JP2022191772A - Mobile body control system, mobile body control device, and mobile body control method - Google Patents

Abstract

To provide a mobile body control system, mobile body control device, and mobile body control method capable of efficiently taking necessary actions for remaining survivors of a disaster area by using a mobile body.SOLUTION: A mobile body control device 30 acquires evacuation information, generates patrol route information based on the acquired evacuation information, and notifies a mobile body 40a of the information. The mobile body 40a performs a patrol in response to the patrol route information, and when remaining survivors exist, the mobile body performs evacuation guidance. When the evacuation is not completed within a predetermined time period, the mobile body 40a notifies the mobile body control device 30 of alert. When determining that takeover of the evacuation guidance is necessary, the mobile body control device 30 causes another mobile body 40b to go to an evacuation guidance position and to take over the evacuation guidance.SELECTED DRAWING: Figure 1

Description

The present invention relates to a mobile body control system, a mobile body control apparatus, and a mobile body control method that can efficiently deal with people remaining in a disaster area or the like using mobile bodies.

Conventionally, when water is released from a dam, residents downstream are warned in advance by means of sirens and electronic signage under the Specified Multipurpose Dam Act. Even if such a warning is issued, there is a possibility that there will be people remaining in areas where there is a risk of submersion due to the rise in river water due to the release of dams. Patrolling the remaining people in the river channel without hesitation. This is done not only when the dam discharges water, but also when there is a possibility of a disaster occurring due to a natural phenomenon such as an earthquake or a storm.

In order to avoid such a situation, use multiple unmanned aerial vehicles (drones) to patrol areas where disasters are likely to occur (hereinafter referred to as "disaster areas") and guide those who remain. can be considered. For example, Patent Literature 1 discloses a technique of tracking a tracked object such as a suspect using a plurality of unmanned flying objects (drones).

Japanese Patent Application Laid-Open No. 2020-061082

However, in the above Patent Document 1, since it is necessary to hand over the information about the tracked object between base stations, it is possible for the remaining people to remain in a place where there is no base station in the first place, such as a river channel located in the downstream area before the dam discharge. There is a problem that it is not possible to track Also, if the target to be tracked moves to a communication area of a different base station, or if the remaining battery level of an unmanned flying object patrolling within the communication area falls below a predetermined value, the waiting unmanned flying object It is to take over the patrol. Therefore, if a tracked object is discovered during patrol, the patrol is stopped and the tracked object is tracked, and it takes time to complete the patrol of the disaster area. Furthermore, if there are multiple survivors in the disaster area, once the drone starts tracking a particular survivor, it will not be able to track other survivors in the drone's planned flight path. In addition, even though it can be traced using Patent Document 1, it is not possible to guide the remaining person to a safe place.

For these reasons, it has become an important issue how to efficiently respond to those who remain in the disaster area using drones. Such a problem is not limited to the use of drones, but also the use of moving bodies such as robots, as well as the use of countermeasures against earthquake disasters instead of dam discharge.

The present invention has been made to solve the problems (issues) of the conventional technology described above, and is a mobile control system that can efficiently deal with people remaining in disaster areas using mobiles. An object of the present invention is to provide a mobile body control device and a mobile body control method.

In order to solve the above-described problems and achieve the object, the present invention provides a first moving body and a second moving body equipped with an imaging device for capturing a still image or a moving image and performing patrol in a predetermined area. , and a mobile body control device that controls the movement of the first mobile body and the second mobile body, wherein the mobile body control device is an evacuation related to evacuation from a predetermined area. an evacuation information acquisition unit that acquires the evacuation information from a management device that manages information; a patrol route identification unit that identifies a patrol route of the first moving object based on at least the evacuation information; and the first movement. an evacuation guidance information notifying unit that notifies the first moving body of evacuation guidance information for guiding the person to evacuate when a person is included in a still image or a moving image captured by a body imaging device; and a handover information notifying unit for notifying handover information for handing over the patrol on the patrol route from the position where the evacuation guidance of the person is started to the moving body No. 2.

Further, according to the present invention, in the above-described invention, the first moving body autonomously controls the movement of the first moving body, which is the own device, with respect to the patrol route specified by the moving body control device. a controller, an image transmission means for transmitting a still image or a moving image captured by the imaging device while moving on the patrol route to the mobile body control device, and a case where the evacuation guidance information is received from the mobile body control device (2) an evacuation guidance unit that performs evacuation guidance for a person who is a target person for evacuation guidance included in the evacuation guidance information;

Further, according to the present invention, in the above-described invention, when the evacuation guidance unit receives a guidance instruction for a person from the mobile body control device, the evacuation guidance unit warns the person by a predetermined alarm sound, a predetermined alarm message sound and/or light emission. It is characterized by performing evacuation guidance.

Further, in the above invention, the movement control unit autonomously controls the movement of the first moving body, which is the own device, so that the first moving body returns to a predetermined return position after completing the evacuation guidance of the person. characterized by

Further, according to the present invention, in the above invention, the first mobile unit includes a location information acquisition unit that acquires location information of the mobile unit itself, and a location information acquisition unit that acquires the location information acquired by the location information acquisition unit. a location information notifying unit for notifying a body control device, wherein the mobile body control device provides location information at which the first mobile body has started evacuation guidance for the person and the patrol route of the first mobile body. It is characterized by notifying said second moving body of said takeover information including said takeover information.

In the present invention, in the above invention, the second moving body is positioned at the position where the first moving body started evacuation guidance for the person based on the takeover information notified from the moving body control device. A movement control unit that autonomously controls the movement of a second moving body that is the self apparatus; and a movement that autonomously controls the movement of the patrol route from the position where the first moving body starts evacuation guidance of the person. and a control unit.

Further, according to the present invention, in the above-described invention, the evacuation information acquisition unit acquires disaster information or dam discharge information as the evacuation information from the management device.

