JP2018148522A - Remote control apparatus and control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suitably determine a mobile object to be functioned as a representative mobile object when collectively performing remote control of a plurality of mobile objects.SOLUTION: A remote control apparatus 10 transmits control data for remotely controlling the whole mobile object group 200 including a representative mobile object 20a to the representative mobile object 20a through a mobile communication network 90. The remote control apparatus 10 changes the mobile object functioned as the representative mobile object 20a to another mobile object included in the mobile object group 200 in accordance with a determined condition on the basis of processing information stored in an auxiliary storage device 104. More concretely, the remote control apparatus 10 changes a mobile object to be functioned as the representative mobile object 20a in accordance with load of processing in each mobile object 20.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for remotely controlling a moving body.

  As a mechanism for controlling a mobile body called a drone or a multicopter, for example, Patent Document 1 discloses a system using a mobile communication network capable of wide-area and high-speed data communication. In this system, a moving path of a mobile object is determined based on the position of an area where communication with a radio base station of a mobile communication network is possible.

JP 2006-213302 A

  By the way, in the future, a mechanism for remotely controlling a plurality of moving bodies to move simultaneously as a group is desired. In this case, any one of these mobile groups communicates with the remote control device via the mobile communication network as a representative mobile body, and communicates with other mobile bodies by wireless communication not via the network. A form of moving while performing is conceivable.

  Therefore, an object of the present invention is to appropriately determine a moving body that functions as a representative moving body when a plurality of moving bodies are collectively controlled remotely.

  The present invention provides a remote control unit that transmits control data for remotely controlling a mobile group to a representative mobile unit that performs wireless communication with another mobile unit in the mobile group, and the representative unit. There is provided a remote control device comprising: a changing unit that changes a moving body that functions as a moving body to another moving body included in the moving body group according to a condition.

  The changing unit may change a moving body that functions as the representative moving body in accordance with a load of at least one of past, present, or future processing in each of the moving bodies.

  The changing unit may change the moving body that functions as the representative moving body according to the weight or size of the load that each of the moving bodies is or will be mounted.

  The changing unit may change a moving body that functions as the representative moving body according to a moving history after each moving body starts moving or a moving schedule in the future.

  The changing unit may change a moving body that functions as the representative moving body according to an altitude at which each moving body flies.

  The changing unit may change a moving body that functions as the representative moving body according to a battery or fuel remaining amount of each moving body.

  The changing unit may change a mobile unit that functions as the representative mobile unit according to a reception level of a radio signal transmitted from a radio base station of the mobile communication network and received by each mobile unit. Good.

  Further, the present invention provides a remote control unit that transmits control data for remotely controlling the mobile group to the representative mobile unit that performs wireless communication with other mobile units in the mobile group, There is provided a control system comprising a changing unit that changes a moving body that functions as the representative moving body to another moving body included in the moving body group according to a condition.

  According to the present invention, when a plurality of moving bodies are collectively controlled remotely, it is possible to appropriately determine a moving body that functions as a representative moving body.

The figure which illustrates the outline | summary of the control system 1 which concerns on one Embodiment of this invention. The figure which illustrates the hardware constitutions of the representative mobile body 20a. 2 is a diagram illustrating a hardware configuration of a remote control device 10. FIG. The figure which illustrates the processing information memorized by auxiliary storage device 104 of remote control device 10. The figure which illustrates the function structure of the control system. 3 is a sequence diagram illustrating the operation of the control system 1. FIG.

1. Configuration FIG. 1 is a diagram illustrating an overview of a control system 1 according to an embodiment of the present invention. The control system 1 includes a remote control device 10 and a moving body group 200 including a plurality of moving bodies. The moving body group 200 includes one representative moving body 20a and at least one general moving body 20b. The representative moving body 20a and the general moving body 20b (hereinafter referred to as the moving body 20 when they are not distinguished from each other) are, for example, drones or multi-copters that can fly, and fly in the air to carry, for example, luggage. Perform the process. The remote control device 10 remotely controls the operation of the moving body group 200 via the mobile communication network 90. The mobile communication network 90 is a network that complies with a predetermined communication standard such as LTE (Long Term Evolution), for example, and includes various communication facilities such as a plurality of exchange stations (not shown) and a plurality of radio base stations 91. including. The mobile communication network 90 connects the remote control device 10 and the representative mobile body 20a so that they can communicate with each other. The mobile communication network 90 may not be a single communication network, but may be one in which a plurality of communication networks having different communication methods are interconnected.

