Railway map data generation system, railway map data generation method

Abstract

To provide a railway map data generation system capable of generating railway map data with less cost and work.SOLUTION: A railway map data generation system 100 includes: a flight plan creation unit 112 that creates a flight plan of an unmanned aircraft 200; a flight control unit 113 that controls the unmanned aircraft 200 to fly along a railway based on the flight plan created by the flight plan creation unit 112; an information collection unit 111 that observes the surroundings of the unmanned aircraft 200 while flying along the railway and collects the acquired observation information from the unmanned aircraft 200; and a railway map data generation unit 114 that generates railway map data based on the observation information collected from the information collection unit 111.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a system and method for generating railway map data including a railway line and its surrounding environment. [Background technology]

[0002] In railway systems that include tracks and various steel facilities, information about the tracks and their surrounding environment is important for realizing automated driving of railway vehicles. Therefore, there is a demand for automatically collecting this information and generating railway map data.

[0003] Regarding the operation of unmanned aerial vehicles that can be used in collecting information for generating railway map data, for example, the technology of Patent Document 1 is known. Patent Document 1 describes a ground control system that transmits a flight plan including railway lines and flight paths to the unmanned aerial vehicle via multiple communication towers, receives data while the unmanned aerial vehicle is monitoring the railway lines according to the flight plan, detects obstacles along the flight path based on the received data, and adjusts the flight plan based on the obstacle detection results. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] European Patent Application Publication No. 3669342 Summary of the Invention [Problem to be solved by the invention]

[0005] The technology of Patent Document 1 requires that a flight plan for the unmanned aerial vehicle be set according to the railway line to be monitored. Therefore, when this technology is applied to the generation of railway map data, a flight plan that accurately matches the actual railway line must be created in advance, which poses a problem of considerable cost and labor. [Means for solving the problem]

[0006] The railway map data generation system according to the present invention comprises one or more unmanned aircraft, and a railway map data generation device that generates railway map data including a track and its surrounding environment based on observation information acquired by the unmanned aircraft. The railway map data generation device comprises an operation plan creation unit that creates an operation plan for the unmanned aircraft, an operation control unit that operates the unmanned aircraft along the track based on the operation plan created by the operation plan creation unit, an information collection unit that collects from the unmanned aircraft the observation information acquired by observing the surroundings while the unmanned aircraft is operating along the track, and a railway map data generation unit that generates the railway map data based on the observation information collected by the information collection unit. The operation plan creation unit identifies identical points in the multiple observation ranges as connection points based on the observation information acquired by the unmanned aircraft for multiple partially overlapping observation ranges, combines the observation information together using the connection points, calculates the trajectory that the unmanned aircraft has moved along the track based on the combined observation information, and creates the operation plan based on the trajectory. The railway map data generation method according to the present invention is a method for generating railway map data including a railway line and its surrounding environment by a computer based on observation information acquired by one or more unmanned aircraft, wherein the computer creates an operation plan for the unmanned aircraft, operates the unmanned aircraft along the railway line based on the operation plan, collects from the unmanned aircraft the observation information acquired by the unmanned aircraft observing the surroundings while operating along the railway line, and generates the railway map data based on the collected observation information. In creating the operation plan, connection points included in the observation information acquired by the unmanned aircraft for different observation ranges are identified, and the observation information is combined using the connection points to calculate the trajectory that the unmanned aircraft has traveled along the railway line so far, and creates the operation plan based on the trajectory. Effect of the Invention

[0007] According to the present invention, railway map data can be generated with little cost and effort. [Brief description of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a configuration of a railway map data generating system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram illustrating an example of a hardware configuration of a railway map data generating device. [Diagram 3] FIG. 2 is a functional block diagram showing an example of the functional configuration of the railway map data generating device. [Figure 4] 4 is a flowchart showing a flow of processing executed by an unmanned aircraft. [Diagram 5] 4 is a flowchart showing a flow of processing executed by the railway map data generating device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. For clarity of explanation, the following description and drawings have been omitted or simplified as appropriate. The present invention is not limited to this embodiment, and any application example that meets the concept of the present invention is included in the technical scope of the present invention. Unless otherwise specified, each component may be plural or singular.

