JP2019179529A - Controller - Google Patents

Abstract

To calculate an appropriate moving route efficiently with a proper computing load.SOLUTION: The present invention relates to a controller for calculating a moving route of a mobile body monitoring a monitoring area. The controller stores, in advance, a spacial model 111 expressing a monitoring area as a three-dimensional virtual space, attribute information showing whether a mobile body flies, and the current position S and the target position P of a mobile body, selects a target mobile body from a plurality of mobile bodies for which moving route r is a calculation target, determines a graph structure from a space in the spacial model where no obstacles exists if the selected mobile body is a flying mobile body S', determines a graph structure from a travel-possible space in the spacial model if the selected mobile body is a mobile body which does not fly, and calculates the moving route of the mobile body, using the graph structure.SELECTED DRAWING: Figure 9

Description

  The present invention relates to a control device for obtaining a movement route suitable for a moving body selected from a plurality of moving bodies such as a guard, a drone, an airship, etc., for monitoring a monitoring area.

  In recent years, when an abnormality such as a fire or unauthorized intrusion in a customer property is detected, a security system for efficiently urging a security guard to a position where the abnormality has occurred (a position where the abnormality has been detected) has been used. For example, in Patent Document 1, the position of a moving body such as a guard or a guarded vehicle is periodically detected, and when an abnormality is detected, the moving body closest to the position where the abnormality occurs is selected, and the current state of the moving body is selected. A security system has been proposed in which a moving route from a position to an abnormality occurrence position is transmitted to a moving body and displayed on a terminal of the moving body.

JP 2003-228781 A

  By the way, recently, as a moving body for checking an anomaly that has occurred, it is not limited to a traveling type moving body such as a guard or a guarded vehicle, but a flying type such as an unmanned airship equipped with a camera or a drone (autonomous flying robot). Security using mobile objects is being carried out. Thus, when it is assumed that not only a traveling type mobile body that moves on the ground surface but also a flying type mobile body is checked for an abnormality, it is most likely at the position where the abnormality occurs as in the prior art. It is not always possible to efficiently guide a moving body simply by selecting a nearby moving body. For example, even if the moving body closest to the position where the abnormality occurs is selected, it is possible to assume that it is physically impossible for the flying type moving body to arrive, or that it cannot be reached unless it is considerably detoured. . In the case of a traveling type mobile body, since the movement route is limited to a route that can be traveled, the degree of freedom of movement is low, and the travel route can be obtained in a short time with a relatively small calculation load. In the case of this mobile body, it is possible to move freely in the sky and the degree of freedom is high, so the calculation load is large, and it takes time to obtain the movement route. Therefore, it is necessary to guide the moving body more efficiently in consideration of the difference between the flying type and the traveling type.

  Therefore, an object of the present invention is to provide a control device that efficiently calculates a movement route according to whether or not a mobile object flies.

  In order to achieve the above object, the current positions of a plurality of moving bodies in a monitoring area including an obstacle are input, and the current position of the target moving body selected from the plurality of moving bodies is reached from the target position. A control device for calculating a movement route, in which a space model expressing the monitoring area as a three-dimensional virtual space, and attribute information indicating whether or not each of the plurality of moving objects can fly are stored in advance. A storage unit; target position setting means for setting the target position; selection means for selecting the target moving body as a calculation target of the moving path from the plurality of moving bodies; and the target moving body is capable of flying In this case, a graph structure in which local routes that are constituent elements of the moving route are connected is obtained from a space where the obstacle does not exist in the space model, and the target moving body cannot fly. A graph structure calculating means for obtaining a graph structure in which a local route that is a component of the moving route is connected from the travelable space in the space model, and the target movement using the graph structure obtained by the graph structure calculating means And a route searching means for searching for the moving route of the body.

  Further, as a preferred aspect of the present invention, the target position setting means is configured such that when the current generation position, which is a position in the monitoring area where an abnormality has occurred, is input, the target moving body can fly, the spatial model If the target position of the moving body is set at a position above the current occurrence position in the predetermined range and the target moving body cannot fly, the ground within the predetermined range from the current occurrence position in the space model is set. The target position of the moving body is set to the position on the surface.

