Visible-range identification device, visible-range display system, visible-range identification method, visible-range display method, and recording medium

Abstract

In order to reduce the load of verifying a visible range, this visible-range identification device comprises: a person data acquisition means for acquiring person data including at least position data, height data, and posture data of a person in a real space; an avatar data generation means for generating, on the basis of the person data and for a person avatar representing the person in model data representing a three-dimensional model in which the real space is expressed, person avatar data including at least position data, height data, and posture data of the person avatar; a visible-range identification means for identifying a visible range of the person avatar in the model data on the basis of the model data and the person avatar data; and a data output means for outputting data for displaying the visible range of the person avatar, in at least a portion of the display range on the display device.

Description

Visible range specifying device, visible range display system, visible range specifying method, visible range display method, and recording medium

[0001] The present disclosure relates to a technology for identifying a visible range of a person.

[0002] Patent Document 1 discloses a technique for managing structures using three-dimensional shape data.

[0003] Japanese Patent Application Laid-Open No. 2022-095367

[0004] During combat training, it is necessary to check the range of visibility from the surroundings. Currently, this is done by installing mirrors in training facilities.

[0005] An object of the present disclosure is to provide a visible range specifying device and the like that reduces the burden of checking the visible range.

[0006] A visible range determination device according to one embodiment of the present disclosure includes: person data acquisition means for acquiring person data including at least position data, height data, and posture data of a person in real space; avatar data generation means for generating, based on the person data, person avatar data including at least position data, height data, and posture data of a person avatar representing a person in model data representing a three-dimensional model that represents real space; visible range determination means for determining, based on the model data and the person avatar data, a visible range of the person avatar in the model data; and data output means for outputting data for displaying the visible range of the person avatar in at least a part of a display range on a display device.

[0007] A visible range display system according to one embodiment of the present disclosure includes the above-described visible range specifying device, a person data output device that outputs position data and posture data of a person to the visible range specifying device, a storage device that stores person height data used by the visible range specifying device, and a display device that displays the visible range using the data output by the visible range specifying device.

[0008] A visible range determination method according to one embodiment of the present disclosure acquires person data including at least position data, height data, and posture data of a person in real space, generates, based on the person data, person avatar data including at least position data, height data, and posture data of a person avatar representing a person in model data that represents a three-dimensional model representing real space, determines, based on the model data and the person avatar data, the visible range of the person avatar in the model data, and outputs data for displaying the visible range of the person avatar in at least a portion of a display range on a display device.

[0009] In one embodiment of the present disclosure, the visible range display method includes a visible range identification device that executes the above-described visible range identification method, a person data output device that outputs position data and posture data of a person to the visible range identification device, a storage device that stores height data of the person that is used by the visible range identification device, and a display device that displays the visible range using the data output by the visible range identification device.

[0010] A recording medium in one embodiment of the present disclosure records a program that causes a computer to execute the following processes: acquiring person data including at least position data, height data, and posture data of a person in real space; generating, based on the person data, person avatar data including at least position data, height data, and posture data of a person avatar representing a person in model data that shows a three-dimensional model that represents real space; identifying, based on the model data and the person avatar data, a visible range of the person avatar in the model data; and outputting data for displaying the visible range of the person avatar in at least a portion of the display range of a display device.

[0011] According to the present disclosure, it is possible to achieve the effect of reducing the burden of checking the visible range.

[0012] 1 is a block diagram showing an example of the configuration of a visible range specifying device. FIG. 2 is a diagram showing an example of an urban area represented using a digital twin. FIG. 3 is a diagram showing an example of a human avatar specified in model data of an urban area. FIG. 4 is a diagram showing an example of a visible range. FIG. 5 is a diagram showing another example of a visible range. FIG. 6 is a diagram showing an example of a case where the visible range of a human avatar is displayed in a part of the field of view of a see-through HMD worn by a person. FIG. 7 is a flow diagram showing an example of the operation of a visible range specifying device. FIG. 8 is a diagram showing changes in the visible range depending on the height of a person. FIG. 9 is a diagram showing an example of the display of the visible range for VIP protection. FIG. 10 is a block diagram showing an example of the hardware configuration of a visible range specifying device. FIG. 11 is a diagram showing an example of the configuration of a visible range display system.

[0013] Embodiments of the present disclosure will be described with reference to the drawings. However, the embodiments are not limited to those described in the drawings.

[0014] First Embodiment In combat training in urban areas, etc., to avoid attacks, particularly snipers, the training subject needs to determine from which range of the surroundings they can be seen, i.e., the visible range from the surroundings. In such training, the visible range identification device 10 outputs data for displaying the visible range calculated based on the position of the training subject on a display device such as a head-mounted display (HMD). The display device is not limited to an HMD and may be another display device that realizes augmented reality (AR), virtual reality (VR), or mixed reality (MR). Alternatively, the display device is not limited to a device worn by a person and may be a general display device such as a liquid crystal display. The visible range identification device 10 may output data for criminal training not only for the military but also for police, security companies, etc.

[0015] 1 is a block diagram showing an example of the configuration of a visible range identification device 10. The visible range identification device 10 includes a person data acquisition unit 110, an avatar data generation unit 120, a visible range identification unit 130, and a data output unit 140.

[0016] The person data acquisition unit 110 acquires person data in real space. The person data is data including at least position data, height data, and posture data of a person in real space. The person data may also include other data such as the person's body shape. The person is a person who is the target of identification in the visible range. For example, the person is a training subject who wears an HMD and undergoes combat training, but is not limited to this.

[0017] The real space is a space in which activities such as combat take place, and is not particularly limited as long as it is a space in which a visible range is specified. The real space is, for example, an urban area, a forest, a hilly area, a mountainous area, or a space including at least a part of these. The real space is not limited to the ground as long as it is a space in which activities such as combat take place, but may also be underground, on the sea, under the sea, in the air, or in space. Objects included in the real space may be man-made objects such as buildings and bridges in an urban area, natural objects such as trees, bushes, and rocks, or a combination of these.

