Mobile control system, mobile control device, and mobile control method

Abstract

To provide a moving object control system, a moving object control device, and a moving object control method that can efficiently call for evacuation from a moving object to disaster victims.SOLUTION: In a moving object control system, a moving object control device 30 acquires information on a wind direction and wind speed in a disaster area, acquires captured image information from a moving object 40, analyzes the captured image information by a captured image analyzing unit 36g, identifies, by means of a notification position identifying unit 36i, a notification position and a notification direction of a notification sound suitable for notification by the moving object 40, which are suitable for environmental conditions at a location of a disaster victim, and notifies the moving object 40 of the specified notification position and notification direction of the notification sound. The moving object 40 moves to the notified notification position and calls for evacuation in the notified notification direction of the notification sound.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a movement control system, a movement control device, and a movement control method that can efficiently call for evacuation from a moving object to a disaster victim.

Background Art

[0002] Conventionally, a technique has been known in which a drone is flown to a position a predetermined distance away from a person (hereinafter referred to as a "disaster victim") located in an area where a disaster may occur (hereinafter referred to as a "disaster area") to guide the evacuation of the disaster victim. For example, Patent Document 1 discloses a technique of flying at a position a predetermined distance away from a terminal based on the current position of a drone, the route from a departure point to a destination, and the radio wave intensity between the terminal and a terminal possessed by a user, and guiding the user from the departure point to the destination. Therefore, if such a user is a disaster victim, the disaster victim can be led and guided to the destination.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, since the one in Patent Document 1 simply flies above the front of the disaster victim, when there are a plurality of disaster victims, it is impossible to specify which disaster victim's front to fly above. Also, when the visibility in the disaster area is poor, it is difficult to efficiently lead the disaster victim.

[0005] For this reason, it is desirable to output a voice message calling on disaster victims to evacuate from the drone. However, due to the influence of the wind or the like, the voice message of the drone may not reach the disaster victims, and as a result, the disaster victims may be delayed in escaping. Therefore, how to efficiently call on disaster victims to evacuate at the scene has become an important issue.

[0006] The present invention has been made to solve the problems (issues) of the above prior art, and an object thereof is to provide a movement control system, a movement control device, and a movement control method capable of efficiently calling on disaster victims to evacuate from a moving body.

Means for Solving the Problems

[0007] In order to solve the above-described problems and achieve the object, the present invention is a movement control system including a moving body equipped with an imaging device that captures a still image or a moving image, and a movement control device that controls the moving body, wherein the movement control device includes a detection unit that detects a person located in a predetermined area based on a still image or a moving image captured by the imaging device of the moving body, At least the location of the person detected by the detection unit and the wind direction and wind speed around the location of the person based on, the position included in the area where the notification sound reaches the location of the person the notification position of the moving body and specify it as a specifying unit that specifies the notification direction of the notification sound, and a notification unit that notifies the moving body of the notification position and the notification direction of the notification sound specified by the specifying unit.

[0008] Further, in the present invention, in the above invention, the moving body includes a movement control unit that autonomously controls the movement of the moving body itself to the notification position notified by the movement control device, and an output unit that outputs the notification sound in the notification direction notified by the movement control device when the moving body arrives at the notification position.

[0010] Further, in the present invention, in the above invention, the moving body includes an anemometer that measures the wind direction and wind speed around the moving body which is the own device, and the specifying unit specifies, based on the location of the person detected by the detecting unit and the wind direction and wind speed measured by the anemometer, a position included in the region where the notification sound reaches the location of the person as the notification position of the moving body.

[0011] Further, in the present invention, in the above invention, the moving body control device includes an acquisition unit that acquires the wind direction and wind speed around the location of the person from a regional information management device that manages regional information, and the specifying unit specifies, based on the location of the person detected by the detecting unit and the wind direction and wind speed acquired by the acquisition unit, a position included in the region where the notification sound reaches the location of the person as the notification position of the moving body.

[0014] Further, the present invention is a moving body control device that controls a moving body equipped with an imaging device that captures a still image or a moving image, and includes a detecting unit that detects a person located in a predetermined area based on the still image or the moving image captured by the imaging device of the moving body, At least a person detected by the detecting unit and the wind direction and wind speed around the location of the person based on the position included in the area where the notification sound reaches the location of the person the notification position of the moving body and specify it as a specifying unit that specifies the notification direction of the notification sound, and a notification unit that notifies the moving body of the notification position and the notification direction of the notification sound specified by the specifying unit.

[0015] Further, the present invention is a moving body control method in a moving body control system having a moving body equipped with an imaging device that captures a still image or a moving image and a moving body control device that controls the moving body. The moving body control device includes a detecting step of detecting a person located in a predetermined area based on the still image or the moving image captured by the imaging device of the moving body, and the moving body control device At least the location of the person detected in the detecting step and the wind direction and wind speed around the location of the person based on the position included in the area where the notification sound reaches the location of the person the notification position of the moving body and specify it asA specific process for specifying the notification direction of the notification sound, and a notification process in which the movement control device notifies the moving body of the notification position and the notification direction of the notification sound specified by the specific process.

