MOBILE BODY MANAGEMENT DEVICE, MOBILE BODY MANAGEMENT METHOD, AND MOBILE BODY MANAGEMENT PROGRAM

Abstract

To provide a patrol route for enabling a movement corresponding to significance of an inspection point.SOLUTION: A first setting section 20C sets first way points being a necessary route point of a mobile body 40 in a virtual space where a virtual model is located. A second setting section 20D sets one or more second way points in the periphery of the first way point. A local patrol route generation section 20E generates a local patrol route which passes the first way point and the second way points in the periphery of the first way point for each one of the first way points. A global patrol route generation section 20F sets one or more third way points at positions away from a front surface of the virtual model by a predetermined distance, so as to generate a global patrol route passing the third way points. A patrol route generation section 20G generates a patrol route obtained by inserting the local patrol route to the global patrol route.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The embodiments of the present invention relate to a mobile object management device, a mobile object management method, and Mobility Management Program To Regarding. [Background technology]

[0002] 2. Description of the Related Art Systems that generate routes for moving objects to travel around are known. For example, a system that sets a plurality of waypoints and generates a route that passes through the plurality of waypoints in order.

[0003] However, in the conventional technology, waypoints are uniformly set in the space to be patrolled according to the object, and a tour route is generated that simply patrols the multiple waypoints. Therefore, the conventional technology does not provide a tour route that allows movement according to the importance of the inspection points. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6876354 Summary of the Invention [Problem to be solved by the invention]

[0005] The problem to be solved by the present invention is to provide a mobile object management device, a mobile object management method, and and Mobility Management Program M The aim is to provide. [Means for solving the problem]

[0006] A mobile object management device according to an embodiment includes a virtual model acquisition unit, a first setting unit, a local tour route generation unit, a global tour route generation unit, and a tour route generation unit. The virtual model acquisition unit acquires a virtual model of a facility to be toured by the mobile object. The first setting unit sets a first waypoint, which is a required via point of the mobile object, in a virtual space in which the virtual model is arranged. The second setting unit executes at least one of setting one or more second waypoints around the first waypoint and setting surrounding stay time information representing a stay time around the first waypoint to the first waypoint. The local tour route generation unit generates a local tour route for each of the first waypoints, which passes through the first waypoint and the second waypoints around the first waypoint and at least one of providing the surrounding stay time information to the first waypoint. The global tour route generation unit sets one or more third waypoints at a position away from a surface of the virtual model by a predetermined distance, and generates a global tour route passing through the third waypoint. The tour route generating unit generates a tour route by inserting the local tour route into the global tour route. The second setting unit sets the second waypoint within a predetermined distance range from the first waypoint in the virtual space and at least one of one or more concentric arcs centered on the first waypoint, and the local tour route generation unit generates the local tour route for each of the first waypoints, which sequentially passes through the first waypoint and each of the second waypoints surrounding the first waypoint one or more times. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a schematic diagram of a mobile object management system according to an embodiment. [Figure 2A] FIG. [Figure 2B] An explanatory diagram of the first waypoint. [Figure 2C] An explanatory diagram of the second waypoint. [Figure 2D] Schematic diagram of the data structure of a local tour route. [Figure 3A] An explanatory diagram of the overall patrol route. [Figure 3B] Schematic diagram of the data structure of a global tour route. [Figure 4A] An explanatory diagram of the tour route. [Figure 4B] Schematic diagram of the data structure of a tour route. [Diagram 5]FIG. 1 is an explanatory diagram of a global tour route and the generation of a tour route. [Figure 6] FIG. 1 is an explanatory diagram of a global tour route and the generation of a tour route. [Figure 7] 1 is a flowchart of the flow of information processing. [Figure 8] 13 is a flowchart showing the flow of a process for generating a travel route. [Figure 9A] An explanatory diagram of the tour route. [Figure 9B] An explanatory diagram of the tour route. [Figure 10] Hardware configuration diagram. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] A mobile object management device, a mobile object management method, a mobile object management program, and a mobile object management system will be described in detail below with reference to the accompanying drawings.

[0009] (First embodiment) FIG. 1 is a schematic diagram of an example of a mobile object management system 1 according to the present embodiment.

[0010] The mobile object management system 1 includes a mobile object management device 10, an operation terminal 30, and a mobile object 40. The mobile object management device 10, the operation terminal 30, and the mobile object 40 are connected to each other so as to be able to communicate with each other via a network N or the like. Note that the mobile object management device 10, the operation terminal 30, and the mobile object 40 may be configured so as to be able to communicate with each other directly without going through the network N.

[0011] The mobile object management device 10 is an information processing device that calculates a travel route for the mobile object 40 .

[0012] The mobile body 40 is a movable object that moves along a patrol route generated by the mobile body management device 10. The mobile body 40 is, for example, a flying object, a ship, a vehicle, a robot, etc. The flying object is, for example, a drone, an airplane, etc. The vehicle is, for example, a four-wheeled motor vehicle, a motorcycle, etc. The mobile body 40 may have a configuration in which the position of the main body is fixed and some mechanisms provided on the main body are movable. For example, the mobile body 40 may be a robot arm. The mobile body 40 may be either a mobile body that moves via a driving operation by a person, or a mobile body that can move autonomously without a driving operation by a person. The autonomously moving airplane includes, for example, a drone and an unmanned aerial vehicle (UAV).

[0013] In this embodiment, a configuration in which the moving body 40 is a drone will be described as an example.

[0014] In addition, in this embodiment, a form in which various sensors are provided on the moving body 40 will be described as an example. The sensor may be a known sensor capable of observing at least one of the outside and inside of the moving body 40. Specifically, the sensor may be, but is not limited to, a photographing device that acquires image data by photographing, a temperature sensor, a humidity sensor, a position sensor, an odor sensor, a microphone, and the like. In this embodiment, a form in which at least a photographing device is mounted on the moving body 40 will be described as an example. The photographing device may be a photographing device that can photograph at least one of a moving image and a still image.

[0015] The operation terminal 30 is an information processing device operated by a user. The operation terminal 30 is, for example, a mobile terminal, a smartphone, a tablet terminal, etc., but is not limited to these.

[0016] The operation terminal 30 has a control unit 30A and a UI (user interface) unit 30B. The control unit 30A executes information processing in the operation terminal 30. The UI unit 30B has a display function for displaying various information and an input function for receiving operation instructions from a user. The display function is realized, for example, by a display or the like. The input function is realized, for example, by a pointing device such as a mouse and a touch pad, a keyboard, or the like. The UI unit 30B may be a touch panel that integrally configures the display function and the input function.

[0017] The mobile object management device 10 is an information processing device that creates a travel route for the mobile object 40 .

[0018] The mobile object management device 10 includes a storage unit 12, a UI unit 14, a communication unit 16, and a control unit 20. The storage unit 12, the UI unit 14, the communication unit 16, and the control unit 20 are communicatively connected via a bus 18 or the like.

[0019] The storage unit 12 and the UI unit 14 may be configured to be communicably connected to the control unit 20 via a wired or wireless connection. At least one of the storage unit 12 and the UI unit 14 may be connected to the control unit 20 via a network N.

[0020] In addition, at least one of the functional units included in the memory unit 12, the UI unit 14, and the control unit 20 may be configured to be mounted on an external information processing device that is communicatively connected to the mobile management device 10 via a network N or the like.

[0021] The storage unit 12 stores various types of data. In this embodiment, the storage unit 12 stores in advance mobile object characteristic information 12A.

[0022] The moving object characteristic information 12A is information that represents the characteristics of the moving object 40. The moving object characteristic information 12A is information that includes at least one of the maximum distance that the moving object 40 can move, the movement accuracy of the moving object 40, whether the moving object 40 has an obstacle avoidance capability, and the size of the moving object 40.

[0023] The UI unit 14 has a display function for displaying various information and an input function for receiving operation instructions from a user. The display function and the input function are the same as those described above.

[0024] The communication unit 16 is a communication interface for communicating with the operation terminal 30, the mobile object 40, and an information processing device external to the mobile object management device 10.

[0025] For example, the communication unit 16 communicates with the operation terminal 30 via a wired network such as Ethernet (registered trademark) or a wireless network such as Wi-Fi (Wireless Fidelity). The communication unit 16 also communicates with the mobile object 40 via a wireless network such as Wi-Fi or Bluetooth (registered trademark).

