Moving route generation method and program for moving body, management server, and management system

Abstract

To provide a moving route generation method, a management server and the like capable of setting a moving route of a moving body of autonomous movement including at least a moving route in a structure.SOLUTION: A movement route generation method for generating a movement route in a structure for a moving body to move includes generating, by a three dimensional reference data generation section, three dimensional reference data in which three dimensional model data is arranged in three dimensional map data, based on the three dimensional map data and the three dimensional model data indicating an arrangement of a structure in the structure and having dimension information, and generating, by the movement route generation section, movement route information for the moving body, based on a reference coordinate system that is one of an orthogonal coordinate system having an arbitrary point in the three dimensional reference data as origin coordinates and a latitude-longitude coordinate system of the map data.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a method and program for generating a moving object's travel route, a management server, and a management system. do. [Background technology]

[0002] In recent years, drones and unmanned aerial vehicles (UAVs) have become increasingly popular. Unmanned Ground Vehicles (UAVs) and other flying objects (hereinafter collectively referred to as "Flying Objects") Autonomous control of vehicles such as GV (Unmanned Ground Vehicle) In this context, Patent Document 1 describes a flying object that can be predicted. A system for sequentially photographing a target at a plurality of waypoints set for the purpose of capturing images is disclosed. are. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-089160 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology disclosed in the above Patent Document 1 is not suitable for outdoor use using GNSS (global navigation satellite system). navigation satellite system) for self-localization, This creates a route for a moving object based on latitude and longitude information, and is used for indoor movement of a moving object. A similar approach cannot be used in the pathway.

[0005] In addition, when generating a moving path for a moving object indoors (for example, inside a structure such as a building), e.g. For example, Visual SLAM (Simultaneous Localization Using technologies such as GPS and Mapping, the system is mounted on a manually controlled mobile vehicle. Based on the sensor information, three-dimensional information of the indoor space is acquired in advance, and based on this, the user One possible method is to set the movement route, but the SLAM data is created by the user visually. It is difficult to understand the overall structure of the structure, and it is difficult to determine the actual route and movement within the structure. It is difficult to identify the object to be photographed, and it is difficult to set up a precise route that is sufficient for practical use.

[0006] Furthermore, there is a demand to create flight paths that span the inside and outside of structures, but as mentioned above, The methods for creating flight paths inside and outside structures are different, making it difficult to integrate them. .

[0007] The present invention has been made in view of the above background, and provides a method for detecting a movement path within a structure. A method for generating a moving path and a management server capable of setting a moving path for an autonomous moving object including the method for generating a moving path are provided. The purpose is to provide [Means for solving the problem]

[0008] The main invention of the present invention to solve the above problems is to provide a structure for moving a moving body. A travel route generation method for generating a travel route, comprising: Three-dimensional model data showing the layout of components within the structure and having dimensional information, and three-dimensional map data 3D reference data in which the 3D model data is arranged in the 3D map data based on the data a step of generating data, and a movement path generating unit generating a movement path based on the three-dimensional reference data; The coordinate system is either an orthogonal coordinate system with the point as the origin coordinate or a latitude and longitude coordinate system of the map data. and generating travel path information for the moving object based on a reference coordinate system. , a travel route generation method. [Effects of the Invention]

