Sensor installation support device and sensor installation supporting method

Abstract

To provide a sensor installation supporting device and a sensor installation supporting method capable of easily determining an installation position and an installation angle of a sensor.SOLUTION: A processor (control unit 301) of a sensor installation supporting device calculates, based on performance of a sensor (e.g., a camera 102) installed in a voxel space 201, a detection range of the sensor for each combination of a position and an angle of the sensor (detection range calculation unit 204). The processor calculates a score (e.g., a reception score) indicating a necessity of detection by the sensor for each voxel (e.g., reception score calculation unit 206). The processor calculates an installation score indicating a priority for each combination of a position and an angle at which the sensor is installed, based on the scores (e.g., reception scores) of voxels within the detection range (installation score calculation unit 207). The processor outputs the position and angle of the sensor based on the installation score (determination unit 208).SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a sensor installation support device and a sensor installation support method. [Background technology]

[0002] In order to implement aircraft and other flying objects as part of the transportation and logistics infrastructure, it is necessary to control a large number of flying objects safely and efficiently. In particular, small flying objects such as drones fly at altitudes of 150 meters or less, which can make it difficult for them to determine their position between buildings. For this reason, installing sensors on the ground can ensure safe flight. However, while installing multiple sensors in various locations can cover a wider airspace, the installation costs increase as the number of sensors increases. Therefore, optimizing the locations of the sensors to be installed is important.

[0003] One example of a technology for identifying the placement position of a sensor is described in Patent Document 1. This publication discloses a sensor installation position estimation device that includes a map information conversion unit that divides a 3D map of a target area in which a mobile body performs limited-area autonomous driving into grids, a blind spot estimation unit that estimates blind spots between a first grid and a second grid in a movement path of the mobile body in the target area, a risk map generation unit that generates a blind spot map for the target area from multiple blind spots estimated by the blind spot estimation unit, and a sensor placement estimation unit that estimates the placement position of a sensor based on the type and installation position candidates of sensors to be installed in the target area. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2023-135970 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the technology described in Patent Document 1 requires information on the position of the sensor mounted on the moving body and the route the moving body will travel in advance in order to estimate the blind spot area as seen from the moving body. Furthermore, the technology described in Patent Document 1 assumes that the size and route of the moving body are known. In other words, the technology described in Patent Document 1 is based on the premise that a known moving body travels on a known route, and is difficult to apply when a new route is set or when a new moving body travels.

[0006] In view of the above-mentioned problems, an object of the present invention is to provide a sensor installation support device and a sensor installation support method that can easily determine the installation position and installation angle of a sensor. [Means for solving the problem]

[0007] In order to achieve the above object, one example of a sensor installation support device of the present invention includes a processor that calculates the detection range of a sensor to be installed in voxel space for each combination of the position and angle of the sensor based on the performance of the sensor, calculates a score indicating the necessity of detection by the sensor for each voxel, calculates an installation score indicating the priority for each combination of the position and angle at which the sensor is installed based on the score of the voxel in the detection range, and outputs the position and angle of the sensor based on the installation score. [Effects of the Invention]

[0008] According to the present invention, the installation position and installation angle of the sensor can be easily determined. Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments. [Brief explanation of the drawings]

[0009] [Figure 1] Conceptual diagram of situations in which the sensor installation support device is applied [Figure 2] Software configuration diagram of the sensor installation support device [Figure 3] Hardware configuration diagram of the sensor installation support device [Figure 4] An example of creating a voxel space [Figure 5] A diagram showing the processing flow of the ground sensor placement unit [Figure 6] A diagram showing a user interface for a ground sensor placement unit to set the installation range. [Figure 7] A diagram showing the user interface when the user decides the placement of sensors and calculates the placement score. [Figure 8] A diagram showing the screen when "Sensor" is selected in the viewpoint selection menu [Figure 9] FIG. 10 is a diagram showing the processing flow of the reception score calculation unit [Figure 10] Diagram showing the positional relationship between voxels and three-dimensional objects [Figure 11] Diagram showing reception scores [Figure 12] A diagram showing the process flow for calculating the installation score [Figure 13] Conceptual diagram of detection score [Figure 14] Illustrative diagram of detection range in voxel space [Figure 15] Diagram showing the data structure of installation scores [Figure 16] A diagram showing the screen that appears after the installation score has been calculated. [Figure 17] Software configuration diagram of the sensor installation support device [Figure 18] A diagram showing the processing flow of the wind condition score calculation unit [Figure 19] A diagram showing the processing flow of the wind condition score calculation unit [Figure 20] Diagram showing 26 nearby voxels DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The various components of the present invention do not necessarily have to be independent entities, and it is acceptable for one component to be made up of multiple members, for multiple components to be made up of one member, for one component to be part of another component, or for part of one component to overlap with part of another component. Furthermore, in each drawing, equivalent components are given the same reference numerals, and duplicate explanations will be omitted as appropriate.