  Further, as a preferred aspect of the present invention, the storage unit further stores aptitude information that describes a relationship with a type of abnormality that is predetermined as being appropriate for each of the plurality of moving objects, and the selection unit. Refers to the aptitude information, and selects the target moving body in which the relationship with the type of abnormality occurring at the current occurrence position is described from among the plurality of moving bodies.

  As a preferred aspect of the present invention, the selection means selects a moving body having the current position within a predetermined range from the current occurrence position as the target moving body among the plurality of moving bodies.

  Moreover, as a preferable aspect of the present invention, the storage unit further stores virtual camera information representing a camera parameter of the virtual camera, and the control device further includes the display unit and the movement calculated by the route search unit. Display output means for arranging an object expressing a path as three-dimensional data on the spatial model, and displaying and outputting a virtual camera image obtained by photographing the spatial model in which the object is arranged by the virtual camera on the display unit; Shall be provided.

  As a preferred aspect of the present invention, the selecting means selects a moving body including the current position within the visual field of the virtual camera as the target moving body from the plurality of moving bodies.

  Moreover, as a preferable aspect of the present invention, the storage unit further stores an average moving speed of each of the plurality of moving bodies, the selection unit selects the plurality of target moving bodies, and the display output unit includes: For each target moving body, the moving time is obtained using the moving route and the average moving speed, and only the object of the target moving body whose moving time is equal to or less than a predetermined time threshold is arranged on the space model. Shall.

  As described above, according to the present invention, it is possible to provide a control device that can efficiently calculate a movement route according to whether or not a mobile object flies.

It is a figure which shows the whole system structure of the control system. 2 is a functional block diagram of the control device 1. FIG. It is a figure which shows the example of the space model 111. FIG. It is a table which shows the mobile body information 112. 10 is a table showing abnormality information 113. 3 is a flowchart showing the operation of a control unit 12. It is explanatory drawing of a target position setting process. It is explanatory drawing of a graph structure calculation process. It is a figure which shows the example of a route image.

  Hereinafter, a configuration of an embodiment of the present invention will be described with reference to FIG. 1 showing a schematic configuration of a control system 5 to which the present invention is applied. The control system 5 takes a picture of the abnormality by urgently approaching the security device 2 that detects an abnormality that has occurred in a predetermined outdoor space (hereinafter referred to as “monitoring area”) and the position where the abnormality is detected. Thus, the mobile 3 such as an airship 3a, drone 3b, security guard 3c, etc. for confirming the abnormal state is connected to each mobile 3 and the security device 2 via a communication network 4 such as the Internet or a public telephone line. And the control device 1.

  The moving body 3 includes a photographing unit (not shown) and moves so as to photograph an abnormality occurring in the monitoring area. The photographing unit is a so-called camera configured to include an imaging element such as a CCD element or a C-MOS element, an optical system component, and the like. If the mobile body 3 is a drone 3b or an airship 3a, the imaging unit is a fixed camera installed on these main body parts, and if the mobile body 3 is a security guard 3c, it is a wearable camera equipped on the chest or head. is there. In addition, the mobile unit 3 is connected to the control device 1 through the communication network 4 so as to be able to transmit information by wireless communication such as wireless LAN or LTE (Long Term Evolution). The mobile unit 3 determines its current position based on signals from navigation satellites in the Global Navigation Satellite System (GNSS) and received radio wave intensity from radio wave transmitters such as a plurality of beacons. The current position is estimated and transmitted to the control device 1 in association with its own identifier.

  The security device 2 is a so-called security controller installed in one or a plurality of security target properties in the monitoring area. When an unillustrated sensor or monitoring camera installed in the security target property detects an abnormality, these sensors Receives detection signals from cameras and surveillance cameras. Based on the received detection signal, the security device 2 notifies the control device 1 via the communication network 4 of the type of abnormality (intrusion, fire, etc.) and the position where the abnormality has occurred (position where the abnormality is detected). The “current occurrence position” in the present invention corresponds to the occurrence position of the abnormality.

