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

Abstract

To provide a mobile body control system, mobile body control device, and mobile body control method capable of efficiently taking necessary actions for remaining survivors of a disaster area by using a mobile body.SOLUTION: A mobile body control device 30 acquires evacuation information, generates patrol route information based on the acquired evacuation information, and notifies a mobile body 40a of the information. The mobile body 40a performs a patrol in response to the patrol route information, and when remaining survivors exist, the mobile body performs evacuation guidance. When the evacuation is not completed within a predetermined time period, the mobile body 40a notifies the mobile body control device 30 of alert. When determining that takeover of the evacuation guidance is necessary, the mobile body control device 30 causes another mobile body 40b to go to an evacuation guidance position and to take over the evacuation guidance.SELECTED DRAWING: Figure 1

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 can efficiently respond to people remaining in a disaster area or the like using a mobile object. [Background technology]

[0002] Conventionally, when releasing water from a dam, warnings are issued in advance to downstream residents using sirens and electronic signs in accordance with the Specified Multipurpose Dam Law. Even if such warnings are issued, there is a possibility that people may remain in areas that may be submerged due to the rise in river water caused by the release of water from the dam. Therefore, local governments, even in the midst of a situation where they are overwhelmed with disaster prevention work, continue to patrol the river channels to check for people remaining there, regardless of the risk. This is done not only when releasing water from a dam, but also when there is a possibility of a disaster occurring due to natural phenomena such as earthquakes and storms.

[0003] In order to avoid such a situation, it is conceivable to use multiple unmanned aerial vehicles (drones) to patrol areas where a disaster may occur (hereinafter referred to as "disaster areas") and guide remaining people, etc. For example, Patent Document 1 discloses a technology for using multiple unmanned aerial vehicles (drones) to track a target such as a suspect. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-061082 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above-mentioned Patent Document 1 requires that information about the tracking target be handed over between base stations, so there is a problem that the remaining person cannot be tracked in places where there are no base stations, such as a river channel located in a downstream area before dam discharge. In addition, when the tracking target moves to the communication area of ​​a different base station, or when the battery remaining amount of the unmanned aerial vehicle patrolling within the communication area becomes equal to or less than a predetermined value, the tracking and patrol are handed over to a waiting unmanned aerial vehicle. Therefore, if the tracking target is found during patrol, the patrol is stopped and the tracking target is tracked, which takes time to complete the patrol of the disaster area. Furthermore, if there are multiple remaining people in the disaster area, when the drone starts tracking a specific remaining person, it becomes impossible to track other remaining people located on the planned flight route of the drone. In addition, even if tracking can be performed using Patent Document 1, it does not mean that the remaining person can be guided to a safe place.

[0006] For these reasons, how to use drones to efficiently respond to survivors in disaster areas has become an important issue. This issue arises not only when drones are used, but also when using mobile objects such as robots, and when responding to earthquakes and other disasters rather than releasing water from a dam.

[0007] The present invention has been made to solve the problems (issues) associated with 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 respond to people remaining in disaster areas, etc. using mobile bodies. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems and achieve the object, the present invention provides a mobile body control system having a first mobile body and a second mobile body mounted with an imaging device for capturing still images or moving images and patrolling a predetermined area, and a mobile body control device for controlling the movement of the first mobile body and the second mobile body, wherein the mobile body control device includes an evacuation information acquisition unit that acquires evacuation information from a management device that manages evacuation information related to evacuation from the predetermined area, a patrol route identification unit that identifies a patrol route for the first mobile body based on at least the evacuation information, and an evacuation guidance information notification unit that, when a person is included in a still image or moving image captured by the imaging device of the first mobile body, notifies the first mobile body of evacuation guidance information for guiding the person to safety. When the time for the first moving body to finish patrol of the patrol route exceeds a predetermined time for the patrol of all disaster areas to be finished, patrol route information for patrol handover is generated and the second moving body is and a handover information notifying unit for notifying the handover information.

[0009] In addition, in the above invention, the first moving body is characterized in that it comprises a mobile control unit which autonomously controls the movement of the first moving body, which is the device itself, along the patrol route identified by the mobile body control device, an image transmission means which transmits still images or moving images captured by the imaging device while moving along the patrol route to the mobile body control device, and an evacuation guidance unit which, when receiving the evacuation guidance information from the mobile body control device, provides evacuation guidance to persons who are targets of evacuation guidance included in the evacuation guidance information.

[0010] In addition, in the above invention, the present invention is characterized in that when the evacuation guidance unit receives an instruction to guide a person from the mobile control device, it guides the person to evacuation by emitting a predetermined alarm sound, a predetermined alarm message sound and / or light.

[0011] In addition, in the above invention, the present invention is characterized in that the movement control unit autonomously controls the movement of the first moving body, which is the device itself, so that it returns to a predetermined return position once evacuation guidance of the person has been completed.

[0012] In the present invention, in the above-mentioned invention, the first moving body further includes a position information acquisition unit that acquires position information of the moving body itself, and a position information notification unit that notifies the moving body control device of the position information acquired by the position information acquisition unit, and the moving body control device includes position information at which the first moving body started evacuation guidance of the person and a patrol route of the first moving body. Withdrawal The second moving body is notified of relay information.

[0013] Further, in the present invention, in the above-mentioned invention, the second moving body autonomously controls movement of the second moving body, which is the own device, to a position where the first moving body starts evacuation guidance of the person based on the handover information notified from the moving body control device. death, The present invention is characterized in that it comprises a movement control unit that autonomously controls movement of the first moving body along the patrol route from the position where the first moving body starts guiding the person to safety.

[0014] In the above-mentioned invention, the present invention is characterized in that the evacuation information acquisition unit acquires disaster information or dam discharge information as the evacuation information from the management device.

[0015] The present invention also relates to a mobile body control device that is equipped with an imaging device that captures still images or moving images and that controls the movement of a first mobile body and a second mobile body that patrol a predetermined area, the mobile body control device including: an evacuation information acquisition unit that acquires evacuation information from a management device that manages evacuation information related to evacuation from the predetermined area; a patrol route identification unit that identifies a patrol route for the first mobile body based on at least the evacuation information; and an evacuation guidance information notification unit that, when a person is included in a still image or moving image captured by the imaging device of the first mobile body, notifies the first mobile body of evacuation guidance information for guiding the person to safety. When the time for the first moving body to finish patrol of the patrol route exceeds a predetermined time for the patrol of all disaster areas to be finished, patrol route information for patrol handover is generated and the second moving body is and a handover information notifying unit for notifying the handover information.