[0026] The control unit 20 executes information processing in the mobile object management device 10. The control unit 20 includes a virtual model acquisition unit 20A, a reception unit 20B, a first setting unit 20C, a second setting unit 20D, a local tour route generation unit 20E, a global tour route generation unit 20F, a tour route generation unit 20G, and an output control unit 20H.

[0027] The virtual model acquisition unit 20A, the reception unit 20B, the first setting unit 20C, the second setting unit 20D, the local tour route generation unit 20E, the global tour route generation unit 20F, the tour route generation unit 20G, and the output control unit 20H are realized, for example, by one or more processors. For example, each of the above units may be realized by having a processor such as a CPU (Central Processing Unit) execute a program, that is, by software. Each of the above units may be realized by a processor such as a dedicated IC, that is, by hardware. Each of the above units may be realized by using both software and hardware. When multiple processors are used, each processor may realize one of the units, or may realize two or more of the units.

[0028] The virtual model acquisition unit 20A acquires a virtual model of the facilities that the mobile object 40 is to visit.

[0029] 2A is a diagram illustrating an example of a virtual model 50 A. The virtual model 50 A is an example of the virtual model 50.

[0030] The virtual model 50 is a model of the facilities to be visited.

[0031] The patrol target facility is a facility that is to be patrolled by the mobile unit 40. The patrol target facility is, for example, a facility that is to be inspected by the patrol of the mobile unit 40. The shape and size of the patrol target facility are not limited. The patrol target facility is, for example, a cylindrical, spherical, polygonal, or other shaped facility. FIG. 2A shows an example of a case where the patrol target facility is a cylindrical facility, specifically a tunnel. That is, FIG. 2A shows an example of a virtual model 50A of a tunnel that is a patrol target facility.

[0032] The virtual model 50 represents three-dimensional information of the facility to be visited in real space. The virtual model 50 is represented, for example, by 3D (three dimensions)-CAD (Computer Aided Design), a 3D point cloud, etc. The 3D point cloud represents, for example, the three-dimensional position coordinates of each point in each area obtained by dividing the surface of the facility to be visited into a plurality of areas.

[0033] Continuing the explanation, returning to Fig. 1, the virtual model acquisition unit 20A acquires a virtual model 50 from the operation terminal 30, for example.

[0034] A user who operates the operation terminal 30, for example, selects a desired virtual model 50 from a plurality of virtual models 50 stored in the operation terminal 30, thereby selecting a virtual model 50 of a facility to be patrolled that exists in a target space to be patrolled by the mobile object 40. The control unit 30A of the operation terminal 30 transmits the virtual model 50 selected by the user's operation instruction of the UI unit 30B to the mobile object management device 10 as a virtual model 50 of the facility to be patrolled. The reception unit 20B of the mobile object management device 10 receives an operation input by the user. For example, the reception unit 20B receives an operation input by the user of the operation terminal 30. The virtual model acquisition unit 20A acquires the virtual model 50 from the operation terminal 30 via the reception unit 20B.

[0035] The control unit 30A of the operation terminal 30 may generate a virtual model 50 in response to an operation instruction from the UI unit 30B by a user, and transmit the virtual model 50 to the mobile object management device 10. The storage unit 12 of the mobile object management device 10 may store a plurality of virtual models 50 in advance. The virtual model acquisition unit 20A may acquire, from the plurality of virtual models 50 stored in the storage unit 12, a virtual model 50 selected by an operation instruction from the UI unit 30B or the UI unit 14 by a user, as the virtual model 50 of the facility to be toured.

[0036] The first setting unit 20C sets a first waypoint.

[0037] The description will be given with reference to FIG. 2A. The first waypoint P1 is a mandatory waypoint for the moving body 40. The first waypoint P1 is an example of a waypoint P that is a waypoint for the moving body 40. In detail, the first waypoint P1 is a mandatory waypoint P that the moving body 40 must pass through, and is a waypoint P that exists in an important place. The important place is at least one of a point or area in the real space SB where the moving body 40 stays for a predetermined time or more, and a point where the moving body 40 is located when performing a predetermined process on a facility to be visited. The predetermined process on the facility to be visited is, for example, a process related to the inspection of the facility to be visited. The predetermined process on the facility to be visited is, specifically, at least one of photographing, collecting sound, and observing the facility to be visited by a photographing device mounted on the moving body 40. The observation includes sensing of odor, temperature, humidity, sound, and the like.

[0038] The first setting unit 20C sets one or more first way points P1 in the virtual space S in which the virtual model 50 acquired by the virtual model acquisition unit 20A is arranged. The virtual space S is a three-dimensional space corresponding to the real space SB, and is a space that is a virtualized representation of the real space SB in which the facilities to be patrolled exist. The scale (reduced scale) of the virtual space S is assumed to be the same as that of the real space. FIG. 2A shows an example of a scene in which two way points P represented by way points B1 and B2 are set as the first way points P1. In detail, FIG. 2A shows an example of a scene in which two first way points P1 are set in a tunnel, which is an example of the facilities to be patrolled represented by the virtual model 50A.

[0039] Note that the first setting unit 20C only needs to set one or more first way points P1, and is not limited to a form in which a plurality of first way points P1 are set. In this embodiment, a form in which the first setting unit 20C sets a plurality of first way points P1 will be described as an example.

[0040] The first setting unit 20C sets a plurality of first way points P1 acquired from the operation terminal 30 in the virtual space S.

[0041] For example, the control unit 30A of the operation terminal 30 displays on the UI unit 30B a virtual model 50 selected as a facility to be patrolled by a user's operation instruction to the UI unit 30B. The user operates the UI unit 30B while visually checking the displayed virtual model 50 to set a first way point P1 at each of a plurality of important locations where the mobile object 40 is located when performing a process such as an inspection, at a desired position in the virtual space S including the virtual model 50. Then, the control unit 30A of the operation terminal 30 transmits the plurality of first way points P1 set by the user to the mobile object management device 10. The first setting unit 20C of the mobile object management device 10 receives the plurality of first way points P1 from the operation terminal 30 via the reception unit 20B, and sets them in the virtual space S.

[0042] In addition, the first setting unit 20C may set the first waypoint P1 at a position a predetermined distance away from the surface of the virtual model 50, based on the reference point on the surface of the virtual model 50 received by the receiving unit 20B.

[0043] 2B is an explanatory diagram of another example of setting the first waypoint P1. In FIG. 2B, a dome-shaped virtual model 50B is shown as an example. The virtual model 50B is an example of the virtual model 50.

[0044] For example, the control unit 30A of the operation terminal 30 displays on the UI unit 30B a virtual model 50B selected by a user's operation instruction to the UI unit 30B. The user operates the UI unit 30B while visually checking the displayed virtual model 50B to set a reference point P4 at a desired position on the surface of the virtual model 50B of the facility to be toured. The reference point P4 may be any position on the surface of the virtual model 50. FIG. 2B shows, as an example, a scene in which a plurality of reference points P4, each of points C1 to C3, are set.

[0045] In this case, the control unit 30A of the operation terminal 30 transmits a plurality of reference points P4 set by the user to the mobile object management device 10. The first setting unit 20C of the mobile object management device 10 receives the plurality of reference points P4 from the operation terminal 30 via the reception unit 20B.

[0046] The first setting unit 20C, which has received the multiple reference points P4, sets a first way point P1 at a position at a predetermined distance in a direction away from the surface of the virtual model 50B using the reference point P4 on the surface of the virtual model 50B as a reference. For example, the first setting unit 20C sets the first way point P1 at each of positions at a predetermined distance along a normal line to the surface of the virtual model 50B using each of the multiple reference points P4 as a reference. FIG. 2B shows, as an example, a scene in which three way points P represented by way points B1 to B3 are set as the first way points P1 at each of positions at a predetermined distance along the normal line from each of the reference points P4, which are points C1 to C3 on the surface of the virtual model 50B.

[0047] The predetermined distance between the reference point P4 and the first way point P1 may be any distance set by the user, or may be a distance according to the moving object characteristic information 12A. When the distance between the surface of the virtual model 50 and the first way point P1, which is the predetermined distance between the reference point P4 and the first way point P1, is set to a distance according to the moving object characteristic information 12A, the first setting unit 20C may set the first way point P1 to the following predetermined distance.

