JP2023016686A - Moving route generation method for moving body, program, management server, and management system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a moving route generation method, a management server, etc. that are able to set a moving route for an autonomously moving body, including at least a moving route in a structure.

SOLUTION: A moving route generation method for generating a moving route in a structure for a moving body to move, according to the present invention, includes: a step in which, based on three-dimensional modal data indicating arrangement of components in the structure and having dimension information and based on three-dimensional map data, a three-dimensional reference data generation unit generates three-dimensional reference data in which the three-dimensional model data are arranged in the three-dimensional map data; and a step in which based on a reference coordinate system, which is either an orthogonal coordinate system having an arbitrary point as an origin coordinate in the three-dimensional reference data or a latitude-and-longitude system of the map data, the moving route generation unit generates moving route information for the moving body.

SELECTED DRAWING: Figure 7

COPYRIGHT: (C)2023,JPO&INPIT

Description

The present invention relates to a moving route generation method and program for a moving object, a management server, and a management system.

In recent years, autonomous control of flying objects such as drones and unmanned aerial vehicles (UAVs) (hereinafter collectively referred to as “flying objects”) and running objects such as unmanned ground vehicles (UGVs) Possible mobiles are beginning to be used in industry. Under such circumstances, Japanese Patent Laid-Open No. 2003-100000 discloses a system in which an object to be photographed is sequentially photographed at a plurality of preset waypoints of a flying object.

JP 2014-089160 A

However, the technology disclosed in Patent Document 1 uses a global navigation satellite system (GNSS) for self-position estimation outdoors and creates a moving route for a mobile object based on latitude and longitude information. A similar approach cannot be used for body movement paths.

In addition, when generating a movement route of a mobile object indoors (for example, in a structure such as a building), for example, a technique such as Visual SLAM (Simultaneous Localization and Mapping) is used to manually control the movement of the mobile object. Based on the sensor information of the sensors installed in the , it is possible to acquire indoor 3D information in advance, and based on this, the user can set the movement route. In order to do so, it is difficult to understand the overall structure of the structure, it is difficult to identify the route to be actually moved within the structure, the object to be photographed, etc., and it is difficult to set a precise route that is sufficient for operation.

Furthermore, there is a desire to create a flight path that straddles the inside and outside of the structure, but as described above, since the flight path creation methods differ between the inside and outside of the structure, it is difficult to integrate them.

SUMMARY OF THE INVENTION The present invention has been made in view of such a background, and aims to provide a movement route generation method and a management server, etc., capable of setting a movement route of an autonomous mobile body including at least a movement route in a structure. aim.

The main invention of the present invention for solving the above problems is a movement route generation method for generating a movement route in a structure for movement of a moving body, wherein a three-dimensional reference data generation unit generates a step of generating three-dimensional reference data in which the three-dimensional model data is arranged in the three-dimensional map data based on the three-dimensional model data showing the layout of the structure and having dimension information and the three-dimensional map data; A path generation unit for moving the moving object based on a reference coordinate system that is either an orthogonal coordinate system having an arbitrary point in the three-dimensional reference data as an origin coordinate or a latitude/longitude coordinate system of the map data. and a step of generating route information.

According to the present invention, in particular, it is possible to provide a moving route generation method and a management server, etc., capable of setting a moving route of an autonomous mobile object including at least a moving route within a structure.

It is a figure which shows the structure of the management system concerning embodiment of this invention. 2 is a block diagram showing the hardware configuration of a management server in FIG. 1; FIG. 2 is a block diagram showing the hardware configuration of the user terminal in FIG. 1; FIG. FIG. 2 is a block diagram showing the hardware configuration of the flying object of FIG. 1; FIG. 2 is a block diagram showing functions of a management server in FIG. 1; FIG. It is a flow chart of the moving route generation method according to the embodiment of the present invention. It is an example of a display screen according to the embodiment of the present invention.

