JP2014199619A - Movement control method, movement control program and movement control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce labor to move censors etc. to a site of investigation.SOLUTION: A server device 10 sets a destination of an investigation unit on which an engine and a censor are loaded. The server device 10 gives an instruction about movement of the investigation unit on the basis of a direction from a location of the investigation unit to the destination and a distance between the location of the investigation unit and the destination. The server device 10 collects a location in which an investigation unit 20 exists from the investigation unit. The server device 10 extracts a bypass amount corresponding to the location of the investigation unit 20 among bypass amounts included in bypass information in which locations of obstacles preventing the movement of the investigation unit are associated with the bypass amounts, when there is no change in the location collected from the investigation unit 20 for a prescribed period of time. The server device 10 gives a bypass instruction including the bypass amount to the investigation unit.

Description

  The present invention relates to a movement control method, a movement control program, and a movement control apparatus.

  Various surveys have been conducted by sensing. For example, aging of facilities is investigated by collecting maintenance information on facilities such as roads, railways, and high-voltage line towers. In addition, the water quality is investigated by collecting images and samples of water taken from rivers, lakes and the sea. Furthermore, the site is investigated by collecting images of unexplored land, unopened land, accidents or disasters, and local temperature and humidity.

  In these investigations, it takes time and effort to collect sensing data using the sensors after a person transports the sensors to the site of the investigation. For this reason, in order to conduct surveys from remote locations that are remote from the site, a dedicated system that collects sensing data from the sensors by remotely operating the sensors installed at the site of the survey may be constructed. is there.

JP 2007-139710 A Special table 2004-515000 gazette

  However, the above investigation has a problem that it takes time and effort to move the sensors to the site of the investigation.

  In one aspect, an object is to provide a movement control method, a movement control program, and a movement control apparatus that can reduce the trouble of moving sensors to the site of an investigation.

  In the movement control method of one aspect, a computer executes a process of setting a destination of an investigation unit on which a prime mover and a sensor are mounted. Further, the computer executes processing for instructing the movement of the survey unit based on the direction from the position of the survey unit to the destination and the distance from the position to the destination. Further, the computer executes a process of collecting a position where the investigation unit exists from the investigation unit. Further, the computer refers to the detour information in which the position of the obstacle that hinders the movement of the survey unit and the detour amount are associated when the position collected from the survey unit has not changed over a predetermined period. Then, a process of extracting the detour amount of the obstacle corresponding to the position of the investigation unit is executed. Furthermore, the computer executes a process of notifying the investigation unit of the bypass amount.

  According to one embodiment, the trouble of moving the sensors to the site of the survey can be reduced.

FIG. 1 is a diagram illustrating the configuration of the survey support system according to the first embodiment. FIG. 2 is a diagram illustrating an example of information exchanged by each device during movement control. FIG. 3 is a diagram showing an example of information exchanged by each device when sensing data is collected. FIG. 4 is a block diagram illustrating a functional configuration of the server apparatus according to the first embodiment. FIG. 5 is a diagram illustrating an example of the detour information. FIG. 6 is an explanatory diagram illustrating an example of the detour action. FIG. 7 is an explanatory diagram illustrating an example of the detour action. FIG. 8 is an explanatory diagram illustrating an example of the detour action. FIG. 9 is an explanatory diagram illustrating an example of the detour action. FIG. 10 is an explanatory diagram illustrating an example of the detour action. FIG. 11 is an explanatory diagram illustrating an example of the detour action. FIG. 12 is an explanatory diagram illustrating an example of the detour action. FIG. 13 is an explanatory diagram illustrating an example of updating the detour information. FIG. 14 is an explanatory diagram illustrating an example of updating the detour information. FIG. 15 is an explanatory diagram illustrating an example of updating the detour information. FIG. 16 is a diagram illustrating an example of detour information. FIG. 17 is a diagram illustrating an example of detour information. FIG. 18 is a flowchart illustrating the procedure of the movement control process according to the first embodiment. FIG. 19 is a flowchart illustrating the procedure of the detour control process according to the first embodiment. FIG. 20 is a schematic diagram illustrating an example of a computer that executes a movement control program according to the first and second embodiments.

  Hereinafter, a movement control method, a movement control program, and a movement control device according to the present application will be described with reference to the accompanying drawings. Note that this embodiment does not limit the disclosed technology. Each embodiment can be appropriately combined within a range in which processing contents are not contradictory.

[System configuration]
First, the configuration of the survey support system according to the present embodiment will be described. FIG. 1 is a diagram illustrating the configuration of the survey support system according to the first embodiment. The survey support system 1 shown in FIG. 1 provides a survey support service that supports a local survey by causing the sensors mounted on the mobile terminal 30 of the survey unit 20 to collect sensing data at the site of the survey. .

  The survey support system 1 moves the integrated survey unit 20 to the destination, that is, the site of the survey by attaching the mobile terminal 30 equipped with sensors to the traveling unit 40 as part of the survey support. The mobile control service to be implemented is also realized. Here, as an example, it is assumed that road pavement is not in place and where the general wheeled vehicle cannot travel, such as unexplored, undeveloped land, contaminated land, accident area, disaster area, etc. To do. Further, the following description will be made assuming that the investigation unit 20 is moved while detouring an obstacle existing on the route to the investigation site.

  As shown in FIG. 1, the survey support system 1 accommodates a server device 10, a survey unit 20 including a mobile terminal 30 and a travel unit 40, and a client terminal 50. In the example of FIG. 1, one set of the survey unit 20, that is, the mobile terminal 30 and the traveling unit 40 is illustrated, but the disclosed system is not limited to the illustrated configuration, and accommodates an arbitrary number of the survey units 20. it can.