[0016] The present invention also provides a mobile body control method in a mobile body control system having a first mobile body and a second mobile body mounted with an imaging device for capturing still images or moving images and patrolling a predetermined area, and a mobile body control device for controlling the movement of the first mobile body and the second mobile body, the method including an evacuation information acquisition step in which the mobile body control device acquires evacuation information from a management device that manages evacuation information related to evacuation from the predetermined area, a patrol route identification step in which the mobile body control device identifies a patrol route for the first mobile body based on at least the evacuation information, an evacuation guidance information notification step in which, when a person is included in a still image or a moving image captured by the imaging device of the first mobile body, the mobile body control device notifies the first mobile body of evacuation guidance information for guiding the person to safety, and When the time for the first moving body to finish patrol of the patrol route exceeds a predetermined time for the patrol of all disaster areas to be finished, patrol route information for patrol handover is generated and the second moving body is The method is characterized by including a handover information notifying step of notifying the handover information. Effect of the Invention

[0017] According to the present invention, it is possible to efficiently respond to people remaining in disaster areas, etc., using mobile vehicles. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is an explanatory diagram illustrating an overview of a mobile object control system according to a first embodiment. [Diagram 2] FIG. 2 is a diagram showing a system configuration of the mobile object control system according to the first embodiment. [Diagram 3] FIG. 3 is a functional block diagram showing the configuration of the mobile object control device shown in FIG. [Figure 4] FIG. 4 is a functional block diagram showing a configuration of the moving object shown in FIG. [Diagram 5] FIG. 5 is a sequence diagram (part 1) showing the processing procedure of the mobile object control system shown in FIG. [Figure 6] FIG. 6 is a sequence diagram (part 2) illustrating the processing procedure of the mobile object control system illustrated in FIG. [Figure 7]FIG. 7 is a flow chart showing a processing procedure when the mobile object control device shown in FIG. 2 takes over the evacuation guidance. [Figure 8] FIG. 8 is an explanatory diagram for explaining an outline of evacuation trajectory estimation by the moving body control device shown in FIG. [Figure 9] FIG. 9 is an explanatory diagram illustrating an overview of a mobile object control system according to the second embodiment. [Figure 10] FIG. 10 is a diagram showing a system configuration of a mobile object control system according to the second embodiment. [Figure 11] FIG. 11 is a functional block diagram showing the configuration of the mobile object control device shown in FIG. [Figure 12] FIG. 12 is a sequence diagram (part 1) showing the processing procedure of the mobile object control system shown in FIG. [Figure 13] FIG. 13 is a sequence diagram (part 2) illustrating the processing procedure of the mobile object control system illustrated in FIG. [Figure 14] FIG. 14 is a flowchart showing a processing procedure in the case where the patrol of the mobile object control device shown in FIG. 11 is replaced. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] 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 each of the embodiments described below, a drone is used as the mobile object.

[0020] [Embodiment 1] <Overview of the mobile control system> First, an overview of the mobile object control system according to the first embodiment will be described. Fig. 1 is an explanatory diagram for explaining the overview of the mobile object control system according to the first embodiment. As shown in Fig. 1, this mobile object control system is a system that can efficiently respond to remaining residents in areas where disasters may occur, such as downstream areas of dams (hereinafter collectively referred to as "disaster areas"), using mobile objects. Here, the explanation will be centered on the case where an unmanned flying object called a drone is used as the mobile object.

[0021] The moving body (drone) of the present embodiment 1 is an unmanned flying body that can fly autonomously under the control of the moving body control device 30. In other words, the movement of such a moving body is not controlled by the operation of an operator, but is autonomously controlled in response to instructions from the moving body control device 30. In addition, although described in detail later, the moving body (drone) of the present embodiment 1 includes a means for acquiring its own current position information and a means for acquiring captured images of its surroundings, and transmits the acquired position information and captured images to the moving body control device 30.

[0022] The mobile object control device 30 receives evacuation information from a disaster management device (not shown) (S1). This evacuation information includes earthquake alert information, weather information, dam discharge information, etc. When the mobile object control device 30 receives the evacuation information, it calculates a patrol route for the mobile object 40a to patrol based on the evacuation information, and transmits the patrol route information and a movement instruction to the waiting mobile object 40a (S2).

[0023] If the mobile body 40a receives the patrol route information and the movement instruction from the movement control device 30, it moves to the patrol start position based on the patrol route information included in the received information (S3). Here, the case of moving to the target river is shown. While transmitting its own position information and the captured image information of the surroundings to the movement control device 30, the mobile body 40a patrols according to the patrol route information (S4). The movement control device 30 determines whether a survivor is shown in the received captured image. If it is determined that a survivor is shown, the movement control device 30 transmits an instruction to temporarily interrupt the patrol and evacuation guidance information to the mobile body 40a (S5). The evacuation guidance information includes information indicating the survivor to be guided and the notification content for guiding the survivor to the outside of the disaster area or an evacuation shelter, etc. (hereinafter referred to as the "guidance destination"). When the mobile body 40a receives the instruction to temporarily interrupt the patrol and the evacuation guidance information from the movement control device 30, it interrupts the patrol, and based on the information indicating the survivor to be guided and the notification content included in the evacuation guidance information, while tracking the survivor, it starts to guide the survivor to evacuate by a predetermined alarm sound, alarm message sound and / or light emission, and transmits the position information and the captured image information to the movement control device 30 (S6). After starting the evacuation guidance, if the mobile body 40a exceeds a predetermined standard time (for example, 1 / 3 of the movable time by the battery of the mobile body 40a), it notifies the movement control device 30 of an alert including the remaining battery level (S7).

[0024] If the movement control device 30 receives an alert from the mobile body 40a, it determines whether it is possible to continue the evacuation guidance. Specifically, if the movement control device 30 receives an alert from the mobile body 40a, it estimates the route (evacuation trajectory) for the survivor to move from the current position of the mobile body 40a to the position of the guidance destination based on the current position and the captured image of the mobile body 40a, estimates the movement time A for the survivor to move from the current position to the position of the guidance destination, and if the sum of the movement time A and the movement time B to return from the position of the guidance destination to the takeoff location exceeds the flyable time C obtained from the remaining battery level (C < A + B), it determines that the evacuation guidance cannot be continued only by the mobile body 40a.

