WO2023148969A1

WO2023148969A1 - Unmanned aerial vehicle, guidance support device, guidance support system, guidance support method, and recording medium

Info

Publication number: WO2023148969A1
Application number: PCT/JP2022/004690
Authority: WO
Inventors: 亜美大久保; 重憲別府; 浩明上村; 一翔松田; 慧松林; 明士水谷
Original assignee: 日本電気株式会社
Priority date: 2022-02-07
Filing date: 2022-02-07
Publication date: 2023-08-10

Abstract

The present invention provides a mechanism for guiding a person to a correct destination with an unmanned aerial vehicle. An acquisition unit (11) acquires an image taken at a place of departure, an identification unit (12) identifies a person appearing in the image, a specification unit (13) specifies a destination of the identified person, and a guidance unit (14) causes an unmanned aerial vehicle to guide the person toward the destination.

Description

UAV, GUIDANCE ASSISTANCE DEVICE, GUIDANCE ASSISTANCE SYSTEM, GUIDANCE ASSISTANCE METHOD AND RECORDING MEDIUM

TECHNICAL FIELD The present invention relates to an unmanned aerial vehicle, a guidance support device, a guidance support system, a guidance support method, and a recording medium, and more particularly to an unmanned aerial vehicle, a guidance support device, a guidance support system, a guidance support method, and a recording medium for safely guiding a person. Regarding.

　In the event of a natural or man-made disaster, or if there is a risk of a disaster occurring, local governments, etc. will utilize disaster prevention organizations to carry out disaster prevention activities to reduce the damage caused by the disaster. Disaster prevention activities include confirming the safety of residents and guiding them. When a natural disaster such as an earthquake or river flooding occurs, it is necessary to promptly guide people to a safe evacuation site such as high ground.

In recent years, autonomous mobile devices (hereinafter referred to as unmanned devices), represented by drones and walking robots, have been used to evacuate people. For example, an unmanned aircraft is flown to a site where a disaster has occurred to restrict the general public from entering the site, or to issue a warning to a person who has intruded into the site.

In the related technology described in Patent Document 1, multiple unmanned aircraft take a predetermined formation and guide evacuating people to a shelter.

In the related technology described in Patent Document 2, the management device determines whether or not a person can pass through based on the situation of the dangerous spot. When it is determined that it is difficult to pass through a dangerous place, it transmits guidance instructions to a plurality of drones. A plurality of drones follow guidance instructions and warn people heading to dangerous areas.

Japanese Patent No. 6670065 JP 2021-135875 A

With the related technology described in Patent Document 1, the requester of the drone cannot know whether the drone was able to guide the person correctly to the evacuation shelter.

The present invention solves the above problems, and its purpose is to provide a mechanism for guiding a person to a correct destination by using an unmanned aerial vehicle.

A guidance support device according to an aspect of the present invention includes acquisition means for acquiring an image taken at a departure point, identification means for identifying a person appearing in the image, and identification means for identifying a destination of the identified person. and guidance means for guiding the person to the destination by the unmanned aerial vehicle.

A guidance support method according to an aspect of the present invention is such that a computer acquires an image taken at a departure point, identifies a person appearing in the image, identifies a destination of the identified person, and travels to the destination. Head over and let the drone guide the person.

A recording medium according to an aspect of the present invention is capable of acquiring an image captured at a starting point, identifying a person appearing in the image, specifying a destination of the identified person, It stores a program for causing a computer to go to the ground and guide the person to the unmanned aerial vehicle.

A guidance support system according to an aspect of the present invention includes acquisition means for acquiring an image taken at a departure point, identification means for identifying a person appearing in the image, and identification means for identifying a destination of the identified person. , a guidance support device comprising guiding means for guiding the person to the destination and guiding the person to the unmanned aerial vehicle; a communication device used to control the operation of the unmanned aerial vehicle; and a request information database in which request information indicating the content is stored.

According to one aspect of the present invention, it is possible to provide a mechanism for guiding a person to a correct destination using an unmanned aircraft.

1 is a diagram schematically showing an example of a configuration of a guidance support system provided with a guidance support device according to any one of Embodiments 1-3; FIG. 1 is a block diagram showing the configuration of a guidance support device according to Embodiment 1; FIG. 4 is a flow chart showing the operation of the guidance support device according to Embodiment 1. FIG. FIG. 11 is a block diagram showing the configuration of a guidance support device according to Embodiment 2; FIG. FIG. 11 is a block diagram showing the configuration of a guidance support device according to Embodiment 3; FIG. 1 is the first diagram of a flow chart showing the operation of the guidance support device according to Embodiment 3; FIG. 2 is a second diagram of a flow chart showing the operation of the guidance support device according to Embodiment 3; 1 is a diagram showing an example of a hardware configuration of a guidance support device according to any one of Embodiments 1-3. FIG.