  FIG. 2 is a diagram illustrating the configuration of the representative moving body 20a as an example of the hardware configuration of the moving body 20. The representative mobile unit 20a includes a CPU 201 (Central Processing Unit), a ROM (Read Only Memory) 202, a RAM (Random Access Memory) 203, an auxiliary storage device 204, a mobile communication IF 205, a positioning device 206, a rotation mechanism 207, a wireless communication IF 208, and A processing mechanism 209 is included. The CPU 201 is a processor that performs various calculations. A RAM 203 is a volatile memory that functions as a work area when the CPU 201 executes a program. The ROM 202 is a non-volatile memory that stores programs and data used for starting the representative mobile unit 20a, for example. The auxiliary storage device 204 is a non-volatile storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive), for example, and programs and data used in the representative moving body 20a (moving body ID and processing information to be described later). ) Is memorized. When the CPU 201 executes this program, the representative moving body 20a functions as a computer device, and a function shown in FIG. 5 described later is realized. The mobile communication IF 205 performs radio communication with the radio base station 91 according to a predetermined communication standard such as LTE. The mobile communication IF 205 is used for the representative mobile body 20a to communicate with the remote control device 10.

  The positioning device 206 is a GPS (Global Positioning System) unit, for example, and detects the position of the representative moving body 20a. The rotation mechanism 207 is a means for generating buoyancy in the representative moving body 20a, and includes a propeller, a shaft, a motor, and other driving mechanisms. The representative moving body 20a floats in the air by driving the rotation mechanism 207, and flies on a predetermined route using the position measured by the positioning device 206. The wireless communication IF 208 performs short-range wireless communication compared to the mobile communication IF 205 in accordance with a predetermined communication standard such as Bluetooth (registered trademark) or WiFi (registered trademark). The wireless communication IF 208 is used for the representative mobile body 20a to communicate with the general mobile body 20b. The processing mechanism 209 is a configuration for the representative moving body 20a to perform processing. Here, a baggage transport process is assumed as a process performed by the representative mobile body 20a, and the processing mechanism 209 is a mechanism for loading or dropping a package. The general moving body 20b has the same configuration as the representative moving body 20a.

  FIG. 3 is a diagram illustrating a hardware configuration of the remote control device 10. The remote control device 10 is a computer device having a CPU 101, a ROM 102, a RAM 103, an auxiliary storage device 104, and a communication IF 105. The CPU 101 is a processor that performs various calculations. The RAM 103 is a volatile memory that functions as a work area when the CPU 101 executes a program. The ROM 102 is a non-volatile memory that stores a program and data used for starting the remote control device 10, for example. The auxiliary storage device 104 is a nonvolatile storage device such as an HDD or an SSD, and stores programs and data used in the remote control device 10. When the CPU 101 executes this program, the functions shown in FIG. 5 described later are realized. The communication IF 105 performs communication with the representative mobile unit 20a via the mobile communication network 90 in accordance with a predetermined communication standard.