[0025] In such a case, in order to have another mobile unit 40b waiting to take over the evacuation guidance, the mobile unit control device 30 transmits handover information including the position information and patrol route information of the mobile unit 40a to the mobile unit 40b (S8). When the mobile unit 40b receives the handover information from the mobile unit control device 30, it moves to the position of the mobile unit 40a included in the handover information (S9) and takes over the evacuation guidance of the mobile unit 40a (S10). Specifically, when the mobile unit 40b moves to the location of the mobile unit 40a, it transmits its own position information and captured image information to the mobile unit control device 30. The mobile unit control device 30 analyzes the captured image information received from the mobile unit 40b, and if it determines that a remaining person is captured, it transmits the same evacuation guidance information as that transmitted to the mobile unit 40a to the mobile unit 40b and transmits a return instruction to the mobile unit 40a. When the mobile unit 40b receives the evacuation guidance information from the mobile unit control device 30, it tracks the remaining person and guides the remaining person to evacuation by a warning message or the like. When the moving body 40a receives a return instruction from the moving body control device 30, it returns to the take-off location (S11).

[0026] <System configuration of mobile control system> Next, a system configuration of the mobile object control system according to the present embodiment 1 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 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.

[0027] 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.

[0028] The mobile body control device 30 performs the following processes: acquiring evacuation information from the disaster management device 10; calculating a patrol route for the mobile body 40 based on the evacuation information; analyzing captured images received from the mobile body 40; if the analysis results of the captured images received from the mobile body 40 include a person (a remainder), notifying the person (a remainder) of evacuation guidance information for guiding the person (a remainder) to safety; determining whether or not to hand over the mobile body currently guiding the remainder in accordance with the evacuation guidance information to another mobile body; and if evacuation guidance is to be handed over to another mobile body, notifying the handover information.

[0029] When the mobile unit 40 receives the patrol route information and a movement instruction from the mobile unit control device 30, it performs patrol according to the patrol route information. At this time, the mobile unit 40 takes images of the surroundings with its own imaging unit, and moves while transmitting the captured image information together with its own position information to the mobile unit control device 30. The mobile unit control device determines whether or not there are any remaining people by analyzing the captured image information transmitted from the mobile unit 40. If there are any remaining people, it transmits to the mobile unit 40 an instruction to temporarily suspend patrol and evacuation guidance information including information indicating the remaining people and notification contents for the remaining people. When the mobile unit 40 receives the instruction to temporarily suspend patrol and the evacuation guidance information from the mobile unit control device 30, it suspends patrol and guides the remaining people to evacuation according to the evacuation guidance information. In addition, the mobile body 40 performs processes such as (1) acquiring its own position information from signals from an altitude sensor and a GNSS (Global Navigation Satellite System) unit, (2) controlling the rotors to move, (3) taking images of the surroundings with an imaging unit and transmitting them to the mobile body control device 30, (4) providing evacuation guidance to remaining persons in accordance with evacuation guidance information from the mobile body control device 30, (5) measuring the time for which evacuation guidance is being provided, (6) notifying the mobile body control device 30 of the acquired position information of the mobile body 40, and (7) receiving handover information from the mobile body control device 30.

[0030] <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. 3 is a functional block diagram showing the configuration of the mobile object control device 30 shown in Fig. 2. As shown in Fig. 3, 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 storage unit 35, and a control unit 36.

[0031] 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. The wireless communication unit 34 is an interface unit for wireless communication with the mobile object 40.

[0032] The storage unit 35 is a storage device such as a hard disk drive or a non-volatile memory, and stores evacuation information 35a, patrol route information 35b, evacuation guidance information 35c, position information 35d, captured image information 35e, and evacuation trajectory information 35f.

[0033] The control unit 36 ​​is a control unit that controls the entire mobile body control device 30, and has an evacuation information acquisition unit 36a, a patrol route identification unit 36b, a captured image analysis unit 36c, an evacuation guidance information notification unit 36d, an evacuation guidance handover determination unit 36e, a position information receiving unit 36f, a handover information notification unit 36g, an evacuation trajectory estimation unit 36h, etc. In practice, by loading these programs into a CPU and executing them, the evacuation information acquisition unit 36a, the patrol route identification unit 36b, the captured image analysis unit 36c, the evacuation guidance information notification unit 36d, the evacuation guidance handover determination unit 36e, the position information receiving unit 36f, the handover information notification unit 36g, and the evacuation trajectory estimation unit 36h are caused to execute processes corresponding to the evacuation information acquisition unit 36a, the patrol route identification unit 36b, the captured image analysis unit 36c, the evacuation guidance information notification unit 36d, the evacuation guidance handover determination unit 36e, the position information receiving unit 36f, the handover information notification unit 36g, and the evacuation trajectory estimation unit 36h, respectively.

[0034] The evacuation information acquisition unit 36a acquires disaster information based on earthquake alerts, warnings and advisories regarding weather such as heavy rain and strong winds, or dam discharge information from the disaster management device 10, and stores the information as evacuation information 35a in the storage unit 35. The evacuation information includes information indicating the type of disaster and the disaster area.

[0035] Based on the evacuation information 35a, the patrol route identification unit 36b identifies a patrol route that allows the mobile body 40 to efficiently patrol the disaster area, stores the patrol route information 35b in the memory unit 35, and transmits the patrol route information 35b to the mobile body 40 via the wireless communication unit 34.

[0036] The captured image analysis unit 36c analyzes the captured images of the disaster area received from the mobile unit 40, monitors the presence or absence of remaining people, and stores the captured images as captured image information 35e in the storage unit 35. When analyzing such captured images, for example, remaining people can be detected by performing a template matching process using a human template on the captured images. In addition, the captured images can 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 perform supervised learning using images containing people and their results as training data to generate a trained model. Machine learning other than deep learning can also be used.

[0037] The evacuation guidance information notification unit 36d is a processing unit that transmits notification contents to be notified to remaining people by the moving body 40 and information indicating the detected remaining people (people to be guided). The notification contents are stored in advance in the storage unit 35 as evacuation guidance information 35c, and the evacuation guidance information notification unit 36d identifies the notification contents based on the evacuation information 35a and the captured image information 35e.

[0038] The evacuation route estimation unit 36h estimates a route (hereinafter referred to as "evacuation route") by which the survivor moves from the current position to the destination position based on the imaging image information and the position information of the mobile body 40a, and stores it in the storage unit 35 as evacuation route information 35f. The evacuation guidance handover determination unit 36e determines whether it is possible to continue the evacuation guidance if an alert is received from the mobile body 40a. If an alert is received from the mobile body 40a, the movement time A during which the survivor moves from the current position to the destination position is estimated based on the current position of the mobile body 40a and the evacuation route stored as the evacuation route information. If the sum of the movement time A and the movement time B from the destination position to the return to the departure location exceeds the flightable time C obtained from the remaining battery level (C < A + B), it is determined that the evacuation guidance cannot be continued only by the mobile body 40a. On the other hand, if the sum of the movement time A and the movement time B is within the flightable time C (C ≥ A + B), it is determined that the evacuation guidance can be continued only by the mobile body 40a.

