MOBILE BODY CONTROL SYSTEM, MOBILE BODY CONTROL DEVICE, AND MOBILE BODY CONTROL METHOD

Abstract

To provide a moving object control system, a moving object control device and a moving object control method that enable a moving body to efficiently patrol a region where people left are likely to exist in accordance with a situation surrounding a disaster region.SOLUTION: A moving object control system comprises: a disaster management apparatus that manages disaster information; a regional information management device that manages regional information; a moving body; and a moving object control device that controls the moving body. The moving object control device 30 acquires disaster information from the disaster management apparatus 10, acquires regional information from the regional information management device 20, calculates a moving route that enables the moving body 40a to efficiently patrol a region where people left are likely to exist on the basis of at least the acquired disaster information and the regional information related to the disaster region contained in the disaster information, and notifies the moving body 40a of information related to the moving route.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a mobile object control system, a mobile object control device, and a mobile object control method that enable a mobile object to efficiently patrol areas where there is a high possibility of remaining people being located, depending on the circumstances surrounding a disaster area. [Background technology]

[0002] Conventionally, there is known a technology for flying a drone over a disaster area to encourage people in the disaster area to evacuate. For example, Patent Document 1 discloses a technology related to an aircraft (disaster prevention drone) that acquires disaster prevention information indicating the occurrence of an event such as an earthquake that causes a disaster and an area that will be affected by the event, determines a flight route to fly over the disaster area indicated by the acquired disaster prevention information, instructs the start of flight, and when the instruction to start flight is received, performs flight control of the flight along the determined flight route and issues a report on the disaster indicated by the disaster prevention information.

[0003] Specifically, when a tsunami warning (major tsunami warning, tsunami warning, or tsunami advisory) is issued, the disaster prevention drone will fly along flight route R1 and output an audio message calling for people in tsunami damage predicted area A1 to evacuate. Also, when a landslide warning is issued in the mountains, the disaster prevention drone will fly along flight route R2 and output an audio message calling for people in landslide damage predicted area A2 to evacuate. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-086902 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the disaster areas described in Patent Document 1 above (tsunami damage predicted areas A1 or landslide damage predicted areas A2) are areas predicted in advance according to the type of disaster, but there is no guarantee that there will be any remaining residents in these disaster areas.

[0006] For example, if campsites and fishing spots are predicted as disaster areas because people tend to gather at these locations on sunny days, if the weather on the day is stormy, it would be desirable to designate locations where river breakwaters are likely to collapse as disaster areas, rather than campsites and fishing spots.

[0007] As such, the decision as to which locations are designated as disaster areas varies depending on the circumstances surrounding the area, so how to efficiently identify disaster areas according to the circumstances and have drones patrol them is an important issue. This issue arises not only when drones are used for patrols, but also when mobile objects such as patrol robots are used for patrols.

[0008] The present invention has been made to solve the problems of the conventional technology described above, and aims to provide a mobile body control system, a mobile body control device, and a mobile body control method that can efficiently identify disaster areas according to the situation and have mobile bodies patrol the areas. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems and achieve the object, the present invention provides a mobile body control system including a disaster management device that manages disaster information, a regional information management device that manages regional information, a mobile body, and a mobile body control device that controls the mobile body, wherein the mobile body control device includes a disaster information acquisition unit that acquires disaster information from the disaster management device, a regional information acquisition unit that acquires regional information from the regional information management device, a travel route calculation unit that calculates a travel route of the mobile body based on at least the disaster information and regional information related to area information included in the disaster information, and a notification means that notifies the mobile body of information related to the travel route calculated by the travel route calculation unit. The movement route calculation unit has a disaster area determination unit that determines one or more disaster areas where remaining persons may be located based on the disaster information and the area information, a calculation unit that calculates an estimated arrival time for an employee to arrive at the disaster area, and an urgency determination unit that determines an urgency of the disaster area based on at least the disaster information, the area information, and the estimated arrival time, and calculates a movement route of the moving body based on the disaster area determined by the disaster area determination unit and the urgency of the disaster area determined by the urgency determination unit. It is characterized by:

[0014] In addition, in the above invention, the present invention further includes a notification content identification unit that identifies the notification content to be notified by the moving body based on the disaster area determined by the disaster area determination unit and the urgency of the disaster area, and the notification means notifies the moving body of information on the travel route calculated by the travel route calculation unit and the notification content identified by the notification content identification unit.