  The control device 1 is a so-called computer installed in a security center at a remote location, and based on a report from the security device 2 via the communication network 4, from among a plurality of moving bodies 3 that monitor the inside of the monitoring area. Then, one or a plurality of moving bodies 3 for coping with the abnormality that has occurred are selected, and the moving path of the moving bodies 3 is displayed and output. In particular, the control device 1 according to the present invention is characterized in that the moving path of the moving body 3 is calculated using a method according to whether or not the selected moving body 3 is capable of flying. It is possible to efficiently calculate a movement route with a calculation load. In this embodiment, “impossible to fly” means not only a mobile body that cannot structurally fly, but also a mobile body that can structurally fly but is prohibited from flying in an operational manner. Including.

  FIG. 2 shows a block diagram of the control device 1. As shown in FIG. 2, the control device 1 is schematically configured to include a storage unit 11, a control unit 12, a display unit 13, an input unit 14, and a communication unit 15. The display unit 13 is an information display device such as a display. A controller using the control device 1 uses the display unit 13 to check an image (route image) showing the moving path of the moving body 3 displayed on the display unit 13. The input unit 14 is an information input device such as a keyboard, a mouse, a touch panel, or a portable storage medium reading device. The administrator of the control device 1 can store, for example, three-dimensional shape data of a space model 111 (described later) in the storage unit 11 or set various setting information using the input unit 14. In addition, the controller selects the mobile unit 3 suitable for coping with the reported abnormality after referring to the movement paths of the plurality of mobile units indicated in the route image displayed and output on the display unit 13. The mobile unit 3 is instructed using the input unit 14 to check the abnormal state. The communication unit 15 is a communication interface for communicating with the mobile body 3 and the security device 2 via the communication network 4.

  The storage unit 11 is an information storage device such as a ROM, RAM, or HDD. The storage unit 11 stores various programs and various data, and inputs / outputs such information to / from the control unit 12. The various data includes the space model 111, the moving body information 112, the abnormality information 113, and other various information used for the processing of the control unit 12 (for example, the graph structure, the movement route data, the route image obtained in the processing described later) Etc.).

  The space model 111 is a coordinate representing a three-dimensional virtual space including three-dimensional shape data created by modeling an object (obstacle) such as a real-world building, ground, or tree existing in the monitoring area. Information. In the present embodiment, the three-dimensional shape data in the space model 111 is created by three-dimensional CAD based on the shape information of the monitoring area. However, the present invention is not limited to this, and data obtained by capturing the three-dimensional shape of the monitoring area with a three-dimensional laser scanner or the like may be used, and height information created by performing stereo shooting or laser ranging from an aircraft is also included. Data representing a three-dimensional shape by polygon data may be used. The space model 111 created in this way is stored in the storage unit 11 by being set and registered from the input unit 14 by the administrator. A three-dimensional shape denoted by reference numeral 111 in FIG. 3 represents a space model in a coordinate system (hereinafter referred to as “model coordinate system”) representing a three-dimensional virtual space.

  The moving body information 112 is information regarding each moving body 3 that monitors the monitoring area. As shown in FIG. 4, the mobile object information 112 includes a mobile object ID that is an identifier of the mobile object 3, a flight attribute that indicates whether or not the mobile object 3 can fly, a current position of the mobile object 3, This is table information in which the target position of the mobile body 3 is associated with aptitude information describing the type of abnormality (for example, fire, intrusion, riot, etc.) to be dealt with by the mobile body 3. Here, the flight attribute and aptitude information are set in advance by the administrator, and the target position is appropriately updated by the target position setting means 121 described later every time a report is received from the security device 2. . In addition, when the current position is received from each mobile body 3 via the communication network 4, the current position of the mobile body information 112 is updated by the control unit 12.

  The abnormality information 113 is information regarding one or more abnormalities detected in the monitoring area, and is updated by the control unit 12 when a report from the security device 2 is received. As shown in FIG. 5, the abnormality information 113 is table information in which an abnormality ID that is an abnormality identifier, an abnormality type (for example, intrusion, fire, riot, etc.) and an abnormality occurrence position are associated with each other. . Here, the occurrence position of the abnormality is the abnormality occurrence position notified from the security device 2 (for example, the position information where the abnormality including the latitude, longitude, and altitude is detected) and the coordinate information (x, y, z).

