JP7004374B1 - Movement route generation method and program of moving object, management server, management system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily visually recognize an environment in a structure in a work of generating a moving path of a moving body, and to set a moving path of an autonomous moving moving body even in the structure. And to provide a management server, etc. The present invention is a movement path generation method for generating a movement path in a structure for a moving body to move, and a three-dimensional reference data generation unit is used to arrange the components in the structure. Based on the three-dimensional model data shown and the three-dimensional sensing data showing the result of sensing the inside of the structure by the sensor, the step of generating the three-dimensional reference data in the structure and the movement path generation unit make the three-dimensional reference. Includes a step of generating a movement path for the moving body based on the data. [Selection diagram] FIG. 7

Description

The present invention relates to a method and a program for generating a movement route of a moving body, a management server, and a management system.

In recent years, autonomous control of vehicles such as drones (Drone) and unmanned aerial vehicles (UAV: Unmanned Aerial Vehicle) (hereinafter collectively referred to as "aircraft") and unmanned ground vehicles (UGV: Unmanned Ground Vehicle). Possible mobiles are beginning to be used in industry. Under these circumstances, Patent Document 1 discloses a system in which a flying object sequentially photographs an imaged object at a plurality of waypoints set in advance.

Japanese Unexamined Patent Publication No. 2014-089160

However, the disclosed technique of Patent Document 1 uses GNSS (global navigation satellite system) outdoors for self-position estimation, and creates a movement path of a moving body based on latitude / longitude information, and moves indoors. Similar techniques cannot be used in the body's movement path.

Further, when generating a movement path of a moving body indoors (for example, in a structure such as a building), the moving body is manually controlled by using a technique such as Visual SLAM (Simultaneous Localization and Mapping). It is conceivable that the user acquires the indoor three-dimensional information in advance based on the sensor information of the sensor mounted on the device and the user sets the movement route based on the information. However, the SLAM data is visually recognized by the user. In order to do so, it is difficult to understand the overall structure of the structure, it is difficult to identify the route to be actually moved or the object to be photographed in the structure, and it is difficult to set a precise route sufficient for operation.

The present invention has been made in view of such a background, and in the work of generating a movement path of a moving body, it is easy for the user to visually recognize the environment in the structure, and the movement of the moving body of autonomous movement even in the structure is easy. It is an object of the present invention to provide a movement route generation method and a management server that can set a route.

The main invention of the present invention for solving the above-mentioned problems is a movement path generation method for generating a movement path in a structure for a moving body to move, and the three-dimensional reference data generation unit is used in the structure. Based on the three-dimensional model data showing the arrangement of the structure and the three-dimensional sensing data showing the result of sensing the inside of the structure by the sensor, the step of generating the three-dimensional reference data in the structure and the movement route generator. This is a movement route generation method including a step of generating a movement route for the moving body based on the three-dimensional reference data.

According to the present invention, in particular, in the work of generating a moving path of a moving body, the user can easily visually recognize the environment in the structure, and the moving path of the moving body of autonomous movement can be set even in the structure. A method, a management server, etc. can be provided.

It is a figure which shows the structure of the management system which concerns on embodiment of this invention. It is a block diagram which shows the hardware configuration of the management server of FIG. It is a block diagram which shows the hardware composition of the user terminal of FIG. It is a block diagram which shows the hardware composition of the flying object of FIG. It is a block diagram which shows the function of the management server of FIG. It is a flowchart of the movement path generation method which concerns on embodiment of this invention. It is an example of the display screen which concerns on embodiment of this invention.