Advantages of the Invention

[0016] According to the present invention, it is possible to efficiently call for evacuation from a moving body to a disaster victim.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Modes for Carrying Out the Invention

[0018] Hereinafter, embodiments of the movement control system, movement control device, and movement control method according to the present invention will be described in detail with reference to the drawings. In the following Embodiment 1, a case where a drone is used as a moving body will be shown.

[0019] [Embodiment 1] First, the outline of the movement control system according to Embodiment 1 will be described. FIG. 1 is an explanatory diagram for explaining the outline of the movement control system according to Embodiment 1. As shown in FIG. 1, this movement control system is a system that can efficiently call for evacuation from a moving body to disaster victims in a disaster area.

[0020] <Outline of the movement control system> In Embodiment 1, it is assumed that the movement control device stores in advance as data the performance such as the reach range of the sound of the notification unit (such as a speaker) mounted on the moving body and the magnitude of the noise (for example, propeller noise) generated from the moving body.

[0021] If the moving body 40a receives a movement route and a movement instruction from a movement control device (not shown), it patrols while checking for disaster victims (confirming the presence or absence of disaster victims) in the disaster area according to the received movement route. When a disaster victim exists, the moving body 40a gives a notification of an evacuation instruction to the disaster victim. However, when the disaster area is affected by strong winds or heavy rains, there is a high possibility that the notification content will be difficult to hear by the disaster victims under the same conditions (the altitude of the moving body 40a and the positional relationship between the disaster victim and the moving body 40a) as when the moving body 40a gives a notification in calm weather.

[0022] Therefore, a movement control device (not shown) acquires information on wind direction and wind speed in a disaster area from a regional information management device (not shown), acquires and analyzes imaging image information from the mobile body 40a, identifies an appropriate notification position and the notification direction of a notification sound for notifying the disaster victims in the disaster area, and transmits the information to the mobile body 40a. If the mobile body 40a receives the appropriate notification position and the notification direction of the notification sound for the identified notification, it moves to the appropriate notification position and the notification direction of the notification sound for the notification and conducts evacuation guidance. In FIG. 1, the mobile body 40a enters the leeward side of the tree to minimize the influence of the incoming wind, sets the notification position upwind of the disaster victims, and sets the notification direction of the notification sound downwind of the location where the disaster victims are, thereby showing a state of moving to a position where the notification content can be easily heard by the disaster victims.

[0023] <System Configuration of Movement Control System> Next, the system configuration of the movement control system according to the present embodiment will be described. FIG. 2 is a diagram showing the system configuration of the movement control system shown in FIG. 1. As shown in FIG. 2, in this movement control system, a disaster management device 10, a regional information management device 20, a movement control device 30, and a plurality of mobile bodies 40a, 40b, 40c (hereinafter, may be collectively referred to as "mobile body 40") are connected to a network N.

[0024] The disaster management device 10 is a management device that manages disaster-related information operated by a public office. For example, it corresponds to a disaster prevention information providing center operated by the Ministry of Land, Infrastructure, Transport and Tourism, a management device that manages dam release information operated by a local government, etc.

[0025] The regional information management device 20 is a device that manages regional information. This regional information includes hazard map information 24a, disaster proneness information 24b, sidewalk information 24c, roadway information 24d, evacuation location information 24e. Also included is wind direction and wind speed information 24f in the disaster area.

[0026] The movement control device 30 performs processes including: acquiring disaster information from the disaster management device 10; acquiring area information related to the area indicated by the area information included in the disaster information from the regional information management device 20; determining a disaster area where a disaster may occur from the disaster information and the regional information; determining the urgency level of the disaster area based on the likelihood of the presence of disaster victims; calculating a movement route of the mobile body 40 based on the disaster area and the urgency level of the disaster area; specifying the content of notification to the disaster victims; analyzing the captured image received from the mobile body 40; acquiring wind direction and wind speed information of the disaster area from the regional information management device 20; specifying the notification position and the notification direction of the notification sound suitable for notification from the wind direction and wind speed information and the analysis result of the captured image received from the mobile body 40 described later; notifying the mobile body 40 of the specified notification position and the notification direction of the notification sound suitable for notification; and managing the status of the mobile body received from the mobile body 40.

[0027] The mobile body 40 receives a movement route from the movement control device 30, conducts patrols according to the movement route, and if there are disaster victims, notifies the disaster victims of the notification information to prompt evacuation. The mobile body 40, according to the movement route, grasps its own position coordinates by signals from an altitude sensor and a GNSS (Global Navigation Satellite System) unit, controls the rotor blades to move, captures images of the surroundings with an imaging unit and transmits them to the movement control device 30, notifies the notification content information if there are disaster victims, manages the status of the flying object from the flight control information of the mobile body, and notifies the movement control device 30 of the status of the mobile body.