[0048] In detail, the first setting unit 20C reads information indicating the size of the moving body 40 and the movement accuracy of the moving body 40, which is included in the moving body characteristic information 12A. Then, the first setting unit 20C may use a value obtained by adding a certain margin to the sum of half the size of the moving body 40 and the movement accuracy as the predetermined distance between the surface of the virtual model 50 and the first way point P1. The first setting unit 20C sets the predetermined distance between the surface of the virtual model 50 and the first way point P1 to a value calculated by the above calculation according to the moving body characteristic information 12A, so that the first way point P1 can be set at a position that the moving body 40 can actually reach in the real space SB. That is, the first setting unit 20C can prevent the first way point P1 from being set at a position that the moving body 40 cannot reach due to restrictions imposed by the moving body characteristic information 12A, such as the size of the moving body 40. The first setting unit 20C can also set the first way point P1 at a position according to the moving body characteristic information 12A of the moving body 40.

[0049] The first setting unit 20C may set a reference point P4 at an arbitrary position on the surface of the virtual model 50 included in the virtual space S by using a known image recognition process, and set the first way point P1 at a position a predetermined distance from the reference point P4. Alternatively, the moving body 40 may be manually moved in the real space, and a position in the virtual space corresponding to a current position estimated by a known position estimation process may be set as the first way point P1.

[0050] Returning to Fig. 1, the description will continue. The second setting unit 20D sets one or more second way points around the first way point P1 in the virtual space S. In this embodiment, a case will be described as an example in which the second setting unit 20D sets a plurality of second way points for one first way point P1.

[0051] 2C is an explanatory diagram of an example of setting the second waypoint P2. The second waypoint P2 is a waypoint P related to the first waypoint P1, and is a waypoint P that serves as a secondary viewpoint for the facilities to be toured.

[0052] The second setting unit 20D sets a plurality of second way points P2 at positions within a predetermined distance range from the first way point P1. In detail, the second setting unit 20D sets the second way points P2 at least either within a predetermined distance range from the first way point P1 in the virtual space S or on one or more concentric arcs centered on the first way point P1.

[0053] The distance between the first way point P1 and the second way point P2 may be a predetermined distance, and may be changeable as appropriate in response to an operational instruction by a user.

[0054] In addition, it is preferable that the shortest distance between the second way point P2 set in the virtual space S and the surface of the virtual model 50 included in the virtual space S is equal to or greater than the above-mentioned predetermined distance between the surface of the virtual model 50 according to the moving body characteristic information 12A and the first way point P1. That is, it is preferable that the second setting unit 20D adjusts the shortest distance between the second way point P2 and the surface of the virtual model 50 to equal to or greater than a predetermined distance that is a value obtained by adding a certain amount of margin to the sum of half the size of the moving body 40 and the movement accuracy included in the moving body characteristic information 12A. In this case, the second setting unit 20D can prevent the second way point P2 from being set at a position that the moving body 40 cannot reach due to restrictions imposed by the moving body characteristic information 12A, such as the size of the moving body 40. In addition, the second setting unit 20D can set the second way point P2 at a position according to the moving body characteristic information 12A.

[0055] The second setting unit 20D sets one or more second way points P2 that satisfy these conditions for each of the multiple first way points P1 set by the first setting unit 20C.

[0056] 2C shows an example of a scene in which a second waypoint P2, which is a waypoint P represented by waypoint B1-1, waypoint B1-2, and waypoint B1-3, is set for a first waypoint P1 represented by waypoint B1. Also, FIG. 2C shows an example of a scene in which a second waypoint P2, which is a waypoint P represented by waypoint B2-1 and waypoint B2-2, is set for a first waypoint P1 represented by waypoint B2.

[0057] As shown in FIG. 2C, a second way point P2 is set for each of the first way points P1 set by the first setting unit 20C.

[0058] Continuing the explanation by returning to Fig. 1, the local tour route generation unit 20E generates, for each first way point P1, a local tour route that passes through the first way point P1 and a second way point P2 in the vicinity of the first way point P1.

[0059] 2C, the local tour route R1 is a route generated for each of the first way points P1 for locally touring the periphery of the first way points P1.

[0060] In this embodiment, the local circular route generation unit 20E generates, for each first way point P1, a local circular route R1 that sequentially passes through the first way point P1 and each of the second way points P2 surrounding the first way point P1 one or more times.

[0061] That is, the local circular route generation unit 20E generates a local circular route R1 for each of the multiple first way points P1, which passes through one first way point P1 and each of one or more second way points P2 set for the first way point P1 in order at least one time.

[0062] The tour order, which is the order of passing through the first waypoint P1 and the multiple second waypoints P2 defined by the local tour route R1, may be any order that follows a predetermined algorithm.

[0063] For example, the local tour route generation unit 20E generates a local tour route R1 that starts from a first way point P1 and passes through a plurality of second way points P2 set for the first way point P1 in order. Specifically, as shown in Fig. 2C, the local tour route generation unit 20E generates a local tour route R1 that starts from a first way point P1 represented by a way point B1 and passes through a plurality of second way points P2 represented by way points B1-1, B1-2, and B1-3 in order.

[0064] Also, for example, the local tour route generating unit 20E generates a local tour route R1 that starts from the first way point P1, passes through each of a plurality of second way points P2 set for the first way point P1, and returns to the first way point P1. Specifically, as shown in Fig. 2C, the local tour route generating unit 20E generates a local tour route R1 that starts from the first way point P1 represented by the way point B2, passes through the second way point P2 represented by the way point B2-1, the first way point P1 represented by the way point B2, the second way point P2 represented by the way point B2-2, and the first way point P1 represented by the way point B2, in this order.

[0065] FIG. 2D is a schematic diagram showing an example of the data configuration of the local tour route R1. For example, the local tour route R1 is represented by data in which a tour order, a command, and a parameter are associated with each other. The tour order indicates the order of passing through the waypoints P. The command indicates the work content or processing content that the moving body 40 performs at the waypoint P in the corresponding tour order. The parameter is the identification information of the waypoint P. When using the local tour route R1 shown in FIG. 2D, the moving body 40 stores in advance a table in which the identification information of the waypoint P, the three-dimensional position coordinates of the waypoint P, and the attitude of the moving body 40 are associated with each other. Note that, instead of the identification information of the waypoint P, the parameters included in the local tour route R1 may use information representing the three-dimensional position information of the waypoint P and the attitude of the moving body 40. In addition, the parameters may further include other information.

[0066] Returning to Fig. 1, the global tour route generating unit 20F generates a global tour route.

[0067] 3A is a diagram illustrating an example of the generation of a global tour route R2. The global tour route R2 is a route that globally tours the target facilities represented by the virtual model 50.

[0068] The global tour route generation unit 20F sets one or more third way points P3 at positions a predetermined distance away from the surface of the virtual model 50 arranged in the virtual space S, and generates a global tour route R2 that passes through the third way points P3. The global tour route generation unit 20F generates the global tour route R2 that passes through the third way point P3 one or more times.

[0069] For example, assume that a mobile unit 40 travels one way inside a cylindrical facility such as a tunnel from one end to the other end in the extension direction of the facility (see the direction of arrow X, hereinafter referred to as extension direction X).

[0070] The global tour route generation unit 20F sets one or more third way points P3 along a virtual line L that runs from one end side to the other end side of the extension direction X of the cylindrical tour target facility inside the virtual model 50A of the tour target facility.

[0071] It is preferable that the shortest distance between the virtual line L and the surface of the virtual model 50A is equal to or greater than the above-mentioned predetermined distance between the surface of the virtual model 50 according to the moving object characteristic information 12A and the first way point P1. That is, it is preferable that the global traveling route generating unit 20F adjusts the shortest distance between the third way point P3 and the surface of the virtual model 50 to equal to or greater than a predetermined distance that is a value obtained by adding a certain margin to the sum of half the size of the moving object 40 and the movement accuracy included in the moving object characteristic information 12A. In this case, the global traveling route generating unit 20F can prevent the third way point P3 from being set at a position that the moving object 40 cannot reach due to restrictions imposed by the moving object characteristic information 12A such as the size of the moving object 40. In addition, the global traveling route generating unit 20F can set the third way point P3 at a position according to the moving object characteristic information 12A of the moving object 40.

[0072] Assume that the moving object 40 travels one way around a cylindrical facility such as a tunnel. In this case, the global tour route generating unit 20F sets a virtual line L that passes through the center of a cut surface that intersects with the extension direction X of the inside of the virtual model 50A of the cylindrical facility to be toured along the extension direction X, and sets the third waypoint P3 at a predetermined interval along the extension direction X of the virtual line L. The global tour route generating unit 20F may use any value determined by the user as the predetermined interval. The global tour route generating unit 20F may also use a value obtained by adding a certain amount of margin to the movement accuracy of the moving object 40 included in the moving object characteristic information 12A as the predetermined interval.