[0018] The position data indicates the position of a person in real space. The person data acquisition unit 110 acquires the position data from a position output device that outputs position data of a person using information detected by a sensor or the like. For example, the person data acquisition unit 110 may acquire the position data from a device equipped with a Global Positioning System (GPS) function carried by the person whose visible range is to be identified. Alternatively, the person data acquisition unit 110 may acquire position data calculated using a Light Detection and Ranging (LiDAR) carried by the person. The person data acquisition unit 110 may acquire position data calculated using both GPS and LiDAR. For example, the position output device may store data such as the position and distance of a structure in real space whose position is to be identified in advance. The position output device may then calculate the position of the person using distance data acquired from LiDAR and position data acquired from GPS, and output the calculated position data to the person data acquisition unit 110.

[0019] The person data acquisition unit 110 may acquire position data using a device other than GPS and LiDAR. For example, the person data acquisition unit 110 may acquire position data calculated as follows: First, the position output device stores in advance an image of the real space whose position is to be identified and the position data of the image. Then, the position output device acquires an image of the surroundings captured by a camera carried by the person. The number of cameras is not limited to one, and multiple cameras may be used. For example, the camera may be a camera that captures a wide range, such as a 360-degree camera, or multiple cameras carried in multiple positions, such as in front, behind, left, and right of the person. The position output device identifies an image that matches the image captured by the camera from the pre-stored images of the real space. Then, the position output device outputs the position data of the identified image to the person data acquisition unit 110 as the person's position data.

[0020] The height data indicates the height of a person. The person data acquisition unit 110 acquires the height data from a person data storage device that stores the height data in advance. Alternatively, the person data acquisition unit 110 may acquire height data calculated by an image recognition device that recognizes a person using an image of the person captured by a camera or the like around the person.

[0021] The posture data is data indicating the posture of a person. The posture may be, for example, a standing posture, a sitting posture, a crawling posture, or a lying posture, but is not limited to these. The person data acquisition unit 110 acquires the posture data from, for example, a posture output device that outputs posture data of a person using information detected by a sensor or the like. For example, the person data acquisition unit 110 acquires the posture data from a gyroscope of an HMD worn by the person or a gyroscope of a terminal device carried by the person.

[0022] Hereinafter, a position output device that outputs a person's position data, such as a GPS, and a posture output device that outputs a person's posture data, such as a gyroscope, may be collectively referred to as a person data output device. The person data output device may be a single device that has the functions of both a position output device and a posture output device, or may be a device that combines a position output device and a posture output device. The person data output device may include a person data storage device that stores height data. In this case, the person data acquisition unit 110 may acquire the position data, height data, and posture data from the person data output device. The person data storage device may store the position data and posture data output by the person data output device. In this case, the person data acquisition unit 110 may acquire the position data, height data, and posture data from the person data storage device.

[0023] Combat training may be conducted at a location different from the actual battle site. For example, combat training may be conducted before moving to the actual battle site. Therefore, the person data acquisition unit 110 may acquire, as position data, position data obtained by converting the position of the person during training into a position where the viewable range is to be confirmed. Alternatively, the person data acquisition unit 110 may acquire, as posture data, posture data obtained by converting the posture of the person during training into a posture at the position where the viewable range is to be confirmed. For example, the person data output device converts the position data and posture data calculated using the output of the sensor into data and posture data at the position where the viewable range is to be confirmed, based on conversion information between the location of the person and the location where the viewable range is to be confirmed. The conversion information may be, for example, a conversion rule or a conversion formula, but is not limited to these. The person data output device may then convert the position data and posture data and output them to the person data acquisition unit 110. However, the avatar data generation unit 120, described below, may convert the position data and posture data based on a preset conversion rule or conversion formula.

[0024] The avatar data generation unit 120 generates human avatar data including at least position data, height data, and posture data of the human avatar, for a human avatar representing a person in model data representing a three-dimensional model that represents real space. The human avatar represents a person in model data representing a three-dimensional model that represents real space. In addition to the position data, height data, and posture data of the human avatar, the human avatar data may also include other data such as body shape.

[0025] The model data represents a three-dimensional model that expresses a real space that is the target of identifying the visible range, and is data that is stored in advance in a storage device or the like. For example, the model data may be three-dimensional model data for expressing a digital twin, which is a virtual space generated based on information collected in the real space that is the target of identifying the visible range, but is not limited to this. Figure 2 is a diagram showing an example of an urban area expressed using a digital twin.

[0026] A human avatar is a character image that represents a human in model data. The avatar data generation unit 120 may use a method used for general digital twins as a method for generating human avatar data.

[0027] FIG. 3 is a diagram showing an example of a human avatar identified in urban area model data. In FIG. 3, the human avatar is shown in front of a central building using a pin shape. The shape of the human avatar is not limited to the shape shown in FIG. 3 and may be a combination of polygons or another shape such as a human figure. The buildings surrounding the human avatar are, for example, part of the urban area model data generated as a digital twin.

[0028] When checking the visibility of a location different from the person's actual location, avatar data generation unit 120 may convert the position data and posture data of the person based on conversion information between the person's location and the location where the visibility is to be checked, and then generate person avatar data. The conversion information may be, for example, but is not limited to, a conversion rule or a conversion formula.

[0029] The visible range determination unit 130 determines the visible range of the human avatar in the model data based on the model data and the human avatar data. In the model data, the range visible from the human avatar is generally the same as the range visible from the surroundings of the human avatar. In other words, the visible range determined by the visible range determination unit 130 is generally the same as the range visible from the human avatar in a digital twin or the like. Therefore, the visible range determination unit 130 may use a method for determining the visible range of a human avatar from model data and human avatar data that is commonly used in digital twins. The visible range determination unit 130 may use a parameter that specifies the visible range when determining the visible range. For example, the visible range determination unit 130 may use the range of a rifle used for sniping as the parameter. In this case, the visible range determination unit 130 may determine a visible range in which the distance from the human avatar is within the range specified as the parameter. Alternatively, the visible range determination unit 130 may first determine the invisible range of the human avatar and then determine the range outside the determined invisible range as the visible range.

