JP7290049B2 - Shooting control device, shooting control method, and shooting control program - Google Patents

Description

The present disclosure relates to an imaging control device, an imaging control method, and an imaging control program.

At the disaster site, firefighters first check the situation of the disaster site (dangerous places that hinder rescue activities and places that should be prioritized for rescue operations), and stay at the site command post set up near the site. Report the situation on the ground to the commander. The commander uses the contents of the report to establish a policy for rescue activities, and the firefighters start rescue activities according to the policy.
Therefore, in order to carry out rescue activities safely and quickly at the disaster site, it is required that the firefighters check the situation of the disaster site comprehensively in a short time.

Recently, a system has been developed in which firefighters photograph the disaster site with a camera and wirelessly transmit the photographed image as a means of confirming the situation at the disaster site.
Also, recently, a technique has been proposed for taking a short and comprehensive image of an object to be imaged, such as a disaster site.
For example, the technology disclosed in Patent Literature 1 captures an image of a structure using an imaging unit, and uses a map stored in a storage unit and the position and orientation of the imaging unit to specify an imaged location on the map. , to display the imaged locations on the map.

Japanese Patent No. 6076852

However, there are variations in the photographing skills (speed and accuracy) of workers (firefighters, etc.) for photographing disaster sites. As a result, due to variations in the shooting skills of workers, there are places where multiple workers take duplicate pictures, resulting in time loss. There have been cases where shooting omissions have occurred. In order to prevent this, it is necessary to grasp the photographing skill of each worker, but related technologies such as the technology disclosed in Patent Document 1 include means for grasping the photographing skill of each worker. The problem is that it doesn't exist.

An object of the present disclosure is to solve the above-described problems and to provide an imaging control device, an imaging control method, and an imaging control program that can grasp the imaging skill of each worker who takes an image of a disaster site.

An imaging control device according to one aspect includes:
Using a map of the disaster site and the positions, pan angles, and tilt angles of the cameras carried by each of the workers who photograph the disaster site, a photographing area identification unit that identifies a photographing area on the map that has been photographed by a camera;
a photographing speed calculation unit that calculates, for each of the plurality of workers, a photographing speed indicating the number of photographing areas on the map that the worker has completed photographing with a camera per unit time;
Prepare.

An imaging control method according to one aspect includes:
Using a map of the disaster site and the positions, pan angles, and tilt angles of the cameras carried by each of the workers who photograph the disaster site, identifying a shooting area on the map that has been shot by a camera;
a step of calculating, for each of the plurality of workers, a photographing speed indicating the number of photographing areas on the map that the worker has completed photographing with a camera per unit time;
including.

An imaging control program according to one aspect comprises:
to the computer,
Using a map of the disaster site and the positions, pan angles, and tilt angles of the cameras carried by each of the workers who photograph the disaster site, A procedure of identifying a shooting area on the map that has completed shooting with a camera;
a step of calculating, for each of the plurality of workers, a photographing speed indicating the number of photographing areas on the map that the worker has completed photographing with a camera per unit time;
to run.

According to the above-described aspect, it is possible to provide an imaging control device, an imaging control method, and an imaging control program capable of grasping the imaging skills of each worker who takes an image of a disaster site.

1 is a diagram showing a configuration example of an imaging control system according to Embodiment 1; FIG. 1 is a block diagram showing a configuration example of an imaging control device according to Embodiment 1; FIG. 4 is a flowchart showing an example of the operation flow of the imaging control device according to Embodiment 1; FIG. FIG. 10 is a diagram showing a configuration example of an imaging control system according to Embodiment 2; FIG. 11 is a block diagram showing a configuration example of an imaging control device according to Embodiment 2; FIG. 9 is a block diagram showing a configuration example of a shooting plan formulating unit according to Embodiment 2; FIG. 11 is a diagram for explaining a configuration example premised in a method of formulating a photographing plan in a photographing plan formulating unit according to Embodiment 2; FIG. 11 is a diagram for explaining a specific example of a method of formulating a photographing plan in a photographing plan formulating unit according to Embodiment 2; FIG. 11 is a diagram for explaining a specific example of a method of formulating a photographing plan in a photographing plan formulating unit according to Embodiment 2; FIG. 10 is a diagram illustrating another specific example of a method of formulating a photographing plan in the photographing plan formulating unit according to Embodiment 2; FIG. 11 is a diagram for explaining still another specific example of a method of formulating a photographing plan in the photographing plan formulating unit according to Embodiment 2; FIG. 11 is a flow diagram showing an example of an operation flow of the imaging control device according to Embodiment 2; FIG. 13 is a diagram showing a configuration example of an imaging control system according to Embodiment 3; FIG. 11 is a block diagram showing a configuration example of an imaging control device according to Embodiment 3; FIG. 12 is a flow diagram showing an example of the operation flow of the imaging control device according to Embodiment 3; 2 is a block diagram showing a hardware configuration example of a computer that implements the imaging control device according to Embodiments 1 to 3; FIG.