[0009] According to the present invention, in particular, the movement of an autonomous moving body including at least a movement path within a structure is It is possible to provide a travel route generation method and a management server that can set a route. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram illustrating a configuration of a management system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing the hardware configuration of the management server of FIG. 1. [Figure 3] FIG. 2 is a block diagram showing the hardware configuration of the user terminal of FIG. 1. [Figure 4] FIG. 2 is a block diagram showing the hardware configuration of the aircraft of FIG. 1. [Figure 5] FIG. 2 is a block diagram showing the functions of the management server of FIG. 1. [Figure 6] 1 is a flowchart of a travel route generation method according to an embodiment of the present invention. [Figure 7] 1 is an example of a display screen according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] The contents of the embodiments of the present invention will be listed and explained below. The method, management server, etc. have the following configuration. [Item 1] A movement path generation method for generating a movement path within a structure for a moving body to move, comprising: A three-dimensional reference data generating unit generates a three-dimensional reference data that indicates the arrangement of components within the structure and has dimensional information. Based on the three-dimensional model data and the three-dimensional map data, the three-dimensional model data is generating three-dimensional reference data arranged on the three-dimensional map data; The moving path generating unit generates an orthogonal coordinate system with an arbitrary point in the three-dimensional reference data as the origin coordinate. based on a reference coordinate system which is either the coordinate system of the previous map data or the latitude and longitude coordinate system of the map data, generating travel route information for the moving object; A travel route generation method comprising: [Item 2] The step of generating the three-dimensional reference data includes: a step of merging the data with the diagram data in accordance with the scale; 2. The travel route generation method according to item 1, [Item 3] The three-dimensional model data is three-dimensional data based on BIM data of the structure, 3. The travel route generation method according to item 1 or 2. [Item 4] The travel route information generated by the travel route generation method according to any one of items 1 to 3. A moving object control method for controlling the movement of the moving object based on When the travel route information is expressed in a latitude-longitude coordinate system, A coordinate conversion unit converts at least a part of the movement path information into direction information from an arbitrary coordinate. and a step of calculating distance information and converting it into a Cartesian coordinate system; A movement execution unit controls the movement of the moving body based on at least the direction information and the distance information. and controlling the A mobile object control method comprising: [Item 5] The arbitrary coordinates are coordinates of a movement start point. 5. A mobile object control method according to item 4. [Item 6] The arbitrary coordinates are waypoint coordinates outside the structure. 5. A mobile object control method according to item 4. [Item 7] The arbitrary coordinates are coordinates of a waypoint outside the structure immediately before entering the structure. 5. A mobile object control method according to item 4. [Item 8] A method for generating a path for a moving body to move within a structure is described. A program for execution by the The travel path generation method includes: A three-dimensional reference data generating unit generates a three-dimensional reference data that indicates the arrangement of components within the structure and has dimensional information. Based on the three-dimensional model data and the three-dimensional map data, the three-dimensional model data is generating three-dimensional reference data arranged on the three-dimensional map data; The moving path generating unit generates an orthogonal coordinate system with an arbitrary point in the three-dimensional reference data as the origin coordinate. based on a reference coordinate system which is either the coordinate system of the previous map data or the latitude and longitude coordinate system of the map data, generating travel route information for the moving object; A program characterized by: [Item 9] A management server that generates a travel route within a structure for a moving body to travel, Three-dimensional model data showing the arrangement of components within the structure and having dimensional information; A three-dimensional map is created by arranging the three-dimensional model data in the three-dimensional map data based on the original map data. a three-dimensional reference data generation unit that generates original reference data; a Cartesian coordinate system having an arbitrary point in the three-dimensional reference data as its origin coordinate, and The reference coordinate system is either one of the latitude and longitude coordinate systems, and the moving path for the moving body is determined based on the reference coordinate system. a travel route generation unit that generates road information; A management server comprising: [Item 10] A management system for generating a travel route within a structure for a moving body to travel, Three-dimensional model data showing the arrangement of components within the structure and having dimensional information; A three-dimensional map is created by arranging the three-dimensional model data in the three-dimensional map data based on the original map data. a three-dimensional reference data generation unit that generates original reference data; a Cartesian coordinate system having an arbitrary point in the three-dimensional reference data as its origin coordinate, and The reference coordinate system is either one of the latitude and longitude coordinate systems, and the moving path for the moving body is determined based on the reference coordinate system. a travel route generation unit that generates road information; A management system characterized by:

[0012] <Details of implementation form> The following describes a method for generating a moving path for a moving object and a management server according to an embodiment of the present invention. In the accompanying drawings, the same or similar elements are designated by the same or similar reference numerals. In the description of each embodiment, the same or similar elements are referred to by reference numerals and names. Duplicate descriptions may be omitted. In addition, the features shown in each embodiment are not mutually contradictory. Unless otherwise specified, the present invention is applicable to other embodiments.