The contents of the embodiments of the present invention are listed and explained. The movement route generation method, management server, etc. according to the embodiment of the present invention have the following configuration.
[Item 1]
A movement path generation method for generating a movement path within a structure for movement of a moving object,
The three-dimensional reference data generation unit arranges the three-dimensional model data on the three-dimensional map data based on the three-dimensional model data indicating the arrangement of components in the structure and having dimension information and the three-dimensional map data. generating three-dimensional reference data according to
Based on a reference coordinate system, which is either an orthogonal coordinate system having an arbitrary point in the three-dimensional reference data as an origin coordinate or a latitude/longitude coordinate system of the map data, the moving route generation unit generates a map for the moving body. generating travel route information;
A moving route generation method characterized by:
[Item 2]
The step of generating the three-dimensional reference data includes the step of combining scales of the three-dimensional model data and the three-dimensional map data,
The moving route generation method according to item 1, characterized by:
[Item 3]
The three-dimensional model data is three-dimensional data based on BIM data of the structure,
3. A moving route generation method according to item 1 or 2, characterized by:
[Item 4]
A moving object control method for controlling movement of the moving object based on the moving route information generated by the moving route generating method according to any one of items 1 to 3,
When the movement route information is expressed in a latitude-longitude coordinate system,
a step of calculating direction information and distance information from arbitrary coordinates and converting at least part of the moving route information into an orthogonal coordinate system by a coordinate conversion unit;
A moving object control method, comprising: controlling movement of the moving object by a movement execution unit based on at least the direction information and the distance information.
[Item 5]
The arbitrary coordinates are the coordinates of the movement start point,
A moving body control method according to item 4, characterized by:
[Item 6]
the arbitrary coordinates are waypoint coordinates outside the structure;
A moving body control method according to item 4, characterized by:
[Item 7]
The arbitrary coordinates are waypoint coordinates outside the structure immediately before entering the structure,
A moving body control method according to item 4, characterized by:
[Item 8]
A program for a computer to execute a movement route generation method for generating a movement route in a structure for movement of a mobile object,
The moving route generation method includes:
The three-dimensional reference data generation unit arranges the three-dimensional model data on the three-dimensional map data based on the three-dimensional model data indicating the arrangement of components in the structure and having dimension information and the three-dimensional map data. generating three-dimensional reference data according to
Based on a reference coordinate system, which is either an orthogonal coordinate system having an arbitrary point in the three-dimensional reference data as an origin coordinate or a latitude/longitude coordinate system of the map data, the moving route generation unit generates a map for the moving body. generating travel route information;
A program characterized by
[Item 9]
A management server that generates a movement route within a structure for movement of a mobile body,
Three-dimensional reference data is generated by arranging the three-dimensional model data in the three-dimensional map data based on the three-dimensional model data showing the arrangement of components in the structure and having dimension information and the three-dimensional map data. a three-dimensional reference data generator;
Based on a reference coordinate system that is either an orthogonal coordinate system having an arbitrary point as an origin coordinate in the three-dimensional reference data or a latitude/longitude coordinate system of the map data, moving route information for the moving body is generated. including a movement path generation unit,
A management server characterized by:
[Item 10]
A management system for generating a movement route within a structure for movement of a moving object,
Three-dimensional reference data is generated by arranging the three-dimensional model data in the three-dimensional map data based on the three-dimensional model data showing the arrangement of components in the structure and having dimension information and the three-dimensional map data. a three-dimensional reference data generator;
Based on a reference coordinate system that is either an orthogonal coordinate system having an arbitrary point as an origin coordinate in the three-dimensional reference data or a latitude/longitude coordinate system of the map data, moving route information for the moving body is generated. including a movement path generation unit,
A management system characterized by:

<Details of Embodiment>
Embodiments of a movement route generation method for a moving body, a management server, and the like according to embodiments of the present invention will be described below. In the accompanying drawings, the same or similar elements are denoted by the same or similar reference numerals and names, and duplicate descriptions of the same or similar elements may be omitted in the description of each embodiment. Also, the features shown in each embodiment can be applied to other embodiments as long as they are not mutually contradictory.