[0030] FIG. 4 is a diagram showing an example of a visible range. In FIG. 4, the hatched area on the building and ground is the visible range of a human avatar. FIG. 5 is a diagram showing another example of a visible range. FIG. 5 shows a display of the visible range when a building is viewed from the side. However, FIG. 5 shows the visible range of a building with a different layout than that shown in FIG. 4. The visible range determination unit 130 determines the visible range for the entire space surrounding the person. For example, if there are natural objects such as bushes, trees, and hills in addition to artificial objects such as the buildings shown in FIGS. 4 and 5 around the person, the visible range determination unit 130 determines the visible range for all artificial objects and natural objects. However, the visible range determination unit 130 may also determine the visible range for a range specified using parameters as described above.

[0031] The data output unit 140 outputs data for displaying the visible range of a human avatar in at least a portion of the display range of a display device. For example, the data output unit 140 may output data for displaying the visible range of a human avatar in a portion of the field of view of a see-through HMD for AR. In this case, the HMD may display the data output by the data output unit 140 in a portion of the field of view of the HMD. The data output unit 140 may output data in a format that matches the display device to which the data is output. For example, the data output unit 140 may output image file data such as a JPEG (Joint Photographic Experts Group) file or a BMP (Bit Map) file.

[0032] FIG. 6 is a diagram illustrating an example in which the visible range of a person's avatar is displayed in a portion of the field of view of a see-through HMD worn by a person. The field of view of the person in FIG. 6 represents the range of the person's front field of view that the person wearing the see-through HMD can see through the half mirror of the HMD. The superimposed visible range is the visible range acquired by the HMD from the visible range identification device 10 and represents the visible range displayed on the half mirror of the HMD superimposed on the field of view of the person. In FIG. 6, the visible range is displayed at the left edge to ensure a central field of view in front of the person. However, the display position of the visible range is not limited to the left edge and may be other positions. In FIG. 6, the visible range output by the data output unit 140 is wider than the field of view. In this way, the data output unit 140 may output data for displaying a visible range that is not limited to the field of view of the display device, but is wider than the field of view range, or at least a portion of which is different from the field of view range. Alternatively, the data output unit 140 may output a visible range not limited to the visual field direction of the person for which the visible range is specified, but in a direction different from the visual field direction. For example, the data output unit 140 may output data for displaying a visible range not limited to the visual field direction of the person who is the target of the visible range, but also in a sideways direction, backward direction, or up and down direction relative to the visual field direction. The data output unit 140 may output data for displaying visible fields in multiple directions, such as four directions (front, back, left, right). The data output unit 140 may output data for displaying a visible field of the entire surroundings, that is, a 360-degree visible field.

[0033] Alternatively, the data output unit 140 may output data for superimposing the visible range of a human avatar on the field of view image of the human avatar. For example, when a non-transparent HMD for VR uses model data, the non-transparent HMD displays a VR image calculated from the model data as the field of view image of the human avatar. Therefore, the data output unit 140 may output data for superimposing the visible range on the VR screen displayed by the non-transparent HMD as the field of view image of the human avatar. For example, when the visible range indicated by diagonal lines in FIG. 4 is superimposed on the VR image, the data output unit 140 may output data indicating the visible range in the VR image. However, the frontal image in VR does not include an image of the user. Therefore, when displaying the visible range in the frontal image in VR, the data output unit 140 may output data that does not include the human avatar as data for displaying the visible range. The data output unit 140 is not limited to the above, and may output data in a different format or configuration as data for displaying the visible range. As with a see-through HMD, the data output unit 140 may output data for displaying a visible range in a range or direction different from the range of the field of view image of a human avatar in a non-see-through HMD.

[0034] FIG. 7 is a flow diagram showing an example of the operation of the visible range identification device 10. The person data acquisition unit 110 acquires person data including at least position data, height data, and posture data of the person in real space (step S201). The avatar data generation unit 120 generates person avatar data for a person in model data that shows a three-dimensional model representing real space, based on the person data (step S202). The person avatar data includes at least position data, height data, and posture data of the person avatar. The visible range identification unit 130 identifies the visible range of the person avatar in the model data based on the model data and the person avatar data (step S203). The data output unit 140 outputs data for displaying the visible range of the person avatar in at least a portion of the display range of the display device (step S204).

[0035] As described above, the visible range identification device 10 includes a person data acquisition unit 110, an avatar data generation unit 120, a visible range identification unit 130, and a data output unit 140. The person data acquisition unit 110 acquires person data including at least position data, height data, and posture data of a person in real space. The avatar data generation unit 120 generates, based on the person data, person avatar data including at least position data, height data, and posture data of the person avatar, for a person avatar representing a person in model data that represents a three-dimensional model representing real space. The visible range identification unit 130 identifies the visible range of the person avatar in the model data based on the model data and the person avatar data. The data output unit 140 outputs data for displaying the visible range of the person avatar in at least a part of the display range of the display device.

[0036] In this way, the data output unit 140 of the visible range identification device 10 outputs data for displaying the visible range of the person avatar identified using the person data acquired by the person data acquisition unit 110 and the model data stored in advance.

[0037] For example, when a person checking the visible range is wearing an HMD, the HMD outputs the acquired position data and posture data at each position in the real space to the person data acquisition unit 110 and displays the visible range acquired from the data output unit 140. As a result, as shown in FIG. 6 , the person wearing the HMD can simultaneously check the forward field of view and the visible range displayed by the HMD. For example, by using the visible range identification device 10, a trainee can check the visible range without having to install a facility that recreates the training space. In this way, the visible range identification device 10 reduces the burden of checking the visible range. Furthermore, by using the visible range identification device 10, a trainee can check the visible range without having to install a mirror or the like at the training location. In this respect, the visible range identification device 10 also reduces the burden of checking the visible range.

[0038] Alternatively, as another method of implementing training, consider a case where the visible range is confirmed using video captured by a camera installed in a training facility during combat training. In this case, the visible range must be confirmed after the training because the video captured by the camera must be played back and confirmed. Therefore, if the visible range is not appropriate, the training subject must perform the training again. On the other hand, when using the visible range identification device 10, the training subject can confirm the visible range in real time during training. In this way, the visible range identification device 10 enables the visible range to be confirmed in real time, thereby saving training time.