[0039] The position information receiving unit 36f receives the position information of its own device notified from the mobile body 40a, and stores it in the storage unit 35 as position information 35d. The handover information notification unit 36g transmits the position information 35d of the mobile body 40a and the patrol route information 35b of the mobile body 40a to the mobile body 40b as handover information when another mobile body 40b takes over the evacuation guidance of the mobile body 40a.

[0040] In addition, the control unit 36 analyzes the imaging image information received from the mobile body 40b, and if it determines that the evacuation guidance has been successfully handed over, notifies the mobile body 40a of the return instruction. Further, when the control unit 36 receives an alert from the mobile body 40a, if the remaining battery level included in the alert is equal to or lower than the threshold value, the control unit 36 may cause the mobile body 40b waiting for the patrol or evacuation guidance being performed by the mobile body 40a to take over, transmit a return instruction to the mobile body 40a, and cause the mobile body 40a to return to the departure location.

[0041] <Configuration of the mobile body 40a> Next, the configuration of the moving body 40a shown in Fig. 2 will be described. Fig. 4 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 a similar configuration. As shown in Fig. 4, the moving body 40a has an imaging unit 41, an altitude sensor 42, a GNSS unit 43, a notification unit 44, a wireless communication unit 45, a rotor 46, a storage unit 47, and a control unit 48.

[0042] The imaging unit 41 is an imaging device that uses a camera to capture images of the disaster area. The camera mounted on the imaging unit 41 is preferably 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.

[0043] 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, and 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 GNSS unit 43 is a unit that receives signals from multiple GNSS satellites and identifies the position coordinates of the own device.

[0044] The notification unit 44 is a processing unit that notifies the remaining people of evacuation guidance information 47c received from an evacuation guidance unit 48c described later. For example, it can notify by a synthesized alarm message sound, an alarm sound and / or light emission. 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 48, enabling the attitude control and movement of the mobile body 40a.

[0045] The storage unit 47 is a storage device such as a hard disk drive or a non-volatile memory, and stores patrol route information 47a, captured image information 47b, evacuation guidance information 47c, evacuation guidance time information 47e, and evacuation guidance standard time information 47f. The patrol route information 47a is the patrol route information 35b specified by the mobile object control device 30, and the mobile object 40a moves according to this patrol route information 35b.

[0046] The control unit 48 is a control unit that controls the entire moving body 40a, and includes a movement control unit 48a, an image capture control unit 48b, an evacuation guidance unit 48c, an evacuation guidance time measurement unit 48e, an alert notification unit 48f, a position information acquisition unit 48g, a position information notification unit 48h, and a handover information reception unit 48i. In reality, by loading these programs into a CPU and executing them, the movement control unit 48a, the image capture control unit 48b, the evacuation guidance unit 48c, the evacuation guidance time measurement unit 48e, the alert notification unit 48f, the position information acquisition unit 48g, the position information notification unit 48h, and the handover information reception unit 48i are caused to execute processes corresponding to the movement control unit 48a, the image capture control unit 48b, the evacuation guidance unit 48c, the evacuation guidance time measurement unit 48e, the alert notification unit 48f, the position information acquisition unit 48g, the position information notification unit 48h, and the handover information reception unit 48i. The movement control unit 48a controls the movement by controlling the multiple rotors 46 using the patrol route information 47a, the altitude information output by the altitude sensor 42, and the position information output by the GNSS unit 43.

[0047] The imaging control unit 48b 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 47b in the storage unit 47. In addition, the imaging control unit 48b transmits the captured image information 47b to the mobile object control device 30 during flight.

[0048] The evacuation guidance unit 48c receives the evacuation guidance information 35c transmitted from the mobile object control device 30, and stores it as evacuation guidance information 47c in the storage unit 47. In addition, the evacuation guidance unit 48c outputs the stored evacuation guidance information 47c to the notification unit 44.

[0049] The evacuation guidance time measurement unit 48e starts measurement from the time when the moving body 40a arrives at the disaster area and evacuation guidance starts, and stores the elapsed time of evacuation guidance in the storage unit 47 as evacuation guidance time information 47e.

[0050] The alert notification unit 48f compares the evacuation guidance standard time information 47f with the evacuation guidance time information 47e, and if the evacuation guidance time exceeds the evacuation guidance standard time, transmits an alert to the mobile body control device 30. The evacuation guidance standard time is, for example, about 1 / 3 of the battery-powered travel time of the mobile body 40a, and is stored in advance in the storage unit 47 as the evacuation guidance standard time information 47f.

[0051] The position information acquisition unit 48g acquires position information of the own device obtained from the altitude sensor 42 and the GNSS unit 43. The position information notification unit 48h transmits the position information of the own device acquired by the position information acquisition unit 48g to the mobile body control device 30. For example, when the mobile body 40b takes over the evacuation guidance performed by the mobile body 40a, the handover information reception unit 48i of the mobile body 40b receives the position information and patrol route information of the mobile body 40a transmitted from the mobile body control device 30 and stores them in the storage unit 47 as patrol route information 47a.

[0052] The movement control unit 48a constantly monitors the remaining battery charge (not shown), and when the remaining battery charge falls below a predetermined threshold, for example when the battery is depleted more than expected due to the effects of wind, the alert notification unit 48f sends an alert to the mobile body control device 30, and the movement of the mobile body 40a is interrupted and the mobile body returns to the takeoff location.

[0053] <Processing procedure of the mobile control system> Next, a description will be given of the processing procedure of the mobile object control system according to the embodiment 1. Fig. 5 and Fig. 6 are sequence diagrams for explaining the processing procedure of the mobile object control system shown in Fig. 2.

[0054] 5 and 6, the mobile object control device 30 acquires evacuation information 35a from the disaster management device 10 (step S101). Then, the mobile object control device 30 specifies patrol route information 35b of the mobile object 40a based on the evacuation information 35a (step S102), and transmits a movement instruction and the specified patrol route information 35b to the mobile object 40a (step S103). The other mobile object 40b waits until it receives an instruction from the mobile object control device 30 (step S104).

