Three dimensional model management system, three dimensional model management device, three dimensional model management method, and three dimensional model management program

Abstract

To provide a three dimensional model management system, a three dimensional model management device, a three dimensional model management method, and a three dimensional model management program capable of improving operation efficiency of an autonomous mobile robot by updating a robot movement map in quick response to a change in a situation of a construction site.SOLUTION: A mobile body that can move in a construction site, a first sensor that is mounted on the mobile body and can acquire first point cloud data, a time determination unit that determines that the construction site is in a non-congested state, a storage unit that stores building information of the construction site, a mobile body control unit that causes the mobile body to patrol the construction site and cause the first sensor to acquire first point cloud data when the time determination unit determines that the construction site is in the non-congested state, and a model generation unit that generates a three-dimensional model based on the first point cloud data and the building information stored in the storage unit.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a three-dimensional model management system, a three-dimensional model management device, a three-dimensional model management method, and a three-dimensional model management program. [Background technology]

[0002] At construction sites, conditions change constantly, so autonomous patrol robots and material transport robots need to update their robot movement maps in accordance with the site conditions. Conventionally, operating an autonomous robot at a construction site involves (1) manually remotely controlling the robot to actually navigate the planned route on the site, (2) using LiDAR (Light Detection and Ranging, or Laser Imaging Detection and Ranging) mounted on the robot while it is manually remotely controlled, to acquire information about the surrounding environment and create a map for autonomous movement, and (3) starting the robot's autonomous movement (starting operation) based on the created map. However, this method poses a challenge in that it is difficult to apply to environments where conditions change frequently, such as construction sites.

[0003] Furthermore, Patent Document 1 discloses a technique for creating a map (two-dimensional or three-dimensional) for robot movement by moving a robot through simulation in a three-dimensional space based on BIM data. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-196487 Summary of the Invention [Problem to be solved by the invention]

[0005] However, with the technology disclosed in Patent Document 1, a robot movement map is created by simulating the robot's movement in a static space based on BIM data, but at an actual construction site, the situation changes frequently, with workers moving around and temporary materials not included in the BIM data being placed, etc. At such construction sites where the situation changes frequently, the technology described in Patent Document 1 is unable to keep up with changes in the situation on site, and as a result, there is a problem in that it is unable to create an optimal robot movement map.

[0006] Therefore, the object of the present disclosure is to provide a three-dimensional model management system, a three-dimensional model management device, a three-dimensional model management method, and a three-dimensional model management program that can quickly respond to changes in the situation at a construction site, update a robot movement map, and improve the operational efficiency of autonomous mobile robots. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the three-dimensional model management system of the present disclosure comprises a mobile body capable of moving around a construction site, a first sensor mounted on the mobile body and capable of acquiring first point cloud data, a time determination unit that determines a quiet time at the construction site, a memory unit that stores building information about the construction site, a mobile body control unit that, when the time determination unit determines that it is a quiet time, causes the mobile body to patrol the construction site and acquires first point cloud data using the first sensor, and a model generation unit that generates a three-dimensional model based on the first point cloud data and the building information stored in the memory unit.

[0008] The three-dimensional model management system according to this application example includes a mobile body capable of moving around a construction site, a first sensor mounted on the mobile body and capable of acquiring first point cloud data, a second sensor installed at the construction site and capable of acquiring environmental information about the construction site where the sensor is installed, a time determination unit that determines a quiet time at the construction site based on the environmental information acquired by the second sensor, and a mobile body control unit that, when the time determination unit determines that a quiet time has occurred, causes the mobile body to patrol the construction site and causes the first sensor to acquire the first point cloud data. [Effects of the Invention]

[0009] According to the present disclosure using the above means, the robot movement map can be updated in quick response to changes in the situation at the construction site, thereby improving the operational efficiency of the autonomous mobile robot. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing the overall configuration of a three-dimensional model management system according to a first embodiment. [Figure 2] 1 is a block diagram showing a functional configuration of a simulation device according to a first embodiment. [Figure 3] 3 is a flowchart showing an execution process of the simulation device of the first embodiment. [Figure 4] FIG. 2 is a block diagram showing a basic hardware configuration of a computer included in the simulation device. [Figure 5] FIG. 10 is a diagram showing the overall configuration of a three-dimensional model management system according to a second embodiment. [Figure 6] 10 is a flowchart showing a process executed by a simulation device according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] A first embodiment of the present disclosure will be described below with reference to the drawings. Note that the present disclosure is not limited to the content described below and can be implemented with any modifications within the scope of the gist of the disclosure. Furthermore, the drawings used to describe the first embodiment are all schematic representations of components, and may be partially emphasized, enlarged, reduced, or omitted to facilitate understanding, and may not accurately represent the scale, shape, etc. of the components.

[0012] 1, the 3D model management system 1 according to the first embodiment includes a simulation device 2, a map creation mobile object 3, and a second sensor 4, all of which are connected via a network NW. Specifically, two map creation mobile objects 3, a running object 3a and an air vehicle 3b, and two second sensors 4 are connected to the simulation device 2 via the network NW. The running object 3a and the air vehicle 3b are equipped with first sensors 30.

[0013] The network NW is, for example, the Internet, a VPN (Virtual Private Network), an intranet, a short-range wireless communication network, or the like. For simplicity of explanation, two map creation mobile bodies 3 and two second sensors 4 are shown in FIG. 1. The simulation device 2 can be connected to one or more map creation mobile bodies 3 and one or more second sensors 4 via the network NW. In other words, the simulation device 2 can control the map creation mobile bodies 3 and the second sensors 4 independently.

