it is determined that the mobile object can navigate, the decision unit 121 then decides not to evacuate the mobile object in which the abnormality occurred. If it is determined that the mobile object cannot navigate, the decision unit 121 decides to evacuate the mobile object in which the abnormality occurred.

[0106] When it is determined that the moving body in which the abnormality has occurred should be evacuated, the control unit 131 evacuates the moving body in which the abnormality has occurred. Specifically, the control unit 131 causes the moving body 201-2 to leave the formation and evacuate to an evacuation destination. An example of an evacuation destination is an evacuation site that has been installed in advance near the navigation route. Multiple evacuation sites may be installed. Another example of an evacuation site is a charging spot. A charging spot is a facility that can charge the battery of the moving body. When the moving body is allowed to navigate freely, charging spots may be installed in various locations. Such charging spots may be used as evacuation sites.

[0107] Furthermore, when the moving body 201-2 is evacuated, the control unit 131 controls the moving body 201-3 so that it follows the moving body 201-1.

[0108] In this way, the control device 101 may evacuate the mobile body in which an abnormality has occurred.

[0109] Depending on the type of abnormality, the mobile body 201 may not be able to navigate correctly. For example, if an abnormality occurs in the position information positioning function, the control device 101 may not be able to properly evacuate the mobile body 201. In such a case, the control device 101 controls the mobile body 201 to capture images of the surroundings.

[0110] For example, code information such as a two-dimensional barcode is placed in advance on buildings or the like near the navigation route. The code information is placed in multiple locations. The code information indicates location information of the placement location. Then, the control unit 131 of the control device 101 causes the mobile object 201 to read the code information by photographing the surroundings. The measurement unit 220 of the mobile object 201 reads the code information. The measurement unit 220 then acquires the location information indicated in the code information. The mobile object control unit 230 of the mobile object 201 can correct its own location information using the acquired location information. This allows the control device 101 to appropriately evacuate a mobile object whose location information positioning function has experienced an abnormality.

[0111] Fourth Embodiment Next, a control device according to a fourth embodiment will be described. In the fourth embodiment, an example will be described in which a moving object is systematically caused to join or leave the formation. Note that some of the content overlapping with the first, second, and third embodiments will not be described.

[0112] In the fourth embodiment, a situation is assumed in which moving objects fly in formation. Here, there may be one or more formations. Furthermore, a navigation route to a destination is set for each moving object. In other words, there are also moving objects that fly independently.

[0113] 11 is a block diagram showing an example of the configuration of the mobile object control system 1002. The mobile object control system 1001 includes a control device 102 and a mobile object 201. The control device 102 controls the mobile object 201. In addition to the operations of the control device 101, the control device 102 may perform the operations described below.

[0114] The control device 102 includes an acquisition unit 112, a determination unit 121, a control unit 132, and an identification unit 140. The acquisition unit 112 acquires formation navigation information and mobile object navigation information. The formation navigation information is information that associates the navigation route and navigation time of a traveling formation. The formation navigation information is determined for each formation. The mobile object navigation information is information that associates the navigation route and navigation time of a traveling object. The mobile object navigation information is determined for each individual mobile object.

[0115] FIG. 12 is a diagram schematically illustrating an example of formation navigation information. In the example of FIG. 12, the formation navigation information is shown as information in which formation identification information for identifying the formation, the formation's navigation route, and the navigation time are associated. Here, the formation navigation route is referred to as the formation navigation route to distinguish it from the navigation route of an individual moving object. FIG. 12 shows the formation navigation route of formation A, the time at the current location, and the estimated time of arrival at the destination. The formation navigation route includes information indicating the destination and the planned navigation path. Furthermore, the formation navigation information may indicate the departure time from the departure point and the time at which the formation will pass through a rendezvous point, which will be described later. Note that this example is not limited to this, and the formation navigation information may indicate only the formation navigation route and departure time. In this way, the formation navigation information may determine the formation navigation route and the arrival time of the formation at a predetermined point on the formation navigation route for each formation.

[0116] The formation navigation information may be information that is set in advance. In this case, the formation navigation information is stored in advance in the storage device 190. For example, an information processing device (not shown) that is communicatively connected to the control device 102 accepts input of the formation navigation information from a user. Then, the acquisition unit 112 of the control device 102 acquires the formation navigation information from the information processing device. The acquisition unit 112 stores the acquired formation navigation information in the storage device 190. In other words, when forming a formation, the control unit 132 may control the multiple moving bodies 201 based on the formation navigation information.

[0117] Furthermore, the formation navigation information may be updated according to information acquired from the moving object 201. The acquisition unit 112 acquires measurement information from the moving object 201. Specifically, the acquisition unit 112 acquires measurement information from the leader aircraft of the formation. The acquisition unit 112 may then add the position information and time information indicated in the measurement information to the formation navigation information. This allows the control device 102 to identify the current position of the formation and the route that the formation actually traveled.

[0118] Note that the formation navigation information is not limited to this example. For example, the formation navigation information may include information indicating the formation shape of the formation.

[0119] FIG. 13 is a diagram schematically illustrating an example of mobile object navigation information. In the example of FIG. 13, the mobile object navigation information is shown as information in which identification information for identifying the mobile object, the mobile object's navigation route, and the navigation time are associated. Here, the mobile object's navigation route is referred to as an individual navigation route to distinguish it from the formation navigation route. FIG. 13 shows the individual navigation route of mobile object B, the time at its current location, and the estimated time of arrival at the destination. The individual navigation route includes information indicating the destination and the planned navigation path. This example is not limited to this, and the individual navigation information may also indicate the departure time at the departure point and the time at which the mobile object passes through the rendezvous point described below. In this way, the mobile object navigation information may specify the individual navigation route and the formation arrival time at a predetermined point on the individual navigation route for each mobile object.