Further, the present invention is a mobile body control device equipped with an imaging device for capturing a still image or a moving image, and performing movement control of a first mobile body and a second mobile body for patrolling a predetermined area. an evacuation information acquisition unit that acquires the evacuation information from a management device that manages evacuation information relating to evacuation from a predetermined area; and a route identifying unit, when a person is included in a still image or a moving image captured by an imaging device of the first moving body, notifying the first moving body of evacuation guidance information for guiding the person to evacuate. and a takeover information notification unit for notifying the second moving body of takeover information for taking over the patrol on the patrol route from the position where the evacuation guidance of the person was started. characterized by

Further, the present invention provides a first moving body and a second moving body equipped with an imaging device for capturing a still image or a moving image and performing patrol of a predetermined area; and a mobile body control device for controlling the movement of the mobile body, wherein the mobile body control device manages evacuation information related to evacuation from a predetermined area. an evacuation information acquisition step of acquiring the evacuation information from the mobile body control device; a patrol route specifying step of specifying a patrol route of the first mobile body based on at least the evacuation information; Evacuation for notifying the first moving body of evacuation guidance information for guiding the person to evacuate when a person is included in a still image or a moving image captured by an imaging device of the first moving body. a guidance information notifying step, and handover information in which the mobile body control device notifies the second mobile body of handover information for taking over patrol on the patrol route from the position where evacuation guidance of the person is started. and a notification step.

ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to respond efficiently to the survivors of a disaster area etc. using a mobile body.

FIG. 1 is an explanatory diagram for explaining an outline of a mobile body control system according to a first embodiment. FIG. 2 is a diagram showing a system configuration diagram of a mobile body control system according to the first embodiment. FIG. 3 is a functional block diagram showing the configuration of the mobile body control device shown in FIG. FIG. 4 is a functional block diagram showing the configuration of the moving body shown in FIG. 2. As shown in FIG. FIG. 5 is a sequence diagram (part 1) showing a processing procedure of the mobile body control system shown in FIG. 2; FIG. 6 is a sequence diagram (Part 2) showing the processing procedure of the mobile body control system shown in FIG. FIG. 7 is a flow chart showing a processing procedure when replacing the evacuation guidance of the mobile body control device shown in FIG. FIG. 8 is an explanatory diagram for explaining an outline of evacuation trajectory estimation by the mobile body control device shown in FIG. FIG. 9 is an explanatory diagram for explaining an overview of a mobile body control system according to the second embodiment. FIG. 10 is a diagram showing the system configuration of a mobile control system according to the second embodiment. 11 is a functional block diagram showing the configuration of the mobile body control device shown in FIG. 10. FIG. 12 is a sequence diagram (Part 1) showing the processing procedure of the mobile body control system shown in FIG. 10; FIG. FIG. 13 is a sequence diagram (part 2) showing the processing procedure of the mobile body control system shown in FIG. 10; FIG. 14 is a flow chart showing a processing procedure for substituting the patrol of the mobile body control device shown in FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of a mobile body control system, a mobile body control device, and a mobile body control method according to the present invention will be described in detail based on the drawings. In each embodiment described below, a case where a drone is used as a moving object will be described.

[Embodiment 1]
<Overview of mobile control system>
First, an overview of the mobile body control system according to the first embodiment will be described. FIG. 1 is an explanatory diagram for explaining an overview of a mobile body control system according to a first embodiment. As shown in Fig. 1, this mobile control system uses mobiles to effectively control survivors in areas where disasters may occur, such as downstream areas of dams (hereinafter collectively referred to as "disaster areas"). It's a system that works well. Here, the case where an unmanned flying object called a drone is used as a moving object will be mainly described.

The moving body (drone) of the first embodiment is an unmanned flying body capable of autonomous flight under the control of the moving body control device 30 . In other words, the movement of such a moving object is not controlled by an operator's operation, but is autonomously controlled according to instructions from the moving object control device 30 . Further, although details will be described later, the moving body (drone) of the first embodiment includes means for acquiring its own current position information and means for acquiring a captured image of its surroundings, and the acquired position information and the captured image to the moving body control device 30 .

The mobile body control device 30 receives evacuation information from a disaster management device (not shown) (S1). This evacuation information includes earthquake early warning information, weather information, dam discharge information, and the like. When receiving the evacuation information, the mobile body control device 30 calculates the patrol route of the mobile body 40a to patrol based on the evacuation information, and transmits the patrol route information and the movement instruction to the waiting mobile body 40a ( S2).

Upon receiving the patrol route information and the movement instruction from the mobile unit control device 30, the mobile unit 40a moves to the patrol start position based on the patrol route information included in the received information (S3). Here, the case of moving to the target river is shown. The moving body 40a patrols according to the patrol route information while transmitting its own position information and captured image information of its surroundings to the moving body control device 30 (S4). The mobile body control device 30 determines whether or not the remaining person is shown in the received captured image. If it is determined that the remaining person is captured, an instruction to temporarily suspend the patrol and evacuation guidance information are transmitted to the moving body 40a (S5). The evacuation guidance information includes information indicating the remaining people to be guided, and notification contents for guiding the remaining people outside the disaster area, to an evacuation center, etc. (hereinafter referred to as "guide destination"). Upon receiving the patrol temporary interruption instruction and the evacuation guidance information from the mobile body control device 30, the moving body 40a suspends the patrol, and based on the information indicating the remaining person to be guided included in the evacuation guidance information and the notification content, the remaining person , start evacuation guidance for the remaining persons with a predetermined alarm sound, alarm message sound and/or light emission, and transmit position information and captured image information to the mobile unit control device 30 (S6). When the mobile body 40a has exceeded a predetermined standard time (for example, 1/3 of the time that the mobile body 40a can move by the battery) after starting evacuation guidance, the mobile body control device 30 informs the mobile body control device 30 (S7).

Upon receiving the alert from the mobile body 40a, the mobile body control device 30 determines whether or not it is possible to continue the evacuation guidance. Specifically, when receiving an alert from the mobile body 40a, the mobile body control device 30 calculates a route (a route for the remaining person to move from the current position to the guidance destination based on the current position of the mobile body 40a and the captured image). Evacuation route) is estimated, the travel time A for the remaining person to move from the current position to the guided location is estimated, and the sum of the travel time A and the travel time B from the guided location to the takeoff location exceeds the possible flight time C obtained from the remaining battery level (C<A+B), it is determined that the evacuation guidance cannot be continued by the moving body 40a alone.

In such a case, in order to have another mobile body 40b on standby take over evacuation guidance, the mobile body control device 30 transmits handover information including position information and patrol route information of the mobile body 40a to the mobile body 40b. (S8). When the mobile body 40b receives the takeover information from the mobile body control device 30, it moves to the position of the mobile body 40a included in the takeover information (S9), and takes over the evacuation guidance of the mobile body 40a (S10). Specifically, when moving to the position where the moving body 40 a is located, the moving body 40 b transmits its own position information and captured image information to the moving body control device 30 . The moving body control device 30 analyzes the captured image information received from the moving body 40b, and when it determines that the remaining person is captured, transmits the same evacuation guidance information as that transmitted to the moving body 40a to the moving body 40b. and transmits a return instruction to the moving object 40a. When the mobile unit 40b receives the evacuation guidance information from the mobile unit control device 30, it tracks the remaining person and guides the remaining person to evacuation by means of an alarm message or the like. When the moving body 40a receives the return instruction from the moving body control device 30, it returns to the takeoff place (S11).

