JP2018163532A - Control device, program, and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mechanism to control a moving body which moves indoor.SOLUTION: A control device comprises: a storage unit that stores three-dimensional space information of a real space inside a building; an imaging unit that images the real space; a distance measuring unit for measuring a distance to an object; a movement control unit that controls a movement on the basis of the three-dimensional space information, a moving route associated with the three-dimensional space information and the distance to the object in the real space measured by the distance measuring unit; a three-dimensional space information acquisition unit that acquires three-dimensional space information of the real space imaged by the imaging unit during movement by control of the movement control unit; and an information updating unit that updates the three-dimensional space information stored in the storage unit on the basis of the three-dimensional space information acquired by the three-dimensional space information acquisition unit.SELECTED DRAWING: Figure 1

Description

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

  Conventionally, an unmanned air vehicle (for example, a drone) autonomously flies by a positioning method using a global navigation satellite system (Global Navigation System (s): GNSS) such as GPS (Global Positioning System). A technique for inspecting a power transmission line using an image captured from the vicinity of the power transmission line by flying to an inspection location is known (for example, Patent Document 1).

JP 2001-39397 A

However, in the conventional technology, even if it is possible to control an unmanned aerial vehicle so as to image an object installed outdoors, an object installed indoors where it is difficult to use a positioning method such as GNSS. In some cases, it was difficult to control the unmanned air vehicle so as to capture the image.
The present invention has been made in view of the above problems, and an object thereof is to provide a mechanism for controlling a moving body that moves indoors.

  (1) One aspect of the present invention is a storage unit that stores three-dimensional space information of a real space inside a building, an imaging unit that captures the real space, a distance measurement unit that measures a distance to an object, A movement control unit that controls movement based on three-dimensional space information, a movement path associated with the three-dimensional space information, and the distance from the object in the real space measured by the distance measurement unit; The three-dimensional space information acquisition unit that acquires the three-dimensional space information of the real space imaged by the imaging unit and the three-dimensional space that the three-dimensional space information acquisition unit acquires during movement under the control of the movement control unit An information update unit that updates the three-dimensional spatial information stored in the storage unit based on information.

  (2) One aspect of the present invention is the control device according to (1), further including a movement trajectory acquisition unit that acquires a movement trajectory that the moving body has moved, and the storage unit acquires the movement trajectory acquisition. The movement trajectory acquired by the unit is stored in association with the time when the movement trajectory is acquired.

  (3) According to one aspect of the present invention, the control device according to the above (1) or (2) associates the movement trajectory with the time at which the movement trajectory is acquired, and transmits to the server device Is further provided.

  (4) According to one aspect of the present invention, in the control device according to (1) to (3), the distance measuring unit determines whether or not there is an object on the movement route or around the movement route. The movement control unit detects and moves the movement route associated with the three-dimensional spatial information based on the measurement result of the distance measuring unit.

  (5) According to one aspect of the present invention, in the control device according to (1) to (4), the movement control unit is information received from a server device, and indicates a movement time of the moving body. Based on the instruction information, the movement of the moving body is controlled.

  (6) According to one aspect of the present invention, in the control device according to (1) to (5), the imaging unit images a position associated with the three-dimensional space information in the real space. .

  (7) According to one aspect of the present invention, in the control device according to (1) to (6), the moving body is an unmanned flying body.

  (8) According to one aspect of the present invention, an imaging step of imaging the real space and a distance measuring step of measuring a distance to the object in a computer including a storage unit that stores three-dimensional space information of the real space inside the building Movement control that controls movement based on the three-dimensional space information, a movement path associated with the three-dimensional space information, and the distance from the object in the real space measured by the ranging step A three-dimensional spatial information acquisition step for acquiring three-dimensional spatial information of the real space imaged by the imaging step, and the three-dimensional spatial information acquisition step acquired during movement under the control of the movement control step An information update step of updating the three-dimensional spatial information stored in the storage unit based on three-dimensional spatial information.