[0073] FIG. 3A shows an example of a scene in which a third waypoint P3 represented by each of waypoints A1 to A5 is set along a virtual line L.

[0074] The global tour route generating unit 20F generates a global tour route R2 that starts from a starting point and reaches an end point via waypoints A1 to A5, for example, by solving a traveling salesman problem. Specifically, the global tour route generating unit 20F generates the global tour route R2 that passes through the third waypoint P3 represented by each of waypoints A1 to A5 set from one end side to the other end side of the extension direction X in order.

[0075] In other words, when the moving body 40 travels one way around a cylindrical facility such as a tunnel, the global tour route generation unit 20F generates a global tour route R2 by connecting the third waypoints P3 set at predetermined intervals along the extension direction X of the virtual model 50A along the virtual line L in order of proximity to the starting point.

[0076] 3B is a schematic diagram showing an example of the data structure of the global tour route R2. For example, the global tour route R2 is represented by data that associates a tour order, a command, and a parameter. The meanings of the tour order, the command, and the parameter are the same as those described above, so the explanation will be omitted.

[0077] Continuing the explanation by returning to Fig. 1, the tour route generation unit 20G generates a tour route R by inserting the local tour route R1 into the global tour route R2.

[0078] 4A is an explanatory diagram of an example of generating a tour route R. The tour route generation unit 20G acquires a local tour route R1 from a local tour route generation unit 20E. The tour route generation unit 20G also acquires a global tour route R2 from a global tour route generation unit 20F. The tour route generation unit 20G uses the local tour route R1 and the global tour route R2 to generate a tour route R by inserting the local tour route R1 into the global tour route R2.

[0079] For each local circular route R1 obtained from the local circular route generation unit 20E, the circular route generation unit 20G inserts the local circular route R1 between two third way points P3 included in the global circular route R2 that have the shortest distance from the first way point P1 included in the local circular route R1.

[0080] In detail, the traveling route generation unit 20G calculates the distance between the first way point P1 included in the local traveling route R1 and each of the multiple third way points P3 included in the global traveling route R2. Then, of the multiple third way points P3 included in the global traveling route R2, the local traveling route R1 is inserted between two third way points P3 that have the smallest sum of distances to the first way point P1.

[0081] Specifically, the traveling route generation unit 20G extracts the third way points P3 constituting the global traveling route R2 in order according to the traveling order represented in the global traveling route R2. Then, the traveling route generation unit 20G calculates the sum of the distance between the extracted third way point P3 and the first way point P1 and the distance between the next extracted third way point P3 and the first way point P1. The traveling route generation unit 20G repeats this calculation process every time a new third way point P3 is extracted. Then, the traveling route generation unit 20G inserts the local traveling route R1 including the first way point P1 between the two third way points P3 with the smallest calculated sum.

[0082] The tour route generating unit 20G repeats the above-mentioned insertion process for each of the multiple local tour routes R1 to generate a tour route R in which the local tour route R1 is inserted into the global tour route R2.

[0083] Fig. 4B is a schematic diagram showing an example of the data configuration of the tour route R. For example, the tour route R is represented by data in which a tour order, a command, and a parameter are associated with each other. The meanings of the tour order, the command, and the parameter are the same as those described above, and therefore will not be described here. As shown in Fig. 4B, the tour route R is obtained by inserting a local tour route R1 into a global tour route R2.

[0084] Furthermore, the circular route generating unit 20G may generate a circular route R by adding commands such as a takeoff command to the beginning of the circular route R and a landing command to the end of the circular route R (see FIG. 4B). Through these processes, the circular route generating unit 20G can generate a circular route R that is composed of a takeoff command, a movement command to one or more waypoints P (a first waypoint P1, a second waypoint P2, and a third waypoint P3), and a landing command.

[0085] Next, it is assumed that the mobile object 40 travels back and forth inside a cylindrical facility to be patrolled, such as a tunnel, between one end side and the other end side of the facility to be patrolled in the extension direction X.

[0086] In this case, the global tour route generating unit 20F and the tour route generating unit 20G may generate the global tour route R2 and the tour route R, for example, in the following manner.

[0087] Fig. 5 is an explanatory diagram of an example of generating a global tour route R2 and a tour route R. Fig. 5 shows an example of a case where a moving object 40 travels back and forth inside a cylindrical tour target facility such as a tunnel between one end side and the other end side of the tour target facility in the extension direction X.

[0088] As described above, the global tour route generation unit 20F sets one or more third way points P3 at a predetermined distance from the surface of the virtual model 50 placed in the virtual space S, and generates a global tour route R2 that passes through the third way points P3.

[0089] When the mobile object 40 travels back and forth inside a cylindrical facility to be visited, such as a tunnel, along the extension direction X, the global tour route generation unit 20F sets two virtual lines L that pass inside a virtual model 50A of the facility to be visited along the extension direction X. These two virtual lines L are virtual lines that run along the extension direction X inside the cylindrical virtual model 50A, and are two virtual lines L that are located at different positions in a crossing direction that intersects with the extension direction X.

[0090] The global traveling route generation unit 20F sets one of the two set virtual lines L as an outgoing route L1 and the other as a return route L2. The global traveling route generation unit 20F then sets one or more third way points P3 along the outgoing route L1 from one end side to the other end side in the extension direction X of the outgoing route L1, and along the return route L2 from the other end side to one end side in the extension direction X of the return route L2.

[0091] The global tour route generation unit 20F may set the third waypoint P3 at a predetermined interval along each of the outbound route L1 and the inbound route L2. This predetermined interval is the same as that for the one-way tour described above.

[0092] Figure 5 shows an example of a scene in which a third way point P3 represented by each of way points A1 to A9 is set along the outbound route L1, and a third way point P3 represented by each of way points A10 to A18 is set along the return route L2.

[0093] Then, the global tour route generating unit 20F generates a global tour route R2 that passes through the set third way point P3 one or more times in the same manner as in the one-way tour. For example, the global tour route generating unit 20F generates the global tour route R2 by connecting the multiple third way points P3 set on the outbound route L1 in order of proximity to the starting point, and further connecting the multiple third way points P3 set on the return route L2 in order from the turning point from the outbound route L1 to the return route L2.

[0094] Therefore, when the mobile body 40 travels back and forth around a cylindrical facility such as a tunnel, the global tour route generation unit 20F generates a global tour route R2 by connecting the third waypoints P3 set at predetermined intervals along the extension direction X of the virtual model 50A from the outbound route L1 to the return route L2 in order of proximity to the starting point.

[0095] Then, the tour route generating unit 20G generates a tour route R by inserting the local tour route R1 into the global tour route R2 that makes a round trip.

[0096] In this case, the traveling route generating unit 20G may generate a traveling route R by inserting the local traveling route R1 into at least one of the global traveling route R2 of the outbound route L1 and the global traveling route R2 of the return route L2. The traveling route generating unit 20G may insert the local traveling route R1 into at least one of the global traveling route R2 of the outbound route L1 and the global traveling route R2 of the return route L2 in the same manner as in the case of a one-way trip.

[0097] As described above, the shape of the tour target facility and the virtual model 50 of the tour target facility is not limited to a cylindrical shape such as a tunnel. As described with reference to FIG. 2B, the shape of the virtual model 50 may be a virtual model 50B such as a dome shape.

[0098] In the case of the dome-shaped virtual model 50B, the global tour route generating unit 20F and the tour route generating unit 20G may also generate the global tour route R2 and the tour route R in the same manner as described above.

[0099] Fig. 6 is an explanatory diagram of an example of generation of a global tour route R2 and a tour route R. Fig. 6 shows an example in which the virtual model 50 is a dome-shaped virtual model 50B.

[0100] As described above, the global tour route generating unit 20F sets one or more third way points P3 at positions a predetermined distance away from the surface of the virtual model 50B arranged in the virtual space S, and generates a global tour route R2 that passes through the third way points P3. For example, the global tour route generating unit 20F sets a plurality of third way points P3 so as to globally tour the virtual space S along the surface of the dome-shaped virtual model 50B. FIG. 6 shows, as an example, a case in which a plurality of way points A1 to A10 that tour in an S-shape along the dome-shaped surface of the virtual model 50B are set as the third way points P3.