<System configuration of mobile control system>
Next, the system configuration of the mobile body control system according to the first embodiment will be described. FIG. 2 is a diagram showing the system configuration of the mobile body control system shown in FIG. As shown in FIG. 2, in this mobile body control system, a disaster management device 10, a mobile body control device 30, and a plurality of mobile bodies 40a, 40b, and 40c (hereinafter sometimes collectively referred to as "mobile bodies 40") ) are connected to the network N.

The disaster management device 10 is a management device that manages disaster-related information managed by government agencies. For example, it corresponds to a disaster prevention information provision center operated by the Ministry of Land, Infrastructure, Transport and Tourism, a management device for managing discharge information of dams operated by local governments, and the like.

The mobile body control device 30 performs a process of acquiring evacuation information from the disaster management device 10, a process of calculating the patrol route of the mobile body 40 based on the evacuation information, and a process of analyzing the captured image received from the mobile body 40. , when a person (remaining person) is included in the analysis result of the captured image received from the moving body 40, a process of notifying evacuation guidance information for guiding the person (remaining person) to evacuate; Therefore, a process of determining whether or not to hand over the moving body that is guiding the remaining residents to another moving body, and a process of notifying the handover information when the evacuation guidance is handed over to another moving body are performed.

Upon receiving the patrol route information and the movement instruction from the mobile unit control device 30, the mobile unit 40 patrols according to the patrol route information. At this time, the moving body 40 takes an image of its surroundings with its own imaging unit, and moves while transmitting the captured image information to the moving body control device 30 together with its own position information. The mobile body control device analyzes the captured image information transmitted from the mobile body 40 to determine whether or not there is a remaining person. If there is a remaining person, an instruction to temporarily suspend the patrol and evacuation guidance information including information indicating the remaining person and the contents of notification to the remaining person are transmitted to the moving body 40 . When receiving the patrol temporary interruption instruction and the evacuation guidance information from the mobile body control device 30, the mobile body 40 interrupts the patrol and guides the remaining persons to evacuation according to the evacuation guidance information. In addition, the moving body 40 performs (1) a process of acquiring position information of the moving body itself based on signals from an altitude sensor or a GNSS (Global Navigation Satellite System) unit, (2) a process of moving by controlling the rotor blades, ( 3) A process of capturing an image of the surroundings with the imaging unit and transmitting the image to the mobile body control device 30; ) processing for measuring the time during which evacuation guidance is performed, (6) processing for notifying the mobile body control device 30 of the acquired position information of its own device, and (7) processing for receiving handover information from the mobile body control device 30 etc.

<Configuration of moving body control device 30>
Next, the configuration of the mobile body control device 30 shown in FIG. 2 will be described. FIG. 3 is a functional block diagram showing the configuration of the mobile body control device 30 shown in FIG. As shown in FIG. 3 , the mobile control device 30 has a display section 31 , an operation section 32 , a communication I/F section 33 , a wireless communication section 34 , a storage section 35 and a control section 36 .

A display unit 31 is a display device such as a liquid crystal panel or a display device, and an operation unit 32 is an input device such as a keyboard and a mouse. The communication I/F unit 33 is an interface unit for communicating with other devices such as the disaster management device 10 . The wireless communication unit 34 is an interface unit for wirelessly communicating with the mobile object 40 .

The storage unit 35 is a storage device such as a hard disk drive or a non-volatile memory, and stores evacuation information 35a, patrol route information 35b, evacuation guidance information 35c, position information 35d, captured image information 35e, and evacuation trajectory information 35f.

The control unit 36 is a control unit that controls the entire mobile body control device 30, and includes an evacuation information acquisition unit 36a, a patrol route identification unit 36b, a captured image analysis unit 36c, an evacuation guidance information notification unit 36d, and an evacuation guidance handover determination unit. 36e, a position information receiving unit 36f, a handover information notifying unit 36g, an evacuation trajectory estimating unit 36h, and the like. Actually, by loading these programs into the CPU and executing them, the evacuation information acquisition unit 36a, the patrol route identification unit 36b, the captured image analysis unit 36c, the evacuation guidance information notification unit 36d, the evacuation guidance handover determination unit 36e, the position The information receiving unit 36f, the handover information notifying unit 36g, and the evacuation trajectory estimating unit 36h are caused to execute respective corresponding processes.

The evacuation information acquisition unit 36a acquires disaster information or dam discharge information based on weather warnings and advisories such as earthquake early warnings, heavy rains and storms from the disaster management device 10, and stores the information in the storage unit 35 as evacuation information 35a. The evacuation information includes information indicating the type of disaster and the disaster area.

Based on the evacuation information 35a, the patrol route identification unit 36b identifies a patrol route that allows the mobile body 40 to efficiently patrol the disaster area, stores the patrol route information 35b in the storage unit 35, and wirelessly communicates the patrol route information 35b. It is transmitted to the mobile unit 40 via the unit 34 .

The captured image analysis unit 36c analyzes the captured image of the disaster area received from the moving object 40, monitors whether there are any remaining persons, and stores it in the storage unit 35 as captured image information 35e. When analyzing such a captured image, for example, by performing template matching processing using a person's template on the captured image, the remaining person can be detected. It is also possible to detect the presence or absence of a remaining person by inputting a captured image into a trained model obtained by deep learning. When using such deep learning, it is necessary to generate a trained model by performing supervised learning using an image containing a person and its result as teacher data. Machine learning other than deep learning can also be used.

The evacuation guidance information notification unit 36d is a processing unit that transmits information indicating the contents of the notification that the moving body 40 gives to the remaining persons and the detected remaining persons (target persons to be guided). The content of notification is stored in advance in the storage unit 35 as the evacuation guidance information 35c, and the evacuation guidance information notification unit 36d specifies the content of notification based on the evacuation information 35a and the captured image information 35e.