  The server device 10, the mobile terminal 30, and the client terminal 50 are connected via the network 7 so that they can communicate with each other. The network 7 can employ any type of communication network such as the Internet, LAN (Local Area Network), and VPN (Virtual Private Network) regardless of wired or wireless. In addition, the mobile terminal 30 and the traveling unit 40 can be connected to each other wirelessly by short-range wireless communication such as Bluetooth (registered trademark) or infrared communication, or can be connected to each other by wire via a cable or the like. You can also

  Among these, the portable terminal 30 is a portable terminal device. As an aspect of the mobile terminal 30, a mobile communication terminal that can be connected to a mobile communication network such as a smartphone, a mobile phone, or a PHS can be adopted, and a slate that cannot be connected to the mobile communication network. It can be a device or a tablet device. The above “PHS” is an abbreviation for Personal Handyphone System.

  For example, the mobile terminal 30 is equipped with sensors such as a camera that captures an image, a temperature sensor that measures temperature, and a humidity sensor that measures humidity. Such sensors make it possible to collect sensing data such as images of local scenes and local temperature and humidity, and investigate local conditions. The mobile terminal 30 is equipped with a device capable of measuring position information of the mobile terminal 30, for example, information including latitude and longitude, such as a GPS (Global Positioning System) receiver. Here, the GPS receiver is exemplified as the device for measuring the position, but the GPS receiver is not necessarily installed. For example, when the mobile terminal 30 can be connected to the mobile communication network, the cell of the base station with which the mobile terminal 30 performs location registration can be used as the location information of the mobile terminal 30. In this case, the position where the mobile terminal 30 exists in the cell of the base station can be further narrowed down using the radio wave intensity at which the mobile terminal 30 receives radio waves from the base station.

  The traveling unit 40 is a prime mover equipped with a power system and a drive system (not shown). As one mode of the traveling unit 40, a tracked vehicle equipped with an endless track can be employed. Thus, when a tracked vehicle is employed, the vehicle can be moved even on rough terrain that is not paved. For example, the traveling unit 40 transmits power to the endless track, that is, the left and right belts in accordance with a drive instruction from the server device 10 described later. For example, the traveling unit 40 moves the traveling unit 40 in the front-rear direction by rotating the left and right belts forward or backward, and turns the traveling unit 40 by changing the rotational speed of the left and right belts. The fuel of the traveling unit 40 can be any energy, for example, electric energy or thermal energy, as long as it can be converted into power. For example, when electric energy is employed, electric power can be converted into power by mounting a fuel cell on the traveling unit 40 or connecting the traveling unit 40 to a commercial power source.

  The mobile terminal 30 and the travel unit 40 function as the survey unit 20 when the mobile terminal 30 is attached to the travel unit 40. That is, the portable terminal 30 is responsible for relaying communication between the server device 10 and the traveling unit 40 and for collecting sensing data when arriving at the site. In addition, the traveling unit 40 has a role of moving the mobile terminal 30 on which the sensors are mounted to the site of the investigation, or moving the mobile terminal 30 to a location instructed by the client terminal 50 described later on the site. Handle. As described above, when the mobile terminal 30 and the traveling unit 40 function as the survey unit 20, it is possible to remotely move the survey to the site and collect sensing data on the site by remote control. Furthermore, since the portable terminal 30 is employed in the survey unit 20, it is not necessary to provide a dedicated communication device for relaying the server device 10 and the traveling unit 40 and sensors for collecting sensing data.

  The client terminal 50 is a computer on the side receiving the survey support service and the mobility control service. As an aspect of the client terminal 50, a fixed terminal such as a personal computer can be employed. As another aspect, mobile terminals including notebook PCs, mobile communication terminals such as smartphones, mobile phones and PHS, slate terminals such as PDAs (Personal Digital Assistants), and tablet terminals can be employed.

  The client terminal 50 can remotely operate the survey unit 20 via the server device 10 described later. For example, the client terminal 50 can upload a “start instruction” to the server device 10 for starting from the initial departure position, for example, the position where the survey unit 20 is arranged, to the survey site as the destination. For example, the start instruction can include position information of a relay point that is routed to the traveling unit 40 before arrival at the destination, starting with the position information of the survey site as the destination. By uploading the start instruction, the investigation unit 20 can be moved to the destination via a desired relay point by remote control. In addition, although the case where the relay point is designated is illustrated here, only the destination may be designated without necessarily specifying the relay point. In addition, the client terminal 50 can upload a “collection instruction” to the server apparatus 10 that causes the sensors mounted on the mobile terminal 30 to collect the sensing data. By uploading the collection instruction, it is possible to monitor the sensing data collection status in the survey unit 20, for example, the type of sensor in operation and the progress of collection, or download the sensing data from the server device 10.

  The server device 10 is a computer that provides a mobility control service and a survey support service. Such a server device 10 may be implemented as a Web server or may be implemented as a cloud.

  As an aspect, when the start instruction is uploaded from the client terminal 50, the server device 10 starts moving to the destination by the survey unit 20. FIG. 2 is a diagram illustrating an example of information exchanged by each device during movement control. As shown in FIG. 2, when the start instruction is uploaded from the client terminal 50, the server device 10 collects the position information of the investigation unit 20 over time and determines the distance to move the traveling unit 40 and the traveling unit 40. A drive instruction including the turning angle is transmitted to the traveling unit 40 via the portable terminal 30. Thus, the traveling unit 40 is remotely operated to the destination while detouring the obstacles existing on the route from the initial departure position to the destination by turning and moving. Then, when the position of the survey unit 20 becomes the same position as the destination, that is, when the traveling unit 40 arrives at the destination, the server device 10 notifies the client terminal that the movement of the survey unit 20 is completed. 50. In this way, the mobility control service is provided.

  As another aspect, the server device 10 starts collecting sensing data by the investigation unit 20 when a sensing data collection instruction is uploaded from the client terminal 50. FIG. 3 is a diagram showing an example of information exchanged by each device when sensing data is collected. As illustrated in FIG. 3, when the collection instruction is uploaded from the client terminal 50, the server apparatus 10 instructs the mobile terminal 30 to start sensors and collect sensing data. Then, the server device 10 collects the sensing data collection status from the mobile terminal 30, for example, the type of the active sensor and the progress of the sampling, and also displays the sensing data collection status collected from the mobile terminal 30 on the client terminal 50. Forward to. Thereafter, when the collection of the sensing data is completed at the mobile terminal 30, the server device 10 causes the client terminal 50 to download the sensing data collected by the mobile terminal 30.