Several embodiments of the present invention will be described below with reference to the drawings.

(Guidance support system 1)
An example of the configuration of a guidance support system 1 including any of the

guidance support devices

10, 20, and 30 according to Embodiments 1 to 3, which will be described later, will be described first with reference to FIG. In FIG. 1, "guidance support device 10 (20, 30)" represents any one of the

guidance support devices

10, 20, 30 according to the first to third embodiments.

As shown in FIG. 1, the guidance support system 1 includes a communication device 100, a requester terminal 200, a request information database 300, and a drone (unmanned aerial vehicle) 400. Except for the request information database 300, each component of the guidance support system 1 may be plural.

The communication device 100 is arranged at a predetermined location. The predetermined location is determined by an administrator of unmanned aerial vehicle 400 . Administrators are, for example, municipalities, fire departments, police, schools, and other organizations. The administrator may be a corporation such as a travel agency, a cram school, or a security company.

The communication device 100 is, for example, a wireless device, an IoT device, a Wi-Fi (registered trademark) device, or a smart phone. The communication equipment 100 may be other communication devices. Communication device 100 is used to control the operation of unmanned aerial vehicle 400 . The communication device 100 is controlled by the guidance support device 10 (20, 30) via the Internet.

The requester terminal 200 is used by the requester. The requester uses the requester terminal 200 to register a request to guide a certain person by the unmanned aircraft 400 in the request information database 300 together with the requester's basic information such as the requester's contact information. A requester may register desired information in the desired information database 300 via a Web request or an application. If the person to be guided is a support-requiring person, the requester may be a designated supporter. Supporters include local government officials, fire brigade members, citizen volunteers, and other stakeholders.

Requests registered in the request information database 300 are executed by the guidance support device 10 (20, 30). It should be noted that the person to be guided may be a person different from the requester, or may be the requester himself/herself.

For example, a municipality (an example of a requester) can request the guidance support device 10 (20, 30) to guide residents from their homes to an evacuation shelter. Alternatively, the travel agency (another example of the requester) can request the guidance support device 10 (20, 30) to guide the tourists from the gathering place to the sightseeing spot.

The request information database 300 stores request information with a request ID. The request information indicates the content of a request regarding guidance of a person. The request information includes position information indicating the destination of guidance. The request information may also include information indicating at least one of meeting place, meeting time, waypoint, and destination. In addition, the request information may include the attributes and preferences of the guidance target. Attributes mean the age, sex, nationality, physical disability, chronic disease, or the presence or absence of a family member or cohabitant of the person to be guided.

In addition, the request information database 300 stores basic information such as the name, whereabouts (current position), and contact information of the target of guidance, as well as facial feature data of the target of guidance. The facial feature amount data of the person to be guided is used by the

guidance support devices

10, 20, and 30 to identify the person.

If the person to be guided is a person requiring support, the request information database 300 may store an evacuation plan for the person requiring support as request information. An evacuation plan indicates information for carrying out an evacuation. The evacuation plan includes determining evacuation sites and evacuation routes for people requiring support in the event of a disaster, and identifying dangerous spots to the evacuation sites.

The unmanned aerial vehicle 400 receives a radio signal from the communication device 100 and moves according to instructions included in the radio signal. The unmanned aerial vehicle 400 is not limited to a drone, and may be a small unmanned aerial vehicle or a walking robot. Alternatively, drone 400 may be any other machine, such as a driverless vehicle.

The unmanned aerial vehicle 400 is equipped with at least a camera and a speaker in addition to a mobile unit. Video data captured by the camera is transmitted to the guidance support device 10 (20, 30) via radio and the Internet. The speaker also receives audio data from the guidance support device 10 (20, 30) via radio and the Internet. The unmanned aerial vehicle 400 may include

guidance support devices

10 , 20 and 30 . In this case, the processor and control circuit provided in the unmanned aerial vehicle 400 implement functions corresponding to the components of the

guidance support devices

10, 20, and 30, which will be described later. The unmanned aerial vehicle 400 includes image acquisition means for acquiring an image of a person at a departure point, destination information acquisition means for acquiring destination information indicating a specified destination by identifying the person appearing in the image, and destination information acquisition means for acquiring destination information. A person guiding means for guiding a person to a destination based on the information may be provided.

