Information processing system, information processing method, and program

Abstract

To provide an information processing system, information processing method and program for supporting route planning for mobile vehicles.SOLUTION: An information processing system is provided, comprising: a three-dimensional data storage unit for storing three-dimensional data of the surroundings of a planned operational area; a route information storage unit for storing a travel path of a mobile vehicle in the planned operational area; and a collision detection unit configured to place the three-dimensional data of the surroundings of a planned operational area and the travel path in a three-dimensional virtual space and determine the presence or absence of contact between the three-dimensional data and the travel path.SELECTED DRAWING: Figure 14

Description

[Technical Field]

[0001] The present disclosure relates to an information processing system, an information processing method, and a process related to route planning for a moving object. Regarding grams. [Background technology]

[0002] In recent years, not only manned vehicles on which people board, but also drones and unmanned aerial vehicles ( UAV: Unmanned Aerial Vehicle, Unmanned Ground Vehicle (UGV: Various vehicles (hereinafter referred to as manned vehicles) such as Unmanned Ground Vehicles In this context, mobile vehicles (including drones and other vehicles collectively referred to as "mobile vehicles") are beginning to be used in industry. Patent Document 1 discloses a system for inspecting power lines by photographing them using an aircraft. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-196355 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology disclosed in the above Patent Document 1, it is necessary to set the route of the flying object in advance. The route is generally designed with reference to a map and / or the coordinates of the object to be inspected. At the site where the aircraft is operated, there are structures, trees, etc. that are not shown in the reference data at the time of design. There may be obstacles. Therefore, when determining the route of the aircraft, the operator (pilot) The person in charge of design and construction (e.g., a flight engineer or designer) visits the actual site and visually checks the distance between the flight path and the obstacle. However, these measures are subject to visual errors, Therefore, there is a need for more accurate path planning to avoid collisions with obstacles.

[0005] An exemplary embodiment of the present disclosure aims to provide an information processing system for supporting route planning for a mobile object. The present invention provides a system, an information processing method, and a program. [Means for solving the problem]

[0006] An information processing system according to one embodiment of the present disclosure includes: a three-dimensional data storage unit that stores three-dimensional data of the periphery of the planned operation area; a route information storage unit that stores a travel route of the moving object in the planned operation area; The three-dimensional data and the movement path are arranged in a three-dimensional virtual space, and the three-dimensional data and and a collision determination unit that determines whether or not there is contact with the movement path.

[0007] The information processing system has the above features, which allows for safe navigation with a low risk of collision with obstacles. It can assist in the design of roads. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of an information processing system according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a block diagram illustrating a hardware configuration of the management server illustrated in FIG. [Figure 3] FIG. 3 is a block diagram showing a hardware configuration of the user terminal shown in FIG. [Figure 4] FIG. 4 is a block diagram showing the hardware configuration of the aircraft shown in FIG. [Figure 5] FIG. 5 is a block diagram illustrating the functions of the management server. [Figure 6]FIG. 6 is a conceptual diagram showing an example of operation of the information processing system shown in FIG. [Figure 7] FIG. 7 is a flowchart showing an example of a route design method. [Figure 8] FIG. 8 is a conceptual diagram for explaining the route design method shown in FIG. [Figure 9] FIG. 9 is a conceptual diagram that schematically illustrates an example of three-dimensional data. [Figure 10] FIG. 10 is a conceptual diagram for explaining the process relating to collision determination. [Figure 11] FIG. 11 is a conceptual diagram for explaining the collision determination range. [Figure 12] FIG. 12 is a conceptual diagram for explaining an example of processing related to path correction. [Figure 13] FIG. 13 is a conceptual diagram for explaining another example of the process relating to the path correction. [Figure 14] FIG. 14 is a flowchart showing an example of the collision determination process. DETAILED DESCRIPTION OF THE INVENTION

[0009] The information processing method, information processing system, and program of the present disclosure may have the following configuration, for example: Prepare for the formation. [Item 1] a three-dimensional data storage unit that stores three-dimensional data of the periphery of the planned operation area; a route information storage unit that stores a travel route of the moving object in the planned operation area; The three-dimensional data and the movement path are arranged in a three-dimensional virtual space, and the three-dimensional data and a collision determination unit that determines whether or not there is contact with the movement path. [Item 2] the travel route includes waypoint information; The collision determination unit determines the waypoints in the travel path and the straight lines connecting the waypoints. a collision detection range is set around the movement path having the collision detection range and the three-dimensional data The information processing system according to item 1, wherein the information processing system determines whether or not there is contact with the data. [Item 3] Further, a path correction unit that corrects the movement path is provided, When the collision determination unit detects contact between the three-dimensional data and the movement path, the collision determination unit Generate collision risk section information that identifies the section where contact was detected, The route correction unit corrects at least one of the collision risk zones included in the section specified by the collision risk zone information. Correct the position of one waypoint at a time and generate corrected route information. Information processing system. [Item 4] Three-dimensional data of the area around the planned operation area and the movement route of the mobile body in the planned operation area. , and The three-dimensional data and the movement path are arranged in a three-dimensional virtual space, and the three-dimensional data and determining whether or not there is contact with the movement path; and method. [Item 5] Three-dimensional data of the area around the planned operation area and the movement route of the mobile body in the planned operation area. , and The three-dimensional data and the movement path are arranged in a three-dimensional virtual space, and the three-dimensional data and a process for determining whether or not there is contact with the movement path; and a program for causing a computer to execute the process. Grams.