The evacuation trajectory estimating unit 36h estimates a route (hereinafter referred to as an "evacuation trajectory") for the remaining person to move from the current position to the guidance destination based on the captured image information and the position information of the moving body 40a, and evacuates. It is stored in the storage unit 35 as the trajectory information 35f. Upon receiving the alert from the moving body 40a, the evacuation guidance handover determination unit 36e determines whether or not it is possible to continue the evacuation guidance. When an alert is received from the moving body 40a, the travel time A required for the remaining person to move from the current position to the guidance destination is estimated based on the current position of the moving body 40a and the evacuation trajectory stored as the evacuation trajectory information, If the sum of the travel time A and the travel time B required to return to the take-off location from the guidance destination location exceeds the available flight time C obtained from the remaining battery capacity (C<A+B), the moving object 40a alone It is determined that evacuation guidance cannot be continued. On the other hand, if the sum of the travel time A and the travel time B is within the flightable time C (C≧A+B), it is determined that the evacuation guidance can be continued only by the moving body 40a.

The position information receiving unit 36f receives the position information of its own device notified from the moving object 40a and stores it in the storage unit 35 as position information 35d. When another mobile body 40b takes over the evacuation guidance of the mobile body 40a, the takeover information notification unit 36g transmits the position information 35d of the mobile body 40a and the patrol route information 35b of the mobile body 40a as takeover information to the mobile body 40b. .

Note that the control unit 36 analyzes the captured image information received from the moving body 40b, and if it determines that evacuation guidance has been handed over, notifies the moving body 40a of a return instruction. In addition, when receiving the alert from the moving body 40a, if the remaining battery level included in the alert is equal to or less than the threshold, the control unit 36 waits for patrol or evacuation guidance performed by the moving body 40a. The moving object 40b may take over, and a return instruction may be transmitted to the moving object 40a to return the moving object 40a to the take-off location.

<Structure of moving body 40a>
Next, the configuration of the moving body 40a shown in FIG. 2 will be described. FIG. 4 is a functional block diagram showing the configuration of the moving body 40a shown in FIG. The mobile bodies 40b and 40c also have the same configuration. As shown in FIG. 4, the moving object 40a has an imaging unit 41, an altitude sensor 42, a GNSS unit 43, a notification unit 44, a wireless communication unit 45, a rotor 46, a storage unit 47, and a control unit 48.

The image capturing unit 41 is an image capturing device that captures the situation of the disaster area with a camera. It is desirable that the camera mounted on the imaging unit 41 can simultaneously capture a visible light image and an infrared light image in the same imaging range. However, it may be one that can capture only a visible light image.

The altitude sensor 42 is a sensor that measures the altitude of the moving object 40a. An air pressure sensor, for example, can be used as the altitude sensor 42, and an air pressure sensor and an ultrasonic sensor can also be combined. As a result, the moving body 40a can stably maintain its altitude at a location near the ground. The GNSS unit 43 is a unit that receives signals from a plurality of GNSS satellites and specifies the position coordinates of its own device.

The notification unit 44 is a processing unit that notifies remaining persons of evacuation guidance information 47c received from an evacuation guidance unit 48c, which will be described later. For example, it is possible to provide warning message sound notification by synthetic sound, warning sound notification, and/or light emission notification. The wireless communication unit 45 is an interface unit for wirelessly communicating with the mobile control device 30 . The plurality of rotor blades 46 rotate individually under the control of the control unit 48 to enable attitude control and movement of the moving body 40a.

The storage unit 47 is a storage device such as a hard disk drive or a non-volatile memory, and stores patrol route information 47a, captured image information 47b, evacuation guidance information 47c, evacuation guidance time information 47e, and evacuation guidance standard time information 47f. The patrol route information 47a is the patrol route information 35b specified by the mobile body control device 30, and the mobile body 40a moves according to this patrol route information 35b.

The control unit 48 is a control unit that controls the entire moving body 40a, and includes a movement control unit 48a, an imaging control unit 48b, an evacuation guidance unit 48c, an evacuation guidance time measurement unit 48e, an alert notification unit 48f, and a position information acquisition unit 48g. , a location information notification unit 48h and a handover information reception unit 48i. Actually, by loading and executing these programs on the CPU, the movement control unit 48a, the imaging control unit 48b, the evacuation guidance unit 48c, the evacuation guidance time measurement unit 48e, the alert notification unit 48f, the position information acquisition unit 48g, The location information notification unit 48h and the handover information reception unit 48i are caused to execute corresponding processes. The movement control unit 48a controls the movement by controlling the plurality of rotor blades 46 using the patrol route information 47a, the altitude information output by the altitude sensor 42, and the position information output by the GNSS unit 43.

The imaging control unit 48b causes the imaging unit 41 to capture an image of the disaster area, and stores the obtained captured image of infrared light and visible light in the storage unit 47 as captured image information 47b. In addition, the imaging control unit 48b transmits the captured image information 47b to the moving body control device 30 during flight.

The evacuation guidance unit 48c receives the evacuation guidance information 35c transmitted from the mobile body control device 30, and stores it in the storage unit 47 as evacuation guidance information 47c. It also outputs the stored evacuation guidance information 47 c to the notification unit 44 .

The evacuation guidance time measuring unit 48e starts measuring when the moving object 40a arrives at the disaster area and starts evacuation guidance, and stores the elapsed time of evacuation guidance in the storage unit 47 as evacuation guidance time information 47e.

The alert notification unit 48f compares the evacuation guidance standard time information 47f with the evacuation guidance time information 47e, and transmits an alert to the mobile body control device 30 when the evacuation guidance time exceeds the evacuation guidance standard time. The evacuation guidance standard time is, for example, about 1/3 of the battery-operable time of the mobile body 40a, and is stored in advance in the storage unit 47 as evacuation guidance standard time information 47f.

The positional information acquisition unit 48g acquires the positional information of its own device obtained from the altitude sensor 42 and the GNSS unit 43 . The location information notification unit 48h transmits the location information of its own device acquired by the location information acquisition unit 48g to the mobile body control device 30 . For example, when the moving body 40b takes over the evacuation guidance that the moving body 40a is performing, the handover information receiving part 48i of the moving body 40b receives the moving body 40a transmitted from the moving body control device 30. position information and patrol route information are received and stored in the storage unit 47 as patrol route information 47a.

The movement control unit 48a constantly monitors the remaining amount of the battery (not shown), and when the remaining amount of the battery becomes less than a predetermined threshold, such as when the battery is consumed more than expected due to the influence of the wind, the alert notification unit An alert may be transmitted from 48f to the mobile body control device 30, and the route movement of the mobile body 40a may be interrupted to return to the takeoff location.

<Processing Procedure of Mobile Control System>
Next, a processing procedure of the mobile body control system according to the first embodiment will be described. 5 and 6 are sequence diagrams for explaining the processing procedure of the mobile body control system shown in FIG.