The

guidance support devices

10, 20, and 30 will be described in Embodiments 1 to 3 below.

[Embodiment 1]
Embodiment 1 will be described with reference to FIGS. 2 and 3. FIG.

(Guidance support device 10)
The configuration of the guidance support device 10 according to the first embodiment will be described with reference to FIG. FIG. 2 is a block diagram showing the configuration of the guidance support device 10. As shown in FIG. As shown in FIG. 2 , the guidance support device 10 includes an acquisition unit 11 , an identification unit 12 , an identification unit 13 and a guidance unit 14 .

The acquisition unit 11 acquires an image taken at the starting point. Acquisition unit 11 is an example of acquisition means.

In one example, the acquisition unit 11 acquires video data captured by the camera of the unmanned aerial vehicle 400 via radio and the Internet. The acquisition unit 11 acquires position information of the unmanned aerial vehicle 400 from a positioning system such as GPS (Global Positioning System).

When the unmanned aerial vehicle 400 is at the departure point, the acquisition unit 11 may use the communication device 100 to remotely control the unmanned aerial vehicle 400 to cause the camera of the unmanned aerial vehicle 400 to perform photographing.

The starting point is the point where the unmanned aerial vehicle 400 starts to guide the person. For example, the departure point may be the home of the person to be guided, a gathering place for tourists, an evacuation shelter in the event of a disaster, or the current position of the person to be guided.

The acquisition unit 11 outputs the image data captured at the starting point to the identification unit 12 .

The identification unit 12 identifies the person appearing in the image. The identification unit 12 is an example of identification means.

In one example, the identification unit 12 receives image data captured at the starting point from the acquisition unit 11 . The identification unit 12 detects a person appearing in the image by analyzing the received image data. The identifying unit 12 also extracts the detected human face area from the image.

Subsequently, the identification unit 12 extracts the feature amount of the person's face from the area of the person's face in the image. At this time, the identification unit 12 may use general face identification technology or the like in the technical field of machine learning.

The identification unit 12 refers to the feature amount data of the person's face stored in the request information database 300 (FIG. 1). Then, the identification unit 12 collates the feature amount of the person's face stored in the request information database 300 (FIG. 1) with the feature amount extracted from the area of the person's face in the image. The identification unit 12 identifies that the person appearing in the image is the person to be guided registered in the request information database 300 (FIG. 1) when the matched feature amounts are similar.

After identifying the person in the image, the identification unit 12 outputs information indicating the identified person to the identification unit 13 . For example, the information indicating the identified person is the request ID registered in the request information database 300 .

The identification unit 13 identifies the destination of the identified person. The identifying unit 13 is an example of identifying means.

In one example, the identification unit 13 receives information indicating the person identified by the identification unit 12 . The specifying unit 13 acquires the request information stored in the request information database 300 using information (eg, request ID) indicating the identified person. The request information includes position information indicating the destination of guidance. The specifying unit 13 specifies the person's destination from the request information.

The identification unit 13 outputs information indicating the person's destination to the guidance unit 14 .

The guidance unit 14 makes the unmanned aerial vehicle 400 guide the person toward the destination. Guidance part 14 is an example of a guidance means.

For example, the guidance unit 14 receives information indicating the person's destination from the identification unit 13 . The guidance unit 14 acquires map data including an area from the departure point to the destination from a map database (not shown). The guidance unit 14 uses map data and information indicating the person's destination to determine a travel route from the departure point to the destination. The guidance unit 14 controls the communication device 100 (FIG. 1) to move the unmanned aerial vehicle 400 toward the destination along the determined movement route. Alternatively, the guidance unit 14 transmits destination information indicating the destination of the person to the unmanned aerial vehicle 400 . The destination information acquisition means of the unmanned aerial vehicle 400 receives destination information indicating the destination of the person. Then, the person guiding means of the unmanned aerial vehicle 400 goes to the destination based on the destination information and guides the person. Alternatively, the guiding unit 14 transmits information (moving route information) about the determined moving route to the unmanned device 400, and the destination information acquiring means of the unmanned device 400 receives the moving route information. The person guiding means of the unmanned aerial vehicle 400 may guide the person based on the received moving route information.

During the guidance of the person by the unmanned device 400, the guidance unit 14 may cause the unmanned device 400 to perform various operations in order to reliably guide the person (embodiment 2).