The contents of the embodiments of the present invention will be described in a list. The movement route generation method, the management server, and the like according to the embodiment of the present invention have the following configurations.
[Item 1]
It is a movement route generation method that generates a movement route in a structure for a moving body to move.
Three-dimensional reference data in the structure based on the three-dimensional model data in which the structure is three-dimensionally visualized by the three-dimensional reference data generation unit and the three-dimensional sensing data showing the result of sensing the inside of the structure by a sensor. And the steps to generate
A step of generating a movement path for the moving body based on the three-dimensional reference data by the movement path generation unit, and
including,
A method of generating a movement route, which is characterized in that.
[Item 2]
The step of generating the three-dimensional reference data includes a step of synthesizing the three-dimensional model data and the three-dimensional sensing data at the same scale.
The method for generating a movement route according to item 1, wherein the movement route is generated.
[Item 3]
The coordinate system of the three-dimensional model data and the three-dimensional sensing data are different.
The three-dimensional sensing data is a coordinate system of various sensors of a moving body.
The method for generating a movement route according to item 1 or 2, wherein the movement route is generated.
[Item 4]
The three-dimensional model data is three-dimensional data based on the BIM data of the structure.
The method for generating a movement route according to items 1 to 3, wherein the movement route is generated.
[Item 5]
The three-dimensional sensing data is three-dimensional data acquired by LiDAR.
The method for generating a movement route according to items 1 to 4, wherein the movement route is generated.
[Item 6]
The three-dimensional sensing data is three-dimensional data acquired by a vision sensor or an image sensor.
The method for generating a movement route according to items 1 to 4, wherein the movement route is generated.
[Item 7]
It is a program for a computer to execute a movement route generation method for generating a movement route in a structure for a moving body to move.
The movement route generation method is
Three-dimensional reference data in the structure based on the three-dimensional model data in which the structure is three-dimensionally visualized by the three-dimensional reference data generation unit and the three-dimensional sensing data showing the result of sensing the inside of the structure by a sensor. And the steps to generate
A step of generating a movement path for the moving body based on the three-dimensional reference data by the movement path generation unit, and
including,
A program characterized by that.
[Item 8]
It is a management server that generates a movement route in a structure for a moving body to move.
Three-dimensional reference data generation that generates three-dimensional reference data in the structure based on three-dimensional model data that visualizes the structure three-dimensionally and three-dimensional sensing data that shows the result of sensing the inside of the structure with a sensor. Department and
A movement route generation unit that generates a movement route for the moving body based on the three-dimensional reference data,
To prepare
A management server that features that.
[Item 9]
A management system that creates a movement path within a structure for a moving body to move.
Three-dimensional reference data generation that generates three-dimensional reference data in the structure based on three-dimensional model data that visualizes the structure three-dimensionally and three-dimensional sensing data that shows the result of sensing the inside of the structure with a sensor. Department and
A movement route generation unit that generates a movement route for the moving body based on the three-dimensional reference data,
To prepare
A management system characterized by that.

<Details of the embodiment>
Hereinafter, embodiments of a moving route generation method for a moving body, a management server, and the like according to the embodiment of the present invention will be described. In the accompanying drawings, the same or similar elements are designated by the same or similar reference numerals and names, and duplicate description of the same or similar elements may be omitted in the description of each embodiment. In addition, the features shown in each embodiment can be applied to other embodiments as long as they do not contradict each other.

<Structure>
As shown in FIG. 1, the management system in the present embodiment includes a management server 1, one or more user terminals 2, one or more mobile bodies 4 (for example, a flying body, a traveling body, etc.), and one or more. It has a moving body storage device 5 of the above. The management server 1, the user terminal 2, the mobile body 4, and the mobile body storage device 5 are connected to each other so as to be able to communicate with each other via a network. Note that the configuration shown is an example, and the configuration is not limited to this, and may be, for example, a configuration that is carried by the user without having the mobile body storage device 5.

<Management server 1>
FIG. 2 is a diagram showing a hardware configuration of the management server 1. The configuration shown in the figure is an example, and may have other configurations.

As shown in the figure, the management server 1 is connected to the user terminal 2, the mobile body 4, and the mobile body storage device 5, and constitutes a part of the system. The management server 1 may be a general-purpose computer such as a workstation or a personal computer, or may be logically realized by cloud computing.