[0120] The mobile object navigation information may be preset information. In this case, the mobile object navigation information is stored in advance in the storage device 190. For example, an information processing device (not shown) communicatively connected to the control device 102 accepts input of the mobile object navigation information from a user. Then, the acquisition unit 112 of the control device 102 acquires the mobile object navigation information from the information processing device. The acquisition unit 112 stores the acquired mobile object navigation information in the storage device 190.

[0121] The mobile object navigation information may also be information acquired from the mobile object 201. In this case, the mobile object navigation information is stored in the storage device 290 of the mobile object 201. For example, the acquisition unit 112 sends a request for the mobile object navigation information to the mobile object 201. Upon receiving the request, the communication unit 210 of the mobile object 201 transmits the mobile object navigation information to the control device 102. Then, the acquisition unit 112 acquires the mobile object navigation information.

[0122] Furthermore, the mobile object navigation information may be updated according to information acquired from the mobile object 201. The acquisition unit 112 acquires measurement information from the mobile object 201. The acquisition unit 112 may then add the position information and time information indicated in the measurement information to the mobile object navigation information. This allows the control device 102 to identify the current position of the mobile object 201 and the route that the mobile object 201 actually traveled.

[0123] The identification unit 140 identifies a predetermined formation or a predetermined moving object depending on the situation. The identification unit 140 is an example of an identification means. Specific processing by the identification unit 140 and the control unit 132 will be described in the following specific example.

[0124] [Specific Example 1] In specific example 1, a situation will be described in which a predetermined moving object joins the formation. That is, the control device 102 performs control to cause the predetermined moving object to join the formation. Here, the predetermined moving object is a single moving object.

[0125] The identification unit 140 estimates the time of arrival at a rendezvous point based on the mobile object navigation information of a specific mobile object. A rendezvous point refers to a point on a navigation route. An example of a rendezvous point is a point within a corridor. A corridor is a specific area set up in the air for the passage of mobile objects. A corridor functions as a road for mobile objects. A corridor may be a dedicated airspace for the passage of mobile objects, where services are provided to allow the mobile objects to pass safely. Such dedicated airspace, especially airspace specialized for drones, is sometimes called a drone highway. Mobile objects in formation may pass through such a corridor. For example, the specific mobile object may join the formation flying along the corridor at the rendezvous point.

[0126] For example, the identification unit 140 estimates the time at which the predetermined moving object will arrive at the rendezvous point based on the position information of the predetermined moving object and the position of the rendezvous point on the individual navigation route. Furthermore, the identification unit 140 identifies, based on the formation navigation information, a formation heading in the same direction as the direction of travel of the predetermined moving object that will pass the rendezvous point within a predetermined time from the estimated time.

[0127] When the identification unit 140 identifies a formation, the control unit 132 performs control to make the moving object of the identified formation follow a predetermined moving object at the rendezvous point.

[0128] FIG. 14 is a diagram illustrating an example of a situation in which moving bodies join a formation. In the example of FIG. 14, moving bodies 201-1, 201-2, and 201-3 are flying in formation. Furthermore, moving body 201-4 is flying alone. That is, in this example, moving body 201-4 corresponds to the predetermined moving body described above. For example, the identification unit 140 estimates the time that moving body 201-4 will arrive at the rendezvous point based on the moving body information of moving body 201-4. Furthermore, the identification unit 140 determines, based on the formation navigation information, whether the formation of moving bodies 201-1, 201-2, and 201-3 will pass the rendezvous point within a predetermined time from the estimated time. Then, if it is determined that the formation will pass the rendezvous point within the predetermined time, the identification unit 140 identifies the formation. That is, when the moving body 201-4 arrives at the rendezvous point, the identifying unit 140 identifies the formation that will pass through the rendezvous point within a predetermined time.

[0129] The control unit 132 causes the moving unit 201-4 to stay at the rendezvous point. For example, the control unit 132 causes the moving unit 201-4 to hover and stop in the air. Then, when the identified formation arrives at the rendezvous point, the control unit 132 controls the moving unit 201-4 to follow, for example, the moving unit 201-3. As a result, the moving unit 201-4 joins the formation at the rendezvous point. The rendezvous point corresponds to the role of a station.

[0130] If the identification unit 140 does not identify a formation, the control unit 132 controls the moving body 201-4 to navigate along a single-body navigation route.

[0131] In this way, when a predetermined moving object arrives at a rendezvous point, the identification unit 140 identifies a formation that will pass through the rendezvous point within a predetermined time based on the formation navigation information. Then, when the formation is identified, the control unit 132 performs control to make the identified moving object of the formation follow the predetermined moving object at the rendezvous point.

[0132] In Example 2, a situation will be described in which at least one of the moving objects flying in a predetermined formation breaks away from the formation. That is, the control device 102 performs control to cause the moving object to break away from the predetermined formation.

[0133] The identification unit 140 identifies a moving object that will depart from a predetermined formation. Specifically, the identification unit 140 identifies a moving object that will deviate from the formation navigation route based on the formation navigation information of the predetermined formation and the mobile object navigation information of the moving objects in the predetermined formation. For example, if the route indicated in the formation navigation information differs from the route indicated in the mobile object navigation information, the moving object corresponding to the mobile object navigation information will deviate from the formation navigation route. The identification unit 140 further identifies a departure point, which is the point at which the identified moving object will depart from the formation.

[0134] When a moving object is identified by the identification unit 140, the control unit 132 causes the identified moving object to separate from the predetermined formation. Here, when there is a moving object that has been following the separated moving object, the control unit 132 controls the moving object that has been following the separated moving object to follow another moving object in the predetermined formation.

[0135] FIG. 15 is a diagram illustrating an example of a situation in which a moving body breaks away from a formation. In the example of FIG. 15, moving bodies 201-1, 201-2, and 201-3 are flying in formation. Of these, moving body 201-2 is the moving body that will break away from the formation. For example, the identification unit 140 identifies moving body 201-2 as a moving body that will deviate from the formation navigation route based on the formation navigation information of the formation and the mobile body navigation information of moving body 201-2. At this time, the identification unit 140 also identifies the departure point of moving body 201-2. Then, when the formation arrives at the departure point, the control unit 132 controls moving body 201-2 to navigate an independent navigation route. The control unit 132 also controls moving body 201-1 to follow moving body 201-3.

