Clustering device, unmanned mobile body, control circuit, storage medium, and clustering method

Abstract

The objective of the present invention is to obtain a clustering device (50) that realizes clustering in which a plurality of unmanned mobile bodies can stably communicate with one another. The clustering device (50), which is mounted on an unmanned mobile body, comprises: an acquiring unit (51) that acquires a plurality of features indicating communication states and operating states of the unmanned mobile body and another unmanned mobile body capable of terminal-to-terminal communication, which is direct or indirect communication between unmanned mobile bodies, with the unmanned mobile body; and a control unit (52) that performs clustering by selecting, on the basis of the plurality of features, for specified functions of an unmanned mobile body group including the unmanned mobile body and the other unmanned mobile body, a parent unmanned mobile body for each specified function, and sharing the identification information of the parent unmanned mobile bodies among the unmanned mobile body group.

Description

Clustering device, unmanned vehicle, control circuit, storage medium, and clustering method

[0001] The present disclosure relates to a clustering device that performs clustering, an unmanned vehicle, a control circuit, a storage medium, and a clustering method.

[0002] Conventionally, grouping or clustering has been performed using location information to group multiple communication devices into one group for communication. For example, Patent Literature 1 discloses a technology in which UEs (User Equipment) mounted on a vehicle are grouped using vehicle location information and map information, and data is transmitted to a destination designated as an area where the grouped UEs are located.

[0003] Japanese Patent Application Laid-Open No. 2020-188406

[0004] However, according to the above-described conventional technology, since a vehicle equipped with a UE moves, the vehicle's location information changes as the vehicle moves, and the communication environment of the UE also changes. Therefore, since the communication quality of the UE also changes as the vehicle moves, there is a problem that it is difficult to perform stable communication by grouping only based on location information.

[0005] The present disclosure has been made in view of the above, and aims to provide a clustering device that realizes clustering that enables multiple unmanned moving bodies to communicate stably.

[0006] In order to solve the above-mentioned problems and achieve the object, the present disclosure provides a clustering device mounted on an unmanned mobile body. The clustering device is characterized by comprising: an acquisition unit that acquires multiple feature amounts that indicate the communication status and operation status of the unmanned mobile body and other unmanned mobile bodies that are capable of terminal-to-terminal communication, i.e., direct communication between the unmanned mobile bodies directly or indirectly, with the unmanned mobile body; and a control unit that performs clustering in which, based on the multiple feature amounts, a parent unmanned mobile body for each specified function is selected from a group of unmanned mobile bodies that includes the unmanned mobile body and the other unmanned mobile bodies, and the identification information of the parent unmanned mobile body is shared among the group of unmanned mobile bodies.

[0007] The clustering device of the present disclosure has the effect of realizing clustering that enables a plurality of unmanned moving bodies to communicate stably.

[0008]

[0009] A clustering device, an unmanned vehicle, a control circuit, a storage medium, and a clustering method according to embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0010] Embodiment 1. Fig. 1 is a diagram showing an example configuration of a communication system 6 including unmanned mobile bodies 10A to 10D equipped with a clustering device according to embodiment 1. Fig. 1 shows an image of wireless communication between the unmanned mobile bodies 10A to 10D in a state in which the unmanned mobile bodies 10A to 10D are clustered by a clustering device equipped on each of the unmanned mobile bodies. The unmanned mobile bodies 10A to 10D are, for example, drones, but are not limited to this. In the following description, when there is no need to distinguish between the unmanned mobile bodies 10A to 10D, they may be referred to as unmanned mobile bodies 10.

[0011] The unmanned mobile bodies 10A-10D acquire a movement plan generated by the server 5 via a base station 4 of a public network, and move according to the movement plan, i.e., fly, and capture images of the image capture target 2 using a sensor such as a camera. In order to move according to the movement plan generated by the server 5, the unmanned mobile bodies 10A-10D require accurate position information. In the example of FIG. 1, the unmanned mobile bodies 10A-10D can calculate their own position information by receiving GNSS signals transmitted from a GNSS satellite 3. The unmanned mobile bodies 10A-10D transmit sensing information obtained by capturing images of the image capture target 2 to the server 5 via the base station 4. Note that in the example of FIG. 1, the server 5 that generates the movement plans of the unmanned mobile bodies 10A-10D and the server 5 that collects the sensing information are the same, but this is not limited to this. The server 5 that generates the movement plans of the unmanned mobile bodies 10A-10D and the server 5 that collects the sensing information may be different servers.

[0012] As shown in FIG. 1 , the GNSS reception range 3a capable of receiving GNSS signals from the GNSS satellite 3 includes the unmanned mobile units 10C and 10D but does not include the unmanned mobile units 10A and 10B. Therefore, the relative position of the unmanned mobile unit 10A is complemented by the unmanned mobile unit 10C capable of receiving GNSS signals and capable of terminal-to-terminal communication. Similarly, the relative position of the unmanned mobile unit 10B is complemented by the unmanned mobile unit 10C or the unmanned mobile unit 10D capable of receiving GNSS signals and capable of terminal-to-terminal communication. Also, as shown in FIG. 1 , the wireless communication range 4a capable of wireless communication with the base station 4 includes the unmanned mobile units 10B and 10C but does not include the unmanned mobile units 10A and 10D. Therefore, the unmanned mobile unit 10A communicates wirelessly with the base station 4 via the unmanned mobile unit 10C capable of wireless communication with the base station 4 and capable of terminal-to-terminal communication. Similarly, the unmanned mobile body 10D communicates wirelessly with the base station 4 via the unmanned mobile body 10B or the unmanned mobile body 10C, which are capable of wireless communication with the base station 4 and are capable of terminal-to-terminal communication. The wireless communication between the unmanned mobile body 10 and the base station 4 includes, for example, the unmanned mobile body 10 receiving a movement plan or the like transmitted from the server 5 via the base station 4, and the unmanned mobile body 10 transmitting sensing information to the server 5 via the base station 4.

[0013] In this way, the unmanned mobile bodies 10A to 10D clustered by the clustering device can indirectly perform tasks that they cannot perform directly with the assistance of the other unmanned mobile bodies 10. Therefore, the GNSS satellites 3, base stations 4, and servers 5 do not need to consider whether or not each unmanned mobile body 10 is directly connected, and can regard the unmanned mobile bodies 10A to 10D as one virtual terminal 1. Hereinafter, the virtual terminal 1 may be referred to as a group of unmanned mobile bodies.

