JP2026012840A - Method and program for generating a moving path for a moving object, management server, and management system - Google Patents

Abstract

The present invention provides a travel path generation method and a management server that can set a travel path for an autonomously moving body that includes at least a travel path within a structure.
[Solution] A travel path generation method for generating a travel path within a structure for a moving body to travel, comprising the steps of: generating, by a three-dimensional reference data generation unit, three-dimensional model data indicating the arrangement of components within the structure and having dimensional information, and three-dimensional reference data in which the three-dimensional model data is placed on the three-dimensional map data based on the three-dimensional map data; and generating, by a travel path generation unit, travel path information for the moving body based on a reference coordinate system which is either a Cartesian coordinate system whose origin coordinate is an arbitrary point in the three-dimensional reference data, or the latitude and longitude coordinate system of the map data.
[Selected Figure] Figure 7

Description

The present invention relates to a method and program for generating a moving object's travel route, a management server, and a management system.

In recent years, drones and unmanned aerial vehicles (UAVs) have become increasingly popular.
Air vehicles such as Unmanned Ground Vehicles (UAVs) (hereinafter collectively referred to as "Air Vehicles") and Unmanned Ground Vehicles (UAVs)
Autonomously controllable mobile objects, such as GVs (Unmanned Ground Vehicles), have begun to be used in industry. In this context, Patent Literature 1 discloses a system in which an aircraft sequentially photographs a target at multiple pre-set waypoints.

JP 2014-089160 A

However, the technology disclosed in the above Patent Document 1 does not support GNSS (global navigation satellite system) in outdoor environments.
navigation satellite system) for self-location estimation,
This method creates a moving path for a moving object based on latitude and longitude information, and the same method cannot be used for moving paths for indoor moving objects.

Furthermore, when generating a movement path of a moving object indoors (for example, inside a structure such as a building), for example, Visual SLAM (Simultaneous Localization
One possible method is to use technologies such as SLAM (Scan and Mapping) to obtain three-dimensional information about an indoor space in advance based on sensor information from sensors mounted on a manually controlled mobile object, and then allow the user to set a route for travel based on this information. However, with SLAM data, it is difficult for a user to visually recognize the overall structure of a structure and to identify the actual route the user wants to travel within the structure or the objects they want to photograph, making it difficult to set a route that is precise enough for practical use.

Furthermore, there is a demand for creating flight paths that span both the inside and outside of a structure, but as mentioned above, the methods for creating flight paths inside and outside of a structure are different, making it difficult to integrate them.

The present invention has been made in consideration of this background, and aims to provide a travel path generation method and management server, etc., that are capable of setting a travel path for an autonomously moving body that includes at least a travel path within a structure.

The main invention of the present invention for solving the above-mentioned problems is a travel path generation method for generating a travel path within a structure along which a moving body moves, the travel path generation method including the steps of: generating, by a three-dimensional reference data generation unit, three-dimensional model data indicating the arrangement of components within the structure and having dimensional information, and three-dimensional reference data in which the three-dimensional model data is placed on the three-dimensional map data, based on the three-dimensional map data; and generating, by a travel path generation unit, travel path information for the moving body based on a reference coordinate system which is either a Cartesian coordinate system whose origin coordinate is an arbitrary point in the three-dimensional reference data, or the latitude and longitude coordinate system of the map data.

According to the present invention, it is possible to provide a travel path generation method and a management server, etc., which are capable of setting a travel path for an autonomously moving body that includes at least a travel path within a structure.

1 is a diagram illustrating a configuration of a management system according to an embodiment of the present invention. FIG. 2 is a block diagram showing a hardware configuration of the management server of FIG. 1 . FIG. 2 is a block diagram showing the hardware configuration of the user terminal of FIG. 1 . FIG. 2 is a block diagram showing the hardware configuration of the aircraft of FIG. 1 . FIG. 2 is a block diagram showing the functions of the management server of FIG. 1 . 1 is a flowchart of a travel route generation method according to an embodiment of the present invention. 1 is an example of a display screen according to an embodiment of the present invention.

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

<Details of the embodiment>
Hereinafter, embodiments of a moving object route generation method and a management server according to the present invention will be described. In the accompanying drawings, identical or similar elements are given identical or similar reference symbols and names, and duplicate descriptions of identical or similar elements may be omitted in the description of each embodiment. Furthermore, features shown in each embodiment may be applied to other embodiments as long as they are not mutually inconsistent.