  (9) One aspect of the present invention corresponds to an imaging procedure for imaging a real space, a ranging procedure for measuring a distance to an object, three-dimensional spatial information of a real space inside a building, and the three-dimensional spatial information A movement control procedure for controlling the movement of the moving body based on the attached movement path and the distance between the object in the real space measured by the ranging procedure, and the moving body controlled in the movement control procedure Based on the 3D spatial information acquisition procedure for acquiring the 3D spatial information of the real space imaged by the imaging procedure, and the 3D spatial information acquired in the 3D spatial information acquisition procedure An information update procedure for updating the three-dimensional spatial information.

  ADVANTAGE OF THE INVENTION According to this invention, the mechanism which controls the mobile body which moves indoors can be provided.

It is a figure which shows the outline | summary of the control apparatus which concerns on 1st Embodiment. It is a 1st figure which shows an example of the moving path | route of the drone concerning 1st Embodiment. It is a 2nd figure which shows an example of the moving path | route of the drone concerning 1st Embodiment. It is a figure which shows an example of a structure of the control apparatus which concerns on 1st Embodiment. It is a flowchart which shows an example of operation | movement of the control apparatus which concerns on 1st Embodiment. It is a flowchart which shows an example of operation | movement of the control apparatus which concerns on 1st Embodiment. It is a figure which shows an example of the control apparatus which concerns on 2nd Embodiment.

[First Embodiment]
Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Outline of control device>
FIG. 1 is a diagram illustrating an overview of a control device 10 according to the first embodiment.
As shown in FIG. 1, the control device 10 is mounted on a moving body and controls the movement of the moving body. The moving body is, for example, a flying body or an automobile. As an example of the present embodiment, a case where the moving body is an unmanned flying body (hereinafter, drone D) will be described. The drone D flies autonomously based on the control of the control device 10. The control device 10 controls the flight of the drone D, and acquires information on the space inside the building where the drone D flies (hereinafter, real space).

The control device 10 includes a measurement device 110 and a control unit 120. The measuring apparatus 110 includes an imaging unit 101 and a distance measuring unit 102. The imaging unit 101 captures an image in real space and generates an image (hereinafter referred to as an image IM). The distance measuring unit 102 measures a distance (hereinafter, distance DT) from the control device 10 (drone D) to an object installed in the real space or an object (hereinafter, object OB) constituting the real space. Examples of the object constituting the real space are a wall, a ceiling, and a floor. The distance measuring unit 102 is, for example, a stereo camera or an infrared sensor.
The control device 10 controls the movement of the drone D based on the image IM and the distance DT, and moves the drone D. The real space in which the drone D moves is, for example, a space in which equipment to be monitored is installed. In this case, the object OB includes equipment to be monitored.

<About movement in real space>
Hereinafter, the movement of the drone D in the real space will be described with reference to the drawings.
FIG. 2 is a first diagram illustrating an example of a travel route of the drone D according to the first embodiment.
The control device 10 controls the drone D based on information indicating a predetermined movement route (hereinafter, movement route information RT), and causes the drone D to move in the real space. The movement route information RT is a predetermined route, and is a movement route associated with the real space three-dimensional space information SP.
The three-dimensional space information SP is, for example, information in which a point group of feature points of an object OB existing in the real space is associated with a relative position and a shooting direction in the real space where the feature points are shot. In an example of the present embodiment, the relative position in the real space is indicated by an XYZ orthogonal coordinate system. The movement path is indicated by real space coordinates based on the three-dimensional space information SP.

  The movement route information RT may be information indicating the movement route by coordinates for each predetermined distance, or information indicating coordinates of a certain position in the real space, for example. When the movement route information RT is information indicating the coordinates of a certain position in the real space, the control device 10 controls the drone D so as to pass through the coordinates or the vicinity of the coordinates.

  As shown in FIG. 2, in one example of the present embodiment, the movement path indicated by the movement path information RT is a movement path along which the drone D moves around the object OB1 and the object OB2 installed in the real space. More specifically, the movement route indicated by the movement route information RT starts moving from a certain position in the real space (in the illustrated example, the position P0), and the position corresponding to the corner of the real space (in the illustrated example, This is a movement path that changes direction at the position P1, the position P2, and the position P3), makes a round around the real space around the object OB1 and the object OB2, and then ends the movement at the position P0. In this case, the trajectory that the drone D has moved (hereinafter referred to as the movement trajectory TJ) matches the movement path indicated by the movement path information RT.