[0014] The configurations and operations of the unmanned mobile body 10 and the clustering device will be described. Fig. 2 is a diagram showing an example configuration of the unmanned mobile body 10 according to the first embodiment. The unmanned mobile body 10 includes a wireless terminal 20, a position information acquisition unit 30, a computer 40, a clustering device 50, a battery 60, and a sensor 70. In the example of Fig. 2, in order to make it easy to understand the flow of information being transmitted and received, i.e., so that information flows from left to right in Fig. 2, the unmanned mobile body 10 includes two wireless terminals 20, the left wireless terminal 20 for receiving information and the right wireless terminal 20 for transmitting information. However, this is not limited thereto, and the unmanned mobile body 10 may also be configured to include one wireless terminal 20 capable of transmitting and receiving information.

[0015] The wireless terminal 20 performs wireless communication with other unmanned mobile bodies 10, the base station 4, etc. The wireless terminal 20 includes a public network wireless terminal 21 and a terminal-to-terminal communication wireless terminal 22.

[0016] The public network wireless terminal 21 performs wireless communication over a public network with the base station 4 shown in FIG. 1 . Examples of public networks include, but are not limited to, a terrestrial cellular network and a satellite network. The communication method supported by the public network wireless terminal 21 may be Wi-Fi (registered trademark), sXGP (shared extended Global Platform), or the like. The public network wireless terminal 21 receives a movement plan and the like from the server 5 via the base station 4. The public network wireless terminal 21 transmits sensing information obtained by a sensor 70 (described later) to the base station 4 connected to the server 5. The public network wireless terminal 21 may transmit clustering information, such as a parent unmanned mobile unit selected by the clustering device 50 (described later), to the base station 4 connected to the server 5. The public network wireless terminal 21 outputs QoS (Quality of Service) to the clustering device 50 as one of the features of the unmanned mobile unit 10, as the communication quality of the wireless communication over the public network when receiving a movement plan and the like from the base station 4. The wireless communication by the public network wireless terminal 21 is referred to as RAT1.

[0017] The terminal-to-terminal communication wireless terminal 22 performs terminal-to-terminal communication with other unmanned mobile bodies 10. Terminal-to-terminal communication is a communication method in which unmanned mobile bodies 10 communicate directly with each other without going through a base station 4 or the like. Examples of terminal-to-terminal communication include, but are not limited to, V2X (Vehicle to X) communication and Wi-Fi. The terminal-to-terminal communication wireless terminal 22 outputs connection information, such as the number and combination of connections with other unmanned mobile bodies 10 with which terminal-to-terminal communication is possible, to the clustering device 50 as one of the features of the unmanned mobile body 10. As described below, in the unmanned mobile body 10, the clustering device 50 acquires the CPU (Central Processing Unit) resources of the computer 40 as one of the features of the unmanned mobile body 10, and the remaining battery charge of the battery 60 as one of the features of the unmanned mobile body 10, and controls the transmission of this information to other unmanned mobile bodies 10 via terminal-to-terminal communication. Therefore, the terminal-to-terminal communication wireless terminal 22 receives the features of other unmanned mobile bodies 10 from other unmanned mobile bodies 10. As explained in FIG. 1, in the inter-terminal communication between unmanned mobile bodies 10, movement plans, sensing information, and the like are also transmitted and received.

[0018] That is, the inter-terminal communication wireless terminal 22 receives, from other unmanned mobile bodies 10, through terminal-to-terminal communication, movement plans, statuses of other unmanned mobile bodies 10 including feature quantities of the other unmanned mobile bodies 10, clustering information such as parent unmanned mobile bodies selected by the clustering device 50 of the other unmanned mobile bodies 10, sensing information, etc. Furthermore, the inter-terminal communication wireless terminal 22 transfers the above information received from other unmanned mobile bodies 10 to other unmanned mobile bodies 10 through terminal-to-terminal communication, and also transmits, to the other unmanned mobile bodies 10, movement plans, statuses of the unmanned mobile bodies 10 including feature quantities of the unmanned mobile bodies 10, clustering information such as parent unmanned mobile bodies selected by the clustering device 50 of the unmanned mobile bodies 10, sensing information, etc. acquired by the unmanned mobile bodies 10 on which it is mounted. The inter-terminal communication wireless terminal 22 outputs the received statuses of other unmanned mobile bodies 10, etc. to the clustering device 50. Note that wireless communication by the inter-terminal communication wireless terminal 22 is referred to as RAT2.

[0019] The location information acquisition unit 30 acquires location information using GNSS signals received from the GNSS satellites 3 shown in Fig. 1. Although the illustration of the location information acquisition unit 30 is simplified in Fig. 1, in reality, the location information acquisition unit 30 calculates and acquires location information from the time difference when GNSS signals transmitted from multiple GNSS satellites 3 are received. The location information acquisition unit 30 outputs the location information calculated as one of the feature quantities of the unmanned mobile body 10 to the clustering device 50.

[0020] The computer 40 controls the movement of the unmanned mobile body 10, image capture by the sensor 70, etc. The computer 40 outputs processing capacity, for example CPU resources, as one of the features of the unmanned mobile body 10 to the clustering device 50.

[0021] The battery 60 supplies power to each component of the unmanned mobile body 10. The battery 60 outputs the remaining battery charge to the clustering device 50 as one of the feature quantities of the unmanned mobile body 10. Note that if the batteries 60 mounted on the unmanned mobile bodies 10A to 10D all have the same capacity, the remaining battery charge may be a parameter expressed as a percentage that indicates the remaining battery charge or the amount of battery usage.

[0022] The sensor 70 performs sensing. In the example of FIG. 1 , the sensor 70 captures an image of the imaging target 2 as the sensing described above. The sensor 70 is, for example, a device such as a LiDAR (Light Detection and Ranging), a camera, or a ToF (Time of Flight) sensor, but is not limited to these. The sensor 70 may include a plurality of devices of the same or different types. The sensor 70 outputs sensing information obtained by sensing to the clustering device 50.

[0023] The clustering device 50 is mounted on the unmanned mobile body 10, and performs clustering of the unmanned mobile body 10 on which the clustering device 50 is mounted and other unmanned mobile bodies 10 on which other clustering devices 50 are mounted. Fig. 3 is a diagram showing an example of the configuration of the clustering device 50 according to embodiment 1. The clustering device 50 includes an acquisition unit 51 and a control unit 52.

