Method and program for generating a moving path for a moving object, management server, and management system

Abstract

The present invention is directed to a method for generating a route for a moving object, in which a user can easily recognize the environment inside a structure. A method for generating a moving path that makes it easy to see the structure and allows the moving path of an autonomous moving body to be set even inside the structure. To provide legal and administrative servers, etc. The present invention provides a travel path generating method for generating a travel path within a structure for a moving body to travel. A generation method, which includes a three-dimensional reference data generation unit generating a three-dimensional reference data representing the arrangement of components within the structure. 3D model data and 3D sensors showing the results of sensing the inside of the structure by sensors generating three-dimensional reference data within the structure based on the sensing data; A path generation unit generates a movement path for the moving body based on the three-dimensional reference data. and

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] The present invention has been made in view of the above background, and is a method for generating a movement path of a moving object. In the industrial sector, it is easy for users to see the environment inside the structure, and it is also possible for autonomous mobile vehicles to move inside the structure. The object is to provide a travel route generation method and a management server that can set a travel route. [Means for solving the problem]

[0007] 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 arrangement of components within the structure and the data obtained by sensing the inside of the structure using sensors Based on the three-dimensional sensing data showing the results of the sensing, three-dimensional reference data within the structure is obtained. a movement path generating unit generating the movement path based on the three-dimensional reference data; and generating a movement path for the moving object. [Effects of the Invention]

[0008] According to the present invention, in particular, in the task of generating a moving path for a moving object, the user can A route that allows easy visibility of the environment and allows autonomous vehicles to set their own route even within the structure. A generation method, a management server, etc. can be provided. [Brief explanation of the drawings]

[0009] [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

[0010] 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 travel path generation method for generating a travel path within a structure for a moving body to travel, comprising: The three-dimensional reference data generation unit generates three-dimensional model data that visualizes the structure in three dimensions. And based on three-dimensional sensing data showing the results of sensing the inside of the structure by a sensor generating three-dimensional reference data within the structure based on the obtained data; A movement path generation unit generates a movement path for the moving body based on the three-dimensional reference data. generating a Including, A travel route generation method comprising: [Item 2] The step of generating the three-dimensional reference data includes: and merging the resulting image data with the corresponding sizing data. 2. The travel route generation method according to item 1, [Item 3] the three-dimensional model data and the three-dimensional sensing data are in different coordinate systems; The three-dimensional sensing data is a coordinate system of various sensors of a moving body. 3. The travel route generation method according to item 1 or 2. [Item 4] The three-dimensional model data is three-dimensional data based on BIM data of the structure, 4. The travel route generation method according to any one of items 1 to 3. [Item 5] The three-dimensional sensing data is three-dimensional data acquired by LiDAR, 5. The travel route generation method according to any one of items 1 to 4. [Item 6] The three-dimensional sensing data is acquired by a vision sensor or an image sensor. This is three-dimensional data. 5. The travel route generation method according to any one of items 1 to 4. [Item 7] 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: The three-dimensional reference data generation unit generates three-dimensional model data that visualizes the structure in three dimensions. And based on three-dimensional sensing data showing the results of sensing the inside of the structure by a sensor generating three-dimensional reference data within the structure based on the obtained data; A movement path generation unit generates a movement path for the moving body based on the three-dimensional reference data. generating a Including, A program characterized by: [Item 8] A management server that generates a travel route within a structure for a moving body to travel, The three-dimensional model data that visualizes the structure in three dimensions and the inside of the structure by sensors Based on the three-dimensional sensing data showing the sensing results, a three-dimensional reference a three-dimensional reference data generation unit for generating data; generating a travel path for the moving object based on the three-dimensional reference data; Department and Equipped with A management server comprising: [Item 9] A management system for generating a travel route within a structure for a moving body to travel, The three-dimensional model data that visualizes the structure in three dimensions and the inside of the structure by sensors Based on the three-dimensional sensing data showing the sensing results, a three-dimensional reference a three-dimensional reference data generation unit for generating data; generating a travel path for the moving object based on the three-dimensional reference data; Department and Equipped with A management system characterized by:

[0011] <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 also applicable to other embodiments.

[0012] <Configuration> As shown in FIG. 1, the management system according to this embodiment includes a management server 1 and one or more The 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.

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

[0014] 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.

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

[0016] The processor 10 controls the overall operation of the management server 1 and transmits and receives data between the various elements. 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.