[0101] The global tour route generation unit 20F then generates a global tour route R2 that passes through these third waypoints P3 in the same manner as described above. The tour route generation unit 20G then generates a tour route R by inserting the local tour route R1 into the global tour route R2 in the same manner as described above.

[0102] Returning to Figure 1, we will continue with the explanation.

[0103] The output control unit 20H outputs the traveling route R generated by the traveling route generation unit 20G. In particular, the output control unit 20H outputs the traveling route R to at least one of the UI unit 14, the UI unit 30B, and the moving object 40.

[0104] For example, the output control unit 20H displays the tour route R on the UI unit 14 or the UI unit 30B by outputting the tour route R to the UI unit 14 or the UI unit 30B. The output control unit 20H may display the local tour route R1 and the global tour route R2 included in the tour route R in different display forms. For example, the output control unit 20H displays the local tour route R1 and the global tour route R2 in different display forms by making at least one of the color and the line type different. The line type is specified by, for example, the type of line, such as a solid line or a dotted line, and the line thickness.

[0105] Furthermore, the output control unit 20H may display the first way point P1, the second way point P2, and the third way point P3 in different display forms. For example, the output control unit 20H displays the symbols representing the first way point P1, the second way point P2, and the third way point P3 in different display forms by making at least one of the colors and shapes different.

[0106] For example, the output control unit 20H displays the virtual model 50A in which the tour route R shown in Fig. 4A is arranged. Also, for example, the output control unit 20H displays the virtual model 50A or the virtual model 50B in which the tour route R shown in Fig. 5 or 6 is arranged.

[0107] By the output control unit 20H displaying the traveling route R, it is possible to provide the user with a visible traveling route R. Furthermore, by the output control unit 20H displaying the traveling route R before the moving object 40 starts moving along the traveling route R, it is possible to provide the user with a visualized traveling route R in advance.

[0108] Moreover, the output control unit 20H outputs the traveling route R to the moving object 40.

[0109] The mobile unit 40 that has received the circular route R takes off according to the circular route R, moves to the waypoints P in order according to the circular order specified by the circular route R, and lands.

[0110] The mobile object 40 may move according to the travel route R when it receives the travel route R from the mobile object management device 10 and also receives a start signal indicating the start of movement, such as an instruction to start inspection, from the operation terminal 30.

[0111] When the moving body 40 is equipped with a photographing device, which is an example of a sensor, the moving body 40 may continuously photograph while moving along the circular route R. The moving body 40 may perform photographing only during the period during which the moving body 40 moves along a local circular route R1 included in the circular route R. The moving body 40 may pause its movement and photograph still images at all waypoints P included in the circular route R, or at each of the first waypoint P1 and the second waypoint P2 constituting the local circular route R1. The moving body 40 may sense odors, temperature, and the like using a sensor provided on the moving body 40.

[0112] That is, at least one of the first waypoint P1, the second waypoint P2, and the third waypoint P3 included in the circular route R functions as a waypoint P at which the moving body 40 performs a predetermined process such as photographing or observing.

[0113] In addition, the moving object 40 may transmit the sensing results, such as images captured by a sensor, to the operation terminal 30.

[0114] When the mobile object 40 detects an abnormality while moving along the patrol route R, the mobile object 40 may transmit anomaly information indicating the abnormality detection to the mobile object management device 10 or the operation terminal 30. For example, when the mobile object 40 determines that the sensing result by the sensor indicates an abnormality or that the captured image contains an abnormality, the mobile object 40 transmits the anomaly information and anomaly position information indicating the position where the abnormality was detected to the mobile object management device 10 or the operation terminal 30.

[0115] The control unit 20 of the mobile object management device 10 that receives the anomaly information and the anomaly location information may execute, for example, the following process. For example, the local tour route generating unit 20E of the control unit 20 generates a new local tour route R1 with the received anomaly location information as the first way point P1 or the reference point P4. Then, the tour route generating unit 20G regenerates a tour route R by further inserting the newly generated local tour route R1 into the tour route R used for the movement of the mobile object 40 that transmitted the anomaly information. Then, the output control unit 20H may transmit the regenerated tour route R to the mobile object 40.

[0116] Next, an example of the flow of information processing executed by the mobile object management device 10 of this embodiment will be described.

[0117] FIG. 7 is a flowchart showing an example of the flow of information processing executed by the mobile object management device 10 of this embodiment.

[0118] The virtual model acquisition unit 20A acquires a virtual model 50 of the facilities to be visited by the mobile object 40 (step S100).

[0119] The first setting unit 20C sets one or more first way points P1 in the virtual space S in which the virtual model 50 acquired in step S100 is placed (step S102).

[0120] The second setting unit 20D sets one or more second way points P2 around the first way point P1 set in step S102 in the virtual space S (step S104).

[0121] The local tour route generating unit 20E generates, for each first way point P1 set in step S102, a local tour route R1 that passes through the first way point P1 and a second way point P2 in the periphery of the first way point P1 (step S106).

[0122] The global tour route generation unit 20F sets one or more third way points P3 at positions a predetermined distance away from the surface of the virtual model 50 arranged in the virtual space S (step S108). Then, the global tour route generation unit 20F generates a global tour route R2 that passes through the set third way points P3 (step S110).

[0123] Next, the tour route generating unit 20G generates a tour route R by inserting the local tour route R1 generated in step S106 into the global tour route R2 generated in step S110 (step S112).

[0124] The output control unit 20H outputs the circular route R generated in step S112 (step S114), and then ends this routine.

[0125] Next, an example of the flow of the process of generating the traveling route R by the traveling route generating unit 20G (see step S112 in FIG. 7) will be described.

[0126] FIG. 8 is a flowchart showing an example of the flow of processing for generating a traveling route R by the traveling route generating unit 20G.

[0127] The traveling route generating unit 20G acquires the global traveling route R2 from the global traveling route generating unit 20F (step S200).

[0128] The tour route generating unit 20G acquires one local tour route R1 that has not yet been subjected to the process of step S208 (to be described later) from among the multiple local tour routes R1 generated by the local tour route generating unit 20E (step S202).

[0129] The tour route generation unit 20G calculates the distance between the first way point P1 included in the local tour route R1 obtained in step S202 and each of the multiple third way points P3 included in the global tour route R2 obtained in step S200 (step S204).

[0130] Based on the distance calculation result in step S204, the traveling route generation unit 20G specifies, as an insertion point, between two third way points P3 that have the smallest sum of distances to the first way point P1 among the multiple third way points P3 included in the global traveling route R2 (step S206). In detail, the traveling route generation unit 20G extracts the third way points P3 that constitute the global traveling route R2 in order according to the traveling order represented in the global traveling route R2. Then, the traveling route generation unit 20G calculates the sum of the distance between the extracted third way point P3 and the first way point P1 and the distance between the next extracted third way point P3 and the first way point P1. The traveling route generation unit 20G repeats this calculation process every time a new third way point P3 is extracted. Then, the traveling route generation unit 20G specifies, as an insertion point, the space between the two third way points P3 that have the smallest calculated sum.

[0131] The tour route generating unit 20G inserts the local tour route R1 acquired in step S202 into the insertion point identified in step S206 in the global tour route R2 (step S208).

[0132] Next, the tour route generating unit 20G judges whether or not all of the local tour routes R1 generated by the local tour route generating unit 20E have been inserted into the global tour route R2 (step S210). If the judgment in step S210 is negative (step S210: No), the process returns to step S202. If the judgment in step S210 is positive (step S210: Yes), the process ends this routine.

[0133] As described above, the mobile object management device 10 of this embodiment includes a virtual model acquisition unit 20A, a first setting unit 20C, a second setting unit 20D, a local tour route generation unit 20E, a global tour route generation unit 20F, and a tour route generation unit 20G. The virtual model acquisition unit 20A acquires a virtual model 50 of a facility to be toured by the mobile object 40. The first setting unit 20C sets a first way point P1, which is a required via point of the mobile object 40, in the virtual space S in which the virtual model 50 is arranged. The second setting unit 20D sets one or more second way points P2 around the first way point P1. The local tour route generation unit 20E generates a local tour route R1 that passes through the first way point P1 and the second way point P2 around the first way point P1 for each first way point P1. The global tour route generation unit 20F sets one or more third way points P3 at positions a predetermined distance away from the surface of the virtual model 50, and generates a global tour route R2 that passes through the third way points P3. The tour route generation unit 20G generates a tour route R by inserting the local tour route R1 into the global tour route R2.