Embodiments of the present disclosure will be described below with reference to the drawings. Note that the following descriptions and drawings are appropriately omitted and simplified for clarity of explanation. Further, in each drawing below, the same elements are denoted by the same reference numerals, and redundant description is omitted as necessary. In addition, specific numerical values and the like shown below are merely examples for facilitating understanding of the present disclosure, and are not limited thereto.

<Embodiment 1>
First, referring to FIG. 1, the configuration of the imaging control system according to the first embodiment will be described. FIG. 1 is a diagram showing a configuration example of an imaging control system according to the first embodiment. The imaging control system according to the first embodiment is a system for controlling imaging at a disaster site. Here, the disaster site represents the site where the disaster occurred, and the disaster includes natural disasters such as earthquakes and floods, and man-made disasters such as accidents and fires. In the following explanation, it is assumed that the workers who photograph the disaster scene are firefighters, but the workers are not limited to firefighters, and may include rescue workers, volunteers, and the like.

As shown in FIG. 1, the imaging control system according to the first embodiment includes N (N is a natural number equal to or greater than 2) cameras 10-1 to 10-N, and an imaging control device 20. there is Hereinafter, the cameras 10-1 to 10-N may be referred to as the cameras 10 unless the cameras 10-1 to 10-N are specified.

Cameras 10-1 to 10-N are cameras carried by N firefighters who photograph disaster sites.
The camera 10 has at least a GPS (Global Positioning System) function, an electronic compass function, and a gyro function, and is capable of acquiring the position, pan angle, and tilt angle of the camera 10 .

The camera 10 also has a wireless communication function, and wirelessly transmits camera information including the position, pan angle, and tilt angle of the camera 10 and an image captured in that state to the image capturing control device 20. Suppose that it is possible to Note that any wireless communication method may be used, and examples include sound wave, short-range wireless, and wireless LAN (Local Area Network).

Next, the configuration of the imaging control device 20 according to the first embodiment will be described with reference to FIG. FIG. 2 is a block diagram showing a configuration example of the imaging control device 20 according to the first embodiment.
As shown in FIG. 2 , the imaging control device 20 according to the first embodiment includes an imaging region identifying section 21 and an imaging speed calculating section 22 .

The photographing area identification unit 21 receives a three-dimensional map of the disaster site, and obtains camera information (position, pan angle, tilt angle, and captured images) are input. The shooting area specifying unit 21 uses a three-dimensional map of the disaster site and the positions, pan angles, and tilt angles of each of the plurality of cameras 10-1 to 10-N to determine, for each N firefighters, The shooting area on the three-dimensional map that the firefighter completed shooting with the camera 10 is specified.

In addition, the photographing area specifying unit 21 further performs image matching between the photographed image photographed by the camera 10 and the photographed image photographed by the surveillance camera in the past and the posted image posted by the general user, and performs image matching on the three-dimensional map. may be specified.

The photographing speed calculation unit 22 calculates, for each N firefighters, the photographing speed indicating the number of photographing regions on the three-dimensional map that the firefighters have completed photographing with the camera 10 per unit time. At this time, the three-dimensional map may be divided into unit blocks, and the number of unit blocks photographed by the firefighters per unit time may be calculated as the photographing speed. Here, the imaging speed calculation unit 22 can calculate the imaging speed by monitoring the operation of the imaging region specifying unit 21, for example. For example, the photographing speed calculation unit 22 counts each time the photographing region specifying unit 21 identifies a photographing region in which a certain fire brigade member has completed photographing within a unit time, and the count value counted within the unit time is It is conceivable to use the photographing speed of the crew members.

Next, with reference to FIG. 3, the operation flow of the imaging control device 20 according to the first embodiment will be described. FIG. 3 is a flowchart showing an operation flow example of the imaging control device 20 according to the first embodiment.

As shown in FIG. 3, first, the imaging region specifying unit 21 uses a three-dimensional map of the disaster site, and the positions, pan angles, and tilt angles of the cameras 10-1 to 10-N. Then, for each of the N firefighters, the shooting area on the three-dimensional map that the firefighter has completed shooting with the camera 10 is specified (step S101).

Subsequently, the imaging speed calculation unit 22 calculates, for each of the N firefighters, the imaging speed indicating the number of imaging areas on the three-dimensional map captured by the firefighter with the camera 10 per unit time (step S102). ).

As described above, according to the first embodiment, the photographing speed calculation unit 22 calculates, for each of N firefighters photographing the disaster site, the three-dimensional images that the firefighters have completed photographing with the camera 10 per unit time. A shooting speed indicating the number of shooting areas on the map is calculated.

Therefore, it is possible to grasp the photographing skills of each of the N firefighters who photograph the disaster site. Therefore, as will be described later, using the shooting skills of each of the N firefighters, it becomes possible to formulate a shooting plan for the disaster site.