[Configuration of Server Device 10]
Next, the functional configuration of the server device 10 according to the present embodiment will be described. FIG. 4 is a block diagram illustrating a functional configuration of the server apparatus 10 according to the first embodiment. As illustrated in FIG. 4, the server device 10 includes a communication I / F (interface) unit 11, a storage unit 13, and a control unit 15. Note that the server device 10 may have various functional units included in a known server device other than the functional units illustrated in FIG. 4, for example, functional units such as various input devices and audio output devices.

  The communication I / F unit 11 is an interface that performs communication control with other devices such as the mobile terminal 30 and the client terminal 50. As an aspect of the communication I / F unit 11, a network interface card such as a LAN card can be employed. For example, the communication I / F unit 11 receives a start instruction for starting to the destination and a sensing data collection instruction from the client terminal 50, a movement completion notification of the survey unit 20, a sensing data collection state, and sensing data Or send. Further, the communication I / F unit 11 receives position information, sensing data collection status and sensing data from the mobile terminal 30, and transmits a driving instruction for the investigation unit 20 and a sensing data collection instruction.

  The storage unit 13 stores various programs such as an OS (Operating System) executed by the control unit 15, a mobility control program that realizes the above mobility control service, and a survey support program that realizes the above survey support service. It is. Further, the storage unit 13 stores destination information 13a, movement history information 13b, and detour information 13c as an example of data necessary for executing the program executed by the control unit 15.

  The destination information 13a is various information related to the destination. As one aspect of the destination information 13a, the position information of the destination, the direction from the initial position of the survey unit 20 to the destination, the distance from the initial position of the survey unit 20 to the destination, and the like can be adopted. Furthermore, as another aspect of the destination information 13a, a “destination vector” in which the direction from the initial position of the survey unit 20 to the destination and the distance from the initial position of the survey unit 20 to the destination is vectorized is used. It can also be adopted. As an example, when receiving a transmission instruction from the client terminal 50, the destination vector includes the position information of the survey unit 20 at the time when the transmission instruction is received and the position information of the destination included in the transmission instruction. And set by a setting unit 15a described later. At this time, when a relay point is included in the transmission instruction, a relay point vector from the initial departure position, a relay point vector to the next relay point,..., A relay point to destination vector are set.

  The movement history information 13b is information relating to the history of movement of the survey unit 20. As one aspect of the movement history information 13b, information in which the position information of the investigation unit 20 uploaded from the investigation unit 20 and the time information at which the position information is measured after the investigation unit 20 starts from the starting position is associated. Can be adopted. Furthermore, as one aspect of the movement history information 13b, a “movement history vector” in which the locus of the position information uploaded from the survey unit 20 is vectorized can be adopted. As an example, this movement history vector is set by the collection unit 15c described later using the uploaded location information and the location information uploaded so far each time location information is uploaded from the survey unit 20. Is done.

  The detour information 13c is various information used for detouring obstacles existing on the route of the investigation unit 20. As one mode of the detour information 13c, data in which items such as an obstacle ID (Identification), a class, obstacle position information, a shape polygon, a polygon boundary, a turning angle, and a movement distance are associated can be employed.

  Here, the above-mentioned “obstacle” refers to an object that hinders its movement on the route of the survey unit 20, and for example, the outline of the obstacle is represented by a polygon. The “obstacle ID” refers to identification information for identifying an obstacle. The “obstacle position information” indicates the position information of the obstacle, and is expressed by, for example, the coordinates of the center of gravity of the polygon, the coordinates of the center, the coordinates of the vertex, or a combination thereof. Further, the “shape polygon” indicates the shape of the polygon, for example, a type of polygon such as a triangle, a quadrangle, and a pentagon. The “polygon boundary line” refers to each side forming the boundary of the polygon, and is represented by a set of coordinates of points included in the polygon boundary line, for example. Further, the “turning angle” refers to an angle at which the investigation unit 20 is turned when an obstacle is encountered. Further, the “movement distance” refers to a distance to be moved forward in a state in which the investigation unit 20 is turned in the turning direction after turning. The “class” refers to a detour action such as a turning angle and a moving distance defined for each polygon boundary line encountered by the research unit 20.

  FIG. 5 is a diagram illustrating an example of the detour information. In FIG. 5, two polygons A and B of “ID001” and “ID002” are illustrated as obstacles. In the example of FIG. 5, the polygon A is formed by the poly A boundary line 1, the poly A boundary line 2, and the poly A boundary line 3, and the polygon B is formed by the poly B boundary line 1 and the poly B boundary line 2. Means that For example, it is assumed that the survey unit 20 encounters the poly A boundary line 1 among the three boundary lines 1 to 3 forming the polygon A having the obstacle ID “ID001”. In this case, the detour action of rotating the investigation unit 20 until the turning angle “α1” is rotated and moving the investigation unit 20 until the moving distance “L1” is advanced is output.

  As an aspect of the storage unit 13, a storage device such as a semiconductor memory element such as a flash memory, a hard disk, or an optical disk can be employed. The storage unit 13 is not limited to the above-mentioned types of storage devices, and may be a RAM (Random Access Memory) or a ROM (Read Only Memory).

  The control unit 15 has an internal memory for storing programs defining various processing procedures and control data, and executes various processes using these. As shown in FIG. 4, the control unit 15 includes a setting unit 15a, a movement control unit 15b, a collection unit 15c, a determination unit 15d, a detour control unit 15e, an update unit 15f, and a collection control unit 15g. Have.