Hereinafter, changes in the movement path of the movement of the drone D in the real space will be described with reference to the drawings.
FIG. 3 is a second diagram illustrating an example of a travel route of the drone D according to the first embodiment.
Here, a new monitoring target facility may be arranged in the real space. In the real space shown in FIG. 3, an object OB3 is newly installed with respect to the real space shown in FIG.
In this case, when the control device 10 controls the movement of the drone D based on the movement route information RT, the object OB3 and the drone D come into contact with each other in the vicinity of the position P2. For this reason, the control apparatus 10 changes the moving route of the drone D based on the three-dimensional space information SP and the distance DT. For example, the control device 10 changes direction at the position P21, moves along the side surface of the object OB3, changes direction at the position P31, and moves back to the position P0. In this case, the movement trajectory TJ of the drone D is a position changed from the movement path indicated by the movement path information RT (the position of the movement path information RT23 illustrated, the position of the movement trajectory TJ23).

The control device 10 is a device that causes the drone D to move as described above and acquires information about the real space (for example, the three-dimensional space information SP and the movement trajectory TJ).
Hereinafter, a specific configuration of the control device 10 will be described.

<Configuration of control device>
Hereinafter, the configuration of the control device 10 will be described with reference to FIG.
FIG. 4 is a diagram illustrating an example of the configuration of the control device 10 according to the first embodiment.
The control device 10 includes a measurement device 110, a control unit 120, and a storage unit 500.
The storage unit 500 stores three-dimensional space information SP and movement route information RT.

<About measuring equipment>
The measuring apparatus 110 includes an imaging unit 101, a distance measuring unit 102, a feature point detecting unit 103, a relative position detecting unit 104, and a position specifying unit 105 as functional units.
As the drone D moves, the imaging unit 101 captures an image in the real space and generates an image IM. The imaging unit 101 shoots a real space at all times or at predetermined time intervals, for example, and generates an image IM.
Note that the imaging unit 101 may be configured to generate the image IM at a predetermined position in the real space based on the control of the control device 10. In this case, the predetermined position is a position associated with the three-dimensional space information SP and is a position indicated by the coordinates of the three-dimensional space information SP. The predetermined position may be a coordinate indicated by the movement route information RT. For example, the imaging unit 101 images the object OB at each of the positions P0 to P3 indicated by the coordinates of the three-dimensional spatial information SP, and generates an image IM.
The distance measuring unit 102 measures the distance DT and supplies it to the control unit 120. The distance measuring unit 102 measures the distance DT at all times or at a predetermined time interval, for example.

The feature point detection unit 103 detects a feature point of the object OB imaged in the image IM based on the image IM obtained by imaging the real space by the imaging unit 101. An image representing feature points as a point cloud may be used.
The relative position detection unit 104 stores a plurality of feature points detected by the feature point detection unit 103, the position of the control device 10 (drone D) when the feature points are imaged, and a plurality of orientations. An identifiable peripheral three-dimensional spatial information ASP is generated. The relative position detection unit 104 supplies the generated surrounding 3D spatial information ASP to the control unit 120. The position where the feature point is imaged is represented by coordinates (x, y, z) of a virtual three-dimensional space that imitates real space.

The position specifying unit 105 specifies the current position (hereinafter, current position CP) of the control device 10 (drone D) based on the three-dimensional spatial information SP. Specifically, the position specifying unit 105 performs matching between the feature point detected by the feature point detection unit 103 based on the image IM and the feature point indicated by the three-dimensional spatial information SP, and the three-dimensional spatial information SP indicates Among the coordinates in the real space, the position (coordinate) where the control device 10 (drone D) is located is specified. Thus, after the position specifying unit 105 specifies the current position CP of the control device 10, even if the control device 10 moves, the position specifying unit 105 is based on the detection results of the acceleration sensor, the gyro sensor, and the geomagnetic sensor. The coordinates on the information SP can be specified. The position specifying unit 105 supplies information indicating the current position CP to the control unit 120.
Note that the position specifying unit 105 may correct the accumulation of shifts in motion tracking by area learning based on the image IM obtained by the imaging unit 101.