<Embodiment 2>
Next, the configuration of the imaging control system according to the second embodiment will be described with reference to FIG. FIG. 4 is a diagram showing a configuration example of an imaging control system according to the second embodiment.
As shown in FIG. 4, the imaging control system according to the second embodiment has N earphones 11-1 to 11-N added to the configuration of the first embodiment shown in FIG. and the point that the imaging control device 20 is changed to the imaging control device 20A. Hereinafter, the earphones 11-1 to 11-N may be referred to as the earphones 11 unless the earphones 11-1 to 11-N are specified.

The earphones 11-1 to 11-N are earphones carried and worn by N firefighters who photograph the disaster site, and are an example of a photographing instruction receiving unit.
The earphone 11 is connected to the camera 10, for example, and outputs the shooting instruction wirelessly received by the camera 10 from the shooting control device 20 as voice.

Note that the earphone 11 itself may have a wireless communication function, and the earphone 11 may be provided independently of the camera 10 .
Also, instead of the earphone 11, another photographing instruction receiving unit may be provided. As another shooting instruction receiving unit, for example, a display device such as a head mounted display that displays shooting instructions, a projector that projects and displays shooting instructions, and the like can be considered.

Next, the configuration of the imaging control device 20A according to the second embodiment will be described with reference to FIG. FIG. 5 is a block diagram showing a configuration example of an imaging control device 20A according to the second embodiment.
As shown in FIG. 5, the imaging control apparatus 20A according to the second embodiment has a imaging plan formulation unit 23, an imaging instruction generation unit 24, Another difference is that a shooting instruction transmission unit 25 is added.

The imaging plan formulation unit 23 determines the three-dimensional map of the disaster site, the imaging area on the three-dimensional map specified by the imaging area specifying unit 21, and the N firefighters calculated by the imaging speed calculation unit 22. Using the photographing speed and , a photographing plan is formulated for each of the N firefighters to indicate the bases that the firefighters will photograph in the next specified time (for example, T seconds). In other words, the shooting plan formulating unit 23 formulates a shooting plan every prescribed time. Note that the shooting plan formulating unit 23 may further use other parameters (for example, the movement speed of the fire brigade) to formulate the shooting plan.

The photographing instruction creating unit 24 uses the photographing plan formulated by the photographing plan formulating unit 23 to create, for each of the N firefighters, a photographing instruction that instructs the base to be photographed by the firefighter at the next specified time. .

The shooting instruction transmitting unit 25 wirelessly transmits the shooting instruction created by the shooting instruction creating unit 24 to the earphones 11 of each of the N firefighters. This photographing instruction is output as a voice from the earphone 11 and transmitted to the firefighter. At the next prescribed time, the firefighter will take pictures with the camera 10 at the base indicated by this picture taking instruction.

Note that the shooting plan may not only indicate the base where the firefighters will shoot at the next specified time, but also show detailed shooting areas within the base. In that case, the shooting instruction may indicate a detailed shooting area within the base by specifying the position, pan angle, and tilt angle of the camera 10, for example.

In addition, when the camera 10 does not meet the shooting conditions for automatic detection of danger (for example, when the camera 10 moves quickly and the shot image is blurred), the shooting instruction transmission unit 25 mounts the camera 10. You may send the instructions of re-shooting to the firefighter who did.

Now, with reference to FIG. 6, the configuration of the imaging plan formulation unit 23 according to the second embodiment will be described in detail. FIG. 6 is a block diagram showing a configuration example of the imaging plan formulation unit 23 according to the second embodiment.
As shown in FIG. 6, the imaging plan formulation unit 23 according to the second embodiment includes a policy selection unit 231, a candidate plan formulation unit 232, a candidate plan evaluation unit 233, and a candidate plan selection unit 234.

The policy selection unit 231 selects a policy for formulating an imaging plan. Here, it is premised that, once photographing is started at a base, the photographing of that base is continued until the photographing of that base is completed. For example, policies may include:
・Maximize the number of shooting areas:
The policy is to maximize the number of areas photographed by firefighters during the next specified time.
・Maximize the number of points reached:
Policy to maximize the number of base arrivals, which indicates the number of bases that firefighters will reach in the next specified time.
·safety:
Policy to ensure safety. For example, it is not allowed for one person to photograph one base, and only X (where X is a natural number equal to or greater than 2) people can photograph one base.

Note that the policy selection unit 231 may select only one policy, or may select a combination of a plurality of policies.
Also, the policy selection unit 231 may select a policy instructed by a user (for example, a commander), or may select a predetermined policy.

The candidate plan formulation unit 232 uses the three-dimensional map of the disaster site and the shooting area on the three-dimensional map specified by the shooting area specifying unit 21 to create a plurality of candidates for the shooting plan for the next specified time. Develop a candidate plan.