<Configuration>
1, the management system in this embodiment includes a management server 1, one or more user terminals 2, one or more mobile objects 4 (e.g., flying objects, running objects, etc.), and one or more mobile object storage devices 5. The management server 1, user terminals 2, mobile objects 4, and mobile object storage devices 5 are communicably connected to one another via a network. Note that the illustrated configuration is an example, and is not limited to this. For example, the management system may be configured without the mobile object storage device 5 and be carried by the user.

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

As shown in the figure, a management server 1 is connected to a user terminal 2, a mobile object 4, and a mobile object storage device 5, and constitutes part of this system. The management server 1 may be a general-purpose computer such as a workstation or a personal computer, or may be logically realized by cloud computing.

The management server 1 includes at least a processor 10 , a memory 11 , a storage 12 , a transmitter/receiver 13 , an input/output unit 14 , etc., which are electrically connected to one another via a bus 15 .

The processor 10 is a computing device that controls the overall operation of the management server 1, controls the transmission and reception of data between each element, and performs information processing necessary for application execution and authentication processing. For example, the processor 10 is a CPU (Central Processing Unit).
It (a processor) and/or a GPU (Graphics Processing Unit), which executes programs for the present system stored in the storage 12 and deployed in the memory 11 to perform various information processing.

The memory 11 is a DRAM (Dynamic Random Access Memory
The main memory is made up of volatile storage devices such as flash memory and HDD (Hard Drive).
The memory 11 is used as a work area for the processor 10 and stores a BIOS (Basic Input/Output System) that is executed when the management server 1 is started up.
It also stores various setting information, etc.

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

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

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

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

<User Terminal 2>
The user terminal 2 shown in FIG. 3 also includes a processor 20, a memory 21, a storage 22,
It includes a transmitting/receiving unit 23, an input/output unit 24, etc., which are electrically connected to each other via a bus 25. The functions of each element can be configured in the same way as the management server 1 described above, so detailed explanations of each element will be omitted.

<Mobile object 4>
The mobile object 4 is a known mobile object including an air vehicle such as a drone or an unmanned aerial vehicle, or a running object such as an unmanned ground vehicle, and is particularly a mobile object that can be autonomously controlled. As a specific example of the mobile object 4, an air vehicle 4 will be described below. FIG. 4 is a block diagram showing the hardware configuration of the air vehicle 4. The flight controller 41 can have one or more processors, such as a programmable processor (e.g., a central processing unit (CPU)).

The flight controller 41 also has and can access a memory 411. The memory 411 stores logic, code, and/or program instructions that the flight controller can execute to perform one or more steps. The flight controller 41 also includes inertial sensors (acceleration sensors, gyro sensors), GPS,
It may include sensors 412 such as an S sensor, a proximity sensor (e.g., a lidar), etc.

The memory 411 may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device. Data acquired from the camera/sensors 42 may be directly transmitted to and stored in the memory 411. For example, still image and video data captured by a camera or the like may be recorded in an internal memory or an external memory, but this is not limited thereto. The data may also be transmitted from the camera/sensor 42 or the internal memory via a network NW and recorded in at least one of the management server 1, the user terminal 2, and the mobile object storage device 5. The camera 42 is mounted on the flying object 4 via a gimbal 43.

The flight controller 41 includes a control module (not shown) configured to control the state of the air vehicle, for example, the control module may control the spatial orientation, velocity, and/or speed of the air vehicle with six degrees of freedom (translational motion x, y, and z, and rotational motion θ _x , θ _y , and θ _z ).
Or to adjust the acceleration, use ESC44 (Electric Speed Control
The propulsion mechanism (motor 45, etc.) of the aircraft is controlled via the battery 4
The propeller 46 is rotated by a motor 45 supplied with power from the power supply 8, thereby generating lift for the flying object. The control module can control one or more of the states of the onboard units and sensors.

The flight controller 41 can communicate with a transceiver 47 configured to transmit and/or receive data from one or more external devices (e.g., a transceiver 49, a terminal, a display device, or other remote control). The transceiver 49 can use any suitable communication means, such as wired or wireless communication.