[0011] [Example 1] In the first embodiment, the installation of a sensor for detecting an aircraft from the ground will be described.

[0012] Fig. 1 is a conceptual diagram of a situation in which a sensor installation support device according to an embodiment of the present invention is applied. In Fig. 1, an aircraft 104 takes off and lands at a takeoff and landing port 101, and flies along a planned flight route created by a control center 111. The aircraft 104 is also equipped with a GNSS (Global Navigation Satellite System) to determine its own position.

[0013] When creating a flight route for the flying object 104, the control center 111 creates a flight route from the start point to the end point while avoiding no-fly areas 109 above houses 108. In doing so, the control center 111 uses the following information obtained from sensors at various locations. The information shown in FIG. 1 includes information about the airspace above the takeoff and landing port 101 captured by cameras 102 and radar 103 installed around the port, weather information from a weather company 107, wind conditions 106 captured by a wind condition sensor 105 installed on the roof of a building 110, and aircraft information captured by the flying object 104. Note that the information may be any of the information shown above.

[0014] The camera 102 and radar 103 detect the environment around the flying vehicle 104 and takeoff and landing port 101, and transmit the information to the flight control device in the control center 111. The wind condition sensor 105 installed in the building 110 detects the wind conditions 106 in the vicinity of the takeoff and landing port 101, and transmits the information to the flight control device. The wind condition sensor 105 can be, for example, a Doppler LIDAR.

[0015] 1, flight operations are performed through cooperation between the ground equipment and the flying vehicle 104. The ground equipment referred to here includes, for example, cameras 102, radar 103, wind condition sensors 105, and control center 111 installed on the ground. However, the application of the present invention is not limited to such a configuration, and as another example of a configuration, some of the functions currently present on the control center 111 side may be present on the flying vehicle 104 side.

[0016] 2 is a software configuration diagram of a sensor installation support device according to an embodiment of the present invention. A voxel space 201 is a pseudo space model in which the ground space is divided into cubes or rectangular parallelepipeds.

[0017] The ground sensor placement unit 202 tentatively determines the positions and installation angles of the camera 102, radar 103, and wind condition sensor 105. These tentatively determined positions and angles may be specified by the user using the input device 305, or may be automatically specified by the system.

[0018] The ground sensor performance data 203 is data describing the performance of the target sensor. For example, the maximum detection distance and field of view angle are stored. Then, the detection range calculation unit 204 uses the ground sensor performance data 203 to calculate, in voxels, the range that can be detected at the installation position and installation angle tentatively determined by the ground sensor placement unit 202.

[0019] The detection score calculation unit 205 calculates a detection score, which will be described later (FIG. 13).

[0020] The reception score calculation unit 206 calculates a reception score based on whether or not the GNSS installed in the aircraft 104 can receive signals. Examples of GNSS include GPS (Global Positioning System), Galileo, and GLONASS, and it is preferable to use different GNSS depending on the region to which the present invention is applied. Although performance differs depending on the GNSS, all GNSS use satellite signals, and therefore share the property that positioning is difficult near buildings or in places surrounded by tall buildings. Using this property, it is possible to score the difficulty of positioning for each voxel.

[0021] The installation score calculation unit 207 calculates the priority of sensor installation as an installation score based on the detection score and the reception score. The installation score can be calculated, for example, by calculating the product of the detection score and the reception score for each voxel included in the field of view of the sensor and then summing the results over the entire field of view. Alternatively, the installation score can be calculated by calculating the sum of the detection score and the reception score for each voxel included in the field of view of the sensor and then summing the results over the entire field of view.

[0022] The determination unit 208 determines whether the installation position and angle are appropriate based on the installation score and outputs the result. The determination unit 208 can output the optimal one of the installation positions and angles tried by the ground sensor placement unit 202, or can output all of them with a priority.

[0023] 3 is a hardware configuration diagram of a sensor installation support device according to an embodiment of the present invention. In this embodiment, a control unit (CPU) 301 is connected to a memory 302 (volatile memory or the like), a communication device 303, a display device 304, an input device 305, and a storage device 306 (non-volatile memory, HDD or the like). The control unit 301 also receives city model data and information from the weather company 107 via the communication device 303. The voxel space 201 may be stored in the storage device 306, or may be created from city model data obtained via the communication device 303.