[0024] The acquisition unit 51 acquires a plurality of feature quantities indicating the communication state and operation state of the unmanned mobile body 10 and other unmanned mobile bodies 10 that are capable of terminal-to-terminal communication, which is direct communication between unmanned mobile bodies, directly or indirectly with the unmanned mobile body 10. Feature quantities indicating the communication state include, for example, QoS acquired from the public network wireless terminal 21, connection information such as the number and combination of connections with other unmanned mobile bodies 10 that are capable of terminal-to-terminal communication, acquired from the terminal-to-terminal communication wireless terminal 22, etc. Feature quantities indicating the operation state include, for example, location information acquired from the location information acquisition unit 30, CPU resources acquired from the calculator 40, and remaining battery capacity acquired from the battery 60. The acquisition unit 51 acquires all of the plurality of feature quantities of the other unmanned mobile bodies 10 from the terminal-to-terminal communication wireless terminal 22.

[0025] Based on the multiple features acquired by the acquisition unit 51, the control unit 52 selects a parent unmanned mobile unit for each specified function in a group of unmanned mobile units including the unmanned mobile unit 10 and other unmanned mobile units 10, and performs clustering in which the identification information of the parent unmanned mobile unit is shared among the group of unmanned mobile units.

[0026] 4 is a flowchart showing the operation of clustering device 50 according to embodiment 1, which performs clustering using a plurality of feature quantities. In clustering device 50, acquisition unit 51 is an interface that acquires information such as feature quantities and sensing information, and all processing such as clustering is performed by control unit 52. That is, the clustering processing in clustering device 50 is performed by control unit 52. Therefore, for the sake of brevity, the following description will basically focus on clustering device 50.

[0027] The clustering device 50 controls the terminal-to-terminal communication wireless terminal 22 of the unmanned mobile body 10 on which it is mounted, and broadcasts and shares information about the unmanned mobile body 10 that can communicate via terminal-to-terminal communication using the terminal-to-terminal communication wireless terminal 22 of the unmanned mobile body 10 (step S1). Figure 5 is a diagram showing the state of terminal-to-terminal communication among the unmanned mobile bodies 10A to 10D when the clustering device 50 according to embodiment 1 broadcasts and shares information about the unmanned mobile body 10 that can communicate via terminal-to-terminal communication. In the table shown in Figure 5, the identification information, or ID, of the unmanned mobile bodies 10A, 10B, 10C, and 10D are represented by A, B, C, and D, respectively.

[0028] The connected unmanned mobile units 10A to 10D that are capable of terminal-to-terminal communication have the relationship shown in the table in FIG. 5. For example, since the unmanned mobile unit 10A is connected to the unmanned mobile units 10B and 10C and is capable of terminal-to-terminal communication, it broadcasts information (unmanned mobile unit, connected unmanned mobile unit) = (A, B), (A, C). Similarly, the unmanned mobile units 10B to 10D also broadcast information (unmanned mobile unit, connected unmanned mobile unit). In other words, the unmanned mobile units 10A to 10D exchange information about connected unmanned mobile units. Note that the unmanned mobile units 10A to 10D forward information (unmanned mobile unit, connected unmanned mobile unit) received from other unmanned mobile units 10, and therefore the information (unmanned mobile unit, connected unmanned mobile unit) of the unmanned mobile units 10A to 10D shown in FIG. 5 is shared by the unmanned mobile units 10A to 10D.

[0029] The clustering device 50 selects a RAT2 parent, which will be the parent unmanned mobile unit, through wireless communication between terminals via the terminal-to-terminal communication wireless terminal 22 based on the connection information of each unmanned mobile unit 10 (step S2). Figure 6 is a diagram showing the state of terminal-to-terminal communication between the unmanned mobile units 10A-10D when the clustering device 50 according to the first embodiment selects a RAT2 parent. Figure 7 is a flowchart showing the operation of the clustering device 50 according to the first embodiment for selecting a RAT2 parent. The clustering device 50 for the unmanned mobile units 10A-10D acquires the connection information for terminal-to-terminal communication between each of the unmanned mobile units 10A-10D by broadcasting, and therefore integrates the connection information for terminal-to-terminal communication between each of the unmanned mobile units 10A-10D (step S11). By integrating the acquired connection information for all of the unmanned mobile units 10A-10D, the clustering device 50 can obtain information such as that shown on the right side of Figure 6. As a result of integrating the connection information, the number of connections between the unmanned mobile units 10B and 10C is three, which is a large number, so the clustering device 50 selects the unmanned mobile units 10B and 10C, which have the most connected unmanned mobile units 10, as the RAT2 parents (step S12). Just as the unmanned mobile units 10B and 10C were selected, the clustering device 50 can select multiple RAT2 parents.

[0030] In step S12, the clustering device 50 of the unmanned vehicles 10B, 10C determines that the unmanned vehicles 10B, 10C on which the clustering device 50 is installed have become the RAT2 parent, and the clustering device 50 of the unmanned vehicles 10A, 10D determines that the unmanned vehicles 10A, 10D on which the clustering device 50 is installed have not become the RAT2 parent. The clustering device 50 shares the RAT2 parent ID of the selected RAT2 parent (step S13). The RAT2 parent ID is identification information of the parent unmanned vehicle described above. Since the clustering devices 50 of the unmanned mobile bodies 10A to 10D make the same judgment as selecting the unmanned mobile bodies 10B and 10C as the RAT2 parents, all of the clustering devices 50 of the unmanned mobile bodies 10A to 10D may broadcast and share the RAT2 parent IDs B and C of the RAT2 parents, or only the clustering devices 50 of the unmanned mobile bodies 10B and 10C selected as the RAT2 parents may broadcast and share the RAT2 parent IDs B and C.

[0031] In this way, the multiple feature amounts include the number of connections of other unmanned mobile bodies 10 with which terminal-to-terminal communication is possible in the unmanned mobile body 10. In this case, the control unit 52 of the clustering device 50 selects, based on the number of connections, a relay parent unmanned mobile body, i.e., a RAT2 parent, which is a parent unmanned mobile body that relays desired information by terminal-to-terminal communication for an unmanned mobile body 10 that cannot receive desired information directly from the sender or cannot send desired information directly to the destination as a specified function.

[0032] The clustering devices 50 of the unmanned mobile bodies 10B and 10C selected as RAT2 parents assign clustering IDs to the unmanned mobile bodies 10A to 10D (step S3). Figure 8 is a diagram showing the state of terminal-to-terminal communication between the unmanned mobile bodies 10A to 10D when the clustering device 50 according to embodiment 1 is performing the operation of assigning clustering IDs. As described above, since the unmanned mobile bodies 10B and 10C are selected as RAT2 parents, the clustering devices 50 of the unmanned mobile bodies 10B and 10C determine a single clustering ID, here clustering ID:α, via their respective terminal-to-terminal communication wireless terminals 22, and broadcast the determined clustering ID:α to the unmanned mobile bodies 10A to 10D within the range where terminal-to-terminal communication is possible. The unmanned mobile body 10 that receives the clustering ID:α forwards the clustering ID:α.