[0010] Fig. 1 is a block diagram showing the configuration of a railway map data generation system according to an embodiment of the present invention. As shown in Fig. 1, a railway map data generation system 10 according to this embodiment is configured by a railway map data generation device 100 and unmanned aircraft 201, 202 that communicate with each other.

[0011] The railway map data generation device 100 is configured using information devices such as a server and a PC (personal computer). The railway map data generation device 100 is connected to the unmanned operating aircraft 201, 202 via a communication network (not shown), and receives information transmitted from the unmanned operating aircraft 201, 202 via this communication network, and transmits information to the unmanned operating aircraft 201, 202. The communication network includes, for example, a LAN, a WAN, a public line network, a mobile phone network, and the like. Details of the information transmitted and received between the railway map data generation device 100 and the unmanned operating aircraft 201, 202 will be described later.

[0012] The unmanned aircraft 201, 202 are devices capable of unmanned operation, and are configured using, for example, UAVs (Unmanned Aerial Vehicles), drones, autonomous vehicles, etc. In FIG. 1, the unmanned aircraft 201 using a UAV and the unmanned aircraft 202 using an autonomous vehicle running on a track 301 are illustrated, but other devices may be used as the unmanned aircraft 201, 202. In addition, FIG. 1 shows an example in which two unmanned aircraft 201, 202 are included in the railway map data generation system 10, but one or three or more unmanned aircraft may be used. Hereinafter, regardless of the number of unmanned aircraft, all unmanned aircraft included in the railway map data generation system 10 will be collectively referred to as "unmanned aircraft 200".

[0013] The unmanned aircraft 200 operates along a track 301 for which railway map data is to be generated under the control of the railway map data generation device 100. The unmanned aircraft 200 is equipped with one or more types of sensors, and uses the sensors to acquire observation information of the track 301 and its surrounding environment. The observation information acquired by the unmanned aircraft 200 is transmitted from the unmanned aircraft 200 to the railway map data generation device 100 and used in the generation of railway map data performed by the railway map data generation device 100. The sensors mounted on the unmanned aircraft 200 include, for example, a monocular camera, an infrared camera, a stereo camera, a LiDAR (Light Detection And Ranging), a radar, an ultrasonic sensor, etc. In addition, when the unmanned aircraft 200 is equipped with multiple types of sensors, the sensor information acquired by each sensor may be integrated to generate observation information, and the observation information may be transmitted to the railway map data generation device 100.

[0014] Railway facilities 302 may be present near the tracks 301. In such a case, the unmanned aircraft 200 acquires information such as the appearance of the railway facilities 302 and the installation position of the railway facilities 302 relative to the tracks 301 as observation information of the surrounding environment of the tracks 301. The railway facilities 302 include, for example, traffic signals, various signs, railroad crossings, stations, ATC (Automatic Train Control) ground coils, etc. In addition to the above, information on various background objects present around the tracks 301, such as various buildings, etc., can be included in the observation information.

[0015] When multiple unmanned aerial vehicles 200 are operated simultaneously, each unmanned aerial vehicle 200 may avoid collisions by communicating with the other unmanned aerial vehicles 200 to grasp their positional relationship with the other unmanned aerial vehicles 200. In this way, it is possible to avoid collisions between the unmanned aerial vehicles 200 and improve safety.

[0016] 2 is a diagram showing an example of the hardware configuration of the railway map data generating device 100. The railway map data generating device 100 is a computer such as a server or a PC, and is configured by connecting a processor 101, a storage device 102, an input device 103, an output device 104, and a communication interface (communication IF) 105 to each other via a communication bus 106.