  The virtual camera information 114 is a camera parameter that defines the field of view of a virtual camera that is virtually arranged in the space model 111, and is information that is used when a path image is generated by the display output unit 125 described later. It is. When the traffic control object 1 arranges the movement route object generated based on the movement route obtained by the route search means 124 on the space model 111 and shoots it with the virtual camera set in the virtual camera information 114 Is generated as a route image. Specifically, the virtual camera information 114 includes information relating to visual field conversion, projection conversion, and the size of an image to be generated. The information related to the field of view conversion includes the position (center coordinate or viewpoint of the lens) and posture (the direction of the lens optical axis or the direction of the line of sight) of the virtual camera, and can be updated as needed by operating the input unit 14 by the controller. Information relating to projection conversion includes a group of parameters for modeling the projection characteristics of the lens, for example, focal length, distortion aberration coefficient, etc., and information relating to the image size includes the number of pixels constituting the image, etc. The information regarding the conversion and the size of the image is a predetermined value given in advance.

  The control unit 12 includes a microprocessor unit such as a CPU, a memory such as a ROM and a RAM, and peripheral circuits thereof, and executes various signal processes. The control unit 12 includes a selection unit 121, a target position setting unit 122, a graph structure calculation unit 123, a route search unit 124, and a display output unit 125 that are implemented as functional modules of a program that operates on the microprocessor unit. These functional modules are realized by the control unit 12 executing a program stored in the storage unit 11.

  The selection unit 121 performs a process of selecting the moving body 3 that is a calculation target of the moving path from the plurality of moving bodies 3 described in the moving body information 112. In the present embodiment, the selection unit 121 refers to the suitability information of the mobile body information 112, and selects the mobile body 3 in which the type of abnormality reported from the plurality of mobile bodies 3 is described in the suitability information. The mobile object 3 to be calculated is selected.

  The target position setting unit 122 uses the space model 111, the moving body information 112, and the abnormality information 113 in the storage unit 11 to set a target position as a movement destination for each moving body 3 selected by the selection unit 121. Target position setting processing is performed. In the present embodiment, the target position setting unit 122 sets a target position at a position within a predetermined range from the position where the abnormality occurs in the space model 111 and does not interfere with an obstacle, and stores the target position in the moving body information 112. To do. In particular, the target position to be set is varied according to the flight attribute of the moving body 3. Details of the target position setting process will be described later.

  The graph structure calculation unit 123 performs a graph structure calculation process for obtaining a graph structure as a basis for calculating a movement path for each moving body 3 selected by the selection unit 122. In the graph structure calculation process, the flight attribute of the mobile object information 112 is referred to, and if the selected mobile object 3 is a mobile object 3 that can fly, a process for obtaining a graph structure from a space where no obstacle exists in the space model 111 is performed. If the selected moving body 3 is a non-flying moving body 3, processing for obtaining a graph structure from a travelable space (hereinafter referred to as “runnable space”) corresponding to a travel path such as a road in the space model 111 is performed. Do. Details of the graph structure calculation processing will be described later.

  The route search unit 124 performs a route search process for generating a movement route of each mobile 3 selected by the selection unit 122 using the graph structure calculated by the graph structure calculation unit 123. Although various route generation methods can be applied to the generation method of the movement route, in the present embodiment, the route point of the movement route is searched using the A * (Aster) route search method. That is, in the graph structure, the route search is started from the node closest to the current position of the moving body 3, and the route to the node closest to the target position set by the target position setting means 121 is obtained. Then, the route search means 124 starts from the current position of the moving body 3, uses each node of the route obtained by the route search processing as a transit point, and sets a set of coordinate data of each point reaching the target position as the movement route data. It is obtained and stored in the storage unit 11 in association with the moving body ID of the corresponding moving body 3.

  The display output means 125 arranges a movement path object obtained by connecting the coordinate values of the movement path data calculated by the path search means 124 with a line on the space model 111 and is photographed by the virtual camera set in the virtual camera information 114. A virtual camera image corresponding to the image at the time is obtained as a route image. At this time, the route image is obtained by rendering processing using a known computer graphics technique. The rendering process is described in detail, for example, in “Computer Graphics” (Computer Graphics Editorial Board Editing / Publishing, published in 2006), and thus detailed description thereof is omitted. The display output unit 125 displays and outputs the generated route image on the display unit 13.