While the drone 400 is guiding the person, the guidance unit 14 continuously acquires the position information of the drone 400 from the GPS receiver mounted on the drone 400 . When the unmanned aerial vehicle 400 reaches the destination, the guidance unit 14 completes the guidance of the person by the unmanned aerial vehicle 400 . When the request information includes information indicating the attributes of the person to be guided, the guidance unit 14 can determine the movement route in consideration of the attributes of the person to be guided. For example, when the target person for guidance is an elderly person, the guidance unit 14 selects a travel route with few slopes from several travel route candidates.

(Operation of Guidance Support Device 10)
The operation of the guidance support device 10 according to the first embodiment will be described with reference to FIG. FIG. 3 is a flow chart showing the flow of processing executed by each part of the guidance support device 10. As shown in FIG.

As shown in FIG. 3, the acquisition unit 11 acquires an image taken at the departure point (S1). Acquisition unit 11 outputs image data captured at the starting point to identification unit 12 .

Next, the identification unit 12 identifies the person appearing in the image (S2). After identifying the person in the image, the identification unit 12 outputs information indicating the identified person to the identification unit 13 .

The identifying unit 13 identifies the destination of the identified person (S3). The specifying unit 13 outputs information indicating the person's destination to the guidance unit 14 .

The guidance unit 14 determines the movement route of the unmanned aerial vehicle 400 from the departure point to the destination based on the information indicating the person's destination. Then, the guidance unit 14 controls the communication device 100 (FIG. 1) to guide the person to the destination by the unmanned aerial vehicle 400 (S4).

With the above, the operation of the guidance support device 10 according to the first embodiment is finished. Note that the target of guidance by the guidance support device 10 is not limited to one person. The guidance support device 10 may collectively guide people who want to go to the same destination. In this case, the guiding unit 14 matches the destinations of a plurality of persons and puts people heading for the same destination into one group. After that, the guiding unit 14 guides the people included in the group to their destinations by group.

(Effect of this embodiment)
According to the configuration of this embodiment, the acquisition unit 11 acquires an image captured at the departure point. The identification unit 12 identifies a person appearing in the image. The specifying unit 13 specifies the destination of the identified person. The guiding unit 14 makes the unmanned aerial vehicle 400 guide the person toward the destination.

The person acts according to the guidance of the unmanned aerial vehicle 400. Even if a person does not know the moving route from the starting point to the destination or if the person is in an unknown place, the person can reach the destination without hesitation. Also, since the person is identified prior to guidance, the possibility of misidentifying another person's destination is low. Thus, the unmanned aerial vehicle 400 can reliably guide a person. In this way, the guidance support device 10 can assist people to move safely to their destinations.

[Embodiment 2]
Embodiment 2 will be described with reference to FIG. In the second embodiment, components that perform the same processes as the components described in the first embodiment are denoted by the same reference numerals as in the first embodiment, and descriptions of the components are omitted.

In the second embodiment, a configuration for causing the unmanned aerial vehicle 400 (FIG. 1) to perform various operations in order to reliably guide a person will be described.

(Guidance support device 20)
The configuration of the guidance support device 20 according to the second embodiment will be described with reference to FIG. FIG. 4 is a block diagram showing the configuration of the guidance support device 20. As shown in FIG. As shown in FIG. 4, the guidance support device 20 includes an acquisition unit 11, an identification unit 12, an identification unit 13, and a guidance unit 14'. The guidance unit 14' of the guidance support device 20 partially differs in processing from the guidance unit 14 of the guidance support device 10 (FIG. 2) according to the first embodiment.

As with the guidance section 14, the guidance section 14' causes the unmanned aerial vehicle 400 to guide the person toward the destination. While the unmanned aerial vehicle 400 is guiding the person, the guiding unit 14 ′ continuously acquires the positional information of the unmanned aerial vehicle 400 from the GPS receiver attached to the unmanned aerial vehicle 400 .

Further, the guidance unit 14' causes the drone 400 (Fig. 1) to perform various operations in order to reliably guide the person. Specifically, the guiding unit 14' analyzes the image captured by the camera of the unmanned aerial vehicle 400 and detects a dangerous spot while guiding the person by the unmanned aerial vehicle 400. .

Then, the guidance unit 14' determines a route for guidance by the unmanned aerial vehicle 400 so as to avoid the detected dangerous spot. The guidance unit 14' can use related technologies such as concrete road crack detection, obstacle detection, or flood detection to detect danger spots. Further, the guidance unit 14' may detect dangerous spots using road surface condition determination technology in the technical field of automatic driving.