[0024] FIG. 4 is a diagram showing an example of creating a voxel space 201. The voxel space 201 is a collection of voxels 403. Each voxel 403 is assigned a voxel ID 404. The voxel ID 404 is preferably composed of, for example, a zoom level 405, a vertical index 406, an east-west index 407, and a north-south index 408. Each index is calculated using formulas (1), (2), and (3). In formulas (1) to (3), h is the altitude [m] of the voxel, H=2^25, and z is the zoom level of the voxel, so n=2^z. According to the calculation method of formulas (1) to (3), as the zoom level value increases, the index value increases but the voxel size decreases. When z=25, the voxel width is approximately 1.2 m.

[0025]

number

[0026]

number

[0027]

number

[0028] The voxel space 201 also holds static information 401 and dynamic information 402. The static information 401 holds information about objects that do not change dynamically, such as information about buildings, roads, facilities, and vegetation, and is preferably downloaded and used as open data held by a government or local government in a format for 3D city model data, such as CityGML. The dynamic information 402 is information that changes over time, such as wind information, weather information, and aircraft information. The wind information and weather information are preferably downloaded and used from a weather company 107. The aircraft information is information about the probability of an aircraft 104 existing in the voxel.

[0029] The static information 401 and dynamic information 402 held in the voxel 403 are not limited to the above, and can be selected appropriately according to the information provided by the provider.

[0030] Fig. 5 is a diagram showing the processing flow of the ground sensor placement unit 202. The flow in Fig. 5 assumes that the user sets the installation range using a user interface. Examples of the user interface include a GUI (Graphical User Interface) or a CUI (Character User Interface).

[0031] In step 501, the user specifies the range specification mode using the user interface shown in FIG. 6. In this first embodiment, the range specification mode is a mode in which the user manually sets the range, rather than the system automatically specifying the range. Next, in step 502, the user specifies the installation position range using the interface, and in step 503, clicks or taps the execute button 607, starting the loop (ground sensor placement unit 202) in step 504. The loop (ground sensor placement unit 202) in step 504 uses the number of voxels included in the installation position range and the installation angle (roll, pitch, yaw) as loop variables, and sends the installation voxel coordinates and installation angle to the detection range calculation unit 204. The installation angle increment can be set arbitrarily by the user. For example, if the installation angle increment is 1°, then the roll, pitch, and yaw will each be 360°, and the number of combinations will be 360 ​​cubed. However, if the sensor is installed on the ground or a building, the yaw and pitch will be 180°, for example, and the number of combinations will decrease. In this double loop, in step 504, each installation angle combination for each voxel is sent to the detection range calculation unit 204.

[0032] 6 is a diagram showing a user interface that allows the user to set the installation range in the ground sensor placement unit 202. A window 601 contains a drawing screen 602 and an operation screen 603, and a city model is drawn on the drawing screen 602. At this time, the city model is drawn from a third-person perspective. The user then selects "Range" from the function selection menu 606, and operates a pointer 604 (mouse pointer) on the drawing screen 602 to specify the sensor installation range using a rectangular parallelepiped 605. After that, clicking the execute button 607 starts the process of calculating the installation score.

[0033] Once the installation score calculation process begins, the installation position and angle currently being processed are displayed in an installation position box 608 and an installation angle box 609 on the operation screen 603. The installation score at that time is displayed in a current score box 613. When the call button 610 is clicked, the maximum installation score up to that point is displayed in a maximum score box 611, and the installation position and installation angle at that time are displayed in the installation position box 608 and the installation angle box 609, respectively. When the reset button 612 is clicked, the display returns to the installation position and installation angle currently being processed.

[0034] FIG. 7 shows a user interface for when the user decides the placement of sensors and calculates the placement score. Operation on this screen begins by selecting "Installation" from the function selection menu 606. At this time, a viewpoint selection menu 701 is displayed instead of the execute button 607. The user also sets the placement and installation angle of the sensor model 702 using the pointer 604. Alternatively, the user may directly input values ​​into the installation position box 608 and the installation angle box 609 using the input device 305. The installation score at that time is then displayed in the current score box 613, and the maximum installation score since the operation started is displayed in the maximum score box 611. Furthermore, by clicking the call button 610, the installation position and installation angle that result in the maximum score are displayed in the installation position box 608 and the installation angle box 609, respectively.