[0028] <Configuration of the Regional Information Management Device 20> Next, the configuration of the regional information management device 20 shown in FIG. 2 will be described. 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 includes a display unit 21, an operation unit 22, a communication I / F unit 23, a storage unit 24, and a control unit 25.

[0029] The display unit 21 is a display device such as a liquid crystal panel or a display apparatus, 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 movement control device 30.

[0030] The storage unit 24 is a storage device such as a hard disk device or a non-volatile memory, and stores hazard map information 24a, disaster tendency information 24b, sidewalk information 24c, roadway information 24d, evacuation location information 24e, and wind direction and wind speed information 24f. Note that the hazard map information 24a, disaster tendency information 24b, sidewalk information 24c, roadway information 24d, and evacuation location information 24e are updated periodically (for example, once a month).

[0031] The control unit 25 is a control unit that controls the entire regional information management device 20, and has a hazard map information acquisition unit 25a, a disaster tendency information acquisition unit 25b, a sidewalk information acquisition unit 25c, a roadway information acquisition unit 25d, an evacuation location information acquisition unit 25e, and a wind direction and wind speed information acquisition unit 25f. Actually, by loading these programs into the CPU and executing them, processes corresponding to the hazard map information acquisition unit 25a, the disaster tendency information acquisition unit 25b, the sidewalk information acquisition unit 25c, the roadway information acquisition unit 25d, the evacuation location information acquisition unit 25e, and the wind direction and wind speed information acquisition unit 25f will be executed respectively.

[0032] The hazard map information acquisition unit 25a acquires hazard map information such as floods, landslides, high tides, and tsunamis in each municipality provided by government agencies, and stores it in the storage unit 24 as the hazard map information 24a. Here, it shows the case where the server device of the 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.

[0033] The disaster tendency information acquisition unit 25b acquires information on past disasters and information on the degree of gathering of people at seasonal times and dates at campsites, fishing spots, tourist attractions, etc. where people tend to gather, and stores it in the storage unit 24 as the disaster tendency information 24b.

[0034] The sidewalk information acquisition unit 25c acquires the sidewalk information included in the information provided by government agencies or commercially available map data, and stores it in the storage unit 24 as sidewalk information 24c. The roadway information acquisition unit 25d acquires the roadway information from the map data, and stores it in the storage unit 24 as roadway information 24d.

[0035] The evacuation location information acquisition unit 25e acquires the information such as evacuation locations in municipalities from the map data, and stores it in the storage unit 24 as evacuation location information 24e. The wind direction and wind speed information acquisition unit 25f acquires the information on the wind direction and wind speed around the disaster area, and stores it in the storage unit 24 as wind direction and wind speed information 24f.

[0036] <Configuration of the movement control device 30> Next, the configuration of the movement control device 30 shown in FIG. 2 will be described. FIG. 4 is a functional block diagram showing the configuration of the movement control device 30 shown in FIG. 2. As shown in FIG. 4, the movement control device 30 includes 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.

[0037] 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 wirelessly communicating with the moving body 40.

[0038] The storage unit 35 is a storage device such as a hard disk device or a non-volatile memory, and stores disaster information 35a, regional information 35b, disaster area determination information 35c, urgency information 35d, movement route information 35e, notification content information 35f, captured image information 35g, wind direction and wind speed information 35h, notification range information 35i, flight sound range information 35k, noise range information 35m, and moving body status information 35n.

[0039] The control unit 36 is a control unit that controls the entire mobile body control device 30, and includes a disaster information acquisition unit 36a, a regional information acquisition unit 36b, a disaster area determination unit 36c, an urgency determination unit 36d, a movement route calculation unit 36e, a notification content specifying unit 36f, an imaging image analysis unit 36g, a wind direction and wind speed information acquisition unit 36h, a notification position specifying unit 36i, a notification position notification unit 36k, and a mobile body status management unit 36m. Actually, by loading and executing these programs in the CPU, processes corresponding to the disaster information acquisition unit 36a, the regional information acquisition unit 36b, the disaster area determination unit 36c, the urgency determination unit 36d, the movement route calculation unit 36e, the notification content specifying unit 36f, the imaging image analysis unit 36g, the wind direction and wind speed information acquisition unit 36h, the notification position specifying unit 36i, the notification position notification unit 36k, and the mobile body status management unit 36m are executed respectively.

[0040] The disaster information acquisition unit 36a acquires disaster information including earthquake early warning that may cause disasters from the disaster management device 10, warnings and advisories related to weather such as heavy rain and strong winds, information such as dam releases, and area information indicating areas where disasters may occur due to these events, and stores it in the storage unit 35 as disaster information 35a.