<About the control unit>
The control unit 120 includes a CPU (Central Processing Unit), and includes a movement trajectory acquisition unit 201, a transmission unit 202, a movement control unit 203, a three-dimensional spatial information acquisition unit 204, and an information update unit 205. Provided as a functional unit.
The movement trajectory acquisition unit 201 acquires the current position CP from the measurement device 110 at all times or at predetermined time intervals. The movement trajectory acquisition unit 201 supplies the current position CP acquired from the start of movement of the drone D to the end of movement as the movement trajectory TJ to the transmission unit 202.

The movement control unit 203 controls the movement of the drone D based on the current position CP, the three-dimensional space information SP, the movement path information RT, the distance DT, the acceleration sensor, the gyro sensor, and the geomagnetic sensor. Specifically, the movement control unit 203 acquires the current position CP when the drone D starts to fly. The movement control unit 203 uses the detection results of the acceleration sensor, the gyro sensor, and the geomagnetic sensor so as to move the position (coordinates) of the movement route information RT in the three-dimensional space information SP from the position (coordinates) indicated by the current position CP. Based on this, the movement of the drone D is controlled.
In addition, the movement control unit 203 controls the movement of the drone D so that the distance DT is a predetermined distance from the drone D (control device 10) to the object OB. For example, when the distance DT indicates that the drone D and the distance to the object OB are shorter (closer) than the predetermined distance, the movement control unit 203 controls the drone D to leave the object OB.

The three-dimensional spatial information acquisition unit 204 acquires the peripheral three-dimensional spatial information ASP from the measuring apparatus 110 at all times or at predetermined time intervals. The three-dimensional space information acquisition unit 204 generates three-dimensional space information SP based on the surrounding three-dimensional space information ASP acquired from the start of movement of the drone D to the end of movement. Further, the three-dimensional space information acquisition unit 204 supplies the generated three-dimensional space information SP to the information update unit 205.
The information update unit 205 updates the three-dimensional spatial information SP stored in the storage unit 500 to the three-dimensional spatial information SP acquired from the three-dimensional spatial information acquisition unit 204.

  The transmission unit 202 associates the information indicating the movement trajectory TJ with the three-dimensional space information SP of the real space in which the drone D has moved according to the movement trajectory TJ, and the date and time when the movement trajectory TJ is acquired. Send. Specifically, the transmission unit 202 associates the movement trajectory TJ acquired by the movement trajectory acquisition unit 201, the 3D spatial information SP generated by the 3D spatial information acquisition unit 204, and the date and time when the movement trajectory TJ was acquired. And send it to the server device. The server device is a device used by a supervisor who monitors the real space. The monitor refers to the information received by the server device (in this example, the movement trajectory TJ) using the server device or a terminal device capable of transmitting and receiving information to and from the server device.

  In the above description, the case where the information updating unit 205 updates the three-dimensional spatial information SP stored in the storage unit 500 based on the surrounding three-dimensional spatial information ASP has been described, but the present invention is not limited thereto. The information updating unit 205 may be configured to store the three-dimensional spatial information SP generated based on the surrounding three-dimensional spatial information ASP in the storage unit 500 in association with the generated date and time.

<Operation of control unit: Operation at the start of movement>
Hereinafter, the details of the operation of the control device 10 when starting to move will be described with reference to FIG.
FIG. 5 is a first flowchart showing an example of the operation of the control device 10 according to the first embodiment.
When starting the movement of the drone D, the movement control unit 203 turns the drone D at the movement start position of the drone D (in this example, the position P0) (step S10). The imaging unit 101 acquires the image IM while the drone D is turning (step S10) (step S20). The position specifying unit 105 performs matching between the feature points detected by the feature point detection unit 103 based on the image IM and the feature points indicated by the three-dimensional space information SP, and the coordinates of the real space indicated by the three-dimensional space information SP. Among them, the current position CP of the control device 10 (drone D) is specified (step S30).