As shown in FIGS. 5 and 6, the mobile body control device 30 acquires the evacuation information 35a from the disaster management device 10 (step S101). Then, based on the evacuation information 35a, the mobile body control device 30 specifies the patrol route information 35b of the mobile body 40a (step S102), and transmits the movement instruction and the specified patrol route information 35b to the mobile body 40a (step S102). S103). Another moving body 40b waits until it receives an instruction from the moving body control device 30 (step S104).

When the mobile unit 40a receives the movement instruction and the patrol route information 35b from the mobile unit control device 30 (step S105), the mobile unit 40a stores them as the patrol route information 47a and starts moving according to the patrol route information 47a (step S105). S106). When the mobile body 40a arrives at the disaster area, it moves according to the patrol route information 47a while transmitting the movement information including its own position and the captured image information 47b to the mobile body control device 30 (step S107).

When receiving the captured image information 47b from the moving body 40a, the moving body control device 30 analyzes the captured image (step S108). As a result of the image analysis, if there is a remaining person, the moving body control device 30 transmits an instruction to temporarily suspend patrol to the moving body 40a, and transmits the evacuation guidance information 35c specified by the evacuation guidance information notification unit 36d ( step S109)

When receiving the temporary suspension instruction and the evacuation guidance information 35c, the moving body 40a stores it as the evacuation guidance information 47c, temporarily interrupts the patrol (step S110), tracks the remaining people to be guided, and directs them to the remaining people. to inform the evacuation guidance information 47c (step S111). Further, the moving body 40a transmits movement information including the position of the own device and the captured image information 47b to the moving body control device 30 (step S112). The moving body control device 30 analyzes the captured image information 47b received from the moving body 40a (step S113).

Next, if a certain period of time has passed since the start of evacuation guidance, the mobile body 40a notifies the mobile body control device 30 of an alert including the remaining battery level (step S114).

Upon receiving the alert from the mobile body 40a, the mobile body control device 30 estimates the evacuation trajectory of the remaining person based on the captured image information and the position information of the mobile body 40a, and includes the estimated evacuation trajectory and the alert. It is determined whether or not the mobile body 40a can continue the evacuation guidance based on the remaining battery level (step S115). The sum of the movement time A during which the moving body 40a moves from the current position to the guidance destination position and the movement time B until the movement body 40a returns from the guidance destination position to the take-off location exceeds the available flight time C obtained from the remaining battery capacity. If (C<A+B), it is determined that the evacuation guidance cannot be continued with only the moving body 40a. On the other hand, if the sum of the travel time A and the travel time B is within the flightable time C (C≧A+B), it is determined that the evacuation guidance can be continued only by the moving object 40a.

If the evacuation guidance by the mobile body 40a can be continued (step S115: Yes), the mobile body control device 30 waits for the next alert from the mobile body 40a. : No), transfer information including the position information of the mobile unit 40a and the patrol route information 35b is transmitted to another mobile unit 40b (step S116).

When the moving body 40b receives the takeover information from the moving body control device 30 (step S117), it stores it as patrol route information 47a and moves to the position of the moving body 40a included in the takeover information (step S118). When the moving body 40b reaches the position of the moving body 40a, it transmits movement information including its own position and captured image information 47b to the moving body control device 30 (step S119).

When the moving body control device 30 receives the movement information and the captured image information 47b from the moving body 40b, it analyzes the captured image (step S120). As a result of the image analysis, if it is determined that the remaining person tracked by the mobile body 40a is shown, the same evacuation guidance information as that sent to the mobile body 40a is sent to 40b (step S121). When the mobile body 40b receives the evacuation guidance information from the mobile body control device 30, it notifies the remaining people of the evacuation guidance information (step S122).

The mobile body control device 30 receives the movement information and the captured image information 47b from the mobile body 40b, and when it is confirmed that the mobile body 40b has started evacuation guidance to the remaining people, it transmits a return instruction to the mobile body 40a. (Step S123). When the moving body 40a receives the return instruction from the moving body control device 30, the moving body 40a returns to the takeoff location (step S124).

The mobile body control device 30 analyzes the movement information and the captured image information 47b transmitted from the mobile body 40b, and determines that the evacuation is completed, such as the remaining person leaving the disaster area or arriving at a shelter or the like. Then, an instruction to restart the patrol according to the patrol route information 47a is transmitted to the moving body 40b (step S125). When receiving the patrol restart instruction, the moving body 40b restarts the patrol according to the patrol route information 47a (step S126).

When the patrol is completed, or when the remaining battery level is below the threshold, the moving body 40b returns to the takeoff location (step S127).

When the moving body 40b has inspected all the movement routes, the moving body control device 30 concludes that the inspection is completed and ends the process (step S128: Yes). However, if the patrol has not been completed after returning due to battery shortage or the like (step S128: No), the process returns to step S102, calculates new patrol route information 35b from the interrupted place, and waits for other It transmits the calculated moving body route information and movement instructions to the moving body 40 .

<Processing Procedure of Evacuation Guidance Handover Determination Unit 36e of Mobile Body Control Device 30>
Next, a processing procedure of the evacuation guidance handover determination unit 36e of the mobile body control device 30 will be described. FIG. 7 is a flow chart showing the processing procedure of the evacuation guidance handover determination unit 36e of the mobile body control device 30 shown in FIG. As shown in FIG. 7, the evacuation guidance handover determination unit 36e monitors reception of an alert indicating that the evacuation guidance standard time has passed from the moving body 40a (step S201: No), and receives the alert from the moving body 40a. If so (step S201: Yes), the evacuation trajectory is estimated based on the captured image information and the position information of the moving body 40a, and the movement is performed based on the estimated evacuation trajectory and the remaining battery level included in the alert received from the moving body 40a. The sum of the movement time A for the body 40a to move from the current position to the guidance destination and the movement time B for returning from the guidance destination to the take-off location is calculated (step S202).

Next, the evacuation guidance handover determination unit 36e calculates the available flight time C of the moving body 40a from the remaining battery level received from the moving body 40a (step S203). Then, the evacuation guidance handover determination unit 36e determines whether the evacuation guidance can be completed based on the travel time required for evacuation and return and the flightable time of the moving body 40a. When the evacuation guidance handover determination unit 36e determines that the evacuation guidance can be completed (step S204: Yes), the process returns to step S201 and monitors reception of the next alert from the moving object 40a. If it is determined that the evacuation guidance cannot be completed (step S204: No), transfer information including the position information of the mobile body 40a and the patrol route information 35b is notified to another moving body 40b to which the evacuation guidance is to be taken over (step S205).