<Configuration>
As shown in FIG. 1, the management system according to the present embodiment includes a management server 1, one or more user terminals 2, one or more mobile objects 4 (for example, flying objects or running objects), and one or more and a mobile body storage device 5. The management server 1, the user terminal 2, the mobile unit 4, and the mobile unit storage device 5 are connected so as to be able to communicate with each other via a network. Note that the illustrated configuration is only an example, and the configuration is not limited to this, and for example, a configuration that is carried by the user without having the mobile unit storage device 5 may be employed.

<Management Server 1>
FIG. 2 is a diagram showing the hardware configuration of the management server 1. As shown in FIG. Note that the illustrated configuration is an example, and other configurations may be employed.

As illustrated, a management server 1 is connected to a user terminal 2, a mobile unit 4, and a mobile unit storage device 5 to form part of this system. The management server 1 may be, for example, a general-purpose computer such as a workstation or personal computer, or may be logically realized by cloud computing.

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

The processor 10 is an arithmetic device that controls the overall operation of the management server 1, controls transmission and reception of data between elements, executes applications, and performs information processing necessary for authentication processing. For example, the processor 10 is a CPU (Central Processing Unit) and/or a GPU (Graphics Processing Unit), and executes a program for this system stored in the storage 12 and developed in the memory 11 to perform each information process. .

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

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

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

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

A bus 15 is commonly connected to the above elements and transmits, for example, address signals, data signals and various control signals.

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

<Moving body 4>
The moving object 4 is a known moving object including flying objects such as drones and unmanned aerial vehicles, and traveling objects such as unmanned ground vehicles, and particularly autonomously controllable moving objects. As a specific example of the mobile object 4, the flying object 4 is illustrated and demonstrated below. FIG. 4 is a block diagram showing the hardware configuration of the flying object 4. As shown in FIG. Flight controller 41 may have one or more processors, such as programmable processors (eg, central processing units (CPUs)).

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

Memory 411 may include, for example, separable media or external storage devices such as SD cards and random access memory (RAM). Data acquired from cameras/sensors 42 may be communicated directly to memory 411 and stored. For example, still image/moving image data captured by a camera or the like may be recorded in an internal memory or an external memory. It may be recorded in one of the user terminal 2 and the mobile storage device 5 . A camera 42 is installed on the flying object 4 via a gimbal 43 .

Flight controller 41 includes a control module, not shown, configured to control the state of the vehicle. For example, the control module may be configured to adjust the spatial orientation, velocity, and/or acceleration of a vehicle having six degrees of freedom (translational motions _x , _y , and _z , and rotational motions θx, θy, and θz). , ESC 44 (Electric Speed Controller) to control the propulsion mechanism (motor 45, etc.) of the aircraft. A propeller 46 is rotated by a motor 45 powered by a battery 48 to generate a lift force of the aircraft. The control module can control one or more of the states of the mount, sensors.

Flight controller 41 is configured to transmit and/or receive data from one or more external devices (e.g., transceiver (propo) 49, terminal, display, or other remote controller). It is possible to communicate with the unit 47 . Transceiver 49 may use any suitable means of communication, such as wired or wireless communication.

For example, the transceiver 47 utilizes one or more of a local area network (LAN), a wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) networks, telecommunications networks, cloud communications, and the like. can do.

The transmitting/receiving unit 47 transmits and/or receives one or more of data obtained by the sensors 42, processing results generated by the flight controller 41, predetermined control data, user commands from a terminal or a remote controller, and the like. be able to.

Sensors 42 according to the present embodiment include inertial sensors (acceleration sensors, gyro sensors), GPS sensors, proximity sensors (e.g., LiDAR (Light Detection And Ranging), etc.), or vision/image sensors (e.g., cameras). obtain.