<Operation of control unit: Operation during movement>
Hereinafter, the details of the operation of the control device 10 during the movement will be described with reference to FIG.
FIG. 6 is a flowchart illustrating an example of the operation of the control device 10 according to the first embodiment.
The operation of the control device 10 shown in FIG. 6 is an operation after the current position CP of the control device 10 (drone D) is specified by the operation at the start of movement of the control device 10 shown in FIG.
During the period from when the drone D starts to move based on the movement route information RT to when it ends (between steps S115 to S140 shown in the figure), the three-dimensional space information acquisition unit 204 sends the information from the measuring device 110 to the surrounding three-dimensional space. The information ASP is acquired, and the position specifying unit 105 acquires the current position CP (step S110).
The movement control unit 203 controls the movement of the drone D based on the current position CP, the three-dimensional space information SP, the movement path information RT, the distance DT, the acceleration sensor, the gyro sensor, and the geomagnetic sensor. (Step S115). Specifically, the movement control unit 203 obtains the position (coordinates) of the movement route information RT in the three-dimensional space information SP from the position (coordinates) indicated by the current position CP specified by the movement start operation shown in FIG. The movement of the drone D is controlled based on the detection results of the acceleration sensor, the gyro sensor, and the geomagnetic sensor so as to move.

  Next, the movement control unit 203 acquires the distance DT from the measurement device 110 (step S120). The movement control unit 203 controls the movement of the drone D based on the movement route information RT, and compares the acquired distance DT with a predetermined distance (step S130). When the distance DT indicates that the drone D and the object OB are separated from each other by a predetermined distance (step S130; NO), the movement control unit 203 determines the drone D based on the movement distance indicated by the movement route information RT. Move (fly) (step S115). If the distance DT indicates that the drone D and the object OB are closer than the predetermined distance (step S130; YES), the movement control unit 203 changes the movement path indicated by the movement path information RT, and the drone D Is moved (flyed) (step S140). Specifically, when the distance DT indicates that the drone D and the object OB are closer than a predetermined distance, the movement control unit 203 changes the movement path so as to move away from the object OB, and moves the drone D. .

  The three-dimensional space information acquisition unit 204 generates the three-dimensional space information SP based on the surrounding three-dimensional space information ASP acquired from the start of movement of the drone D to the end of movement (step S145). The information update unit 205 acquires the three-dimensional space information SP generated by the three-dimensional space information acquisition unit 204, and updates the three-dimensional space information SP stored in the storage unit 500 (step S150). The transmission unit 202 associates the movement trajectory TJ acquired by the movement trajectory acquisition unit 201 with the three-dimensional spatial information SP generated by the three-dimensional spatial information acquisition unit 204 and the date and time when the movement trajectory TJ is acquired. The data is transmitted to the device (step S160).

  In the above description, when the distance DT indicates that the drone D and the object OB are closer than the predetermined distance, the movement control unit 203 changes the movement path so as to move away from the object OB, and moves the drone D. Although the case has been described, the present invention is not limited to this. If the distance DT indicates that the drone D and the object OB are closer than the predetermined distance, or if the movement path is changed, the movement control unit 203 cannot return to the movement path indicated in the movement path information RT. Control may be performed to move (return) the drone D to the position where the drone D starts to move.

<Summary of First Embodiment>
As described above, the control device 10 of the present embodiment includes the measurement device 110 and the control unit 120, and the control unit 120 is based on the three-dimensional space information SP (in the example of the present embodiment). , Control the movement of the drone D).
Here, when controlling the movement of the drone D, the drone D (control device 10) is controlled by a method using a global navigation satellite system (Global Navigation System (s): GNSS) such as GPS (Global Positioning System). The method of detecting the position of the is common. In this regard, when it is difficult for the drone D to receive GNSS radio waves indoors or the like, the position of the drone D cannot be detected, and it may be difficult to control the movement of the drone D.

  The control apparatus 10 of this embodiment detects the position of the drone D indoors based on the three-dimensional space information SP in the real space where the drone D moves. Thereby, the control apparatus 10 of this embodiment can control the drone D in real space, and can control the movement of the drone D which moves indoors.

Moreover, the control apparatus 10 of this embodiment produces | generates three-dimensional spatial information SP based on the surrounding three-dimensional spatial information ASP to measure as the drone D moves, and it produces | generates to the produced | generated three-dimensional spatial information SP. The three-dimensional spatial information SP in the storage unit 500 is updated.
As described above, in the real space in which the drone D moves, equipment or the like that is monitored by the supervisor may be installed. Here, it is preferable that the three-dimensional space information SP of the real space is updated in accordance with the establishment and removal of the monitoring target equipment.
According to the control apparatus 10 of the present embodiment, since the acquisition and update of the three-dimensional space information SP of the real space is automated by the movement of the drone D, the monitor or the like measures the real space, and the three-dimensional space information The trouble of updating the SP can be reduced.