[0014] The simulation device 2 is configured by a computer including an arithmetic unit and a storage device. The basic hardware configuration of the computer and the basic functional configuration of the computer realized by the hardware configuration will be described later. The simulation device 2 may also be configured by cloud computing.

[0015] The map creation mobile body 3 is a mobile body that can move autonomously around a construction site, such as a running body 3a such as a four-wheel drive robot or a walking robot, or an air vehicle 3b such as a drone. The running body 3a, which is a walking robot, is a multi-legged robot such as a bipedal robot or a quadrupedal robot. The map creation mobile body 3 is equipped with a first sensor 30.

[0016] The first sensor 30 is a LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) that can acquire point cloud data using laser images. The mapping mobile body 3 moves through a desired area within a construction site, and acquires information about the desired area as first point cloud data using the first sensor 30. The area information acquired by the first sensor 30 includes three-dimensional coordinate data (x, y, z) and color information (R, G, B) as position information based on a position serving as the starting point of the mapping mobile body 3 (for example, the center of gravity of the mapping mobile body 3). The acquired first point cloud data is transmitted to the simulation device 2 and stored in a memory unit 21 of the simulation device 2, which will be described later. The mapping mobile body 3 may temporarily store the acquired first point cloud data in an internal memory.

[0017] The second sensor 4 is installed at a predetermined location on the construction site and is capable of acquiring environmental information about the construction site where it is installed. Environmental information refers to information indicating the activity status of the construction site around the installation location, specifically, information about objects such as people and objects (point cloud data or image data), or sound information (audio data) generated by people and objects. The predetermined location where the second sensor 4 is installed is a structure such as a pillar or wall within a range where the activity status of the construction site can be monitored. Here, the activity status refers to the flow (movement) of people or objects and the state of work sounds generated by people or objects working. When there is a lot of movement of people or objects (busy times), the activity status is considered high, and when there is a slower movement of people or objects (off-peak times), the activity status is considered low. Furthermore, when work sounds exceed a certain volume (busy times), the activity status is considered high, and when work sounds are below a certain volume (off-peak times), the activity status is considered low.

[0018] More specifically, the second sensor 4 is installed in a position where it can acquire environmental information from at least one of the areas around the elevators used by people at the construction site, the rest area, and the area around the service entrance. The second sensor 4 is also installed on each floor of the construction site, so that it can acquire environmental information from the areas around the stairs on lower floors and the areas around the elevators on higher floors. The second sensor 4 may be installed on the floor of the construction site, instead of on a pillar or wall, and can be moved as needed.

[0019] The second sensor 4 is, for example, a sensor having at least one of a LiDAR capable of acquiring second point cloud data, a camera capable of acquiring image data, and a microphone capable of acquiring audio data.

[0020] If the second sensor 4 is a LiDAR, it can scan the surroundings from its installation position and acquire second point cloud data as environmental information. The second point cloud data includes three-dimensional coordinate data (x, y, z) and color information (R, G, B) as position information. If the second sensor 4 is a camera, it can acquire image data captured from its installation position. The image data is a still image or a moving image. If the second sensor 4 is a microphone, it can record work sounds (including human voices, footsteps, sounds of objects moving, etc.) around its installation position and acquire them as audio data. The acquired second point cloud data, image data, or audio data is transmitted to the simulation device 2 and stored in a memory unit 21 of the simulation device 2, which will be described later. The second sensor 4 may temporarily store the acquired second point cloud data, image data, or audio data in an internal memory.

[0021] 2 is a block diagram showing the functional configuration of the simulation device 2. As shown in FIG. 2, the simulation device 2 includes a communication unit 20, a storage unit 21, and a management control unit 22.

[0022] The communication unit 20 communicates with the map creation mobile body 3 and the second sensor 4. The communication unit 20 transmits and receives point cloud data, control signals, etc. to and from the map creation mobile body 3. The communication unit 20 also transmits and receives environmental information (second point cloud data, image data, or audio data) acquired by the second sensor 4, control signals, etc. to and from the second sensor 4.

[0023] The storage unit 21 is a storage medium or storage device that stores information used to generate a three-dimensional model. The storage unit 21 stores building information, first point cloud data, and environmental information (second point cloud data, image data, or audio data) of the construction site. The storage unit 21 also stores updated building information processed by a synthesis processing unit 222 (described later) and a three-dimensional model generated by a model generation unit 223. Here, the building information is, for example, so-called BIM data, and includes at least two-dimensional or three-dimensional design drawing information, and may also include other information such as materials, room names, equipment, and construction schedules. The building information may be information about the entire construction site or information about a specific area within the construction site, but it is preferable that the building information include the area in which the map creation mobile object 3 moves.

[0024] The management control unit 22 includes a time determination unit 220 , a mobile object control unit 221 , a synthesis processing unit 222 , a model generation unit 223 , and a movement map creation unit 224 .

[0025] The time determination unit 220 analyzes the activity state based on the environmental information (second point cloud data, image data, or audio data) stored in the storage unit 21, and determines whether the construction site is quiet or busy. Specifically, when analyzing the activity state based on the second point cloud data or image data, people or objects are identified from the second point cloud data or image data, and a quiet time is determined when the traffic of the identified people or objects per unit time is below a predetermined value for a predetermined period of time. On the other hand, a busy time is determined when the traffic of the identified people or objects per unit time exceeds a predetermined value for a predetermined period of time. Furthermore, when analyzing the activity state based on audio data, a quiet time is determined when the volume of the stored audio data remains below a certain volume for a predetermined period of time, which means that the traffic of people or objects per unit time is below a predetermined value. On the other hand, a busy time is determined when the volume of the work noise remains above a certain volume for a predetermined period of time.