[0134] Here, in the conventional technology, waypoints were set uniformly in the space to be patrolled according to the objects, and a patrol route was generated that simply patrols the multiple waypoints. For this reason, in the conventional technology, even if the space to be patrolled includes important locations such as inspection targets, the moving body simply patrols and moves along the waypoints along the patrol route, making it difficult to move according to the important locations. For example, assume a scene in which a facility to be inspected is photographed with a camera mounted on a drone, which is an example of a moving body 40. In this case, in the conventional technology, the drone simply patrols multiple waypoints that are uniformly arranged, so there are cases in which important locations such as important equipment such as meters and locations where abnormalities such as cracks have occurred cannot be photographed correctly due to camera shake mounted on the drone. In other words, the conventional technology does not provide a patrol route that allows movement according to the importance of the inspection location.

[0135] On the other hand, the mobile management device 10 of this embodiment generates a tour route R by inserting a local tour route R1, which focuses on the area around the first waypoint P1, which is a required via point, i.e., a waypoint P located in an important location, into a global tour route R2.

[0136] Therefore, the mobile object management device 10 of this embodiment can generate a tour route R that focuses on visiting important locations.

[0137] Therefore, the mobile object management device 10 of this embodiment can provide a tour route R along which movement can be made according to the importance of the inspection locations.

[0138] In addition, the tour route generation unit 20G of the mobile management device 10 of this embodiment inserts the local tour route R1 between the two third way points P3 included in the global tour route R2 that have the shortest distance from the first way point P1 included in the local tour route R1.

[0139] Therefore, in addition to the above-mentioned effects, the mobile object management device 10 of this embodiment can generate a traveling route R that allows the mobile object 40 to travel around an important location with a focus on the important location when the mobile object 40 approaches the important location during the travel. In other words, the mobile object management device 10 of this embodiment can provide a traveling route R that allows efficient travel.

[0140] Second embodiment In the above embodiment, an example has been described in which the second setting unit 20D sets one or more second way points in the vicinity of the first way point P1 in the virtual space S, and the local tour route generation unit 20E generates a local tour route R1 that passes through the first way point P1 and the second way point P2 in the vicinity of the first way point P1.

[0141] However, the local patrol route R1 may be any route that focuses on patrolling the first waypoint P1 and the area surrounding the first waypoint P1, and is not limited to a route that patrols the first waypoint P1 and the second waypoint P2 surrounding the first waypoint P1.

[0142] In this embodiment, a local tour route R1 is generated by setting surrounding stay time information at a first waypoint P1. Note that in this embodiment, the same components and functions as those in the above embodiment are given the same reference numerals and detailed descriptions thereof are omitted.

[0143] FIG. 1 is a schematic diagram of an example of a mobile object management system 1B according to this embodiment.

[0144] The mobile object management system 1B includes a mobile object management device 10B, an operation terminal 30, and a mobile object 40. The mobile object management device 10B, the operation terminal 30, and the mobile object 40 are communicatively connected. The mobile object management system 1B is similar to the mobile object management system 1 of the above embodiment, except that the mobile object management system 1B includes a mobile object management device 10B instead of the mobile object management device 10.

[0145] The mobile object management device 10B includes a storage unit 12, a UI unit 14, a communication unit 16, and a control unit 21. The storage unit 12, the UI unit 14, the communication unit 16, and the control unit 21 are communicatively connected via a bus 18 or the like. The mobile object management device 10B is similar to the mobile object management device 10 of the above embodiment, except that the mobile object management device 10B includes a control unit 20 instead of the control unit 20.

[0146] The control unit 21 executes information processing in the mobile management device 10B. The control unit 21 includes a virtual model acquisition unit 20A, a reception unit 20B, a first setting unit 20C, a second setting unit 21D, a local tour route generation unit 21E, a global tour route generation unit 20F, a tour route generation unit 20G, and an output control unit 20H. The virtual model acquisition unit 20A, the reception unit 20B, the first setting unit 20C, the global tour route generation unit 20F, the tour route generation unit 20G, and the output control unit 20H are the same as those in the above embodiment.

[0147] That is, the control unit 21 has the same configuration as the control unit 20 of the above embodiment, except that it has a second setting unit 21D instead of the second setting unit 20D, and a local tour route generation unit 21E instead of the local tour route generation unit 20E.

[0148] The second setting unit 21D sets surrounding stay time information indicating the surrounding stay time of the first way point P1 to each of the one or more first way points P1 set by the first setting unit 20C.

[0149] The surrounding stay time information is information that indicates the stay time that the moving object 40 stays in the area including the first way point P1 and the area surrounding the first way point P1.

[0150] The surrounding staying time information may be information that indicates a predetermined time. The surrounding staying time information may be appropriately changed by a user's operation instruction on the UI unit 30B or the UI unit 14, etc.

[0151] The second setting unit 21D sets surrounding stay time information for each of the first way points P1 set by the first setting unit 20C.

[0152] The local tour route generating unit 21E generates the local tour route R1 by assigning the surrounding stay time information set by the second setting unit 21D to the first way point P1. The second setting unit 21D may set different surrounding stay time information for each of the multiple first way points P1. The local tour route generating unit 21E may generate the local tour route R1 by assigning the surrounding stay time information set by the second setting unit 21D to the corresponding first way point P1.

[0153] Then, the tour route generating unit 20G may generate the tour route R by inserting the local tour route R1 generated by the local tour route generating unit 21E into the global tour route R2 in the same manner as in the above embodiment.

[0154] 9A and 9B are explanatory diagrams of an example of a tour route R according to this embodiment.

[0155] 9A shows an example of a virtual model 50C made up of a group of multiple rectangular objects. The virtual model 50C is an example of the virtual model 50.

[0156] 9A shows an example of a scene in which five waypoints P represented by waypoints B1 to B5 are set as first waypoints P1. In this case, the second setting unit 21D sets surrounding stay time information representing the surrounding stay time of the first waypoint P1 to each of the first waypoints P1, and the local tour route generating unit 21E generates a local tour route R1 to which the surrounding stay time information set to the first waypoint P1 is added. For example, assume a scene in which the local tour route generating unit 21E generates a local tour route R1 to which the surrounding stay time information "10 seconds" is added to each of the multiple first waypoints P1 represented by waypoints B1 to B5.

[0157] Then, assume that the global tour route generation unit 20F generates a global tour route R2 that passes through a third waypoint P3 represented by each of waypoints A1 to A8. For example, assume that the global tour route generation unit 20F generates a global tour route R2 that starts from waypoint A1, passes through waypoints A2 to A8, and returns to waypoint A1 by solving the traveling salesman problem.

[0158] In this case, the tour route generating unit 20G generates a tour route R by inserting the local tour route R1 into the global tour route R2, in the same manner as in the above embodiment.

[0159] 9B is a schematic diagram showing an example of the data configuration of the circular route R. For example, the local circular route generating unit 21E generates the local circular route R1 by adding a command representing "stop" to each of the first way points P1 represented by each of the way points B1 to B5, and adding surrounding staying time information "10 seconds" as a parameter. Therefore, the circular route R in which the surrounding staying time information is added to each of the first way points P1 is generated.

[0160] As described above, in the mobile object management device 10B of this embodiment, the second setting unit 21D sets surrounding stay time information for each of the first way points P1 set by the first setting unit 20C. The local tour route generation unit 21E generates a local tour route R1 by adding the surrounding stay time information set by the second setting unit 21D to the first way point P1. Then, the tour route generation unit 20G generates a tour route R by inserting the local tour route R1 generated by the local tour route generation unit 21E into the global tour route R2 in the same manner as in the above embodiment.

[0161] For this reason, the mobile management device 10B of this embodiment can generate a tour route R by inserting a required via point, i.e., a first waypoint P1, which is a waypoint P located at an important location, and a local tour route R1 that focuses on circling the area around the first waypoint P1, into a global tour route R2.

[0162] Therefore, the mobile object management device 10B of this embodiment can provide a tour route R along which movement can be made according to the importance of inspection locations, similarly to the above-described embodiment.

[0163] The mobile object management device 10B of this embodiment may further include the functions of the second setting unit 20D and the local tour route generating unit 21E of the above embodiment.

[0164] That is, the second setting unit 21D of the mobile management device 10B may perform at least one of setting one or more second way points P2 in the vicinity of the first way point P1, and setting surrounding stay time information representing the stay time in the vicinity of the first way point P1 to the first way point P1.