[0010] <Details of implementation form> An information processing system according to an embodiment of the present disclosure will be described with reference to the accompanying drawings. In the various drawings, the same or similar elements are designated by the same or similar reference numbers and names. In the description of the embodiments, redundant descriptions of the same or similar elements may be omitted. It should be noted that the contents shown in the drawings are merely examples for explaining the present embodiment. The drawings are merely examples that show the present embodiment in a simplified manner for ease of explanation. It may be modified or changed as long as it does not cause any problems.

[0011] <System Overview> The information processing system according to the present disclosure executes processing related to designing a travel route for a moving object. It is a system that operates a vehicle based on a route designed by the information processing system. The body may be an unmanned mobile body such as a drone, an unmanned aerial vehicle, or an unmanned ground vehicle, and may be a human It may be a manned vehicle on which a person is aboard, preferably an unmanned vehicle, more preferably an unmanned vehicle. In this embodiment, as shown in FIG. 6, the flying object 4 is used to detect the power line and its support (steel The case of designing a flight path (flight route) for inspecting a tower, etc., is taken as an example. This article provides detailed information about the system.

[0012] <System configuration> As shown in FIG. 1, the information processing system of this embodiment includes a management server 1 and one or more The management server 1 may include a user terminal 2 and one or more flying objects 4. 2 and the aircraft 4 are connected to each other via a network NW so that they can communicate with each other. The illustrated configuration is an example and is not limiting.

[0013] <Management Server 1> FIG. 2 is a diagram showing the hardware configuration of the management server 1. Note that the configuration shown in the figure is This is an example, and other configurations may be used.

[0014] The management server 1 is connected to one or more user terminals 2 and an aircraft 4 and constitutes part of the system. The management server 1 is a computer such as a workstation or a personal computer. It can be a general-purpose computer, or logically managed by cloud computing. may be realized as follows.

[0015] The management server 1 includes at least a processor 10, a memory 11, a storage 12, a transmission / reception device, and a These are electrically connected to each other via a bus 15.

[0016] The processor 10 controls the overall operation of the management server 1 and transmits and receives data between the various elements. Control of communication, and various information processing required for application execution and authentication processing For example, the processor 10 is a CPU (Central Processing Unit). Unit) and / or GPU (Graphics Processing Unit) A program for this system stored in the storage 12 and deployed in the memory 11 etc. to carry out each information processing.

[0017] Memory 11 is DRAM (Dynamic Random Access Memory) The main memory is made up of volatile storage devices such as flash memory and HDD (Hard Disk Drive). and auxiliary storage consisting of non-volatile storage devices such as a disk drive. 11 is used as a work area for the processor 10 and is also used when the management server 1 is started. BIOS (Basic Input / Output System) that runs on It also stores various setting information, etc.

[0018] The storage 12 stores various programs such as application programs. A database storing data used for processing may be constructed in storage 12. stomach.

[0019] The transmitting / receiving unit 13 connects the management server 1 to the network NW and transmits data via the network NW. This is a communication interface for communicating with the user terminal and the aircraft 4. The receiving unit 13 is a device that supports Bluetooth (registered trademark) and BLE (Bluetooth Lo Short-range communication interfaces such as USB (Universal Serial Bus) and / or USB (Universal The device may further include a USB Serial Bus terminal.

[0020] The input / output unit 14 is a device for inputting information such as a keyboard and a mouse, and a display and other output devices. It is equipment.

[0021] A bus 15 is commonly connected to the above elements, and transmits, for example, address signals, data signals, and Transmits a seed control signal.

[0022] <User device 2> The user terminal 2 shown in FIG. 3 also includes a processor 20, a memory 21, a storage 22, The device includes a transmitting / receiving unit 23, an input / output unit 24, etc., which are electrically connected to each other via a bus 25. The functions of each element can be configured in the same way as the management server 1 described above. A detailed explanation of the elements will be omitted.

[0023] <Flying Vehicle 4> 4 is a block diagram showing the hardware configuration of the flying vehicle 4. Flight Controller 41 is a programmable processor (e.g., a central processing unit (CPU)) The processor may include more than one processor.

[0024] The flight controller 41 may also include a memory 411. The memory 411 is accessible to the flight controller to perform one or more steps. The controller stores executable logic, code, and / or program instructions. The flight controller 41 also includes an inertial sensor (acceleration sensor, gyro sensor) The sensors 412 may include a GPS sensor, a proximity sensor (e.g., lidar), etc. stomach.

[0025] The memory 411 may be, for example, a SD card and random access memory (RAM). This may include removable media or external storage devices. The acquired data may be directly transmitted to and stored in memory 411. For example, a camera, etc. Still images and video data taken with the camera may be recorded in the built-in memory or external memory. Not limited to this, at least one The camera 42 may record the images in either the management server 1 or the user terminal 2. It is mounted on the main body 4 via a gimbal 43.

[0026] The flight controller 41 is a not-shown device configured to control the state of the flying object 4. It contains a control module. For example, the control module has six degrees of freedom (translational x, y and and z, and rotational motion θ x , θ y and θ z ) the spatial arrangement, speed, and / or ESC44 (Electric Speed ​​Controller) to adjust acceleration The propulsion mechanism (motor 45, etc.) of the aircraft is controlled via the battery. The propeller 46 rotates due to the motor 45 powered by 48, generating lift for the aircraft. The control module can control one or more of the following: the status of the mounted parts and sensors. can.