[0013] <Configuration> As shown in FIG. 1, the management system according to this embodiment includes a management server 1 and one or more The above user terminal 2, one or more moving objects 4 (for example, flying objects, running objects, etc.), and one or more moving objects The management server 1, the user terminal 2, the moving object 4, and the moving object storage device 5 are included. The storage devices 5 are connected to each other via a network so that they can communicate with each other. The above configuration is merely an example, and is not limited to this. For example, a configuration may be adopted in which the user does not have the moving body storage device 5. It may also be configured to be portable.

[0014] <Administration 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.

[0015] As shown in the figure, the management server 1 is connected to a user terminal 2, a mobile object 4, a mobile object storage device 5, and The management server 1 is connected to a workstation or PC, for example, and forms part of this system. It may be a general-purpose computer such as a personal computer, or it may be a cloud computer. It may be logically realized by computing.

[0016] 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.

[0017] The processor 10 controls the overall operation of the management server 1 and transmits and receives data between the various elements. A computing device that controls communication, executes applications, and processes information necessary for authentication processing. For example, the processor 10 is a CPU (Central Processing Unit). it) 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.

[0018] 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.

[0019] The storage 12 stores various programs such as application programs. A database storing data used for processing may be constructed in storage 12. stomach.

[0020] The transmitting / receiving unit 13 connects the management server 1 to the network. Bluetooth (registered trademark) and BLE (Bluetooth Low Energy ) short-range communication interface.

[0021] 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.

[0022] A bus 15 is commonly connected to the above elements, and transmits, for example, address signals, data signals, and Transmits a seed control signal.

[0023] <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. Therefore, detailed explanation of each element will be omitted.

[0024] <Mobile Unit 4> The mobile object 4 includes flying objects such as drones and unmanned aerial vehicles, and traveling objects such as unmanned ground vehicles. The moving body 4 is a known moving body, particularly a moving body that can be autonomously controlled. The following description will be given using the flying object 4 as an example. FIG. 4 is a block diagram showing the hardware configuration of the flying object 4. The flight controller 41 includes a programmable processor (e.g., The computer may have one or more processors, such as a central processing unit (CPU).

[0025] The flight controller 41 also has a memory 411, and the memory is accessible. The memory 411 can be used to store the flight controller's It stores logic, code, and / or program instructions that are executable by the The flight controller 41 also includes an inertial sensor (acceleration sensor, gyro sensor), a GPS sensor, It may include sensors 412 such as S sensors, proximity sensors (e.g., lidar), etc.

[0026] The memory 411 may be a separate memory such as an SD card or random access memory (RAM). This may include a portable medium or external storage device. The acquired data may be directly transmitted to and stored in the memory 411. For example, The captured still and video data may be recorded in the built-in memory or external memory. At least, the camera / sensor 42 or the built-in memory may transmit the image data via the network NW. may be recorded in one of the management server 1, the user terminal 2, and the mobile storage device 5. The camera 42 is mounted on the flying vehicle 4 via a gimbal 43 .

[0027] The flight controller 41 is a control device (not shown) configured to control the state of the aircraft. For example, the control module has six degrees of freedom (translational x, y and z, and rotational motion θ x , θ y and θ z ) the spatial arrangement, speed, and / or Or to adjust the acceleration, use ESC44 (Electric Speed ​​Control The propulsion mechanism (motor 45, etc.) of the aircraft is controlled via the battery 4 The propeller 46 is rotated by the motor 45 supplied with power from the The control module can control one or more of the following: the status of the mounted parts and sensors. Cut.

[0028] 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 means of communication may be used, such as wireless communication.

[0029] 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 It is possible to use one or more of the following: Cut.

[0030] 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.

[0031] The sensors 42 according to this embodiment include inertial sensors (acceleration sensors, gyro sensors), GPS sensors, proximity sensors (e.g., LiDAR (Light Detection and Ranging) and Ranging), or vision / image sensors (e.g., cameras) It can be seen.

[0032] <Management server functions> FIG. 5 is a block diagram illustrating the functions implemented in the management server 1. In terms of form, the components (e.g., walls, columns, stairs, etc.) within a structure (e.g., a building) 3D model data showing the layout of facilities and equipment, and 3D map data with dimensional information Based on this, three-dimensional reference data is generated by arranging the three-dimensional model data in three-dimensional map data. In the three-dimensional reference data, the orthogonal coordinate system of the three-dimensional model and the latitude and longitude of the map data A moving path for a moving object is generated based on a reference coordinate system that is either a 3D coordinate system or a 4D coordinate system. It has various functional parts for this purpose.