[0136] In this way, the identification unit 140 identifies, among the moving objects navigating in a predetermined formation, a moving object that deviates from the formation navigation route based on the formation navigation information and the moving object navigation information. The control unit 132 causes the identified moving object to leave the predetermined formation. The control unit 132 then controls the moving object that has been following the identified moving object to follow another moving object in the predetermined formation that is different from the identified moving object.

[0137] [Operation Example 1 of Control Device 102] Next, a first example of the operation of the control device 102 will be described with reference to Fig. 16. In this operation example, an example will be described in which a predetermined moving object joins a formation. The predetermined moving object is a moving object that is not in formation.

[0138] 16 is a flowchart illustrating a first example of the operation of the control device 102. The acquisition unit 112 acquires mobile object navigation information for a predetermined mobile object (S301). The acquisition unit 112 also acquires formation navigation information (S302). The identification unit 140 estimates the time at which the predetermined mobile object will arrive at the rendezvous point based on the mobile object navigation information (S303). The identification unit 140 then identifies a formation that will pass the rendezvous point within a predetermined time from the estimated time (S304). Specifically, the identification unit 140 identifies, based on the formation navigation information, a formation that is heading in the same direction as the traveling direction of the predetermined mobile object and will pass the rendezvous point within a predetermined time from the estimated time.

[0139] If a formation is identified ("Yes" in S305), the control unit 132 causes the specified moving object of the formation to follow the specified moving object (S306). At this time, if there is time until the specified formation arrives at the rendezvous point, the control unit 132 may cause the specified moving object to wait until the formation arrives at the rendezvous point.

[0140] If a formation has not been identified ("No" in S305), the control unit 132 controls the predetermined moving object to navigate according to the individual navigation route (S307).

[0141] Note that this operation example is merely an example, and the operation of the control device 102 is not limited to this example.

[0142] [Second Example of Operation of Control Device 102] Next, a second example of operation of the control device 102 will be described with reference to Fig. 17. In this example of operation, an example will be described in which one of the moving objects flying in a predetermined formation leaves the formation.

[0143] 17 is a flowchart illustrating a second example of the operation of the control device 102. The acquisition unit 112 acquires formation navigation information for a predetermined formation (S401). The acquisition unit 112 also acquires mobile object navigation information for the mobile objects in the predetermined formation (S402). The identification unit 140 identifies a mobile object that deviates from the formation navigation route based on the formation navigation information and the mobile object navigation information (S403). The identification unit 140 also identifies a departure point for the identified mobile object (S404).

[0144] When the formation arrives at the departure point, the control unit 132 causes the identified moving object to leave the formation (S405). That is, the control unit 132 controls the identified moving object to navigate according to the moving object's independent navigation route. The control unit 132 then controls the moving object that was following the separated moving object to follow another moving object in the specified formation (S406). At this time, if there is no moving object that was following the separated moving object, the control unit 132 does not need to perform the processing of S406.

[0145] Note that this operation example is merely an example, and the operation of the control device 102 is not limited to this example.

[0146] In this way, the control device 102 of the fourth embodiment acquires formation navigation information that associates the navigation route and navigation time of the traveling formation. Furthermore, when a predetermined moving object arrives at a rendezvous point, the control device 102 identifies a formation that will pass the rendezvous point within a predetermined time based on the formation navigation information. Then, when the formation is identified, the control device 102 performs control to cause the identified moving object of the formation to follow the predetermined moving object at the rendezvous point.

[0147] This allows the control device 102 to make the specified moving object join the navigating formation. When the specified moving object follows one of the moving objects in the formation, the control device 102 can turn off functions of the specified moving object that are not required for following. This allows the control device 102 to reduce the battery consumption of the specified moving object.

[0148] The control device 102 also acquires formation navigation information including a formation navigation route, which is the navigation route of the traveling formation, and mobile object navigation information including an individual navigation route, which is the navigation route of each mobile object. Based on the formation navigation information and the mobile object navigation information, the control device 102 identifies a mobile object that deviates from the formation navigation route among the mobile objects traveling in a predetermined formation. The control device 102 then causes the identified mobile object to leave the predetermined formation, and controls the mobile object that has been following the identified mobile object to follow another mobile object in the predetermined formation that is different from the identified mobile object.

[0149] This allows the control device 102 to separate a moving object that deviates from the formation flight route from the traveling formation while maintaining the formation.

[0150] Fifth Embodiment Next, a moving body according to a fifth embodiment will be described. In the fifth embodiment, an example will be described in which the moving body autonomously performs the various processes described in the first, second, third, and fourth embodiments. Note that some of the description of the content that overlaps with the first, second, third, and fourth embodiments will be omitted.

[0151] FIG. 18 is a diagram schematically illustrating an example of a configuration including a mobile object 202. A mobile object control system 1003 includes at least a mobile object 202. In the example of FIG. 18, the mobile object control system 1003 includes a control device 103 and mobile objects 202-1, 202-2, ..., 202-3 (n is a natural number equal to or greater than 2). When there is no need to distinguish between the mobile objects 202-1, 202-2, ..., 202-n, they will simply be referred to as "mobile objects 202." Each of the mobile objects 202 is connected to each other via a wireless or wired network so as to be able to communicate with each other. Furthermore, the mobile object 202 is also connected to the control device 103 so as to be able to communicate with each other via a wireless or wired network.

[0152] The control device 103 may have the same configuration as any one of the above-described control devices 100, 101, and 102. The mobile object 202 may have the same configuration as any one of the mobile objects 200 and 201. The control device 103 and the mobile object 202 may further perform the operations described below.

[0153] 19 is a block diagram showing an example of the configuration of the mobile object 202. The mobile object 202 includes a communication unit 211, a measurement unit 221, a mobile object control unit 231, an abnormality detection unit 241, a role determination unit 251, and a formation identification unit 261. The mobile object 202 also includes a storage device 290.