[0033] Next, the clustering device 50 selects and deploys a GNSS parent from the group of unmanned mobile bodies, which are the unmanned mobile bodies 10A to 10D to which the clustering ID: α has been assigned (step S4). Fig. 9 is a diagram showing the flow of information in the clustering device 50 when the clustering device 50 according to the first embodiment selects a GNSS parent. Fig. 10 is a flowchart showing the operation of the clustering device 50 according to the first embodiment to select a GNSS parent.

[0034] In the unmanned mobile body 10, when the position information acquisition unit 30 receives a GNSS signal from the GNSS satellite 3, the position information acquisition unit 30 calculates the position information and outputs it to the clustering device 50. If the clustering device 50 has not acquired position information from the position information acquisition unit 30 (step S21: No), the clustering device 50 waits. If the clustering device 50 has acquired position information from the position information acquisition unit 30 (step S21: Yes), the clustering device 50 determines whether the relative positions of other unmanned mobile bodies 10 can be complemented (step S22). Generally, communication devices capable of terminal-to-terminal communication are capable of relative positioning between communication devices using a ranging function such as the IEEE (Institute of Electrical and Electronics Engineers) UWB (Ultra Wide Band) standard or the 3GPP (Third Generation Partnership Project) PC5 standard. Therefore, the unmanned mobile body 10 can complement the relative positions of other unmanned mobile bodies 10 by utilizing such ranging function. If the clustering device 50 cannot complement the relative positions of the other unmanned mobile bodies 10 (step S22: No), the process returns to step S21.

[0035] If the clustering device 50 can complement the relative positions of other unmanned mobile bodies 10 (step S22: Yes), it determines that the unmanned mobile body 10 will become a GNSS parent (step S23). When selecting a RAT2 parent, the clustering devices 50 for each of the unmanned mobile bodies 10A-10D make the same decision based on the same information. However, when selecting a GNSS parent, the clustering devices 50 for each of the unmanned mobile bodies 10A-10D make individual decisions based on their individual location information. However, as with the RAT2 parent, there may be multiple GNSS parents within a cluster. The clustering device 50 then broadcasts and deploys the GNSS parent ID of the selected GNSS parent to the group of unmanned mobile bodies (step S24). The GNSS parent ID is the identification information of the parent unmanned mobile body described above. 9, the clustering device 50 acquires location information from the location information acquisition unit 30, and if it determines that it will become a GNSS parent, it outputs the location information and the GNSS parent ID to the terminal-to-terminal communication wireless terminal 22. The terminal-to-terminal communication wireless terminal 22 broadcasts the GNSS parent ID and complements the relative locations of other unmanned mobile bodies 10 with which terminal-to-terminal communication is possible.

[0036] In this way, the multiple feature amounts include location information indicating the location of the unmanned mobile body 10. In this case, the control unit 52 of the clustering device 50 selects a location information parent unmanned mobile body, i.e., a GNSS parent, which is a parent unmanned mobile body that acquires location information for the unmanned mobile body 10 for which location information cannot be acquired as a defined function and complements the location of the unmanned mobile body 10 for which location information cannot be acquired through terminal-to-terminal communication.

[0037] Next, the clustering device 50 selects and deploys a movement plan parent from the group of unmanned mobile bodies, which are the unmanned mobile bodies 10A to 10D to which the clustering ID: α has been assigned (step S5). Fig. 11 is a diagram showing the flow of information in the clustering device 50 when the clustering device 50 according to the first embodiment selects a movement plan parent. Fig. 12 is a flowchart showing the operation of the clustering device 50 according to the first embodiment to select a movement plan parent.

[0038] If the clustering device 50 is unable to confirm the clustering ID: α because it has not acquired or determined the clustering ID: α (step S31: No), it waits. If the clustering device 50 is able to confirm the clustering ID: α because it has acquired or determined the clustering ID: α (step S31: Yes), the unmanned mobile units 10A to 10D share the remaining battery power, CPU resources, and the like (step S32). The clustering device 50 acquires the remaining battery power, CPU resources, and the like of the other unmanned mobile units 10 from the terminal-to-terminal communication wireless terminal 22 that performs terminal-to-terminal communication, along with the terminal ID of each unmanned mobile unit 10. The clustering device 50 also acquires the remaining battery power from the battery 60 and the CPU resources from the computer 40 for each unmanned mobile unit 10 on which it is mounted. The clustering device 50 may share the remaining battery power and CPU resources of the unmanned vehicles 10A to 10D, as well as, for example, GPU (Graphics Processing Unit) resources.

[0039] The clustering device 50 uses the acquired information to determine an unmanned mobile body 10 that satisfies the specified requirements as a movement plan parent (step S33). For example, the clustering device 50 determines an unmanned mobile body 10 whose remaining battery charge is equal to or greater than a specified threshold and whose CPU resources are equal to or greater than a specified threshold as a movement plan parent. If there are many unmanned mobile bodies 10 that satisfy the specified requirements, the clustering device 50 may adjust the number of movement plan parents appropriately depending on the number of clustered unmanned mobile bodies 10, or may select several from the top. Furthermore, the clustering device 50 may prioritize each item, for example, weighting the remaining battery charge such that remaining battery charge > CPU resources > GPU resources, to determine the movement plan parent. Note that the priority of the weights for each feature is not limited to the above example. In the case of a movement plan parent, as in the case of the RAT2 parent, each of the clustering devices 50 for the unmanned mobile bodies 10A to 10D makes the same judgment based on the same information, i.e., selects the same unmanned mobile body 10 as the movement plan parent.

[0040] The clustering device 50 broadcasts and deploys the movement plan parent ID of the selected movement plan parent to the group of unmanned mobile bodies (step S34). The movement plan parent ID is identification information of the parent unmanned mobile body described above. As shown in FIG. 11 , the clustering device 50 acquires a movement plan from the public network wireless terminal 21 and acquires the remaining battery power, CPU resources, terminal IDs, etc. of other unmanned mobile bodies 10 from the inter-terminal communication wireless terminal 22. The clustering device 50 outputs the movement plan parent ID, the remaining battery power, CPU resources, and terminal IDs of other unmanned mobile bodies 10, the remaining battery power and CPU resources of the unmanned mobile body 10, and the movement plan to the inter-terminal communication wireless terminal 22 and causes the inter-terminal communication wireless terminal 22 to broadcast them. Note that, in this example, the inter-terminal communication wireless terminal 22 assigns the terminal ID of the unmanned mobile body 10 to the remaining battery power and CPU resources of the unmanned mobile body 10, but this is not limited thereto. The clustering device 50 may assign the terminal ID of the unmanned mobile body 10 to the remaining battery power and CPU resources of the unmanned mobile body 10 .