[0027] The flight controller 41 may be connected to one or more external devices (e.g., a transmitter / receiver (a radio transmitter)). ) 49, terminal, display, or other remote control) and / or The transceiver 49 can communicate with the transceiver 47 configured to receive the signal. Any suitable communication means may be used, such as wireless communication.

[0028] For example, the transceiver 47 may be connected to a local area network (LAN), a wide area network (WLAN), Network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network The communication may utilize one or more of a network, a telecommunications network, cloud communication, and the like.

[0029] The transmitter / receiver 47 receives data acquired by the sensors 42 and data generated by the flight controller 41. processing results, predetermined control data, user commands from a terminal or a remote controller, etc. One or more of these can be sent and / or received.

[0030] The sensors 42 according to this embodiment include inertial sensors (acceleration sensors, gyro sensors), GPS sensors, proximity sensors (e.g., lidar), or vision / imaging sensors (e.g., For example, a camera.

[0031] <Management Server 1 Functions> FIG. 5 is a block diagram illustrating functions implemented in the management server 1. In this case, the management server 1 includes a route setting unit 110, a collision determination unit 120, a route correction unit 130, and The management server 1 may also include a flight execution unit 140. The storage unit 160 of the management server 1 may also include: The three-dimensional data storage unit 162, the route information storage unit 164, the object-related information storage unit 166, etc. It may also include various databases.

[0032] The three-dimensional data storage unit 162 stores the periphery of the planned flight area of ​​the flying object 4 (planned operation area of ​​the moving object). It is a database that stores three-dimensional data of the sides. Here, the planned flight area is the flight path For example, in the case of inspecting power lines, etc. shown in Figure 6, Each support and its surrounding environment, the surrounding environment between supports, power lines and their surrounding environment, etc. The area corresponds to a fixed area, and all natural objects such as trees and structures such as buildings that exist in the surrounding environment are included. The 3D data of the area around the planned flight area is also used for the flight. This is data that specifies the location of objects in a planned area. The format of the 3D data is not particularly limited. For example, 3D data is used in BIM (Building Information Modeling). Modeling) data, CIM (Construction Information) on Modeling) data, CAD data, or GM data such as City-GML It may be a three-dimensional model such as .DELTA. data, or it may be three-dimensional point cloud data (preferably (The latter is usually 3D point cloud data, but it is not necessarily limited to this.) 3D point cloud data is 3D coordinate system (longitude, latitude, altitude (can also be a Cartesian coordinate system of x, y, z coordinates) ) is a set of points represented by a set of points, and an object existing in three-dimensional space is represented by a set of points on its surface. The data is expressed in the form of a set of detection point coordinates. Also, three-dimensional coordinate data specifying the location of each object in the planned flight area (optionally, for each object) The information may include the three-dimensional coordinates of the set feature points in the real world.

[0033] The method of acquiring three-dimensional data about the planned flight area is not particularly limited, and may be Three-dimensional data may be generated using data acquired by positioning the area. For example, If the 3D data around the planned flight area is a 3D model, the 3D model is SfM (Structure from Motion) and / or MVS (Multi-Vision The data may be generated using photogrammetric techniques such as New Stereo. If the three-dimensional data around the planned flight area is three-dimensional point cloud data, the three-dimensional point cloud data is It may also be obtained by sensing the planned flight area using a laser measurement system. In this case, a laser beam is emitted from a manned or unmanned aircraft to the area around the planned flight area, and By measuring the reflection, three-dimensional point cloud data can be generated. A single piece of three-dimensional data encompassing the planned flight area may be stored for each flight plan, or The fixed area may be divided into predetermined sections, and three-dimensional data may be stored for each predetermined section.

[0034] The route information storage unit 164 stores the flight route ( The route information storage unit 164 stores the route information of the moving object. The flight path shown in the figure indicates, for example, the position coordinates of waypoints set within the planned flight area. The location coordinates of the waypoint may include latitude, longitude, and The three-dimensional coordinate system (X, Y, Z Cartesian coordinate system) of the information and altitude information The data should preferably be expressed in terms of the electric field. This is the flight path that the aircraft 4 will take when inspecting the lines of force, etc. The method for generating the flight path is not particularly limited. The route may be generated based on map information, or may be generated based on routes that the aircraft 4 has flown in the past during test flights, etc. The image may be generated based on a route, or may be an object to be photographed or inspected using the aircraft 4. In the case of inspecting power lines as shown in Figure 6, for example, For example, a flight path for collision detection may be generated by the function of the path setting unit 110 described later. .

[0035] The object-related information storage unit 166 stores information about the object to be photographed or inspected for the purpose of operating the aircraft 4. It is a database that stores information related to things. For example, the information on power lines as shown in Figure 6 When the purpose of operation of the aircraft 4 is inspection, the object related information storage unit 166 stores the inspection object The various position information may include, for example, various position information related to the support. The coordinates of the vertex of the object, the coordinates of the tip of the arm, the coordinates corresponding to the power line attachment position of the arm, the coordinates of the leg of the support object 3D coordinate data related to supports such as coordinates. The original coordinates are set in advance by the user by selecting the coordinates of each part from the map information displayed on the user terminal 2. The two-dimensional coordinate information (XY coordinates) on the horizontal plane that is stored by selecting the position of the Height information related to the stored support (e.g., height information of the support, height information of the tip of the arm) , information on the height of the power line anchoring points of the suspension insulators supporting the power line, etc. Alternatively, various 3D coordinates related to the support may be set directly using 3D point cloud data. Based on information acquired by sensing conducted by flying an aircraft in advance, such as data The calculation may be performed directly or indirectly and stored in the storage unit. Various three-dimensional coordinates related to the support may be acquired by the above method. In addition to the above information, the storage unit 166 stores information related to the power line and the route setting unit 166 described later. Various information used and / or calculated by 10 may be stored.