[0039] Furthermore, the data output unit 140 can output data for displaying a range and a direction different from the visual field of the person whose visual field range is to be specified, for example, a visible range different from the visual field of the person in a see-through HMD. Alternatively, the data output unit 140 can output data for displaying a visible range in a range or direction different from the range of the visual field image of a person's avatar in a non-see-through HMD. Therefore, the trainee can use the visible range determination device 10 to check a visible range other than the forward field of view without having to turn around, for example. For example, using the visible range determination device 10, the trainee can check the visible range in a 360-degree area around them. In this way, the visible range determination device 10 can easily enable the trainee to check multiple visible ranges.

[0040] Alternatively, by converting the actual location of the training subject and the location where the training subject wishes to confirm the visible range, the training subject can use the visible range identification device 10 to confirm the visible range even in a location other than the location where the training subject wishes to confirm. For example, if the training subject converts the location data of the training location into location data of the location where the training subject wishes to specify the visible range and outputs the converted data to the person data acquisition unit 110, the training subject can obtain the visible range of the location where the training subject wishes to confirm from the data output unit 140, even if the training subject is in a location other than the training location. For example, when a model using a digital twin is used as the model data, converting the location and changing the direction of the field of view are easy techniques. Therefore, by using the visible range identification device 10, the training subject can easily confirm the visible range in a location other than the location where the training subject is actually located.

[0041] When there are multiple training subjects, the heights of the training subjects often differ. When people's heights differ, the visible range changes. Furthermore, the visible range of a person changes as the person's posture changes. The visible range specification unit 130 uses the person's height data and posture data to specify the visible range. Therefore, the data output unit 140 outputs data for appropriately displaying the visible range in accordance with the person's height and posture. Therefore, the training subjects can confirm the visible range corresponding to their respective heights and postures.

[0042] The trainee may not only operate on the ground, but may also operate at a location that is at a certain height above the ground, such as on the rooftop of a building or a tower. Alternatively, the trainee may operate in the air aboard a helicopter or similar vehicle. Thus, the trainee may operate at a location that is at a certain height above the ground, rather than at the ground. FIG. 8 illustrates the change in the visible range depending on the person's height from the ground. The left diagram of FIG. 8 shows the visible range when the person is at a low position. The right diagram of FIG. 8 shows the visible range when the person is at a high position. As such, the visible range changes depending on the person's height. Therefore, the visible range determining device 10 may operate taking into account the person's height as follows. The person data acquiring unit 110 acquires the person's height from the ground as person data. For example, the person data acquiring unit 110 acquires height information using GPS, height information in design information of a structure in real space, or height information provided by a vertical positioning service company. The avatar data generating unit 120 generates person avatar data taking height into account. The visible range determining unit 130 determines the visible range taking height into account. The data output unit 140 then outputs the visible range taking the height into consideration, allowing the training subject to confirm the visible range corresponding to the height relative to the ground.

[0043] The visible range identifying device 10 may be used not only for combat training but also for identifying the visible range in VIP protection provided by the military, police, security companies, etc. In this case, the visible range identifying unit 130 of the visible range identifying device 10 is not limited to identifying the visible range at each position, but may identify the visible range at multiple consecutive positions that change over time, such as the route along which a VIP travels. Furthermore, the data output unit 140 is not limited to a display device worn by a person, such as an HMD, but may output data to be displayed on a display device that can be viewed simultaneously by multiple security personnel, such as a computer display. An example of the operation of the visible range identifying device 10 in the case of security will be described.

[0044] The person data acquisition unit 110 acquires person data of the actual route along which the person to be guarded is scheduled to travel in real space. For example, the person data acquisition unit 110 acquires, as position data, position data of the actual route from a car navigation application or a map application. Furthermore, the person data acquisition unit 110 acquires, as posture data, posture data of the person that is assumed based on events on the route. If there are multiple people to be guarded, the person data acquisition unit 110 may acquire data of multiple people.

[0045] The avatar data generation unit 120 generates person avatar data for a virtual route along which the person avatar of the person to be guarded moves, based on the person data of the person to be guarded along the actual route. If the person data acquisition unit 110 has acquired multiple person data, the avatar data generation unit 120 may generate multiple person avatar data.

[0046] The visible range determination unit 130 determines the visible range of the human avatar of the person to be guarded on the virtual route based on the model data and the human avatar data on the virtual route. The visible range determination unit 130 is not limited to determining the entire visible range of the virtual route, but may determine the visible range of only a portion of the route. For example, the visible range determination unit 130 may determine the visible range of a location where people move slowly, such as a location where people board a means of transportation such as a car or an event location. The visible range determination unit 130 may determine the visible range using parameters. For example, the visible range determination unit 130 may determine the visible range using the range of a weapon such as a rifle. When the avatar data generation unit 120 generates data on multiple human avatars, the visible range determination unit 130 may determine the visible range of the entire human avatars. Alternatively, the visible range determination unit 130 may determine the visible range of a group of some human avatars. Alternatively, the visible range determination unit 130 may determine the visible range of each of at least some of the human avatars.

[0047] The data output unit 140 outputs data for displaying at least a portion of the visible range of a human avatar on a virtual route. For example, the data output unit 140 may output the visible range for a range specified on a real route or a virtual route. FIG. 9 is a diagram illustrating an example of a display of the visible range of a VIP guard. FIG. 9 illustrates the visible ranges at two locations along a route traveled by a VIP who is the person being guarded. In this way, the guard can refer to the visible ranges at multiple locations of the VIP and plan the placement and movement of the guard to minimize the visible range along the entire route. The display shown in FIG. 9 is not limited to that shown in FIG. 9 . The data output unit 140 may output data in other formats, for example, a video of the visible range from a specified start point to an end point on a route. When the visible range determination unit 130 determines the visible range of the entire VIP, the data output unit 140 outputs data for displaying the visible range of the entire VIP. When the visible range determination unit 130 determines the visible range of a group of VIPs, the data output unit 140 outputs data for displaying the visible range of the group of VIPs. When the visible range specifying unit 130 specifies the visible range of each human avatar, the data output unit 140 outputs data for displaying the visible range of each human avatar.