[0035] The viewpoint selection menu 701 is a menu for selecting the viewpoint of the drawing screen 602. When "Sensor" is selected, the view is displayed from the viewpoint of the sensor model 702, and when "Third-person viewpoint" is selected, the view is displayed from a third-person viewpoint including the sensor model 702.

[0036] 8 is a diagram showing the screen that appears when "sensor" is selected in the viewpoint selection menu 701. This screen is a screen display from the viewpoint of a sensor model 702.

[0037] 9 is a diagram showing the processing flow of the reception score calculation unit 206. As mentioned above, this uses the property that positioning is difficult near buildings or in places surrounded by tall buildings to score the difficulty of positioning for each voxel.

[0038] First, in step 901, the reception score value is initialized. Next, in step 902, a search is made for a three-dimensional object that is equal to or greater than the height of the voxel in question and within a radius of n voxels, and the horizontal distance is calculated. The value of n may be determined arbitrarily depending on the performance of the computer being processed. Next, a loop is entered for the number of three-dimensional objects found, and in step 903, the difference in altitude between the voxel in question and the highest point of the three-dimensional object is calculated. Next, in step 904, the score is calculated according to the formula score = (threshold - horizontal distance) x altitude difference. The threshold is set to an arbitrary value in advance. In step 905, it is determined whether the score in question is greater than the stored reception score, and if it is greater, the process proceeds to step 906, where the reception score is updated with the score in question.

[0039] The flow in Figure 9 will be further explained using Figure 10. Figure 10 assumes a scene in which buildings 1002 and 1003 exist in voxel space 1001. For convenience, voxel space 1001 is expressed in two dimensions, and portions that overlap with three-dimensional objects are omitted. The reception scores of voxels 1004 and 1005 in this scene will be explained.

[0040] First, for voxel 1004, distances 1006 and 1007 to buildings 1002 and 1003, respectively, are calculated to be 2 voxels and 7 voxels. Also, the altitude difference 1008 from building 1002 is 3 voxels, and since this is the same height as the highest point of building 1003, the altitude difference is 0 voxels. If the threshold is set to 30 voxels, the reception score taking building 1002 into consideration is (30-2) x 3 = 84, and the reception score taking building 1003 into consideration is (30-7) x 0 = 0. The maximum of these values ​​is taken as the reception score, and the reception score for voxel 1004 is 84.

[0041] Next, for voxel 1005, the distance 1009 to building 1002 is 6 voxels, and because building 1002 and voxel 1005 are the same height, the altitude difference is 0. On the other hand, because voxel 1005 is located higher than the highest point of building 1003, there is no distance to building 1003. Therefore, the reception score for voxel 1005 is 0.

[0042] When the calculation methods described above are applied to the voxel space 1001, the reception score shown in Fig. 11 is obtained. In Fig. 11, the larger the value of a voxel, the more difficult it is to receive GNSS signals, and the higher the priority for installing a ground sensor.

[0043] FIG. 12 is a diagram showing a processing flow for calculating the installation score, and the processing flow includes processing by the detection range calculation unit 204, the detection score calculation unit 205, and the installation score calculation unit 207.

[0044] First, in step 1201, the field of view angle and detection distance are obtained from the ground sensor performance data 203. Next, in step 1202, the installation voxel coordinates and installation angle are obtained from the ground sensor placement unit 202. Steps 1201 to 1202 are the processing of the detection range calculation unit 204. Next, in step 1203, the installation score is initialized and a loop for the number of voxels in the model is entered. In step 1204, it is determined whether the voxel in question is within the field of view angle and detection distance range of the sensor. Step 1204 is the processing of the detection range calculation unit 204. If it is not included, the loop continues without doing anything. If it is included, the process proceeds to step 1205, and the detection score is calculated according to the definition formula. Step 1205 is the processing of the detection score calculation unit 205.

[0045] Here, the definition formula will be explained. Generally, an object closer to the sensor is easier to detect, and the farther away it is, the more difficult it is to detect. In this embodiment, a value inversely proportional to the square of the distance from the sensor is set as the detection score, and the definition formula for the detection score is detection score = constant / (square of distance). The reason it is inversely proportional to the square of the distance is that, for example, when the sensor is a camera, the size of a detected object is inversely proportional to the square of the distance, and this formula can also be applied to other types of sensors.

[0046] Next, in step 1206, the installation score is calculated. Step 1206 is the processing of the installation score calculation unit 207. The installation score is the sum of the detection score and the reception score.