Further, the control device 10 of the present embodiment stores the acquired movement trajectory TJ and the date and time when the movement trajectory TJ is acquired in the storage unit 500 in association with each other. Here, the movement of the drone D may be difficult as the object OB is placed on the movement route indicated by the movement route information RT. The control device 10 according to the present embodiment causes the control unit 120 to move the drone D based on the movement trajectory TJ associated with the latest date among the movement trajectories TJ stored in the storage unit 500. The drone D can be moved based on the state of the real space.
For example, when the movement trajectory TJ acquired by the movement trajectory acquisition unit 201 indicates that the movement trajectory TJ has changed from the movement trajectory TJ stored in the storage unit 500, the control device 10 moves the movement route information RT to the acquired movement trajectory TJ. You may provide the movement path | route update part which updates a path | route.

In addition, the control device 10 of the present embodiment acquires the movement trajectory TJ, and transmits information indicating the movement trajectory TJ to the server device in association with the acquired movement trajectory TJ and the acquired date and time.
According to the control device 10 of the present embodiment, the supervisor can confirm the movement trajectory TJ received by the server device. In addition, the supervisor can confirm that a new object OB has been installed in the real space by confirming the movement trajectory TJ acquired at different times. Specifically, the monitor confirms that a new object OB has been installed in the real space or that the object OB has been removed when the two movement trajectories TJ indicate that they have moved along different movement paths. can do.

Further, in the control device 10 of the present embodiment, the movement control unit 203, when the distance DT indicates that the drone D and the object OB are closer than a predetermined distance, the drone D based on the movement path of the movement path information RT. When the distance DT indicates that the drone D and the object OB are separated from each other by a predetermined distance, the drone D is moved based on the movement route of the movement route information RT.
In other words, in the control device 10 of the present embodiment, the distance measurement unit 102 detects whether or not the object OB is on or around the movement path on which the drone D moves, and the movement control unit 203 Based on the measurement result of the distance measuring unit 102, the moving route of the moving route information RT is changed to move the drone D.
According to the control device 10 of the present embodiment, when the object OB exists on or around the movement route, the movement of the drone D can be controlled so that the drone D does not collide with the object OB.

In the control device 10 of the present embodiment, the imaging unit 101 captures the image IM at a position in the real space that is associated with the three-dimensional space information SP.
According to the control device 10 of the present embodiment, a real space can be imaged at a predetermined position, and a monitor or the like can confirm the captured image IM. When the predetermined position is, for example, a position where the indicator lamp and display of the object OB can be confirmed, the monitor can grasp the state of the object OB in detail based on the image IM.

The control device 10 includes an imaging unit (hereinafter referred to as a real space imaging unit) that generates an image for detecting feature points in the real space, and an imaging unit (hereinafter referred to as a feature point) that captures the real space and generates an image IM. (Imaging part) may be provided. The real space imaging unit is, for example, an imaging unit that can generate an image (image IM) having a higher resolution than the feature point imaging unit. Therefore, according to the control device 10, the supervisor can grasp the state of the object OB in more detail based on the high-resolution image IM.
In addition, the supervisor may want to capture an image of the object OB from a desired direction or a desired position while generating an image for detecting a feature point in the real space. When the real space imaging unit and the feature point imaging unit are separate from each other, the control device 10 controls the direction and the angle of view of the real space imaging unit so that an object from a desired direction and a desired position can be obtained. An image for detecting a feature point can be generated while imaging an OB. In this case, the real space imaging unit captures the real space at the position and direction indicated by the coordinates of the three-dimensional space information SP and captures the object OB at the predetermined position and the predetermined direction. The structure which produces | generates may be sufficient.

[Second Embodiment]
The second embodiment of the present invention will be described below with reference to the drawings.
In the first embodiment, the configuration for controlling the movement of the drone D has been described.
2nd Embodiment demonstrates the case where the movement of the drone D is controlled based on the instruction | indication regarding movement of the drone D. FIG.
In addition, about the structure similar to embodiment mentioned above, the same code | symbol is attached | subjected and description is abbreviate | omitted.