[0154] The communication unit 211 acquires function information from the plurality of mobile objects 202. The communication unit 211 may be an example of an acquisition unit. That is, the communication unit 211 may have the functions described for the acquisition unit of the control device in the other embodiments and modifications.

[0155] Specifically, the communication unit 211 acquires function information from other moving bodies that are in formation with the host aircraft. Information about the other moving bodies that are in formation with the host aircraft may be stored in advance in the storage device 290. Alternatively, the communication unit 211 may acquire information about the other moving bodies from the control device 103. For example, assume that the host aircraft is moving body 202-1. In this case, the communication unit 211 acquires information about moving bodies 202-2 and 202-3 from the control device 103, for example. As a result, the moving body 202-1 can identify that the other moving bodies that are in formation with the host aircraft are moving bodies 202-2 and 202-3.

[0156] The communication unit 211 may acquire the function information from the control device 103 .

[0157] The role determination unit 251 determines the role of the control device according to predetermined criteria. The role determination unit 251 may be an example of a determination means. That is, the role determination unit 251 may have the functions described for the determination units of the control devices in the other embodiments and modified examples.

[0158] For example, information indicating the predetermined criteria is stored in the storage device 290. The role determination unit 251 determines the role of the own device based on the information indicating the predetermined criteria stored in the storage device 290.

[0159] Assume that the predetermined criterion is whether or not a function required for a role is present. For example, assume that a lead aircraft is required to have a photographing function, a positioning function based on location information, and a distance measurement function. In this case, the role determination unit 251 identifies one moving object among multiple moving objects that has a photographing function, a positioning function based on location information, and a distance measurement function, based on the function information. If the identified moving object is the user's own aircraft, the role determination unit 251 determines the user's own aircraft as the lead aircraft. Furthermore, if the identified moving object is not the user's own aircraft, the role determination unit 251 determines the user's own aircraft as the wingman.

[0160] Assume that the predetermined criterion is the superiority or inferiority of the performance of the functions possessed by the mobile object 202. In this case, the role determination unit 251 compares the function information. Then, the role determination unit 251 may identify one of the multiple mobile objects 202 that has a function with superior performance. For example, the role determination unit 251 may identify one of the multiple mobile objects 202 that is capable of capturing images with the highest number of pixels or that has the largest zoom magnification. Furthermore, for example, the role determination unit 251 may identify one of the multiple mobile objects 202 that has the smallest error in the positioning function of the position information. Then, as described above, if the identified mobile object is the mobile object itself, the role determination unit 251 determines the mobile object itself as the lead mobile object, and if the identified mobile object is not the mobile object itself, the role determination unit 251 determines the mobile object itself as the consort mobile object.

[0161] The method of determining the role is not limited to this example. For example, the role determination unit 251 may identify at least one of the mobile objects 202 based on whether or not the mobile object has a function required for the role. Then, when multiple mobile objects 202 are identified, the role determination unit 251 may identify one mobile object based on the relative merits of the performance of the function.

[0162] The mobile object control unit 231 controls the mobile object according to the determined role. The mobile object control unit 231 may be an example of a control means. That is, the mobile object control unit 231 may have the functions described for the control unit of the control device in other embodiments and modified examples.

[0163] Specifically, when the own aircraft is determined to be the lead aircraft, the mobile unit control unit 231 controls the own aircraft to fly along the formation navigation route based on the formation navigation information. The formation navigation information may be stored in the storage device 290 in advance. Furthermore, the mobile unit control unit 231 may control the own aircraft to fly along the formation navigation route while taking measurements to ensure safety. At this time, the mobile unit control unit 231 causes the measurement unit 221 to take measurements to ensure safety. When the own aircraft is the lead aircraft, the mobile unit control unit 231 may transmit information indicating the formation configuration to the wingman mobile units via the communication unit 211.

[0164] Furthermore, if the own aircraft is determined to be a wingman, the mobile object control unit 231 controls the own aircraft to follow other mobile objects in the formation (i.e., the lead aircraft or other wingman). For example, the mobile object control unit 231 determines the position of the own aircraft in the formation of the formation. Information indicating the formation of the formation is included, for example, in the formation navigation information. Furthermore, the mobile object control unit 231 may acquire information indicating the formation of the formation from the lead mobile aircraft. Here, the mobile object control unit 231 may transmit information indicating the determined position of the own aircraft to the other wingman mobile objects via the communication unit 211. In other words, the mobile object control unit 231 determines a position other than the positions determined by the other wingman aircraft as the position of the own aircraft in the formation of the formation.

[0165] When the position of the moving object 202 in the formation of the formation has been determined, the moving object control unit 231 determines the moving object to follow. Then, the moving object control unit 231 uses the measurement function of the measurement unit 221 to control the moving object to follow the moving object to follow.

[0166] Furthermore, when the own aircraft is a wingman, the mobile object control unit 231 may turn off functions that are not necessary for following.

[0167] Furthermore, the mobile object 202 may perform control in response to a notification when an abnormality occurs.

[0168] The abnormality detection unit 241 detects an abnormality that has occurred in the mobile object 202. Specifically, the abnormality detection unit 241 may detect an abnormality that has occurred in the measurement function. When the abnormality detection unit 241 detects that an abnormality has occurred, it transmits an abnormality notification to other mobile objects via the communication unit 211.

[0169] The communication unit 211 receives an abnormality notification. When the communication unit 211 receives an abnormality notification from the lead mobile unit, the role determination unit 251 determines whether it is necessary to change the role of the own mobile unit. Specifically, the role determination unit 251 identifies one of the consort mobile units that meets a predetermined criterion based on the function information of the consort mobile units. Then, if the identified mobile unit is the own mobile unit, the role determination unit 251 determines that it is necessary to change the role of the own mobile unit. In other words, the role determination unit 251 determines that it is necessary to change the role of the own mobile unit. If the identified mobile unit is not the own mobile unit, the role determination unit 251 determines that it is not necessary to change the role of the own mobile unit.