  The auxiliary storage device 104 stores processing information related to the processing of each moving body 20. FIG. 4 is a diagram illustrating processing information stored in the auxiliary storage device 104. As shown in FIG. 4, the auxiliary storage device 104 includes a moving body group ID for identifying each moving body group 200, a moving body ID for identifying each moving body 20, and whether each moving body 20 is a representative moving body 20 a or a general moving body. Corresponding type indicating whether it is a body 20b, a movement history since each mobile body 20 was most recently charged, a movement schedule until the next charge of each mobile body 20, and a remaining battery level of the mobile body 20 at the present time I remember. The movement history includes the load amount of the load, the movement route, the movement distance, and the movement time when the moving body 20 moves. Further, the movement schedule includes an estimated load amount, a movement route, a movement distance, and a movement time when the moving body 20 is scheduled to move. The load amount includes the size or weight of the load loaded on the mobile body 20. The moving body group ID, the moving body ID, and the moving schedule are notified to the remote control device 10 in advance, and the notified contents are stored in the auxiliary storage device 104. Then, the information is appropriately updated by notification from the moving body 20 to the remote control device 10. The type is determined by the remote control device 10 based on a predetermined condition, and the determined type is stored in the auxiliary storage device 104. The movement history and the battery remaining amount are stored by notification from the moving body 20 to the remote control device 10 and updated as appropriate.

  FIG. 5 is a diagram illustrating a functional configuration of the control system 1. The control system 1 realizes the functions of a wireless communication unit 21, a mobile communication unit 22, a movement control unit 23, a processing information storage unit 11, a change unit 12, and a remote control unit 13. In the example of FIG. 6, the wireless communication unit 21, the mobile communication unit 22, and the movement control unit 23 are mounted on each of the representative mobile unit 20 a and the general mobile unit 20 b, and the processing information storage unit 11, the change unit 12, and the remote control The unit 13 is mounted on the remote control device 10.

  The wireless communication unit 21 is realized by the wireless communication IF 208 of the mobile body 20, the mobile communication unit 22 is realized by the mobile communication IF 205 of the mobile body 20, and the movement control unit 23 is the rotation mechanism 207, the positioning device 206, and the CPU 201 of the mobile body 20. It is realized by. The processing information storage unit 11 is realized by the auxiliary storage device 104 of the remote control device 10, the change unit 12 is realized by the CPU 101 and the auxiliary storage device 104 of the remote control device 10, and the remote control unit 13 is the CPU 101 of the remote control device 10. This is realized by the communication IF 105 and the auxiliary storage device 104.

  In the representative mobile body 20a, the mobile communication unit 22 communicates with the remote control device 10. In the representative mobile body 20a and the general mobile body 20b, the wireless communication unit 21 communicates with each other's wireless communication unit 21. In the representative moving body 20a and the general moving body 20b, the movement control unit 23 drives the rotating mechanism 207 to move the moving body 20 along the instructed route at the instructed speed and altitude.

  In the remote control device 10, the processing information storage unit 11 stores the processing information illustrated in FIG. The remote control unit 13 transmits control data for remotely controlling the entire mobile body group 200 including the representative mobile body 20a to the representative mobile body 20a via the mobile communication network 90. The changing unit 12 moves the moving body functioning as the representative moving body 20a to another moving body included in the moving body group 200 based on the processing information stored in the processing information storage unit 11 according to the determined condition. change. More specifically, the changing unit 12 changes the moving body that functions as the representative moving body 20 a according to the processing load on each moving body 20. For example, the changing unit 12 changes the moving body that functions as the representative moving body 20a according to the weight or size of the load that each moving body 20 is or will be mounted.

2. Operation FIG. 6 is a sequence diagram illustrating the operation of the control system 1. For each moving body 20, the moving date and time, the moving route, the moving speed, the moving altitude, the processing performed by the moving body 20, and the movement of the moving body 20 included in the common moving body group 200 before starting the movement. A movement instruction including a body ID and the like is given in advance and stored in the auxiliary storage device 204. In addition, one of the moving body groups 200 is designated in advance as the representative moving body 20a. When the moving date / time arrives, the representative moving body 20a is activated (step S11), and the activation is notified to the general moving body 20b included in the common moving body group 200 via the wireless communication IF 208 (step S12). . The general mobile unit 20b is activated in response to the activation notification (step S13), and notifies the representative mobile unit 20a of the processing information stored in the auxiliary storage device 204 via the wireless communication IF 208 (step S14). The activation instruction may be manually performed by the user.