[0165] Then, the local tour route generation unit 21E of the mobile management device 10B may generate a local tour route R1 for each first way point P1, which passes through the first way point P1 and a second way point P2 in the vicinity of the first way point P1, and / or which adds surrounding stay time information to the first way point P1.

[0166] Next, an example of the hardware configuration of the mobile object management device 10, the mobile object management device 10B, and the operation terminal 30 of the above embodiment will be described.

[0167] FIG. 10 is a diagram showing an example of a hardware configuration of the mobile object management device 10, the mobile object management device 10B, and the operation terminal 30 of the above embodiment.

[0168] The mobile management device 10, mobile management device 10B, and operation terminal 30 of the above embodiments are equipped with a control device such as a CPU (Central Processing Unit) 90D, a storage device such as a ROM (Read Only Memory) 90E, a RAM (Random Access Memory) 90F, and a HDD (Hard Disk Drive) 90G, an I / F unit 90B that interfaces with various devices, an output unit 90A that outputs various information, an input unit 90C that accepts operations by the user, and a bus 90H that connects each unit, and are configured as hardware using a normal computer.

[0169] In the mobile object management device 10, the mobile object management device 10B, and the operation terminal 30 of the above-mentioned embodiment, the CPU 90D reads a program from the ROM 90E onto the RAM 90F and executes it, thereby realizing each of the above-mentioned units on the computer.

[0170] The programs for executing the above-mentioned processes executed by the mobile object management device 10, the mobile object management device 10B, and the operation terminal 30 of the above-mentioned embodiment may be stored in the HDD 90G. Also, the programs for executing the above-mentioned processes executed by the mobile object management device 10 of the above-mentioned embodiment may be provided by being pre-installed in the ROM 90E.

[0171] The programs for executing the above-mentioned processes executed by the mobile object management device 10, the mobile object management device 10B, and the operation terminal 30 of the above-mentioned embodiment may be stored in a computer-readable storage medium such as a CD-ROM, a CD-R, a memory card, a DVD (Digital Versatile Disc), or a flexible disk (FD) in an installable or executable format file and provided as a computer program product. The programs for executing the above-mentioned processes executed by the mobile object management device 10, the mobile object management device 10B, and the operation terminal 30 of the above-mentioned embodiment may be stored on a computer connected to a network such as the Internet and provided by downloading the programs via the network. The programs for executing the above-mentioned processes executed by the mobile object management device 10, the mobile object management device 10B, and the operation terminal 30 of the above-mentioned embodiment may be provided or distributed via a network such as the Internet.

[0172] The mobile object management device 10 and the mobile object management device 10B of the above-described embodiment are not limited to a specific application. For example, the mobile object management device 10 and the mobile object management device 10B of the above-described embodiment are preferably applicable to an inspection system using the mobile object 40.

[0173] Although the embodiment of the present invention has been described above, the embodiment is presented as an example and is not intended to limit the scope of the invention. This new embodiment can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the gist of the invention. This embodiment and its modifications are included in the scope and gist of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0174] 10, 10B Mobile object management device 20A Virtual Model Acquisition Section 20B Reception 20C 1st setting section 20D, 21D Second setting section 20E, 21E Local tour route generation unit 20F Global tour route generation section 20G circular route generator 20H Output control section 40 Mobile

Claims

1. A virtual model acquisition unit that acquires a virtual model of a facility to be visited by the mobile object; a first setting unit that sets a first waypoint, which is a required via point of the moving object, in a virtual space in which the virtual model is arranged; a second setting unit that executes at least one of setting one or more second waypoints around the first waypoint and setting surrounding stay time information representing a surrounding stay time of the first waypoint to the first waypoint; a local tour route generating unit that generates, for each of the first waypoints, a local tour route that passes through the first waypoint and the second waypoint in the vicinity of the first waypoint and / or that assigns the vicinity stay time information to the first waypoint; a global tour route generating unit that sets one or more third waypoints at positions spaced a predetermined distance from a surface of the virtual model and generates a global tour route passing through the third waypoints; a travel route generating unit that generates a travel route by inserting the local travel route into the global travel route; Equipped with The second setting unit is The second waypoint is set within a predetermined distance from the first waypoint in the virtual space and at least one of the second waypoints is set on one or more concentric arcs centered on the first waypoint; The local tour route generation unit generating the local circular route that, for each of the first waypoints, sequentially passes through the first waypoint and each of the second waypoints around the first waypoint one or more times; Mobile management device.

2. A virtual model acquisition unit that acquires a virtual model of a facility to be visited by a mobile object; a first setting unit that sets a first waypoint, which is a required via point of the moving object, in a virtual space in which the virtual model is arranged; a second setting unit that executes at least one of setting one or more second waypoints around the first waypoint and setting surrounding stay time information representing a surrounding stay time of the first waypoint to the first waypoint; a local tour route generating unit that generates, for each of the first waypoints, a local tour route that passes through the first waypoint and the second waypoint in the vicinity of the first waypoint and / or that assigns the vicinity stay time information to the first waypoint; a global tour route generating unit that sets one or more third waypoints at positions spaced a predetermined distance from a surface of the virtual model and generates a global tour route passing through the third waypoints; a travel route generating unit that generates a travel route by inserting the local travel route into the global travel route; Equipped with The travel route generation unit generating a circular route by inserting the local circular route between two of the third waypoints included in the global circular route that are the shortest distance from the first waypoint included in the local circular route, among the plurality of third waypoints included in the global circular route; Mobile management device.

3. A virtual model acquisition unit that acquires a virtual model of a facility to be visited by a mobile object; a first setting unit that sets a first waypoint, which is a required via point of the moving object, in a virtual space in which the virtual model is arranged; a second setting unit that executes at least one of setting one or more second waypoints around the first waypoint and setting surrounding stay time information representing a surrounding stay time of the first waypoint to the first waypoint; a local tour route generating unit that generates, for each of the first waypoints, a local tour route that passes through the first waypoint and the second waypoint in the vicinity of the first waypoint and / or that assigns the vicinity stay time information to the first waypoint; a global tour route generating unit that sets one or more third waypoints at positions spaced a predetermined distance from a surface of the virtual model and generates a global tour route passing through the third waypoints; a travel route generating unit that generates a travel route by inserting the local travel route into the global travel route; Equipped with The global tour route generation unit When the moving body travels back and forth inside the cylindrical facility to be visited between one end side and the other end side of the facility to be visited in the extension direction, one of two virtual lines that pass through the virtual model of the patrol target facility along an extension direction of the patrol target facility and that are different from each other in a crossing direction that intersects with the extension direction is set as an outbound route and the other is set as a return route, and one or more of the third waypoints are set along the outbound route from one end side to the other end side in the extension direction of the outbound route, and along the return route from the other end side to one end side in the extension direction of the return route, The travel route generation unit generating the traveling route by inserting the local traveling route into at least one of the global traveling route on the outbound route and the global traveling route on the return route; Mobile management device.

4. an output control unit that outputs the tour route; The mobile object management device according to any one of claims 1 to 3, comprising:

5. The global tour route generation unit generating the global tour route via the third waypoint one or more times; The mobile object management device according to any one of claims 1 to 4.

6. At least one of a distance between a surface of the virtual model and the first waypoint, a distance between the surface of the virtual model and the second waypoint, and a distance between the surface of the virtual model and the third waypoint is a distance according to moving body characteristic information of the moving body. The mobile object management device according to any one of claims 1 to 5.

7. At least one of the first waypoint, the second waypoint, and the third waypoint is a waypoint on which the moving body executes a predetermined process. The mobile object management device according to any one of claims 1 to 6.

8. A reception unit is provided for receiving an operation input by a user, The first setting unit is setting the first waypoint at a position at a predetermined distance in a direction away from the surface of the virtual model using a reference point on the surface of the virtual model received by the reception unit as a reference; The mobile object management device according to any one of claims 1 to 7.

9. The global tour route generation unit When the moving body travels in one direction inside the cylindrical facility to be visited from one end side to the other end side in the extension direction of the facility to be visited, setting one or more of the third waypoints along a virtual line passing through the virtual model of the facility to be patrolled from one end side to the other end side in an extension direction of the facility to be patrolled; The mobile object management device according to any one of claims 1 to 8.