When the guidance unit 14' detects a dangerous spot, it corrects the route guided by the unmanned aerial vehicle 400 (hereinafter referred to as an evacuation route). In other words, the guidance unit 14' determines whether the determined evacuation route passes through a dangerous point. If the determined evacuation route passes through a dangerous point, the guiding unit 14' corrects the evacuation route so as to avoid the dangerous point.

Alternatively, the guiding unit 14 ′ calls for movement to the destination from the speaker of the unmanned aerial vehicle 400 while the unmanned aerial vehicle 400 is guiding the person. For example, the guidance unit 14' controls the communication device 100 (FIG. 1) to output voice data for guidance to the speaker of the unmanned aerial vehicle 400. FIG. Note that the guidance unit 14' may generate voice data and transmit the generated voice data to the communication device 100, or the voice data may be stored in advance in a storage unit (not shown) of the drone 400. good too.
In addition/or, the guiding unit 14' provides the requester with images of the surroundings and the person captured by the unmanned aerial vehicle 400 while the unmanned aerial vehicle 400 is guiding the person. For example, the guiding unit 14 ′ acquires the data of the image captured by the camera of the unmanned aerial vehicle 400 from the unmanned aerial vehicle 400 directly or indirectly. Then, the guiding unit 14' transfers the image data acquired from the unmanned device 400 to the requester terminal 200 (FIG. 1). In addition, the guidance unit 14' receives a request such as a greeting from the requester. Then, the guiding unit 14' speaks to the person through the speaker while the unmanned aerial vehicle 400 is guiding the person.

When the unmanned aerial vehicle 400 arrives at the destination, the guiding unit 14' completes the guidance of the person by the unmanned aerial vehicle 400. After that, the guiding unit 14' may determine whether or not the unmanned aerial vehicle 400 has successfully guided the person (third embodiment).

(Operation of Guidance Support Device 20)
The basic operation of the guidance support device 20 according to the second embodiment is the operation of the guidance support device 10 according to the first embodiment (FIG. 3) and traffic. A description of the operation of the guidance support device 20 according to this embodiment is omitted here.

(Effect of this embodiment)
According to the configuration of this embodiment, the acquisition unit 11 acquires an image captured at the departure point. The identification unit 12 identifies a person appearing in the image. The specifying unit 13 specifies the destination of the identified person. The guiding unit 14' makes the unmanned aerial vehicle 400 guide the person toward the destination.

The person acts according to the guidance of the unmanned aerial vehicle 400. Even if a person does not know the moving route from the starting point to the destination or if the person is in an unknown place, the person can reach the destination without hesitation. Also, since the person is identified prior to guidance, the possibility of misidentifying another person's destination is low. Thus, the unmanned aerial vehicle 400 can reliably guide a person.

Furthermore, according to the configuration of the present embodiment, the guiding unit 14' calls for movement to the destination from the speaker of the unmanned aircraft 400 while the unmanned aircraft 400 is guiding the person.

In addition/or, while the unmanned vehicle 400 is guiding the person, the guidance unit 14' analyzes the image captured by the camera of the unmanned vehicle 400, detects a dangerous spot, and avoids the detected dangerous spot. A route for guidance by the unmanned aerial vehicle 400 is determined. As a result, the unmanned aerial vehicle 400 can reliably guide the person while avoiding the person passing through the dangerous point.

[Embodiment 3]
Embodiment 3 will be described with reference to FIGS. 5 to 7. FIG. In the third embodiment, components that perform the same processes as the components described in the first or second embodiment are given the same reference numerals as those in the first or second embodiment. A description of the constituent elements is omitted.

In the third embodiment, a configuration for determining whether or not the unmanned aircraft 400 has successfully guided a person when the unmanned aircraft 400 has arrived at the destination will be described.

(Guidance support device 30)
The configuration of the guidance support device 30 according to the third embodiment will be described with reference to FIG. FIG. 5 is a block diagram showing the configuration of the guidance support device 30. As shown in FIG. As shown in FIG. 5 , the guidance support device 30 includes an acquisition unit 11 , an identification unit 12 , an identification unit 13 and a guidance unit 14 . The guidance support device 30 further includes a reporting section 35 . The guidance support device 30 may include the guidance section 14 ′ ( FIG. 4 ) described in the second embodiment instead of the guidance section 14 .