[0015] In addition, in the above invention, the present invention is characterized in that the mobile body moves based on information regarding the movement route notified from the mobile body control device, and issues an alert to the disaster area based on the alert content identified by the alert content identification unit.

[0016] The present invention also provides a mobile body control device that is provided to be capable of communicating with a disaster management device that manages disaster information, a regional information management device that manages regional information, and a mobile body, and controls the mobile body, the mobile body control device including a disaster information acquisition unit that acquires disaster information from the disaster management device, a regional information acquisition unit that acquires regional information from the regional information management device, a travel route calculation unit that calculates a travel route of the mobile body based on at least the disaster information and regional information related to area information included in the disaster information, and a notification means that notifies the mobile body of information related to the travel route calculated by the travel route calculation unit. The movement route calculation unit has a disaster area determination unit that determines one or more disaster areas where remaining persons may be located based on the disaster information and the area information, a calculation unit that calculates an estimated arrival time for an employee to arrive at the disaster area, and an urgency determination unit that determines an urgency of the disaster area based on at least the disaster information, the area information, and the estimated arrival time, and calculates a movement route of the moving body based on the disaster area determined by the disaster area determination unit and the urgency of the disaster area determined by the urgency determination unit. It is characterized by:

[0017] The present invention also provides a mobile body control method in a mobile body control system including a disaster management device for managing disaster information, a regional information management device for managing regional information, a mobile body, and a mobile body control device for controlling the mobile body, the method including a disaster information acquisition step in which the mobile body control device acquires disaster information from the disaster management device, a regional information acquisition step in which the mobile body control device acquires regional information from the regional information management device, a travel route calculation step in which the mobile body control device calculates a travel route for the mobile body based on at least the disaster information and regional information related to area information included in the disaster information, and a notification step in which the mobile body control device notifies the mobile body of information related to the travel route calculated by the travel route calculation step. The movement route calculation step includes a disaster area determination step of determining one or more disaster areas where the remaining people may be located based on the disaster information and the area information, a calculation step of calculating an estimated arrival time for an employee to arrive at the disaster area, and an urgency determination step of determining an urgency of the disaster area based on at least the disaster information, the area information, and the estimated arrival time, and calculates a movement route of the moving body based on the disaster area determined by the disaster area determination step and the urgency of the disaster area determined by the urgency determination step. It is characterized by: Effect of the Invention

[0018] According to the present invention, it is possible to provide a mobile body control system, a mobile body control device, and a mobile body control method that can efficiently identify disaster areas according to the situation and have a mobile body patrol the areas. [Brief description of the drawings]

[0019] [Figure 1] FIG. 1 is an explanatory diagram for explaining an overview of a mobile object control system according to an embodiment. [Diagram 2] FIG. 2 is a diagram showing a system configuration of the mobile object control system according to the embodiment. [Diagram 3] FIG. 3 is a functional block diagram showing a configuration of the area information management device shown in FIG. [Figure 4] FIG. 4 is a functional block diagram showing the configuration of the mobile object control device shown in FIG. [Diagram 5] FIG. 5 is a functional block diagram showing a configuration of the moving object shown in FIG. [Figure 6] FIG. 6 is a sequence diagram showing a processing procedure of the mobile object control system shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] Hereinafter, embodiments of a mobile object control system, a mobile object control device, and a mobile object control method according to the present invention will be described in detail with reference to the drawings. Note that in the following embodiments, a drone is used as the mobile object.

[0021] <Overview of the mobile control system> An overview of the mobile object control system according to the present embodiment will be described. Fig. 1 is an explanatory diagram for explaining the overview of the mobile object control system according to the embodiment. As shown in Fig. 1, this mobile object control system is a system that calculates a moving route of a mobile object based on disaster information and regional information, and notifies the mobile object of information related to the calculated moving route.