[0048] The visible range identifying device 10 may identify a visible range that takes into consideration not only the person being guarded but also other people, such as security personnel. To prevent attacks on the person being guarded from the surroundings, security personnel are positioned around the person being guarded so as to block the visible range of the person from the surroundings. Therefore, the range that the security personnel can see from the surroundings, i.e., the visible range from the surroundings of the security personnel, is the range that blocks the view of the person being guarded. Therefore, the visible range identifying device 10 identifies the blocked range in the visible range of the person using the visible range of other people, such as security personnel. An example of the operation for identifying the blocked range will be described.

[0049] The person data acquisition unit 110 acquires not only the person data of the guard target but also other person data, which is data of one or more security personnel located around the guard target. The other person data is data that includes at least the position data, height data, and posture data of each of the other persons.

[0050] In addition to generating the person avatar data, the avatar data generation unit 120 generates other person avatar data representing other person avatars of security personnel in the model data based on each of the other person data. The other person avatar data is data including at least position data, height data, and posture data of each other person avatar in the model data.

[0051] In addition to determining the visible range of the human avatar, the visible range determination unit 130 also determines the visible range of the other avatar of the other security guard based on the model data and the other avatar data. The visible range determination unit 130 then determines, as a blocked range, a range within the visible range of the human avatar that is included in the visible range of the other avatar. When there are multiple human avatars, the visible range determination unit 130 may determine the visible range and blocked range of the human avatars as a whole. Alternatively, the visible range determination unit 130 may determine the visible range and blocked range of a group of some human avatars. Alternatively, the visible range determination unit 130 may determine the visible range and blocked range of each of at least some of the human avatars. When there are multiple other avatars, the visible range determination unit 130 may determine the visible range and blocked range of the other avatars as a whole. Alternatively, the visible range determination unit 130 may determine the visible range and blocked range of a group of some other avatars. Alternatively, the visible range determination unit 130 may determine the visible range and blocked range of each of at least some of the other avatars.

[0052] The data output unit 140 outputs data for displaying at least one of the blocked range and the visible range of a person's avatar that is not included in the blocked range. For example, the data output unit 140 may output data for displaying the blocked range and the visible range that is not included in the blocked range using different colors or patterns in the visible range superimposed on the model data. Alternatively, the data output unit 140 may output data for displaying the remaining visible range after excluding the blocked range from the person's visible range, i.e., the visible range that cannot be blocked. Alternatively, the data output unit 140 may output data for displaying the blocked ranges blocked by one or more other avatars. When there are multiple security officers, each security officer may want to check his or her own visible range and blocked range. Therefore, the data output unit 140 may output data for displaying at least one of the blocked range and the visible range of at least some of the other avatars. A blocked range where the blocked ranges of multiple other avatars overlap is an ineffective blocked range. Therefore, the security officer may check the area where multiple blocked ranges overlap. Therefore, the data output unit 140 may output data for displaying the overlapping range of the blocked ranges of multiple other person avatars. When there are multiple human avatars, the data output unit 140 may output data for displaying the visible range and blocked range of the human avatars as a whole. Alternatively, the data output unit 140 may output data for displaying the visible range and blocked range of a group of some human avatars. Alternatively, the data output unit 140 may output the visible range and blocked range of each of at least some of the human avatars.

[0053] Using the visible range identifying device 10 that operates in this manner, security personnel can use model data to evaluate the route of a person to be guarded in advance, thereby reducing the burden of reconnaissance and other tasks and reducing the burden of creating a security plan. Furthermore, the visible range identifying device 10 outputs data for displaying at least one of the blocked range and the visible range of the person avatar that is not included in the blocked range. In other words, the visible range identifying device 10 visualizes the visible range and the blocked range. Therefore, security personnel can more easily confirm the visible range and the blocked range compared to checking the visible range using a map or the like. Because the visible range identifying device 10 uses model data representing a three-dimensional model, it identifies the visible range, including the height direction. Therefore, security personnel can more accurately confirm the visible range compared to using a map, which is two-dimensional data.

[0054] Furthermore, security personnel can refer to the blocked area output by the visible range identifying device 10 to determine the number and placement of security personnel necessary to narrow the visible range of the person being guarded. Furthermore, because the visible range identifying device 10 uses height data of the person and others, it can identify an appropriate visible range and blocked area taking into account factors such as the height difference between the person being guarded and the security personnel assigned around them. Furthermore, the visible range identifying device 10 can identify the required visible range using parameters such as the range of fire. In this way, security personnel can confirm the actual number and placement of security personnel required, such as the minimum number of security personnel to be assigned around the person being guarded, and as a result, can more appropriately determine the number and placement of security personnel required. Furthermore, the visible range identifying device 10 can more appropriately determine the visible range by using the person's height from the ground. Therefore, security personnel can more appropriately determine the number and placement of security personnel required, taking into account the heights of the person being guarded and the security personnel.

[0055] <Hardware Configuration> Next, the hardware configuration of the visible range specifying device 10 will be described. Each component of the visible range specifying device 10 may be configured as a hardware circuit. Alternatively, each component of the visible range specifying device 10 may be configured using multiple devices connected via a network. For example, the visible range specifying device 10 may be configured using cloud computing. Alternatively, multiple components of the visible range specifying device 10 may be configured as a single piece of hardware. Alternatively, the visible range specifying device 10 may be realized as a computer including a memory, a processor connected to the memory, and a network interface. The processor is, for example, a central processing unit (CPU). However, the processor is not limited to a CPU and may be another processing device such as a graphics processing unit (GPU). The memory is, for example, a read-only memory (ROM) and a random access memory (RAM), but is not limited thereto.

[0056] 10 is a block diagram showing the configuration of a computer 600, which is an example of the hardware configuration of the visible range specifying device 10. The computer 600 includes a CPU 610, a ROM 620, a RAM 630, a storage device 640, and a network interface 650.

[0057] CPU 610 loads a program from at least one of ROM 620 and storage device 640. Based on the loaded program, CPU 610 controls RAM 630, storage device 640, and network interface 650. Computer 600 including CPU 610 controls these components to realize the functions of person data acquisition unit 110, avatar data generation unit 120, visible range identification unit 130, and data output unit 140 shown in FIG. 1 . In this way, computer 600 may realize its functions as a combination of hardware and software.