[0041] The regional information acquisition unit 36b acquires hazard map information 24a, disaster proneness information 24b, sidewalk information 24c, roadway information 24d, and evacuation location information 24e of the area indicated by the area information included in the disaster information 35a from the regional information management device 20, and stores it in the storage unit 35 as regional information 35b. The reason for acquiring regional information by the regional information acquisition unit 36b is that it is difficult to dynamically determine the disaster area based only on disaster information.

[0042] The disaster area determination unit 36c determines an area where a disaster may occur based on the acquired disaster information 35a and regional information 35b. For example, when information indicating a high possibility of flooding of River A is acquired in the disaster information 35a, based on the hazard map information 24a and disaster proneness information 24b of River A stored in the storage unit 35 as the regional information 35b, an area where a disaster may occur in the basin of River A is determined as the disaster area, and is stored in the storage unit 35 as disaster area determination information 35c.

[0043] The emergency level determination unit 36d determines the emergency level of the disaster area determined by the disaster area determination unit 36c based on the disaster tendency information 24b, sidewalk information 24c, road information 24d, etc. stored in the storage unit 35 as area information 35b, and stores it in the storage unit 35 as emergency level information 35d. For example, when the weather suddenly changes to heavy rain on a sunny day in summer, the emergency level determination unit 36d determines that there is a high possibility that there are many disaster victims in the riverbed campsite and raises the emergency level. Also, when the weather changes to heavy rain from morning, it is determined that there is a high possibility that there are many disaster victims in the fishing spots upstream, and the emergency level is raised.

[0044] The movement route calculation unit 36e calculates a movement route that allows the mobile body 40 to efficiently patrol the disaster area based on the disaster area determination information 35c determined by the disaster area determination unit 36c and the emergency level information 35d determined by the emergency level determination unit 36d, stores it in the storage unit 35 as movement route information 35e, and transmits the movement route information 35e to the mobile body 40.

[0045] The notification content specifying unit 36f is a processing unit that specifies the notification content for the mobile body 40 to notify the disaster victims. The notification content is stored in the storage unit 35 in advance as notification content information 35f, and the notification content specifying unit 36f specifies the notification content based on the disaster information 35a, disaster area determination information 35c, emergency level information 35d, and imaging image information 35g described later. Note that the notification content may be created based on the current position of the mobile body, evacuation location information 24e, sidewalk information 24c, and road information 24d.

[0046] The imaging image analysis unit 36g analyzes the imaging image of the disaster area received from the mobile body 40, monitors the presence or absence of victims, and stores it in the storage unit 35 as imaging image information 35g. When analyzing such an imaging image, for example, by performing template matching processing using a human template on the imaging image, victims can be detected. Also, by inputting the imaging image into a learned model obtained by deep learning, the presence or absence of victims can be detected. When using such deep learning, it is necessary to perform supervised learning with images containing people and their results as teacher data to generate a learned model in advance.

[0047] The wind direction and wind speed information acquisition unit 36h acquires the wind direction and wind speed information of the disaster area specified in the movement route information 35e from the regional information management device 20, and stores it in the storage unit 35 as wind direction and wind speed information 35h. The notification position specifying unit 36i analyzes the imaging image information 35g to detect victims, and based on the environmental conditions around the victims, specifies the notification position of the mobile body 40 and the notification direction of the notification sound. Note that the notification position and the notification direction of the notification sound may be specified based on the notification range information 35i which is the range where sound can reach from the notification unit 44 of the mobile body 40 to be described later, the flight sound range information 35k which is the range of the volume generated by the mobile body itself (for example, propeller sound), the noise range information 35m which is the influence range of noise from the noise source detected by analyzing the imaging image information 35g, and the wind direction and wind speed information 35h.

[0048] The notification position notification unit 36k notifies the mobile body 40 of the information on the notification position of the mobile body 40 and the notification direction of the notification sound specified by the notification position specifying unit 36i. The mobile body status management unit 36m manages the status of the mobile body 40. Specifically, it receives information regarding changes in the status notified from the mobile body 40, such as when the mobile body 40 starts moving, when the presence of victims is confirmed in the disaster area and the patrol is interrupted, and when the victims have completed evacuation and the mobile body 40 resumes patrol, and stores it in the storage unit 35 as mobile body status information 35n.

[0049] <Configuration of the mobile body 40a> Next, the configuration of the mobile body 40a shown in FIG. 2 will be described. FIG. 5 is a functional block diagram showing the configuration of the mobile body 40a shown in FIG. 2. Note that the mobile bodies 40b and 40c also have the same configuration. As shown in FIG. 5, the mobile body 40a includes 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.

[0050] The imaging unit 41 captures the situation of the disaster area with a camera. The camera mounted on the imaging unit 41 desirably can simultaneously capture visible light images and infrared light images in the same imaging range. However, it may be able to capture only visible light images. Also, in the case of night or poor visibility, three-dimensional information such as an infrared camera or a 3D lidar may be used.