[0022] The mobile object control device 30 receives disaster information from a disaster management device (not shown) and receives area information related to area information (to be described later) from an area information management device (not shown) (S1). This disaster information includes earthquake early warnings that may cause disasters, weather warnings and advisories such as heavy rain and strong winds, information such as dam discharge, and area information indicating areas where disasters may occur due to these events. In addition, the area information includes hazard map information, damage tendency information, staff position information, sidewalk information, roadway information, evacuation site information, etc. When the mobile object control device 30 receives the disaster information and area information, it calculates a movement route for the mobile object 40a to patrol the disaster area and transmits the movement route to the waiting mobile object 40a (S2). Specifically, based on the disaster information and area information, it determines one or more disaster areas where a disaster may occur and where remaining people may be located, and calculates the movement route of the mobile object 40a based on the determined disaster area.

[0023] When the mobile unit 40a receives the movement route and movement instruction, it moves along the received movement route. Here, the case of moving to a target river is shown (S3). The mobile unit 40a patrols along the movement route while checking for remaining people (confirming whether or not there are remaining people) (S4). If there are remaining people, the mobile unit 40a moves to a position near the remaining people (S5) and issues a notification to the remaining people via the notification unit (S6).

[0024] The mobile unit 40a continues to report until the remaining people have completed their evacuation, and when the remaining people have completed their evacuation, it returns to the travel route received from the mobile unit control device 30 and resumes patrol (S7). Then, when the mobile unit 40a completes its patrol, it returns to the takeoff location following the travel route (S8).

[0025] In this manner, the mobile object control system according to the present embodiment is configured such that, when the mobile object control device 30 receives disaster information from the disaster management device, it acquires regional information from the regional information management device, calculates a movement route for the mobile object 40a based on at least the disaster information and regional information relating to the region indicated by the area information included in the disaster information, and notifies the mobile object 40a of information relating to the movement route. This makes it possible to efficiently identify disaster areas according to the situation and have the mobile object 40a patrol the areas.

[0026] In addition, the mobile body control device 30 is configured to determine one or more disaster areas where the remainders may be located based on the disaster information and regional information, and to calculate the movement route of the mobile body 40a based on the determined disaster areas, so that the mobile body 40a can be made to patrol the areas where the remainders may be located.

[0027] The mobile object control device 30 can be configured to determine the urgency of the disaster area based on the disaster information and the area information, and to calculate the movement route of the mobile object 40a based on the disaster area and the urgency of the disaster area. When calculating the urgency, the estimated arrival time of the staff in the disaster area can be calculated, and the urgency of the disaster area can be determined based on the disaster information, the area information, and the estimated arrival time. Also, the mobile object control device 30 can be configured to specify the notification content to be notified by the mobile object 40a based on the disaster area and the urgency of the disaster area, and to notify the specified notification content together with the movement route to the mobile object 40a.

[0028] <System configuration of mobile control system> Next, the system configuration of the mobile object control system according to this embodiment will be described. Fig. 2 is a diagram showing the system configuration of the mobile object control system shown in Fig. 1. As shown in Fig. 2, in this mobile object control system, a disaster management device 10, a regional information management device 20, a mobile object control device 30, and a plurality of mobile objects 40a, 40b, and 40c (hereinafter, sometimes collectively referred to as "mobile objects 40") are connected to a network N.

[0029] The disaster management device 10 is a management device that manages disaster-related information operated by a government agency. For example, it corresponds to a disaster prevention information center operated by the Ministry of Land, Infrastructure, Transport and Tourism, a management device that manages dam discharge information operated by a local government, etc.

[0030] The regional information management device 20 is a device that manages regional information. The regional information includes hazard map information 25a, damage trend information 25b, staff position information 25c including the locations of staff monitoring the watershed, sidewalk information 25d, roadway information 25e, and evacuation site information 25f.

[0031] The mobile body control device 30 performs the following processes: acquire disaster information from the disaster management device 10; acquire regional information relating to the region indicated by the area information included in the disaster information from the regional information management device 20; determine a disaster region where a disaster may occur from the disaster information and regional information; determine the urgency of the disaster region based on the likelihood that there are remainders; calculate the time for staff to arrive at the disaster site; calculate the movement route of the mobile body 40 based on the disaster region, the urgency of the disaster region, and the arrival time of staff at the disaster region; identify the content of the notification to be given to remainders; and analyze the captured images received from the mobile body 40.