[0170] If the own aircraft is a leading mobile aircraft and the communication unit 211 transmits an abnormality notification, the role determination unit 251 determines the own aircraft to be a new wingman.

[0171] The mobile object control unit 231 controls the mobile object according to the newly determined role. For example, the positions of the mobile object newly determined as the lead aircraft and the mobile object newly determined as the wingman are swapped. If a function not required for following is turned off, the mobile object control unit 231 of the mobile object newly determined as the lead aircraft controls the function to be turned on. Furthermore, the mobile object control unit 231 of the mobile object newly determined as the wingman may turn off a function not required for following.

[0172] It is assumed that the aircraft is a mobile aircraft of a wingman and the communication unit 211 transmits an abnormality notification. In this case, the mobile aircraft control unit 231 may cause the aircraft to evacuate depending on the nature of the abnormality. For example, the mobile aircraft control unit 231 may cause the aircraft to leave the formation and evacuate to an evacuation destination.

[0173] Additionally, vehicles 202 may join or leave the formation.

[0174] The formation identifying unit 261 identifies a predetermined formation depending on the situation. The formation identifying unit 261 may be an example of an identifying means. That is, the formation identifying unit 261 may have the functions described for the identifying units of the control devices of the other embodiments and modified examples.

[0175] For example, assume that the aircraft is a moving body that is not in formation. The formation identification unit 261 estimates the time of arrival at the rendezvous point based on the moving body navigation information of the aircraft. Furthermore, based on the formation navigation information, the formation identification unit 261 identifies a formation that is heading in the same direction as the aircraft's direction of travel and that will pass the rendezvous point within a predetermined time from the estimated time. In this case, the formation navigation information may be stored in the storage device 290 in advance, or may be information acquired from the control device 103 or another moving body in the formation. When the formation navigation information is acquired from the control device 103 or another moving body, the formation identification unit 261 requests the formation navigation information from the control device 103 or another moving body within a predetermined range via the communication unit 211. The communication unit 211 then acquires the formation navigation information from the control device 103 or another moving body.

[0176] When the formation is identified by the formation identification unit 261, the mobile object control unit 231 controls the mobile objects of the identified formation to follow the identified formation at the rendezvous point.

[0177] Also, for example, suppose the own aircraft is a moving body in formation. The formation identification unit 261 determines whether the own aircraft is a moving body that will deviate from the formation navigation route based on the formation navigation information and the moving body navigation information of the own aircraft. If the own aircraft is a moving body that will deviate from the formation navigation route, the formation identification unit 261 further identifies a departure point, which is a point at which the own aircraft will depart from the formation.

[0178] When the formation arrives at the departure point, the mobile object control unit 231 controls the mobile object to navigate along a single navigation route. That is, the mobile object control unit 231 causes the mobile object to leave. At this time, the mobile object control unit 231 transmits a departure notification to other mobile objects in the same formation via the communication unit 211, indicating that the mobile object will leave.

[0179] The mobile unit control unit 231 of the mobile unit that has received the departure notification controls the mobile unit to follow a mobile unit different from the one that has left.

[0180] [Operation Example 1 of Moving Object 202] Next, a first example of the operation of the moving object 202 will be described with reference to Fig. 20. In this operation example, an example will be described in which a role in the formation is determined based on functional information, and control is performed according to the role.

[0181] 20 is a flowchart illustrating a first example of the operation of the moving object 202. The communication unit 211 acquires function information from multiple moving objects 202 (S501). For example, the communication unit 211 acquires function information from other moving objects that are in formation with the own aircraft. The role determination unit 251 determines the role of the own aircraft according to predetermined criteria (S502). For example, the role determination unit 251 identifies one moving object that meets the predetermined criteria from among the multiple moving objects based on the function information. If the identified moving object is the own aircraft, the role determination unit 251 determines the own aircraft as the lead aircraft. If the identified moving object is not the own aircraft, the role determination unit 251 determines the own aircraft as the wingman aircraft.

[0182] The mobile object control unit 231 then controls the mobile object in accordance with the determined role (S503). For example, if the mobile object is determined to be the lead aircraft, the mobile object control unit 231 controls the mobile object to navigate the formation navigation route based on the formation navigation information. Also, if the mobile object is determined to be a wingman, the mobile object control unit 231 controls the mobile object to follow the other mobile objects in the formation (i.e., the lead aircraft or other wingman aircraft).

[0183] [Operation Example 2 of Mobile Object 202] Next, a second example of the operation of the mobile object 202 will be described with reference to Fig. 21. In this operation example, an example of control in response to a notification when an abnormality occurs will be described. Also, in this operation example, an example of a case where an abnormality notification is sent to the mobile object 202 will be described.

[0184] 21 is a flowchart illustrating a second example of the operation of the mobile unit 202. The communication unit 211 receives an abnormality notification (S601). The role determination unit 251 determines whether the role of the mobile unit 202 needs to be changed. For example, if the abnormality notification is transmitted from a long-distance mobile unit, the role determination unit 251 identifies one mobile unit that meets a predetermined criterion. If the identified mobile unit is the mobile unit 202, the role determination unit 251 determines that the role of the mobile unit 202 needs to be changed.

[0185] If the role of the own aircraft needs to be changed ("Yes" in S602), the role determination unit 251 determines a new role (S603). For example, the role determination unit 251 determines the own aircraft to be the new leader aircraft. Then, the mobile object control unit 231 controls the own aircraft in accordance with the newly determined role (S604). If the role of the own aircraft does not need to be changed ("No" in S602), the mobile object 202 may end the processing.

[0186] [Operation Example 3 of Moving Object 202] Next, a third example of the operation of the moving object 202 will be described with reference to Fig. 22. In this operation example, an example will be described in which a moving object 202 that is not in formation joins the formation.