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

The transceiver unit 47 can transmit and/or receive one or more of the following: data acquired by the sensors 42, processing results generated by the flight controller 41, predetermined control data, user commands from a terminal or a remote controller, etc.

The sensors 42 according to this embodiment include inertial sensors (acceleration sensors, gyro sensors),
GPS sensor, proximity sensor (e.g., LiDAR (Light Detection and Ranging Aperture)
and Ranging, etc.), or vision/image sensors (e.g., cameras).

<Management server functions>
5 is a block diagram illustrating functions implemented in the management server 1. In the embodiment of the present invention, components (for example, walls, pillars, stairs, etc.) in a structure (for example, a building) are
The system generates three-dimensional reference data by placing the three-dimensional model data on the three-dimensional map data based on three-dimensional model data that indicates the arrangement of various objects (such as equipment) and has dimensional information, and three-dimensional map data, and the three-dimensional reference data has various functional units for generating a travel route for a moving object based on a reference coordinate system that is either the Cartesian coordinate system of the three-dimensional model or the latitude and longitude coordinate system of the map data.

In this embodiment, the management server 1 includes a communication unit 110, a three-dimensional reference data generation unit 111, and a
20, travel route generation unit 130, travel execution unit 140, acquired information output unit 150, storage unit 160
The storage unit 160 includes various databases, such as a three-dimensional data storage unit 161, a travel route information storage unit 162, and a travel information storage unit 163.

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

The three-dimensional reference data generation unit 120 generates three-dimensional model data that indicates the arrangement of components within a structure and has dimensional information, and three-dimensional reference data that places the three-dimensional model data on the three-dimensional map data, based on the three-dimensional map data. The three-dimensional model data, three-dimensional map data, and three-dimensional reference data are each data expressed in a three-dimensional coordinate system, and are stored and managed in the three-dimensional data storage unit 161.

The three-dimensional model data may be any data that shows the arrangement of components in a structure and has dimensional information, and is created based on data created by CAD (Computer-Aided Design) design software. For example, BIM (Building Information Modeling) data, C
The three-dimensional model data may be three-dimensional model data reconstructed from AD data, BIM data, etc., or may be three-dimensional model data obtained by generating a structure having a predetermined height based on two-dimensional design drawing data, and the generation of the three-dimensional model data, such as reconstruction, may be executed by the three-dimensional reference data generation unit 120, etc., or may be executed outside the management server 1 and acquired internally. The three-dimensional model data may be data expressed in a three-dimensional Cartesian coordinate system with a set arbitrary point as the origin (reference point).

The three-dimensional map data virtually represents the earth's surface and at least a portion of the earth's surface in a three-dimensional space, and may, for example, be known aerial photograph data placed on a virtual ground surface, or may reflect topography such as mountains and rivers as three-dimensional data. The three-dimensional map data may be data expressed in three-dimensional coordinates, with the horizontal direction being latitude and longitude coordinates and the vertical direction being altitude coordinates.

The three-dimensional reference data may be, for example, three-dimensional data obtained by arranging the three-dimensional model data on the three-dimensional map data and combining them. The combination may involve, for example, aligning the two data based on a user operation on the user terminal 2 and combining the two data at a determined position as integrated three-dimensional data (three-dimensional reference data). Alternatively, the combination may involve aligning the three-dimensional model data of the structure with the contour of the underside of the structure displayed on the three-dimensional map data (e.g., the contour of the structure specified by the user, which can be understood from an aerial photograph taken from above) using a known alignment method to match the contour. In this case, it is assumed that the three-dimensional model data and the three-dimensional map data have different scales. In this case, it is preferable to align the scales by comparing the dimensional information of the three-dimensional model data with the scale information of the three-dimensional map data. The three-dimensional reference data may be data expressed in three-dimensional coordinates as a reference coordinate system, which is either the Cartesian coordinate system of the three-dimensional model or the latitude/longitude coordinate system of the map data.

In this way, by combining the three-dimensional model data and the three-dimensional map data, which are expressed in different three-dimensional coordinate systems, and expressing them in a unified three-dimensional reference coordinate system, the three-dimensional coordinate systems of the three-dimensional model data and the three-dimensional map data are made to coincide with each other.
For example, when a waypoint is set based on three-dimensional reference data displayed on the user terminal 2, even if the travel route spans both the inside and outside of a structure, it is possible to specify a position, such as generating a travel route based on a unified three-dimensional reference coordinate system.