[0032] The mobile body 40 receives a travel route from the mobile body control device 30, patrols along the travel route, and if there are any remaining people, notifies the remaining people of warning information to encourage them to evacuate. The mobile body 40a grasps its own position coordinates according to the travel route using signals from an altitude sensor and a GPS (Global Positioning System) unit, controls the rotors to move, captures images of the surroundings with an imaging unit and transmits them to the mobile body control device 30, and notifies the remaining people of warning information if there are any remaining people.

[0033] <Configuration of the regional information management device 20> Next, a description will be given of the configuration of the regional information management device 20 shown in Fig. 3. Fig. 3 is a functional block diagram showing the configuration of the regional information management device 20 shown in Fig. 2. As shown in Fig. 3, the regional information management device 20 has a display unit 21, an operation unit 22, a communication I / F unit 23, a control unit 24, and a storage unit 25.

[0034] The display unit 21 is a display device such as a liquid crystal panel or a display device, and the operation unit 22 is an input device such as a keyboard or a mouse. The communication I / F unit 23 is an interface unit used when communicating with other devices such as the disaster management device 10 and the mobile object control device 30.

[0035] The control unit 24 is a control unit that controls the entire regional information management device 20, and has a hazard map information acquisition unit 24a, a disaster tendency information acquisition unit 24b, a staff position information acquisition unit 24c, a sidewalk information acquisition unit 24d, a roadway information acquisition unit 24e, and an evacuation site information acquisition unit 24f. In practice, by loading these programs into a CPU and executing them, processes corresponding to the hazard map information acquisition unit 24a, the disaster tendency information acquisition unit 24b, the staff position information acquisition unit 24c, the sidewalk information acquisition unit 24d, the roadway information acquisition unit 24e, and the evacuation site information acquisition unit 24f are executed.

[0036] The hazard map information acquisition unit 24a acquires hazard map information on floods, landslides, high tides, tsunamis, etc., for each city, town, or village provided by a government agency, and stores it as hazard map information 25a in the storage unit 25. Here, a case is shown in which a server device of a government agency manages the hazard map information, and the regional information management device 20 acquires the hazard map information online from the server device of the government agency, but an operator can also input the hazard map information from the operation unit 22.

[0037] The disaster tendency information acquisition unit 24b acquires information on past disasters and information on the degree of crowding at campsites, fishing spots, tourist destinations, and other locations where people tend to gather, depending on the season and date, and stores this in the memory unit 25 as disaster tendency information 25b.

[0038] The staff position information acquisition unit 24c acquires information on the positions of staff in disaster areas, for example, from position information on mobile devices carried by staff of government offices or town halls that manage rivers, or staff of river offices, etc., and stores this information in the storage unit 25 as staff position information 25c. The sidewalk information acquisition unit 24d acquires information on sidewalks included in information provided by government offices or commercially available map data, and stores this information in the storage unit 25 as sidewalk information 25d.

[0039] The roadway information acquisition unit 24e acquires roadway information from the map data and stores it as roadway information 25e in the storage unit 25. The evacuation site information acquisition unit 24f acquires information on evacuation sites in municipalities from the map data and stores it in the storage unit 25 as evacuation site information 25f.

[0040] The storage unit 25 is a storage device such as a hard disk drive or a non-volatile memory, and stores hazard map information 25a, damage tendency information 25b, staff position information 25c, sidewalk information 25d, roadway information 25e, and evacuation site information 25f. The hazard map information 25a, damage tendency information 25b, sidewalk information 25d, roadway information 25e, and evacuation site information 25f are updated periodically (for example, once a month).

[0041] <Configuration of the mobile object control device 30> Next, a description will be given of the configuration of the mobile object control device 30 shown in Fig. 2. Fig. 4 is a functional block diagram showing the configuration of the mobile object control device 30 shown in Fig. 2. As shown in Fig. 4, the mobile object control device 30 has a display unit 31, an operation unit 32, a communication I / F unit 33, a wireless communication unit 34, a control unit 35, and a storage unit 36.

[0042] The display unit 31 is a display device such as a liquid crystal panel or a display device, and the operation unit 32 is an input device such as a keyboard or a mouse. The communication I / F unit 33 is an interface unit for communicating with other devices such as the disaster management device 10 and the regional information management device 20. The wireless communication unit 34 is an interface unit for wireless communication with the mobile object 40.