[0033] In this embodiment, the management server 1 includes a communication unit 110, a three-dimensional reference data generation unit 111, and a 20, travel route generation unit 130, travel execution unit 140, acquired information output unit 150, storage unit 160 The storage unit 160 includes a three-dimensional data storage unit 161, a travel path information storage unit 162, and a 162, including various databases of the movement information storage unit 163.

[0034] The communication unit 110 communicates with the user terminal 2, the mobile object 4, and the mobile object storage device 5. 110 also functions as a reception unit that receives various requests and data from the user terminal 2. .

[0035] The three-dimensional reference data generating unit 120 generates three-dimensional reference data that indicates the arrangement of components within the structure and has dimensional information. Based on the 3D model data and 3D map data, the 3D model data is converted into 3D map data. 3D model data, 3D map data, and 3D reference data are generated. The three-dimensional reference data is data expressed in a three-dimensional coordinate system, and The data is stored and managed in the storage unit 161.

[0036] The three-dimensional model data is created using CAD (Computer-Aided Design) A diagram showing the arrangement of components within a structure, created based on data generated by software. Any data may be used as long as it is three-dimensional model data having dimensional information. For example, , BIM (Building Information Modeling) data, C It may also be three-dimensional model data reconstructed from AD data, BIM data, etc. , three obtained by generating a structure with a predetermined height based on two-dimensional design data. The generation of three-dimensional model data, such as reconstruction, may be performed using a three-dimensional reference It may be executed by the data generating unit 120 or the like, or may be executed outside the management server 1 and then internally The 3D model data may be acquired using a set arbitrary point as the origin (reference point). The data may be expressed in a three-dimensional Cartesian coordinate system.

[0037] The three-dimensional map data is a virtual representation of the earth's surface and at least a portion of the earth's surface in a three-dimensional space. For example, known aerial photograph data is placed on a virtual ground. It can be a model of a building, or a model that reflects topography such as mountains and rivers as three-dimensional data. The three-dimensional map data may be expressed as latitude and longitude coordinates in the horizontal direction and altitude coordinates in the vertical direction. It may be data expressed as three-dimensional coordinates.

[0038] The three-dimensional reference data is, for example, a data set that includes the three-dimensional model data on the three-dimensional map data. The composition may be performed by, for example, a user operating the user terminal 2. The two are aligned based on the alignment process, and the three-dimensional data of both are integrated into a three-dimensional image at the determined position. It may be synthesized as three-dimensional data (three-dimensional reference data), or as a three-dimensional model of the structure. The outline of the bottom surface of the data and the outline of the structure that is displayed on the 3D map data (for example, The outline of the structure specified by the user can be grasped from aerial photographs taken from above. The three-dimensional data is then aligned using known alignments, such as matching contours. At this time, the 3D model data and the 3D ground data may be synthesized as 3D reference data. It is assumed that the scale of the drawing data may differ. In this case, the dimensional information of the 3D model data and the It is advisable to compare the scale information of the three-dimensional map data and adjust the scale accordingly. The data is based on either the Cartesian coordinate system of the above-mentioned three-dimensional model or the latitude and longitude coordinate system of the above-mentioned map data. On the other hand, it can be data expressed in three-dimensional coordinates as a reference coordinate system.

[0039] In this way, the 3D model data and the 3D By combining it with map data and expressing it in a unified three-dimensional reference coordinate system, three-dimensional The three-dimensional coordinate systems of the model data and the three-dimensional map data are aligned. For example, you can set a waypoint based on the three-dimensional reference data displayed on user terminal 2. In this case, even if the movement route crosses the inside and outside of the structure, a unified three-dimensional This makes it possible to specify positions, such as generating a movement path based on the reference coordinate system.