  FIG. 6 is a flowchart of various processes performed by each functional module in the control unit 12. Hereinafter, the processing of the control unit 12 will be described in detail with reference to FIGS. In the present embodiment, every time the abnormality information 113 is updated based on the notification transmitted by the security device 2, the process of FIG. 6 is executed for the abnormality. Hereinafter, the abnormality to be processed is referred to as “target abnormality”. In addition, loop 1 in FIG. 6 means that processing is performed for each moving object 3 in the moving object information 112, and processing in the loop 1 is executed by the number of moving objects 3. In the following description, the moving object 3 to be processed in the loop 1 is referred to as “target moving object”.

  First, the selection unit 121 refers to the moving body information 112 and the abnormality information 113, and the target moving body conforms to the target abnormality depending on whether or not the type of the target abnormality is indicated in the suitability information of the target moving body. It is determined whether or not to perform (ST1). When the target moving body is not suitable for the target abnormality, that is, when the type of the target abnormality is not indicated in the suitability information of the target moving body (ST1-No), the processing of the loop 1 for the target moving body is terminated, After the next mobile body 3 in the mobile body information 112 is selected as the target mobile body, the processing of the loop 1 is started.

  On the other hand, when the target moving body is suitable for the target abnormality, that is, when the target abnormality type is indicated in the suitability information of the target moving body (ST1-Yes), the target position setting unit 122 performs the target position setting process. (ST2). FIG. 7 is a diagram in which a part of the space model 111 is cut out in order to explain the target position setting process. In the target position setting process, first, the abnormality information 113 is referred to, and the target abnormality occurrence position O is read. Then, a generation position O in the space model 111 is obtained, and a target position is set at a position within a predetermined range from the generation position O and does not interfere with an obstacle. In this embodiment, it is assumed that the target position is set to a position having a radius K from the generation position O. In FIG. 7, reference numerals 111a and 111b correspond to buildings and trees that exist in the monitoring area, respectively, and since the building 111a exists in the space within the radius K from the generation position O, the position in the space that does not interfere with the building 111a. Is set to the target position. Specifically, referring to the flight attribute of the target mobile body, if the target mobile body is a mobile body 3 that cannot fly, the target position P is set from the generation position O to the position on the ground surface with a radius K. If the target moving body is a movable body 3 that can fly, the target position P ′ is set from the generation position O to the position of the radius K and the elevation angle θ, that is, the sky position. In the present embodiment, it is assumed that the horizontal angles of the target positions P and P ′ are set to face the current position of the target moving body. This makes it possible to set the target position at an appropriate three-dimensional position depending on whether or not the mobile body 3 can fly. The target position setting unit 121 stores the obtained three-dimensional coordinates of the target position in the moving body information 112.

  Next, the graph structure calculation unit 123 performs a graph structure calculation process. In the graph structure calculation process, first, the flight attribute of the target moving body is referred to and it is determined whether or not the target moving body can fly (ST3). When it is determined in ST3 that the target mobile body is a flightable mobile body (ST3-Yes), the graph structure calculation unit 123 converts the spatial model 111 into voxels having a predetermined size (for example, 50 cm × 50 cm × 50 cm). A voxel space is obtained by associating the voxel ID that is an identifier of each voxel, the voxel centroid position (three-dimensional coordinates) in the model coordinate system, and the voxel attribute (ST4). FIG. 8 is a diagram illustrating the graph structure calculation process, and FIG. 8A is a diagram in which a part of the voxel space obtained by dividing the space model 111 by voxels is cut out. In the figure, voxels shown in black are voxels corresponding to spaces where obstacles such as buildings exist, and voxels shown in white are voxels corresponding to spaces where no obstacles exist. The graph structure calculation unit 123 determines whether each voxel is a voxel with an obstacle, and assigns the determination result as a voxel attribute. The graph structure calculation unit 123 refers to the moving body information 112 and, based on the current position and size of the other moving body 3, the voxel corresponding to the space where the other moving body 3 exists has an obstacle. It may be determined as a voxel corresponding to the space to be assigned and given a voxel attribute. Further, when an obstacle such as a person or a vehicle is detected by the camera of the security device 2, the security device 2 transmits the camera image to the control device 1, and the control device 1 in the camera image received from the security device 2. The position and size of these obstacles on the space model 111 may be obtained from the position and size of the obstacle, and a voxel attribute indicating the obstacle may be assigned to the voxel corresponding to the obstacle. In the present embodiment, the voxel space is obtained by the graph structure calculation unit 123. However, the voxel space may be obtained in advance based on the space model 111 and stored in the storage unit 11 in advance.