[0036] The route setting unit 110 is a process for generating a flight route (movement route) to be applied to a collision determination unit (to be described later). As mentioned above, the method for generating a flight path is not particularly limited. The setting unit 110 sets waypoint coordinates for defining a flight path according to the flow shown in FIG. Hereinafter, with reference to Figs. 7 and 8, the process of setting a flight route in this flow will be described. This section provides detailed information on this.

[0037] The route setting unit 110 first calculates a route including height coordinates of the power line mounting positions of the arms of each support. The first and second support coordinates are acquired from the object-related information storage unit 166 (see FIG. 7). For example, the power line mounting positions A and B of the cross arm of the support P and Q shown in Figure 8 Three-dimensional coordinates (more specifically, the three points A and B of the power line anchoring points of the suspension insulator hanging from the tip of the cross arm) Obtain the dimensional coordinates (X, Y, Z coordinates) respectively.

[0038] After acquiring the support coordinates, the path setting unit 110 calculates the distance from each support coordinate in a predetermined direction. Calculate the intermediate coordinates (at least the two-dimensional coordinates X and Y on the horizontal plane) between the two reference coordinates (Figure 7 The predetermined direction is, for example, the outward direction of the power line, especially in the horizontal direction. The predetermined distance may be a direction perpendicular to the direction in which the power line extends from each support coordinate. , which is a value that can be set by the user, and which prevents the flying object 4 from coming into contact with power lines, supports, etc. For example, the brackets of supports P and Q shown in FIG. The height coordinate of the three-dimensional coordinates (XYZ coordinates) of the power line installation positions A and B is set to a predetermined value (for example, A predetermined distance L (for example, a separation distance) is set in a predetermined direction with respect to positions A' and B', where the coordinate is 0. 10 m) The intermediate coordinates (XYZ coordinates) of the midpoint C of the three-dimensional coordinates of the shifted positions A and B Calculate.

[0039] In addition, the path setting unit 110 sets the distance from the midpoint C to the predetermined direction opposite to the predetermined direction. Obtain the first power line height coordinate (at least the Z coordinate) of the power line position corresponding to the horizontal position. For example, in the direction opposite to the predetermined direction from the midpoint C illustrated in FIG. The height coordinate of the position D of the power line directly above the point D', which is shifted a predetermined distance L in the direction of the arrow, is acquired.

[0040] After acquiring the first power line height coordinate, the route setting unit 110 sets the first power line height coordinate and the first and the second support coordinates (especially the height coordinates), the skewness of the power line is calculated (S in FIG. 7). Q104) The skew angle of the power line is the distance from the power line position D to the supports P and Q shown in Figure 8. The distance d of the vertical line to the imaginary line connecting positions A and B, for example, the position of supports P and Q. The absolute value of the value obtained by subtracting the height coordinate of position D from the height coordinate of midpoint D between positions A and B is the value of distance d. (i.e., the degree of obliquity)

[0041] After calculating the skewness, the path setting unit 110 calculates a first distance between the positions A and B of each support, and The second and third distances from the center of the first distance to the first and second arbitrary points that are a predetermined distance apart. Based on the distances of the first and second arbitrary points and the obliqueness, and the second arbitrary point slack is calculated (SQ105 in FIG. 7). For example, The span length between the positions A and B of the object, and the first and second positions at a predetermined distance M from the center of the span length. The second and third distances (both of which are predetermined distances M) to the second arbitrary point, and the oblique Based on the sag d, the first and second arbitrary points D x1 , D x2 First and second duties in Point laxity d x1 , d x2 Calculate the number of points. The arbitrary points may be two points (D x1 , D x2 ) may be added to provide multiple points.

[0042] After calculating the arbitrary point sag, the path setting unit 110 calculates the first and second arbitrary point sag and the The first and second support coordinates (particularly height coordinates), and the distance from one of the two support positions and determining the first and second arbitrary points based on fourth and fifth distances from the first and second arbitrary points. Calculate the second and third power line height coordinates of the point (SQ106 in FIG. 7). For example, The first and second arbitrary point sags d shown in FIG. x1 , d x2 , and support positions A and B The coordinates (particularly the height coordinates) of the first and second supports, and the positions A and B of the two supports Based on the fourth and fifth distances from one (A) of the first and second arbitrary points, and the second arbitrary point D x1 , D x2 Calculate the second and third power line height coordinates.

[0043] At each point on the power line (D,D x1 , D x2 ) and then calculate the height coordinates in the route setting section. 110 is a first and second support coordinate (particularly height coordinate) and a first, second, and third electric Based on the force line height coordinates, the height coordinates of each waypoint of the aircraft 4 are set (SQ1 07). For example, the height coordinates of the positions A and B of the supports shown in Figure 8, as well as the first and second Third power line height coordinate (arbitrary points D, D x1 , D x2 height coordinate) respectively The height coordinates of the aircraft 4 are calculated by adding the distance height coordinate H (H can be 0) to the The horizontal coordinate information for each waypoint W is set as the height coordinate of W (W1 to W5). (XY coordinates) are, for example, the positions A”, B” and the intermediate point C calculated in the above route setting process. Alternatively, the user may calculate the coordinate information based on the map displayed on the user terminal 2 in advance. The waypoints may be set by selecting the respective waypoint positions from the information through a selection operation.