The travel route generation unit 130 may, for example, set one or more waypoints in three-dimensional reference data displayed on the user terminal 2 through a user selection operation, generate travel route information based on the waypoints using a known method, and store and manage the information in the travel route information storage unit 162; alternatively, it may analyze the three-dimensional reference data and calculate a travel route in which waypoints are set that can obtain information on specific or all components within a structure, and store and manage this as travel route information in the travel route information storage unit 162.

The travel route may be generated by, for example, using the position of the mobile body storage device 5 as the start position and end position of the travel, and passing through each waypoint; or conversely, the travel route may be configured so that, without the mobile body storage device 5, the start position is the position where the user carries the aircraft, and the user retrieves the aircraft at the end position of the travel; or the travel route may be generated based on information about the mobile body storage device 5 managed by the management server 1 (for example, position information, storage status information, storage machine information, etc.), and include the position of the mobile body storage device 5 selected as the start position or end position of the travel.

The movement execution unit 140 includes a coordinate conversion unit 141, and refers to a movement route information storage unit 162 and a movement information storage unit 163 to execute the movement of the mobile body 4 for the purpose of inspection, security, construction progress management, etc.

Here, the coordinate conversion unit 141 will be described. For example, when a latitude-longitude coordinate system is used as the reference coordinate system, the moving body 4 can estimate its own position using GNSS when flying outside a structure, so it is possible to use the movement path information (including waypoint coordinate information) expressed in the latitude-longitude coordinate system, which is the reference coordinate system, as is. However, if the movement path includes the inside of a structure (indoors), the environment is non-GNSS, making it difficult to use the movement path information as is. Therefore, the coordinate conversion unit 141 converts at least a portion (including all) of the movement path information expressed in the latitude-longitude coordinate system into a Cartesian coordinate system by sequentially or collectively calculating direction information and distance information from arbitrary coordinates (e.g., coordinates of the movement start point, coordinates of an arbitrary point outside the structure, particularly coordinates of a waypoint immediately before entering the structure). That is, for example, since it is possible to calculate direction information and distance information from one waypoint to the other based on the coordinates of two predetermined waypoints, by calculating direction information and distance information on the movement route from the above-mentioned arbitrary coordinates, even if the movement route extends from outside the structure to inside the structure, it is possible to move by autonomous control based on information on which direction and how far the mobile body 4 will travel to head to the next waypoint, so it is possible to execute movement by autonomous control based on the same movement route information even if the movement route extends inside and outside the structure. Conversely, it is also possible to convert movement route information expressed in a Cartesian coordinate system, current position information, and information acquisition position information from which the mobile body 4 has acquired acquired information into latitude and longitude information based on arbitrary coordinates that serve as a reference in the Cartesian coordinate system and store it in the movement information storage unit 163, and this may be used, for example, in the acquired information output unit 150 described below.

The movement information storage unit 163 stores parameter information and movement-acquired information acquired on the movement route, which are used when the movement route generation unit 130 generates a movement route or when the movement execution unit 140 executes the movement of the autonomously controlled moving body 4 on the movement route. Specific examples of parameters include, for example, movement speed, flight altitude (when the moving body 4 is an air vehicle), overlap rate of captured images, and movement-acquired information (for example, image information, video information, etc.).

The acquired information output unit 150 generates output information to be transmitted to the user terminal 2 based on the acquired information during movement stored in the movement information storage unit 163. In this embodiment, for example, acquired information (still images, moving images, audio, and other information) acquired by the mobile object 4 on the movement route, or three-dimensional model data and movement route information as illustrated in FIG. 7 may be displayed to visualize, and a current position based on current position information or three-dimensional data (e.g., three-dimensional model data, three-dimensional reference data, three-dimensional map data, etc.) marked with a symbol or the like that serves as a link to view acquired information corresponding to a position associated with the position information of the acquired information may be output so that it can be viewed. Then, by selecting the link on the user terminal 2, the corresponding acquired information may be displayed. At this time, as three-dimensional data, B
When using three-dimensional data related to IM data, it is possible to associate it with BIM data and have information for each component that makes up the three-dimensional data, making it possible to link (e.g., create links) on a component-by-component basis.