[0051] The altitude sensor 42 is a sensor that measures the altitude of the mobile body 40a and outputs it as altitude information. As this altitude sensor 42, for example, a pressure sensor can be used, but a pressure sensor and an ultrasonic sensor can also be combined. Thereby, the mobile body 40a can stably maintain its altitude in a place close to the ground. The GNSS unit 43 is a unit that receives signals from a plurality of satellites, identifies the position coordinates of its own device, and outputs them as position information.

[0052] The notification unit 44 is a processing unit that notifies the disaster victims of the notification content information 47c received from the notification information processing unit 48c described later. Examples of the notification mode include voice notification by synthesized voice and notification of an alarm sound. The wireless communication unit 45 is an interface unit for wireless communication with the mobile body control device 30. The plurality of rotors 46 rotate individually under the control of the control unit 48, enabling attitude control and movement of the mobile body 40a.

[0053] The storage unit 47 is a storage device such as a hard disk drive or a non-volatile memory, and stores movement route information 47a, captured image information 47b, notification content information 47c, and mobile body status information 47d. The movement route information 47a is the movement route information 35e calculated by the movement control device 30, and the mobile body 40a moves according to this movement route information 47a.

[0054] The control unit 48 is a control unit that controls the entire mobile body 40a, and includes a flight control unit 48a, an imaging control unit 48b, a notification information processing unit 48c, a mobile body status management unit 48d, and a mobile body status notification unit 48e. The flight control unit 48a controls flight by controlling a plurality of rotors 46 using the movement route information 47a, altitude information output by the altitude sensor 42, and position information output by the GNSS unit 43.

[0055] The imaging control unit 48b causes the imaging unit 41 to capture an image of the disaster area, and stores the obtained infrared light and visible light captured images in the storage unit 47 as the captured image information 47b. Also, the imaging control unit 48b transmits the captured image information 47b to the movement control device 30 during flight.

[0056] The notification information processing unit 48c receives the notification content information 35f transmitted from the movement control device 30, and stores it in the storage unit 47 as the notification content information 47c. Also, the stored notification content information 47c is output to the notification unit 44.

[0057] The mobile body status management unit 48d manages numerical values of the entire mobile body 40a such as the position, altitude, speed, and battery remaining amount (not shown) of the mobile body 40a, and stores them in the storage unit 47 as the mobile body status information 47d. Note that a wind direction and wind speed meter may be mounted on the mobile body 40a, and the wind direction and wind speed at the evacuation guidance location may be measured by the mobile body 40a and transmitted to the movement control device 30.

[0058] When the mobile body status notification unit 48e detects the presence of a disaster victim during the patrol of the mobile body 40a according to the movement route information 47a and temporarily interrupts the patrol, when the disaster victim is in the process of evacuation, when the evacuation of the disaster victim is completed, and when returning to the patrol according to the movement route information 47a, it notifies the mobile body control device 30 of the mobile body status information 47d indicating the situation.

[0059] The flight control unit 48a may be configured to interrupt the path movement of the mobile body 40a and return it to the location where the movement started when the remaining amount of a battery (not shown) becomes equal to or less than a predetermined threshold value.

[0060] <Overview of the entire mobile body control system> Next, an overview of the entire mobile body control system according to the first embodiment will be described. FIG. 6 is an explanatory diagram for explaining the overview of the entire mobile body control system shown in FIG. 2.

[0061] As shown in FIG. 6, when the mobile body control device 30 receives disaster information from a disaster management device (not shown), it receives area information related to the area information included in the disaster information from a regional information management device (not shown) (S1). This disaster information includes earthquake early warnings that can cause disasters, weather-related warnings and advisories such as heavy rain and strong winds, information such as dam releases, and area information indicating areas where disasters may occur due to these events. The regional information includes hazard map information, disaster tendency information, staff position information, sidewalk information, roadway information, evacuation location information, and the like. When the mobile body control device 30 receives the disaster information and the regional information, it calculates a movement route for the mobile body 40a to patrol the disaster area and transmits a movement instruction for starting the movement and the calculated movement route to the mobile body 40a waiting (S2). Specifically, based on the disaster information and the regional information, one or a plurality of disaster areas where a disaster may occur and where disaster victims may be present are determined, and the movement route and movement instruction of the mobile body 40a calculated based on the determined disaster area are transmitted to the mobile body 40a waiting.

[0062] If the mobile body 40a receives a movement route and a movement instruction, it moves along the received movement route. Here, the case of moving to the target river is shown (S3). The mobile body 40a patrols along the movement route while checking for victims (confirming the presence or absence of victims) (S4). When a victim is present, the mobile body 40a moves to a position suitable for notification (S5), and notifies the notification content information 47c in the notification direction instructed by the movement control device 30 from the notification unit (S6).