  Next, the graph structure calculation means 123 has a graph structure in which, in the voxel space obtained in ST4, the center of the voxel where no obstacle exists is a node, and the line segment connecting the adjacent nodes is an edge. Generate (ST5). At this time, the cost obtained based on the distance between adjacent nodes is set as the edge weight. FIG. 8B is a diagram illustrating a graph structure of a voxel corresponding to a space where there are no 3 × 3 × 3 obstacles indicated by the symbol G in FIG. The edges are indicated by dotted lines.

  When it is determined in ST3 that the target mobile body is not a flightable mobile body 3, that is, a mobile body 3 that cannot fly (ST3-No), the graph structure calculation unit 123 cannot fly using the space model 111. The travelable space of the movable body 3 is obtained (ST6). In the present embodiment, the travelable space is obtained using the space model 111 and the current position of the moving body information 112. Specifically, information on the mobile body 3 that cannot fly is extracted from the mobile body information 112, and the obstacle (ground) of the space model 111 immediately below the coordinate value in the height direction at the current position of the mobile body 3 is extracted. Is determined as a subspace of the travelable space. Then, the travelable space is obtained by integrating the obtained partial space and another space of the space model 111 having continuity. For example, the obstacle space adjacent to the determined partial space of the travelable space is approximately equal to the height of the partial space, and the normal space direction angle of the partial space is approximately equal (does not vary greatly). Will be integrated. In this embodiment, the travelable space in the space model 111 is obtained using the moving body information 112. However, the present invention is not limited to this, and the altitude of the travelable space in the monitoring area is stored in advance and is approximately equal to the altitude. A space that is an obstacle space and in which the inclination of the space is within an angle range in which the vehicle can travel may be obtained as the travelable space. Further, as the space model 111, not only the three-dimensional geometric shape of the obstacle, but also attribute information indicating that it is an obstacle space corresponding to the travelable space is stored in advance, and the travelable space is based on the attribute information. May be calculated.

  Next, the graph structure calculation unit 123 obtains a point (branch point) where the travel route branches when the travel route travels in the obtained travelable space, arranges a node at the branch point, and is adjacent along the travelable space. A graph structure having a line segment connecting nodes to be processed as an edge is generated (ST7). At this time, it is assumed that the cost calculated based on the distance between adjacent nodes is set as the edge weight. FIG. 8C is a diagram showing an example of a graph structure obtained from a travelable space, and the hatched portion 111c in the same figure is an obstacle corresponding to the travelable space in the space model 111. , And nodes are indicated by circles and edges by dotted lines.

  Next, the route search means 124 performs the above-described route search processing using the graph structure calculated by the graph structure calculation means 123 to obtain movement route data (ST8). Next, the display output unit 125 arranges the movement path objects of all the moving bodies 3 selected as the movement path calculation target on the space model 111, and the space model 111 on which the movement path object is arranged is a virtual camera. A display output process is performed in which the virtual camera defined by the information 114 is photographed, and the obtained virtual camera image is displayed on the display unit 13 as a route image (ST9). FIG. 9 is a diagram for explaining the display output process. FIG. 9A shows an object r (solid line arrow) on the movement path from the current position S to the target position P of the moving body 3 corresponding to the guard, An example in which an object r ′ (dotted line arrow) of a moving path from the current position S ′ of the moving body 3 corresponding to the drone to the target position P ′ is arranged on the space model 111 is shown. Subsequently, in the display output process, after the object of the movement path is arranged on the space model 111, the display output means 125 is a virtual camera corresponding to an image taken by the virtual camera set in the virtual camera information 114. An image is obtained, and the virtual camera image is displayed on the display unit 13 as a route image. FIG. 9B is a diagram illustrating an example of the route image X.