The management server 1 includes at least a processor 10, a memory 11, a storage 12, a transmission / reception unit 13, an input / output unit 14, and the like, and these are electrically connected to each other through a bus 15.

The processor 10 is an arithmetic unit that controls the operation of the entire management server 1, controls the transmission and reception of data between each element, and performs information processing necessary for application execution and authentication processing. For example, the processor 10 is a CPU (Central Processing Unit) and / or a GPU (Graphics Processing Unit), and executes each information processing by executing a program or the like for the system stored in the storage 12 and expanded in the memory 11. ..

The memory 11 includes a main storage configured by a volatile storage device such as a DRAM (Dynamic Random Access Memory) and an auxiliary storage configured by a non-volatile storage device such as a flash memory or an HDD (Hard Disk Drive). .. The memory 11 is used as a work area or the like of the processor 10, and also stores a BIOS (Basic Input / Output System) executed when the management server 1 is started, various setting information, and the like.

The storage 12 stores various programs such as application programs. A database storing data used for each process may be built in the storage 12.

The transmission / reception unit 13 connects the management server 1 to the network. The transmission / reception unit 13 may be provided with a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).

The input / output unit 14 is an information input device such as a keyboard and a mouse, and an output device such as a display.

The bus 15 is commonly connected to each of the above elements and transmits, for example, an address signal, a data signal, and various control signals.

<User terminal 2>
The user terminal 2 shown in FIG. 3 also includes a processor 20, a memory 21, a storage 22, a transmission / reception unit 23, an input / output unit 24, and the like, which are electrically connected to each other through a bus 25. Since the functions of each element can be configured in the same manner as the management server 1 described above, detailed description of each element will be omitted.

<Mobile 4>
The moving body 4 is a known moving body including a flying body such as a drone or an unmanned aerial vehicle, a traveling body such as an unmanned ground vehicle, and the like, and is particularly an autonomously controllable moving body. As a specific example of the moving body 4, the flying body 4 will be illustrated below. FIG. 4 is a block diagram showing a hardware configuration of the flying object 4. The flight controller 41 can have one or more processors such as a programmable processor (eg, central processing unit (CPU)).

Further, the flight controller 41 has a memory 411 and can access the memory. Memory 411 stores logic, code, and / or program instructions that the flight controller can execute to perform one or more steps. Further, the flight controller 41 may include sensors 412 such as an inertial sensor (accelerometer, gyro sensor), GPS sensor, proximity sensor (for example, rider) and the like.

Memory 411 may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device. The data acquired from the cameras / sensors 42 may be directly transmitted and stored in the memory 411. For example, still image / moving image data taken by a camera or the like may be recorded in the built-in memory or an external memory, but the present invention is not limited to this, and at least the management server 1 or the management server 1 may be recorded from the camera / sensor 42 or the built-in memory via the network NW. It may be recorded in one of the user terminal 2 and the mobile storage device 5. The camera 42 is installed on the flying object 4 via the gimbal 43.

The flight controller 41 includes a control module (not shown) configured to control the state of the flying object. For example, the control module may adjust the spatial placement, velocity, and / or acceleration of an air vehicle with 6 degrees of freedom (translation x, y and z, and rotational motion θ _x , θ _y and θ _z ). , ESC44 (Electric Speed Controller) to control the propulsion mechanism (motor 45, etc.) of the flying object. The propeller 46 is rotated by the motor 45 supplied from the battery 48 to generate lift of the flying object. The control module can control one or more of the states of the mounting unit and the sensors.

The flight controller 41 is configured to transmit and / or receive data from one or more external devices (eg, a transceiver (propo) 49, a terminal, a display device, or another remote control). It is possible to communicate with the unit 47. The transceiver 49 can use any suitable communication means such as wired communication or wireless communication.