[0187] 22 is a flowchart illustrating a third example of the operation of the mobile object 202. The communication unit 211 acquires formation navigation information (S701). The formation identification unit 261 estimates the time at which the mobile object 202 will arrive at the rendezvous point based on the mobile object navigation information of the mobile object 202 (S702). The formation identification unit 261 then identifies a formation that will pass the rendezvous point within a predetermined time from the estimated time (S703). Specifically, the formation identification unit 261 identifies, based on the formation navigation information, a formation that will pass the rendezvous point within a predetermined time from the estimated time, among formations heading in the same direction as the mobile object 202's direction of travel.

[0188] If a formation has been identified ("Yes" in S704), the mobile object control unit 231 controls the mobile objects of the identified formation to follow the formation at the rendezvous point (S705). At this time, if there is time before the identified formation arrives at the rendezvous point, the mobile object control unit 231 may cause a predetermined mobile object to wait until the formation arrives at the rendezvous point.

[0189] If a formation has not been identified ("No" in S704), the mobile object control unit 231 controls the mobile object to navigate according to a single-object navigation route (S706).

[0190] [Operation Example 4 of Moving Object 202] Next, a fourth example of the operation of the moving object 202 will be described with reference to Fig. 23. In this operation example, an example will be described in which the moving object 202 in formation leaves the formation.

[0191] 23 is a flowchart illustrating a fourth example of the operation of the moving object 202. The formation identification unit 261 determines whether the moving object 202 is a moving object that will deviate from the formation navigation route based on the formation navigation information and the moving object navigation information of the moving object 202. If the moving object 202 is a moving object that will deviate from the formation navigation route ("Yes" in S801), the formation identification unit 261 identifies a departure point for the moving object 202 (S802).

[0192] When the formation arrives at the departure point, the mobile object control unit 231 causes the mobile object to leave the formation (S803). That is, the mobile object control unit 231 controls the mobile object to navigate according to the individual navigation route. Then, the communication unit 211 transmits a departure notification (S804).

[0193] If the own device is not the moving device that is about to leave ("No" in S801), the moving device 202 performs the following operation. In particular, if the own device has received a departure notification ("Yes" in S805) and has been following the moving device that has left ("Yes" in S806), the moving device control unit 231 controls the own device to follow a moving device different from the moving device that has left (S807).

[0194] Note that all of the operation examples are merely examples, and the operation of the moving object 202 is not limited to these examples.

[0195] In this way, when multiple moving bodies form a formation, the moving body 202 of the fifth embodiment acquires function information indicating the measurement functions possessed by each of the multiple moving bodies. Furthermore, based on the function information, the moving body 202 determines its own body as the lead aircraft if it has measurement functions that satisfy a predetermined standard, and determines its own body as the wingman if it does not have measurement functions that satisfy the predetermined standard. The moving body 202 then controls its own body according to the determined role.

[0196] This allows the mobile object 202 to achieve the same effects as those described in the other embodiments, i.e., the mobile object 202 can appropriately determine its role based on the function information indicating the measurement function.

[0197] [Modification 3] The moving object 202 can also be described as follows: Fig. 24 is a block diagram showing an example of the functional configuration of the moving object 202. The moving object 202 includes an acquisition unit 310, a determination unit 320, and a control unit 330.

[0198] The acquisition unit 310 acquires function information indicating the measurement functions possessed by each of the multiple moving objects. The acquisition unit 310 may be an example of an acquisition means. The determination unit 320 determines the own aircraft as a lead aircraft if the own aircraft has measurement functions that satisfy a predetermined standard based on the function information, and determines the own aircraft as a wingman aircraft if the own aircraft does not have measurement functions that satisfy the predetermined standard. The determination unit 320 may be an example of a determination means. The control unit 330 controls the own aircraft in accordance with the determined role. The control unit 330 may be an example of a control means.

[0199] <Example of Hardware Configuration of Mobile Body Control System> The hardware constituting the control device and mobile body of the first, second, third, fourth, and fifth embodiments described above will be described. Fig. 25 is a block diagram showing an example of the hardware configuration of a computer device constituting the control device or mobile body in each embodiment. The control device, mobile body, and control method described in each embodiment and each modified example are realized in a computer device 90. For example, each of the control device, mobile body, etc. described in each embodiment and each modified example may have the hardware configuration shown in Fig. 25.

[0200] 25, a computer device 90 includes a processor 91, a RAM (Random Access Memory) 92, a ROM (Read Only Memory) 93, a storage device 94, an input / output interface 95, a bus 96, and a drive device 97. Note that the control device and the mobile object may be realized by a plurality of electric circuits.

[0201] The storage device 94 stores a program (computer program) 98. The processor 91 executes the program 98 of the present mobile object control system using the RAM 92. Specifically, the program 98 includes, for example, a program that causes a computer to execute the processes shown in Figures 3, 7, 10, 16, 17, 20, 21, 22, 23, and 24. The processor 91 executes the program 98 to realize the functions of each component of the present mobile object control system. The program 98 may be stored in the ROM 93. Alternatively, the program 98 may be recorded in the storage medium 80 and read out using the drive device 97, or may be transmitted to the computer device 90 from an external device (not shown) via a network (not shown).

[0202] The input / output interface 95 exchanges data with peripheral devices (such as a keyboard, a mouse, and a display device) 99. The input / output interface 95 functions as a means for acquiring or outputting data. The bus 96 connects each component.

[0203] There are various variations in the methods for realizing the control device and the mobile body. For example, each component included in the control device and the mobile body can be realized as a dedicated device. Furthermore, the control device and the mobile body can each be realized based on a combination of multiple devices.

[0204] The scope of each embodiment also includes a processing method for recording a program for realizing each configuration of the function of each embodiment on a storage medium, reading the program recorded on the storage medium as code, and executing it on a computer. That is, a computer-readable storage medium is also included in the scope of each embodiment. Furthermore, the storage medium on which the above-mentioned program is recorded and the program itself are also included in each embodiment.