  In this processing information, the mobile body ID, the movement history since the general mobile body 20b was most recently charged, the scheduled movement until the next charge of the general mobile body 20b, and the remaining battery level of the general mobile body 20b at the present time are included. included. The moving body group 200 is simultaneously performed with respect to the movement for the purpose of carrying the cargo, but each moving body 20 may move as another moving body group 200 before the movement is started and after the movement is completed. is there. In addition, in the movement for the purpose of carrying the baggage this time, a certain mobile unit 20 may have different schedules of processing, such as dropping a baggage on the way or additionally loading a baggage on the way. For this reason, the processing information of each moving body 20 is not the same, but is different.

  When the representative mobile body 20a receives the processing information from the general mobile body 20b, the representative mobile body 20a notifies the remote control device 10 via the mobile communication network 90 together with its own processing information stored in the auxiliary storage device 204 (step S15).

  The processing information storage unit 11 of the remote control device 10 stores the acquired processing information and updates the stored contents up to that time as necessary. The changing unit 12 determines the representative moving body 20a based on the stored processing information (step S16). Specifically, the changing unit 12 includes the power consumption estimated to be required for transporting the planned travel distance of the load that each mobile body 20 is or will be loaded, and the representative mobile body. 20a calculates the power consumption estimated to be necessary for communication with the general mobile unit 20b and the remote control device 10, and subtracts the calculated power consumption from the current battery level of each mobile unit 20, Of the moving objects that are estimated to have a remaining battery level that is not less than the threshold value at the end of the current movement for the purpose of carrying the load, the representative moving object 20a is determined to have a large remaining battery level.

  When there is no need to change the representative mobile body 20a (step S17; NO), the remote control unit 13 transmits a maintenance notification notifying that the representative mobile body is maintained to the representative mobile body 20a via the mobile communication network 90. (Step S18). On the other hand, when the representative mobile body 20a needs to be changed (step S17; YES), the remote control unit 13 sends a change notification for notifying that the representative mobile body is changed via the mobile communication network 90. (Step S19). This change notification includes the mobile object ID of the mobile object 20 to be changed.

  When the representative mobile body 20a receives the change notification, the representative mobile body 20a transfers the change notification to the general mobile body 20b corresponding to the mobile body ID included in the notification via the wireless communication IF 208 (step S20). When the general mobile body 20b that has received the change notification recognizes that the representative mobile body 20a is to be changed, the general mobile body 20b transmits a change completion notification to the remote control device 10 via the mobile communication network 90 as the representative mobile body 20a. S21).

  Thereafter, the moving body 20 starts moving (steps S22 and S23). During this movement, the remote control device 10 transmits various instructions including control data regarding changes in the movement route, movement speed, movement altitude, etc. to the representative mobile body 20a via the mobile communication network 90, and the representative mobile body 20a. Transmits processing information and various responses to the remote control device 10 via the mobile communication network 90 (step S24). In addition, the representative mobile body 20a and the general mobile body 20b share control data from the remote control device 10 and mutual processing information while communicating with each other (step S25).

  When the moving body group 200 is moving (step S26; NO), the remote control unit 13 appropriately determines whether or not the representative moving body should be changed based on notification of processing information from the representative moving body 20a. . As a result, when it is determined that the representative mobile body should be changed, the remote control unit 13 transmits a change notification notifying that the representative mobile body is changed to the representative mobile body 20a via the mobile communication network 90. (Step S19). Then, when the movement of the moving body group 200 is finished (step S26; YES), the processing of the remote control device 10 is also finished.

  According to the present embodiment, when a plurality of moving bodies are collectively controlled remotely, a moving body that functions as the representative moving body 20a is mounted on the weight of the load that each moving body 20 is or will be mounted. Appropriately determined based on the amount of power consumption that would be required for transportation of a certain size or size and the amount of power consumption that the representative mobile unit 20a would require for communication with the general mobile unit 20b and the remote control device 10. Can do. That is, the representative moving body 20a can allocate a power lease sufficient for communication with the remote control device 10, and as a result, the moving body group 200 can move safely.

3. Modifications The present invention is not limited to the above-described embodiments, and various modifications can be made. Hereinafter, some modifications will be described. Two or more of the following modifications may be used in combination.