[0044] The route setting unit 110 sets each waypoint W (W1 to W5) determined in the above flow. The three-dimensional coordinates (XYZ coordinates) are stored in the route information storage unit 164 as the flight route of the aircraft 4. In addition, the intermediate values ​​calculated or used when determining the three-dimensional coordinates of each waypoint W The intermediate coordinate of coordinate C, the power line height coordinate (position D, D X1 , D X2 height coordinates), obliquity ( distance d), arbitrary point sag (distance d X1 , d x2 ), specified distance L, specified distance M, distance between supports Information such as distance (span length), distance from the position of the support to an arbitrary point, etc. The route setting method may be stored in the storage unit 166. Note that the above-described route setting method is merely an example. , the flight path may be generated in a manner other than the above.

[0045] The collision determination unit 120 generates three-dimensional data of a planned flight area (planned operation area) in a three-dimensional virtual space. And the process of arranging the movement path and determining whether or not there is contact between the arranged 3D data and the movement path. (Hereinafter referred to as "collision detection processing") is performed. This section explains the collision detection process in detail, using an example of using 3D point cloud data. Even when using 3D models such as M data, the following 3D point cloud data is used. The collision determination process can be performed in the same manner as in the case where the collision occurs.

[0046] For example, the collision determination unit 120 determines the area in which the flying object 4 is to fly, i.e., the planned flight area. The surrounding three-dimensional point cloud data is read from the three-dimensional data storage unit 162 and The 3D point cloud data is placed in the 3D virtual space. When the object is expressed in three-dimensional coordinates corresponding to the real world, the collision determination unit 120 The three-dimensional coordinates may be converted into Cartesian coordinates (XYZ coordinates) in a virtual space. Fig. 9 is a conceptual diagram showing a simulated example of three-dimensional point cloud data arranged in a virtual space. The 3D point cloud data shown in FIG. 9 includes point cloud data of each support (support R and support S). The data includes point cloud data for each power line, as well as the structures and trees that exist in the surrounding environment of the supports and power lines. The data includes point cloud data of obstacles such as:

[0047] The collision detection range 120 is also configured to include information related to the flight path set in the target flight area. The flight route is read from the route information storage unit 164, and the read flight route is arranged as three-dimensional point cloud data. The coordinate information indicating the flight path (waypoint) is used to place the drone in a 3D virtual space. coordinate information of the object, etc.) is expressed as three-dimensional coordinates corresponding to the real world of longitude, latitude, and altitude. If so, the collision determination unit 120 converts the three-dimensional coordinates into Cartesian coordinates (XY The flight path to be placed in the three-dimensional virtual space may be converted into a Z coordinate. As shown in Figure 10, the points representing each waypoint W (W2a, W2b, W2c) are 0), and the virtual line VL (thick black circle in Figure 10) connecting each waypoint. Alternatively, the flight path placed in the 3D virtual space may be expressed as a collision detection range. It may be expressed as a three-dimensional virtual figure having a boundary (the area surrounded by a dashed line in FIG. 10). In this case, the collision determination unit 120 determines each waypoint W and the virtual line V connecting each waypoint. A collision detection range is set around L, and the flight path including the collision detection range is displayed in a three-dimensional virtual space. Place it in between.

[0048] The size and shape of the collision detection range are not particularly limited, and the method for setting the collision detection range is also not particularly limited. For example, as shown in Figure 11, at each waypoint W, Set a plane figure that is perpendicular to the virtual line VL connecting the two points and has the waypoint as its center. Then, connect the outer edges of the plane figures set at each waypoint along the virtual line VL. The area defined by the arrows may be defined as a flight path having a collision detection range. Now, set a rectangular collision detection range of a given size centered on the waypoint. When setting the collision detection range, the relevant Calculate the coordinates of each vertex of the rectangle (corner A to corner D) and match the corresponding vertices between adjacent waypoints. The flight path is set as a 3D figure defined by connecting points. The size is not particularly limited and may be set by the user. and receives information on the type of aircraft 4 or the size specifications of the aircraft 4 from the user terminal 2. Based on this information, the size of the collision detection range may be automatically determined. After identifying the minimum circumscribing figure for the field 4, the dimensions of the minimum circumscribing figure are expanded by a predetermined ratio. In FIG. 11, the size of the collision detection range may be determined by increasing the virtual line V Although the collision detection range is exemplified as a rectangle perpendicular to L, the shape of the perpendicular plane is not particularly limited. It is also possible to set a collision detection range having orthogonal surfaces of a circle or ellipse. A cross shape in which a rectangle corresponding to the size of the aircraft is extended in the vertical and horizontal directions of the aircraft. You can also set a collision detection range that has orthogonal surfaces of the shape (+ shape). In addition, the collision detection range may be set to have a vertical or horizontal The center may be offset from the waypoint or the line connecting the waypoints, e.g. , set the collision detection range so that the range below the waypoint is wider than the range above it. Good too.