Depending on the policy selected by the policy selection section 231, the candidate plan formulation section 232 further uses the selected policy to formulate a plurality of candidate plans. For example, when "safety" is included in the policy selected by the policy selection unit 231, a plurality of candidate plans for photographing one base with X or more people are formulated with "safety" as a criterion.

The candidate plan evaluation unit 233 uses the three-dimensional map of the disaster site and the shooting speed of the N firefighters calculated by the shooting speed calculation unit 22 to evaluate a plurality of candidates formulated by the candidate plan formulation unit 232. An evaluation value corresponding to the policy selected by the policy selection unit 231 is calculated for each plan. For example, if the policy is "maximize the number of shooting areas", the number of shooting areas is calculated as the evaluation value, and if the policy is "maximize the number of points reached", the number of points reached is calculated as the evaluation value. do it. When calculating the evaluation value, the candidate plan evaluation unit 233 may further use other parameters (for example, the movement speed of the firefighters) to calculate the evaluation value.

The candidate plan selection unit 234 selects the candidate plan with the highest evaluation value calculated by the candidate plan evaluation unit 233 from among the plurality of candidate plans formulated by the candidate plan formulation unit 232 as the shooting plan for the next specified time. select.

A specific example will be given below of how the imaging plan formulation unit 23 according to the second embodiment formulates an imaging plan.
Here, as shown in FIG. 7, the following configuration is assumed.
・Three firefighters gathered at base 1 search three bases 1, 2, and 3 ・Number of shooting areas at base n [pieces] = Sn (n = 1, 2, 3)
・Distance between point n and point m [m]=Lnm (n, m=1, 2, 3, n≠m)
・ Shooting speed of each firefighter [pieces/second] = vN (N = 1, 2, 3)
・Moving speed of each firefighter [m/sec] = uN (N = 1, 2, 3)
・Specified time [seconds] = T
A method of formulating a photographing plan for each policy based on the above configuration will be described below.

(1) When the policy is "maximize the number of imaging areas" First, with reference to Figs. 8 and 9, a method of formulating an imaging plan when the policy is "maximizing the number of imaging areas" will be described. do. 8 and 9 show operations after the policy selection unit 231 selects the policy of "maximizing the number of imaging areas".

As shown in FIG. 8, when the policy selection unit 231 selects the policy of “maximizing the number of imaging areas”, the candidate plan formulation unit 232 first selects a plurality of candidates for the imaging plan for the next T seconds. A plan is formulated (step S201). In the example of FIG. 8, nine candidate plans are formulated.

Subsequently, the candidate plan evaluation unit 233 calculates the number of photographing areas that will be photographed in the next T seconds for each of the nine candidate plans formulated by the candidate plan formulating unit 232 (step S202). In the example of FIG. 8, candidate plan 2. is a numerical value when base 1 is photographed by firefighters 1 and 2 and base 2 is photographed by firefighter 3 . Also, the candidate plan 3. is a numerical value when base 1 is photographed by firefighters 1 and 2 and base 3 is photographed by firefighter 3 . Also, candidate plan 4. is a numerical value when base 1 is photographed by fire brigade member 1 and base 2 is photographed by fire brigade members 2 and 3 . Also, the candidate plan 5. is a numerical value when firefighter 1 shoots base 1, firefighter 2 shoots base 2, and firefighter 3 shoots base 3. Also, the candidate plan 7. is a numerical value when base 2 is photographed by firefighters 1 and 2 and base 3 is photographed by firefighter 3 . Also, candidate plans8. is a numerical value when base 2 is photographed by fire brigade member 1 and base 3 is photographed by fire brigade members 2 and 3 . Also, when a plurality of firefighters move, the movement time is calculated using the movement speed of the firefighter whose movement speed is the slowest.

After that, the candidate plan selection unit 234 selects the candidate plan that maximizes the number of imaging regions calculated by the candidate plan evaluation unit 233 from among the nine candidate plans formulated by the candidate plan formulation unit 232 (step S203). ). In the example of FIG. 8, candidate plans 1 . (A plan to photograph base 1 by three people) is selected. Here, it is assumed that (v1+v2+v3)T<S1. This indicates that even if three firefighters shoot the site 1 for T seconds, the shooting of the site 1 is not completed. Therefore, when the number S' of photographing areas for which photographing is completed after T seconds satisfies S'<(S1+S2+S3), the following is executed.

That is, as shown in FIG. 9, the candidate plan formulating unit 232 formulates a plurality of candidate plans including the site 1 as a photographing target for the next T seconds (step S204). In the example of FIG. 9, five candidate plans are formulated.

Subsequently, the candidate plan evaluation unit 233 calculates the number of photographing areas that will be photographed in the next T seconds for each of the five candidate plans formulated by the candidate plan formulation unit 232 (step S205). In the example of Figure 9, the candidate plan 2. ~ 5. The numerical value of the number of photographing areas is the candidate plan 2. in FIG. ~ 5. As with , this is a numerical value when firefighters are deployed.