[0063] The mobile body 40a continues to notify until the evacuation of the victim is completed. When the evacuation of the victim is completed, the mobile body 40a returns to the position where the patrol was interrupted, resumes the movement route received from the movement control device 30, and resumes the patrol (S7). Then, when the patrol is completed, the mobile body 40a returns to the takeoff location along the movement route (S8).

[0064] Next, the specification of the notification position and the notification direction of the notification sound of the movement control device 30 of the movement control system according to the first embodiment will be described. FIG. 7 is an explanatory diagram for explaining the specification of the notification position and the notification direction of the notification sound of the movement control device 30 shown in FIG. 2. As shown in FIG. 7, the movement control device 30 emits sound from a speaker mounted on the mobile body 40a in a windless state in advance, and stores the notification range information 35i in the range where the sound reaches at a certain sound pressure level or higher (range 1, where range 1 includes range 2) and the flight sound range information 35k in the range where the flight sound (propeller sound) generated from the mobile body 40a reaches at a certain sound pressure level or higher (range 2) in the storage unit 47.

[0065] Next, the movement control device 30 acquires the wind direction and wind speed in the disaster area from the regional information management device 20, and calculates the position and direction for notifying the evacuation guidance of the moving body 40a from the notification range information 35i based on the wind direction and wind speed. Next, the movement control device 30 calculates, based on the wind direction and wind speed, a position where the flight sound is loud and it is difficult for the disaster victims to hear the notification content from the flight sound range information 35k. Then, the movement control device 30 extracts, from the analysis of the captured image of the disaster area transmitted from the moving body 40a, events that can be noise sources (for example, automobiles, railways, and disaster noises, etc.), and calculates the noise range (range 3).

[0066] Based on the notification range considering the influence of the wind direction and wind speed and the information on the flight sound range and noise range considering the influence of the wind direction and wind speed, the movement control device 30 specifies the notification position and the notification direction of the notification sound for the moving body 40a to move, and notifies the moving body 40a.

[0067] By doing so, it is possible to ensure that the notification content information notified by the moving body 40a can be heard by the disaster victims.

[0068] <Processing procedure of the movement control system> Next, the processing procedure of the movement control system according to the first embodiment will be described. FIG. 8 is a sequence diagram showing the processing procedure of the movement control system shown in FIG. 2.

[0069] The movement control device 30 acquires the disaster information 35a from the disaster management device 10 (step S101), and acquires the regional information 35b related to the region indicated by the disaster information and the area information included in the acquired disaster information 35a from the regional information management device 20 (step S102). Then, it determines the disaster area based on the disaster information 35a and the regional information 35b (step S103).

[0070] Thereafter, the movement control device 30 determines the urgency based on the information of the disaster area and the disaster tendency information 24b of the area information 35b (step S104). Then, the movement control device 30 calculates the movement route information 35e of the mobile body 40a based on the disaster area determination information 35c and the urgency information 35d (step S105), and transmits the calculated movement route information 35e to the mobile body 40a (step S106).

[0071] If the mobile body 40a receives the movement route information 35e from the movement control device 30 (step S107), it stores the movement route information 35e in the storage unit 47 and starts patrolling according to the movement route information 47a (step S108). When the mobile body 40a arrives at the disaster area, it transmits the mobile body status information 47d including its own position information and the captured image information 47b to the movement control device 30 (step S109).

[0072] If the movement control device 30 receives the captured image information 47b from the mobile body 40a, it analyzes the received captured image (step S110). As a result of the image analysis, if there are victims, the movement control device 30 acquires the wind direction and wind speed information 24f of the disaster area from the area information management device 20 (step S111), and specifies the notification position of the mobile body 40a suitable for notification and the notification direction of the notification sound in consideration of the wind direction, wind speed, and surrounding noise (step S112). If there are no victims, the process proceeds to step S121 described later.

[0073] When the movement control device 30 determines that there are victims as a result of the image analysis in step S111, it transmits an instruction to temporarily interrupt the patrol along the route to the mobile body 40a, and transmits the notification position specified by the notification position specifying unit 36i and the notification direction of the notification sound via the notification position notification unit 36k (step S113). The mobile body 40a moves to the notified notification position according to the notification position suitable for notification and the notification direction of the notification sound received from the movement control device 30 (step S114). Then, it notifies the notification content information 47c to the victims (step S115). The mobile body 40a transmits the mobile body status information 47d and the captured image information 47b to the movement control device 30 (step S116).