[0043] The control unit 35 is a control unit that controls the entire mobile object control device 30, and includes a disaster information acquisition unit 35a, a regional information acquisition unit 35b, a disaster area determination unit 35c, an urgency determination unit 35d, a travel route calculation unit 35e, a staff arrival time calculation unit 35f, a notification content identification unit 35g, and a captured image analysis unit 35h. In practice, by loading these programs into a CPU and executing them, the disaster information acquisition unit 35a, the regional information acquisition unit 35b, the disaster area determination unit 35c, the urgency determination unit 35d, the travel route calculation unit 35e, the staff arrival time calculation unit 35f, the notification content identification unit 35g, and the captured image analysis unit 35h are caused to execute processes corresponding to each of them.

[0044] The disaster information acquisition unit 35a acquires disaster information from the disaster management device 10, including earthquake alerts, weather warnings and advisories regarding heavy rain, strong winds, etc., which may cause disasters, information on dam discharges, etc., and area information indicating regions where disasters may occur due to these events, and stores the information in the memory unit 36 ​​as disaster information 36a.

[0045] The regional information acquisition unit 35b acquires, from the regional information management device 20, hazard map information 25a, disaster tendency information 25b, staff position information 25c, sidewalk information 25d, roadway information 25e, and evacuation site information 25f of the region indicated by the area information included in the disaster information 36a, and stores them as regional information 36b in the storage unit 36. The reason for acquiring regional information by the regional information acquisition unit 35b is that it is difficult to dynamically determine a disaster region using disaster information alone.

[0046] The disaster area determination unit 35c determines an area where a disaster is likely to occur based on the acquired disaster information 36a and area information 36b. For example, when the disaster information 36a indicates that the river A is likely to flood, the disaster area determination unit 35c determines an area where a disaster is likely to occur in the basin of the river A as a disaster area based on the hazard map information 25a of the river A stored in the area information 36b and the past disaster information stored in the disaster tendency information 25b, and stores the determined area in the storage unit 36 ​​as disaster area determination information 36c.

[0047] The urgency determination unit 35d determines the urgency of the disaster area determined by the disaster area determination unit 35c based on the disaster tendency information 25b, the sidewalk information 25d, the roadway information 25e, and the staff arrival time information 36f described later, and stores the urgency information 36d in the storage unit 36. For example, if the weather suddenly changes during a sunny summer day and heavy rain falls, the urgency determination unit 35d determines that there is a high possibility that many people remain at the riverside campsite and increases the urgency. Also, if the weather changes from the morning and heavy rain falls, it determines that there is a high possibility that many people remain at the fishing spot upstream and increases the urgency.

[0048] The travel route calculation unit 35e calculates a travel route that allows the mobile unit 40 to efficiently patrol the disaster area based on disaster area determination information 36c determined by the disaster area determination unit 35c, urgency information 36d determined by the urgency determination unit 35d, and staff arrival time information 36f calculated by the staff arrival time calculation unit 35f described below, and stores the calculated travel route information 36e in the memory unit 36 ​​and transmits the travel route information 36e to the mobile unit 40.

[0049] The staff arrival time calculation unit 35f calculates the time required for the staff to arrive at the disaster area from the current location based on the staff position information 25c, sidewalk information 25d, and roadway information 25e acquired by the area information acquisition unit 35b, and stores the calculated time as staff arrival time information 36f in the storage unit 36. The staff arrival time calculation unit 35f may calculate the arrival time based on the sidewalk information 25d, roadway information 25e, and passability information.

[0050] The notification content specification unit 35g is a processing unit that specifies the notification content that the mobile object 40 issues to the remaining people. The notification content is stored in advance in the storage unit 36 ​​as notification content information 36g, and the notification content specification unit 35g specifies the notification content based on the disaster area determination information 36c, the urgency information 36d, and the captured image information 36h described later. The notification content may be created based on the current position of the mobile object, evacuation site information, sidewalk information, and roadway information.

[0051] The captured image analysis unit 35h analyzes captured images of the disaster area received from the mobile object 40, monitors the presence or absence of remaining people, and stores the captured images as captured image information 36h in the storage unit 36. When analyzing such captured images, for example, remaining people can be detected by performing template matching processing on the captured images using a human template. The captured images can also be input into a trained model obtained by deep learning to detect the presence or absence of remaining people. When using such deep learning, it is necessary to generate a trained model by performing supervised learning using images containing people and their results as training data.