  Among these, the setting part 15a is a process part which sets the destination information 13a. As one aspect, when the setting unit 15 a receives a “start instruction” from the client terminal 50, the setting unit 15 a performs the following process. That is, the setting unit 15 a collects position information measured by a GPS receiver mounted on the mobile terminal 30 as position information of the survey unit 20. Then, the setting unit 15a sets the destination vector using the position information of the survey unit 20 at the time when the start instruction is received as the start position and the position information of the survey site included in the start instruction as the destination. That is, the setting unit 15a sets a “destination vector” in which the direction from the first departure position to the destination and the distance from the first departure position to the destination are vectorized. In addition, the setting unit 15 a registers destination information including the initial departure position, the destination, and the destination vector in the storage unit 13.

  The movement control unit 15 b is a processing unit that instructs the movement of the survey unit 20 using the destination information 13 a stored in the storage unit 13. As one aspect, when the destination information 13a is set by the setting unit 15a, the movement control unit 15b moves the traveling unit 40 toward the destination according to the destination vector included in the destination information 13a. For example, the movement control unit 15b gives the mobile terminal 30 a drive instruction to move forward over a distance from the current position to the destination after turning the traveling unit 40 to an angle where the direction of the traveling unit 40 matches the direction of the destination vector. To the traveling unit 40. As a result, the survey unit 20 moves to the destination. Thereafter, the movement control unit 15b executes a regression action that returns to the destination vector when the detour action is executed by the traveling unit 40. For example, the movement control unit 15b gives a drive instruction to move the same distance as the distance moved during the detour action after reversely turning over the same angle in the direction opposite to the direction made during the detour action. 30 to the traveling unit 40. At this time, when the detour action is performed a plurality of times, the reverse turning and moving regression actions are executed for each detour action. And the movement control part 15b performs the drive instruction | indication which returns on the path | route defined by the destination vector after execution of a regression action. Thereafter, the movement control unit 15b repeats the movement to the destination and the return behavior until the survey unit 20 arrives at the destination. Then, when the survey unit 20 arrives at the destination, the movement control unit 15b notifies the client terminal 50 that the movement of the survey unit 20 has been completed.

  The collection unit 15 c is a processing unit that collects position information from the survey unit 20. As one aspect, the collection unit 15 c starts collecting position information of the survey unit 20, for example, position information measured by a GPS receiver mounted on the mobile terminal 30. Such position information may be uploaded by the portable terminal 30 at a predetermined interval, for example, every second, or may be uploaded to the portable terminal 30 by the collection unit 15c transmitting a demand. Thereafter, each time position information is uploaded from the mobile terminal 30, the collection unit 15c generates a movement history vector from the position information obtained by the upload and the position information obtained by the previous upload. Then, the collection unit 15c additionally registers the position information obtained by the upload and the time information at which the position information is measured in the movement history information 13b of the storage unit 13, and the movement history generated by the current upload. The vector is overwritten on the movement history information 13b of the storage unit 13.

  The determination unit 15d is a processing unit that determines whether the investigation unit 20 has encountered an obstacle using the movement history information 13b. As one aspect, the determination unit 15d reads the movement history information 13b stored in the storage unit 13 every time position information is collected by the collection unit 15c. And the determination part 15d determines whether the positional information collected by the collection part 15c has changed retroactively for a predetermined period, for example, 5 seconds. At this time, if the position information is not changed, it is equivalent to the position of the investigation unit 20 being stopped, and therefore there is a possibility that there is an obstacle that prevents movement on the route along which the traveling unit 40 moves. Can be estimated to be high. On the other hand, when the position information has changed, it can be seen that the position of the survey unit 20 has moved.

  The detour control unit 15e is a processing unit that causes the investigation unit 20 to perform a detour action. As an aspect, the detour control unit 15e uses a predetermined class classifier, and to which detour action class the detour action included in the detour information 13c belongs to the position where the investigation unit 20 becomes immovable. Classify. For example, an arbitrary algorithm such as a support vector machine, boosting, or a neural network can be adopted for machine learning of the classifier.

  Here, as an example of the class classifier described above, the determination unit 20 receives the position information, the destination vector, and the movement history vector where the investigation unit 20 has become unable to move, and outputs the detour action including the turning angle and the movement distance as an output. A model can be used. In the following, the position information where the investigation unit 20 has become immovable may be referred to as “stagnation position”.

  As an example of such a determination model, the detour control unit 15e performs the following process when the position information collected by the collection unit 15c has not changed over a predetermined period. That is, the detour control unit 15e searches for the obstacle ID having the obstacle position information having the shortest distance from the stagnation position of the investigation unit 20 among the obstacle IDs included in the detour information 13b. For example, a mechanism capable of searching for positional information on a Cartesian plane such as GeoHash can be employed for such a search. Then, the detour control unit 15e determines whether there is one polygon boundary line having the obstacle ID obtained by the previous search. At this time, when there are a plurality of polygon boundary lines, the bypass control unit 15e executes a process of narrowing down the polygon boundary lines as follows until there is one polygon boundary line.

  For example, the detour control unit 15e calculates the shortest distance between the polygon boundary line and the stagnation position of the investigation unit 20 for each polygon boundary line. Then, the detour control unit 15e extracts a polygon boundary line having a minimum shortest distance from the stagnation position of the investigation unit 20 between the polygon boundary lines. At this time, when a plurality of polygon boundary lines having the same shortest distance are extracted, the detour control unit 15e generates a vector that travels from the stagnation position of the survey unit 20 to the polygon boundary line at the shortest distance among the plurality of polygon boundary lines. A polygon boundary line having a direction common to the forward direction of the destination vector, for example, a polygon boundary line not including a component in the reverse direction of the destination vector is extracted. Then, when a plurality of polygon boundary lines are extracted, the detour control unit 15e extracts a polygon boundary line whose angle intersecting with the destination vector is closest to the orthogonal among the plurality of polygon boundary lines. Thereafter, the detour control unit 15 e extracts the turning angle and the movement distance associated with the polygon boundary line, and transmits a driving instruction including the turning angle and the movement distance to the traveling unit 40 via the portable terminal 30. As a result, a detour action is performed.