<Management server functions>
FIG. 5 is a block diagram illustrating functions implemented in the management server 1. As shown in FIG. In the embodiment of the present invention, three-dimensional model data showing the arrangement of components (for example, walls, pillars, stairs, equipment, etc.) in a structure (for example, a building such as a building) and having dimensional information, and three-dimensional model data Based on the original map data, 3D reference data is generated by arranging the 3D model data in the 3D map data, and in the 3D reference data, the Cartesian coordinate system of the 3D model and the latitude and longitude coordinate system of the map data. It has various functional units for generating a movement path for a moving object based on one of the reference coordinate systems.

In this embodiment, the management server 1 includes a communication section 110 , a three-dimensional reference data generation section 120 , a movement route generation section 130 , a movement execution section 140 , an acquired information output section 150 and a storage section 160 . The storage unit 160 also includes various databases such as a three-dimensional data storage unit 161 , a movement route information storage unit 162 and a movement information storage unit 163 .

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

The 3D reference data generating unit 120 generates a 3D map data based on the 3D model data indicating the layout of components in the structure and having dimension information, and the 3D map data, in which the 3D model data is arranged on the 3D map data. Generate reference data. The 3D model data, the 3D map data, and the 3D reference data are data expressed in a 3D coordinate system, respectively, and are stored and managed in the 3D data storage unit 161 .

The three-dimensional model data is any three-dimensional model data created based on data created by CAD (Computer-Aided Design) design software, showing the arrangement of components in a structure and having dimensional information. Such data may be, for example, BIM (Building Information Modeling) data, CAD data, three-dimensional model data reconstructed from BIM data, etc., or based on two-dimensional blueprint data The three-dimensional model data may be obtained by generating a structure having a predetermined height, and the generation of the three-dimensional model data such as reconstruction is executed by the three-dimensional reference data generation unit 120 or the like. Alternatively, it may be executed outside the management server 1 and acquired inside. The three-dimensional model data can be data represented by a three-dimensional orthogonal coordinate system with an arbitrary set point as the origin (reference point).

3D map data is a virtual representation of the ground surface and at least a portion of the ground surface in a three-dimensional space. Alternatively, topography such as mountains and rivers may be reflected as three-dimensional data. The 3D map data can be data expressed in 3D coordinates, with latitude and longitude coordinates in the horizontal direction and altitude coordinates in the vertical direction.

The three-dimensional reference data may be, for example, three-dimensional data obtained by arranging and synthesizing the three-dimensional model data on the three-dimensional map data. Synthesis may be performed, for example, by aligning the two based on a user operation on the user terminal 2, and synthesizing the three-dimensional data of both as integrated three-dimensional data (three-dimensional reference data) at the determined position. In addition, the outline of the structure displayed on the three-dimensional model data of the structure and the outline of the structure grasped on the three-dimensional map data (for example, it can be grasped from a bird's-eye view aerial photograph from the sky), The contours of the designated structure) may be arranged using known alignment such as matching the contours, and synthesized as integral three-dimensional data (three-dimensional reference data). At this time, it is assumed that the scales of the 3D model data and the 3D map data are different.In that case, the dimension information of the 3D model data and the scale information of the 3D map data are compared to match the scales. good. The three-dimensional reference data can be data represented by three-dimensional coordinates as a reference coordinate system that is either the orthogonal coordinate system of the three-dimensional model described above or the latitude/longitude coordinate system of the map data described above.

In this way, by synthesizing the three-dimensional model data and the three-dimensional map data expressed by mutually different three-dimensional coordinate systems and expressing them by a unified three-dimensional reference coordinate system, the three-dimensional model data and the three-dimensional The 3D coordinate system of the map data will be matched. As a result, for example, when waypoints are set based on the three-dimensional reference data displayed on the user terminal 2, even if the movement route straddles the inside and outside of the structure, a unified three-dimensional It is possible to designate a position such as generation of a movement path based on the reference coordinate system.