<Example of a travel route generation method>
The travel route generation method according to this embodiment will be described, including the operation of the management system according to this embodiment, with reference to Figures 6 and 7. Figure 6 illustrates a flowchart of the travel route generation method according to this embodiment. This flowchart shows, as an example, a configuration in which an application is launched on the user terminal 2, but this is not limiting. For example, the management server 1 or the mobile object storage device 5 may have a processor and input/output device capable of launching an application, and may be configured to allow various settings, etc. Figure 7 illustrates an example of a display screen related to the travel route generation method according to this embodiment of the present invention.

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

Next, the user creates a new travel plan (SQ102). For example, the user sets a "plan name,""areaname,""address," etc., and then acquires and displays three-dimensional reference data for the interior of the target structure on the user terminal 2, thereby starting the creation of the new travel plan. The three-dimensional reference data may have already been generated in advance and stored in the three-dimensional data storage unit 161, or the three-dimensional model data and three-dimensional map data may be read at this time, and the three-dimensional reference data may be generated and displayed.

Next, the user generates a travel route for the moving object 4 (SQ103). For example, as illustrated in FIG. 7, the user generates a travel route based on three-dimensional reference data (B
The user selects one or more waypoints (for example, expressed in a latitude and longitude coordinate system on the user terminal 2) for the three-dimensional model data generated from the IM data (three-dimensional data arranged on three-dimensional map data), and travel route information is generated based on the waypoints using a known method (in the example, four waypoints are connected by straight lines).

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

Next, the user instructs the management server 1 to output the acquired information (SQ105). For example,
The route information actually traveled by the mobile object 4 may be superimposed on the three-dimensional reference data displayed on the user terminal 2. In addition, the acquired information (
The display device 1 may display three-dimensional data (e.g., three-dimensional model data, three-dimensional reference data, etc.) including still images, moving images, audio, and other information, or may output three-dimensional data (e.g., three-dimensional model data, three-dimensional reference data, etc.) marked with a symbol or the like that serves as a link for viewing acquired information corresponding to a position associated with the position information of the acquired information (particularly position information of a waypoint). Then, by selecting the link on the user terminal 2, the corresponding acquired information may be displayed. In this case, if three-dimensional data related to BIM data is used as the three-dimensional data, it is possible to have information for each component that makes up the three-dimensional data in association with the BIM data, and therefore it is possible to link (e.g., generate a link) on a component-by-component basis.

In this way, the present invention can provide a movement path generation method and a management server, etc., that can set a movement path of an autonomously moving mobile body that includes at least a movement path within a structure. Note that instead of the configuration involving the execution of the autonomous movement of the mobile body 4 of SQ104 as described above, it may be configured to simply create an optimal movement path, and based on this, other users can use a remote control or the like to manually move the mobile body 4 within a structure, and the other users can use their user terminals 2 to create a movement path that serves as a model.
can be displayed above.

In addition, in the above-described embodiment, the mobile object 4 acquires information about the inside of a structure. However, the mobile object 4 may also be used for inspecting the structure, and may be provided with a device, equipment, etc. that is used to inspect the interior and/or exterior walls of the structure for the presence or absence of a predetermined event. More specifically, an imaging device (
Any device necessary to know the condition of an inspected structure having an inner wall, such as a visible light camera, an infrared camera, a metal detector, an ultrasonic measuring device, etc., a keystroke device, a detection device (metal detector), a sound collection device, an odor measuring device, a gas detector, an air pollution measuring device, or a detection device (device for detecting cosmic rays, radiation, electromagnetic waves, etc.), can be used.

Furthermore, an embodiment may be, for example, security or surveillance within a structure, and may include devices, equipment, etc. used for security or surveillance. More specifically, any device necessary for capturing and detecting images of abnormalities or intruders in a structure to be guarded or monitored, such as an imaging device (visible light camera, infrared camera, night vision camera, metal detector, ultrasonic measuring device, etc.), or a sensor device (motion sensor, infrared sensor, etc.), may be employed.

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

The above-described embodiment is merely an example for facilitating understanding of the present invention, and is not intended to limit the present invention. The present invention can be modified and improved without departing from the spirit thereof, and it goes without saying that the present invention includes equivalents thereof.

REFERENCE SIGNS LIST 1 Management server 2 User terminal 4 Mobile object 5 Mobile object storage device

Claims (10)

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