  In this way, the detour control unit 15e classifies the determination model that receives the position information, the destination vector, and the movement history vector where the investigation unit 20 is unable to move, and outputs the detour action including the turning angle and the movement distance as a class. Applies to classifiers. This can increase the possibility of selecting the optimum turning angle and moving distance, and can reduce energy consumption, for example, time consumption, battery consumption, and endless track wear.

  The update unit 15f is a processing unit that performs an update on the detour information 13c. As one aspect, when the traveling unit 40 arrives at the destination, the update unit 15f starts the detour action by the detour control unit 15e in the locus of the position information of the survey unit 20 included in the movement history information 13b. The locus of position information having time information corresponding to the period from when the vehicle returns to the destination vector path is additionally registered in the detour information 13c as a poly boundary of the obstacle. At this time, when the investigation unit 20 becomes immovable during the detouring action or the return action, the front and rear trajectories are additionally registered as different polygon boundary lines with the time when the investigation unit 20 becomes immobile as a boundary. By such additional registration, a polygon boundary line related to an obstacle that was not included in the teacher data until the current destination is moved can be added, so the shape of the obstacle included in the detour information 13c can be changed to the real world obstacle. It can be close to the shape. Furthermore, by updating the obstacle shape of the classifier, it becomes possible for other investigation units to take detour actions accordingly.

  Furthermore, the update unit 15f performs clustering on the detour information 13c after the additional registration. For example, the update unit 15f has similar attribute information between the obstacles having different obstacle IDs and the polygon boundary line class additionally registered and the polygon boundary line class registered before the additional registration. Obstacles that may be duplicated are collected by identifying the objects to be identified as the same obstacle. Specifically, for example, the update unit 15f determines whether or not the matching degree of the combination of the shape polygon, the polygon boundary line, the turning angle, and the moving distance is equal to or higher than a predetermined threshold value between classes. For example, the update unit 15f calculates an evaluation value that increases as the value of the item is closer between the classes for each item of the shape polygon, the polygon boundary line, the turning angle, and the movement distance. Then, the update unit 15f calculates a total evaluation value by executing predetermined statistical processing such as arithmetic mean, weighted average, minimum value extraction, or maximum value extraction on the evaluation value of each item. Then, the update unit 15f determines whether or not the total evaluation value is equal to or greater than a predetermined threshold value. Here, when the total evaluation value is greater than or equal to a predetermined threshold value, both polygon boundary lines can be identified as representing the same obstacle. In this case, the updating unit 15f leaves the class with the larger number of polygon boundary lines held by the obstacle to which the polygon boundary line belongs among the identified classes, and deletes the class with the smaller number. Summarize.

  The collection control unit 15g is a processing unit that causes the survey unit 20 to collect sensing data. As one aspect, the collection control unit 15g starts collecting sensing data by the investigation unit 20 when a sensing data collection instruction is uploaded from the client terminal 50. For example, when a collection instruction is uploaded from the client terminal 50, the collection control unit 15g instructs the mobile terminal 30 to start sensors and collect sensing data. Then, the collection control unit 15g collects the sensing data collection status from the mobile terminal 30, for example, the type of sensor in operation and the progress of collection, and also displays the sensing data collection status collected from the mobile terminal 30 as the client terminal. Forward to 50. Thereafter, when the collection of the sensing data is completed in the mobile terminal 30, the collection control unit 15g causes the client terminal 50 to download the sensing data collected by the mobile terminal 30. As a result, it is possible to collect images of sites such as undeveloped land, contaminated sites, accident sites, and disaster sites, and local temperature and humidity, thereby effectively supporting the survey.

[Specific example of detour action]
Here, a specific example of the detour action of the investigation unit 20 will be described with reference to FIGS. 6-12 is explanatory drawing explaining an example of a detour action. 6 to 12 illustrate a poly A boundary line 1, a poly A boundary line 2, and a poly A boundary line 3 of the obstacle ID “ID001” included in the detour information illustrated in FIG.

  As shown in FIG. 6, the survey unit 20 is moving in the direction of the destination vector shown. However, the poly A boundary line 1, the poly A boundary line 2, and the poly A boundary line 3 with the obstacle ID “ID001” exist on the route of the investigation unit 20. For this reason, as shown in FIG. 7, when the investigation unit 20 collides with the poly A boundary line 3, it cannot advance further. As a result, the position information of the survey unit 20 does not change, and the detour action is started.

  At this time, after searching for the obstacle ID “ID001” having the obstacle position information having the shortest distance from the stagnation position of the investigation unit 20 among the obstacle IDs included in the detour information 13b by the classifier, the investigation unit It is determined that the poly A boundary line 3 with the shortest distance from the stagnation position of 20 is in contact with the survey unit 20. In this case, the turning angle α3 and the moving distance L3 associated with the poly A boundary line 3 are extracted from the turning angle and the moving distance included in the detour information 13b.

  In this case, as shown in FIG. 8, the research unit 20 starts moving the distance L3 after turning the research unit 20 by α3 degrees. As a result, a path that bypasses the poly A boundary 3 to the right is taken. However, when the actual obstacle has the shape shown in FIG. 9, even if the investigation unit 20 can bypass the poly A boundary line 3, the obstacle “unknown1” prevents the movement of the distance L3. Can't do it. Therefore, the obstacle ID is searched by the classifier at the stagnation position of the investigation unit 20. At this time, when the same obstacle ID as when the detour action was taken last time is searched, the turning angle α3 and the movement distance L3 extracted last time are re-extracted by the class classifier. For this reason, as shown in FIG. 10, the research unit 20 moves the distance L3 after turning the direction of the research unit 20 by α3 degrees again. As a result, the poly A boundary line 3 is further detoured to the right and moved downward in the figure by the distance L3, so that the obstacle “unknown1” can be detoured.