[0026] The time determination unit 220 may not only make a determination by analyzing the environmental information (second point cloud data, image data, or audio data) acquired by the second sensor 4, but may also store a construction schedule for the construction site in the storage unit 21, which will be described later, and determine off-peak times according to the construction schedule. The construction schedule stores times when work is carried out at the construction site (workers' working hours) and times when work is not carried out (workers' break times, non-working hours). Off-peak times based on the construction schedule correspond to times when work is not carried out.

[0027] Furthermore, the time determination unit 220 may determine off-peak times at a construction site by combining environmental information acquired by the second sensor 4 with information on the construction schedule. For example, the time determination unit 220 may determine off-peak times based on the construction schedule information, and then determine off-peak times based on environmental information (second point cloud data, image data, or audio data) acquired by the second sensor 4. This enables the time determination unit 220 to more reliably determine off-peak times.

[0028] When the time determination unit 220 determines that the construction site is quiet, the mobile object control unit 221 controls the map creation mobile object 3 to patrol the construction site. Note that before causing the map creation mobile object 3 to patrol, the mobile object control unit 221 may cause a safety confirmation mobile object different from the map creation mobile object 3 to patrol the construction site, and then cause the map creation mobile object 3 to patrol. Note that the safety confirmation mobile object is an autonomously mobile object, and patrols places that cannot be monitored by the second sensor 4 to determine the activity status at the construction site.

[0029] The synthesis processor 222 incorporates the first point cloud data into the building information stored in the storage unit 21 to generate updated building information. Specifically, the first point cloud data includes three-dimensional coordinate data (x, y, z) as position information, and the synthesis processor 222 aligns each point cloud data with the building information using the position information and incorporates it. In other words, the synthesis processor 222 incorporates the first point cloud data acquired by the map creation mobile object 3 during its patrol into the base building information, thereby generating updated building information that shows the latest quiet conditions of the construction site. The synthesis processor 222 stores the building information incorporating the first point cloud data in the storage unit 21 as updated building information.

[0030] The model generation unit 223 generates a three-dimensional model using the updated building information generated by the synthesis processing unit 222 and stored in the storage unit 21. In other words, the model generation unit 223 generates a three-dimensional model based on the updated building information generated by the synthesis processing unit 222, thereby making it possible to generate a three-dimensional model in a simulation space that three-dimensionally simulates the latest quiet state of the construction site. The model generation unit 223 stores the generated three-dimensional model in the storage unit 21. This three-dimensional model is a simulation environment that operates on a computer.

[0031] The movement map creation unit 224 creates movement map data for the autonomous mobile robot to move along an optimal route by operating a virtual moving body that simulates an autonomous mobile robot used at a construction site in the simulation environment of the three-dimensional model created by the model generation unit 223. After creating the optimal route for the autonomous mobile robot through simulation, the movement map creation unit 224 stores the created movement map data in the storage unit 21.

[0032] FIG. 4 is a flowchart showing the operations executed in the simulation device 2 for generating a three-dimensional model of a construction site.

[0033] It is assumed that the simulation device 2 stores building information of a construction site in the storage unit 21. In step S101, the second sensor 4 acquires environmental information of the construction site where the second sensor 4 is installed. If the second sensor 4 is a LiDAR, it scans the surroundings from the installation position of the second sensor 4 and acquires second point cloud data. If the second sensor 4 is a camera, it captures the surroundings from the installation position and acquires image data. If the second sensor 4 is a microphone, it acquires audio data that collects work sounds around the installation position. The acquired environmental information (second point cloud data, image data, or audio data) is stored in the memory unit 21 of the simulation device 2. The second sensor 4 constantly acquires environmental information and stores the acquired environmental information in the memory unit 21 of the simulation device 2 each time. Therefore, the environmental information stored in the memory unit 21 is the latest environmental information of the construction site and reflects the latest activity status of the construction site.

[0034] In step S102, the time determination unit 220 of the management control unit 22 analyzes the latest activity status of the construction site based on the environmental information (second point cloud data, image data, or audio data) stored in the memory unit 21. When analyzing the activity status based on the second point cloud data or image data, people or objects are identified from the second point cloud data or image data, and the movement of the identified people or objects per unit time is calculated. When analyzing the activity status based on audio data, the volume of work noise is measured from the stored audio data, and the time during which the measured volume is below a certain volume is calculated.

[0035] In step S103, the time determination unit 220 determines whether the latest activity status of the construction site is an off-peak period based on the analysis results of step S102. An off-peak period is determined based on the second point cloud data or image data when the traffic volume of identified people or objects per unit time remains below a predetermined value for a predetermined period of time. Furthermore, an off-peak period is determined based on audio data when the measured volume remains below a certain volume for a predetermined period of time. As mentioned above, the construction schedule may also be used to determine an off-peak period.

[0036] If the determination result in step S103 is true (YES), that is, if the time determination unit 220 determines that it is an off-peak time, the management control unit 22 proceeds to step S104. On the other hand, if the determination result in step S103 is false (No), that is, if the time determination unit 220 does not determine that it is an off-peak time (that is, if it is a busy time), the management control unit 22 returns the process to step S101 again to acquire environmental information about the construction site and have the map creation mobile body 3 wait until it is determined that it is an off-peak time.