Then, the evacuation guidance handover determination unit 36e monitors arrival of the moving body 40b to the disaster area (step S206: No), and if the moving body 40b arrives at the position of the moving body 40a (step S206: Yes), A return instruction is transmitted to the moving body 40a that has been providing evacuation guidance (step S207).

<Overview of Evacuation Trajectory Estimation by Mobile Body Control Device 30>
Next, the estimation of the evacuation trajectory by the mobile body control device 30 will be described. FIG. 8 is an explanatory diagram for explaining an overview of evacuation trajectory estimation by the evacuation trajectory estimating unit 36h of the mobile body control device 30 shown in FIG. As shown in FIG. 8, the mobile body control device 30 calculates the evacuation trajectory of the remaining person from the position information of the mobile body 40a and the captured image captured by the imaging unit 41, and stores it in the storage unit 35 as evacuation trajectory information 35f. do. The evacuation trajectory may be estimated by the moving body 40a from its own position information and the captured image.

In this manner, the mobile body control system according to the first embodiment can evacuate the remaining people over a wide area regardless of the area by controlling the plurality of mobile bodies 40 using the mobile body control device 30 . When the mobile body control device 30 transmits a patrol temporary interruption instruction to the mobile body 40a or receives an alert from the mobile body 40a, the mobile body control device 30 patrols the patrol route on which the patrol was interrupted by the mobile body 40a. The new patrol route information for the purpose may be transmitted to the other mobile bodies 40 on standby together with the movement instruction. As a result, when the moving body 40a interrupts patrol or when evacuation guidance takes time, the moving body control device 30 determines that it is necessary to take over the evacuation guidance, and guides another moving body 40b to evacuate. Since it is moved to a place, it is possible to efficiently deal with the remaining survivors in the disaster area when it takes time to evacuate the survivors.

In the first embodiment described above, the completion of taking over the evacuation guidance of the moving body 40b is performed by the moving body control device 30. , a handover completion notification may be transmitted to the mobile body control device 30 .

[Embodiment 2]
By the way, in the above-described Embodiment 1, when the mobile body 40a requires time to guide the evacuation, by notifying the mobile body control device 30 of an alert, evacuation guidance is handed over to another mobile body. In the event of a disaster, patrols of other disaster areas must also be completed within a predetermined time (for example, within two hours). Therefore, in the second embodiment, a case will be described in which patrol is also taken over by a plurality of moving bodies.

Next, an overview of the mobile body control system according to the second embodiment will be described. FIG. 9 is an explanatory diagram for explaining an outline of a mobile body control system according to the second embodiment. As shown in FIG. 9, this mobile body control system is a system that allows multiple mobile bodies to take over the patrol of the rest of the disaster area when it takes time for the mobile bodies to evacuate the survivors in the disaster area. is.

When the moving body 40a receives the information including the patrol route and the movement instruction from the mobile body control device 50, the moving body 40a moves according to the patrol route included in the received information. The moving body 40a checks the remaining persons to confirm whether or not there are remaining persons, and patrols the patrol route, which is difficult to follow. The moving body 40a starts evacuation guidance if there is a remaining person. Then, if the evacuation guidance is not completed within a predetermined guidance time (for example, 1/3 of the time that the mobile body 40a can move by the battery of the mobile body 40a) after starting the evacuation guidance, the mobile body 40a is controlled. Send an alert to the device 50 (S20)

When receiving the alert from the mobile body 40a, the mobile body control device 50 estimates the evacuation route, and completes the patrol of the patrol route of the patrol route of the mobile body 40a that has not been patroled at the predetermined time when the patrol should be completed. determine whether or not to The moving time A during which the moving body 40a moves from the current position to the guidance destination position, the movement time D during which the patrol route is patrolled from the guidance destination position, and the movement time E during which the patrol is completed and returns to the take-off location. If the sum exceeds the flightable time C (C<A+D+E), or if the time to complete the patrol of the patrol route exceeds the predetermined time required to complete the patrol of all disaster areas, the mobile body 40a alone will complete the patrol. cannot be completed.

In such a case, the mobile body control device 50 generates new patrol route information and notifies the mobile body 40b of a patrol takeover movement instruction ( S21).

Upon receiving the movement instruction from the mobile body control device 50, the mobile body 40b moves to the takeover patrol start position according to the patrol route information (S22). After that, the moving body 40b patrols according to the patrol route information while transmitting the position information of its own device and the captured image information (S23).

<System configuration of mobile control system>
Next, the system configuration of the mobile body control system according to the second embodiment will be described. FIG. 10 is a diagram showing the system configuration of the mobile body control system shown in FIG. As shown in FIG. 10, in this mobile body control system, a disaster management device 10, a mobile body control device 50, and a plurality of mobile bodies 40a, 40b, and 40c (hereinafter sometimes collectively referred to as "mobile bodies 40") ) are connected to the network N. The disaster management device 10 and the plurality of moving bodies 40a, 40b, 40c are the same as in the first embodiment.

<Configuration of moving body control device 50>
Next, the configuration of the mobile body control device 50 shown in FIG. 10 will be described. FIG. 11 is a functional block diagram showing the configuration of mobile body control device 50 shown in FIG. Note that the description of functional units similar to those of the mobile body control device 30 shown in FIG. 3 will be omitted. As shown in FIG. 10 , the mobile body control device 50 has a display section 31 , an operation section 32 , a communication I/F section 33 , a wireless communication section 34 , a storage section 35 and a control section 56 . 3 are given the same reference numerals, and detailed description thereof will be omitted.

The control unit 56 is a control unit that controls the entire mobile body control device 50, and includes an evacuation information acquisition unit 36a, a patrol route identification unit 36b, a captured image analysis unit 36c, an evacuation guidance information notification unit 36d, and a position information reception unit 36f. , an evacuation trajectory estimation unit 36h, and a patrol takeover determination unit 56a. Actually, by loading these programs into the CPU and executing them, the evacuation information acquisition unit 36a, the patrol route identification unit 36b, the captured image analysis unit 36c, the evacuation guidance information notification unit 36d, the position information reception unit 36f, and the evacuation trajectory The estimation unit 36h and the patrol takeover determination unit 56a are caused to execute corresponding processes.