When the guiding unit 14 succeeds in guiding the person by the unmanned aerial vehicle 400 (FIG. 1), the reporting unit 35 reports to the requester that the guiding of the person has been completed. On the other hand, when the guiding unit 14 fails to guide the person by the unmanned aerial vehicle 400, the reporting unit 35 notifies the requester. The reporting unit 35 is an example of reporting means. Here, the successful guidance of the person means that the person has arrived at the destination. On the other hand, failing to guide the person means that the person has not arrived at the destination when the unmanned aerial vehicle 400 arrives at the destination.

In one example, after the unmanned aerial vehicle 400 arrives at the destination, the acquisition unit 11 acquires a second image captured at the destination. In the third embodiment, the image taken at the departure point is called the first image in order to distinguish it from the second image taken at the destination.

The acquisition unit 11 outputs the second image data captured at the destination to the identification unit 12 .

The identification unit 12 receives the second image data captured at the destination from the acquisition unit 11 . The identification unit 12 identifies a person appearing in the second image. At this time, the identification unit 12 uses the related technology for identification exemplified in the first embodiment.

The identification unit 12 outputs information indicating the person identified in the second image to the guidance unit 14 . For example, the information indicating the identified person is the request ID registered in the request information database 300 . If there is no person appearing in the second image, or if the person appearing in the second image is not the person to be guided, the identifying unit 12 outputs Null data to the guiding unit 14 .

The guidance unit 14 receives from the identification unit 12 information indicating the person identified in the second image taken at the destination. The guiding unit 14 determines whether or not the unmanned aerial vehicle 400 successfully guided the person based on the identification result of the person appearing in the second image.

Specifically, after the identifying unit 12 identifies the person appearing in the second image, the guiding unit 14 determines whether the person appearing in the first image and the person appearing in the second image are the same. judge. For example, the guiding unit 14 determines whether the information indicating the person appearing in the first image and the information indicating the person appearing in the second image are the same.

Note that if there is no person reflected in the second image, or if the person reflected in the second image is not the person to be guided, the guiding unit 14 will It is determined that the imaged person is not the same.

When the person appearing in the first image and the person appearing in the second image are the same, the guiding unit 14 determines that the unmanned aerial vehicle 400 successfully guided the person. On the other hand, if the person appearing in the first image and the person appearing in the second image are not the same, the guiding unit 14 determines that the unmanned aerial vehicle 400 has failed to guide the person.

The guiding unit 14 outputs to the reporting unit 35 the determination result indicating whether or not the drone 400 has successfully guided the person.

When the guiding unit 14 succeeds in guiding the person by the unmanned aerial vehicle 400 (FIG. 1), the reporting unit 35 reports to the requester that the guiding of the person has been completed. On the other hand, when the guiding unit 14 fails to guide the person by the unmanned aerial vehicle 400, the reporting unit 35 notifies the requester. For example, the reporting unit 35 refers to the requester's basic information stored in the request information database 300 . The reporting unit 35 uses the requester's contact information included in the requester's basic information to report or report to the requester.

(Operation of Guidance Support Device 30)
The operation of the guidance support device 30 according to the third embodiment will be described with reference to FIGS. 6 and 7. FIG. 6 and 7 are flowcharts showing the flow of processing executed by each part of the guidance support device 30. FIG.

As shown in FIG. 6, the acquisition unit 11 acquires the first image taken at the departure point (S301). Acquisition unit 11 outputs the first image data captured at the starting point to identification unit 12 .

Next, the identification unit 12 identifies the person appearing in the first image (S302). After identifying the person appearing in the first image, the identification unit 12 outputs information indicating the identified person to the identification unit 13 .

The identifying unit 13 identifies the destination of the identified person (S303). The specifying unit 13 outputs information indicating the person's destination to the guidance unit 14 .

The guidance unit 14 determines the movement route of the unmanned aerial vehicle 400 from the departure point to the destination based on the information indicating the person's destination. Then, the guidance unit 14 controls the communication device 100 (FIG. 1) to guide the person to the destination by the unmanned aerial vehicle 400 (S304).

After the unmanned aerial vehicle 400 reaches the destination (Yes in S305), the flow proceeds to step S306 in FIG.

As shown in FIG. 7, after the unmanned aerial vehicle 400 arrives at the destination, the acquisition unit 11 acquires a second image taken at the destination (S306). Acquisition unit 11 outputs the second image data captured at the destination to identification unit 12 .

The identification unit 12 identifies the person appearing in the second image (S307). The identifying unit 12 outputs information (for example, a request ID) indicating the person appearing in the second image to the guiding unit 14 .