[0047] The above process is performed for all voxels within the detection range of the sensor model 702, and as a result, an installation score is calculated for when the sensor is installed at the corresponding position and angle. The calculated installation score is buffered in the memory 302.

[0048] Fig. 13 is a conceptual diagram of the detection score. When a sensor 1301 with a viewing angle 1302 is used in a voxel space 1001, and the constant is set to 100, the detection score for each voxel is as shown in Fig. 11. Note that the distance from the sensor is not calculated as the Euclidean distance, but is calculated from the difference in coordinate values ​​of each axis between the voxel where the sensor is installed and the voxel in question.

[0049] FIG. 14 is a diagram showing the detection range in the voxel space 1001 when the sensor 1301 is installed on the ground. The hatched voxels in FIG. 14 represent the detection range of the sensor 1301, and the value of each voxel is determined by multiplying the values ​​of these voxels with the values ​​of the voxels corresponding to the field of view shown in FIG. 13. For example, in voxel 1401, the detection score is 100 according to FIG. 13 and the reception score is 180 according to FIG. 11, so the value is 18,000. Similarly, in voxel 1402, the value is 15,000. The installation score is then determined by calculating the sum over the entire field of view. In other words, when a sensor is installed at a given position and angle, the installation score can be calculated as follows: installation score = Σ (reception score × detection score). The installation score is calculated based on the idea of ​​assigning locations where GNSS reception is difficult to locations where the detection distance at which the sensor 1301 has high performance. In other words, the higher the installation score, the higher the installation priority.

[0050] Thereafter, the determination unit 208 outputs whether the installation position and angle are appropriate or not based on the installation score as described above. The determination unit 208 can output the optimal one of the installation positions and angles tried by the ground sensor placement unit 202, or can output all of them in order of priority. For example, it can output only one result determined to be optimal within the range of the rectangular parallelepiped 605 specified by the user, or it can output several of the installation positions and angles tried within the range of the rectangular parallelepiped 605 with the highest scores.

[0051] 15 is a diagram showing the data structure of the installation score buffered in step 1207. The installation score buffer is composed of coordinates 1501 (X, Y, Z) of the voxel where the sensor is installed, the installation angle 1502 (roll, pitch, yaw) of the sensor, and an installation score 1503. The installation angle 1502 is calculated with a resolution of the step value specified in advance by the user.

[0052] 16 is a diagram showing a screen that is displayed after the calculation of the installation score has been completed. On this screen, each time the call button 610 is clicked, the installation position, installation angle, and current score are displayed in descending order of installation score. The display position of the sensor model 702 also changes accordingly. Furthermore, by selecting the viewpoint selection menu 701, a view from the installation position or a view from a third-person viewpoint is displayed on the rendering screen 602.

[0053] If the user determines that the installation position and installation angle are suitable for actual installation, the user can click a save button 1601 to save the installation position, installation angle, and installation score in a CSV (Comma-Separated Values) file in the same format as in Fig. 15. The user can refer to this file when carrying out actual installation.

[0054] The main features of the first embodiment can be summarized as follows.

[0055] As shown in FIG. 2, a processor (control unit 301, FIG. 3) of the sensor installation support device calculates the detection range of a sensor for each combination of sensor position and angle based on the performance of the sensor (e.g., camera 102, FIG. 1) installed in voxel space 201 (detection range calculation unit 204). The processor calculates a score (e.g., reception score) indicating the necessity of detection by the sensor for each voxel (e.g., reception score calculation unit 206). The processor calculates an installation score indicating the priority for each combination of sensor installation position and angle based on the score (e.g., reception score) of the voxel in the detection range (installation score calculation unit 207). The processor outputs the sensor position and angle based on the installation score (determination unit 208).

[0056] By outputting the position and angle of the sensor based on the installation score, the installation position and installation angle of the sensor can be easily determined. A score (e.g., a reception score) indicating the necessity of detection by the sensor for each voxel is calculated, and the installation score is calculated based on the scores of the voxels in the detection range, so that the scores of each voxel in the detection range are reflected in the installation score. As a result, the accuracy of the installation score is improved. In this embodiment, the position and angle of the sensor are output (presented) on the screen or output to a file based on the installation score, but may also be output as printed matter, audio, etc.

[0057] In this embodiment, the sensor is a camera 102 or a radar 103 as shown in Fig. 1, but other sensors (such as LiDAR) may also be used. This makes it possible to easily detect the position of a moving object (air vehicle 104) from the ground or the like.

[0058] The performance of a sensor (for example, the camera 102) indicates, for example, the viewing angle and maximum detection distance of the sensor, which determine the detection range of the sensor.