For example, the transmission / reception unit 47 uses one or more of a local area network (LAN), wide area network (WAN), infrared ray, wireless, WiFi, point-to-point (P2P) network, telecommunications network, cloud communication, and the like. can do.

The transmission / reception unit 47 transmits and / or receives one or more of data acquired by the sensors 42, a processing result generated by the flight controller 41, predetermined control data, a user command from a terminal or a remote controller, and the like. be able to.

The sensors 42 according to the present embodiment include an inertial sensor (acceleration sensor, gyro sensor), a GPS sensor, a proximity sensor (for example, LiDAR (Light Detection And Ringing), etc.), or a vision / image sensor (for example, a camera). obtain.

<Management server function>
FIG. 5 is a block diagram illustrating the functions implemented in the management server 1. In the embodiment of the present invention, three-dimensional model data showing the arrangement of components (for example, walls, pillars, stairs, equipment, etc.) in the structure (for example, a building such as a building) and the inside of the structure in advance. Based on the three-dimensional sensing data showing the result of sensing by the sensor, three-dimensional reference data in the structure (for example, three-dimensional composite data of both) is generated, and the movement path of the moving body is determined based on the three-dimensional reference data. It has various functional parts to generate.

In the present embodiment, the management server 1 includes a communication unit 110, a three-dimensional reference data generation unit 120, a movement route generation unit 130, a movement execution unit 140, an acquisition information output unit 150, and a storage unit 160. Further, the storage unit 160 includes various databases of the three-dimensional data storage unit 161, the movement route information storage unit 162, and the movement information storage unit 163.

The communication unit 110 communicates with the user terminal 2, the mobile body 4, and the mobile body storage device 5. The communication unit 110 also functions as a reception unit that receives various requests, data, and the like from the user terminal 2.

The three-dimensional reference data generation unit 120 is based on the three-dimensional model data showing the arrangement of the components in the structure and the three-dimensional sensing data showing the result of sensing the inside of the structure by the sensor in advance, and the tertiary in the structure. Generate original reference data. The three-dimensional model data, the three-dimensional sensing data, and the three-dimensional reference data are data represented in the three-dimensional coordinate system, respectively, and are stored and managed in the three-dimensional data storage unit 161.

The three-dimensional model data has three-dimensional model data (more preferably, dimensional information) indicating the arrangement of the components in the structure, which is created based on the data created by the CAD (Computer-Aided Design) design software. Any data may be used as long as it is (three-dimensional model data), and may be, for example, three-dimensional model data reconstructed from BIM (Billing Information Modeling) data, CAD data, BIM data, or the like. , The 3D model data may be obtained by generating a structure having a predetermined height based on the 2D design drawing data, and the generation of the 3D model data such as reconstruction is based on the 3D reference. It may be executed by the data generation unit 120 or the like, or it may be executed outside the management server 1 and acquired internally.

The three-dimensional sensing data may be any three-dimensional sensing data indicating the result of sensing the inside of the structure with the position where sensing is started by a known sensor as the origin. For example, the sensor uses a laser beam such as LiDAR. If it is a sensor, it may be three-dimensional point group data of a component in the structure, and if it is a vision sensor / image sensor such as a camera, it may be three-dimensional image data of the component in the structure. Pre-sensing may be performed by the user manually operating the moving body 4 equipped with the sensor by a radio or the like to move in the structure, or instead of the moving body 4, the user possesses the sensor. It may be executed by moving in the structure.

The three-dimensional reference data may be, for example, three-dimensional data obtained by synthesizing at least a part (including all) of the three-dimensional sensing data with the three-dimensional model data. In the composition, for example, the two may be aligned on the user terminal 2 based on the user operation, and the three-dimensional data of the two may be combined as an integrated three-dimensional data (three-dimensional reference data) at the determined position. Then, using a known 3D data alignment technique (for example, 3D model data is point clouded and aligned by ICP (Iterative close point)), the two are automatically aligned and their positions are aligned. The two three-dimensional data may be combined as an integrated three-dimensional data (three-dimensional reference data). At this time, if the scales of the 3D model data and the 3D sensing data are different, the scale may be adjusted according to the alignment, and in the automatic alignment, the dimensional information of the 3D model data and the 3D The scale may be adjusted by comparing with the measured information of the sensing data.