3-1. Modification 1
The changing unit 12 may change the moving body that functions as the representative moving body 20a in accordance with at least one of the past, current, and future processing loads in each moving body 20. That is, the changing unit 12 uses the power consumption consumed according to at least one of the past, present, and future processing loads, and the representative mobile unit 20a communicates with the general mobile unit 20b and the remote control device 10 in the future. The representative mobile unit 20a is determined based on the result of subtracting the calculated power consumption amount from the current remaining battery level of each mobile unit 20.

  More specifically, in the embodiment, the changing unit 12 is a mobile body that functions as a representative mobile body according to the weight or size of the load that each mobile body 20 is or will be mounted. However, for example, the moving body functioning as the representative moving body 20a may be changed according to the movement history after each moving body 20 starts moving or the moving schedule in the future. Good. In other words, the changing unit 12 includes the power consumption that will be consumed according to the movement history after each moving body 20 starts moving or the moving schedule in the future, the representative moving body 20a and the general moving body 20b. The representative mobile unit 20a is calculated based on the result of subtracting the calculated power consumption amount from the current battery remaining amount of each mobile unit 20 by calculating the power consumption amount that will be required for communication with the remote control device 10. Decide. In this way, the communication quality between the representative mobile body 20a and the remote control device 10 is kept good, and as a result, the mobile body group 200 can move safely.

  Further, in the embodiment, the changing unit 12 includes the power consumption that will be required for transporting the weight or size of the load that each mobile unit 20 is or will be mounted, and the representative mobile unit 20a. Calculates the amount of power consumption that will be required for communication with the general mobile unit 20b and the remote control device 10, subtracts the calculated power consumption amount from the current battery level of each mobile unit 20, Of the moving bodies that are estimated to have a remaining battery level that is not less than the threshold at the end of the movement for the purpose of carrying the load, the moving body having the remaining battery level is determined as the representative moving body 20a. On the other hand, if there is a premise that the battery is sufficiently charged at the start of movement, the changing unit 12 determines the weight or size of the load that each moving body 20 is or will be loaded. The power consumption that would be required for transportation may be calculated, and the mobile body with the smallest calculated power consumption may be determined as the representative mobile body 20a. Similarly, the changing unit 12 calculates a power consumption amount that is consumed according to a movement history after each mobile body 20 starts moving or a future movement schedule, and the calculated power consumption amount is the smallest. The body may be determined as the representative moving body 20a.

3-2. Modification 2
The changing unit 12 may change the moving body that functions as the representative moving body 20a according to the altitude at which each moving body 20 flies. In general, a radio signal transmitted from the radio base station 91 is adapted to a mobile communication terminal used by a person located on the ground, and thus a radio signal (so-called downlink signal) transmitted from the radio base station 91 by the mobile unit 20. It is desirable that the flight altitude is low to receive.
Therefore, the changing unit 12 refers to the planned altitude included in the processing information of each mobile unit 20, and is suitable for receiving a radio signal transmitted from the radio base station 91 (generally, the lowest altitude ) May be used as the representative moving body 20a. In this way, the communication quality between the representative mobile body 20a and the remote control device 10 is kept good, and as a result, the mobile body group 200 can move safely.

3-3. Modification 3
The changing unit 12 may change the moving body that functions as the representative moving body 20a in accordance with the battery or fuel remaining amount of each moving body 20. For example, the changing unit 12 may acquire the remaining amount of the battery or fuel of each moving body 20 from each moving body 20, and the one with the largest remaining amount may be used as the representative moving body 20a. In this way, the representative mobile body 20a can allocate a power lease sufficient for communication with the remote control device 10, and as a result, the mobile body group 200 can move safely.