[0074] When the mobile body control device 30 analyzes the mobile body status information 47d and the captured image information 47b transmitted from the mobile body 40a and determines that the evacuation of the disaster victim is completed by confirming that the disaster victim has exited the disaster area or arrived at the evacuation location, the mobile body control device 30 transmits an instruction to resume the patrol according to the movement route information 47a to the mobile body 40a (step S117). If the mobile body 40a receives an instruction to resume the patrol according to the movement route information 47a, the mobile body 40a resumes the patrol from the position where the route movement was interrupted (step S118). If it is determined in step S117 that the evacuation of the disaster victim is not completed, the mobile body control device 30 analyzes the mobile body status information 47d and the captured image information 47b transmitted from the mobile body 40a, obtains the wind direction and wind speed information 24f of the position where the mobile body 40a is located, and considers the wind direction, wind speed, and surrounding noise to identify the notification position of the mobile body 40a and the notification direction of the notification sound suitable for notification, and transmits them to the mobile body 40a. The mobile body 40a moves to the notified notification position according to the notification position and the notification direction of the notification sound suitable for notification received from the mobile body control device 30, and continues to notify the disaster victim of the notification content information 47C.

[0075] When the mobile body 40a completes the patrol according to the movement route information 47a or when the remaining battery level falls below the threshold value, the mobile body 40a returns to the position where it started moving (step S119), and notifies the mobile body control device 30 of the mobile body status information 47d and the fact that it has returned (step S120).

[0076] If the mobile control device 30 determines that the mobile body 40a has completed patrolling the entire movement route, it ends the process as patrol completion (step S121: Yes). However, if the mobile body 40a returns during patrol due to insufficient battery or the like and the patrol is not completed (step S121: No), it returns to step S105, calculates new movement route information 35e from the interrupted location, and transmits the calculated movement route information and movement instructions to other waiting mobile bodies 40b and 40c. Note that when the mobile body 40a returns with the remaining battery level falling below the threshold, it may notify the mobile control device 30 of the start of the return before starting the return. In this case, the mobile control device 30 that has received the notification returns to step S105, calculates new movement route information 35e from the interrupted location, and transmits the calculated movement route information and movement instructions to other waiting mobile bodies 40b and 40c, thereby being able to instruct the resumption of patrol by the replacement mobile body 40 earlier.

[0077] Next, the processing procedure for specifying the notification position of the mobile control device 30 will be described. FIG. 9 is a flowchart showing the processing procedure for specifying the notification position of the mobile control device 30 shown in FIG. 2. As shown in FIG. 9, when the mobile control device 30 recognizes the location of the victim (step S201), it acquires wind direction and wind speed information 24f of the disaster area from the area information management device 20 (step S202).

[0078] Next, the mobile control device 30 calculates the position and notification direction of the mobile body 40a where the notification content can be easily heard by the victim based on the acquired wind direction and wind speed information 24f and the notification range information 35i (step S203). Thereafter, the mobile control device 30 calculates the range affected by the flight sound within the notification range based on the acquired wind direction and wind speed information 24f and the flight sound range information 35k (step S204).

[0079] Next, the mobile control device 30 analyzes the captured image captured by the imaging unit 41 transmitted from the mobile body 40a, identifies noise sources such as automobiles, trains, and disaster noise, and calculates the range of the noise (step S205).

[0080] Next, the movement control device 30 determines a notification position and a notification direction of a notification sound suitable for notification, taking into account a notification range considering the influence of wind direction and wind speed, a flight sound range considering the influence of wind direction and wind speed, and a noise range (step S206). Then, the movement control device 30 notifies the moving body 40a of the information on the specified notification position and the notification direction of the notification sound (step S207). Note that the area information management device 20 may store a 3D map, and when determining the notification position, the movement control device 30 may consider the presence of objects that may affect the propagation of the notification sound, such as cliffs and bridges, based on the 3D map.

[0081] As described above, in the first embodiment, the movement control device 30 is configured to specify a notification position and a notification direction at which the moving body 40a performs notification so that the disaster victims can easily hear the notification content information, taking into account the influence of wind, noise, etc. in the disaster area. Therefore, it is possible to efficiently call on the disaster victims to evacuate from the moving body 40a.

[0082] Note that in the first embodiment, a configuration in which the movement control device 30 performs image analysis, analysis of the influence of wind, and analysis of the influence of noise has been described, but these may be performed by the moving body 40. Further, initial image analysis, analysis of the influence of wind, and analysis of the influence of noise may be performed by the movement control device 30, and correction of the notification position and the notification direction of the notification sound specified by the movement control device 30 may be performed by the moving body 40 based on the information of the anemometer of the moving body 40 in the disaster area.

[0083] [Embodiment 2] By the way, in the first embodiment, the movement control device 30 has been described for specifying the notification position and the notification direction so that the disaster victims can easily hear the notification content information. However, when the disaster victims are widely and dispersedly located, there is a limitation that the optimal position cannot be specified. Therefore, in the second embodiment, when the disaster victims are widely dispersed, a configuration in which the moving body 40 takes altitude and uses a patrol lamp, an alarm sound, etc. to notify a wide range of evacuations will be described.