  After performing such a detour action, the survey unit 20 starts a return action that returns to the destination vector. That is, as shown in FIG. 11, when the investigation unit 20 takes a detour action with the obstacle “unknown1”, since the α3 degree turn was made, after the −α3 degree turn, that is, the reverse turn, Move the distance L3. As a result, the movement deviated by the detour action by the obstacle “unknown1” returns to the destination vector, and as a result, the obstacle “unknown2” can also be detoured. Furthermore, as shown in FIG. 12, the investigation unit 20 made a turn of α3 degrees even when taking a detour action at the poly-A boundary line 3, so after the turn of −α3 degrees, that is, a reverse turn was made. Move the distance L3. Thereafter, the investigation unit 20 can also bypass the obstacle “unknown3” by taking a similar bypass action.

  As described above, the survey unit 20 performs the above-described movement to the destination, the detour action, and the return action to detour the poly A boundary line 3 and the obstacle “unknown1” to the obstacle “unknown3” to the destination. It becomes possible to move.

  13 to 15 are explanatory diagrams for explaining an example of updating the detour information 13c. 16 and 17 are diagrams illustrating an example of the detour information 13c. For example, when the detour action shown in FIGS. 6 to 12 is performed, as shown in FIG. 13, the trajectory of the location information of the survey unit 20, that is, the detour and regression trajectories shown in FIGS. The poly-A boundary line 4, the poly-A boundary line 5 and the poly-A boundary line 6 with the obstacle ID “ID001” are additionally registered in the detour information 13c shown in FIG. As a result, as shown in FIG. 16, the point-filled portion is additionally registered in the detour information 13c shown in FIG. At this time, the poly A boundary line 5 and the poly A boundary line 6 with the obstacle ID “ID001” additionally registered are the poly B boundary line 1 and the poly B boundary line 2 with the obstacle ID “ID002” shown in FIG. The shape polygon, polygon boundary line, turning angle, and movement distance information are similar to each other. For this reason, the degree of coincidence of the shape polygon, the polygon boundary line, the turning angle, and the movement distance information is high, and both are identified as the same. Then, as shown in FIG. 17, the poly B boundary line 1 and the poly B boundary line 2 with the obstacle ID “ID002” are deleted from the detour information 13c shown in FIG. 16, and the obstacle with the obstacle ID “ID001” is deleted. The object position information is updated to position information such as the center of gravity of the obstacle after the aggregation. As a result, the two obstacles with the obstacle ID “ID001” and the obstacle ID “ID002” are integrated into the obstacle with the one obstacle ID “ID001” as shown in FIG. For this reason, it can suppress that the same obstruction is registered twice.

  Note that various integrated circuits and electronic circuits can be employed for the control unit 15. Further, a part of the functional unit included in the control unit 18 may be another integrated circuit or an electronic circuit. For example, an ASIC (Application Specific Integrated Circuit) is an example of the integrated circuit. Examples of the electronic circuit include a central processing unit (CPU) and a micro processing unit (MPU).

[Process flow]
Next, the process flow of the server apparatus 10 according to the present embodiment will be described. Here, after (1) the movement control process executed by the server device 10 is described, the (2) bypass control process executed as a subroutine of the movement control process will be described.

(1) Movement Control Processing FIG. 18 is a flowchart illustrating the procedure of movement control processing according to the first embodiment. This movement control process is started when a start instruction is received from the client terminal 50. As illustrated in FIG. 18, the setting unit 15a sets the position information of the survey unit 20 at the time when the start instruction is received from the client terminal 20 as the start position, and sets the position information of the survey site included in the start instruction as the destination, A destination vector is set (step S101).

  Subsequently, the movement control unit 15b instructs the investigation unit 20 to move the traveling unit 40 toward the destination according to the destination vector set in step S101 (step S102). For example, the movement control unit 15b gives the mobile terminal 30 a drive instruction to move forward over a distance from the current position to the destination after turning the traveling unit 40 to an angle where the direction of the traveling unit 40 matches the direction of the destination vector. To the traveling unit 40.

  Then, the collection unit 15c collects position information of the survey unit 20, for example, position information measured by a GPS receiver mounted on the mobile terminal 30 (step S103). Thereafter, the determination unit 15d determines whether or not the position information of the survey unit 20 collected in step S103 is a destination, that is, whether or not the survey unit 20 has arrived at the destination (step S104).

  At this time, when the survey unit 20 has not arrived at the destination (No in step S104), the determination unit 15d changes the position information of the survey unit 20 collected in step S103 over a predetermined period, for example, 5 seconds. It is determined whether or not there is (step S105).

  Here, when there is no change in the position information of the survey unit 20 over a predetermined period (step S105 Yes), it is equivalent to the position of the survey unit 20 being stopped, and therefore, on the route along which the traveling unit 40 moves. It can be estimated that there is a high possibility that there is an obstacle that prevents movement. In this case, the detour control unit 15e executes a “detour control process” that causes the investigation unit 20 to perform a detour action after extracting a turning angle and a movement distance that detours an obstacle using a predetermined class classifier. (Step S106). Thereafter, the process waits for the location information of the survey unit 20 to be collected in the next upload, and the process proceeds to step S103.

  On the other hand, when the position information of the survey unit 20 has changed (No in step S105), it can be seen that the position of the survey unit 20 has moved. In this case, the process proceeds to step S107 without executing the detour control process.

  Thereafter, when the survey unit 20 is moving on the route of the destination vector (Yes in step S107), the survey unit 20 continues to move on the route of the destination vector. In this case, it waits for the location information of the survey unit 20 to be collected in the next upload, and the process proceeds to step S103.

  On the other hand, when the survey unit 20 is not moving on the route of the destination vector (No in step S107), this applies to a situation where either the detour action or the return action is performed in the survey unit 20.

  At this time, if the investigation unit 20 has performed a detour action (Yes in step S108), whether or not the position information collected in step S103 has reached the position where the end of the detour action is scheduled, that is, the detour action is performed. It is determined whether or not the processing has been completed (step S109).

  At this time, when the detour action is completed (Yes at Step S109), the movement control unit 15b instructs the investigation unit 20 to perform the regression action as follows. For example, the movement control unit 15b gives a drive instruction to move the same distance as the distance moved during the detour action after reversely turning over the same angle in the direction opposite to the direction made during the detour action. 30 to the traveling unit 40 (step S110). Thereafter, the process waits for the location information of the survey unit 20 to be collected in the next upload, and the process proceeds to step S103.