When receiving an alert from the moving body 40a, the patrol takeover determination unit 56a estimates the evacuation route, and determines whether the patrol of the patrol route of the moving body 40a, which is not being patroled, should be completed within a predetermined time. Determine whether to complete. The moving time A during which the moving body 40a moves from the current position to the guidance destination position, the movement time D during which the patrol route is patrolled from the guidance destination position, and the movement time E during which the patrol is completed and returns to the take-off location. If the sum exceeds the flightable time C (C<A+D+E), or if the time to complete the patrol of the patrol route exceeds the predetermined time required to complete the patrol of all disaster areas, the mobile body 40a alone will complete the patrol. cannot be completed. On the other hand, if the sum of the travel time A, travel time D, and travel time E is within the flightable time C (C≧A+D+E), and the patrol of the patrol route should be completed by the time the patrol of all disaster areas should be completed. If it is within the time, it is determined that the patrol can be completed with only the moving body 40a.

<Processing Procedure of Mobile Control System>
Next, a processing procedure of the mobile body control system according to the second embodiment will be described. 12 and 13 are sequence diagrams for explaining the processing procedure of the mobile body control system shown in FIG. The same reference numerals and step numbers are assigned to the same processes as those of the mobile body control system according to the first embodiment shown in FIGS. 5 and 6, and detailed description thereof will be omitted.

As shown in FIG. 13, when the mobile body control device 50 receives an alert (including remaining battery power) from the mobile body 40a indicating that a certain period of time has passed since the start of evacuation guidance (step S301), An evacuation trajectory is estimated based on the captured image information and position information of the mobile body 40a, and the mobile body 40a can complete patrol based on the remaining battery level, evacuation trajectory, and remaining patrol route information included in the alert. Determine whether or not The moving time A during which the moving body 40a moves from the current position to the guidance destination position, the movement time D during which the patrol route is patrolled from the guidance destination position, and the movement time E during which the patrol is completed and returns to the take-off location. If the sum is within the flightable time C obtained from the remaining battery capacity (C≧A+D+E), and if the time to complete patrol of the patrol route is within the predetermined time required to complete patrol of all disaster areas , that the patrol can be completed with only the moving body 40a.

If the patrol by only the mobile body 40a can be completed within the time (step S302: Yes), the mobile body control device 50 causes the mobile body 40a to continue evacuation guidance for the remaining persons. In addition, if the patrol cannot be completed within the time by the mobile body 40a alone (step S302: No), the mobile body control device 50 transmits patrol route information 35b for taking over the patrol to another mobile body 40b to take over the patrol. (step S303).

Next, when the mobile body control device 50 transmits the patrol route information for taking over the patrol to the mobile body 40b, the mobile body control device 50 transmits an instruction not to return to the patrol but to return after completing the evacuation guidance to the mobile body 40a. (step S304). If the moving body 40a receives an instruction from the moving body control device 50 to return without returning to the patrol after the evacuation guidance is completed (step S305), the moving body 40a returns to the take-off place after the evacuation guidance is completed. (Step S306).

When the moving body 40b receives the patrol route information 35b for taking over the patrol from the mobile body control device 50 (step S307), it moves to the patrol start position according to the patrol route information (step S308). When the moving body 40b reaches the patrol start position, the moving body 40b transmits movement information including its own position and captured image information 47b to the moving body control device 50 (step S309).

When the moving body control device 50 receives the movement information and the captured image information 47b from the moving body 40b, it analyzes the captured image (step S310). As a result of the image analysis, if there is a remaining person, the moving body control device 50 transmits a patrol temporary interruption instruction to the moving body 40b, and transmits the evacuation guidance information 35c specified by the evacuation guidance information notification unit 36d ( step S311). When receiving the instruction to temporarily suspend the patrol, the moving body 40b temporarily suspends the patrol (step S312), notifies the remaining persons of the evacuation guidance information 47c (step S313), While transmitting the information and the captured image information 47b to the mobile body control device 50, the remaining person is tracked (step S314).

The mobile body control device 50 analyzes the movement information and the captured image information 47b transmitted from the mobile body 40b (step S315), and if it determines that the evacuation of the remaining persons has been completed, the patrol route information 47a is sent to the mobile body 40b. A patrol restart instruction is transmitted according to (step S316). When receiving the patrol restart instruction, the moving body 40b resumes the patrol from the position where the patrol was interrupted (step S317).

When the patrol according to the patrol route information 47a is completed, or when the remaining battery level falls below the threshold, the mobile body 40b returns to the takeoff location (step S318). When the moving body 40b has inspected the entire moving route, the moving body control device 50 concludes that the inspection is completed and ends the process (step S319: Yes). However, if the patrol has not been completed after returning due to battery shortage or the like (step S319: No), the process returns to step S102, calculates new patrol route information 35b from the interrupted place, and waits for another In order to make the mobile body 40 perform patrol, a movement instruction and patrol route information are transmitted to the mobile body 40 on standby.

<Processing procedure of patrol takeover determination unit 56a of mobile unit control device 50>
Next, a processing procedure of the patrol takeover determination unit 56a of the mobile body control device 50 shown in FIG. 11 will be described. FIG. 14 is a flow chart showing the processing procedure of the patrol takeover determination unit 56a of the mobile body control device 50 shown in FIG. As shown in FIG. 14, the patrol handover determination unit 56a monitors receipt of an alert from the moving body 40a indicating that the evacuation guidance standard time has passed (step S401: No). If (step S401: Yes), the remaining required time until the moving body 40a performs evacuation guidance and completes patrol of the disaster area is calculated (step S402).

Next, the patrol takeover determination unit 56a determines whether or not the moving body 40a can complete the patrol based on the required time. Specifically, the movement time A during which the moving object 40a moves from the current position to the guidance destination position, the movement time D during which the moving body 40a patrols the remaining patrol route from the guidance destination position, and returns to the take-off place after finishing the patrol. If the total travel time E exceeds the flightable time C (C < A + D + E), or if the time to complete the patrol of the patrol route exceeds the predetermined time to complete the patrol of all disaster areas, move It is determined that the patrol cannot be completed with only the body 40a. On the other hand, if the sum of the travel time A, travel time D, and travel time E is within the flightable time C (C≧A+D+E), and the patrol of the patrol route should be completed by the time the patrol of all disaster areas should be completed. If it is within the time, it is determined that the patrol can be completed with only the moving body 40a.

When the patrol takeover determining unit 56a determines that the patrol can be completed only by the moving body 40a (step S403: Yes), the process returns to step S401 and monitors the reception of the next alert from the moving body 40a. When it is determined that the patrol cannot be completed (step S403: No), the patrol route information 35b for taking over the patrol is notified to another moving body 40b to which the patrol is to be taken over (step S404). Then, the patrol takeover determining unit 56a transmits an instruction to return to the moving body 40a that has been providing evacuation guidance to the mobile body 40a after the evacuation guidance is completed, and ends the process (step S405).