After that, the candidate plan selection unit 234 selects the candidate plan that maximizes the number of imaging regions calculated by the candidate plan evaluation unit 233 from among the five candidate plans formulated by the candidate plan formulation unit 232 (step S206). ). In the example of Figure 9, the candidate plan 2. (A plan to shoot base 1 with two people and base 2 with one person) is selected. Here, it is assumed that S'+(v1+v2)T<S1<S'+(v1+v2+v3)T.

(2) When the Policy is “Maximize the Number of Arrivals at a Base” Next, with reference to FIG. 10, a method of formulating a shooting plan when the policy is “maximization of the number of arrivals at a base” will be described. Note that FIG. 10 shows the operation after the policy selection unit 231 selects the policy of "maximizing the number of points reached".

As shown in FIG. 10, when the policy selection unit 231 selects the policy of “maximizing the number of base arrivals”, first, the candidate plan formulation unit 232 selects a plurality of candidates for the shooting plan for the next T seconds. A plan is formulated (step S301). In the example of FIG. 10, nine candidate plans are formulated.

Subsequently, the candidate plan evaluation unit 233 calculates the number of sites reached by the firefighters in the next T seconds for each of the nine candidate plans formulated by the candidate plan formulation unit 232 (step S302).

After that, the candidate plan selection unit 234 selects the candidate plan that maximizes the number of base arrivals calculated by the candidate plan evaluation unit 233 from among the nine candidate plans formulated by the candidate plan formulation unit 232 (step S303). ). In the example of FIG. 10, the candidate plan 5. which has the maximum number of base arrivals of 3. (A plan to photograph base 1 by one person, base 2 by one person, and base 3 by one person) is selected.

(3) When the policy is a combination of "maximization of the number of imaging areas" and "safety" Next, referring to FIG. 11, the policy is a combination of "maximizing the number of imaging areas" and "safety" A method of formulating a photographing plan in the case of . Note that FIG. 11 shows the operation after the policy selection unit 231 selects a policy of combining "maximization of the number of imaging regions" and "safety".

As shown in FIG. 11 , when the policy selection unit 231 selects a policy of combining “maximization of the number of imaging areas” and “safety”, first, the candidate plan formulation unit 232 selects , a plurality of candidate plans for the next T seconds of shooting plans are formulated (step S401). The example of FIG. 11 is an example in which the standard of "safety" is the standard that three or more people photograph one base, and three candidate plans are formulated.

Subsequently, the candidate plan evaluation unit 233 calculates the number of photographing areas that will be photographed in the next T seconds for each of the three candidate plans formulated by the candidate plan formulating unit 232 (step S402).

After that, the candidate plan selection unit 234 selects the candidate plan that maximizes the number of imaging regions calculated by the candidate plan evaluation unit 233 from among the three candidate plans formulated by the candidate plan formulation unit 232 (step S403). ). In the example of FIG. 11, candidate plans 1 . (A plan to photograph base 1 by three people) is selected.

Next, with reference to FIG. 12, an operational flow of the imaging control device 20A according to the second embodiment will be described. FIG. 12 is a flowchart showing an operation flow example of the imaging control device 20A according to the second embodiment. It should be noted that the processing after step S503 in FIG. 12 is performed at regular time intervals.

As shown in FIG. 12, first, steps S501 and S502 similar to steps S101 and S102 shown in FIG. 3 are performed.

Subsequently, the imaging plan formulation unit 23 determines the three-dimensional map of the disaster site, the imaging area on the three-dimensional map in which the N firefighters identified by the imaging area identification unit 21 completed imaging, and the imaging speed calculation unit. 22, and the imaging speed of the N firefighters calculated in step S503, for each of the N firefighters, a shooting plan indicating the bases where the firefighters will shoot at the next prescribed time is formulated (step S503). .

Subsequently, the photographing instruction creating unit 24 uses the photographing plan formulated by the photographing plan formulating unit 23 to instruct, for each of the N firefighters, a base where the firefighter will photograph at the next specified time. (step S504).

After that, the photographing instruction transmitting unit 25 wirelessly transmits the photographing instruction created by the photographing instruction creating unit 24 to the earphones 11 worn by each of the N firefighters (step S505). This photographing instruction is voice-output from the earphone 11 and transmitted to the firefighters. At the next prescribed time, the firefighter will take pictures with the camera 10 at the base indicated by this picture taking instruction.

As described above, according to the second embodiment, the imaging plan formulation unit 23 uses the three-dimensional map of the disaster site, the imaging area on the three-dimensional map specified by the imaging area specifying unit 21, the imaging speed calculation unit Using the photographing speed of each of the N firefighters calculated by 22, a photographing plan is formulated for each of the N firefighters that indicates the bases to be photographed by the firefighter at the next specified time.