  On the other hand, when the detour action has not ended (No in step S109), the detour action is continued by the survey unit 20. In this case, it waits for the location information of the survey unit 20 to be collected in the next upload, and the process proceeds to step S103.

  In addition, when the return action has been made in the survey unit 20 (No in step S108), whether or not the return action for reverse turning and movement is executed for each detour action executed in the past, that is, whether the return action has been completed. It is determined whether or not (step S111).

  At this time, when the return action is finished (step S111 Yes), the movement control unit 15b transmits a driving instruction to return to the route defined by the destination vector to the traveling unit 40 via the portable terminal 30 ( Step S112). Thereafter, the process waits for the location information of the survey unit 20 to be collected in the next upload, and the process proceeds to step S103.

  On the other hand, when the return action has not ended (No at Step S111), the return action is continued by the survey unit 20. In this case, it waits for the location information of the survey unit 20 to be collected in the next upload, and the process proceeds to step S103.

  After that, until the survey unit 20 arrives at the destination (No at Step S104), the process between Steps S105 to S112 is repeatedly executed. When the survey unit 20 arrives at the destination (Yes at Step S104), the movement control unit 15b notifies the client terminal 50 that the survey unit 20 has completed the movement (Step S113), and ends the process. .

(2) Detour Control Process FIG. 19 is a flowchart illustrating a procedure of a detour control process according to the first embodiment. This detour control process is the process of step S106 shown in FIG. 18, and is started when there is no change over a predetermined period in the position information of the survey unit 20 in step S105.

  As illustrated in FIG. 19, the detour control unit 15 e searches for an obstacle ID having the obstacle position information whose distance is the shortest from the stagnation position of the investigation unit 20 among the obstacle IDs included in the detour information 13 b (step). S301).

  At this time, when there are a plurality of polygon boundary lines included in the obstacle searched in step S301 (step S302 Yes), the detour control unit 15e sets the stagnation position of the investigation unit 20 between the polygon boundary lines. A polygon boundary line having the shortest distance is extracted (step S303).

  When a plurality of polygon boundary lines having the same shortest distance are extracted (Yes in step S304), the detour control unit 15e executes the following process. In other words, the detour control unit 15e extracts a polygon boundary line in which a vector that travels from the stagnation position of the survey unit 20 to the polygon boundary line at the shortest distance is in the same direction as the forward direction of the destination vector among the plurality of polygon boundary lines. (Step S305).

  If a plurality of polygon boundary lines are still extracted (Yes in step S306), the detour control unit 15e extracts a polygon boundary line that intersects the destination vector closest to the orthogonal among the plurality of polygon boundary lines (step S306). S307).

  Thereafter, the detour control unit 15e extracts the turn angle and the movement distance associated with the polygon boundary extracted in step S303, step S305, or step S307 from the turn angle and the movement distance included in the detour information 13c. (Step S308).

  In addition, the detour control unit 15e transmits a driving instruction including the turning angle and the moving distance to the traveling unit 40 via the portable terminal 30 in step S307 (step S309), and the process ends.

[Effect of Example 1]
As described above, the server device 10 according to the present embodiment investigates the detour amount of the obstacle corresponding to the position where the survey unit 20 is stagnant when the survey unit 20 equipped with sensors is moved to the destination. Notify unit 20. For this reason, in the server apparatus 10 according to the present embodiment, when the investigation unit 20 encounters an obstacle, the investigation unit 20 can be moved to the destination by automatically detouring the obstacle. Therefore, in the server device 10 according to the present embodiment, it is not necessary to carry sensors to the investigation site. Therefore, according to the server apparatus 10 which concerns on a present Example, the effort which moves sensors to the field of investigation can be reduced.

  Although the embodiments related to the disclosed apparatus have been described above, the present invention may be implemented in various different forms other than the above-described embodiments. Therefore, another embodiment included in the present invention will be described below.

  In the first embodiment, the case where the server device 10 provides the mobility control service and the survey support service is illustrated. However, the mobile terminal 20 may provide the mobility control service and the survey support service. In this case, from the survey support system 1 to the server by mounting the setting unit 15a, the movement control unit 15b, the collection unit 15c, the determination unit 15d, the detour control unit 15e, the update unit 15f, and the collection control unit 15g on the portable terminal 20. The device 10 can also be removed.

[Distribution and integration]
In addition, each component of each illustrated apparatus does not necessarily need to be physically configured as illustrated. In other words, the specific form of distribution / integration of each device is not limited to that shown in the figure, and all or a part thereof may be functionally or physically distributed or arbitrarily distributed in arbitrary units according to various loads or usage conditions. Can be integrated and configured. For example, the setting unit 15a, the movement control unit 15b, the collection unit 15c, the determination unit 15d, the detour control unit 15e, the update unit 15f, or the collection control unit 15g may be connected as an external device of the server device 10 via a network. . Further, another device has a setting unit 15a, a movement control unit 15b, a collection unit 15c, a determination unit 15d, a detour control unit 15e, an update unit 15f, or a collection control unit 15g, which are connected to a network to cooperate. The functions of the server device 10 described above may be realized.

[Movement control program]
The various processes described in the above embodiments can be realized by executing a prepared program on a computer such as a personal computer or a workstation. Therefore, in the following, an example of a computer that executes a movement control program having the same function as that of the above embodiment will be described with reference to FIG.

  FIG. 20 is a schematic diagram illustrating an example of a computer that executes a movement control program according to the first and second embodiments. As illustrated in FIG. 20, the computer 100 includes an operation unit 110 a, a speaker 110 b, a camera 110 c, a display 120, and a communication unit 130. Further, the computer 100 includes a CPU 150, a ROM 160, an HDD 170, and a RAM 180. These units 110 to 180 are connected via a bus 140.