[0205] The storage medium may be, but is not limited to, a floppy disk, a hard disk, an optical disk, a magneto-optical disk, a compact disc (CD)-ROM, a magnetic tape, a non-volatile memory card, or a ROM. The programs recorded on the storage medium are not limited to standalone programs that execute processes, but also include programs that run on an operating system (OS) in cooperation with other software or functions of an expansion board.

[0206] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

[0207] Furthermore, the above-described embodiments and modifications can be combined as appropriate.

[0208] Some or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0209] [Supplementary Note 1] A control device comprising: an acquisition means for acquiring function information indicating measurement functions possessed by each of a plurality of moving bodies; a determination means for determining, based on the function information, the role of one of the plurality of moving bodies having a measurement function that satisfies a predetermined standard as a lead aircraft, and determining the roles of the other moving bodies as wingmen; and a control means for controlling the plurality of moving bodies to form a formation in accordance with the determined roles.

[0210] [Supplementary Note 2] The control device according to Supplementary Note 1, wherein the control means controls the moving body determined as the wingman to follow the leading aircraft or another moving body of the wingman, and turns off functions not required for following.

[0211] [Supplementary Note 3] The control device described in Supplementary Note 1 or 2, wherein the acquisition means acquires a notification indicating the occurrence of an abnormality from a leading mobile body flying in formation, and the determination means newly determines the role of the leading mobile body as wingman, and based on the function information, determines the role of one mobile body among the wingman mobile bodies flying in formation that has a measurement function that meets a predetermined standard as the leading mobile body.

[0212] [Supplementary Note 4] The control device according to Supplementary Note 3, wherein, if the notification indicates an abnormality in the measurement function related to position information, the control means controls the moving object newly determined as the wingman to follow the moving object of the lead aircraft or another wingman aircraft using a photographing function.

[0213] [Supplementary Note 5] The control device according to Supplementary Note 3 or 4, wherein, when the notification indicates an abnormality in the remaining battery charge, the control means controls the moving object newly determined as the wingman to turn off functions that are not necessary for following other moving objects.

[0214] [Supplementary Note 6] A control device as described in any of Supplementary Notes 1 to 5, further comprising an identification means, wherein the acquisition means acquires formation navigation information that associates a navigation route and a navigation time of a traveling formation, wherein the identification means, when a predetermined moving body different from the plurality of moving bodies arrives at a rendezvous point, identifies the formation that will pass the rendezvous point within a predetermined time based on the formation navigation information, and when the formation is identified by the identification means, the control means controls the predetermined moving body to follow the identified moving body of the formation at the rendezvous point.

[0215] [Supplementary Note 7] A control device as described in any of Supplementary Notes 1 to 5, further comprising an identification means, wherein the acquisition means acquires formation navigation information including a formation navigation route which is the navigation route of a traveling formation, and mobile object navigation information including an individual navigation route which is the navigation route for each moving object, wherein the identification means identifies, based on the formation navigation information and the mobile object navigation information, a moving object that deviates from the formation navigation route among the moving objects traveling in a predetermined formation, and the control means causes the identified moving object to leave the predetermined formation, and controls a moving object that has been following the identified moving object to follow another moving object in the predetermined formation that is different from the identified moving object.

[0216] [Supplementary Note 8] A control device as described in any of Supplementary Notes 1 to 7, wherein the acquisition means acquires weather information along the navigation routes of the plurality of moving bodies, and the control means identifies the formation of the formation from the acquired weather information based on a learning model that has learned the relationship between the weather information, the battery consumption of the moving bodies, and the formation of the formation, and controls the plurality of moving bodies to navigate in the identified formation of the formation.

[0217] [Supplementary Note 9] The control device according to any one of Supplementary Notes 1 to 8, wherein a mark is affixed to each of the plurality of moving bodies, and the control means causes a consort moving body to photograph the mark to follow the other moving body.

[0218] [Supplementary Note 10] The control device according to any one of Supplementary Notes 3 to 5, wherein the control means swaps the newly determined leader moving body with the newly determined wingman moving body.

[0219] [Supplementary Note 11] A mobile body comprising: when a plurality of mobile bodies form a formation, an acquisition means for acquiring function information indicating measurement functions possessed by each of the plurality of mobile bodies; a determination means for determining, based on the function information, that the mobile body is the lead aircraft if the mobile body has measurement functions that satisfy a predetermined standard, and for determining that the mobile body is the wingman aircraft if the mobile body does not have measurement functions that satisfy the predetermined standard; and a control means for controlling the mobile body in accordance with the determined role.

[0220] [Supplementary Note 12] The moving body according to Supplementary Note 11, wherein, when the determining means determines that the moving body is a consort aircraft, the control means performs control to follow the moving body of the lead aircraft or another consort aircraft, and to turn off functions not required for following.

[0221] [Supplementary Note 13] The mobile body described in Supplementary Note 11 or 12, wherein, when the mobile body is a wingman and flying in formation, the acquisition means acquires a notification indicating the occurrence of an abnormality from the lead mobile body, and the determination means determines the mobile body as the lead or wingman based on the function information of the mobile body and other wingman mobile bodies.

[0222] [Supplementary Note 14] The mobile body according to Supplementary Note 11, further comprising an abnormality detection means for detecting an abnormality that has occurred in a measurement function of the mobile body, wherein the abnormality detection means, when detecting an abnormality, transmits a notification indicating the occurrence of the abnormality to other mobile bodies in formation with the mobile body.

[0223] [Supplementary Note 15] The mobile body according to Supplementary Note 14, wherein, when the own aircraft is the lead aircraft and flying in formation, if the abnormality detection means detects an abnormality, the determination means determines the own aircraft to be a new wingman, and the control means performs control to follow the other mobile bodies in formation with the own aircraft.

[0224] [Supplementary Note 16] The moving body according to Supplementary Note 15, wherein, when the abnormality detection means detects an abnormality in a measurement function related to position information, the control means uses a photographing function to perform control to follow another moving body in formation with the moving body.

[0225] [Supplementary Note 17] The mobile body according to Supplementary Note 15 or 16, wherein, when the abnormality detection means detects an abnormality related to the remaining battery charge, the control means performs control to turn off functions that are not necessary for following other mobile bodies in formation with the mobile body.