[0041] In this way, the multiple feature amounts include CPU resources and remaining battery power, which are the processing capabilities of the unmanned mobile body 10. In this case, the control unit 52 of the clustering device 50 selects a movement plan parent unmanned mobile body, i.e., a movement plan parent, which is a parent unmanned mobile body that acquires a movement plan indicating a movement route as a specified function for an unmanned mobile body 10 that cannot acquire a movement plan via terminal-to-terminal communication.

[0042] Next, the clustering device 50 selects and deploys a RAT1 parent from the group of unmanned mobile bodies, which are the unmanned mobile bodies 10A to 10D to which the clustering ID: α has been assigned (step S6). Fig. 13 is a diagram showing the flow of information in the clustering device 50 when the clustering device 50 according to embodiment 1 selects a RAT1 parent. Fig. 14 is a flowchart showing the operation of the clustering device 50 according to embodiment 1 to select a RAT1 parent.

[0043] If the clustering device 50 is unable to confirm the clustering ID: α because it has not acquired or determined the clustering ID: α (step S41: No), it waits. If the clustering device 50 is able to confirm the clustering ID: α because it has acquired or determined the clustering ID: α (step S41: Yes), it shares the QoS among the unmanned mobile bodies 10A to 10D (step S42). The clustering device 50 acquires the QoS of other unmanned mobile bodies 10 from the terminal-to-terminal communication wireless terminal 22 that performs terminal-to-terminal communication together with the terminal ID of each unmanned mobile body 10. The clustering device 50 also acquires the QoS of the unmanned mobile body 10 mounted on it from the public network wireless terminal 21 that has received the movement plan, etc.

[0044] The clustering device 50 uses the acquired QoS information of the unmanned mobile bodies 10A to 10D to determine that an unmanned mobile body 10 that satisfies the specified requirements is a RAT1 parent (step S43). For example, the clustering device 50 determines that an unmanned mobile body 10 whose QoS is equal to or greater than a specified threshold is a RAT1 parent. If there are many unmanned mobile bodies 10 that satisfy the specified requirements, the clustering device 50 may appropriately adjust the number of RAT1 parents according to the number of clustered unmanned mobile bodies 10.

[0045] The clustering device 50 broadcasts and deploys the RAT1 parent ID of the selected RAT1 parent to the group of unmanned mobile bodies (step S44). The RAT1 parent ID is identification information of the parent unmanned mobile body described above. As shown in Fig. 13, the clustering device 50 acquires the QoS when receiving a movement plan or the like from the public network wireless terminal 21, and acquires the QoS and terminal IDs of other unmanned mobile bodies 10 from the terminal-to-terminal communication wireless terminal 22. The clustering device 50 outputs the QoS and terminal IDs of the unmanned mobile body 10 on which the clustering device 50 is mounted and the other unmanned mobile bodies 10, as well as the RAT1 parent ID, to the terminal-to-terminal communication wireless terminal 22, and causes the terminal-to-terminal communication wireless terminal 22 to broadcast them.

[0046] As such, the multiple feature quantities include the communication quality of wireless communication via the public network of the unmanned mobile body 10. Here, the communication quality is defined as QoS. Based on the communication quality, the control unit 52 of the clustering device 50 selects a public network parent unmanned mobile body, i.e., a RAT1 parent, which is a parent unmanned mobile body that transmits sensing information via the public network to the base station 4 on the public network communication path between the server 5 that collects sensing information obtained by the sensor 70 as a specified function and the unmanned mobile body 10, and which is unable to transmit sensing information at the communication quality specified by the public network to the base station 4.

[0047] The clustering device 50 completes clustering including various parents (step S7). The clustering device 50 performs clustering using various feature amounts. As a result, the parent IDs of the various parents are broadcast to the clustered unmanned mobile body group. In this manner, the control unit 52 of the clustering device 50 causes the unmanned mobile body 10 to transmit multiple feature amounts for the unmanned mobile body 10 so that the multiple feature amounts for the unmanned mobile body 10 are shared among the unmanned mobile body group. The control unit 52 of the clustering device 50 also acquires, via the acquisition unit 51, multiple feature amounts for other unmanned mobile bodies 10 received by the unmanned mobile body group.

[0048] A GNSS parent is an unmanned mobile body 10 that can receive GNSS signals and can complement the positions of other unmanned mobile bodies 10 through terminal-to-terminal communication. Therefore, an unmanned mobile body 10 that cannot acquire position information, i.e., cannot receive GNSS signals, requests the GNSS parent unmanned mobile body 10 to complement its own position, using the GNSS parent ID as the destination.

[0049] The RAT1 parent is an unmanned mobile body 10 that has good QoS in the public network wireless terminal 21 and functions as a gateway to a public network or the like in a group of unmanned mobile bodies. Therefore, an unmanned mobile body 10 that cannot directly transmit sensing information obtained by the sensor 70 to a base station 4 connected to the server 5 requests the RAT1 parent unmanned mobile body 10 to transmit the sensing information to the base station 4, using the RAT1 parent ID as the destination. In other words, an unmanned mobile body 10 that cannot directly transmit sensing information obtained by the sensor 70 to a base station 4 connected to the server 5 transmits the sensing information to the RAT1 parent unmanned mobile body 10.

[0050] The RAT2 parent is an unmanned mobile body 10 that has a large number of other unmanned mobile bodies 10 connected via terminal-to-terminal communication using the terminal-to-terminal communication wireless terminal 22. When unmanned mobile bodies 10 share, i.e., exchange, various information, an unmanned mobile body 10 that has other unmanned mobile bodies 10 to which it cannot directly transmit information via terminal-to-terminal communication requests the RAT2 parent unmanned mobile body 10 to relay the information, with the RAT2 parent ID as the destination. In other words, an unmanned mobile body 10 that cannot directly transmit information transmits the information to the RAT2 parent unmanned mobile body 10. For example, in the example of Figure 5, assume that the unmanned mobile body 10A is the RAT1 parent. The unmanned mobile body 10D wants to transmit sensing information to the base station 4 via the unmanned mobile body 10A, but cannot transmit sensing information directly to the unmanned mobile body 10A. Therefore, the unmanned mobile body 10D transmits sensing information to one or both of the unmanned mobile bodies 10B and 10C, which are the RAT2 parents, and has it forwarded to the unmanned mobile body 10A, which is the RAT1 parent.