[0059] The score in this embodiment is a reception score indicating the difficulty of detection by a positioning sensor of a global navigation satellite system (GNSS) for each voxel. As shown in FIG. 13, the processor (control unit 301) calculates a detection score indicating the ease of detection of an object by the sensor 1301 for each voxel based on the distance between the sensor 1301 (e.g., the camera 102) and each voxel in the detection range (detection score calculation unit 205). As shown in FIG. 10, the processor calculates a reception score for each voxel based on the position of each voxel and a three-dimensional object (e.g., a building) placed in the voxel space (reception score calculation unit 206). The processor calculates an installation score based on the detection score and the reception score (installation score calculation unit 207).

[0060] As a result, the installation score reflects the ease of detecting an object by a sensor (e.g., camera 102) and the difficulty of detecting an object by a positioning sensor of a satellite positioning system. For example, a user can easily determine the position and angle of a sensor that efficiently complements detection by a positioning sensor from the installation score.

[0061] The sensor (for example, the camera 102) and the second sensor (a positioning sensor of a satellite positioning system) detect the position of the moving body (for example, the flying body 104). This makes it possible to easily detect the position of the moving body using two types of sensors.

[0062] The moving body in this embodiment is an air vehicle 104. As shown in Fig. 10, the processor (control unit 301) calculates a reception score for each voxel based on the horizontal distance between each voxel and a three-dimensional object (building) and the difference in altitude between the position of each voxel and the highest point of the three-dimensional object. This allows the reception score to reflect the GNSS property that positioning becomes more difficult the closer you are to a three-dimensional object or the more surrounded by tall three-dimensional objects.

[0063] As shown in FIG. 3, the sensor installation support device includes a display device 304 and a storage device 306. The processor (control unit 301) sets the position and angle of at least one or more pairs of sensors (e.g., camera 102), and for each combination of the set sensor position and angle, displays an installation score on the display device 304 (current score box 613) or stores it in the storage device 306 (FIG. 16). This allows the user to easily determine the most suitable sensor position and angle for installation from one or more pairs of sensor positions and angles. In this embodiment, the installation score is stored in the storage device 306 in CSV file format, but it may also be stored in other file formats in the storage device 306.

[0064] The processor (control unit 301) displays a user interface (e.g., GUI) for specifying the position and angle of a sensor (e.g., camera 102) on the display device 304, as shown in Fig. 7. The processor displays an installation score for the combination of the specified sensor position and angle on the display device 304 (current score box 613) or stores it in the storage device 306. This makes it possible to determine from the installation score whether the sensor position and angle specified by the user are suitable for installation.

[0065] As shown in Fig. 6, the processor (control unit 301) displays a user interface (e.g., GUI) for specifying the range of the position of a sensor (e.g., camera 102) on the display device 304. For each combination of sensor position and angle within the specified range, the processor displays an installation score on the display device 304 (current score box 613) or stores it in the storage device 306. This makes it possible to easily determine the sensor position and angle suitable for installation within the range specified by the user.

[0066] [Example 2] In Example 2, the installation of a wind condition sensor 105 installed on the ground will be described. A Doppler LIDAR is preferably used as the wind condition sensor 105. A Doppler LIDAR is a device that emits laser light, receives the light reflected from aerosols in the atmosphere, and measures the speed of that light as wind speed. It can be used on land to measure wind conditions in the vertical direction, and is widely used in fields such as meteorology.

[0067] Fig. 17 is a software configuration diagram of a sensor installation support device according to an embodiment of the present invention, in which the same functions as those in Fig. 2 are given the same reference numerals.

[0068] The ground sensor performance data 203 includes information on the field of view and maximum detection distance of the wind condition sensor 105. The weather data receiving unit 1701 receives weather data from a weather company 107 using the communication device 303. Examples of weather companies 107 include the Japan Meteorological Agency and private weather companies. The wind condition score calculation unit 1702 extracts wind condition data from the received weather data and identifies locations where wind speed changes significantly over time. It also identifies the voxel coordinates of those locations and sets a high wind condition score for those voxels. Alternatively, the wind condition score may be determined based on the wind speed changes between the voxel and 26 neighboring voxels, rather than the wind speed changes over time.