As described above, the mobile body control system according to the second embodiment transmits an alert when evacuation guidance from the mobile body 40a takes time, and the mobile body control device 50 starts patrol to the rest of the disaster area. It is determined whether or not a handover is necessary, and if the handover is necessary, another moving body 40b is moved to the rest of the disaster area. In this case, it is possible to efficiently deal with the remaining survivors in the disaster area.

In each of the above-described embodiments, a case where a drone is used as the mobile body 40 has been described, but the present invention is not limited to this, and can also be applied to a robot that travels on the ground.

Each configuration illustrated in each of the above-described embodiments is functionally schematic, and does not necessarily need to be physically configured as illustrated. That is, the form of distribution/integration of each device is not limited to the illustrated one, and all or part of them can be functionally or physically distributed/integrated in arbitrary units according to various loads and usage conditions. Can be configured.

INDUSTRIAL APPLICABILITY The mobile body control system, the mobile body control device, and the mobile body control method according to the present invention are suitable for efficiently responding to survivors in disaster areas using mobile bodies.

N network 10 disaster management device 30 mobile control device 31 display unit 32 operation unit 33 communication I/F unit 34 wireless communication unit 35 storage unit 35a evacuation information 35b patrol route information 35c evacuation guidance information 35d position information 35e captured image information 35f evacuation Trajectory information 36 Control unit 36a Evacuation information acquisition unit 36b Patrol route identification unit 36c Captured image analysis unit 36d Evacuation guidance information notification unit 36e Evacuation guidance handover determination unit 36f Position information reception unit 36g Transfer information notification unit 36h Evacuation trajectory estimation unit 40, 40a , 40b, 40c moving object 41 imaging unit 42 altitude sensor 43 GNSS unit 44 reporting unit 45 wireless communication unit 46 rotor 47 storage unit 47a patrol route information 47b captured image information 47c evacuation guidance information 47e evacuation guidance time information 47f evacuation guidance standard time Information 48 control unit 48a movement control unit 48b imaging control unit 48c evacuation guidance unit 48e evacuation guidance time measurement unit 48f alert notification unit 48g position information acquisition unit 48h position information notification unit 48i takeover information reception unit 50 moving body control device 56 control unit 56a Patrol handover determination unit

Claims (9)

A first moving body and a second moving body equipped with an imaging device for capturing a still image or a moving image and performing patrol of a predetermined area, and movement control of the first moving body and the second moving body A mobile body control system having a mobile body control device that performs
The moving body control device is
an evacuation information acquisition unit that acquires the evacuation information from a management device that manages evacuation information related to evacuation from a predetermined area;
a patrol route identification unit that identifies a patrol route of the first moving body based on at least the evacuation information;
Evacuation guidance information notification for notifying evacuation guidance information for evacuating the person to the first moving body when a person is included in the still image or the moving image captured by the imaging device of the first moving body. Department and
a handover information notifying unit that notifies the second mobile body of handover information for handing over the patrol on the patrol route from the position where evacuation guidance of the person was started. control system. The first moving body is
a movement control unit that autonomously controls the movement of the first moving body, which is the own device, along the patrol route specified by the moving body control device;
an image transmission means for transmitting a still image or a moving image captured by the imaging device while moving on the patrol route to the mobile body control device;
and an evacuation guidance unit that, when the evacuation guidance information is received from the moving body control device, performs evacuation guidance for a person who is a target person for evacuation guidance included in the evacuation guidance information. 1. The mobile body control system according to 1. The evacuation guidance section is
3. The method according to claim 2, wherein when a guidance instruction for a person is received from the moving body control device, evacuation guidance for the person is performed by a predetermined alarm sound, a predetermined alarm message sound, and/or light emission. Mobile control system. The movement control unit is
3. The moving body control system according to claim 2, wherein when the evacuation guidance of the person is completed, the movement of the first moving body, which is the device itself, is autonomously controlled so as to return to a predetermined return position. . The first moving body is
A location information acquisition unit that acquires location information of a mobile object that is the own device;
a location information notification unit that notifies the mobile body control device of the location information acquired by the location information acquisition unit;
The moving body control device is
2. The second moving body is notified of the takeover information including position information where the first moving body has started evacuation guidance for the person and the patrol route of the first moving body. 5. The moving body control system according to any one of 1 to 4. The second moving body is
Movement control for autonomously controlling the movement of a second mobile body to a position where the first mobile body started evacuation guidance of the person based on the takeover information notified from the mobile body control device. Department and
and a movement control unit that autonomously controls movement of the patrol route from a position where the first moving body starts evacuation guidance of the person. 2. The moving body control system according to . The evacuation information acquisition unit
7. The mobile body control system according to any one of claims 1 to 6, wherein disaster information or dam discharge information is acquired from said management device as said evacuation information. A moving body control device equipped with an imaging device for capturing still images or moving images and performing movement control of a first moving body and a second moving body that patrol a predetermined area,
an evacuation information acquisition unit that acquires the evacuation information from a management device that manages evacuation information related to evacuation from a predetermined area;
a patrol route identification unit that identifies a patrol route of the first moving body based on at least the evacuation information;
Evacuation guidance information notification for notifying evacuation guidance information for evacuating the person to the first moving body when a person is included in the still image or the moving image captured by the imaging device of the first moving body. Department and
a handover information notifying unit that notifies the second mobile body of handover information for handing over the patrol on the patrol route from the position where evacuation guidance of the person was started. Control device. A first moving body and a second moving body equipped with an imaging device for capturing a still image or a moving image and performing patrol of a predetermined area, and movement control of the first moving body and the second moving body A mobile body control method in a mobile body control system having a mobile body control device that performs
an evacuation information acquisition step in which the mobile body control device acquires the evacuation information from a management device that manages evacuation information related to evacuation from a predetermined area;
a patrol route identifying step in which the mobile body control device identifies a patrol route of the first mobile body based on at least the evacuation information;
Evacuation guidance information for the moving body control device to guide the person to the first moving body to evacuate when a person is included in the still image or the moving image captured by the imaging device of the first moving body. an evacuation guidance information notification step for notifying
a handover information notification step in which the mobile body control device notifies the second mobile body of handover information for taking over patrol on the patrol route from the position where evacuation guidance of the person was started. A moving body control method characterized by:

Images