In this way, by synthesizing the 3D model data and the 3D sensing data expressed by different 3D coordinate systems, it is possible to match the 3D coordinate systems (and scale) of both, especially 3D. Even when the waypoint is set based on the 3D reference data displayed on the user terminal 2, for example, by matching the model data with the 3D sensing data indicating the relative position with the moving body 4. It is possible to specify a position such as a movement route generation based on the coordinate system of the moving body 4. At this time, the 3D reference data may be based on the coordinate system of the 3D sensing data (the coordinate system of the measurement data in the moving body 4), but if the 3D model data includes dimensional information, the 3D model By using the coordinate system of the data as a reference, it is possible to generate a movement route using an actual scale such as flying straight 10 m and turning right.

The movement route generation unit 130 sets one or more way points for the three-dimensional reference data displayed on the user terminal 2, for example, by a user's selection operation, and the movement route information is based on the way points by a known method. May be stored in the movement route information storage unit 162 and managed, or the three-dimensional reference data may be analyzed to calculate, for example, a movement route capable of acquiring information on all the components in the structure. However, this may be stored and managed in the movement route information storage unit 162 as movement route information.

As the movement route, for example, the position of the moving body storage device 5 may be set as the movement start position and the movement end position, and a movement path passing through each waypoint may be generated, or conversely, the moving body storage device 5 may be generated. The position where the aircraft is carried by the user may be set as the movement start position, the user may collect the aircraft at the movement end position, or the like, or the mobile storage device managed by the management server 1 may be used. A configuration generated as a movement route including the position of the mobile body storage device 5 selected as the movement start position or the movement end position based on the information of 5 (for example, position information, storage state information, storage device information, etc.). But it may be.

The movement execution unit 140 refers to the movement route information storage unit 162 and the movement information storage unit 163, and executes the movement of the moving body 4 for the purpose of inspection, security, building progress management, and the like.

The movement information storage unit 163 is a parameter used when a movement route is generated by the movement route generation unit 130, or when the movement of the mobile body 4 autonomously controlled on the movement execution route is executed by the movement execution unit 140. It stores information and information acquired at the time of movement acquired on the movement route. Examples of specific parameters include, for example, moving speed, flight altitude (when moving body 4 is a flying body), overlap rate of captured images, information acquired during movement (for example, image information, video information, etc.), and the like. including.

The acquisition information output unit 150 generates output information for transmission to the user terminal 2 based on the movement acquisition information stored in the movement information storage unit 163. In the present embodiment, for example, it is acquired information (still image, moving image, voice, or other information) acquired by the moving body 4 on the moving path, or is associated with the position information of the acquired information. Three-dimensional data (for example, three-dimensional model data, three-dimensional reference data, etc.) marked with a symbol or the like as a link for viewing the acquired information corresponding to the position may be output so as to be viewable. By selecting the link on the user terminal 2, the corresponding acquisition information may be displayed. At this time, when the 3D data related to the BIM data is used as the 3D data, it is possible to have the information for each component that constitutes the 3D data in association with the BIM data. (For example, link generation) becomes possible.

<Example of movement route generation method>
The movement route generation method according to the present embodiment will be described with reference to FIGS. 6-7, including the operation of the management system in the present embodiment. FIG. 6 illustrates a flowchart of the movement route generation method according to the present embodiment. In this flowchart, the configuration for starting an application on the user terminal 2 is shown as an example, but the present invention is not limited to this, and for example, the management server 1 and the mobile storage device 5 include a processor and an input / output device capable of starting the application. It may have a configuration capable of various settings and the like. Note that FIG. 7 is an example of a display screen related to the movement route generation method according to the embodiment of the present invention.