[0052] The memory unit 36 ​​is a storage device such as a hard disk drive or non-volatile memory, and stores disaster information 36a, area information 36b, disaster area determination information 36c, urgency information 36d, travel route information 36e, staff arrival time information 36f, notification content information 36g, and captured image information 36h.

[0053] <Configuration of moving body 40a> Next, the configuration of the moving body 40a shown in Fig. 2 will be described. Fig. 5 is a functional block diagram showing the configuration of the moving body 40a shown in Fig. 2. The moving bodies 40b and 40c also have the same configuration. As shown in Fig. 5, the moving body 40a has an imaging unit 41, an altitude sensor 42, a GPS unit 43, a notification unit 44, a wireless communication unit 45, a rotor 46, a control unit 47, and a storage unit 48.

[0054] The imaging unit 41 uses a camera to capture images of the disaster area. It is desirable for the camera mounted on the imaging unit 41 to be capable of simultaneously capturing visible light images and infrared light images of the same imaging range. However, it may also be capable of capturing only visible light images.

[0055] The altitude sensor 42 is a sensor that measures the altitude of the moving body 40a. For example, a barometric pressure sensor can be used as the altitude sensor 42, but a barometric pressure sensor and an ultrasonic sensor can also be combined. This allows the moving body 40a to stably maintain its altitude in a location close to the ground. The GPS unit 43 is a unit that receives signals from multiple GPS satellites and identifies the position coordinates of the device itself.

[0056] The notification unit 44 is a processing unit that notifies the remaining person of notification information 48c received from a notification information processing unit 47c described later. Examples of the notification mode include audio notification using a synthesized sound, notification using an alarm sound, and the like, but notification using light emission may also be used. The wireless communication unit 45 is an interface unit for wireless communication with the mobile body control device 30. The multiple rotors 46 rotate individually under the control of the control unit 47, enabling attitude control and movement of the mobile body 40a.

[0057] The control unit 47 is a control unit that controls the entire moving body 40a, and includes a flight control unit 47a, an imaging control unit 47b, and a notification information processing unit 47c. The flight control unit 47a controls the flight by controlling the multiple rotors 46 using the movement route information 48a, the altitude information output by the altitude sensor 42, and the position information output by the GPS unit 43.

[0058] The imaging control unit 47b causes the imaging unit 41 to capture images of the disaster area, and stores the obtained infrared and visible light captured images as captured image information 48b in the storage unit 48. In addition, the imaging control unit 47b transmits the captured image information 48b to the mobile object control device 30 during flight.

[0059] The notification information processing unit 47c receives the notification content information 36g transmitted from the mobile object control device 30, and stores it as notification information 48c in the storage unit 48. In addition, the notification information processing unit 47c transmits the stored notification information 48c to the notification unit 44.

[0060] The storage unit 48 is a storage device such as a hard disk drive or a non-volatile memory, and stores the travel route information 48a, the captured image information 48b, and the notification information 48c. The travel route information 48a is the travel route information 36e calculated by the mobile object control device 30, and the mobile object 40a travels according to the travel route information 48a.

[0061] The flight control unit 47a may be configured to interrupt the movement of the moving body 40a on its route and return it to the place where it started moving when the remaining charge of a battery (not shown) falls below a predetermined threshold.

[0062] <Processing procedure of the mobile control system> Next, a process procedure of the mobile object control system in this embodiment will be described below with reference to Fig. 6. Fig. 6 is a sequence diagram showing a process procedure of the mobile object control system shown in Fig. 2.

[0063] The mobile object control device 30 acquires disaster information 36a from the disaster management device 10 (step S101), and acquires regional information 36b relating to the region indicated by the disaster information and the area information included in the acquired disaster information 36a from the regional information management device 20 (step S102). Then, the mobile object control device 30 determines the disaster region based on the disaster information 36a and the regional information 36b (step S103).

[0064] Then, the mobile object control device 30 judges the urgency based on the information on the disaster area and the damage tendency information 25b of the area information 36b (step S104).Then, the mobile object control device 30 calculates the time until the staff arrives at the disaster area (staff arrival time) based on the staff position information 25c, the sidewalk information 25d, and the roadway information 25e (step S105).