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

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

[0019] The transmitting / receiving unit 13 connects the management server 1 to the network. Bluetooth (registered trademark) and BLE (Bluetooth Low Energy ) short-range communication interface.

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

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

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

[0023] <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).

[0024] 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.

[0025] 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 .

[0026] 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.

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

[0028] For example, the transceiver 47 may be connected to a local area network (LAN), a wide area network (WLAN), Network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network It is possible to use one or more of the following: Cut.

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

[0030] The sensors 42 according to this embodiment include inertial sensors (acceleration sensors, gyro sensors), GPS sensors, proximity sensors (e.g., LiDAR (Light Detection and Ranging) and Ranging), or vision / image sensors (e.g., cameras) It can be seen.

[0031] <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) The data is based on 3D model data showing the layout of the building (including facilities) and the data is based on the pre-sensing of the interior of the building. Based on the 3D sensing data that shows the results of the sensing, 3D reference data (e.g. For example, three-dimensional composite data of both is generated, and the movement of the moving object is calculated based on the three-dimensional reference data. It has various functional parts to generate a movement path.

[0032] 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.

[0033] 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. .

[0034] The three-dimensional reference data generating unit 120 generates three-dimensional model data indicating the arrangement of components within the structure. and three-dimensional sensing data showing the results of prior sensing inside the structure by sensors. Based on the data, 3D reference data for the structure is generated. The three-dimensional reference data and the three-dimensional data are data expressed in a three-dimensional coordinate system. The dimension data is stored and managed in the dimension data storage unit 161.

[0035] The three-dimensional model data is created using CAD (Computer-Aided Design) A diagram based on software-generated data showing the placement of components within a structure Any three-dimensional model data (preferably three-dimensional model data with dimensional information) For example, the data may be BIM (Building Information Modeling). Reconstructed from data such as CAD data, BIM data, etc. It may be 3D model data, or it may be a data with a predetermined height based on 2D design data. It may be three-dimensional model data obtained by generating a structure to be reconstructed, etc. The generation of the dimensional model data may be performed by the three-dimensional reference data generation unit 120 or the like. , may be executed outside the management server 1 and acquired internally.

[0036] Three-dimensional sensing data is obtained by starting sensing inside a structure using known sensors in advance. It is sufficient to use three-dimensional sensing data that shows the results of sensing with the position where the sensor was placed as the origin. For example, if the sensor uses laser light such as LiDAR, it can detect the components inside the structure. It can be 3D point cloud data, or if it is a vision sensor / image sensor such as a camera, It can be 3D image data of the components within the structure. The user manually controls the moving object 4 using a radio or the like to move it within the structure. Alternatively, instead of the mobile object 4, a user may carry a sensor and move around the structure. You may do so.

[0037] The three-dimensional reference data is, for example, the three-dimensional sensing data for the three-dimensional model data. The three-dimensional data may be obtained by synthesizing at least a part (including the whole) of the image data. For example, the positions of the two are aligned based on a user operation on the user terminal 2, and the determined position is The three-dimensional data of both may be synthesized as integrated three-dimensional data (three-dimensional reference data). Or, a technique for aligning known 3D data (for example, converting 3D model data into point clouds) and alignment using ICP (Iterative Closest Point). ) to automatically align the two, and then the three-dimensional data of both is integrated at that position. It may be synthesized as three-dimensional data (three-dimensional reference data). At this time, three-dimensional model data If the scale of the 3D sensing data is different from the scale of the image, the scale is adjusted during registration. In automatic alignment, the dimensional information of the 3D model data and the 3D sensing The scale may also be adjusted by comparing it with the actual measurement information of the tag data.

[0038] In this way, the 3D model data and the 3D By combining the sensing data, the three-dimensional coordinate system (and scale) of both is matched. In particular, the three-dimensional model data can be used as a three-dimensional sensor that indicates the relative position of the moving object 4. By matching the three-dimensional reference data with the actual data, for example, the three-dimensional reference data displayed on the user terminal 2 can be Even if a waypoint is set based on the coordinate system of the moving object 4, This allows for position specification for route generation, etc. At this time, the three-dimensional reference data is obtained from the three-dimensional sensing device. The coordinate system of the data (the coordinate system of the measurement data at the moving object 4) may be used as the reference, but the coordinate system of the three-dimensional model If the data contains dimensional information, the coordinate system of the three-dimensional model data is used as the reference. For example, a real-world scale is used to generate a path, such as flying 10 meters straight and turning right. This allows for the creation of

[0039] 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. Alternatively, the three-dimensional reference data may be analyzed to determine, for example, all the components within the structure. The travel route that can acquire the information is calculated, and the calculated travel route is stored as travel route information in the travel route information storage unit 1. 62 and may be stored and managed.