[0037] In step S104, the mobile object control unit 221 of the management control unit 22 starts acquiring the first point cloud data. That is, the mobile object control unit 221 outputs a control signal to the running object 3a and the flying object 3b, which are the map creation mobile objects 3, to start patrolling the construction site. The running object 3a and the flying object 3b receive the control signal from the mobile object control unit 221 and start patrolling the construction site. The first sensors 30 mounted on the running object 3a and the flying object 3b acquire surrounding information as first point cloud data by patrolling. Each of the first point cloud data acquired by the first sensors 30 is stored in the memory unit 21 of the simulation device 2.

[0038] In step S105, the synthesis processing unit 222 of the management control unit 22 generates updated building information by incorporating the first point cloud data acquired in step S104 into the building information stored in the storage unit 21. Specifically, the first point cloud data includes three-dimensional coordinate data (x, y, z) as position information, and the synthesis processing unit 222 aligns each point cloud data with the building information using the position information and incorporates it to generate updated building information. Furthermore, the synthesis processing unit 222 stores the building information incorporating the first point cloud data in the storage unit 21 as updated building information.

[0039] In step S106, the model generation unit 223 of the management control unit 22 generates a three-dimensional model that simulates the latest quiet state of the construction site from the updated building information. The model generation unit 223 stores the generated three-dimensional model in the storage unit 21.

[0040] In step S107, the movement map creation unit 224 operates a virtual moving body that simulates an autonomous mobile robot that operates at a construction site in the simulation environment of the three-dimensional model created by the model generation unit 223, and creates movement map data that allows the autonomous mobile robot to move along the optimal route.

[0041] In step S108, the movement map creation unit 224 stores the created movement map data in the storage unit 21 of the simulation device 2, and then ends the flow.

[0042] 4 is a schematic block diagram showing the configuration of a computer 40 included in the simulation device 2. The computer 40 includes a CPU 41 (processor), a main storage device 42, an auxiliary storage device 43, an interface 44, and a graphics processing unit (GPU) 45.

[0043] Here, the program for realizing each function constituting the simulation device 2 according to the above embodiment will be described in detail.

[0044] The simulation device 2 is implemented with a computer 40. The operation of each component of the simulation device 2 is stored in the form of a program in an auxiliary storage device 43. A CPU 41 reads the program from the auxiliary storage device 43, loads it into a main storage device 42, and executes the above-mentioned processing in accordance with the program. The CPU 41 also allocates a storage area corresponding to the above-mentioned storage unit 21 in the main storage device 42 or the auxiliary storage device 43 in accordance with the program.

[0045] Specifically, the program is a program to be executed by a computer having a processor and a memory unit, and the program includes the following steps in the processor: a time determination step for determining a quiet time at the construction site; a mobile object control step for patrolling the construction site and acquiring point cloud data using the first sensor when the quiet time is determined by the time determination step; and a model generation step for generating a three-dimensional model based on the first point cloud data and building information previously stored in the memory unit.

[0046] Specifically, the program is a program to be executed by a computer having a processor and a memory unit, and the program includes a time determination step in which the processor determines a quiet time at the construction site based on environmental information acquired by the second sensor, and a mobile object control step in which, when the quiet time is determined by the time determination step, the mobile object patrols the construction site and acquires the first point cloud data using the first sensor.

[0047] The auxiliary storage device 43 is an example of a non-transitory tangible medium. Other examples of non-transitory tangible media include a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, and a semiconductor memory connected via the interface 44. When the program is distributed to the computer 40 via the network NW, the computer 40 that has received the program may load the program into the main storage device 42 and execute the above-described processing.

[0048] The program may also be a program for realizing part of the above-described functions. Furthermore, the program may be a so-called differential file (differential program) that realizes the above-described functions in combination with another program already stored in the auxiliary storage device 43.

[0049] As described above, the 3D model management system 1 (including a 3D model management device, a 3D model management method, and a 3D model management program) according to this embodiment includes a map creation mobile body 3 that can move around a construction site, a first sensor 30 that is mounted on the map creation mobile body 3 and can acquire first point cloud data, a time determination unit 220 that determines an off-peak time at the construction site, a memory unit 21 that stores building information about the construction site, a mobile body control unit 221 that, when the time determination unit 220 determines that the construction site is an off-peak time, causes the map creation mobile body 3 to patrol the construction site and cause the first sensor 30 to acquire the first point cloud data, and a model generation unit 223 that generates a 3D model based on the first point cloud data and the building information stored in the memory unit 21. In other words, by having the map creation mobile body 3 patrol the construction site after the time determination unit 220 determines that the construction site is an off-peak time, first point cloud data for the latest situation at the site during the off-peak time can be acquired.

[0050] This allows the three-dimensional model management system 1 to create a simulation environment for a three-dimensional model that simulates the latest situation at the site during the off-season.

[0051] Furthermore, the 3D model management system 1 can create movement map data for the autonomous mobile robot to move along the optimal route on the construction site by operating a virtual moving body that simulates the autonomous mobile robot to be operated on the construction site in the constructed 3D model simulation environment. In this way, the 3D model management system 1 determines whether the construction site is in the off-season, and if so, can immediately and efficiently create a 3D model simulation environment that simulates the latest site conditions, and can also efficiently create movement map data for the autonomous mobile robot to move along the optimal route on the construction site. This allows the 3D model management system 1 to quickly respond to changes in the situation on the construction site and update the robot movement map, improving the operational efficiency of the autonomous mobile robot.