First, the user starts an application including, for example, a movement route generation function on the user terminal 2 (SQ101). This application may be stored in, for example, a user terminal 2, or may be software (so-called SaaS) provided by a management server 1 or another server (not shown) connected via a network. If necessary, a login screen may be displayed, and for example, a login ID or password may be requested.

Next, the user creates a new movement plan (SQ102). For example, by setting a "plan name", "area name", "address", etc., the three-dimensional reference data in the target structure is acquired and displayed on the user terminal 2, and a new movement plan is created. Start creating. The 3D reference data may already be generated in advance and stored in the 3D data storage unit 161. At this timing, the 3D model data and the 3D sensing data are read, and the 3D reference data is generated and displayed. You may try to do it.

Next, the user generates a movement route for the movement of the moving body 4 (SQ103). For example, as illustrated in FIG. 7, the three-dimensional reference data displayed on the user terminal 2 (in the example, the three-dimensional data in which the SLAM data is synthesized (superimposed) in the three-dimensional model data generated from the BIM data). ), One or more waypoints are set by the user's selection operation, and movement route information is generated based on the waypoints by a known method (in the example, eight waypoints are connected by a straight line). ..

Next, the user instructs the mobile body 4 to start executing the movement (SQ104). For example, with reference to the movement route information storage unit 162 and the movement information storage unit 163, the movement of the moving body 4 for the purpose of inspection, security, building progress management, etc. is executed. At this time, based on the sensor information received by the mobile body 4, the current position information is calculated using the three-dimensional reference data, and the current position information is superimposed on the three-dimensional reference data on the user terminal 2. May be displayed. In particular, the current position of the moving body 4 may be dynamically displayed on the moving path.

Next, the user instructs the management server 1 to output the acquired information (SQ105). For example, the route information actually moved by the moving body 4 may be superimposed and displayed on the three-dimensional reference data displayed on the user terminal 2. In addition, the acquired information (still image, moving image, voice, and other information) acquired by the moving body 4 on the moving path can be displayed, and the position associated with the position information of the acquired information (especially the way point). Three-dimensional data (for example, three-dimensional model data, three-dimensional reference data, etc.) marked with a symbol or the like that serves as a link for browsing the acquired information corresponding to (position information) may be output so as to be viewable. .. Then, by selecting the link on the user terminal 2, the corresponding acquisition information may be displayed. At this time, when the 3D data related to the BIM data is used as the 3D data, it is possible to have the information for each component that constitutes the 3D data in association with the BIM data. (For example, link generation) becomes possible.

As described above, in the work of generating the movement path of the moving body, the present invention makes it easy for the user to visually recognize the environment in the structure, and can set the moving path of the moving body of autonomous movement even in the structure. A method, a management server, etc. can be provided. In addition, instead of the configuration involving the execution of autonomous movement of the moving body 4 of the SQ104 as described above, it may be configured to simply create an optimum moving route, and based on this, another user may make a radio or the like. It is possible to manually display the movement route as a model for moving the moving body 4 in the structure on the user terminal 2 of another user.

Further, in the above-described embodiment, the acquisition of information in the structure by the moving body 4 is taken as a specific example, but for example, the inspection of the structure may be performed, and the presence or absence of a predetermined event on the inner wall and / or the outer wall of the structure may be checked. It may be equipped with equipment, equipment, etc. used for inspection. More specifically, image pickup devices (visible light cameras, infrared cameras, metal detectors, ultrasonic measuring devices, etc.), keying devices, detection devices (metal detectors), sound collectors, odor measuring devices, gas detection All the devices necessary for knowing the state of the structure to be inspected having an inner wall such as a device, an air pollution measuring device, and a detecting device (a device for detecting cosmic rays, radiation, electromagnetic waves, etc.) can be adopted.