[0055] When the mobile unit 40a receives a movement instruction and the patrol route information 35b from the mobile unit control device 30 (step S105), it stores the information as patrol route information 47a and starts moving according to the patrol route information 47a (step S106). When the mobile unit 40a arrives at the disaster area, it moves according to the patrol route information 47a while transmitting movement information including the position of the mobile unit 40a and captured image information 47b to the mobile unit control device 30 (step S107).

[0056] When the mobile object control device 30 receives the captured image information 47b from the mobile object 40a, it analyzes the captured image (step S108). If the image analysis shows that there is a remainder, the mobile object control device 30 transmits an instruction to temporarily suspend patrol to the mobile object 40a and transmits the evacuation guidance information 35c identified by the evacuation guidance information notification unit 36d (step S109).

[0057] When the moving body 40a receives the temporary suspension instruction and the evacuation guidance information 35c, it stores the information as evacuation guidance information 47c and temporarily suspends the patrol (step S110), tracks the remaining people to be guided, and notifies the remaining people of the evacuation guidance information 47c (step S111). The moving body 40a also transmits movement information including the position of the moving body 40a and captured image information 47b to the moving body control device 30 (step S112). The moving body control device 30 analyzes the captured image information 47b received from the moving body 40a (step S113).

[0058] Next, when a certain period of time has elapsed since the start of evacuation guidance, the moving body 40a notifies the moving body control device 30 of an alert including the remaining battery power (step S114).

[0059] If the movement control device 30 receives an alert from the moving body 40a, it estimates the evacuation route of the survivor based on the captured image information and the position information of the moving body 40a, and determines whether the moving body 40a can continue the evacuation guidance based on the estimated evacuation route and the remaining battery level included in the alert (step S115). When the sum of the movement time A for the moving body 40a to move from the current position to the position of the guidance destination and the movement time B for it to return from the position of the guidance destination to the takeoff location exceeds the flightable time C obtained from the remaining battery level (C < A + B), it is determined that the moving body 40a alone cannot continue the evacuation guidance. On the other hand, when the sum of the movement time A and the movement time B is within the flightable time C (C ≥ A + B), it is determined that the moving body 40a alone can continue the evacuation guidance.

[0060] If the evacuation guidance by the moving body 40a can be continued (step S115: Yes), the movement control device 30 waits for the next alert from the moving body 40a. If the continuation of the evacuation guidance is not possible (step S115: No), it transmits handover information including the position information and the patrol route information 35b of the moving body 40a to another moving body 40b (step S116).

[0061] If the moving body 40b receives the handover information from the movement control device 30 (step S117), it stores it as the patrol route information 47a and moves to the position of the moving body 40a included in the handover information (step S118). When the moving body 40b arrives at the position of the moving body 40a, it transmits movement information including its own position and the captured image information 47b to the movement control device 30 (step S119).

[0062] If the movement control device 30 receives the movement information and the captured image information 47b from the moving body 40b, it analyzes the captured image (step S120). If, as a result of the image analysis, it is determined that the survivor tracked by the moving body 40a is shown, it transmits the same evacuation guidance information as that transmitted to the moving body 40a to the moving body 40b (step S121). When the moving body 40b receives the evacuation guidance information from the movement control device 30, it notifies the evacuation guidance information to the survivor (step S122).

[0063] The mobile unit control device 30 receives the movement information and the captured image information 47b from the mobile unit 40b, and when it is confirmed that the mobile unit 40b has started guiding the remaining people to evacuation, it transmits a return instruction to the mobile unit 40a (step S123). When the mobile unit 40a receives the return instruction from the mobile unit control device 30, it returns to the takeoff location (step S124).

[0064] The mobile object control device 30 analyzes the movement information and captured image information 47b transmitted from the mobile object 40b, and if it determines that the remaining people have left the disaster area or have completed evacuation by arriving at a shelter or the like, it transmits an instruction to the mobile object 40b to resume patrol according to the patrol route information 47a (step S125). Upon receiving the instruction to resume patrol, the mobile object 40b resumes patrol according to the patrol route information 47a (step S126).

[0065] When the moving body 40b completes the patrol or when the remaining battery charge falls below a threshold, the moving body 40b returns to the take-off location (step S127).

[0066] When the mobile unit 40b has patrolled the entire travel route, the mobile unit control device 30 ends the process as the patrol is completed (step S128: Yes). However, if the mobile unit 40b has returned due to a lack of battery or the like and the patrol is not completed (step S128: No), the mobile unit control device 30 returns to step S102, calculates new patrol route information 35b from the interrupted location, and transmits the calculated mobile unit route information and a travel instruction to the other waiting mobile units 40.

[0067] <Processing Procedure of the Evacuation Guidance Handover Determination Unit 36e of the Mobile Object Control Device 30> Next, a process procedure of the evacuation guidance handover determination unit 36e of the mobile object control device 30 will be described. Fig. 7 is a flow chart diagram showing a process procedure of the evacuation guidance handover determination unit 36e of the mobile object control device 30 shown in Fig. 2. As shown in Fig. 7, the evacuation guidance handover determination unit 36e monitors the reception of an alert from the mobile object 40a notifying that the evacuation guidance standard time has been exceeded (step S201: No), and if an alert is received from the mobile object 40a (step S201: Yes), estimates an evacuation trajectory based on the captured image information and position information of the mobile object 40a, and calculates the sum of a travel time A for the mobile object 40a to move from the current position to the guided position and a travel time B for the mobile object 40a to return from the guided position to the takeoff location based on the estimated evacuation trajectory and the remaining battery level included in the alert received from the mobile object 40a (step S202).

[0068] Next, the evacuation guidance handover determination unit 36e calculates the flight time C of the moving body 40a from the remaining battery power received from the moving body 40a (step S203). Then, the evacuation guidance handover determination unit 36e determines whether the evacuation guidance can be completed based on the travel time required for evacuation and return and the flight time of the moving body 40a. If the evacuation guidance handover determination unit 36e determines that the evacuation guidance can be completed (step S204: Yes), it returns to step S201 and monitors for receipt of the next alert from the moving body 40a. If it determines that the evacuation guidance cannot be completed (step S204: No), it notifies the other moving body 40b, which is to take over the evacuation guidance, of handover information including the position information of the moving body 40a and the patrol route information 35b (step S205).

[0069] Then, the evacuation guidance handover determination unit 36e monitors the arrival of the moving body 40b in the disaster area (step S206: No), and if the moving body 40b arrives at the position of the moving body 40a (step S206: Yes), it sends a return instruction to the moving body 40a that was providing evacuation guidance (step S207).