[0058] The CPU 610 may read, using a recording medium reading device (not shown), a program stored in a computer-readable recording medium 690. Alternatively, the CPU 610 may receive a program from an external device (not shown) via the network interface 650, store the program in the RAM 630 or the storage device 640, and operate based on the stored program.

[0059] The ROM 620 stores programs and fixed data executed by the CPU 610. The ROM 620 is, for example, a programmable ROM (P-ROM) or a flash ROM. The RAM 630 temporarily stores programs and data executed by the CPU 610. The RAM 630 is, for example, a dynamic RAM (D-RAM). The storage device 640 stores data and programs that the computer 600 stores long-term. The storage device 640 may also operate as a temporary storage device for the CPU 610. The storage device 640 is, for example, a hard disk device, a solid state drive (SSD), or a disk array device.

[0060] The ROM 620 and the storage device 640 are non-volatile (non-transitory) recording media. On the other hand, the RAM 630 is a volatile (transitory) recording media. The CPU 610 can operate based on programs stored in the ROM 620, the storage device 640, and the RAM 630. In other words, the CPU 610 can operate using either a non-volatile recording medium or a volatile recording medium. When realizing each function, the CPU 610 may use at least one of the RAM 630 and the storage device 640 as a temporary storage medium for programs and data.

[0061] The network interface 650 relays data exchange with an external device (not shown) via a network. For example, the network interface 650 relays data exchange with an HMD. The network interface 650 is, for example, a local area network (LAN) card. Furthermore, the network interface 650 is not limited to being wired, and may be wireless.

[0062] The computer 600 configured in this manner executes the operations of the components in the visible range specifying device 10 to realize the functions of the visible range specifying device 10 .

[0063] <System> An example of a visible range display system 300 that uses the visible range specifying device 10 will be described. Fig. 11 is a diagram showing an example of the configuration of the visible range display system 300. The visible range display system 300 includes the visible range specifying device 10, an HMD 310, a person data storage device 320, and a model data storage device 340. The HMD 310 is an example of a person data output device and a display device. The visible range display system 300 may include a display 330 such as a computer as the display device.

[0064] The HMD 310 is equipped with a GPS and a gyroscope, and outputs position data and posture data of a person to the visible range identification device 10. The person data storage device 320 stores height data of people. The model data storage device 340 stores model data.

[0065] The person data acquisition unit 110 acquires position data and posture data from the HMD 310 and height data from the person data storage device 320 as person data. The avatar data generation unit 120 generates person avatar data including position data, height data, and posture data of a person avatar representing a person in model data stored in the model data storage device 340, based on the person data. The visible range determination unit 130 determines the visible range of the person avatar in the model data, based on the person avatar data. The data output unit 140 outputs data for displaying the visible range of the person avatar as data used for display by the HMD 310 or the display 330.

[0066] The HMD 310 or the display 330 displays the visible range using the data output by the visible range identification device 10. For example, the HMD 310 displays the visible range as shown in Fig. 6. Alternatively, the display 330 displays the visible range as shown in Fig. 4.

[0067] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes.

[0068] (Supplementary Note 1) A visible range determining device comprising: person data obtaining means for obtaining person data including at least position data, height data, and posture data of a person in real space; avatar data generating means for generating, based on the person data, at least person avatar data including position data, height data, and posture data of the person avatar, for a person avatar representing a person in model data that shows a three-dimensional model in which real space is expressed; visible range determining means for determining, based on the model data and the person avatar data, a visible range of the person avatar in the model data; and data output means for outputting data for displaying the visible range of the person avatar in at least a part of the display range of a display device.

[0069] (Supplementary Note 2) In the visible range identification device described in Supplementary Note 1, the data output means outputs, as data for displaying the visible range of the human avatar, data for displaying the visible range of the human avatar in a part of the field of view of the person on the display device, or data for superimposing and displaying the visible range of the human avatar on the field of view image of the human avatar displayed on the display device.

[0070] (Supplementary Note 3) The visible range identification device according to Supplementary Note 1 or 2, wherein the data output means outputs data for displaying a visible range in a range or direction different from a field of view range of the person on the display device, or a visible range in a range or direction different from a field of view image of the person avatar.

[0071] (Supplementary Note 4) The visible range determination device according to any one of Supplementary Notes 1 to 3, wherein the person data acquisition means acquires person data on a real route along which a person moves in real space; the avatar data generation means generates person avatar data on a virtual route along which the person avatar moves model data, based on the person data on the real route; the visible range determination means determines a visible range of the person avatar on the virtual route, based on the model data and the person avatar data on the virtual route; and the data output means outputs data for displaying at least a part of the visible range of the person avatar on the virtual route.

[0072] (Supplementary Note 5) The visible range determination device according to any one of Supplementary Notes 1 to 4, wherein the person data acquisition means acquires other person data including at least position data, height data, and posture data of one or more other people positioned around the person; the avatar data generation means generates other person avatar data including at least position data, height data, and posture data of the other person avatar for the other person avatar representing the other person in the model data, based on the other person data; the visible range determination means determines the visible range of the other person avatar based on the model data and the other person avatar data, and determines a range within the visible range of the person avatar that is included in the visible range of the other person avatar as a blocked range; and the data output means outputs data for displaying at least one of the blocked range and the visible range of the person avatar that is not included in the blocked range.

[0073] (Supplementary Note 6) The visible range identifying device according to Supplementary Note 5, wherein the data output means outputs data for displaying at least one of the blocked range of each other avatar and the visible range of the other avatar.

[0074] (Supplementary Note 7) The visible range identifying device according to Supplementary Note 5 or 6, wherein the data output means outputs data for displaying an area where the blocked areas of a plurality of other people's avatars overlap.

[0075] (Supplementary Note 8) A visible range display system comprising: the visible range specifying device according to any one of Supplementary Notes 1 to 7; a person data output device that outputs position data and posture data of a person to the visible range specifying device; a storage device that stores height data of the person used by the visible range specifying device; and a display device that displays the visible range using the data output by the visible range specifying device.