[0049] The collision determination unit 120 calculates the three-dimensional point cloud data and the flight path in a three-dimensional virtual space as shown in FIG. After placing the 3D point cloud data between them, it is determined whether there is any contact between the placed data and the flight path. "Contact" can be determined by whether or not there is overlap between the 3D data and the flight path. In the determination process, overlapping points between the 3D point cloud data and the flight path may be detected. The 3D coordinates of each point in the point cloud data are compared with the flight path. For example, the flight path including the three-dimensional coordinates of the waypoint and the three-dimensional coordinates on the virtual line VL The collision detection may be performed by comparing the road with the 3D coordinates of each point included in the 3D point cloud data. If a range is set, the area indicated by the collision detection range (for example, the vertices of a three-dimensional virtual figure) coordinate space of an area divided by coordinates, etc.) and the 3D coordinates of each point included in the 3D point cloud data Even when a collision detection range is set, the comparison The three-dimensional coordinates of the point and the three-dimensional coordinates on the virtual line VL may be referenced. By comparing the data, it is possible to determine which of the points included in the 3D point cloud data (which correspond to the 3D data of the planned flight area) If at least one point is detected that overlaps with the flight path (among the three-dimensional coordinates included in the The 3D point cloud data was judged to be in contact with the flight path, and no overlapping points were detected. In this case, it is determined that there is no contact between the 3D point cloud data and the flight path. This means that the coordinates on all three axes are the same (i.e., the X, Y, and Z coordinates are all the same). This means that

[0050] The collision determination process described above is carried out by the flight path (stored in the path information storage unit 164) It may be performed once for each registration unit, or by dividing the flight path into predetermined intervals. For example, a section divided by a support ( Collision detection processing may be performed for each waypoint (section including multiple waypoints), or The collision detection process may be performed for each section divided by the boundary. If the 3D data is expressed as a 3D model such as BIM data, A collision determination process may be performed for each object present with the flight path.

[0051] When the collision determination unit 120 determines that there is "contact" between the three-dimensional data and the flight path (i.e., (i.e., when overlapping points between the 3D data and the flight path are detected), the 3D of the detected overlapping points Based on the coordinates, contact position information is generated to identify the contact position between the three-dimensional data and the flight path. A single contact position may consist of a single overlapping point (i.e., each overlapping point The contact position information may be generated for each point, or may consist of multiple overlapping points. In this case, the collision determination unit 120 groups together overlapping points whose adjacent intervals are less than a predetermined value into one overlapping point. The contact position may be identified, and contact position information including the three-dimensional coordinates of these overlapping points may be generated. stomach.

[0052] Furthermore, if the collision determination unit 120 determines that there is "contact" between the three-dimensional data and the flight path, The flight path is divided into waypoints, and contact between the 3D data and the flight path is detected. Generates collision risk section information that identifies the overlapping section (section including the overlapping point or the above contact position) In the example of FIG. 10, the area between waypoint W2b and waypoint W2c Either or both of the two waypoints (W2b, W2c) may be included. ) contact with 3D data is detected, and the waypoint containing the contact position is In this case, the collision determination unit 120 determines whether the section between W2b and W2c is a collision risk section. The three-dimensional coordinates of waypoints W2b and W2c for identifying the dangerous section , three-dimensional coordinates of the contact position (three-dimensional coordinates of a single or multiple overlapping points), and collision risk including Dangerous section information may be generated.

[0053] The collision position information and / or collision risk section information generated by the collision determination unit 120 is used to determine the collision risk. The contact position may be linked to the flight path of the elephant and registered (stored) in the path information storage unit 164. The location information and / or collision risk section information are used in the process executed by the route correction unit 130, which will be described later. can be.

[0054] The path correction unit 130 detects that contact has occurred with the three-dimensional data in the collision detection process. A process for correcting the flight path is executed. The method for correcting the flight path is not necessarily limited. For example, by using the contact position information and / or the collision risk section information, The flight path may be corrected in the following manner. The process of generating the corrected path will be exemplified below.

[0055] The route correction unit 130 calculates at least one of the collision risk zones included in the section specified by the collision risk zone information. The flight path reflects the waypoint position correction. For example, in the example of FIG. 10, the collision risk section is identified as In the case of the section between waypoints W2b and W2c, the waypoints located at the end points of that section At least one of the positions is moved in a predetermined direction by a predetermined distance (we (The positions of both points W2b and W2c may be corrected.) In Figure 12, Shift the waypoint W2b (white circle in Figure 12) by a predetermined distance in the vertical direction. This shows an example in which the location is corrected to the position indicated by waypoint W2b'.

[0056] The direction (correction direction) when correcting the waypoint position was the vertical direction (Z-axis direction). It may be in the horizontal direction (X-axis direction and / or Y-axis direction), or in the height direction and The direction may be diagonal to the horizontal direction, and is not particularly limited. For example, By referring to the 3D data of nearby obstacles, the direction away from the obstacle is used as the correction direction. In addition, the 3D data of the obstacles may be set. Direction away from obstacles (such as power lines and / or supports) by also referencing 3D data on these obstacles The direction in which the object can be photographed may be set as the correction direction. The amount of shift (correction distance) of the point position is not particularly limited, and the coordinates (X coordinate, Y coordinate) are adjusted by a certain value. After shifting the coordinates (Z coordinates or Y coordinates), the collision determination unit 120 executes the collision determination process again. The coordinates may be corrected at regular intervals until the contact with the 3D data disappears. , the distribution state of overlapping points at the contact position (for example, the distribution of overlapping points in the correction direction of the contact position) The distance correction for the waypoint may be determined based on the distance (dispersion width). After correcting the position of the waypoint using the correction distance, the collision determination unit 120 A determination process may be performed, and the correction distance may be adjusted based on the result of the collision determination process.