Further, the embodiment may be, for example, security or monitoring in a structure, or may be provided with devices, devices, or the like used for security or monitoring. More specifically, structures to be guarded / monitored, such as image pickup devices (visible light cameras, infrared cameras, dark vision cameras, metal detectors, ultrasonic measuring instruments, etc.) and sensor devices (motion sensors, infrared sensors, etc.). All the devices necessary for imaging and detecting abnormalities and intruders can be adopted.

The moving body of the present invention can be suitably used as a moving body for photography equipped with a camera or the like, and also in the security field, infrastructure monitoring, surveying, sports venues, factories, warehouses, and other buildings and structures. It can also be used in various industries such as inspection and disaster response.

The embodiments described above are merely examples for facilitating the understanding of the present invention, and are not intended to limit the interpretation of the present invention. It goes without saying that the present invention can be modified and improved without departing from the spirit thereof, and the present invention includes its equivalents.

1 Management server 2 User terminal 4 Mobile 5 Mobile storage device

Claims (8)

A movement route generation method in which a computer operates as a three-dimensional reference data generation unit and a movement route generation unit to generate a movement path in a structure for a moving body to move.
Based on the 3D model data that visualizes the structure three-dimensionally by the 3D reference data generation unit and the 3D sensing data that shows the result of sensing the inside of the structure by the sensor, the 3D reference in the structure. The steps to generate the data and
A step of generating a movement path for the moving body based on the three-dimensional reference data by the movement path generation unit, and a step of generating the movement path for the moving body.
Including
The three-dimensional model data is three-dimensional data based on the BIM data of the structure.
A method of generating a movement route, which is characterized in that. The step of generating the three-dimensional reference data includes a step of synthesizing the three-dimensional model data and the three-dimensional sensing data at the same scale.
The method for generating a movement route according to claim 1. The coordinate system of the three-dimensional model data and the three-dimensional sensing data are different.
The three-dimensional sensing data is a coordinate system of various sensors of a moving body.
The method for generating a movement route according to claim 1 or 2, wherein the movement route is generated. The three-dimensional sensing data is three-dimensional data acquired by LiDAR.
The movement route generation method according to claim 1 to 3, wherein the movement route is generated. The three-dimensional sensing data is three-dimensional data acquired by a vision sensor or an image sensor.
The movement route generation method according to claim 1 to 3, wherein the movement route is generated. It is a program for a computer to execute a movement route generation method for generating a movement route in a structure for a moving body to move.
The movement route generation method is
Three-dimensional reference data in the structure based on the three-dimensional model data in which the structure is three-dimensionally visualized by the three-dimensional reference data generation unit and the three-dimensional sensing data showing the result of sensing the inside of the structure by a sensor. And the steps to generate
A step of generating a movement path for the moving body based on the three-dimensional reference data by the movement path generation unit, and
Including
The three-dimensional model data is three-dimensional data based on the BIM data of the structure.
A program characterized by that. It is a management server that generates a movement route in a structure for a moving body to move.
Three-dimensional reference data generation that generates three-dimensional reference data in the structure based on three-dimensional model data that visualizes the structure three-dimensionally and three-dimensional sensing data that shows the result of sensing the inside of the structure with a sensor. Department and
A movement route generation unit that generates a movement route for the moving body based on the three-dimensional reference data,
Equipped with
The three-dimensional model data is three-dimensional data based on the BIM data of the structure.
A management server that features that. A management system that creates a movement path within a structure for a moving body to move.
Three-dimensional reference data generation that generates three-dimensional reference data in the structure based on three-dimensional model data that visualizes the structure three-dimensionally and three-dimensional sensing data that shows the result of sensing the inside of the structure with a sensor. Department and
A movement route generation unit that generates a movement route for the moving body based on the three-dimensional reference data,
Equipped with
The three-dimensional model data is three-dimensional data based on the BIM data of the structure.
A management system characterized by that.

Images