Therefore, according to the shooting skill of each of the N firefighters who shoot the disaster site, it is possible to formulate a shooting plan in which the firefighters are efficiently arranged at optimal positions. As a result, due to variations in the shooting skills of firefighters, there may be places where multiple firefighters take duplicate shots, resulting in time loss. It is possible to avoid the occurrence of omission of shooting due to misunderstanding.

<Embodiment 3>
Next, with reference to FIG. 13, the configuration of the imaging control system according to the third embodiment will be described. FIG. 13 is a diagram showing a configuration example of an imaging control system according to the third embodiment.
As shown in FIG. 13, the imaging control system according to the third embodiment has N microphones 12-1 to 12-N and tablet 12-1 to 12-N as compared with the configuration of the second embodiment shown in FIG. The difference is that the terminal 30 is added and the imaging control device 20A is changed to the imaging control device 20B. Hereinafter, the microphones 12-1 to 12-N may be referred to as the microphones 12 unless the microphones 12-1 to 12-N are specified.

The microphones 12-1 to 12-N are microphones carried and worn by N firefighters who photograph the disaster site.
The microphone 12 is connected to the camera 10 , for example, and wirelessly transmits collected sound to the imaging control device 20 via the camera 10 .
Note that the microphone 12 itself may have a wireless communication function, and the microphone 12 may be provided independently of the camera 10 .

The tablet terminal 30 is a tablet terminal carried by a commander who directs the disaster site. The tablet terminal 30 has a wireless communication function, and is capable of wirelessly receiving and displaying an imaging result, which is wirelessly transmitted from the imaging control device 20 and will be described later. As with the camera 10, any wireless communication system may be used.

Next, with reference to FIG. 14, the configuration of the imaging control device 20B according to the third embodiment will be described. FIG. 14 is a block diagram showing a configuration example of an imaging control device 20B according to the third embodiment.
As shown in FIG. 14, the imaging control device 20B according to the third embodiment has a dangerous event detection unit 26 and an imaging result transmission unit 27, which are different from the configuration of the second embodiment shown in FIG. The difference is the added point.

The dangerous event detection unit 26 recognizes the image captured by the camera 10 in the shooting area on the three-dimensional map specified by the shooting area specifying unit 21, and also recognizes the sound collected by the microphone 12 in the shooting area. is voice-recognized, and the result of image recognition and voice recognition is used to detect a dangerous event occurring in the shooting area. For example, the dangerous event detection unit 26 uses the image recognition result of the captured image captured by the camera 10 to detect smoke, flames, oil leaks, disconnection of electric wires, and danger of collapse (dangerous places that hinder rescue activities). , people waiting for rescue (places where rescue should be given priority) may be automatically detected. In addition, the dangerous event detection unit 26 uses the voice recognition result of the voice collected by the microphone 12 to detect dangers (unusual smells and noises) that firefighters have noticed and voiced, although they cannot be visually understood. , may be automatically detected from the voice of firefighters. In addition, the dangerous event detection unit 26 may automatically detect the auxiliary information of the danger detected using the image recognition result from the voice (for example, while pointing the camera 10 at the dangerous place, "This place is likely to collapse and it is dangerous"). etc.). In addition, the dangerous event detection unit 26 can automatically estimate the direction of the sound source where the dangerous event occurred using sounds captured by the microphones 12 of a plurality of firefighters (for example, sounds of explosions, calls for help, etc.). good.

The photographing result transmitting unit 27 creates a photographing result in which the photographing areas specified by the photographing area specifying unit 21 are superimposed on the three-dimensional map so as to be identifiable by coloring or the like, and the created photographing result is carried by the commander. It is wirelessly transmitted to the tablet terminal 30 . In addition, the photographing result transmitting unit 27 may create a photographing result in which regions in which the dangerous event detected by the dangerous event detecting unit 26 has occurred are superimposed on the three-dimensional map so as to be identifiable by coloring or the like. This shooting result is displayed on the tablet terminal 30 and confirmed by the commander. The commander confirms the results of this photographing and decides the policy of rescue activities at the disaster site.

In the third embodiment, it is assumed that the destination to which the photographing result transmission unit 27 transmits the photographing result is the tablet terminal 30 carried by the commander, but the destination is not limited to this. In addition to commanders, for example, fire departments, police stations, hospitals, etc. are also requested to quickly check the situation at the disaster site. Therefore, the transmission destination of the photographing result may be a preset transmission destination such as a terminal of a fire station, a police station, a hospital, etc., in addition to the tablet terminal 30 carried by the commander.

In addition, when the photographing of all bases of the disaster site is completed, the photographing result transmission unit 27 may wirelessly transmit a message to that effect to the earphones 11 worn by each of the N firefighters.

Next, with reference to FIG. 15, the operation flow of the imaging control device 20B according to the third embodiment will be described. FIG. 15 is a flowchart showing an operation flow example of the imaging control device 20B according to the third embodiment.