The guidance unit 14 receives from the identification unit 12 information indicating the person identified in the second image taken at the destination. The guiding unit 14 determines whether or not the unmanned aerial vehicle 400 successfully guided the person based on the identification result of the person appearing in the second image (S308).

If the drone 400 successfully guided the person (Yes in S308), the reporting unit 35 reports to the requester that the person has been guided (S309A). On the other hand, if the guidance of the person by the unmanned device 400 fails (No in S308), the reporting unit 35 notifies the requester (S309B).

With the above, the operation of the guidance support device 30 according to the third embodiment is completed.

(Effect of this embodiment)
According to the configuration of this embodiment, the acquisition unit 11 acquires the first image captured at the departure point. The identification unit 12 identifies a person appearing in the first image. The specifying unit 13 specifies the destination of the identified person. The guiding unit 14 makes the unmanned aerial vehicle 400 guide the person toward the destination.

Furthermore, according to the configuration of this embodiment, after the unmanned aerial vehicle 400 arrives at the destination, the acquisition unit 11 acquires the second image captured at the destination. The identification unit 12 identifies a person appearing in the second image. The guiding unit 14 determines whether or not the unmanned aerial vehicle 400 successfully guided the person based on the identification result of the person appearing in the second image. If the unmanned device 400 succeeds in guiding the person, the reporting unit 35 reports to the requester that the guidance of the person has been completed. This enables the requester to more reliably grasp the situation of the person to be guided and to assist or rescue the person to be guided more quickly.

(About hardware configuration)
Each component of the

guidance support devices

10, 20, and 30 described in the first to third embodiments represents a functional unit block. Some or all of these components are realized by an information processing device 900 as shown in FIG. 8, for example. FIG. 8 is a block diagram showing an example of the hardware configuration of the information processing device 900. As shown in FIG.

As shown in FIG. 8, the information processing device 900 includes the following configuration as an example.

- CPU (Central Processing Unit) 901
・ROM (Read Only Memory) 902
・RAM (Random Access Memory) 903
・Program 904 loaded into RAM 903
- Storage device 905 for storing program 904
A drive device 907 that reads and writes the recording medium 906
- A communication interface 908 that connects to the communication network 909
Input/output interface 910 for inputting/outputting data
A bus 911 connecting each component
Each component of the

guidance support devices

10, 20, and 30 described in the first to third embodiments is implemented by the CPU 901 reading and executing a program 904 that implements these functions. A program 904 that implements the function of each component is stored in advance in, for example, the storage device 905 or the ROM 902, and is loaded into the RAM 903 and executed by the CPU 901 as necessary. The program 904 may be supplied to the CPU 901 via the communication network 909 or may be stored in the recording medium 906 in advance, and the drive device 907 may read the program and supply it to the CPU 901 .

According to the above configuration, the

guidance support devices

10, 20, and 30 described in the first to third embodiments are implemented as hardware. Therefore, the same effects as those described in any one of the first to third embodiments can be obtained.

[Appendix]
One aspect of the present invention can also be described in the following supplementary remarks, but is not limited to the following.

(Appendix 1)
Acquisition means for acquiring an image taken at the starting point;
identification means for identifying a person appearing in the image;
identifying means for identifying a destination of the identified person;
Guidance means for guiding the person to the destination and guiding the person to the unmanned aircraft.

(Appendix 2)
The specifying means is
Acquiring request information indicating a request for guidance of the identified person,
The guidance support device according to appendix 1, wherein the destination of the person is specified based on the request information.

(Appendix 3)
The guidance support device according to appendix 2, wherein the request information includes information indicating at least one of a meeting place, a meeting time, a waypoint, and a destination of the person.

(Appendix 4)
The guidance support device according to appendix 1, wherein the identifying means identifies a person's face appearing in the image.

(Appendix 5)
5. The method according to any one of appendices 1 to 4, wherein the guiding means calls for movement to the destination from a speaker of the unmanned aircraft while the person is being guided by the unmanned aircraft. Guidance support device as described.

(Appendix 6)
While the guidance means guides the person by the unmanned aircraft,
Analyzing the image taken by the camera of the drone to detect dangerous spots,
5. The guidance support device according to any one of appendices 1 to 4, wherein a route for guidance by the unmanned aircraft is determined so as to avoid the detected dangerous spot.