  As shown in FIG. 20, the HDD 170 includes a setting unit 15a, a movement control unit 15b, a collection unit 15c, a determination unit 15d, a detour control unit 15e, an update unit 15f, and a collection control unit 15g described in the first embodiment. A movement control program 170a that exhibits the same function is stored in advance. Regarding the movement control program 170a, each setting unit 15a, movement control unit 15b, collection unit 15c, determination unit 15d, detour control unit 15e, update unit 15f, and collection control unit 15g illustrated in FIG. Similarly, they may be integrated or separated as appropriate. In other words, all data stored in the HDD 170 need not always be stored in the HDD 170, and only data necessary for processing may be stored in the HDD 170.

  Then, the CPU 150 reads the movement control program 170 a from the HDD 170 and expands it in the RAM 180. Thereby, as shown in FIG. 20, the movement control program 170a functions as a movement control process 180a. The movement control process 180a expands various data read from the HDD 170 in an area allocated to itself on the RAM 180 as appropriate, and executes various processes based on the expanded data. The movement control process 180a is a process executed by the setting unit 15a, the movement control unit 15b, the collection unit 15c, the determination unit 15d, the detour control unit 15e, the update unit 15f, and the collection control unit 15g illustrated in FIG. For example, the processing shown in FIGS. In addition, each processing unit virtually realized on the CPU 150 does not always require that all processing units operate on the CPU 150, and only a processing unit necessary for the processing needs to be virtually realized.

  Note that the movement control program 170a is not necessarily stored in the HDD 170 or the ROM 160 from the beginning. For example, each program is stored in a “portable physical medium” such as a flexible disk inserted into the computer 100, so-called FD, CD-ROM, DVD disk, magneto-optical disk, or IC card. Then, the computer 100 may acquire and execute each program from these portable physical media. In addition, each program is stored in another computer or server device connected to the computer 100 via a public line, the Internet, a LAN, a WAN, etc., and the computer 100 acquires and executes each program from these. It may be.

DESCRIPTION OF SYMBOLS 1 Investigation support system 7 Network 10 Server apparatus 11 Communication I / F part 13 Memory | storage part 13a Destination information 13b Movement history information 13c Detour information 15 Control part 15a Setting part 15b Movement control part 15c Collection part 15d Determination part 15e Detour control part 15f Update unit 15g Sampling control unit 20 Survey unit 30 Mobile terminal 40 Traveling unit

Claims (8)

Computer
Set the destination of the survey unit with the prime mover and sensor,
Instructing the movement of the survey unit based on the direction from the position of the survey unit to the destination and the distance from the position to the destination,
Collect the location where the survey unit exists from the survey unit,
When the position collected from the investigation unit has not changed over a predetermined period, the position of the investigation unit is referred to by referring to the detour information in which the position of the obstacle preventing the movement of the investigation unit and the detour amount are associated with each other. Extract the detour amount of obstacles corresponding to
A movement control method comprising: executing a process of notifying the investigation unit of the bypass amount. The detour information is information in which the position of the point forming the boundary line and the detour amount are associated with each boundary line that is a part of the contour of the obstacle,
As a process of extracting the detour amount,
2. The movement control method according to claim 1, wherein a detour amount associated with a boundary line having the shortest distance from the position of the survey unit between the boundary lines is extracted. As a process of extracting the detour amount,
Of the detour amounts included in the detour information, the direction from the initial position of the survey unit to the destination and the angle at which the distance from the initial position to the destination intersects the vectorized destination vector is the most orthogonal The movement control method according to claim 2, wherein a detour amount associated with the boundary line is extracted. The computer is
When the survey unit reaches the destination, the trajectory of the position collected from the survey unit is formed in the period from when the detour instruction is given until it returns on the route of the destination vector. And the position of the point forming the boundary line and the amount of detour are added to the detour information, with the angle of the turn on the trajectory and the distance moved after the turn as the detour amount. 4. The movement control method according to claim 3, further comprising executing a process. The computer is
When the position of the point forming the boundary line and the degree of coincidence of the detour amount are greater than or equal to a predetermined threshold between the boundary line in the detour information added and the boundary line existing before the addition 5. The movement control method according to claim 4, further comprising the step of clustering the added boundary line and the existing boundary line before the addition. The survey unit is equipped with the sensor, is connectable to a mobile communication network, and is capable of performing short-range wireless communication and the prime mover, and is capable of performing short-range wireless communication. A certain traveling unit is integrated,
As a process for instructing the movement of the survey unit,
Instructing the portable terminal to move the traveling unit via the mobile communication network;
As a process of notifying the bypass unit to the investigation unit,
Notifying the mobile terminal of the bypass amount via the mobile communication network;
The portable terminal is
Instructing the traveling unit to move the traveling unit via the short-range wireless communication;
The movement control method according to any one of claims 1 to 5, wherein the travel unit is notified of the detour amount via the short-range wireless communication. On the computer,
Set the destination of the survey unit with the prime mover and sensor,
Instructing the movement of the survey unit based on the direction from the position of the survey unit to the destination and the distance from the position to the destination,
Collect the location where the survey unit exists from the survey unit,
When the position collected from the investigation unit has not changed over a predetermined period, the position of the investigation unit is referred to by referring to the detour information in which the position of the obstacle preventing the movement of the investigation unit and the detour amount are associated with each other. Extract the detour amount of obstacles corresponding to
A movement control program for executing a process of notifying the investigation unit of the detour amount. A storage unit that stores detour information in which a position of an obstacle that hinders movement of the investigation unit equipped with the prime mover and the sensor and a detour amount are associated;
A setting unit for setting the destination of the survey unit;
A movement control unit for instructing movement of the survey unit based on a direction from the position of the survey unit to a destination and a distance from the position to the destination;
A collection unit that collects a position where the survey unit exists from the survey unit;
A detour control unit that refers to the detour information and notifies the detour unit of the detour amount of the obstacle corresponding to the position of the survey unit when the position collected from the survey unit has not changed over a predetermined period; A movement control device comprising:

Images