[0052] The 3D model management system 1 (including a 3D model management device, a 3D model management method, and a 3D model management program) according to this embodiment can acquire first point cloud data using a first sensor 30 mounted on a map creation mobile object 3, and can acquire environmental information about the construction site using a second sensor 4 installed at the construction site. The environmental information acquired by the second sensor 4 can be used by a time determination unit 220 to determine whether the construction site is quiet. When the time determination unit 220 determines that the construction site is quiet, the mobile object control unit 221 causes the map creation mobile object 3 to patrol the site and acquire first point cloud data during the quiet period using the first sensor 30. In other words, the 3D model management system 1 can easily grasp the situation at the construction site by determining quiet periods based on the environmental information acquired by the second sensor 4 installed at the construction site. By causing the map creation mobile object 3 to patrol the site during quiet periods, the 3D model management system 1 can acquire first point cloud data of the situation immediately before work by an autonomous mobile robot. This allows the three-dimensional model management system 1 to quickly respond to changes in the situation at the construction site and update the robot movement map, thereby improving the operational efficiency of the autonomous mobile robot.

[0053] Furthermore, the 3D model management system 1 according to this embodiment generates a 3D model based on updated building information obtained by incorporating the first point cloud data acquired by patrolling the map creation mobile object 3 during off-peak periods into the base building information. In this way, the 3D model management system 1 generates a 3D model based on the first point cloud data of the latest site conditions during the off-peak period and the building information stored in the storage unit 21, thereby making it possible to generate a movement map that simulates the optimal route for the autonomous mobile robot on a 3D model that simulates the latest site conditions during the off-peak period, thereby enabling work to be performed in accordance with the site conditions.

[0054] Furthermore, the second sensor of the 3D model management system 1 according to this embodiment can acquire at least one of second point cloud data, image data, and audio data as environmental information, which allows the 3D model management system 1 to easily determine quiet times at the construction site.

[0055] Furthermore, the time determination unit 220 of the 3D model management system 1 according to this embodiment can determine quiet times by analyzing the activity status at the construction site based on the environmental information acquired by the second sensor 4. In this way, by monitoring the movement of people and objects as the activity status using the second sensor 4 installed at the construction site, the 3D model management system 1 can automate the start of patrols by the map creation mobile object 3 without the need for human monitoring.

[0056] Furthermore, the 3D model management system 1 according to this embodiment stores the construction schedule of the construction site in the storage unit 21, and the time determination unit 220 can determine off-peak times at the construction site based on the construction schedule. This allows the 3D model management system 1 to determine off-peak times with higher accuracy.

[0057] Furthermore, the second sensor 4 of the 3D model management system 1 according to this embodiment is installed so that it can scan at least one of the areas around the elevator equipment used by people at the construction site, the rest area, and the area around the service entrance. By installing the second sensor 4 in this way in a location where there is a relatively large amount of traffic of people and things during times when busy periods transition to quiet periods, such as when people arrive and leave work, and at the start and end of breaks, the 3D model management system 1 can efficiently install the second sensor 4 and improve the accuracy of determining quiet periods.

[0058] Furthermore, the second sensors 4 of the 3D model management system 1 according to this embodiment are installed on each floor of the construction site, and are installed so as to be able to scan the area around the stairs on the lower floors and the area around the elevators on the higher floors that are higher than the lower floors. Because there is more foot traffic on the stairs than on the elevators on the lower floors and more foot traffic on the elevators than on the stairs on the higher floors, by providing the second sensors 4 in this manner, the 3D model management system 1 can install the second sensors 4 efficiently and improve the accuracy of judgment during quiet times.

[0059] Furthermore, the time determination unit 220 of the 3D model management system 1 according to this embodiment identifies people or objects from the environmental information acquired by the second sensor 4, and determines that it is an off-hour when the number of identified people or objects passing through per unit time remains below a predetermined number for a predetermined period of time. This allows the 3D model management system 1 to easily determine off-hours using the second sensor 4 installed at the construction site.

[0060] Furthermore, the mobile object control unit 221 of the 3D model management system 1 according to this embodiment patrols the construction site with a safety confirmation mobile object, which is different from the map creation mobile object 3, before patrolling the construction site with the map creation mobile object 3, and then patrols the construction site with the map creation mobile object 3. This enables the 3D model management system 1 to improve the safety of the map creation mobile object 3 patrolling.

[0061] Next, a second embodiment of the present disclosure will be described.

[0062] 5 shows an overall configuration diagram of a 3D model management system 100 according to the second embodiment, and the following description will be based on this figure. The 3D model management system 100 according to the second embodiment differs from the first embodiment in that it includes an autonomous mobile robot 5. In the configuration of the second embodiment, components similar to those in the first embodiment are designated by the same reference numerals, and descriptions thereof will be omitted.

[0063] As shown in Fig. 5, a 3D model management system 100 according to the second embodiment of the present disclosure includes a simulation device 2, a map creation moving body 3, a second sensor 4, and an autonomous mobile robot 5, all of which are connected via a network NW. Specifically, two map creation moving bodies 3, a running body 3a and an air vehicle 3b, two second sensors 4, and two autonomous mobile robots 5, a running body 5a, are connected to the simulation device 2 via the network NW. Note that a first sensor 30 is mounted on the running body 3a and the air vehicle 3b.