[0051] The movement plan parent is an unmanned mobile body 10 that grasps the position information of the entire group of unmanned mobile bodies and formulates movement plans, prohibited areas, etc. The movement plan parent is selected based on CPU resources, remaining battery power, etc., so an unmanned mobile body 10 that can operate stably for a relatively long period of time is selected. An unmanned mobile body 10 that has not received a movement plan requests the movement plan parent unmanned mobile body 10 to transfer the movement plan, using the movement plan parent ID as the destination. The movement plan parent unmanned mobile body 10 transmits the movement plan to the unmanned mobile body 10 that made the request.

[0052] In this way, by clustering the unmanned mobile bodies 10A to 10D into a single group of unmanned mobile bodies, external GNSS satellites 3, base stations 4, servers 5 connected via base stations 4, etc. only need to be able to communicate with one unmanned mobile body 10, which facilitates management of the unmanned mobile bodies 10A to 10D in the communication system 6. It can also be said that outside the clustered group of unmanned mobile bodies, for example, the aforementioned GNSS satellites 3, base stations 4, servers 5, etc., the group of unmanned mobile bodies is virtually regarded as a single unmanned mobile body.

[0053] In addition, in a group of unmanned mobile objects, an unmanned mobile object 10 with good QoS acts as a gateway by becoming the RAT1 parent, so that the group of unmanned mobile objects can expect stable communication with external GNSS satellites 3, base stations 4, and servers 5 connected via base stations 4.

[0054] In addition, the server 5, which is connected to the group of unmanned mobile bodies via the base station 4, can acquire sensing information from multiple unmanned mobile bodies 10A to 10D, so it is possible to expect to acquire sensing information from multiple viewpoints sensed at different positions, heights, angles, etc.

[0055] Furthermore, by selecting various parents and distributing functions among the unmanned mobile bodies 10, the operating time of the unmanned mobile body group can be extended.

[0056] Next, the hardware configuration of the clustering device 50 will be described. In the clustering device 50, the acquisition unit 51 is an interface capable of acquiring information from the wireless terminal 20, the location information acquisition unit 30, the computer 40, the battery 60, the sensor 70, etc. The control unit 52 is realized by a processing circuit. The processing circuit may be a processor and memory that executes a program stored in memory, or may be dedicated hardware. The processing circuit is also called a control circuit.

[0057] FIG. 15 is a diagram illustrating an example of the configuration of a processing circuit 90 that implements the clustering device 50 according to the first embodiment when the processing circuit is implemented by a processor 91 and a memory 92. The processing circuit 90 illustrated in FIG. 15 is a control circuit and includes a processor 91 and a memory 92. When the processing circuit 90 is configured with the processor 91 and the memory 92, each function of the processing circuit 90 is implemented by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 92. The processing circuit 90 implements each function by having the processor 91 read and execute the program stored in the memory 92. That is, the processing circuit 90 includes the memory 92 for storing a program that results in the processing of the clustering device 50 being executed. This program can also be said to be a program that causes the clustering device 50 to execute each function implemented by the processing circuit 90. This program may be provided by a storage medium on which the program is stored, or by other means such as a communication medium.

[0058] The above program can also be said to be a program that causes the clustering device 50 to execute the following steps: an acquisition step in which the acquisition unit 51 acquires multiple features that indicate the communication status and operating status of the unmanned mobile body 10 and other unmanned mobile bodies 10 that are capable of terminal-to-terminal communication, which is direct communication between unmanned mobile bodies directly or indirectly, with the unmanned mobile body 10; and a control step in which the control unit 52 selects a parent unmanned mobile body for each specified function in a group of unmanned mobile bodies that includes the unmanned mobile body 10 and other unmanned mobile bodies 10 based on the multiple features, and performs clustering in which the identification information of the parent unmanned mobile body is shared among the group of unmanned mobile bodies.

[0059] Here, the processor 91 is, for example, a CPU, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor), etc. The memory 92 is, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), or an EEPROM (Electrically EPROM), a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, or a DVD (Digital Versatile Disc).

[0060] FIG. 16 is a diagram illustrating an example of a processing circuit 93 when the processing circuit that realizes the clustering device 50 according to the first embodiment is configured with dedicated hardware. The processing circuit 93 illustrated in FIG. 16 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The processing circuit may be partially realized with dedicated hardware and partially realized with software or firmware. In this way, the processing circuit can realize each of the above-described functions by dedicated hardware, software, firmware, or a combination thereof.

[0061] As described above, according to this embodiment, the clustering device 50 mounted on an unmanned mobile body 10 having multiple wireless communication lines selects a parent unmanned mobile body that assists the operation of other unmanned mobile bodies 10, etc., for each item of assistance based on multiple feature quantities, such as the QoS of wireless communication via a public network, location information, communication status via terminal-to-terminal communication, and the CPU resources and remaining battery power of the mounted unmanned mobile body 10, and shares the information of the parent unmanned mobile body with the group of clustered unmanned mobile bodies. This allows the clustered multiple unmanned mobile bodies 10 to communicate stably via wireless communication via a public network, wireless communication via terminal-to-terminal communication, etc. The clustering device 50 can realize clustering that enables the group of clustered unmanned mobile bodies, which is the multiple unmanned mobile bodies 10, to communicate stably even when the mounted unmanned mobile bodies 10 move.

[0062] Embodiment 2. In embodiment 1, the clustering device 50 of the unmanned mobile bodies 10A to 10D shared the position information, QoS, CPU resources, remaining battery power, etc. of each unmanned mobile body 10A to 10D in order to perform clustering. However, because the unmanned mobile bodies 10A to 10D are moving, the communication status via the public network and the positional relationship with other unmanned mobile bodies 10 with which they communicate terminal-to-terminal change. Therefore, in embodiment 2, an operation will be described in which the clustering device 50 of each unmanned mobile body 10A to 10D updates the information used during clustering at a specified period.

[0063] FIG. 17 is a diagram illustrating a state in which the clustering devices 50 mounted on the unmanned mobile bodies 10A to 10D according to the second embodiment share multiple feature quantities. The clustering devices 50 mounted on the unmanned mobile bodies 10A to 10D each retain feature quantities for the unmanned mobile bodies 10A to 10D. FIG. 18 is a diagram illustrating the flow of information when multiple feature quantities of the unmanned mobile body 10 mounted on the clustering device 50 according to the second embodiment are transmitted. FIG. 19 is a flowchart illustrating the operation when multiple feature quantities of the unmanned mobile body 10 mounted on the clustering device 50 according to the second embodiment are transmitted. The clustering device 50 acquires multiple feature quantities of the unmanned mobile body 10 mounted on the clustering device 50 (step S51). Specifically, the clustering device 50 acquires the QoS upon receiving the movement plan and other information from the public network wireless terminal 21 that received the movement plan and other information, and acquires location information from the location information acquisition unit 30 that received the GNSS signal. The clustering device 50 also acquires CPU resources from the computer 40 and remaining battery power from the battery 60. The clustering device 50 instructs the terminal-to-terminal communication wireless terminal 22 to assign a terminal ID and transmit a plurality of feature amounts to other unmanned mobile bodies 10 (step S52). The terminal-to-terminal communication wireless terminal 22 assigns a terminal ID and transmits by broadcast the feature amounts for the unmanned mobile body 10 on which it is mounted.