[0040] The travel path generation unit 130 generates a travel path for the three-dimensional reference data displayed on the user terminal 2, for example. One or more waypoints are set by the user's selection operation, and the system The travel route information is generated by a known method and stored in the travel route information storage unit 162. The three-dimensional reference data may be analyzed to, for example, identify specific or global locations within a structure. The system calculates a route along which waypoints can be set to obtain information on all components, and then moves along this route. The route information may be stored and managed in the travel route information storage unit 162.

[0041] The moving route may be, for example, a starting position and an ending position of the moving body storage device 5. A travel route passing through each waypoint may be generated by using The position where the user carried the machine without the body storage device 5 was set as the movement start position. The user may retrieve the drone at the end of the movement, or the management server may Information on the mobile object storage device 5 managed by the server 1 (for example, location information, storage status information, storage The moving object storage device selected as the movement start position or movement end position based on the information of the moving object. The route may be generated as a route including the position of 5.

[0042] The movement execution unit 140 includes a coordinate conversion unit 141, a movement route information storage unit 162, and The movement information storage unit 163 is referred to, and the movement information storage unit 163 is used for the purpose of inspection, security, construction progress management, etc. Execute the move.

[0043] Here, the coordinate conversion unit 141 will be described. For example, if the reference coordinate system is a latitude and longitude coordinate system, When using this system, the mobile unit 4 estimates its own position using GNSS when flying outside a structure. Therefore, the travel route information (U) expressed in the latitude and longitude coordinate system that is the reference coordinate system It is possible to use the information (including waypoint coordinate information) as is, but if the route is When indoors, it is a non-GNSS environment and it is difficult to use it as is. Then, the coordinate conversion unit 141 converts at least one of the travel route information expressed in the latitude and longitude coordinate system. The part (including the whole) can be moved to any coordinate (for example, the coordinate of the movement start point or any location outside the structure). Direction and distance information from the coordinates of the point, especially the coordinates of the waypoint just before entering the structure The coordinates are calculated sequentially or collectively and converted into a Cartesian coordinate system. Direction information from one waypoint to another is calculated based on the waypoint coordinates. Since the distance information can be calculated, the direction information and distance information can be calculated from the above-mentioned arbitrary coordinates on the movement route. By calculating this information, even if the moving path crosses from outside the structure to inside the structure, the moving object 4 can Based on the information about which direction and how far to go to reach the waypoint, This allows autonomous control of movement, so even if the movement route is inside or outside a structure, the same It is possible to move by autonomous control based on the movement route information. The moving route information expressed in the coordinate system, the current position information, and the information acquired by the moving object 4 are The location information is converted into latitude and longitude information based on arbitrary coordinates that serve as the reference in a Cartesian coordinate system. It is also possible to convert the data and store it in the movement information storage unit 163. For example, It may be used in the force section 150.

[0044] The travel information storage unit 163 stores information when the travel route generation unit 130 generates a travel route or when the travel route is generated. The execution unit 140 executes the autonomously controlled movement of the moving body 4 along the movement route. It stores parameter information used when traveling, and information acquired during travel along the travel route. Specific examples of parameters include the moving speed and the flight altitude (the speed at which the moving object 4 flies) the overlap rate of the captured images, and the information acquired during movement (e.g., image information and This includes information such as image information.

[0045] The acquired information output unit 150 outputs the acquired information during movement based on the acquired information during movement stored in the movement information storage unit 163. In this embodiment, for example, , and information (still images, moving images, audio, etc.) acquired by the moving object 4 on the moving path. information), or three-dimensional model data and travel route information, as shown in Figure 7. It displays the current location based on the current location information and responds to the location information of the acquired information. A symbol or other mark is attached to the location, which serves as a link to view the acquired information corresponding to the location. 3D data (e.g., 3D model data, 3D reference data, 3D map data, etc.) Then, by selecting the link on the user terminal 2, The corresponding acquired information may be displayed. When using 3D data related to IM data, the 3D data can be linked to BIM data. Since it is possible to have information for each component that makes up the data, it is possible to link them together (for example, linking This makes it possible to generate a large amount of data.

[0046] <An example of a travel route generation method> 6-7, the travel route generation method according to the present embodiment will be described. The operation of the management system in this embodiment will also be described. 1 illustrates a flow chart of a method for creating a user terminal. The configuration shown is for starting an application on the second terminal, but it is not limited to this. For example, The server 1 and the mobile storage device 5 have a processor and an input / output device that can run an application. However, it may be configured so that various settings can be made. 10 is an example of a display screen related to the travel route generation method.