[0065] Then, the mobile body control device 30 calculates movement route information 36e for the mobile body 40a based on the disaster area determination information 36c, the urgency information 36d, and the staff arrival time information 36f (step S106), and transmits the calculated movement route information 36e to the mobile body 40 (step S107).

[0066] When the moving body 40a receives the movement route information 36e from the moving body control device 30 (step S108), it starts moving according to the movement route information 36e (step S109). When the moving body 40a arrives at the disaster area, it transmits its position and captured image information 48b to the moving body control device 30 (step S110).

[0067] When the mobile object control device 30 receives the captured image information 48b from the mobile object 40a, it analyzes the captured image (step S111). If the image analysis shows that there is a remainder, the mobile object control device 30 transmits an instruction to the mobile object 40a to temporarily suspend movement along the route, and transmits the notification content information 36g identified by the notification content identification unit 35g (step S112).

[0068] When the moving body 40a receives the temporary suspension instruction, the moving body 40a temporarily suspends the movement along the moving route (step S113) and notifies the remaining people of the notification information 48c (step S114). In addition, the moving body 40a transmits the movement information including its own position and the captured image information 48b to the moving body control device 30 (step S115).

[0069] The mobile object control device 30 analyzes the movement information and captured image information 48b transmitted from the mobile object 40a, and if it determines that the evacuation of the remaining people is complete, transmits an instruction to the mobile object 40a to resume patrol according to the movement route information 48a (step S116). When the mobile object 40a receives the instruction to resume patrol according to the movement route information 48a, it resumes patrol from the position where the route movement was interrupted (step S117).

[0070] When the moving object 40a completes the patrol according to the moving route information 48a, or when the remaining battery charge falls below a threshold, the moving object 40a returns to the position from which it started moving (step S118).

[0071] If the mobile body 40a has patrolled the entire travel route, the mobile body control device 30 determines that the patrol is complete and ends the processing (step S119: Yes), and if the patrol is not complete (step S119: No), the mobile body control device 30 returns to step S106 and calculates new travel route information 36e from the interrupted location.

[0072] As described above, in this embodiment, the mobile object control device 30 is configured to acquire disaster information 36a from the disaster management device 10 and acquire regional information 36b from the regional information management device 20, and to perform disaster area prediction based on the disaster information 36a and regional information 36b, so that the mobile object can efficiently patrol areas where there is a high possibility of remaining people being located depending on the circumstances surrounding the disaster area. In addition, the mobile object control device 30 calculates a movement route for the mobile object 40a to efficiently patrol the disaster area based on the prediction of the disaster area and the determination result of the urgency level, and can quickly evacuate remaining people if any are present.

[0073] In the above embodiment, the case where the moving body 40a is a drone has been described, but the present invention is not limited to this, and can also be applied to a robot that travels on the ground. In addition, in the above embodiment, the case where confirmation of remaining persons and identification of the notification contents are performed by the moving body control device 30 have been described, but these functions can also be performed by the moving body 40a.

[0074] The configurations illustrated in the above embodiments are merely functional schematics, and are not necessarily physically configured as illustrated. In other words, the form of distribution and integration of each device is not limited to that illustrated, and all or part of the devices can be functionally or physically distributed and integrated in any unit according to various loads, usage conditions, etc. [Industrial Applicability]

[0075] The mobile object control system, mobile object control device, and mobile object control method according to the present invention can efficiently identify disaster areas according to the situation and allow mobile objects to patrol the areas. [Explanation of symbols]

[0076] N Network 10 Disaster management device 20 Regional information management device 21 Display section 22 Control section 23 Communication I / F section 24 Control Unit 24a Hazard Map Information Acquisition Section 24b Disaster Trend Information Acquisition Department 24c Employee location information acquisition department 24d Sidewalk information acquisition section 24e Roadway information acquisition department 24th floor Evacuation Site Information Acquisition Department 25 Memory section 25a Hazard Map Information 25b Disaster Trend Information 25c Staff location information 25d Sidewalk Information 25e Roadway information 25f Evacuation site information 30 Mobile control device 31 Display section 32 Operation section 33 Communication I / F section 34 Wireless Communication Section 35 Control section 35a Disaster Information Acquisition Department 35b Regional Information Acquisition Department 35c Disaster Area Determination Department 35d Urgency Judgment Department 35e Travel Route Calculation Department 35F Staff Arrival Time Calculation Department 35g Notification content specification section 35h Image analysis section 36 Memory section 36a Disaster Information 36b Regional Information 36c Disaster Area Judgment Information 36d Urgency information 36e Travel route information 36F Staff Arrival Time Information 36g Notification content information 36h Image information 40, 40a, 40b, 40c mobile 41 Imaging unit 42 Altitude Sensor 43 GPS unit 44 Notification Department 45 Wireless Communication Division 46 Rotor 47 Control Unit 47a Flight control unit 47b Imaging control unit 47c Notification information processing section 48 Memory section 48a Travel route information 48b Image information 48c Notification information