[0069] FIG. 18 is a diagram showing the processing flow of the wind condition score calculation unit 1702. This is score calculation using wind speed changes for each time period. First, in step 1801, past weather data is received from the weather data receiving unit 1701. Data to be received should preferably cover the past few years, but how far back in time data can be received depends on the amount of data held by the weather company 107 that provides the data and the rules of the weather company 107. Next, in step 1802, wind speed information is extracted from the received wind condition data and divided by voxel. Furthermore, in step 1803, the wind speed data for each voxel is divided by month and by time period. The time period width can be set arbitrarily, such as every hour or every 30 minutes.

[0070] Next, a triple loop of the number of voxels, number of months, and number of time periods is entered, and the average wind speed for the voxel, month, and time period is calculated in step 1804. Next, in step 1805, the average wind speed is buffered.

[0071] The process exits the loop once and then re-enters the loop for the number of voxels and the number of months. In step 1806, the average value is used to find the maximum time variation in wind speed. This is the maximum variation in the average wind speed between adjacent time periods. Finally, in step 1807, the maximum value of the wind speed variation is scored. The found maximum wind speed may be used as the score as is, or may be scored in units of a fixed value such as 1 m / s.

[0072] Figure 19 is a diagram showing another processing flow of the wind condition score calculation unit 1702. This is score calculation using the change in wind speed with respect to 26 neighboring voxels. The only difference from the flow in Figure 18 is that the maximum change in wind speed with respect to 26 neighboring voxels is calculated in step 1901 instead of step 1806. The other processing is the same as in Figure 18.

[0073] 20 is a diagram showing 26 neighboring voxels. The 26 neighboring voxels are the 26 voxels that are adjacent to the voxel 403. In the flow of FIG. 19, the change in wind speed between the voxel 403 and these 26 voxels adjacent to it is calculated.

[0074] The main features of the second embodiment can be summarized as follows.

[0075] The sensor installed in the voxel space 201 is a wind condition sensor 105. This allows the user to easily determine the position and angle of the wind condition sensor 105 suitable for installation. In this embodiment, the score is a wind condition score that indicates the maximum wind speed change for each time period of each voxel or the maximum wind speed change between each voxel and 26 neighboring voxels. The processor (control unit 301) calculates the wind condition score based on weather data (past wind condition data) (wind condition score calculation unit 1702). The processor calculates the installation score based on the wind condition scores of the voxels in the detection range (installation score calculation unit 207). As a result, the maximum wind speed change for each voxel is reflected in the installation score.

[0076] The present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, or to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace part of the configuration of each embodiment with other configurations. For example, the present invention is applicable not only to areas around takeoff and landing ports, but also to the entire flight area covering a wide area.

[0077] Furthermore, the above-described configurations, functions, processing units, processing means, etc. may be partially or entirely implemented in hardware, for example, by designing them as integrated circuits. The above-described configurations, functions, etc. may also be implemented in software, with a processor interpreting and executing a program that implements each function. Information such as the programs, tables, and files that implement each function can be stored in a memory, a recording device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

[0078] In addition, the control lines and information lines shown are those that are considered necessary for the explanation, and do not necessarily show all the control lines and information lines in the product. In reality, it can be assumed that almost all components are interconnected.

[0079] The embodiment of the present invention may be configured as follows.

[0080] (C1) A sensor installation support device characterized by comprising: an acquisition unit that acquires a pseudo-space model in which three-dimensional objects are arranged in a space and which has voxels that divide the space at a certain ratio; a communication strength calculation unit (reception score calculation unit) that calculates the communication strength of each voxel based on the arrangement of the three-dimensional objects in the pseudo-space model; a detection range calculation unit that calculates the environmental detection range of a virtual sensor to be installed on the pseudo-space model based on the performance of the virtual sensor; an installation score calculation unit that calculates an installation score for the position at which the virtual sensor is installed and the orientation of the virtual sensor when it is installed based on the communication strength of each voxel and the environmental detection range of the virtual sensor; a determination unit that determines the position and orientation of the virtual sensor based on the installation score calculated by the installation score calculation unit; and an output unit that outputs the position and orientation of the virtual sensor determined by the determination unit.

[0081] (C2). In (C1), the sensor installation support device assigns a reception score calculated based on the reception strength by the satellite positioning device and a detection score calculated based on the positional relationship with the sensor to each voxel included in the detection space defined by the field of view angle and maximum detection distance of the sensor, and calculates the installation score based on the reception score and the detection score.

[0082] (C3) In any of (C1)-(C2), the sensor installation support device is characterized in that it has a function of setting at least one set of installation position and installation angle of the virtual sensor, calculating the installation score based on the set installation position and installation angle, and displaying or storing the installation score.