3-4. Modification 4
The changing unit 12 changes the mobile body functioning as the representative mobile body 20a according to the reception level of the radio signal transmitted from the radio base station 91 of the mobile communication network 90 and received by each mobile body 20. Also good. For example, the changing unit 12 acquires the reception level of the radio signal transmitted from the radio base station 91 and received by each mobile unit 20 from each mobile unit 20, and the one with the highest reception level is set as the representative mobile unit 20 a. Also good. In this way, the communication quality between the representative mobile body 20a and the remote control device 10 is kept good, and as a result, the mobile body group 200 can move safely.

3-5. Modification 5
As described in the embodiment, the remote control device according to the present invention can be realized by a device that has all of the functions integrally, and the functions of the devices are further distributed to a plurality of devices. It may be an implemented system.
When the present invention is implemented in the entire system, control data for remotely controlling the entire mobile body group is transmitted to the representative mobile body that performs wireless communication with other mobile bodies in the mobile body group via the mobile communication network. A control system comprising: a remote control unit; and a changing unit that changes a moving body functioning as the representative moving body to another moving body included in the moving body group according to a condition.

3-6. Modification 6
The moving body in the present invention is not limited to the moving body such as the rotorcraft exemplified in the embodiment, and any moving body may be used as long as it is flying in the air. In addition, any process performed by the moving object in the present invention may be used.

3-7. Other Modifications The block diagram used in the description of the above embodiment shows functional unit blocks. These functional blocks (components) are realized by any combination of hardware and / or software. Further, the means for realizing each functional block is not particularly limited. That is, each functional block may be realized by one device physically and / or logically coupled, and two or more devices physically and / or logically separated may be directly and / or indirectly. (For example, wired and / or wireless) and may be realized by these plural devices.

  Each aspect / embodiment described herein includes LTE (Long Term Evolution), LTE-A (LTE-Advanced), SUPER 3G, IMT-Advanced, 4G, 5G, FRA (Future Radio Access), W-CDMA. (Registered trademark), GSM (registered trademark), CDMA2000, UMB (Ultra Mobile Broadband), IEEE 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802.20, UWB (Ultra-WideBand), The present invention may be applied to a Bluetooth (registered trademark), a system using another appropriate system, and / or a next generation system extended based on the system.

  The processing procedures of the embodiments described in the present specification may be changed in order as long as there is no contradiction. For example, the methods described herein present the elements of the various steps in an exemplary order and are not limited to the specific order presented. The embodiments or modifications described in this specification may be used singly, in combination, or may be switched in accordance with execution. In addition, notification of predetermined information (for example, notification of being “X”) is not limited to explicitly performed, but is performed implicitly (for example, notification of the predetermined information is not performed). Also good.

  The terms “system” and “network” as used herein are used interchangeably.

  The terms “determining” and “determining” as used herein may encompass a wide variety of actions. “Judgment” and “determination” are, for example, judgment, calculation, calculation, processing, derivation, investigating, looking up (eg, table) , Searching in a database or another data structure), ascertaining what has been confirmed (asserted), “determining”, etc. In addition, “determination” and “determination” are reception (for example, receiving information), transmission (for example, transmitting information), input (input), output (output), and access. (Accessing) (for example, accessing data in a memory) may be considered as “determining” or “determining”. In addition, “determination” and “decision” means that “resolving”, “selecting”, “choosing”, “establishing”, and “comparing” are regarded as “determining” and “determining”. May be included. In other words, “determination” and “determination” may include considering some operation as “determination” and “determination”.

  As used herein, the phrase “based on” or “according to” does not mean “based only on” or “accordingly only” unless explicitly stated otherwise. In other words, the phrase “based on” means both “based only on” and “based at least on.” The same applies to “in response”. Also, as long as “including”, “comprising”, and variations thereof, are utilized in this specification or the claims, these terms are similar to the term “comprising”. Intended to be comprehensive. Further, the term “or” as used herein or in the claims is not intended to be an exclusive OR. Also, throughout this disclosure, if articles are added by translation, for example, a, an, and the in English, these articles must be shown to be clearly not in context. For example, a plurality of items are included.