[0017] The processor 101 executes a predetermined program to control the operation of the railway map data generating device 100 and to cause a computer such as a server or a PC to function as the railway map data generating device 100. The storage device 102 is a recording medium capable of non-temporarily or temporarily storing various programs and data, and is configured, for example, using a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), a flash memory, etc. The input device 103 is a device that accepts data input from a user to the railway map data generating device 100, and is configured, for example, using a keyboard, a mouse, a touch panel, a microphone, etc. The output device 104 is a device that outputs data to a user, and is configured, for example, using a display, a printer, a speaker, etc. The communication IF 105 is connected to a communication line network (not shown), and transmits and receives data between the railway map data generating device 100 and the unmanned operating vehicle 200 via this communication line network.

[0018] 3 is a functional block diagram showing an example of the functional configuration of the railway map data generation device 100. The railway map data generation device 100 has an information collection unit 111, an operation plan creation unit 112, an operation control unit 113, a railway map data generation unit 114, and a railway map database 115.

[0019] The information collecting unit 111, the operation plan creating unit 112, the operation control unit 113 and the railway map data generating unit 114 are specifically realized by, for example, having the processor 101 execute a program stored in the storage device 102 shown in Fig. 2. The railway map database 115 is specifically realized by, for example, the storage device 102 shown in Fig. 2.

[0020] The information collection unit 111 collects observation information from the unmanned aircraft 200, the observation information being acquired by observing the surroundings using various sensors while the unmanned aircraft 200 is operating along the track 301. The observation information collected by the information collection unit 111 is output to the operation plan creation unit 112 and the railway map data generation unit 114, respectively.

[0021] The operation plan creation unit 112 creates an operation plan for the unmanned aircraft 200 using the observation information collected by the information collection unit 111. Here, the trajectory that the unmanned aircraft 200 has traveled so far along the track 301 is calculated from the observation information, and an operation plan is automatically created based on this trajectory such that sufficient observation information required for generating railway map data can be obtained. Note that the method of creating the operation plan by the operation plan creation unit 112 at this time will be described in detail later.

[0022] The operation control unit 113 creates operation control information for the unmanned aircraft 200 based on the operation plan created by the operation plan creation unit 112, and transmits it to the unmanned aircraft 200. By moving the unmanned aircraft 200 in accordance with this operation control information, the unmanned aircraft 200 is operated along the track 301, and operation control of the unmanned aircraft 200 can be performed so that the unmanned aircraft 200 can obtain observation information necessary for generating railway map data.

[0023] The railway map data generation unit 114 generates railway map data including the track 301 and its surrounding environment based on the observation information collected by the information collection unit 111. For example, the railway map data generated is data that expresses in two or three dimensions the shape and orientation of the track 301, the type and position of railway facilities 302 existing around the track 301, and the positions and shapes of background objects such as various structures existing around the track 301. This makes it possible to generate railway map data required for automatic operation of a railway vehicle along the track 301.

[0024] The railway map database 115 stores the railway map data generated by the railway map data generating unit 114. The railway map data stored in the railway map database 115 can be read out and used by other devices at any time.

[0025] Next, the processes respectively performed by the railway map data generation device 100 and the unmanned aircraft 200 in the railway map data generation system 10 will be described below with reference to the flowcharts shown in FIGS.

[0026] FIG. 4 is a flowchart showing the flow of processing executed by the unmanned aerial vehicle 200.

[0027] In step S100, operation control information transmitted from the railway map data generating device 100 is received.

[0028] In step S110, the unmanned aircraft 200 is operated according to the flight control information received in step S100. Here, the current position of the unmanned aircraft 200 itself is measured using, for example, a Global Navigation Satellite System (GNSS) or the like, and a motion vector of the unmanned aircraft 200 itself is calculated from a history of positions measured in the past. Then, the motors, engines, various actuators, and the like (not shown) of the unmanned aircraft 200 are controlled so that the unmanned aircraft 200 moves along the flight route represented by the received flight control information.