[0064] Although not shown, the clustering device 50 acquires features from other unmanned vehicles 10 through terminal-to-terminal communication using the terminal-to-terminal communication wireless terminal 22. The clustering device 50 repeats the above process, for example, at a specified interval, to share features of the unmanned vehicle 10 on which it is mounted and other unmanned vehicles 10 and update the shared features. The clustering devices 50 for the unmanned vehicles 10A-10D share the features of each unmanned vehicle 10 by linking them with the terminal ID, thereby standardizing the information held by the clustering devices 50 for the unmanned vehicles 10A-10D. This allows the clustering device 50 to appropriately change various parents depending on the communication status, current location, etc. of each unmanned vehicle 10. That is, the control unit 52 of the clustering device 50 determines the validity of the parent unmanned vehicle each time multiple features are updated. As a result, the group of unmanned mobile objects can change the GNSS parent, RAT1 parent, etc. as appropriate, and can maintain good communication conditions with the GNSS satellites 3, base stations 4, etc. Furthermore, even if an unmanned mobile object 10 that was able to communicate with the base stations 4, GNSS satellites 3, etc. leaves the wireless communication range 4a, GNSS reception range 3a, etc. and enters a blind zone, the group of unmanned mobile objects can maintain a clustered state as long as terminal-to-terminal communication is possible.

[0065] As described above, according to this embodiment, the clustering device 50 updates the multiple feature amounts used during clustering. This allows the clustering device 50 to determine the validity of a parent unmanned mobile unit in a group of unmanned mobile units and change the parent unmanned mobile unit as appropriate, even if the unmanned mobile units 10A to 10D move and the positional relationships between the unmanned mobile units 10A to 10D change.

[0066] In addition, the clustering device 50 may set various thresholds in advance so that more than the required number of parents are selected, assuming that the unmanned mobile bodies 10A to 10D will move and the unmanned mobile body 10 selected as the parent of a certain item will no longer be able to perform the parent function.

[0067] Embodiment 3 In the first embodiment, it has been described that an unmanned mobile body 10 that cannot transmit sensing information directly to a base station 4 or the like transmits sensing information via a RAT1 parent unmanned mobile body 10. In the third embodiment, this operation will be described in detail.

[0068] 20 is a diagram showing a state in which the clustering device 50 mounted on the unmanned mobile bodies 10A, 10C, and 10D according to the third embodiment transmits sensing information to an external base station 4 via the RAT1 parent unmanned mobile body 10B. The RAT1 parent unmanned mobile body 10B is an unmanned mobile body 10 with good QoS when receiving a movement plan, etc. Therefore, the unmanned mobile body group transmits sensing information from the unmanned mobile body 10B with good QoS to the base station 4, i.e., the unmanned mobile body 10B with good QoS functions as a gateway, thereby realizing a stable uplink. The clustering device 50 of the unmanned mobile bodies 10A, 10C, and 10D transmits the sensing information to the RAT1 parent unmanned mobile body 10B via terminal-to-terminal communication in order to cause the RAT1 parent unmanned mobile body 10B to transmit the sensing information to the base station 4.

[0069] 21 is a diagram showing the flow of information when the clustering device 50 mounted on the unmanned mobile bodies 10A to 10D according to embodiment 3 transmits sensing information. FIG. 22 is a flowchart showing the operation of the clustering device 50 mounted on the unmanned mobile bodies 10A to 10D according to embodiment 3 when transmitting sensing information. In the unmanned mobile body 10, the sensor 70 outputs sensing information obtained by sensing, such as capturing an image of the image capture target 2, to the clustering device 50. The clustering device 50 acquires the sensing information from the sensor 70 (step S61). The clustering device 50 determines whether the unmanned mobile body 10 is a RAT1 parent based on the QoS acquired from the public network wireless terminal 21 that has received a movement plan, etc. (step S62).

[0070] If the unmanned mobile body 10 on which the clustering device 50 is installed is a RAT1 parent (step S62: Yes), the clustering device 50 determines to transmit the sensing information over RAT1 (step S63). In this case, the clustering device 50 outputs the sensing information to the public network wireless terminal 21 and causes the public network wireless terminal 21 to transmit the sensing information to the base station 4. If the unmanned mobile body 10 on which the clustering device 50 is installed is not a RAT1 parent (step S62: No), the clustering device 50 determines whether the unmanned mobile body 10 on which the clustering device 50 is installed is a RAT2 parent (step S64).

[0071] If the unmanned mobile body 10 on which the clustering device 50 is installed is a RAT2 parent (step S64: Yes), the clustering device 50 unicasts the sensing information to the RAT1 parent unmanned mobile body 10 (step S65). In this case, the clustering device 50 outputs the sensing information to the terminal-to-terminal communication wireless terminal 22 and causes the terminal-to-terminal communication wireless terminal 22 to transmit the sensing information to the RAT1 parent unmanned mobile body 10. If the unmanned mobile body 10 on which the clustering device 50 is installed is not a RAT2 parent (step S64: No), the clustering device 50 unicasts the sensing information to the RAT2 parent unmanned mobile body 10 to have the sensing information relayed to the RAT1 parent unmanned mobile body 10 (step S66). In this case, the clustering device 50 outputs the sensing information to the terminal-to-terminal communication wireless terminal 22 and causes the terminal-to-terminal communication wireless terminal 22 to transmit the sensing information to the RAT2 parent unmanned mobile body 10.

[0072] As described above, according to this embodiment, when the unmanned mobile body 10 is a public network parent unmanned mobile body, i.e., a RAT1 parent, the control unit 52 of the clustering device 50 causes the unmanned mobile body 10 to transmit sensing information to the base station 4, and when the unmanned mobile body 10 is not a public network parent unmanned mobile body, i.e., a RAT1 parent, causes the unmanned mobile body 10 to transmit sensing information directly or indirectly to another unmanned mobile body 10 that is a public network parent unmanned mobile body, i.e., a RAT1. This allows the clustering device 50 to perform good uplink of sensing information in a group of unmanned mobile bodies.