FIG. 7 is a diagram illustrating an example of the control device 11 according to the second embodiment.
As shown in FIG. 7, the control device 11 of this embodiment includes a measurement device 110 and a control unit 121. The control unit 121 includes a CPU, and includes a movement locus acquisition unit 201, a transmission unit 202, a movement control unit 203, a three-dimensional spatial information acquisition unit 204, an information update unit 205, and a reception unit 206. Provided as a functional unit.
The receiving unit 206 receives instruction information DC from the server device. The instruction information DC is information that instructs the movement start time of the drone D. The receiving unit 206 supplies the received instruction information DC to the movement control unit 203.
The movement control unit 203 controls the movement of the drone D based on the instruction information DC. Specifically, the movement control unit 203 starts the movement of the drone D at the time indicated by the instruction information DC.
Since the subsequent configuration is the same as that of the above-described embodiment, the description thereof is omitted.

  The movement control unit 203 is configured to control the drone D so as to move to a predetermined position at the time indicated by the instruction information DC, instead of the structure that starts the movement of the drone D based on the instruction information DC. It may be. The predetermined position is, for example, a predetermined position at which the imaging unit 101 images the object OB and is a position associated with the three-dimensional spatial information SP.

<Summary of Second Embodiment>
As described above, the control device 11 according to the present embodiment controls the movement of the moving body (in the example of the present embodiment, the drone D) based on the instruction information DC received by the receiving unit 206 from the server device.
Here, the supervisor may want to know the state of the real space and the state of the object OB at a desired time. Specifically, the supervisor may want to grasp the state of the real space and the state of the object OB during the day and at night. In addition, the supervisor may want to update the three-dimensional spatial information SP of the real space every month.
According to the control device 11 of the present embodiment, the drone D can be moved at the time indicated by the instruction information DC, and the state of the real space and the state of the object OB can be acquired.

  In addition, although the case where the mobile body is the drone D was demonstrated above, it is not restricted to this. For example, the mobile body may be an automatic driving vehicle that does not require driver's control. Moreover, the passenger may board the mobile body. In this case, the control device 10 may control the movement of the moving body on behalf of the passenger, or may support the passenger to control the movement of the moving body.

  Although the case where the storage unit 500 stores the three-dimensional spatial information SP in advance has been described, the present invention is not limited to this. For example, the control device 10 has a configuration in which a three-dimensional space information SP is generated by moving the moving body in a real space where the three-dimensional space information SP does not exist based on the maneuvering of the moving body operator. Also good.

The transmission unit 202 may be configured to transmit an image IM or an image in which a feature point in real space is detected based on the image IM (hereinafter referred to as a feature point image) to the server device. In this case, the server device may instruct transmission of the image IM or feature point image, and the transmission unit 202 may be configured to transmit the image IM or feature point image based on the instruction.
Further, when the movement route is changed from the movement route information RT, the transmission unit 202 may be configured to transmit information for notifying the change to the server device at the timing when the change is made. Thereby, the supervisor can grasp that the movement route of movement route information RT was changed.
Further, when the movement route is changed, the movement control unit 203 may be configured to turn the drone D at the changed position (in the above example, the position P2). In this case, as the drone D turns, the imaging unit 101 captures the real space and generates an image IM. The transmission unit 202 transmits the image IM generated by the imaging unit 101 and the image IM at the position where the movement path is changed to the server device. Thereby, the supervisor can confirm the state around the position where the movement route is changed.

  In addition, each part with which the control apparatus 10 in each said embodiment and the control apparatus 11 are provided may be implement | achieved by exclusive hardware, and may be implement | achieved by memory and a microprocessor. Good.

  Each unit included in the control device 10 and the control device 11 includes a memory and a CPU (central processing unit), and a program for realizing the function of each unit included in the control device 10 and the control device 11 is loaded into the memory. The function may be realized by executing as described above.

  Further, a program for realizing the function of each unit included in the control device 10 and the control device 11 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed. Depending on the situation, the processing may be performed. Here, the “computer system” includes an OS and hardware such as peripheral devices.

Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.
The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory in a computer system serving as a server or a client in that case, and a program that holds a program for a certain period of time are also included. The program may be a program for realizing a part of the functions described above, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and appropriate modifications may be made without departing from the spirit of the present invention. it can. You may combine the structure as described in each embodiment mentioned above.

DESCRIPTION OF SYMBOLS 10, 11 ... Control apparatus, 110 ... Measuring apparatus, 120, 121 ... Control part, 101 ... Imaging part, 102 ... Distance measuring part, 103 ... Feature point detection part, 104 ... Relative position detection part, 105 ... Position specification part, DESCRIPTION OF SYMBOLS 201 ... Movement locus | trajectory acquisition part, 202 ... Transmission part, 203 ... Movement control part, 204 ... Three-dimensional spatial information acquisition part, 205 ... Information update part, 206 ... Reception part, 500 ... Memory | storage part, ASP ... Peripheral three-dimensional spatial information D ... Drone, DT ... Distance, IM ... Image, SP ... Three-dimensional spatial information, RT, RT23 ... Movement path information, TJ, TJ23 ... Movement trajectory, DC ... Instruction information, OB, OB1, OB2, OB3 ... Object, CP: Current position

Claims (9)

A storage unit for storing three-dimensional space information of the real space inside the building;
An imaging unit for imaging the real space;
A distance measuring unit for measuring the distance to the object;
A movement control unit that controls movement based on the three-dimensional space information, a movement path associated with the three-dimensional space information, and the distance from the object in the real space measured by the ranging unit; ,
A three-dimensional spatial information acquisition unit that acquires three-dimensional spatial information of the real space imaged by the imaging unit during movement under the control of the movement control unit;
An information update unit that updates the three-dimensional spatial information stored in the storage unit based on the three-dimensional spatial information acquired by the three-dimensional spatial information acquisition unit;
A control apparatus for a moving body. A movement trajectory acquisition unit that acquires a movement trajectory that the moving body has moved;
In the storage unit,
The control device according to claim 1, wherein the movement locus acquired by the movement locus acquisition unit is stored in association with the time when the movement locus is acquired. The control device according to claim 2, further comprising: a transmission unit that associates the movement locus with the time when the movement locus is acquired and transmits the movement locus to the server device. The distance measuring unit is
Detecting whether there is an object on the movement route or around the movement route,
The movement control unit
Based on the measurement result of the distance measuring unit, the movement route associated with the three-dimensional spatial information is changed and moved,
The control apparatus as described in any one of Claims 1-3. The movement control unit
The control device according to any one of claims 1 to 4, wherein the control device controls the movement of the moving body based on instruction information that is information received from a server device and indicates a moving time of the moving body. . The imaging unit
The control device according to any one of claims 1 to 5, wherein a position associated with the three-dimensional space information in the real space is imaged. The control device according to any one of claims 1 to 6, wherein the moving body is an unmanned flying body. In a computer equipped with a storage unit that stores three-dimensional spatial information of the real space inside the building,
An imaging step of imaging the real space;
Ranging step to measure the distance to the object;
A movement control step for controlling movement based on the three-dimensional space information, a movement path associated with the three-dimensional space information, and the distance from the object in the real space measured by the ranging step; ,
A three-dimensional spatial information acquisition step of acquiring three-dimensional spatial information of the real space imaged by the imaging step during movement by the control of the movement control step;
An information updating step for updating the three-dimensional spatial information stored in the storage unit based on the three-dimensional spatial information acquired by the three-dimensional spatial information acquisition step;
A program for running An imaging procedure for imaging real space;
Ranging procedure to measure the distance to the object,
Based on the three-dimensional space information of the real space inside the building, the movement path associated with the three-dimensional space information, and the distance from the object in the real space measured by the distance measurement procedure, A movement control procedure for controlling movement;
A three-dimensional spatial information acquisition procedure for acquiring three-dimensional spatial information of the real space imaged by the imaging procedure during movement of the moving body controlled in the movement control procedure;
An information update procedure for updating the three-dimensional spatial information based on the three-dimensional spatial information acquired in the three-dimensional spatial information acquisition procedure;
A control method comprising:

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