[0057] As a method of correcting a path other than the above-described method illustrated in FIG. 12, the path correction unit 130 may Based on this, the flight path may be corrected by registering collision avoidance points along the flight path. For example, the path correction unit 130 may use at least one overlapping point at the contact position as a reference point. A position shifted a predetermined distance in a predetermined direction from the reference point is set as a contact avoidance point. In FIG. 13, a predetermined distance is registered from the overlapping point indicated by a cross (x) upward along the Z axis. This example shows a case where a position (waypoint W3) that is a distance away is set as a collision avoidance point. The path correction unit 130 calculates the three-dimensional coordinates of the determined collision avoidance point as a new coordinate on the flight path. Register it as a waypoint and generate corrected route information that reflects the flight route. You may do so.

[0058] Although Figure 13 shows an example of setting one contact avoidance point, it is possible to set two or more points from the contact position. You can also select overlapping points as reference points to set multiple collision avoidance points. The overlapping points may be overlapping points on waypoints or virtual points connecting waypoints. It may be an overlapping point on the imaginary line VL or an overlapping point on the outer edge of the collision detection range. Alternatively, an overlapping point located approximately at the center of the contact position may be selected as the reference point. stomach.

[0059] The correction direction when determining the contact avoidance point from the selected reference point is the height direction (Z-axis direction). It may be in the horizontal direction (X-axis direction and / or Y-axis direction), or in the height direction and The direction may be diagonal to the horizontal direction, and is not particularly limited. Refer to the 3D data of nearby obstacles and set the direction away from the obstacle as the correction direction. In addition, together with the 3D data on the obstacle, the object (power Also refer to the 3D data of the obstacles (lines and / or supports, etc.) The direction in which the object can be photographed may be set as the correction direction. The amount of correction (correction distance) is not particularly limited. For example, the coordinates of the reference point (X coordinate, Y coordinate, or Z coordinate) is temporarily set as the contact avoidance point, and then the collision judgment is performed again. The collision determination unit 120 performs collision avoidance processing until there is no contact with the three-dimensional data. Even if the three-dimensional coordinates of the collision avoidance point are determined by moving the point away from the reference point by a predetermined distance, Or, the dispersion state of overlapping points at the contact position (for example, the correction direction of the contact position) The correction distance from the reference point may be determined based on the variance of overlapping points in the image. After provisionally setting the contact avoidance point based on the determined correction distance, the collision determination unit 120 A collision detection process may be performed, and the collision avoidance point may be adjusted based on the result of the collision detection process. stomach.

[0060] If multiple overlapping points are detected by the collision detection process, Among them, the flight area of ​​the waypoint or the route connecting the waypoints is specified Extract the overlapping point that is closest in the direction (for example, the height direction) of the extracted overlapping point. The point may be set as a reference point for selecting a contact avoidance point. Multiple collision avoidance points may be set. In this case, the vehicle will be A point that can generate a safe flight path may be automatically selected. The conditions for automatic selection are the same as those above. Similarly, a predetermined distance in a predetermined direction (for example, vertical direction or horizontal direction) from the overlapping point that is the reference point The "predetermined direction" and / or the "predetermined distance" may be determined in advance by the user. It is also possible to set the "predetermined distance" and / or (A "predetermined distance" may be set.)

[0061] Corrected flight path information indicating the flight path corrected by the path correction unit 130, and / or collision judgment The flight path determined by the determination unit 120 to be "free of contact" with the three-dimensional data of the planned flight area is The matching route information shown is stored in the route information storage unit 164 in association with the collision determination result of the flight route. The corrected route information and / or the adapted route information may be stored in the flight ( Flights used in aircraft for the purpose of inspecting supports, power lines, etc. The flight information may be registered in the flight information storage unit in association with the correction process. In addition to the route information and / or the suitable route information, flight speed, minimum flight altitude, and imaging condition information (photographing image angle, imaging angle, overlap rate of captured images, etc.), flight-related information (e.g., The path correction unit 130 may include the corrected path information, such as image information and video information. When generating road information, the 3D Cartesian coordinates (XYZ coordinates) in the virtual space are converted into the real world coordinates. A process of converting the data into three-dimensional coordinates (latitude, longitude, altitude) may be performed.

[0062] The flight execution unit 140 executes the flight information record by combining the corrected route information and / or the adapted route information with the flight information record. Based on various flight information stored in the memory, the flight of the flying object 4 for the purpose of inspection, etc. During the flight of the aircraft 4, the flight execution unit 140 executes the following: Route information such as 3D coordinates (corrected route information and / or adapted route information), and various other information Flight information is transmitted to the flying vehicle 4 via the transceiver unit 13 to control the flight of the flying vehicle 4.

[0063] <An example of an information processing method including collision detection> Referring to FIG. 14, the information processing method by the information processing system according to this embodiment will be described. FIG. 14 is a flow chart illustrating a method for determining and correcting a travel path (flight path). -Chart.