[0083] (C4). In (C3), the sensor installation support device is characterized in that it has a user interface for setting the installation position and installation angle of the virtual sensor, and has a function for calculating, displaying, or storing the installation score based on the set installation position and installation angle.

[0084] (C5). In any of (C3) to (C4), the sensor installation support device is characterized in that it has a user interface for setting the range of the installation position of the virtual sensor, and has a function of calculating, displaying, or storing the installation score based on the installation position and the installation angle within the set range.

[0085] (C6) In any one of (C1) to (C5), the sensor installation support device is characterized in that the virtual sensor is at least one of a camera and a radar.

[0086] (C7) In any one of (C1) to (C5), the sensor installation support device is characterized in that the virtual sensor is a wind condition sensor.

[0087] According to (C1)-(C7), it is possible to obtain the optimal sensor installation position and angle for covering the airspace. [Explanation of symbols]

[0088] 101...takeoff and landing port, 102...camera, 103...radar, 104...aircraft (small), 105...wind condition sensor, 106...wind condition, 107...weather company, 108...house, 109...no-fly area, 110...building, 111...control center, 201...voxel space, 202...ground sensor placement unit, 203...ground sensor performance data, 204...detection range calculation unit, 205...detection score calculation unit, 206...reception score calculation unit, 207...installation score calculation unit, 208...determination unit, 301...control unit (CPU), 302...memory, 303...communication device, 304...display device, 305...input device, 306...storage device

Claims

1. Calculating a detection range of a sensor for each combination of a position and an angle of the sensor based on the performance of the sensor installed in the voxel space; calculating a score indicating the necessity of detection by the sensor for each voxel; calculating an installation score indicating a priority for each combination of a position and an angle at which the sensor is installed based on the scores of the voxels in the detection range; Outputting the position and angle of the sensor based on the installation score A sensor installation support device including a processor.

2. The sensor installation support device according to claim 1, the score is a reception score indicating the difficulty of detection by a positioning sensor of the satellite positioning system for each voxel, The processor: calculating a detection score indicating ease of detection by the sensor for each voxel based on a distance between the sensor and each voxel in the detection range; calculating the reception score based on the positions of each of the voxels and the three-dimensional object arranged in the voxel space; Calculating the installation score based on the detection score and the reception score A sensor installation support device characterized by:

3. The sensor installation support device according to claim 1, A display device and a storage device are provided, The processor: setting at least one pair of positions and angles of the sensors; For each combination of the set sensor position and angle, the installation score is displayed on the display device or stored in the storage device. A sensor installation support device characterized by:

4. The sensor installation support device according to claim 3, The processor: displaying a user interface on the display device for specifying the position and angle of the sensor; For the specified combination of the position and angle of the sensor, the installation score is displayed on the display device or stored in the storage device. A sensor installation support device characterized by:

5. The sensor installation support device according to claim 3, The processor: displaying a user interface on the display device for specifying a range of the position of the sensor; For each combination of the position and angle of the sensor within the specified range, the installation score is displayed on the display device or stored in the storage device. A sensor installation support device characterized by:

6. The sensor installation support device according to claim 1, The sensor is a camera, radar, or LiDAR. A sensor installation support device characterized by:

7. The sensor installation support device according to claim 1, The sensor is a wind sensor. A sensor installation support device characterized by:

8. The sensor installation support device according to claim 7, the score is a wind condition score indicating a maximum change in wind speed for each time period of the voxel or a maximum change in wind speed between the voxel and 26 neighboring voxels; The processor: Calculating the wind condition score based on meteorological data; The installation score is calculated based on the wind condition scores of the voxels in the detection range. A sensor installation support device characterized by:

9. The sensor installation support device according to claim 1, The performance of the sensor indicates the viewing angle and maximum detection distance of the sensor. A sensor installation support device characterized by:

10. The sensor installation support device according to claim 2, The sensor and the positioning sensor detect the position of the moving object. A sensor installation support device characterized by:

11. The sensor installation support device according to claim 10, the moving body is an aircraft, The processor: The reception score is calculated for each voxel based on the horizontal distance between each voxel and the three-dimensional object and the difference in altitude between the position of each voxel and the highest point of the three-dimensional object. A sensor installation support device characterized by:

12. calculating a detection range of a sensor for each combination of a position and an angle of the sensor based on the performance of the sensor installed in the voxel space; calculating a score indicating the necessity of detection by the sensor for each voxel; calculating an installation score indicating a priority for each combination of a position and an angle at which the sensor is installed based on the scores of the voxels in the detection range; outputting the position and angle of the sensor based on the installation score; A method for making a processor execute

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