For example, the movement route generation unit 130 sets one or more waypoints for the three-dimensional reference data displayed on the user terminal 2 by a user's selection operation, and generates movement route information by a known method based on the waypoints. may be generated, stored in the movement route information storage unit 162, and managed, or the three-dimensional reference data may be analyzed to obtain, for example, information on a specific or all components in the structure. It is also possible to calculate the moving route for which points are set, store this as moving route information in the moving route information storage unit 162, and manage it.

The movement route may be generated by passing through each waypoint with the position of the mobile body storage device 5 as the movement start position and the movement end position. , the position where the user carries the machine may be set as the movement start position, or the user may collect the machine at the movement end position. 5 (for example, position information, storage state information, storage device information, etc.), a movement route including the position of the mobile unit storage device 5 selected as the movement start position or movement end position is generated. It's okay.

The movement execution unit 140 includes a coordinate conversion unit 141, refers to the movement route information storage unit 162 and the movement information storage unit 163, and performs movement of the moving body 4 for inspection, security, construction progress management, and the like. Execute.

Here, the coordinate conversion unit 141 will be described. For example, when a latitude/longitude coordinate system is used as the reference coordinate system, the mobile object 4 can estimate its own position using GNSS during flight outside the structure. Although it is possible to use the expressed movement route information (including waypoint coordinate information) as it is, when the movement route includes inside a structure (indoor), it becomes a non-GNSS environment, and it is difficult to use it as it is. Therefore, using the coordinate conversion unit 141, at least part (including all) of the movement route information expressed in the latitude and longitude coordinate system is converted to arbitrary coordinates (for example, the coordinates of the movement start point, arbitrary coordinates outside the structure). The direction information and distance information from the coordinates of the point (especially the coordinates of the waypoint immediately before entering the structure) are calculated sequentially or collectively and converted into an orthogonal coordinate system. That is, since direction information and distance information from one waypoint to the other waypoint can be calculated based on, for example, two predetermined waypoint coordinates, direction information and distance information can be calculated on the movement route from the above arbitrary coordinates. By calculating the distance information, even if the movement route extends from the outside of the structure to the inside of the structure, the moving object 4 can move autonomously based on the information on which direction and how far it will move to the next waypoint. Since movement by control becomes possible, movement by autonomous control can be executed based on the same movement route information even if the movement route extends over the inside and outside of the structure. Conversely, moving route information expressed in an orthogonal coordinate system, current position information, and information acquisition position information acquired by the moving body 4 are expressed in latitude and longitude based on arbitrary coordinates serving as references in the orthogonal coordinate system. It is also possible to convert it into information and store it in the movement information storage unit 163, and for example, it may be used in the acquired information output unit 150, which will be described later.

The movement information storage unit 163 stores parameters used when the movement route generation unit 130 generates a movement route, and when the movement execution unit 140 executes autonomously controlled movement of the moving body 4 on the movement route. It stores information and information acquired during movement acquired on the movement route. Examples of specific parameters include movement speed, flight altitude (when the moving object 4 is a flying object), overlap rate of captured images, information obtained during movement (for example, image information, video information, etc.). including.

The acquired information output unit 150 generates output information to be transmitted to the user terminal 2 based on the information acquired during movement stored in the movement information storage unit 163 . In the present embodiment, for example, acquired information (still image, moving image, sound and other information) acquired by the moving body 4 on the movement route, or three-dimensional information such as that illustrated in FIG. Visualize model data and movement route information, display the current position based on the current position information, and a symbol that becomes a link for viewing the acquired information corresponding to the position associated with the acquired information. 3D data marked with (eg, 3D model data, 3D reference data, 3D map data, etc.) may be output in a browsable manner. By selecting the link on the user terminal 2, the corresponding acquired information may be displayed. At this time, if 3D data related to BIM data is used as 3D data, it is possible to have information for each structure that constitutes 3D data in association with BIM data, so it is possible to link each structure (for example, link generation) becomes possible.