[0070] <Outline of evacuation trajectory estimation by the mobile object control device 30> Next, the estimation of the evacuation trajectory by the mobile body control device 30 will be described. Fig. 8 is an explanatory diagram for explaining an outline of the evacuation trajectory estimation by the evacuation trajectory estimation unit 36h of the mobile body control device 30 shown in Fig. 2. As shown in Fig. 8, the mobile body control device 30 calculates the evacuation trajectory of the remaining people from the position information of the mobile body 40a and the captured image captured by the imaging unit 41, and stores it in the storage unit 35 as evacuation trajectory information 35f. Note that the evacuation trajectory may be estimated by the mobile body 40a from its own position information and the captured image.

[0071] In this way, the mobile body control system according to the first embodiment can perform evacuation guidance of remaining people over a wide area regardless of the area by controlling multiple mobile bodies 40 by the mobile body control device 30. In addition, when the mobile body control device 30 transmits an instruction to temporarily suspend patrol to the mobile body 40a or receives an alert from the mobile body 40a, the mobile body control device 30 may transmit new patrol route information to other waiting mobile bodies 40 together with a movement instruction to patrol the patrol route where the mobile body 40a suspended patrol. In this way, when the mobile body 40a suspends patrol or when evacuation guidance takes time, the mobile body control device 30 determines that evacuation guidance needs to be taken over and moves another mobile body 40b to the evacuation guidance location, so that when the mobile body takes time to evacuate the remaining people, it is possible to efficiently respond to the remaining people in the disaster area.

[0072] In the above embodiment 1, the completion of the handover of evacuation guidance for the moving body 40b is performed by the moving body control device 30. However, it is also possible to send a handover completion notification to the moving body control device 30 on the condition that the moving body 40b has arrived at the position of the moving body 40a.

[0073] [Embodiment 2] In the above embodiment 1, when the mobile unit 40a needs time for evacuation guidance, an alert is sent to the mobile unit control device 30, and the evacuation guidance is handed over to another mobile unit. However, in the event of a disaster, the patrol of other disaster areas must also be completed within a predetermined time (for example, within two hours). Therefore, in the present embodiment 2, a case in which the patrol is also handed over to multiple mobile units will be described.

[0074] Next, the outline of the movement control system according to the second embodiment will be described. FIG. 9 is an explanatory diagram for explaining the outline of the movement control system according to the second embodiment. As shown in FIG. 9, this movement control system is a system that can have a plurality of moving bodies take over the patrol of the remaining disaster area when it takes time for the moving body to guide the evacuation of the survivors in the disaster area.

[0075] If the moving body 40a receives information including a patrol route and a movement instruction from the movement control device 50, it moves according to the patrol route included in the received information. The moving body 40a patrols along the patrol route while checking for survivors to confirm whether there are any survivors. If there are survivors, the moving body 40a starts evacuation guidance. Then, after starting the evacuation guidance, if the evacuation guidance is not completed within a predetermined guidance time (for example, 1 / 3 of the movable time by the battery of the moving body 40a), the moving body 40a notifies the movement control device 50 of an alert (S20).

[0076] If the movement control device 50 receives an alert from the moving body 40a, it estimates an evacuation trajectory and determines whether the patrol of the unpatrolled route among the patrol routes of the moving body 40a can be completed within a predetermined time by which the patrol should be completed. If the sum of the movement time A for the moving body 40a to move from the current position to the position of the induction destination, the movement time D for patrolling the remaining patrol route from the position of the induction destination, and the movement time E for ending the patrol and returning to the takeoff location exceeds the flightable time C (C < A + D + E), or if the time to complete the patrol of the patrol route exceeds the predetermined time by which the patrol of all disaster areas should be completed, it is determined that the patrol cannot be completed only by the moving body 40a.

[0077] In such a case, the movement control device 50 generates new patrol route information to have another standby moving body 40b take over the patrol, and notifies the moving body 40b of a movement instruction to take over the patrol (S21).

[0078] When the mobile unit 40b receives a movement instruction from the mobile unit control device 50, it moves to the next inspection start position according to the inspection route information (S22). After that, the mobile unit 40b patrols according to the inspection route information while transmitting its own position information and captured image information (S23).

[0079] <System configuration of mobile control system> Next, a system configuration of a mobile object control system according to the second embodiment will be described. Fig. 10 is a diagram showing the system configuration of the mobile object control system shown in Fig. 9. As shown in Fig. 10, in this mobile object control system, a disaster management device 10, a mobile object control device 50, 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. The disaster management device 10 and the plurality of mobile objects 40a, 40b, and 40c are the same as those in the first embodiment.

[0080] <Configuration of the mobile object control device 50> Next, the configuration of the mobile body control device 50 shown in Fig. 10 will be described. Fig. 11 is a functional block diagram showing the configuration of the mobile body control device 50 shown in Fig. 10. Note that a description of functional units similar to those of the mobile body control device 30 shown in Fig. 3 will be omitted. As shown in Fig. 10, the mobile body control device 50 has a display unit 31, an operation unit 32, a communication I / F unit 33, a wireless communication unit 34, a storage unit 35, and a control unit 56. Note that the same reference numerals are used for the same parts as those in Fig. 3, and detailed descriptions thereof will be omitted.

[0081] The control unit 56 is a control unit that controls the entire mobile object control device 50, and has an evacuation information acquisition unit 36a, a patrol route identification unit 36b, a captured image analysis unit 36c, an evacuation guidance information notification unit 36d, a position information reception unit 36f, an evacuation trajectory estimation unit 36h, and a patrol handover determination unit 56a. In practice, by loading these programs into a CPU and executing them, the evacuation information acquisition unit 36a, the patrol route identification unit 36b, the captured image analysis unit 36c, the evacuation guidance information notification unit 36d, the position information reception unit 36f, the evacuation trajectory estimation unit 36h, and the patrol handover determination unit 56a are caused to execute processes corresponding to each of them.

[0082] If the patrol handover determination unit 56a receives an alert from the mobile unit 40a, it estimates an evacuation route and determines whether or not the patrol of the unpatrolled route among the patrol routes of the mobile unit 40a can be completed within a predetermined time for completing the patrol. If the sum of the travel time A for the mobile unit 40a to move from the current position to the position of the guiding destination, the travel time D for patrolling the remaining patrol route from the position of the guiding destination, and the travel time E for ending the patrol and returning to the departure location exceeds the flight available time C (C < A + D + E), or if the time for ending the patrol of the patrol route exceeds the predetermined time for completing the patrol of all disaster areas, it is determined that the patrol cannot be completed only by the mobile unit 40a. On the other hand, if the sum of the travel time A, the travel time D, and the travel time E is within the flight available time C (C ≥ A + D + E), and if the time for ending the patrol of the patrol route is within the predetermined time for completing the patrol of all disaster areas, it is determined that the patrol can be completed only by the mobile unit 40a.