(Appendix 7)
after the drone arrives at the destination, the acquisition means acquires a second image taken at the destination;
The identifying means identifies a person appearing in the second image,
5. Any one of Supplementary Notes 1 to 4, wherein the guidance means determines whether or not the unmanned aerial vehicle has successfully guided the person based on the identification result of the person shown in the second image. The guidance support device according to the paragraph.

(Appendix 8)
if the drone successfully guides the person, reporting to the requester that the guide of the person has been completed;
The guidance support device according to appendix 7, further comprising reporting means for reporting to the requester when the unmanned aircraft fails to guide the person.

(Appendix 9)
an image acquisition means for acquiring an image of a person at a starting point;
destination information acquisition means for acquiring destination information indicating a destination specified by identifying the person appearing in the image;
a person guiding means for guiding the person toward the destination based on the destination information.
(Appendix 10)
the computer
Acquiring an image taken at the departure point,
identifying a person appearing in the image;
determining the destination of the identified person;
A guidance support method, in which the person is guided to the destination by an unmanned aircraft.

(Appendix 11)
obtaining an image taken at the starting point;
identifying a person appearing in the image;
identifying a destination for the identified person;
A non-transitory recording medium storing a program for causing a computer to go to the destination and guide the person to the unmanned aircraft.

(Appendix 12)
Acquisition means for acquiring an image taken at the starting point;
identification means for identifying a person appearing in the image;
identifying means for identifying a destination of the identified person;
a guidance support device comprising guidance means for guiding the person to the destination and guiding the person to the unmanned aerial vehicle;
a communication device used to control the operation of the drone;
and a request information database storing request information indicating details of a request for guiding the person.

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

The present invention can be used, for example, in a guidance support system for supporting disaster prevention activities by local governments in the event of a disaster.

1 guidance support system 10 guidance support device 11 acquisition unit 12 identification unit 13 identification unit 14 guidance unit 14' guidance unit 20 guidance support device 30 guidance support device 35 reporting unit 400 drone

Claims

Acquisition means for acquiring an image taken at the starting point;
identification means for identifying a person appearing in the image;
identifying means for identifying a destination of the identified person;
Guidance means for guiding the person to the destination and guiding the person to the unmanned aircraft.
The specifying means is
Acquiring request information indicating a request for guidance of the identified person,
2. The guidance support device according to claim 1, wherein the destination of the person is specified based on the request information.
3. The guidance support device according to claim 2, wherein the request information includes information indicating at least one of a meeting place, a meeting time, a waypoint, and a destination of the person.
2. The guidance support device according to claim 1, wherein said identifying means identifies a face of a person appearing in said image.
5. The guidance means calls for movement to the destination from a speaker of the unmanned vehicle while the person is being guided by the unmanned vehicle. Guidance support device according to.
While the guidance means guides the person by the unmanned aircraft,
Analyzing the image taken by the camera of the drone to detect dangerous spots,
5. The guidance support device according to any one of claims 1 to 4, wherein a route for guidance by the unmanned aircraft is determined so as to avoid the detected dangerous spot.
after the drone arrives at the destination, the acquisition means acquires a second image taken at the destination;
The identifying means identifies a person appearing in the second image,
5. The guiding means according to any one of claims 1 to 4, wherein the guiding means determines whether or not the unmanned aerial vehicle has succeeded in guiding the person based on the identification result of the person appearing in the second image. 1. The guidance support device according to item 1.
if the drone successfully guides the person, reporting to the requester that the guide of the person has been completed;
8. The guidance support device according to claim 7, further comprising reporting means for reporting to the requester when the unmanned aircraft fails to guide the person.
an image acquisition means for acquiring an image of a person at a starting point;
destination information acquisition means for acquiring destination information indicating a destination specified by identifying the person appearing in the image;
a person guiding means for guiding the person toward the destination based on the destination information.
the computer
Acquiring an image taken at the departure point,
identifying a person appearing in the image;
determining the destination of the identified person;
A guidance support method, in which the person is guided to the destination by an unmanned aircraft.
obtaining an image taken at the starting point;
identifying a person appearing in the image;
identifying a destination for the identified person;
A non-transitory recording medium storing a program for causing a computer to go to the destination and guide the person to the unmanned aircraft.
Acquisition means for acquiring an image taken at the starting point;
identification means for identifying a person appearing in the image;
identifying means for identifying a destination of the identified person;
a guidance support device comprising guidance means for guiding the person to the destination and guiding the person to the unmanned aerial vehicle;
a communication device used to control the operation of the drone;
and a request information database storing request information indicating details of a request for guiding the person.