[0047] First, the user starts an application including, for example, a travel route generation function on the user terminal 2. This application is stored in the user terminal 2, for example. Alternatively, the management server 1 or other servers (not shown) may be connected via a network. It may be software provided by a service provider (so-called SaaS) as needed. A login screen may be displayed, requesting a login ID and password, for example. .

[0048] Next, the user creates a new travel plan (SQ102). For example, the user can enter a "Plan Name" and By entering "area name" and "address", etc., the user can view the 3D map of the target structure on the user terminal 2. Acquire and display the original reference data and start creating a new movement plan. The three-dimensional data may be generated in advance and stored in the three-dimensional data storage unit 161, or the three-dimensional data may be stored in the three-dimensional data storage unit 161. 3D model data and 3D map data are read in by the machine, and 3D reference data is generated. It may be displayed as follows.

[0049] Next, the user generates a travel route for the moving object 4 (SQ103). For example, As shown in FIG. 7, the three-dimensional reference data (B in the example) is displayed on the user terminal 2. 3D model data generated from IM data is placed on 3D map data. By the user's selection operation, one or more waypoints (e.g., user terminal 2) and set a known location based on the waypoint. The route information is calculated by the following method (in this example, four waypoints are connected by straight lines). is generated.

[0050] Next, the user instructs the moving object 4 to start moving (SQ104). For example, Inspection, security, and construction progress management are performed by referring to the route information storage unit 162 and the movement information storage unit 163. At this time, the moving object 4 moves in the orthogonal coordinate system. Based on the current location information expressed in the latitude and longitude coordinate system, and superimposing the current position information on the three-dimensional reference data on the user terminal 2. In particular, the current position of the moving object 4 may be dynamically displayed on the moving route. You may do so.

[0051] Next, the user instructs the management server 1 to output the acquired information (SQ105). For example, The route information that the moving object 4 actually traveled is superimposed on the three-dimensional reference data displayed on the user terminal 2. In addition, the acquired information ( still images, video images, audio and other information) and associate the acquired information with the location information. Link to view the acquired information corresponding to the specified position (especially the position information of waypoints). 3D data marked with symbols or other marks (e.g., 3D model data or 3D The link may be output so that the user can view the reference data, etc. By selecting the item, the corresponding acquired information may be displayed. When using 3D data related to BIM data as data, Since it is possible to have information for each component that makes up the 3D data, it is possible to link them on a component-by-component basis. This makes it possible to create links.

[0052] In this way, the present invention relates to a method for controlling the movement of an autonomously moving object including a movement path within at least a structure. It is possible to provide a travel route generation method and a management server that can set a route. Instead of the configuration involving the autonomous movement of the mobile unit 4 of SQ104 as described above, It may be configured to create a route for movement, and other users may manually use a radio or other device based on this route. A model route for moving the moving object 4 within the structure is displayed on the user terminal 2 of another user. can be displayed above.

[0053] In the above embodiment, the mobile object 4 acquires information about the inside of a structure. It may be an inspection of a structure, checking the presence or absence of predetermined events on the interior and / or exterior walls of the structure. More specifically, the apparatus may include an imaging device ( Visible light cameras, infrared cameras, metal detectors, ultrasonic measuring devices, etc.), keystroke devices, and other detection devices (metal detectors), sound collection devices, odor measuring devices, gas detectors, air pollution measuring devices, detection devices (space The condition of the structure to be inspected has an inner wall such as a device for detecting radiation, electromagnetic waves, etc. Any device necessary for knowing may be employed.

[0054] Also, an embodiment may be, for example, security or surveillance within a structure, and the More specifically, an imaging device (visible light camera, red outside cameras, night vision cameras, metal detectors, ultrasonic measuring devices, etc.) and sensor devices (motion sensors sensors, infrared sensors, etc.) to capture and detect abnormalities and intruders in security and monitored structures. Any device necessary for this purpose may be employed.