  As described above, in the control system 5 according to the present embodiment, when the controller confirms the route image X displayed and output on the display unit 13 of the control device 1, the controller can fly the moving body 3. It is possible to grasp the travel route calculated in consideration of characteristics such as “no”. Therefore, the controller can grasp the movement path that is more realistic for the moving body 3, and can thereby give a reliable instruction to cope with the movement. In particular, the control system 5 of the present embodiment calculates the movement route by a different method depending on whether or not the moving body 3 can fly. That is, if the mobile object 3 can fly, it is necessary to calculate the movement route from a wide area in the sky in the space model 111, whereas the mobile object 3 that cannot fly can drive the space in the space model 111. Since the movement route is calculated from the limited narrow space related to the above, it is possible to greatly reduce the calculation load necessary for calculating the movement route of the movable body 3 that cannot fly. Therefore, the controller can grasp the moving path of the moving body 3 more quickly, and can give a more reliable instruction to deal with it.

  In addition, since the control system 5 of this embodiment determines whether the target position is the sky or the ground surface depending on whether or not the mobile body 3 can fly, Thus, it is possible to calculate a more appropriate movement route.

  In addition, the control system 5 of the present embodiment refers to the suitability information of the mobile body information 112, selects the mobile body 3 corresponding to the type of target abnormality, and the travel route is only for the selected mobile body 3. Calculated. Therefore, since the moving route is not calculated for the moving body 3 that is not suitable for dealing with the abnormality that has occurred, the calculation load can be further reduced and the moving route can be calculated more quickly.

  By the way, the present invention is not limited to the above-described embodiment, and may be implemented in various different embodiments within the scope of the technical idea described in the claims. Further, the effects described in the embodiments are not limited to this.

  In the above embodiment, the target position is set by the target position setting unit 122 in ST2. However, the present invention is not limited to this, and the controller may set the target position of each moving body 3 using the input unit 14. In addition, the occurrence position O of the abnormality may be set as the target position simply.

  In the above embodiment, the selection means 121 selects the moving body 3 whose abnormality type matches the suitability information as the moving body 3 to be calculated for the moving path in ST1. However, in addition to or instead of the above condition, the selection unit 121 refers to the current position of the mobile object information 112 and is within a predetermined range (for example, within a range of 50 m) from the abnormality occurrence position O. An existing mobile 3 may be selected. Thereby, since the mobile body 3 far away from the abnormality occurrence position O requires time to confirm the abnormality, the calculation load can be further reduced by removing the mobile body 3 from the target of calculation of the movement path. Further, in addition to or instead of these conditions, the selection unit 121 may select the moving body 3 whose current position is included in the field of view of the virtual camera defined by the virtual camera information 114. Good. As a result, the moving body 3 having the current position at a position so far away that the current position of the moving body 3 is not displayed in the route image displayed and displayed on the display unit 13 can be excluded from the calculation target of the moving path. The calculation load can be further reduced. Further, in addition to or instead of these conditions, the selection unit 121 sets the moving body 3 designated by the controller or the like using the input unit 14 as a moving body 3 to be calculated as a moving path. You may choose. For example, when the controller drags the space model 111 displayed on the display unit 13 with the input unit 14 such as a mouse, the selection unit 121 selects the moving body 3 whose current position is included in the dragged range. May be.

  In the above embodiment, the display output unit 125 arranges the movement path objects of all the moving bodies 3 selected in ST1 on the space model 111 in ST9, and displays the path image obtained based on the virtual camera information 114. The data is displayed on the display unit 13. However, the present invention is not limited to this, the average moving speed of each moving body 3 is stored in advance as the moving body information 112, the total moving distance is obtained from the moving route obtained by the route searching means 124, and the total moving distance and the average are calculated. The moving time is estimated using the moving speed, and only the moving path object of the moving body 3 within the time limit stored in advance is placed on the space model 111 and obtained based on the virtual camera information 114. The route image may be displayed and output on the display unit 13. Thereby, since the moving path of the moving body 3 whose moving time exceeds the time limit is not displayed, the controller can quickly grasp only the moving path of the moving body 3 that can reach the position where the abnormality occurs within the time limit. This makes it possible to give more appropriate handling instructions.