[0064] The network NW is, for example, the Internet, a VPN (Virtual Private Network), an intranet, a short-range wireless communication network, etc. For the sake of simplicity, two map creation moving bodies 3, two second sensors 4, and two autonomous mobile robots 5 are shown in FIG. 1, but the simulation device 2 can be connected to one or more map creation moving bodies 3, one or more second sensors 4, and one or more autonomous mobile robots 5 via the network NW. In other words, the simulation device 2 can control the map creation moving bodies 3, the second sensors 4, and the autonomous mobile robots 5 independently of one another.

[0065] The configurations of the simulation device 2 and the map creation moving body 3 are the same as those in the first embodiment, and therefore a description thereof will be omitted. However, the moving body control unit 221 of the simulation device 2 in the second embodiment is also capable of controlling the autonomous mobile robot 5.

[0066] The autonomous mobile robot 5 is a mobile body capable of autonomous movement, such as a running body 5a such as a quadruped walking robot or a walking robot, or an air vehicle 5b such as a drone. The autonomous mobile robot 5 of this embodiment is a running body 5a and an air vehicle 5b for transportation.

[0067] In the three-dimensional model management system 100 configured in this manner, first, as in the first embodiment, the simulation device 2 constructs a three-dimensional model simulation environment based on updated building information in which the first point cloud data for the latest site conditions during the off-season is incorporated into the building information, and creates map data for movement of the autonomous mobile robot 5. Then, in the three-dimensional model management system 100 according to the second embodiment, the mobile object control unit 221 actually controls the autonomous mobile robot 5 based on the created map data for movement of the autonomous mobile robot 5.

[0068] 6 is a flowchart showing the processing executed by the simulation device 2 of the second embodiment. The flowchart according to the second embodiment is similar to the operations from steps S101 to S108 in the first embodiment, so only step S109 will be described.

[0069] In step S109, the communication unit 20 of the simulation device 2 distributes the movement map data stored in the storage unit 21 to the autonomous mobile robot 5 and instructs the autonomous mobile robot 5 to patrol in accordance with the movement map data. When the autonomous mobile robot 5 that has received the movement map data completes patrol based on the movement map data, the simulation device 2 ends the flow.

[0070] As described above, the three-dimensional model management system 100 according to the second embodiment can achieve substantially the same effects as the three-dimensional model management system 1 according to the first embodiment. Furthermore, the three-dimensional model management system 100 according to the second embodiment can improve the operational efficiency of the autonomous mobile robot 5.

[0071] This concludes the description of the embodiments of the present disclosure, but the present disclosure is not limited to the above embodiments.

[0072] In the above embodiments, the first sensor 30 is a LiDAR, but any sensor capable of acquiring point cloud data for generating a three-dimensional model may be used, such as a camera that captures images. In the case of a camera, the position information acquisition unit acquires the image capture position and angle from feature points in the image captured by the camera. The model generation unit 223 performs processing to combine the image captured by the camera with the position information acquired by the position information acquisition unit and generate point cloud data. The position information acquisition unit may be provided in the camera itself or a mobile object.

[0073] In each of the above embodiments, the synthesis processing unit 222 synthesizes the first point cloud data with building information to generate a three-dimensional model, but the three-dimensional model may also be generated by including the second point cloud data acquired by the second sensor 4.

[0074] The disclosures relating to the above-described embodiments are exemplified as follows. [1] A mobile object that can move around a construction site; a first sensor mounted on the moving body and capable of acquiring first point cloud data; a time determination unit that determines off-peak times at the construction site; A storage unit that stores building information of the construction site; a mobile object control unit that, when the time determination unit determines that the construction site is an off-peak time, causes the mobile object to patrol the construction site and acquire first point cloud data using the first sensor; a model generation unit that generates a three-dimensional model based on the first point cloud data and building information stored in the storage unit; A three-dimensional model management system comprising: [2] Further, a second sensor is installed at the construction site and capable of acquiring environmental information of the construction site where the second sensor is installed; The time determination unit determines an off-peak time at the construction site based on the environmental information acquired by the second sensor, [1] The three-dimensional model management system described in [1]. [3] A mobile object that can move around a construction site; a first sensor mounted on the moving body and capable of acquiring first point cloud data; A second sensor is installed at the construction site and is capable of acquiring environmental information of the construction site where the second sensor is installed; A time determination unit that determines an off-peak time at the construction site based on the environmental information acquired by the second sensor; a mobile object control unit that, when the time determination unit determines that the construction site is an off-peak time, causes the mobile object to patrol the construction site and acquire the first point cloud data using the first sensor; A three-dimensional model management system comprising: [4] Furthermore, a storage unit that stores building information of the construction site; a model generation unit that generates a three-dimensional model based on the first point cloud data and the building information in the storage unit; The three-dimensional model management system according to [3], comprising: [5] the second sensor is capable of acquiring at least one of second point cloud data, image data, and audio data as the environmental information; 4. The three-dimensional model management system according to claim 2 or 3. [6] The time determination unit is capable of determining the quiet time by analyzing the activity state at the construction site based on the environmental information acquired by the second sensor, [2] to [5]. A three-dimensional model management system according to any one of [2] to [5]. [7] The storage unit stores a construction schedule for the construction site, The time determination unit is capable of determining off-peak times at the construction site based on the construction schedule. [1], [2], [4] to [6]. [8] The second sensor is installed so as to be able to acquire environmental information of at least one of the surroundings of the elevator equipment used by people at the construction site, the rest area, and the surroundings of the service entrance. [2] to [7]. A three-dimensional model management system according to any one of [2] to [7]. [9] The second sensor is installed on each floor of the construction site, and is installed so as to be able to acquire environmental information around stairs on lower floors and around elevators on higher floors that are higher than the lower floors. [2] to [8]. A three-dimensional model management system according to any one of [2] to [8].