Claims

1. A mobile object control system including a disaster management device that manages disaster information, a regional information management device that manages regional information, a mobile object, and a mobile object control device that controls the mobile object, The mobile object control device includes: a disaster information acquisition unit that acquires disaster information from the disaster management device; a regional information acquisition unit that acquires regional information from the regional information management device; a travel route calculation unit that calculates a travel route of the moving object based on at least the disaster information and regional information related to area information included in the disaster information; a notification means for notifying the moving body of information related to the moving route calculated by the moving route calculation unit; Equipped with The travel route calculation unit is a disaster area determination unit that determines one or more disaster areas where a remainder may be located based on the disaster information and the area information; A calculation unit that calculates an estimated arrival time for an employee to arrive at the disaster area; an urgency determination unit that determines an urgency of the disaster area based on at least the disaster information, the area information, and the estimated arrival time; A movement route of the moving object is calculated based on the disaster area determined by the disaster area determination unit and the urgency of the disaster area determined by the urgency determination unit. A mobile object control system comprising:

2. a notification content specification unit that specifies notification content to be notified by the mobile object based on the disaster area determined by the disaster area determination unit and the urgency of the disaster area; The notification means includes: Notifying the moving body of information on the moving route calculated by the moving route calculation unit and the notification content specified by the notification content specification unit.

2. The mobile object control system according to claim 1.

3. The moving body is The mobile body control system according to claim 2, characterized in that the mobile body control device moves based on information regarding a travel route notified by the mobile body control device, and an alert is issued to the disaster area based on the alert content identified by the alert content identification unit.

4. A disaster management device for managing disaster information, a local information management device for managing local information, and a mobile body control device that is provided to be capable of communicating with a mobile body and controls the mobile body, a disaster information acquisition unit that acquires disaster information from the disaster management device; a regional information acquisition unit that acquires regional information from the regional information management device; a travel route calculation unit that calculates a travel route of the moving object based on at least the disaster information and regional information related to area information included in the disaster information; a notification means for notifying the moving body of information related to the moving route calculated by the moving route calculation unit; Equipped with The travel route calculation unit is a disaster area determination unit that determines one or more disaster areas where a remainder may be located based on the disaster information and the area information; A calculation unit that calculates an estimated arrival time for an employee to arrive at the disaster area; an urgency determination unit that determines an urgency of the disaster area based on at least the disaster information, the area information, and the estimated arrival time; A movement route of the moving object is calculated based on the disaster area determined by the disaster area determination unit and the urgency of the disaster area determined by the urgency determination unit. A mobile object control device comprising:

5. A mobile object control method in a mobile object control system including a disaster management device that manages disaster information, a regional information management device that manages regional information, a mobile object, and a mobile object control device that controls the mobile object, comprising: a disaster information acquisition step in which the mobile object control device acquires disaster information from the disaster management device; a regional information acquisition step in which the mobile object control device acquires regional information from the regional information management device; a movement route calculation step in which the mobile object control device calculates a movement route of the mobile object based on at least the disaster information and regional information related to area information included in the disaster information; a notification step in which the mobile object control device notifies the mobile object of information related to the moving route calculated by the moving route calculation step; Including, The movement path calculation step includes: a disaster area determination step of determining one or more disaster areas where the remaining people may be located based on the disaster information and the area information; A calculation step of calculating an estimated arrival time for personnel to arrive at the disaster area; an urgency determination step of determining an urgency of the disaster area based on at least the disaster information, the area information, and the estimated arrival time; A movement route of the moving object is calculated based on the disaster area determined in the disaster area determination step and the urgency of the disaster area determined in the urgency determination step. A moving object control method comprising:

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