<Example of moving route generation method>
Referring to FIGS. 6-7, the moving route generation method according to the present embodiment will be described, including the operation of the management system according to the present embodiment. FIG. 6 illustrates a flow chart of the moving route generation method according to this embodiment. This flowchart exemplifies a configuration in which an application is started up on the user terminal 2. However, the present invention is not limited to this. It may have a configuration in which various settings and the like are possible. Note that FIG. 7 is an example of a display screen related to the moving route generation method according to the embodiment of the present invention.

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

Next, the user creates a new movement plan (SQ102). For example, by setting "plan name", "area name", "address", etc., the user terminal 2 acquires and displays the three-dimensional reference data in the target structure, and creates a new movement plan. Start creating. The three-dimensional reference data may be generated in advance and stored in the three-dimensional data storage unit 161, or at this timing, the three-dimensional model data and the three-dimensional map data are read to generate and display the three-dimensional reference data. You may make it

Next, the user generates a moving route for moving the moving body 4 (SQ103). For example, as exemplified in FIG. 7, three-dimensional reference data displayed on the user terminal 2 (three-dimensional data in which three-dimensional model data generated from BIM data is arranged on three-dimensional map data in the example) , one or more waypoints (for example, expressed in a latitude-longitude coordinate system on the user terminal 2) are set by the user's selection operation, and a known method based on the waypoints (in the example, four waypoints are connected by straight lines), movement route information is generated.

Next, the user instructs the moving object 4 to start moving (SQ104). For example, the movement route information storage unit 162 and the movement information storage unit 163 are referenced to move the moving body 4 for inspection, security, construction progress management, and the like. At this time, based on the current position information expressed by the orthogonal coordinate system used for movement of the moving object 4, the current position information expressed by the latitude/longitude coordinate system is calculated, and the three-dimensional reference data on the user terminal 2 is calculated. may be displayed by superimposing the current position information on it. In particular, the current position of the moving body 4 may be dynamically displayed on the movement route.

Next, the user instructs the management server 1 to output the obtained information (SQ105). For example, route information of the actual movement of the moving body 4 may be superimposed on the three-dimensional reference data displayed on the user terminal 2 and displayed. In addition, the acquired information (still images, moving images, audio and other information) acquired by the moving body 4 on the movement route is displayed, and the position associated with the position information of the acquired information (especially the waypoint) 3D data (for example, 3D model data, 3D reference data, etc.) marked with a symbol that serves as a link for viewing acquired information corresponding to position information) may be output in a browsable manner. . By selecting the link on the user terminal 2, the corresponding obtained information may be displayed. At this time, if 3D data related to BIM data is used as 3D data, it is possible to have information for each component that constitutes 3D data in association with BIM data, so it is possible to link each component (for example, link generation) becomes possible.

In this way, the present invention can provide a moving route generation method, a management server, and the like that can set a moving route for an autonomous mobile body including at least a moving route within a structure. It should be noted that, in place of the configuration involving the execution of autonomous movement of the moving body 4 in SQ104 as described above, it may be configured to simply create an optimum movement route, and based on this, other users may , it is possible to display on the user terminal 2 of another user a moving route that serves as a model for manually moving the moving body 4 within the structure.

Further, in the above-described embodiment, the acquisition of information inside the structure by the moving body 4 was taken as a specific example. Devices, equipment, etc. used for inspection may be provided. More specifically, imaging devices (visible light cameras, infrared cameras, metal detectors, ultrasonic measuring devices, etc.), keying devices, etc., detection devices (metal detectors), sound collectors, odor measuring devices, gas detectors All devices necessary for knowing the state of the structure to be inspected having inner walls such as instruments, air pollution measuring instruments, detection devices (devices for detecting cosmic rays, radiation, electromagnetic waves, etc.) can be adopted.