10. A virtual model acquisition step of acquiring a virtual model of a facility to be visited by the mobile object; a first setting step of setting a first waypoint, which is a required via point of the moving object, in a virtual space in which the virtual model is arranged; a second setting step of performing at least one of setting one or more second waypoints around the first waypoint and setting surrounding residence time information representing a surrounding residence time of the first waypoint to the first waypoint; a local tour route generating step of generating, for each of the first waypoints, a local tour route that passes through the first waypoint and the second waypoint in the vicinity of the first waypoint and / or that assigns the vicinity stay time information to the first waypoint; a global tour route generation step of setting one or more third waypoints at positions spaced a predetermined distance from the surface of the virtual model and generating a global tour route passing through the third waypoints; a travel route generating step of generating a travel route by inserting the local travel route into the global travel route; Including, The second setting step includes: The second waypoint is set within a predetermined distance from the first waypoint in the virtual space and at least one of the second waypoints is set on one or more concentric arcs centered on the first waypoint; The local tour route generation step includes: generating the local circular route that, for each of the first waypoints, sequentially passes through the first waypoint and each of the second waypoints around the first waypoint one or more times; Mobile object management method.

11. A virtual model acquisition step of acquiring a virtual model of a facility to be visited by a mobile object; a first setting step of setting a first waypoint, which is a required via point of the moving object, in a virtual space in which the virtual model is arranged; a second setting step of performing at least one of setting one or more second waypoints around the first waypoint and setting surrounding residence time information representing a surrounding residence time of the first waypoint to the first waypoint; a local tour route generating step of generating, for each of the first waypoints, a local tour route that passes through the first waypoint and the second waypoint in the vicinity of the first waypoint and / or that assigns the vicinity stay time information to the first waypoint; a global tour route generation step of setting one or more third waypoints at positions spaced a predetermined distance from the surface of the virtual model and generating a global tour route passing through the third waypoints; a travel route generating step of generating a travel route by inserting the local travel route into the global travel route; Including, The travel route generating step includes: generating a circular route by inserting the local circular route between two of the third waypoints included in the global circular route that are the shortest distance from the first waypoint included in the local circular route, among the plurality of third waypoints included in the global circular route; Mobile object management method.

12. A virtual model acquisition step of acquiring a virtual model of a facility to be visited by a mobile object; a first setting step of setting a first waypoint, which is a required via point of the moving object, in a virtual space in which the virtual model is arranged; a second setting step of performing at least one of setting one or more second waypoints around the first waypoint and setting surrounding residence time information representing a surrounding residence time of the first waypoint to the first waypoint; a local tour route generating step of generating, for each of the first waypoints, a local tour route that passes through the first waypoint and the second waypoint in the vicinity of the first waypoint and / or that assigns the vicinity stay time information to the first waypoint; a global tour route generation step of setting one or more third waypoints at positions spaced a predetermined distance from the surface of the virtual model and generating a global tour route passing through the third waypoints; a travel route generating step of generating a travel route by inserting the local travel route into the global travel route; Including, The global tour route generation step includes: When the moving body travels back and forth inside the cylindrical facility to be visited between one end side and the other end side of the facility to be visited in the extension direction, one of two virtual lines that pass through the virtual model of the patrol target facility along an extension direction of the patrol target facility and that are different from each other in a crossing direction that intersects with the extension direction is set as an outbound route and the other is set as a return route, and one or more of the third waypoints are set along the outbound route from one end side to the other end side in the extension direction of the outbound route, and along the return route from the other end side to one end side in the extension direction of the return route, The travel route generating step includes: generating the traveling route by inserting the local traveling route into at least one of the global traveling route on the outbound route and the global traveling route on the return route; Mobile object management method.

13. A mobile object management program for causing a computer to execute the program, A virtual model acquisition step of acquiring a virtual model of a facility to be visited by the mobile object; a first setting step of setting a first waypoint, which is a required via point of the moving object, in a virtual space in which the virtual model is arranged; a second setting step of performing at least one of setting one or more second waypoints around the first waypoint and setting surrounding residence time information representing a surrounding residence time of the first waypoint to the first waypoint; a local tour route generating step of generating, for each of the first waypoints, a local tour route that passes through the first waypoint and the second waypoint in the vicinity of the first waypoint and / or that assigns the vicinity stay time information to the first waypoint; a global tour route generation step of setting one or more third waypoints at positions spaced a predetermined distance from the surface of the virtual model and generating a global tour route passing through the third waypoints; a travel route generating step of generating a travel route by inserting the local travel route into the global travel route; Including, The second setting step includes: The second waypoint is set within a predetermined distance from the first waypoint in the virtual space and at least one of the second waypoints is set on one or more concentric arcs centered on the first waypoint; The local tour route generation step includes: generating the local circular route that, for each of the first waypoints, sequentially passes through the first waypoint and each of the second waypoints around the first waypoint one or more times; Mobility management program.

14. A mobile object management program for causing a computer to execute the program, A virtual model acquisition step of acquiring a virtual model of a facility to be visited by the mobile object; a first setting step of setting a first waypoint, which is a required via point of the moving object, in a virtual space in which the virtual model is arranged; a second setting step of performing at least one of setting one or more second waypoints around the first waypoint and setting surrounding residence time information representing a surrounding residence time of the first waypoint to the first waypoint; a local tour route generating step of generating, for each of the first waypoints, a local tour route that passes through the first waypoint and the second waypoint in the vicinity of the first waypoint and / or that assigns the vicinity stay time information to the first waypoint; a global tour route generation step of setting one or more third waypoints at positions spaced a predetermined distance from the surface of the virtual model and generating a global tour route passing through the third waypoints; a travel route generating step of generating a travel route by inserting the local travel route into the global travel route; Including, The travel route generating step includes: generating a circular route by inserting the local circular route between two of the third waypoints included in the global circular route that are the shortest distance from the first waypoint included in the local circular route, among the plurality of third waypoints included in the global circular route; Mobility management program.

15. A mobile object management program for causing a computer to execute the program, A virtual model acquisition step of acquiring a virtual model of a facility to be visited by the mobile object; a first setting step of setting a first waypoint, which is a required via point of the moving object, in a virtual space in which the virtual model is arranged; a second setting step of performing at least one of setting one or more second waypoints around the first waypoint and setting surrounding residence time information representing a surrounding residence time of the first waypoint to the first waypoint; a local tour route generating step of generating, for each of the first waypoints, a local tour route that passes through the first waypoint and the second waypoint in the vicinity of the first waypoint and / or that assigns the vicinity stay time information to the first waypoint; a global tour route generation step of setting one or more third waypoints at positions spaced a predetermined distance from the surface of the virtual model and generating a global tour route passing through the third waypoints; a travel route generating step of generating a travel route by inserting the local travel route into the global travel route; Including, The global tour route generation step includes: When the moving body travels back and forth inside the cylindrical facility to be visited between one end side and the other end side of the facility to be visited in the extension direction, one of two virtual lines that pass through the virtual model of the patrol target facility along an extension direction of the patrol target facility and that are different from each other in a crossing direction that intersects with the extension direction is set as an outbound route and the other is set as a return route, and one or more of the third waypoints are set along the outbound route from one end side to the other end side in the extension direction of the outbound route, and along the return route from the other end side to one end side in the extension direction of the return route, The travel route generating step includes: generating the traveling route by inserting the local traveling route into at least one of the global traveling route on the outbound route and the global traveling route on the return route; Mobility management program.

16. an output control step of outputting the tour route; The mobile object management program according to any one of claims 13 to 15, further comprising:

17. The global tour route generation step includes: generating the global tour route via the third waypoint one or more times; The mobile object management program according to any one of claims 13 to 16.

18. At least one of a distance between a surface of the virtual model and the first waypoint, a distance between the surface of the virtual model and the second waypoint, and a distance between the surface of the virtual model and the third waypoint is a distance according to moving body characteristic information of the moving body. The mobile object management program according to any one of claims 13 to 17.

19. At least one of the first waypoint, the second waypoint, and the third waypoint is a waypoint on which the moving body executes a predetermined process. The mobile object management program according to any one of claims 13 to 18.

20. A receiving step of receiving an operation input by a user, The first setting step includes: setting the first waypoint at a position at a predetermined distance in a direction away from the surface of the virtual model using the reference point on the surface of the virtual model received in the receiving step as a reference; The mobile object management program according to any one of claims 13 to 19.

21. The global tour route generation step includes: When the moving body travels in one direction inside the cylindrical facility to be visited from one end side to the other end side in the extension direction of the facility to be visited, setting one or more of the third waypoints along a virtual line passing through the virtual model of the facility to be patrolled from one end side to the other end side in an extension direction of the facility to be patrolled; The mobile object management program according to any one of claims 13 to 20.

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