  In the above embodiment, the graph structure calculation unit 123 uses the travelable space obtained in ST6 to obtain the graph structure by arranging nodes at branch points of the travelable space in ST7. However, the present invention is not limited to this, and the graph structure calculation unit 123 divides the travelable space into spaces of a predetermined size and shape (for example, squares and triangles), arranges nodes at the center of gravity positions of the divided spaces, and adjoins them. Alternatively, a graph structure may be generated in which a line segment connecting nodes to be processed is an edge.

  In the above embodiment, the display output means 125 displays and outputs the route image X in the display output process of ST9. However, the present invention is not limited to this, and the travel route calculated in ST8 may be transmitted to another server (not shown) via the communication unit 15.

DESCRIPTION OF SYMBOLS 1 ... Control apparatus 2 ... Security apparatus 3 ... Mobile body 4 ... Communication network 5 ... Control system 11 ... Memory | storage part 12 ... Control part 13 ... Display part 14. ..Input unit 15 ... Communication unit 111 ... Spatial model 112 ... Moving body information 113 ... Abnormal information 114 ... Virtual camera information 121 ... Selection means 122 ... Target position setting means 123... Graph structure calculation means 124... Route search means 125.

Claims (7)

A control device that inputs current positions of a plurality of moving bodies in a monitoring area including an obstacle and calculates a moving path from the current position to a target position of a target moving body selected from the plurality of moving bodies. And
A storage model that stores in advance a space model expressing the monitoring area as a three-dimensional virtual space, and attribute information indicating whether or not each of the plurality of moving objects can fly;
Target position setting means for setting the target position;
Selecting means for selecting the target moving body as the calculation target of the moving route from the plurality of moving bodies;
When the target moving body is capable of flying, a graph structure in which local paths that are constituent elements of the moving path are connected is obtained from a space where the obstacle does not exist in the space model, and the target moving body cannot fly. If so, a graph structure calculation means for obtaining a graph structure in which local routes that are constituent elements of the travel route are connected from the travelable space in the space model;
Route search means for searching for the movement route of the target mobile object using the graph structure obtained by the graph structure calculation means;
A control device comprising:   The target position setting means is configured to input a current occurrence position, which is a position in the monitoring area where an abnormality has occurred, within a predetermined range from the current occurrence position in the space model if the target moving body can fly. If the target position of the target moving body is set at a position in the sky, and the target moving body cannot fly, the target moving body is positioned at a position on the ground surface within a predetermined range from the current occurrence position in the space model. The control device according to claim 1, wherein the target position is set. The storage unit further stores aptitude information that describes a relationship with a predetermined type of abnormality as having aptitude for each of the plurality of moving objects,
The said selection means refers to the said aptitude information, The said target moving body with which the relationship with the classification of the abnormality which generate | occur | produced in the said present generation position was described from among these several moving bodies is described. Control device.   4. The control device according to claim 2, wherein the selection unit selects, as the target moving body, a moving body whose current position is within a predetermined range from the current occurrence position among the plurality of moving bodies. The storage unit further stores virtual camera information representing camera parameters of the virtual camera,
The control device further arranges on the space model an object expressing the moving route calculated by the route search means as a three-dimensional data on the space model, and the space model on which the object is arranged is the virtual The control device according to claim 1, further comprising: a display output unit that displays and outputs a virtual camera image captured by the camera on the display unit.   The control device according to claim 5, wherein the selection unit selects, as the target moving body, a moving body that includes the current position within a visual field of the virtual camera from the plurality of moving bodies. The storage unit further stores an average moving speed of each of the plurality of moving objects,
The selection means selects a plurality of the target moving bodies,
The display output means obtains a moving time for each target moving body using the moving path and the average moving speed, and only the object of the target moving body whose moving time is equal to or less than a predetermined time threshold is The control device according to claim 5 or 6 arranged on a space model.