Further, the embodiment may be, for example, guarding or monitoring inside a structure, and may include devices, equipment, etc. used for guarding or monitoring. More specifically, security and monitoring structures such as imaging devices (visible light cameras, infrared cameras, night vision cameras, metal detectors, ultrasonic measuring devices, etc.) and sensor devices (motion sensors, infrared sensors, etc.) Any device necessary for imaging and detecting anomalies in the system, intruders, etc., can be employed.

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

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

1 Management Server 2 User Terminal 4 Mobile 5 Mobile Storage Device

Claims (10)

A movement path generation method for generating a movement path within a structure for movement of a moving object,
The three-dimensional reference data generation unit arranges the three-dimensional model data on the three-dimensional map data based on the three-dimensional model data indicating the arrangement of components in the structure and having dimension information and the three-dimensional map data. generating three-dimensional reference data according to
Based on a reference coordinate system, which is either an orthogonal coordinate system having an arbitrary point in the three-dimensional reference data as an origin coordinate or a latitude/longitude coordinate system of the map data, the moving route generation unit generates a map for the moving body. generating travel route information;
A moving route generation method characterized by: The step of generating the three-dimensional reference data includes the step of combining scales of the three-dimensional model data and the three-dimensional map data,
2. The moving route generating method according to claim 1, characterized in that: The three-dimensional model data is three-dimensional data based on BIM data of the structure,
3. The moving route generation method according to claim 1 or 2, characterized in that: A moving object control method for controlling the movement of the moving object based on the moving route information generated by the moving route generating method according to any one of claims 1 to 3,
When the movement route information is expressed in a latitude-longitude coordinate system,
a step of calculating direction information and distance information from arbitrary coordinates and converting at least part of the moving route information into an orthogonal coordinate system by a coordinate conversion unit;
A moving object control method, comprising: controlling movement of the moving object by a movement execution unit based on at least the direction information and the distance information. The arbitrary coordinates are the coordinates of the movement start point,
5. The moving body control method according to claim 4, characterized in that: the arbitrary coordinates are waypoint coordinates outside the structure;
5. The moving body control method according to claim 4, characterized in that: The arbitrary coordinates are waypoint coordinates outside the structure immediately before entering the structure,
5. The moving body control method according to claim 4, characterized in that: A program for a computer to execute a movement route generation method for generating a movement route in a structure for movement of a mobile object,
The moving route generation method includes:
The three-dimensional reference data generation unit arranges the three-dimensional model data on the three-dimensional map data based on the three-dimensional model data indicating the arrangement of components in the structure and having dimension information and the three-dimensional map data. generating three-dimensional reference data according to
Based on a reference coordinate system, which is either an orthogonal coordinate system having an arbitrary point in the three-dimensional reference data as an origin coordinate or a latitude/longitude coordinate system of the map data, the moving route generation unit generates a map for the moving body. generating travel route information;
A program characterized by A management server that generates a movement route within a structure for movement of a mobile body,
Three-dimensional reference data is generated by arranging the three-dimensional model data in the three-dimensional map data based on the three-dimensional model data showing the arrangement of components in the structure and having dimension information and the three-dimensional map data. a three-dimensional reference data generator;
Based on a reference coordinate system that is either an orthogonal coordinate system having an arbitrary point as an origin coordinate in the three-dimensional reference data or a latitude/longitude coordinate system of the map data, moving route information for the moving body is generated. including a movement path generation unit,
A management server characterized by: A management system for generating a movement route within a structure for movement of a moving object,
Three-dimensional reference data is generated by arranging the three-dimensional model data in the three-dimensional map data based on the three-dimensional model data showing the arrangement of components in the structure and having dimension information and the three-dimensional map data. a three-dimensional reference data generator;
Based on a reference coordinate system that is either an orthogonal coordinate system having an arbitrary point as an origin coordinate in the three-dimensional reference data or a latitude/longitude coordinate system of the map data, moving route information for the moving body is generated. including a movement path generation unit,
A management system characterized by:

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