[0083] <Processing Procedure of Movement Control System> Next, the processing procedure of the movement control system according to Embodiment 2 will be described. FIGS. 12 and 13 are sequence diagrams for explaining the processing procedure of the movement control system shown in FIG. 10. Note that, for the processing similar to the processing procedure of the movement control system according to Embodiment 1 in FIGS. 5 and 6, the same reference numerals and step numbers will be assigned, and the detailed description thereof will be omitted.

[0084] As shown in Fig. 13, when the mobile unit control device 50 receives an alert (including the remaining battery power) from the mobile unit 40a indicating that a certain time has elapsed since the start of evacuation guidance (step S301), the mobile unit control device 50 estimates an evacuation trajectory based on the captured image information and position information of the mobile unit 40a, and judges whether the mobile unit 40a can complete the patrol based on the remaining battery power, the evacuation trajectory, and the remaining patrol route information included in the alert. If the sum of the travel time A for the mobile unit 40a to travel from the current position to the guided position, the travel time D for patrolling the remaining patrol route from the guided position, and the travel time E for returning to the takeoff point after completing the patrol is within the flight time C calculated from the remaining battery power (C ≥ A + D + E), and the time to finish patrolling the patrol route is within a predetermined time to complete the patrol of all disaster areas, it is judged that the patrol can be completed by the mobile unit 40a alone.

[0085] If the patrol by the mobile unit 40a alone can be completed within the time (step S302: Yes), the mobile unit control device 50 causes the mobile unit 40a to continue guiding the remaining people to evacuation. If the patrol by the mobile unit 40a alone cannot be completed within the time (step S302: No), the mobile unit control device 50 transmits patrol route information 35b for patrol handover to another mobile unit 40b that is to take over the patrol (step S303).

[0086] Next, when the mobile unit control device 50 transmits the patrol route information for handover to the mobile unit 40b, it transmits an instruction to the mobile unit 40a to return without returning to the patrol after the evacuation guidance is completed (step S304). When the mobile unit 40a receives an instruction from the mobile unit control device 50 to return without returning to the patrol after the evacuation guidance is completed (step S305), it returns to the takeoff location after the evacuation guidance is completed (step S306).

[0087] When the mobile unit 40b receives the patrol route information 35b for patrol handover from the mobile unit control device 50 (step S307), it moves to the patrol start position according to the patrol route information (step S308). When the mobile unit 40b arrives at the patrol start position, it transmits movement information including its own position and captured image information 47b to the mobile unit control device 50 (step S309).

[0088] When the mobile unit control device 50 receives the movement information and the captured image information 47b from the mobile unit 40b, it analyzes the captured image (step S310). If the image analysis shows that there are any remaining people, the mobile unit control device 50 transmits a command to temporarily suspend the patrol to the mobile unit 40b and transmits the evacuation guidance information 35c identified by the evacuation guidance information notification unit 36d (step S311). When the mobile unit 40b receives the command to temporarily suspend the patrol, it temporarily suspends the patrol (step S312), notifies the remaining people of the evacuation guidance information 47c (step S313), and tracks the remaining people while transmitting the movement information and the captured image information 47b including the position of the mobile unit to the mobile unit control device 50 (step S314).

[0089] The mobile unit control device 50 analyzes the movement information and captured image information 47b transmitted from the mobile unit 40b (step S315), and if it determines that the evacuation of remaining people is complete, transmits to the mobile unit 40b an instruction to resume patrol according to the patrol route information 47a (step S316). Upon receiving the instruction to resume patrol, the mobile unit 40b resumes patrol from the position where the patrol was interrupted (step S317).

[0090] When the mobile body 40b has completed the patrol according to the patrol route information 47a, or when the remaining battery level has fallen below the threshold value, it returns to the takeoff location (step S318). If the mobile body control device 50 determines that the mobile body 40b has patrolled all the patrol routes, it ends the process as a completed patrol (step S319: Yes). However, if it returns due to insufficient battery or the like and the patrol has not been completed (step S319: No), it returns to step S102, calculates new patrol route information 35b from the interrupted location, and transmits a movement instruction and patrol route information to the waiting mobile body 40 in order to cause the other waiting mobile body 40 to perform the patrol.

[0091] <Processing procedure of the patrol handover determination unit 56a of the mobile body control device 50> Next, the processing procedure of the patrol handover determination unit 56a of the mobile body control device 50 shown in FIG. 11 will be described. FIG. 14 is a flowchart showing the processing procedure of the patrol handover determination unit 56a of the mobile body control device 50 shown in FIG. 11. As shown in FIG. 14, the patrol handover determination unit 56a monitors the reception of an alert indicating that the evacuation guidance standard time from the mobile body 40a has been exceeded (step S401: No). If an alert is received from the mobile body 40a (step S401: Yes), it calculates the remaining required time until the mobile body 40a completes the evacuation guidance and the patrol of the disaster area (step S402).

[0092] Next, the patrol handover determination unit 56a determines whether the mobile body 40a can complete the patrol based on the required time. Specifically, when the sum of the movement time A for the mobile body 40a to move from the current position to the position of the guidance destination, the movement time D for patrolling the remaining patrol route from the position of the guidance destination, and the movement time E for returning to the takeoff location after ending the patrol exceeds the flight available time C (C < A + D + E), or when the time to end the patrol of the patrol route exceeds the predetermined time for completing the patrol of all disaster areas, it is determined that the mobile body 40a alone cannot complete the patrol. On the other hand, when the sum of the movement time A, the movement time D, and the movement time E is within the flight available time C (C ≥ A + D + E), and the time to end the patrol of the patrol route is within the predetermined time for completing the patrol of all disaster areas, it is determined that the mobile body 40a alone can complete the patrol.

[0093] If the patrol handover determination unit 56a determines that the patrol can be completed by the mobile unit 40a alone (step S403: Yes), the patrol handover determination unit 56a returns to step S401 and monitors for receipt of the next alert from the mobile unit 40a. If the patrol cannot be completed (step S403: No), the patrol handover determination unit 56a notifies another mobile unit 40b that is to take over the patrol of the patrol route information 35b for patrol handover (step S404). Then, the patrol handover determination unit 56a transmits an instruction to the mobile unit 40a that was providing evacuation guidance to return after completing the evacuation guidance, and ends the process (step S405).