[0029] When operating the unmanned aircraft 200 in step S110, it is preferable to divide the track 301 into predetermined sections and control the operation of the unmanned aircraft 200 for each section. At this time, if another unmanned aircraft is present in the same section, the entry of the unmanned aircraft 200 into that section may be restricted, and acquisition of observation information in that section may be suspended until the other unmanned aircraft leaves. In particular, when a railroad train that runs unmanned on the track 301 is used as the unmanned aircraft 200, this is preferable because it ensures safety.

[0030] In step S120, it is determined whether or not the track 301 for which railway map data is to be generated is visible from the current position of the unmanned aircraft 200. If the track 301 is visible, the process proceeds to step S130, and if the track 301 is not visible due to weather or surrounding brightness, the process proceeds to step S140.

[0031] In step S130, among the various sensors mounted on the unmanned aircraft 200, a camera capable of capturing images using visible light is used to capture images of the track 301 and its surrounding environment.

[0032] In step S140, the track 301 and its surrounding environment are detected using a sensor capable of observation in an invisible environment (for example, an infrared camera or radar) among various sensors mounted on the unmanned aerial vehicle 200.

[0033] In step S150, observation information of the railway 301 and its surrounding environment is generated using the photographed images acquired in step S130 or the detection information acquired in step S140, and transmitted to the railway map data generation device 100.

[0034] In step S160, it is determined whether a predetermined continuous operation time has elapsed since the start of operation of the unmanned aircraft 200. If the continuous operation time has not elapsed, the process returns to step S100 to continue operation of the unmanned aircraft 200, and if the continuous operation time has elapsed, the process proceeds to step S170.

[0035] In step S170, the operation of the unmanned aircraft 200 is temporarily stopped to interrupt the acquisition of observation information, and the unmanned aircraft 200 returns to the nearest base. Here, it is assumed that a base for storing the unmanned aircraft 200 and performing maintenance work is installed in advance near the railroad tracks 301 within a range where the unmanned aircraft 200 can return after operation. Note that the return route to the base at this time may be stored in advance at the start of operation, or may be determined according to guidance from the base.

[0036] In step S180, maintenance work is performed at the base on the unmanned aircraft 200. Here, work such as refueling, charging, and maintenance of the unmanned aircraft 200 is performed in preparation for the next flight.

[0037] When the maintenance work in step S180 is completed, in the next step S190, it is determined whether or not to resume operation of the unmanned aircraft 200. This determination in step S190 can be made based on, for example, the state of the unmanned aircraft 200, the progress of the work of acquiring observation information relative to the overall plan, the current time, etc. If the result of the determination in step S190 is that operation of the unmanned aircraft 200 is to be resumed, the process returns to step S100 and operation of the unmanned aircraft 200 is resumed, and if not, the process shown in the flowchart in FIG. 4 is terminated.

[0038] FIG. 5 is a flowchart showing the flow of the process executed by the railway map data generating device 100.

[0039] In step S200, flight operation control unit 113 transmits flight operation control information to unmanned aircraft 200. This flight operation control information is generated in step S290, which will be described later. However, it is preferable to transmit preset flight operation control information before executing step S290. The flight operation control information transmitted in step S200 is received by unmanned aircraft 200 in step S100 of FIG. 4 described above.

[0040] In step S210, the information collection unit 111 receives and collects the observation information transmitted from the unmanned aircraft 200 in step S150 of FIG. 4 described above.

[0041] In step S220, the flight plan creation unit 112 identifies a joining point in a plurality of observation ranges based on the observation information collected in step S210. Here, for example, by identifying the same point in the observation range represented by each observation information obtained from different unmanned aircraft or at different timings, it is possible to identify a joining point for joining the observation information. Note that the identification of the same point in each observation information can be performed, for example, by pattern matching between images obtained as the observation information, or by using distance information included in the observation information. At this time, it is also possible to determine whether or not the points are the same by using artificial intelligence using a model that has been trained by machine learning.