[0073] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or different embodiments may be combined with each other. It is also possible to omit or modify parts of the configurations as long as they do not deviate from the gist of the invention.

[0074] 1 Virtual terminal, 2 Image capture object, 3 GNSS satellite, 3a GNSS reception range, 4 Base station, 4a Wireless communication range, 5 Server, 6 Communication system, 10, 10A to 10D Unmanned mobile body, 20 Wireless terminal, 21 Public network wireless terminal, 22 Terminal-to-terminal communication wireless terminal, 30 Location information acquisition unit, 40 Computer, 50 Clustering device, 51 Acquisition unit, 52 Control unit, 60 Battery, 70 Sensor, 90, 93 Processing circuit, 91 Processor, 92 Memory.

Claims

1. A clustering device mounted on an unmanned mobile body, comprising: an acquisition unit that acquires a plurality of feature amounts that indicate the communication status and operation status of the unmanned mobile body and other unmanned mobile bodies that are capable of terminal-to-terminal communication, i.e., direct communication between unmanned mobile bodies, directly or indirectly with the unmanned mobile body; and a control unit that, based on the plurality of feature amounts, selects a parent unmanned mobile body for each specified function in a group of unmanned mobile bodies that includes the unmanned mobile body and the other unmanned mobile bodies, and performs clustering in which the identification information of the parent unmanned mobile body is shared among the group of unmanned mobile bodies.

2. The clustering device described in claim 1, characterized in that the multiple features include location information indicating the location of the unmanned mobile body, and the control unit selects a location information parent unmanned mobile body that is the parent unmanned mobile body that acquires the location information for an unmanned mobile body that cannot acquire the location information as the specified function and complements the location of the unmanned mobile body that cannot acquire the location information through terminal-to-terminal communication.

3. The clustering device described in claim 1 or 2, characterized in that the multiple feature amounts include the processing capacity and remaining battery charge of the unmanned mobile body, and the control unit selects, based on the processing capacity and remaining battery charge, a movement plan parent unmanned mobile body that is a parent unmanned mobile body that acquires a movement plan indicating a movement route for an unmanned mobile body that cannot acquire the movement plan as the specified function and transmits the movement plan via terminal-to-terminal communication to an unmanned mobile body that cannot acquire the movement plan.

4. A clustering device as described in any one of claims 1 to 3, characterized in that the multiple features include communication quality of wireless communication via a public network of the unmanned mobile body, and the control unit selects, based on the communication quality, a public network parent unmanned mobile body that is the parent unmanned mobile body that transmits the sensing information to a base station via the public network for an unmanned mobile body that cannot transmit the sensing information to a base station on a communication path of the public network between a server that collects sensing information obtained by a sensor as the specified function and the unmanned mobile body at the communication quality specified by the public network.

5. The clustering device according to claim 4, characterized in that the control unit, when the unmanned mobile body is the public network parent unmanned mobile body, causes the unmanned mobile body to transmit the sensing information to the base station, and when the unmanned mobile body is not the public network parent unmanned mobile body, causes the unmanned mobile body to transmit the sensing information directly or indirectly to the public network parent unmanned mobile body.

6. A clustering device as described in any one of claims 1 to 5, characterized in that the multiple feature amounts include the number of connections of other unmanned mobile bodies with which the terminal-to-terminal communication is possible in the unmanned mobile body, and the control unit selects, based on the number of connections, a relay parent unmanned mobile body that is the parent unmanned mobile body that relays the desired information through the terminal-to-terminal communication for an unmanned mobile body that cannot receive the desired information directly from the sender or cannot send the desired information directly to the destination as the specified function.

7. The clustering device according to any one of claims 1 to 6, characterized in that the group of clustered unmanned mobile objects is virtually regarded as a single unmanned mobile object outside the group of clustered unmanned mobile objects.

8. The clustering device according to any one of claims 1 to 7, characterized in that the control unit determines the validity of the parent unmanned moving body each time the plurality of feature amounts are updated.

9. A clustering device according to any one of claims 1 to 8, characterized in that the control unit causes the unmanned mobile unit to transmit the plurality of feature quantities for the unmanned mobile unit so that the plurality of feature quantities for the unmanned mobile unit are shared among the group of unmanned mobile units, and acquires the plurality of feature quantities for the other unmanned mobile units received by the group of unmanned mobile units via the acquisition unit.

10. An unmanned mobile body comprising: a clustering device according to any one of claims 1 to 9; a public network wireless terminal for wireless communication via a public network; a terminal-to-terminal communication wireless terminal for terminal-to-terminal communication, i.e., direct communication between unmanned mobile bodies; a location information acquisition unit for acquiring location information; and a sensor for sensing.

11. A control circuit for controlling a clustering device mounted on an unmanned mobile body, characterized in that the control circuit causes the clustering device to perform the following: acquire a plurality of feature amounts indicating the communication status and operating status of the unmanned mobile body and other unmanned mobile bodies capable of terminal-to-terminal communication, i.e., direct communication between unmanned mobile bodies, directly or indirectly with the unmanned mobile body; select a parent unmanned mobile body for each specified function in a group of unmanned mobile bodies including the unmanned mobile body and the other unmanned mobile bodies based on the plurality of feature amounts; and perform clustering in which the identification information of the parent unmanned mobile body is shared among the group of unmanned mobile bodies.

12. A storage medium storing a program for controlling a clustering device mounted on an unmanned mobile body, the program causing the clustering device to perform the following: acquire a plurality of feature amounts indicating the communication status and operation status of the unmanned mobile body and other unmanned mobile bodies capable of terminal-to-terminal communication, which is direct communication between unmanned mobile bodies directly or indirectly, with the unmanned mobile body; select a parent unmanned mobile body for each specified function in a group of unmanned mobile bodies including the unmanned mobile body and the other unmanned mobile bodies based on the plurality of feature amounts; and perform clustering in which the identification information of the parent unmanned mobile body is shared among the group of unmanned mobile bodies.

13. A clustering method for a clustering device mounted on an unmanned mobile body, comprising: an acquisition step in which an acquisition unit acquires a plurality of feature amounts indicating the communication status and operation status of the unmanned mobile body and other unmanned mobile bodies that are capable of terminal-to-terminal communication, i.e., direct communication between unmanned mobile bodies, directly or indirectly with the unmanned mobile body; and a control step in which a control unit selects, based on the plurality of feature amounts, a parent unmanned mobile body for each specified function in a group of unmanned mobile bodies including the unmanned mobile body and the other unmanned mobile bodies, and performs clustering in which the identification information of the parent unmanned mobile body is shared among the group of unmanned mobile bodies.