[0064] First, in step SQ201, the collision determination unit 120 determines whether the planned flight area (planned flight area) is 3D data (3D model, 3D point cloud data, etc.) of the surrounding area is stored as 3D data. The collision determination unit 120 also reads out the travel route corresponding to the planned operation area. The route is read from the route information storage unit 164.

[0065] Next, in step SQ202, the collision determination unit 120 checks each way included in the movement route. Set a collision detection range around points and lines connecting waypoints, and Step SQ202 is not necessarily performed. However, by implementing step SQ202, the safety of the travel route can be improved. can.

[0066] Next, in step SQ203, the collision determination unit 120 determines whether the collision occurs in the third-order area around the planned operation area. The original data and the above-mentioned movement route are placed in a three-dimensional virtual space developed on a computer. Then, the collision determination unit 120 determines whether or not there is contact between the three-dimensional data and the movement path in the virtual space. In step SQ204, a collision detection process is performed to determine whether or not the collision has occurred. In this case, no overlapping points between the 3D data and the movement path were detected, and it was determined that there was no contact. If so, the route is determined to be a safe route with a low probability of contact with an obstacle, End processing.

[0067] On the other hand, in step SQ204, the overlapping points between the three-dimensional data and the movement path are at least When one is detected and it is determined that there is contact, the collision determination unit 120 Contact position information that identifies the contact position between the object and the movement path, and / or the three-dimensional data and the movement path Collision risk: Identify the section where contact with the vehicle was detected (the overlapping point or the section including the above contact position). Generate section information. If it is determined that there is contact, proceed to step SQ205. In step SQ205, the path correction unit 130 corrects the movement path. Implement the theory.

[0068] The route correction method in step SQ205 is not necessarily limited. For example, The unit 130 determines whether at least one way included in the section specified by the collision risk section information is The position of the waypoint is corrected and a correction is made to show the route of travel that reflects the correction of the waypoint position. Alternatively, the path correction unit 130 may generate correct path information based on the contact position information. By registering contact avoidance points along the travel route, the travel route can be corrected and the corrected travel route can be displayed. After the route correction unit 130 generates the modified route information, Then, the process returns to step SQ203, where the corrected path is placed in the 3D virtual space. The flow from step SQ203 to step SQ205 is as follows: This may be repeated until the collision determination unit 120 determines that there is no contact.

[0069] The information processing system according to this embodiment has the function of the collision determination unit 120. This allows the risk of collision with obstacles to be evaluated without visiting the site. To assess the risk of collision with an obstacle more accurately than conventional methods for determining the risk of collision with an obstacle. If the collision determination unit 120 determines that there is contact with the three-dimensional data, By correcting the movement path based on the function of the path correction unit 130 described above, collision with an obstacle can be prevented. It allows you to design safe, low-risk travel routes.

[0070] The above-described embodiments are merely examples for facilitating understanding of the present disclosure and do not limit the present disclosure. This disclosure is not intended to be construed as limiting the scope of the present invention. It goes without saying that the present disclosure includes equivalents thereof.

[0071] For example, in the above embodiment, the design of the flight path of the aircraft was mainly described. The target moving body is not limited to an air vehicle, but may be a ground-running moving body such as an UGV. It may also be a moving object that navigates on water, such as the ocean. In this case, the terms "planned flight area" and "flight route" in the embodiment should be changed to "planned operation area" and This should be interpreted as "route of travel" etc.

[0072] In the above embodiment, the mobile vehicle is operated mainly for the purpose of inspecting power lines, supports, etc. The movement route in this case was described, but the inspection object is not particularly limited, and it can be piping in the factory, The inspection may be performed inside and / or outside the structure. The purpose of operation is not limited to inspection purposes, but also includes security, monitoring of infrastructure, surveying, disaster response, etc. When operating in this manner, route design using the information processing system, etc. disclosed herein may be applied. [Explanation of symbols]

[0073] 1 Management Server 2. User terminal 4 Flying Objects

Claims

1. a three-dimensional data storage unit that stores three-dimensional data of the periphery of a planned operation area; a route information storage unit that stores a travel route of the moving object in the planned operation area; The three-dimensional data and the movement path are arranged in a three-dimensional virtual space, and the three-dimensional data and a collision determination unit that determines whether or not there is contact with the movement path.

2. the travel route includes waypoint information; The collision determination unit determines the waypoints in the travel path and the straight lines connecting the waypoints. a collision detection range is set around the movement path having the collision detection range and the three-dimensional data The information processing system according to claim 1 , wherein the information processing system determines whether or not the user has contacted the computer.

3. Further, a path correction unit that corrects the movement path is provided, When the collision determination unit detects contact between the three-dimensional data and the movement path, the collision determination unit Generate collision risk section information that identifies the section where contact was detected, The route correction unit corrects at least one of the collision risk zones included in the section specified by the collision risk zone information. The method according to claim 1 or 2, wherein the position of one waypoint is corrected at a time and corrected route information is generated. The information processing system described herein.

4. Three-dimensional data of the periphery of a planned operation area and a movement path of a moving body in the planned operation area. , and The three-dimensional data and the movement path are arranged in a three-dimensional virtual space, and the three-dimensional data and determining whether or not there is contact with the movement path; and method.

5. Three-dimensional data of the periphery of a planned operation area and a movement path of a moving body in the planned operation area. , and The three-dimensional data and the movement path are arranged in a three-dimensional virtual space, and the three-dimensional data and a process for determining whether or not there is contact with the movement path; and a program for causing a computer to execute the process. Grams.

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