[0042] In step S230, the operation plan creation unit 112 combines the observation information using the combining points identified in step S220. Here, the observation information can be combined by overlapping the observation information so that the combining points in each piece of observation information match. At this time, the width of the track 301 (track spacing) and the spacing between sleepers in each piece of observation information may be detected, and the magnification when combining the observation information may be adjusted so that the values ​​match between the observation information to be combined.

[0043] In step S240, the operation plan creation unit 112 calculates the trajectory that the unmanned aircraft 200 has traveled so far along the track 301, based on the observation information combined in step S230. Here, the trajectory of the unmanned aircraft 200 can be calculated based on, for example, changes in the position and distance information of the track 301 included in the combined observation information.

[0044] In step S250, it is determined whether unmanned aircraft 200, which collected observation information in step S210, has been able to collect sufficient observation information within the current observation section. Here, for example, the observation section is defined as each section obtained by dividing track 301 into predetermined sections and its surroundings, and it is determined whether the ratio of the acquisition range of observation information within the observation section currently being observed by unmanned aircraft 200 is equal to or greater than a predetermined value. As a result, if the ratio of the acquisition range of observation information is equal to or greater than the predetermined value, it is determined that sufficient observation information has been collected and the process proceeds to step S270, and if it is less than the predetermined value, it is determined that the collection of observation information is insufficient and the process proceeds to step S260.

[0045] In step S260, the flight plan creation unit 112 creates a flight plan so that the unmanned aircraft 200 moves within the observation section in which the unmanned aircraft 200 is currently operating. Here, for example, a future flight plan for the unmanned aircraft 200 is created so that the unmanned aircraft 200 moves toward an unobserved location within the current observation section.

[0046] In step S270, it is determined whether or not to end the collection of observation information by unmanned aircraft 200. Here, it is possible to determine whether or not to end the collection of observation information based on, for example, the progress of the work of acquiring observation information relative to the overall plan, the current time, etc. If, as a result of the determination in step S270, the collection of observation information is to be continued without ending, the process proceeds to step S280, and if it is to be ended, the process proceeds to step S300.

[0047] In step S280, the flight plan creation unit 112 creates a flight plan so that the unmanned aircraft 200 moves toward the next observation section. Here, for example, a future flight plan for the unmanned aircraft 200 is created so that the unmanned aircraft 200 moves toward an observation section for which observation information has not yet been acquired, among observation sections adjacent to the current observation section.

[0048] After executing the process of step S260 or S280, in step S290, operation control information is generated by the operation control unit 113. Here, the operation control information for the unmanned aircraft 200 is generated according to the operation plan created by the operation plan creation unit 112 in step S260 or S280.

[0049] 4, when the unmanned aircraft 200 resumes operation after suspending acquisition of observation information as described above, the operation control unit 113 may determine, in step S290, a location at which to resume acquisition of observation information based on the operation plan before the unmanned aircraft 200 suspended acquisition of observation information, and generate operation control information reflecting the result. In this way, it becomes possible to quickly resume acquisition of observation information by the unmanned aircraft 200.

[0050] After generating the flight control information in step S290, the process returns to step S200, and the generated flight control information is transmitted to unmanned aircraft 200 in step S200. Thereafter, the processes of steps S210 to S290 described above are repeated until it is determined in step S270 that collection of observation information is to be ended.

[0051] In step S300, the railway map data generation unit 114 generates railway map data based on the observation information collected in the processes up to this point, and records the data in the railway map database 115. Here, railway map data can be generated by expressing, in two or three dimensions, the shape and orientation of the track 301, the type and position of railway equipment 302 installed in association with the track 301, the positions and shapes of various structures existing around the track 301, etc., based on, for example, image information and distance information included in the observation information.