[0076] (Supplementary Note 9) A visible range determination method comprising: acquiring person data including at least position data, height data, and posture data of a person in real space; generating, based on the person data, person avatar data including at least position data, height data, and posture data of a person avatar representing a person in model data representing a three-dimensional model that represents real space; determining, based on the model data and the person avatar data, a visible range of the person avatar in the model data; and outputting data for displaying the visible range of the person avatar in at least a part of a display range on a display device.

[0077] (Supplementary Note 10) The visible range determination method according to Supplementary Note 9, wherein the data for displaying the visible range of a person's avatar is data for displaying the visible range of the person's avatar in a part of the person's field of view on the display device, or data for displaying the visible range of the person's avatar superimposed on the field of view image of the person's avatar displayed on the display device.

[0078] (Supplementary Note 11) The visible range determination method according to Supplementary Note 9 or 10, wherein data is output for displaying a visible range in a range or direction different from a field of view range of a person on a display device, or a visible range in a range or direction different from a field of view image of a person avatar.

[0079] (Supplementary Note 12) A visible range determination method according to any one of Supplementary Notes 9 to 11, comprising: acquiring person data on a real route along which a person moves in real space; generating person avatar data on a virtual route along which the person avatar moves model data based on the person data on the real route; determining a visible range of the person avatar on the virtual route based on the model data and the person avatar data on the virtual route; and outputting data for displaying at least a portion of the visible range of the person avatar on the virtual route.

[0080] (Supplementary Note 13) The visible range determination method according to any one of Supplementary Notes 9 to 12, comprising: acquiring other person data including at least position data, height data, and posture data of one or more other people positioned around the person; generating other person avatar data, based on the other person data, for other person avatars representing other people in the model data, including at least position data, height data, and posture data of the other person avatar; identifying a visible range of the other person avatar based on the model data and the other person avatar data; identifying a range within the visible range of the person avatar that is included in the visible range of the other person avatar as a blocked range; and outputting data for displaying at least one of the blocked range and the visible range of the person avatar that is not included in the blocked range.

[0081] (Supplementary Note 14) The visible range determination method according to Supplementary Note 13, further comprising outputting data for displaying at least one of the blocked range of each of the other person's avatars and the visible range of the human avatar.

[0082] (Supplementary Note 15) The visible range determination method according to Supplementary Note 13 or 14, further comprising outputting data for displaying an area where blocked areas of a plurality of other people's avatars overlap.

[0083] (Supplementary Note 16) A visible range display method, comprising: a visible range specifying device that executes the visible range specifying method according to any one of Supplementary Notes 9 to 15; a person data output device that outputs position data and posture data of a person to the visible range specifying device; a storage device that stores height data of the person used by the visible range specifying device; and a display device that displays the visible range using the data output by the visible range specifying device.

[0084] (Supplementary Note 17) A program that causes a computer to execute the following processes: a process of acquiring person data including at least position data, height data, and posture data of a person in real space; a process of generating, based on the person data, person avatar data including at least position data, height data, and posture data of a person avatar representing a person in model data that shows a three-dimensional model that represents real space; a process of specifying, based on the model data and the person avatar data, a viewable range of the person avatar in the model data; and a process of outputting data for displaying the viewable range of the person avatar in at least a part of the display range of a display device.

[0085] (Appendix 18) A program according to appendix 17 that causes a computer to execute a process of outputting, as data for displaying the visible range of a human avatar, data for displaying the visible range of a human avatar in a part of the field of view of the person on the display device, or data for superimposing and displaying the visible range of the human avatar on the field of view image of the human avatar displayed on the display device.

[0086] (Appendix 19) A program described in Appendix 17 or 18 that causes a computer to execute a process of outputting data for displaying a visible range in a range or direction different from the field of view of a person on a display device, or a visible range in a range or direction different from the field of view image of a person avatar.

[0087] (Supplementary Note 20) A program described in any one of Supplementary Notes 17 to 19 that causes a computer to execute the following processes: a process of acquiring person data on a real route along which a person moves in real space; a process of generating person avatar data on a virtual route along which a person avatar moves model data based on the person data on the real route; a process of identifying a visible range of the person avatar on the virtual route based on the model data and the person avatar data on the virtual route; and a process of outputting data for displaying at least a portion of the visible range of the person avatar on the virtual route.

[0088] (Supplementary Note 21) A program described in any one of Supplementary Notes 17 to 20 that causes a computer to execute the following processes: a process of acquiring other person data including at least position data, height data, and posture data of one or more other people positioned around a person; a process of generating other person avatar data including at least position data, height data, and posture data of the other person avatar for the other person avatar representing the other person in the model data based on the other person data; a process of identifying the visible range of the other person avatar based on the model data and the other person avatar data, and identifying the range within the visible range of the person avatar that is included in the visible range of the other person avatar as the blocked range; and a process of outputting data for displaying at least one of the blocked range and the visible range of the person avatar that is not included in the blocked range.

[0089] (Supplementary Note 22) The program according to Supplementary Note 21, which causes a computer to execute a process of outputting data for displaying at least one of a blocked range of each of other person's avatars and a visible range of the human avatar.

[0090] (Supplementary Note 23) The program according to Supplementary Note 21 or 22, which causes a computer to execute a process of outputting data for displaying an area where blocking areas of a plurality of other people's avatars overlap.

[0091] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

[0092] This application claims priority based on Japanese Patent Application No. 2023-179217, filed October 18, 2023, the disclosure of which is incorporated herein by reference in its entirety.

[0093] REFERENCE SIGNS LIST 10 Visible range determination device 110 Person data acquisition unit 120 Avatar data generation unit 130 Visible range determination unit 140 Data output unit 300 Visible range display system 310 HMD 320 Person data storage device 330 Display 340 Model data storage device 600 Computer 610 CPU 620 ROM 630 RAM 640 Storage device 650 Network interface 690 Recording medium

Claims

1. A visible range determining device comprising: a person data acquiring means for acquiring person data including at least position data, height data, and posture data of a person in real space; an avatar data generating means for generating, based on the person data, person avatar data including at least position data, height data, and posture data of a person avatar for a person avatar representing a person in model data showing a three-dimensional model in which real space is represented; a visible range determining means for determining, based on the model data and the person avatar data, a visible range of the person avatar in the model data; and a data output means for outputting data for displaying the visible range of the person avatar in at least a part of a display range on a display device.