[0226] [Supplementary Note 18] A mobile body as described in Supplementary Note 11, further comprising an identification means, wherein when the mobile body is not flying in formation, the acquisition means acquires formation navigation information that associates the navigation route and navigation time of the navigating formation, when the mobile body arrives at a rendezvous point, the identification means identifies a formation that will pass the rendezvous point within a predetermined time based on the formation navigation information, and when a formation is identified by the identification means, the control means controls the mobile body to follow the identified mobile body in the formation at the rendezvous point.

[0227] [Supplementary Note 19] A mobile body as described in Supplementary Note 11, further comprising an identification means, wherein when the mobile body is flying in a predetermined formation, the acquisition means acquires formation navigation information including a formation navigation route which is the navigation route of the navigating formation, and mobile body navigation information including an individual navigation route which is the navigation route for each mobile body, the identification means identifies whether the mobile body is a mobile body that will deviate from the formation navigation route based on the formation navigation information and the mobile body navigation information, and the control means causes the mobile body to leave the predetermined formation.

[0228] [Supplementary Note 20] A control method comprising: acquiring function information indicating measurement functions possessed by each of a plurality of moving bodies; determining, based on the function information, a role of one of the plurality of moving bodies having a measurement function that satisfies a predetermined standard as a lead aircraft; determining roles of other moving bodies as wingmen; and controlling the plurality of moving bodies to form a formation according to the determined roles.

[0229] [Supplementary Note 21] A computer-readable storage medium that stores a program that causes a computer to execute the following processes: upon acquiring function information indicating the measurement functions possessed by each of a plurality of moving bodies, determining, based on the function information, the role of one of the plurality of moving bodies that has a measurement function that meets a predetermined standard as a lead aircraft, and determining the roles of the other moving bodies as wingmen; and controlling the plurality of moving bodies to form a formation in accordance with the determined roles.

[0230] This application claims priority based on Japanese Patent Application No. 2023-040582, filed on March 15, 2023, the disclosure of which is incorporated herein in its entirety.

[0231] 100, 101, 102, 103 Control device 110, 111, 112, 310 Acquisition unit 120, 121, 320 Determination unit 130, 131, 132, 330 Control unit 140 Identification unit 190, 290 Storage device 200 Mobile body 210, 211 Communication unit 220, 221 Measurement unit 230, 231 Mobile body control unit 240, 241 Abnormality detection unit 251 Role determination unit 261 Formation identification unit

Claims

1. an acquisition means for acquiring function information indicating a measurement function possessed by each of a plurality of moving objects; a determining means for determining, based on the function information, a role of one of the plurality of moving bodies that has a measurement function that satisfies a predetermined standard as a leader and determining roles of the other moving bodies as contingent bodies; and a control means for controlling the plurality of moving bodies to form a formation in accordance with the determined roles. Control device.

2. the control means controls the moving object determined as the wingman to follow the leading aircraft or another moving object, and turns off functions not required for following. The control device according to claim 1 .

3. The acquisition means acquires a notification indicating the occurrence of an abnormality from the leading mobile object flying in formation, The determining means The role of the lead aircraft's mobile unit was newly determined as that of the wingman. Based on the function information, one of the mobile units flying in the formation that has a measurement function that satisfies a predetermined standard is determined to play the role of the lead mobile unit. The control device according to claim 1 .

4. If the notification indicates an abnormality in the location information measurement function, the control means controls the moving object newly determined as the wingman to follow the moving object of the lead aircraft or another wingman, using a photographing function; The control device according to claim 3 .

5. If the notification indicates an abnormality regarding the remaining battery power, the control means controls the moving object newly determined as the wingman to turn off functions that are not necessary for following other moving objects. The control device according to claim 3 or 4.

6. Further comprising a specifying means, the acquisition means acquires formation navigation information in which a navigation route of a traveling formation is associated with a navigation time, the identifying means, when a predetermined moving body different from the plurality of moving bodies arrives at a rendezvous point, identifies a formation that will pass through the rendezvous point within a predetermined time based on the formation navigation information; When the identification means identifies a formation, the control means controls the predetermined moving object to follow the identified moving object of the formation at the rendezvous point. The control device according to claim 1 .

7. Further comprising a specifying means, The acquisition means Formation navigation information including a formation navigation route, which is the navigation route of the traveling formation; Acquire mobile object navigation information including a single navigation route, which is a navigation route for each mobile object; the identifying means identifies, based on the formation navigation information and the moving object navigation information, a moving object that deviates from the formation navigation route among the moving objects that are navigating in a predetermined formation; The control means causing the identified moving object to leave the predetermined formation; performing control so that the moving body that has been following the identified moving body follows another moving body in the predetermined formation that is different from the identified moving body; The control device according to claim 1 .

8. When multiple moving bodies form a formation, an acquisition means for acquiring function information indicating a measurement function possessed by each of the plurality of moving objects; a determining means for determining the own aircraft as a lead aircraft when the own aircraft has a measurement function that satisfies a predetermined standard based on the function information, and determining the own aircraft as a consort aircraft when the own aircraft does not have a measurement function that satisfies the predetermined standard; and a control means for controlling the device in accordance with the determined role. Mobile object.

9. acquiring function information indicating a measurement function possessed by each of the plurality of moving objects; Based on the function information, determine the role of one of the plurality of moving bodies having a measurement function that satisfies a predetermined standard as a leader, and determine the roles of the other moving bodies as wingmen; Controlling the plurality of moving bodies to form a formation in accordance with the determined roles. Control method.

10. A process of acquiring function information indicating measurement functions possessed by each of a plurality of moving objects; a process of determining, based on the function information, a role of one of the plurality of moving bodies that has a measurement function that satisfies a predetermined standard as a leader and determining roles of the other moving bodies as wingmen; and a process of controlling the plurality of moving bodies to form a formation in accordance with the determined roles.