[0052] After generating the railway map data in step S300 and recording it in the railway map database 115, the railway map data generation device 100 ends the process shown in the flowchart of Fig. 5. As a result, the railway map data generated based on the observation information of the unmanned aircraft 200 is recorded in the railway map database 115.

[0053] According to the embodiment of the present invention described above, the following advantageous effects are obtained.

[0054] (1) The railway map data generation device 100 includes one or more unmanned aircraft 200, and the railway map data generation device 100 generates railway map data including a track 301 and its surrounding environment based on observation information acquired by the unmanned aircraft 200. The railway map data generation device 100 includes an operation plan creation unit 112 that creates an operation plan for the unmanned aircraft 200, an operation control unit 113 that operates the unmanned aircraft 200 along the track 301 based on the operation plan created by the operation plan creation unit 112, an information collection unit 111 that collects, from the unmanned aircraft 200, observation information acquired by observing the surroundings while the unmanned aircraft 200 is operating along the track 301, and a railway map data generation unit 114 that generates railway map data based on the observation information collected by the information collection unit 111. The operation plan creation unit 112 identifies the same point in a plurality of observation ranges as a junction point based on the observation information acquired by the unmanned aircraft 200 for the plurality of partially overlapping observation ranges (step S220), combines the observation information using this junction point (step S230), calculates the trajectory that the unmanned aircraft 200 has moved along the track 301 so far based on the combined observation information (step S240), and creates an operation plan based on this trajectory (steps S260, S280). Since this is done, the unmanned aircraft 200 can automatically acquire the observation information used to generate the railway map data according to the operation plan corresponding to the trajectory of the unmanned aircraft 200 so far, it becomes possible to generate railway map data with little cost and effort.

[0055] (2) The unmanned aircraft 200 may be equipped with multiple types of sensors. In this case, the railway map data generation unit 114 may generate railway map data based on observation information generated by integrating sensing information acquired by each of the multiple types of sensors. In this way, it is possible to generate more detailed railway map data.

[0056] (3) The observation information may include information on background objects existing around the railway 301. In this case, the railway map data generating unit 114 may generate railway map data including the positions of the background objects relative to the railway 301 and the three-dimensional shapes of the background objects. In this way, it is possible to generate detailed map data.

[0057] (4) The observation information may include information on railway facilities 302 installed in association with the track 301. In this case, the railway map data generating unit 114 may generate railway map data including the position of the railway facilities 302 relative to the track 301 and the type of the railway facilities 302. In this way, it is possible to generate detailed map data.

[0058] (5) The unmanned aircraft 200 may include a railway vehicle that runs unmanned on the track 301. In this case, when other railway vehicles are present within a predetermined section of the track 301, the railway vehicle may suspend acquisition of observation information in that section until the other railway vehicles leave. In this way, when a railway train that runs unmanned on the track 301 is used as the unmanned aircraft 200, safety can be ensured.

[0059] (6) When a predetermined continuous flight time has elapsed (step S160: Yes), the unmanned aircraft 200 temporarily stops flight and suspends acquisition of observation information (step S170), and then resumes flight after performing predetermined maintenance work (step S180). In this case, the flight control unit 113 may determine the location where the unmanned aircraft 200 will resume acquisition of observation information after resuming flight, based on the flight plan before the unmanned aircraft 200 suspended acquisition of observation information. In this way, when the unmanned aircraft 200 suspended acquisition of observation information, it becomes possible to quickly resume acquisition of observation information.

[0060] (7) The multiple unmanned aerial vehicles 200 may be capable of communicating with each other. In this case, each unmanned aerial vehicle 200 may be configured to communicate with the other unmanned aerial vehicles 200 to grasp the positional relationship with the other unmanned aerial vehicles 200 and avoid collisions. In this way, it is possible to reliably avoid collisions between the unmanned aerial vehicles 200 and improve safety.