Software, whether it is called software, firmware, middleware, microcode, hardware description language, or other names, instructions, instruction sets, codes, code segments, program codes, programs, subprograms, software modules , Application, software application, software package, routine, subroutine, object, executable file, execution thread, procedure, function, etc. should be interpreted broadly.
Also, software, instructions, etc. may be transmitted / received via a transmission medium. For example, software may use websites, servers, or other devices utilizing wired technology such as coaxial cable, fiber optic cable, twisted pair and digital subscriber line (DSL) and / or wireless technology such as infrared, wireless and microwave. When transmitted from a remote source, these wired and / or wireless technologies are included within the definition of transmission media.

  The terms “connected”, “coupled”, or any variation thereof, means any direct or indirect connection or coupling between two or more elements and It can include the presence of one or more intermediate elements between two “connected” or “coupled” elements. The coupling or connection between the elements may be physical, logical, or a combination thereof. As utilized herein, the two elements include radio frequency by utilizing one or more wires, cables, and / or printed electrical connections, as well as some non-limiting and non-inclusive examples. By utilizing electromagnetic energy, such as electromagnetic energy having a wavelength in the region, microwave region, and light (both visible and invisible) region, it can be considered “connected” or “coupled” to each other.

  The present invention can also be implemented in the form of an information processing method performed by the remote control device 10 or the moving body 20 or a program for causing a computer to function as the remote control device 10 or the moving body 20. Such a program may be provided in a form stored in a storage medium such as an optical disk, or may be provided in a form such that the program is downloaded to a computer via a network such as the Internet, and the program can be installed and used. Is possible. This program, whether it is called software, firmware, middleware, microcode, hardware description language or other name, instructions, instruction set, code, code segment, program code, program, subprogram, software It should be interpreted broadly to mean modules, applications, software applications, software packages, routines, subroutines, objects, executables, threads of execution, procedures, functions, etc.

DESCRIPTION OF SYMBOLS 1 ... Control system, 10 ... Remote control apparatus, 11 ... Processing information storage part, 12 ... Change part, 13 ... Remote control part, 20a ... Representative mobile body, 20b ... General mobile body, 21 ... Wireless communication part, 22 ... Movement Communication unit, 23 ... Movement control unit, 90 ... Network, 91 ... Wireless base station, 101 ... CPU, 102 ... RAM, 103 ... ROM, 104 ... Auxiliary storage device, 105 ... Communication IF, 200 ... Mobile group, 201 ... CPU, 202 ... RAM, 203 ... ROM, 204 ... auxiliary storage device, 205 ... mobile communication IF, 206 ... positioning device, 207 ... rotation mechanism, 208 ... wireless communication IF, 209 ... processing mechanism.

Claims (8)

A remote control unit that transmits control data for remotely controlling the mobile group to the representative mobile unit that performs wireless communication with another mobile unit in the mobile group, via a mobile communication network;
A remote control device comprising: a changing unit that changes a moving body that functions as the representative moving body to another moving body included in the moving body group according to a condition. The said change part changes the mobile body which functions as the said representative mobile body according to the load of the process of at least any of the past, the present, or the future in each said mobile body. Remote control device. The change unit changes a moving body that functions as the representative moving body according to a weight or a size of a load that each of the moving bodies is or will be mounted. Item 3. The remote control device according to Item 2. The said change part changes the mobile body which functions as the said representative mobile body according to the movement log | history after each said mobile body started a movement, or the movement schedule in the future. Remote control device. The remote control device according to claim 1, wherein the changing unit changes a moving body that functions as the representative moving body according to an altitude at which each moving body flies. The remote control device according to claim 1, wherein the changing unit changes a moving body that functions as the representative moving body according to a battery or fuel remaining amount of each of the moving bodies. The changing unit changes a mobile body functioning as the representative mobile body according to a reception level of a radio signal transmitted from a radio base station of the mobile communication network and received by each of the mobile bodies. The remote control device according to claim 1. A remote control unit that transmits control data for remotely controlling the mobile group to the representative mobile unit that performs wireless communication with another mobile unit in the mobile group, via a mobile communication network;
A control system comprising: a changing unit that changes a moving body that functions as the representative moving body to another moving body included in the moving body group according to a condition.

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