[10] The time determination unit identifies a person or an object from the environmental information acquired by the second sensor, and determines that it is an off-peak time when the traffic of the identified person or object per unit time is equal to or less than a predetermined value for a predetermined time. [2] to [9]. A three-dimensional model management system according to any one of [2] to [9].

[11] the mobile body control unit patrols the construction site with a safety confirmation mobile body different from the mobile body before causing the mobile body to patrol the construction site, and then causes the mobile body to patrol the construction site; [1] or [3] to

[10] . 3. The three-dimensional model management system according to claim 3.

[12] A three-dimensional model management device that manages three-dimensional models using a mobile object that can move around a construction site and a first sensor that is mounted on the mobile object and can acquire first point cloud data, a time determination unit that determines off-peak times at the construction site; A storage unit that stores building information of the construction site; a mobile object control unit that, when the time determination unit determines that the construction site is an off-peak time, causes the mobile object to patrol the construction site and acquire first point cloud data using the first sensor; a model generation unit that generates a three-dimensional model based on the first point cloud data and building information stored in the storage unit; A three-dimensional model management device comprising:

[13] A three-dimensional model management device that manages three-dimensional models using a mobile object that can move around a construction site, a first sensor that is mounted on the mobile object and can acquire first point cloud data, and a second sensor that is installed at the construction site and can acquire environmental information about the construction site where the second sensor is installed, A time determination unit that determines an off-peak time at the construction site based on the environmental information acquired by the second sensor; a mobile object control unit that, when the time determination unit determines that the construction site is an off-peak time, causes the mobile object to patrol the construction site and acquire the first point cloud data using the first sensor; A three-dimensional model management device comprising:

[14] A three-dimensional model management method for managing a three-dimensional model using a mobile object capable of moving within a construction site and a first sensor mounted on the mobile object and capable of acquiring first point cloud data, comprising: A time determination step of determining an off-peak time at the construction site; a mobile object control step of circulating the mobile object around the construction site and acquiring point cloud data by the first sensor when the time determination step determines that the construction site is an off-peak time; a model generation step of generating a three-dimensional model based on the first point cloud data and building information stored in advance in a storage unit; The three-dimensional model management method is carried out by a computer.

[15] A three-dimensional model management method for managing a three-dimensional model using a mobile object capable of moving around a construction site, a first sensor mounted on the mobile object and capable of acquiring first point cloud data, and a second sensor installed at the construction site and capable of acquiring environmental information of the construction site, comprising: A time determination step of determining an off-peak time at the construction site based on the environmental information acquired by the second sensor; a mobile object control step of circulating the mobile object around the construction site and acquiring the first point cloud data by the first sensor when the time determination step determines that the construction site is an off-peak time; The three-dimensional model management method is carried out by a computer.

[16] A three-dimensional model management program for generating a three-dimensional model using a mobile object capable of moving around a construction site and a first sensor mounted on the mobile object and capable of acquiring first point cloud data, A time determination step of determining an off-peak time at the construction site; a mobile object control step of circulating the mobile object around the construction site and acquiring point cloud data by the first sensor when the time determination step determines that the construction site is an off-peak time; a model generation step of generating a three-dimensional model based on the first point cloud data and building information stored in advance in a storage unit; A three-dimensional model management program for executing the above on a computer.

[17] A three-dimensional model management program for generating a three-dimensional model using a mobile object capable of moving around a construction site, a first sensor mounted on the mobile object and capable of acquiring first point cloud data, and a second sensor installed at the construction site and capable of acquiring environmental information about the construction site, A time determination step of determining an off-peak time at the construction site based on the environmental information acquired by the second sensor; a mobile object control step of circulating the mobile object around the construction site and acquiring the first point cloud data by the first sensor when the time determination step determines that the construction site is an off-peak time; A three-dimensional model management program for executing the above on a computer. [Explanation of symbols]

[0075] 1. 3D model management system 2 Simulation equipment 3. Mobile cartography 3a Running body 3b Aircraft 4 Second sensor 5. Autonomous mobile robots 5a Running body 5b Aircraft 20 Communications Department 21 Memory section 22 Management and Control Unit 30 First Sensor 40 Computer 41 CPU 42 Main storage 43 Auxiliary storage device 44 Interface 220 Time determination unit 221 Mobile Control Unit 222 Synthesis Processing Unit 223 Model Generation Unit 224 Mobile Map Creation Department NW Network

Claims

1. A mobile object that can move around a construction site; a first sensor mounted on the moving body and capable of acquiring first point cloud data; a time determination unit that determines off-peak times at the construction site; A storage unit that stores building information of the construction site; a mobile object control unit that, when the time determination unit determines that the construction site is an off-peak time, causes the mobile object to patrol the construction site and acquire first point cloud data using the first sensor; a model generation unit that generates a three-dimensional model based on the first point cloud data and building information stored in the storage unit; A three-dimensional model management system comprising:

2. Further, a second sensor is installed at the construction site and capable of acquiring environmental information of the construction site where the second sensor is installed; The time determination unit determines an off-peak time at the construction site based on the environmental information acquired by the second sensor. The three-dimensional model management system according to claim 1 .