[0061] The present invention is not limited to the above-described embodiment, and can be implemented using any components without departing from the scope of the present invention. The above-described embodiments and modifications are merely examples, and the present invention is not limited to these contents as long as the features of the invention are not impaired. In addition, although various embodiments and modifications have been described above, the present invention is not limited to these contents. Other aspects conceivable within the scope of the technical idea of ​​the present invention are also included in the scope of the present invention. [Explanation of symbols]

[0062] 10... railway map data generation system, 100... railway map data generation device, 111... information collection unit, 112... operation plan creation unit, 113... operation control unit, 114... railway map data generation unit, 115... railway map database, 200, 201, 202... unmanned aircraft, 301... track, 302... railway equipment

Claims

1. one or more unmanned aerial vehicles; and a railway map data generating device that generates railway map data including a railway line and its surrounding environment based on observation information acquired by the unmanned aircraft, The railway map data generating device includes: A flight plan creation unit that creates a flight plan for the unmanned aircraft; An operation control unit that operates the unmanned aircraft along the line based on the operation plan created by the operation plan creation unit; an information collection unit that collects, from the unmanned aircraft, the observation information acquired by observing the surroundings while the unmanned aircraft is operating along the line; a railway map data generating unit that generates the railway map data based on the observation information collected by the information collecting unit, The operation plan creation unit identifies identical points in multiple observation ranges as connection points based on the observation information acquired by the unmanned aircraft for multiple partially overlapping observation ranges, combines the observation information using the connection points, calculates the trajectory that the unmanned aircraft has traveled along the railway line based on the combined observation information, and creates the operation plan based on the trajectory.

2. 2. The railway map data generating system according to claim 1, The unmanned aircraft are each equipped with a plurality of types of sensors, The railway map data generation system, wherein the railway map data generation unit generates the railway map data based on the observation information generated by integrating sensing information respectively acquired by the multiple types of sensors.

3. 2. The railway map data generating system according to claim 1, The observation information includes information on background objects present around the railroad tracks, The railway map data generating system, wherein the railway map data generating unit generates the railway map data including a position of the background object relative to the railroad tracks and a three-dimensional shape of the background object.

4. 2. The railway map data generating system according to claim 1, The observation information includes information on railway equipment attached to the track, A railway map data generation system, wherein the railway map data generation unit generates the railway map data including a position of the railway facility relative to the railroad tracks and a type of the railway facility.

5. 2. The railway map data generating system according to claim 1, The unmanned aircraft includes a rail vehicle that runs unmanned on the track, A railway map data generation system in which, if there is another railway vehicle within a specified section of the track, the railway vehicle suspends acquisition of the observation information for that section until the other railway vehicle leaves.

6. 2. The railway map data generating system according to claim 1, When a predetermined continuous flight time has elapsed, the unmanned aircraft temporarily stops flight and discontinues acquisition of the observation information, and then resumes flight after performing a predetermined maintenance operation; The operation control unit determines the location where the unmanned aircraft will resume acquiring the observation information after resuming operation based on the operation plan before the unmanned aircraft stopped acquiring the observation information, in a railway map data generation system.

7. 2. The railway map data generating system according to claim 1, The plurality of unmanned aircraft are capable of communicating with each other; A railway map data generation system in which each of the unmanned aircraft communicates with other unmanned aircraft to understand its positional relationship with the other unmanned aircraft and avoid collisions.

8. A method for generating railway map data including a track and its surrounding environment by a computer based on observation information acquired by one or more unmanned aerial vehicles, comprising: The computer Prepare a flight plan for the unmanned aircraft; operating the unmanned aircraft along the line based on the flight plan; Collecting the observation information from the unmanned aircraft, the observation information being acquired by observing the surroundings while the unmanned aircraft is operating along the track; generating the railway map data based on the collected observation information; In creating the flight plan, Identifying connection points included in the observation information acquired by each of the unmanned aircraft for different observation ranges; calculating a trajectory of the unmanned aerial vehicle along the track by combining the observations using the connection points; A railway map data generation method for generating the operation plan based on the trajectory.

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