[0055] The moving body of the present invention can also be suitably used as a moving body for photography equipped with a camera or the like. Other applications include security, infrastructure monitoring, surveying, sports venues, factories, warehouses, and other buildings. It can also be used in a variety of industries, such as for inspection inside structures and disaster response.

[0056] The above-described embodiment is merely an example for facilitating understanding of the present invention, and is not intended to limit the present invention. The present invention is not intended to be construed as a modification or improvement without departing from the spirit of the invention. It goes without saying that the present invention includes equivalents thereof. [Explanation of symbols]

[0057] 1 Management Server 2. User terminal 4. Mobile 5 Mobile storage device

Claims

1. A travel path generation method for generating a travel path within a structure for a moving body to travel, comprising: A three-dimensional reference data generating unit generates a three-dimensional reference data that indicates the arrangement of components within the structure and has dimensional information. Based on the three-dimensional model data and the three-dimensional map data, the three-dimensional model data is generating three-dimensional reference data arranged on the three-dimensional map data; The moving path generating unit generates an orthogonal coordinate system with an arbitrary point in the three-dimensional reference data as the origin coordinate. based on a reference coordinate system which is either the coordinate system of the previous map data or the latitude and longitude coordinate system of the map data, generating travel route information for the moving object; A travel route generation method comprising:

2. The step of generating the three-dimensional reference data includes: a step of merging the data with the diagram data in accordance with the scale; The travel route generation method according to claim 1 .

3. The three-dimensional model data is three-dimensional data based on BIM data of the structure, 3. The travel route generation method according to claim 1 or 2.

4. The travel route information generated by the travel route generation method according to any one of claims 1 to 3. A mobile object control method for controlling the movement of the mobile object based on information, When the travel route information is expressed in a latitude-longitude coordinate system, A coordinate conversion unit converts at least a part of the movement path information into direction information from an arbitrary coordinate. and a step of calculating distance information and converting it into a Cartesian coordinate system; A movement execution unit controls the movement of the moving body based on at least the direction information and the distance information. and controlling the A mobile object control method comprising:

5. The arbitrary coordinates are coordinates of a movement start point.

5. The mobile object control method according to claim 4.

6. The arbitrary coordinates are waypoint coordinates outside the structure.

5. The mobile object control method according to claim 4.

7. The arbitrary coordinates are coordinates of a waypoint outside the structure immediately before entering the structure.

5. The mobile object control method according to claim 4.

8. A method for generating a path for a moving body to move within a structure is described. A program for execution by the The travel path generation method includes: A three-dimensional reference data generating unit generates a three-dimensional reference data that indicates the arrangement of components within the structure and has dimensional information. Based on the three-dimensional model data and the three-dimensional map data, the three-dimensional model data is generating three-dimensional reference data arranged on the three-dimensional map data; The moving path generating unit generates an orthogonal coordinate system with an arbitrary point in the three-dimensional reference data as the origin coordinate. based on a reference coordinate system which is either the coordinate system of the previous map data or the latitude and longitude coordinate system of the map data, generating travel route information for the moving object; A program characterized by:

9. A management server that generates a travel route within a structure for a moving body to travel, Three-dimensional model data showing the arrangement of components within the structure and having dimensional information; A three-dimensional map is created by arranging the three-dimensional model data in the three-dimensional map data based on the original map data. a three-dimensional reference data generation unit that generates original reference data; a Cartesian coordinate system having an arbitrary point in the three-dimensional reference data as its origin coordinate, and The reference coordinate system is either one of the latitude and longitude coordinate systems, and the moving path for the moving body is determined based on the reference coordinate system. a travel route generation unit that generates road information; A management server comprising:

10. A management system for generating a travel route within a structure for a moving body to travel, Three-dimensional model data showing the arrangement of components within the structure and having dimensional information; A three-dimensional map is created by arranging the three-dimensional model data in the three-dimensional map data based on the original map data. a three-dimensional reference data generation unit that generates original reference data; a Cartesian coordinate system having an arbitrary point in the three-dimensional reference data as its origin coordinate, and The reference coordinate system is either one of the latitude and longitude coordinate systems, and the moving path for the moving body is determined based on the reference coordinate system. a travel route generation unit that generates road information; A management system characterized by:

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