[0094] As described above, the mobile body control system of this embodiment 2 is configured to send an alert from the mobile body 40a when evacuation guidance will take time, and the mobile body control device 50 determines whether handover is necessary to patrol the remaining disaster area, and if handover is necessary, to move another mobile body 40b to the remaining disaster area. Therefore, when it takes time for the mobile body to guide the remaining people to evacuation in the disaster area, it is possible to efficiently respond to the remaining people in the remaining disaster area.

[0095] In each of the above embodiments, a drone is used as the moving body 40, but the present invention is not limited to this and can also be applied to a robot that travels on the ground.

[0096] 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]

[0097] The mobile object control system, mobile object control device, and mobile object control method according to the present invention are suitable for efficiently responding to people remaining in a disaster area using mobile objects. [Explanation of symbols]

[0098] N Network 10 Disaster management device 30 Mobile control device 31 Display section 32 Operation section 33 Communication I / F section 34 Wireless Communication Section 35 Storage section 35a Evacuation information 35b Patrol route information 35c Evacuation guidance information 35d location information 35e Image information 35f Evacuation trajectory information 36 Control Unit 36a Evacuation Information Acquisition Department 36b Patrol Route Identification Division 36c Image analysis section 36d Evacuation guidance information notification department 36e Evacuation Guidance Handover Judgment Department 36f Location information receiver 36g Transfer information notification section 36h Evacuation trajectory estimation part 40, 40a, 40b, 40c mobile 41 Imaging unit 42 Altitude Sensor 43 GNSS unit 44 Notification Department 45 Wireless Communication Division 46 Rotor 47 Memory section 47a Patrol route information 47b Image information 47c Evacuation guidance information 47e Evacuation Guidance Time Information 47f Evacuation Guidance Standard Time Information 48 Control Unit 48a Movement control section 48b Imaging control unit 48c Evacuation guidance section 48e Evacuation Guidance Time Measurement Unit 48f Alert notification section 48g Location information acquisition part 48h Location information notification section 48i Transfer information receiving section 50 Mobile control device 56 Control section 56a Patrol Handover Judgment Section

Claims

1. A mobile body control system including a first mobile body and a second mobile body mounted with an imaging device for capturing still images or moving images and patrolling a predetermined area, and a mobile body control device for controlling the movement of the first mobile body and the second mobile body, The mobile object control device includes: an evacuation information acquisition unit that acquires evacuation information from a management device that manages evacuation information related to evacuation from a predetermined area; A patrol route determination unit that determines a patrol route of the first moving object based on at least the evacuation information; an evacuation guidance information notification unit that notifies the first moving body of evacuation guidance information for guiding the person to an evacuation when a person is included in a still image or a moving image captured by an imaging device of the first moving body; a handover information notification unit that generates patrol route information for handover of patrol and notifies the second mobile unit when a time for the first mobile unit to end patrol of the patrol route exceeds a predetermined time for the patrol of all disaster areas to be ended; A mobile object control system comprising:

2. The first moving body is A movement control unit that autonomously controls movement of a first moving body, which is a first moving body, along the inspection route specified by the moving body control device; an image transmission means for transmitting to the mobile object control device a still image or a moving image captured by the imaging device during movement of the inspection route; an evacuation guidance unit that, when receiving the evacuation guidance information from the mobile object control device, performs evacuation guidance for a person who is a target of evacuation guidance included in the evacuation guidance information; The mobile object control system according to claim 1, further comprising:

3. The evacuation guidance section includes: The mobile body control system according to claim 2, characterized in that when an instruction to guide a person is received from the mobile body control device, the mobile body control system guides the person to evacuation by emitting a predetermined alarm sound, a predetermined alarm message sound and / or light.

4. The movement control unit is 3. The mobile object control system according to claim 2, wherein, when evacuation guidance of the person is completed, the first mobile object, which is the device itself, is autonomously controlled to move and return to a predetermined return position.

5. The first moving body is A location information acquisition unit that acquires location information of a moving body that is the device itself; a location information notification unit that notifies the mobile object control device of the location information acquired by the location information acquisition unit; Further equipped with The mobile object control device includes: The first moving body notifies the second moving body of position information at which the first moving body starts evacuation guidance for the person and handover information including the patrol route of the first moving body.

5. A mobile object control system according to claim 1, wherein:

6. The second moving body is a movement control unit that autonomously controls movement of a second moving body, which is a device of the first moving body, to a position where the first moving body starts evacuation guidance of the person based on the handover information notified from the moving body control device, and autonomously controls movement of the first moving body along the patrol route from the position where the first moving body starts evacuation guidance of the person; The mobile object control system according to claim 5, further comprising:

7. The evacuation information acquisition unit, 7. The mobile object control system according to claim 1, wherein disaster information or dam discharge information is acquired as the evacuation information from the management device.

8. A mobile object control device that is equipped with an imaging device that captures still images or moving images and controls the movement of a first mobile object and a second mobile object that patrol a predetermined area, an evacuation information acquisition unit that acquires evacuation information from a management device that manages evacuation information related to evacuation from a predetermined area; A patrol route determination unit that determines a patrol route of the first moving object based on at least the evacuation information; an evacuation guidance information notification unit that notifies the first moving body of evacuation guidance information for guiding the person to an evacuation when a person is included in a still image or a moving image captured by an imaging device of the first moving body; a handover information notification unit that generates patrol route information for handover of patrol and notifies the second mobile unit when a time for the first mobile unit to end patrol of the patrol route exceeds a predetermined time for the patrol of all disaster areas to be ended; A mobile object control device comprising:

9. A mobile object control method in a mobile object control system having a first mobile object and a second mobile object mounted with an imaging device for capturing still images or moving images and patrolling a predetermined area, and a mobile object control device for controlling the movements of the first mobile object and the second mobile object, comprising: an evacuation information acquisition step in which the mobile object control device acquires the evacuation information from a management device that manages evacuation information related to evacuation from a predetermined area; a patrol route specification step of the mobile object control device specifying a patrol route of the first mobile object based on at least the evacuation information; an evacuation guidance information notification step of the mobile body control device notifying the first mobile body of evacuation guidance information for guiding the person to an evacuation when a person is included in a still image or a moving image captured by an imaging device of the first mobile body; a handover information notification step of the mobile object control device generating patrol route information for handover of patrol and notifying the second mobile object of the handover information when the time for the first mobile object to end patrol of the patrol route exceeds a predetermined time for the end of patrol of all disaster areas; A moving object control method comprising:

Images