3. A mobile object that can move around a construction site; a first sensor mounted on the moving body and capable of acquiring first point cloud data; A second sensor is installed at the construction site and is capable of acquiring environmental information of the construction site where the second sensor is installed; a time determination unit that determines an off-peak time at the construction site based on the environmental information acquired by the second sensor; a mobile object control unit that, when the time determination unit determines that the construction site is an off-peak time, causes the mobile object to patrol the construction site and acquire the first point cloud data using the first sensor; A three-dimensional model management system comprising:

4. Furthermore, a storage unit that stores building information of the construction site; a model generation unit that generates a three-dimensional model based on the first point cloud data and the building information in the storage unit; The three-dimensional model management system according to claim 3 , comprising:

5. the second sensor is capable of acquiring at least one of second point cloud data, image data, and audio data as the environmental information; 4. The three-dimensional model management system according to claim 2 or 3.

6. The time determination unit is capable of determining the quiet time by analyzing the activity state at the construction site based on the environmental information acquired by the second sensor, 4. The three-dimensional model management system according to claim 2 or 3.

7. The storage unit stores a construction schedule for the construction site, The time determination unit is capable of determining off-peak times at the construction site based on the construction schedule. The three-dimensional model management system according to claim 1 or 4.

8. The second sensor is installed so as to be able to acquire environmental information of at least one of a periphery of an elevator equipment used by people at the construction site, a rest area, and a periphery of a service entrance.

4. The three-dimensional model management system according to claim 2 or 3.

9. The second sensor is installed on each floor of the construction site, and is installed so as to be able to acquire environmental information around stairs on lower floors and around elevators on higher floors that are higher than the lower floors.

4. The three-dimensional model management system according to claim 2 or 3.

10. the time determination unit identifies a person or an object from the environmental information acquired by the second sensor, and determines that it is an off-peak time when a state in which the number of people or objects passing through the area per unit time is equal to or less than a predetermined value continues for a predetermined time.

4. The three-dimensional model management system according to claim 2 or 3.

11. the mobile body control unit patrols the construction site with a safety confirmation mobile body different from the mobile body before causing the mobile body to patrol the construction site, and then causes the mobile body to patrol the construction site; The three-dimensional model management system according to claim 1 or 3.

12. A three-dimensional model management device that manages a three-dimensional model using a mobile object that can move around a construction site and a first sensor that is mounted on the mobile object and can acquire first point cloud data, a time determination unit that determines off-peak times at the construction site; A storage unit that stores building information of the construction site; a mobile object control unit that, when the time determination unit determines that the construction site is an off-peak time, causes the mobile object to patrol the construction site and acquire first point cloud data using the first sensor; a model generation unit that generates a three-dimensional model based on the first point cloud data and building information stored in the storage unit; A three-dimensional model management device comprising:

13. A three-dimensional model management device that manages three-dimensional models using a mobile body that can move around a construction site, a first sensor that is mounted on the mobile body and can acquire first point cloud data, and a second sensor that is installed at the construction site and can acquire environmental information about the construction site, a time determination unit that determines an off-peak time at the construction site based on the environmental information acquired by the second sensor; a mobile object control unit that, when the time determination unit determines that the construction site is an off-peak time, causes the mobile object to patrol the construction site and acquire the first point cloud data using the first sensor; A three-dimensional model management device comprising:

14. A three-dimensional model management method for managing a three-dimensional model using a mobile object capable of moving within a construction site and a first sensor mounted on the mobile object and capable of acquiring first point cloud data, comprising: A time determination step of determining an off-peak time at the construction site; a mobile object control step of circulating the mobile object around the construction site and acquiring point cloud data by the first sensor when the time determination step determines that the construction site is an off-peak time; a model generation step of generating a three-dimensional model based on the first point cloud data and building information stored in advance in a storage unit; The three-dimensional model management method is carried out by a computer.

15. A three-dimensional model management method for managing a three-dimensional model using a mobile object capable of moving within a construction site, a first sensor mounted on the mobile object and capable of acquiring first point cloud data, and a second sensor installed at the construction site and capable of acquiring environmental information of the construction site, A time determination step of determining an off-peak time at the construction site based on the environmental information acquired by the second sensor; a mobile object control step of circulating the mobile object around the construction site and acquiring the first point cloud data by the first sensor when the time determination step determines that the construction site is an off-peak time; The three-dimensional model management method is carried out by a computer.

16. A three-dimensional model management program for generating a three-dimensional model using a mobile object capable of moving around a construction site and a first sensor mounted on the mobile object and capable of acquiring first point cloud data, A time determination step of determining an off-peak time at the construction site; a mobile object control step of circulating the mobile object around the construction site and acquiring point cloud data by the first sensor when the time determination step determines that the construction site is an off-peak time; a model generation step of generating a three-dimensional model based on the first point cloud data and building information stored in advance in a storage unit; A three-dimensional model management program for executing the above on a computer.

17. A three-dimensional model management program for generating a three-dimensional model using a mobile object capable of moving around a construction site, a first sensor mounted on the mobile object and capable of acquiring first point cloud data, and a second sensor installed at the construction site and capable of acquiring environmental information of the construction site, A time determination step of determining an off-peak time at the construction site based on the environmental information acquired by the second sensor; a mobile object control step of circulating the mobile object around the construction site and acquiring the first point cloud data by the first sensor when the time determination step determines that the construction site is an off-peak time; A three-dimensional model management program for executing the above on a computer.

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