As shown in FIG. 15, first, the process of step S601 similar to step S101 shown in FIG. 3 is performed.
Subsequently, the dangerous event detection unit 26 detects a dangerous event that has occurred within the imaging area identified by the imaging area identification unit 21 (step S602).

Subsequently, the imaging result transmission unit 27 displays the imaging area specified by the imaging area specifying unit 21 and the area where the dangerous event detected by the dangerous event detection unit 26 occurs on the three-dimensional map by coloring. An identifiably superimposed imaging result is created (step S603).

After that, the shooting result transmission unit 27 wirelessly transmits the created shooting result to the tablet terminal 30 carried by the commander (step S604). This shooting result is displayed on the tablet terminal 30 and confirmed by the commander. The commander confirms the results of this photographing and decides the policy of rescue activities at the disaster site.

Note that the imaging control apparatus 20B according to the third embodiment also performs the operation flow of FIG. 12 described in the second embodiment in parallel with the operation flow of FIG.

As described above, according to the third embodiment, the photographing result transmission unit 27 creates photographing results in which the photographing area in which photographing has been completed and the area in which a dangerous event has occurred are identifiably superimposed on the three-dimensional map. Then, the created shooting result is wirelessly transmitted to the tablet terminal 30 carried by the commander.

Therefore, the commander can visually determine the area where the dangerous event occurred when determining the policy of the rescue operation at the disaster site. Moreover, since the dangerous event detected here is automatically detected by image recognition or the like, detection accuracy can be maintained at a constant level.

<Hardware Configuration of Shooting Control Apparatus According to Each Embodiment>

Next, FIG. 16 shows the hardware configuration of a computer 40 that implements the imaging control devices 20, 20A and 20B according to the first, second and third embodiments described above. FIG. 16 is a block diagram showing an example hardware configuration of a computer 40 that implements the imaging control devices 20, 20A, and 20B according to the first, second, and third embodiments described above.

As shown in FIG. 16, the imaging control devices 20, 20A, and 20B according to the first, second, and third embodiments described above can be realized by a computer 40. FIG. The computer 40 includes a processor 41, a memory 42, a storage 43, an input/output interface (input/output I/F) 44, a communication interface (communication I/F) 45, and the like. The processor 41, the memory 42, the storage 43, the input/output interface 44, and the communication interface 45 are connected by a data transmission path for mutually transmitting and receiving data.

The processor 41 is, for example, an arithmetic processing device such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). The memory 42 is, for example, a memory such as a RAM (Random Access Memory) or a ROM (Read Only Memory). The storage 43 is, for example, a storage device such as a HDD (Hard Disk Drive), an SSD (Solid State Drive), or a memory card. Also, the storage 43 may be a memory such as a RAM or a ROM.

The storage 43 stores each component of the imaging control devices 20, 20A, and 20B (the imaging region specifying unit 21, the imaging speed calculator 22, the imaging plan formulation unit 23, the imaging instruction creating unit 24, the imaging instruction transmitting unit 25, the dangerous event A program that realizes the functions of the detection unit 26, the imaging result transmission unit 27, etc.) is stored. The processor 41 realizes the function of each component of the imaging control device 20 by executing each program. Here, when executing each of the above programs, the processor 41 may execute these programs after reading them onto the memory 42 , or may execute them without reading them onto the memory 42 .

Also, the programs described above can be stored and provided to computers (including computer 40) using various types of non-transitory computer readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible discs, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical discs), CD-ROMs (Compact Disc-Read Only Memory) , CD-R (CD-Recordable), CD-R/W (CD-ReWritable), semiconductor memory (e.g. mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory) )including. The program may also be delivered to the computer on various types of transitory computer readable medium. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transitory computer-readable media can deliver the program to the computer via wired channels, such as wires and optical fibers, or wireless channels.

The input/output interface 44 is connected to a display device, an input device, and the like (not shown). The display device is a device that displays a screen corresponding to drawing data processed by the processor 41, such as an LCD (Liquid Crystal Display) or a CRT (Cathode Ray Tube) display. Also, the input device is, for example, a device that receives operator input, such as a keyboard, a mouse, and a touch sensor. The display device and the input device may be integrated and implemented as a touch panel.

A communication interface 45 transmits and receives data to and from an external device. For example, the communication interface 45 communicates with external devices via a wired network or a wireless network.

Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure.

For example, in the above-described embodiment, the map of the disaster site was explained as being a three-dimensional map, but it is not limited to this. The present disclosure is also applicable when the map of the disaster site is a two-dimensional map.