[0040] 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.

[0041] The movement execution unit 140 refers to the movement route information storage unit 162 and the movement information storage unit 163. The mobile object 4 is moved for the purpose of inspection, security, construction progress management, etc.

[0042] 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.

[0043] 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 the acquired information corresponding to the location associated with the location information of the acquired information 3D data marked with symbols or other marks that serve as links for viewing (e.g., 3D models) The link may be output to the user terminal so that the user can view the data (such as the 3D reference data). By selecting it on the terminal 2, the corresponding acquired information may be displayed. When using three-dimensional data related to BIM data as dimensional data, It is possible to have information for each component that makes up the three-dimensional data by associating them, so This makes it possible to link (for example, create links) at this position.

[0044] <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.

[0045] 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. .

[0046] 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 sensing data are read in by the machine, and 3D reference data is generated. may be generated and displayed.

[0047] 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. SLAM data was synthesized (superimposed) into the 3D model data generated from IM data. One or more waypoints are set by the user's selection operation for the three-dimensional data, and the Based on the waypoints, a known method (in the example, a straight line between each of the eight waypoints) The travel route information is generated by connecting the

[0048] 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 performs the movement based on the sensor information received by the moving object 4. Based on the above, the current position information is calculated using the three-dimensional reference data, and the three-dimensional reference data on the user terminal 2 is The current position information may be superimposed on the data. The current location may be dynamically displayed on the travel route.

[0049] 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.

[0050] In this way, the present invention allows a user to move within a structure in the task of generating a moving path for a moving object. A route that allows easy visibility of the environment and allows autonomous vehicles to set their own route even within the structure. We can provide the generation method and management server. Instead of a configuration involving the autonomous execution of the movement of the moving body 4, it is simply configured to generate an optimal movement path. Based on this, another user can manually move the moving object 4 within the structure using a radio or the like. It is possible to display a model route of movement on the user terminal 2 of other users when become.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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]

[0055] 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: The three-dimensional reference data generation unit generates three-dimensional model data that visualizes the structure in three dimensions. And based on three-dimensional sensing data showing the results of sensing the inside of the structure by a sensor generating three-dimensional reference data within the structure based on the obtained data; A movement path generation unit generates a movement path for the moving body based on the three-dimensional reference data. generating a Including, A travel route generation method comprising:

2. The step of generating the three-dimensional reference data includes: and merging the resulting image data with the corresponding sizing data. The travel route generation method according to claim 1 .

3. the three-dimensional model data and the three-dimensional sensing data are in different coordinate systems; The three-dimensional sensing data is a coordinate system of various sensors of a moving body.

3. The travel route generation method according to claim 1 or 2.

4. The three-dimensional model data is three-dimensional data based on BIM data of the structure, 4. The travel route generation method according to claim 1, wherein:

5. The three-dimensional sensing data is three-dimensional data acquired by LiDAR, 5. The travel route generation method according to claim 1, wherein:

6. The three-dimensional sensing data is acquired by a vision sensor or an image sensor. This is three-dimensional data.

5. The travel route generation method according to claim 1, wherein:

7. 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: The three-dimensional reference data generation unit generates three-dimensional model data that visualizes the structure in three dimensions. And based on three-dimensional sensing data showing the results of sensing the inside of the structure by a sensor generating three-dimensional reference data within the structure based on the obtained data; A movement path generation unit generates a movement path for the moving body based on the three-dimensional reference data. generating a Including, A program characterized by:

8. A management server that generates a travel route within a structure for a moving body to travel, The three-dimensional model data that visualizes the structure in three dimensions and the inside of the structure by sensors Based on the three-dimensional sensing data showing the sensing results, a three-dimensional reference a three-dimensional reference data generation unit for generating data; generating a travel path for the moving object based on the three-dimensional reference data; Department and Equipped with A management server comprising:

9. A management system for generating a travel route within a structure for a moving body to travel, The three-dimensional model data that visualizes the structure in three dimensions and the inside of the structure by sensors Based on the three-dimensional sensing data showing the sensing results, a three-dimensional reference a three-dimensional reference data generation unit for generating data; generating a travel path for the moving object based on the three-dimensional reference data; Department and Equipped with A management system characterized by:

Images