2. The visible range determination device according to claim 1, wherein the data output means outputs, as data for displaying the visible range of the human avatar, data for displaying the visible range of the human avatar in a part of the field of view of the person on a display device, or data for superimposing and displaying the visible range of the human avatar on a field of view image of the human avatar displayed by a display device.

3. The visible range identifying device according to claim 1 or 2, wherein the data output means outputs data for displaying a visible range in a range or direction different from the visual field range of the person on the display device, or a visible range in a range or direction different from the range of the visual field image of the person avatar.

4. A visible range determining device as described in any one of claims 1 to 3, wherein the person data acquisition means acquires the person data on a real route along which the person moves in real space; the avatar data generation means generates the person avatar data on a virtual route along which the person avatar moves the model data based on the person data on the real route; the visible range determination means determines the visible range of the person avatar on the virtual route based on the model data and the person avatar data on the virtual route; and the data output means outputs data for displaying at least a portion of the visible range of the person avatar on the virtual route.

5. A visible range determining device as claimed in any one of claims 1 to 4, wherein the person data obtaining means obtains other person data including at least position data, height data and posture data of one or more other people located around the person; the avatar data generating means generates other person avatar data including at least position data, height data and posture data of an other person avatar representing a other person in the model data based on the other person data; the visible range determining means determines the visible range of the other person avatar based on the model data and the other person avatar data, and determines a range within the visible range of the person avatar that is included in the visible range of the other person avatar as a blocked range; and the data output means outputs data for displaying at least one of the blocked range and the visible range of the person avatar that is not included in the blocked range.

6. The visible range identifying device according to claim 5, wherein said data output means outputs data for displaying at least one of the blocked range of each of said other person's avatars and the visible range of said other person's avatars.

7. The visible range identifying device according to claim 5 or 6, wherein the data output means outputs data for displaying an overlapping range of the blocked ranges in a plurality of the other person's avatars.

8. A visible range display system comprising: a visible range specifying device according to any one of claims 1 to 7; a person data output device which outputs position data and posture data of the person to the visible range specifying device; a storage device which stores height data of the person used by the visible range specifying device; and a display device which displays the visible range using the data output by the visible range specifying device.

9. A visible range determination method comprising: acquiring person data including at least position data, height data, and posture data of a person in real space; generating, based on the person data, person avatar data including at least position data, height data, and posture data of a person avatar for a person avatar representing a person in model data showing a three-dimensional model in which real space is represented; determining, based on the model data and the person avatar data, a visible range of the person avatar in the model data; and outputting data for displaying the visible range of the person avatar in at least a part of a display range on a display device.

10. The visible range determination method according to claim 9, further comprising outputting, as data for displaying the visible range of the human avatar, data for displaying the visible range of the human avatar in a part of the field of view of the person on a display device, or data for superimposing the visible range of the human avatar on the field of view image of the human avatar displayed by a display device.

11. A visible range determination method as described in claim 9 or 10, which outputs data for displaying a visible range in a range or direction different from the field of view range of the person on a display device, or a visible range in a range or direction different from the range of the field of view image of the person avatar.

12. A method for determining a visible range as described in any one of claims 9 to 11, comprising the steps of: acquiring person data on a real route along which the person moves in real space; generating person avatar data on a virtual route along which the person avatar moves the model data based on the person data on the real route; determining a visible range of the person avatar on the virtual route based on the model data and the person avatar data on the virtual route; and outputting data for displaying at least a portion of the visible range of the person avatar on the virtual route.

13. A method for determining a visible range as claimed in any one of claims 9 to 12, comprising: acquiring other person data including at least position data, height data, and posture data of one or more other people positioned around the person; generating other person avatar data for an other person avatar representing a other person in the model data based on the other person data, including at least position data, height data, and posture data of the other person avatar; determining a visible range of the other person avatar based on the model data and the other person avatar data; determining a range within the visible range of the person avatar that is included in the visible range of the other person avatar as a blocked range; and outputting data for displaying at least one of the blocked range and the visible range of the person avatar that is not included in the blocked range.

14. The visible range determination method according to claim 13, further comprising the step of outputting data for displaying at least one of the blocked range of each of the other person avatars and the visible range of the human avatar.

15. The visible range determination method according to claim 13 or 14, further comprising the step of outputting data for displaying an overlapping range of the blocked ranges in a plurality of the other person's avatars.

16. A visible range display method, comprising: a visible range specifying device executing the visible range specifying method according to any one of claims 9 to 15; a person data output device outputting position data and posture data of the person to the visible range specifying device; a storage device storing height data of the person used by the visible range specifying device; and a display device displaying the visible range using the data output by the visible range specifying device.

17. A recording medium for recording a program that causes a computer to execute the following processes: a process of acquiring person data including at least position data, height data, and posture data of a person in real space; a process of generating person avatar data including at least position data, height data, and posture data of a person avatar representing a person in model data representing a three-dimensional model in which real space is represented, based on the person data; a process of determining a visible range of the person avatar in the model data, based on the model data and the person avatar data; and a process of outputting data for displaying the visible range of the person avatar in at least a part of the display range of a display device.

18. A recording medium for recording a program as described in claim 17, which causes a computer to execute a process of outputting, as data for displaying the visible range of the human avatar, data for displaying the visible range of the human avatar in a part of the field of view of the person on a display device, or data for superimposing and displaying the visible range of the human avatar on the field of view image of the human avatar displayed by a display device.

19. A recording medium for recording a program as described in claim 17 or 18, which causes a computer to execute a process of outputting data for displaying a visible range in a range or direction different from the field of view range of the person on a display device, or a visible range in a range or direction different from the range of the field of view image of the person avatar.

20. A recording medium for recording a program described in any one of claims 17 to 19, which causes a computer to execute the following processes: a process of acquiring the person data on a real route along which the person moves in real space; a process of generating the person avatar data on a virtual route along which the person avatar moves the model data based on the person data on the real route; a process of determining a visible range of the person avatar on the virtual route based on the model data and the person avatar data on the virtual route; and a process of outputting data for displaying at least a portion of the visible range of the person avatar on the virtual route.

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