10-1 to 10-N Camera 11-1 to 11-N Earphone 12-1 to 12-N Microphone 20, 20A, 20B Shooting control device 21 Shooting area specifying unit 22 Shooting speed calculating unit 23 Shooting plan formulation unit 231 Policy selection Unit 232 Candidate plan formulation unit 233 Candidate plan evaluation unit 234 Candidate plan selection unit 24 Photographing instruction creation unit 25 Photographing instruction transmission unit 26 Dangerous event detection unit 27 Photographing result transmission unit 30 Tablet terminal 40 Computer 41 Processor 42 Memory 43 Storage 44 Input/output Interface (input/output I/F)
45 and communication interface (communication I/F)

Claims (9)

Using a map of the disaster site and the positions, pan angles, and tilt angles of the cameras carried by each of the workers who photograph the disaster site, a photographing area identification unit that identifies a photographing area on the map that has been photographed by a camera;
a photographing speed calculation unit that calculates, for each of the plurality of workers, a photographing speed indicating the number of photographing areas on the map that the worker has completed photographing with a camera per unit time;
A shooting control device comprising: For each of the plurality of workers, using the map, the imaging region specified by the imaging region specifying unit, and the imaging speed of each of the plurality of workers calculated by the imaging speed calculation unit, a photography plan formulating unit that formulates a photography plan showing the base of the disaster site where the worker will photograph at the next specified time;
a photographing instruction creating unit that creates, for each of the plurality of workers, a photographing instruction that designates a base where the worker will photograph at the next specified time, using the photographing plan formulated by the photographing plan formulating unit;
a photographing instruction transmitting unit configured to transmit the photographing instruction created by the photographing instruction creating unit to a photographing instruction receiving unit carried by each of the plurality of workers;
The imaging control device according to claim 1, further comprising: The shooting plan formulation unit
a policy selection unit that selects a policy for formulating the shooting plan;
a candidate plan formulating unit that formulates a plurality of candidate plans that are candidates for the photographing plan for the next prescribed time using the map and the photographing area specified by the photographing area specifying unit;
The policy selection unit for each of the plurality of candidate plans formulated by the candidate plan formulation unit using the map and the photographing speed of each of the plurality of workers calculated by the photographing speed calculation unit A candidate plan evaluation unit that calculates an evaluation value according to the policy selected by
Candidate plan selection for selecting a candidate plan with the highest evaluation value calculated by the candidate plan evaluation unit from among the plurality of candidate plans formulated by the candidate plan formulation unit as the shooting plan for the next prescribed time. Department and
The imaging control device according to claim 2, comprising: a photographing result transmitting unit that creates a photographing result in which the photographing area specified by the photographing area specifying unit is superimposed on the map so as to be identifiable, and transmits the created photographing result to a preset destination. The imaging control device according to any one of claims 1 to 3, comprising: Image recognition of a photographed image photographed by a camera in the photographing area specified by the photographing area specifying unit, speech recognition of sound collected by a microphone in the photographing area, and use of the results of image recognition and speech recognition and further comprising a dangerous event detection unit that detects a dangerous event that has occurred in the imaging area,
The photographing result transmission unit,
creating the photographing result in which the photographing area specified by the photographing area specifying unit and the area in which the dangerous event detected by the dangerous event detecting unit are superimposed so as to be identifiable on the map;
The photographing control device according to claim 4. A shooting control method by a shooting control device,
Using a map of the disaster site and the positions, pan angles, and tilt angles of the cameras carried by each of the workers who photograph the disaster site, identifying a shooting area on the map that has been shot by a camera;
a step of calculating, for each of the plurality of workers, a photographing speed indicating the number of photographing areas on the map that the worker has completed photographing with a camera per unit time;
A shooting control method, comprising: Using the map, the specified photographing area, and the calculated photographing speed of each of the plurality of workers, each of the plurality of workers is photographed at the next specified time. a step of formulating a shooting plan showing the bases of the disaster site for performing
a step of creating a photographing instruction for each of the plurality of workers using the formulated photographing plan, which indicates a base where the worker will photograph at the next specified time;
a step of transmitting the created photographing instruction to a photographing instruction receiving unit carried by each of the plurality of workers;
7. The imaging control method according to claim 6, further comprising: to the computer,
Using a map of the disaster site and the positions, pan angles, and tilt angles of the cameras carried by each of the workers who photograph the disaster site, A procedure of identifying a shooting area on the map that has completed shooting with a camera;
a step of calculating, for each of the plurality of workers, a photographing speed indicating the number of photographing areas on the map that the worker has completed photographing with a camera per unit time;
A shooting control program that executes to the computer;
Using the map, the specified photographing area, and the calculated photographing speed of each of the plurality of workers, each of the plurality of workers is photographed at the next specified time. A procedure for formulating a shooting plan showing the bases of the disaster site for performing
a procedure for creating, for each of the plurality of workers, a photographing instruction for instructing a site where the worker will photograph at the next prescribed time using the formulated photographing plan;
a procedure for transmitting the created photographing instruction to a photographing instruction receiving unit carried by each of the plurality of workers;
9. The photographing control program according to claim 8, further executing

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