[0084] <Outline of the movement control system according to Embodiment 2> Next, the outline of the movement control system according to the second embodiment will be described. FIG. 10 is an explanatory diagram for explaining the outline of the movement control system according to the second embodiment. As shown in FIG. 10, when a plurality of disaster victims exist in a wide area by analyzing the image captured by the imaging unit 41 of the mobile body 40a, the mobile body 40a takes a high flight altitude and uses the patrol lamp and alarm sound mounted on the mobile body 40a to send an evacuation signal over a wide area, thereby prompting the disaster victims to evacuate. If the disaster victims gather within a certain range when called to evacuate with the patrol lamp and alarm sound, evacuation guidance may be performed with the configuration described in the first embodiment.

[0085] [Embodiment 3] By the way, in the above-described second embodiment, although an evacuation signal can be sent over a wide area, there is a limitation that information on what kind of evacuation should be done cannot be transmitted. Therefore, in the third embodiment, the configuration in the case where information on the content of notification can be transmitted even when the disaster victims are dispersed over a wide area will be described.

[0086] [Outline of the Movement Control System According to Embodiment 3] Next, the outline of the movement control system according to the third embodiment will be described. FIG. 11 is an explanatory diagram for explaining the outline of the movement control system according to the third embodiment. As shown in FIG. 11, in the movement control system, based on the information acquired from the mobile body 40a moving in the disaster area, the disaster victims are checked in the disaster area, and the positions and numbers of the disaster victims are recognized (S30). Next, a notification route and notification content within the disaster area for sequentially notifying the disaster victims are generated (S31), the mobile body 40a is moved along the generated route, the notification content is notified, and evacuation guidance is performed (S32).

[0087] If the disaster victims have evacuated, the mobile body 40a returns to patrol according to the movement route information 47a (S33). Note that the route movement in the disaster area may loop through the route a plurality of times until the disaster victims evacuate.

[0088] In each of the above embodiments, the case where the drone is used as the moving body 40 has been described. However, the present invention is not limited to this, and it can also be applied to a robot that travels on the ground.

[0089] Each configuration illustrated in the above embodiments is schematic in function, and it is not necessarily physically configured as illustrated. That is, the form of distribution and integration of each device is not limited to that shown, and all or part of it can be functionally or physically distributed and integrated in any unit according to various loads, usage situations, etc.

Industrial Applicability

[0090] The movement control system, movement control device, and movement control method according to the present invention are suitable for efficiently making an evacuation call from a moving body to a disaster victim.

Explanation of Signs

[0091] N Network 10 Disaster management device 20 Regional information management device 21 Display unit 22 Operation unit 23 Communication I / F unit 24 Storage unit 24a Hazard map information 24b Disaster tendency information 24c Sidewalk information 24d Roadway information 24e Evacuation location information 24f Wind direction and wind speed information 25 Control unit 25a Hazard map information acquisition unit 25b Disaster tendency information acquisition unit 25c Sidewalk information acquisition unit 25d Roadway information acquisition unit 25e Evacuation location information acquisition unit 25f Wind direction and wind speed information acquisition unit 30 Movement control device 31 Display unit 32 Operation unit 33 Communication I / F Unit 34 Wireless Communication Unit 35 Memory Unit 35a Disaster Information 35b Regional Information 35c Disaster Area Judgment Information 35d Urgency Information 35e Movement Route Information 35f Notification Content Information 35g Captured Image Information 35h Wind Direction and Speed Information 35i Notification Range Information 35k Flying Sound Range Information 35m Noise Range Information 35n Moving Object Status Information 36 Control Unit 36a Disaster Information Acquisition Unit 36b Regional Information Acquisition Unit 36c Disaster Area Judgment Unit 36d Urgency Judgment Unit 36e Movement Route Calculation Unit 36f Notification Content Specifying Unit 36g Captured Image Analysis Unit 36h Wind Direction and Speed Information Acquisition Unit 36i Notification Location Specifying Unit 36k Notification Location Notification Unit 36m Moving Object Status Management Unit 40, 40a, 40b, 40c Moving Object 41 Imaging Unit 42 Altitude Sensor 43 GNSS Unit 44 Notification Unit 45 Wireless Communication Unit 46 Rotor 47 Memory Unit 47a Movement Route Information 47b Captured Image Information 47c Notification Content Information 47d Moving Object Status Information 48 Control Unit 48a Flight Control Unit 48b Imaging Control Unit 48c Notification Information Processing Unit 48d Moving Object Status Management Unit 48e Mobile Object Status Notification Unit

Claims

1. A mobile body control system having a mobile body equipped with an imaging device for imaging a still image or a moving image, and a mobile body control device for controlling the mobile body, The mobile body control device, A detection unit that detects a person located in a predetermined area based on a still image or a moving image captured by the imaging device of the mobile body, Based on at least the location of the person detected by the detection unit and the wind direction and wind speed around the location of the person, a position included in the area where the notification sound reaches the location of the person is specified as the notification position of the mobile body, and the notification direction of the notification sound is specified. A specifying unit, A notification unit that notifies the mobile body of the notification position specified by the specifying unit and the notification direction of the notification sound A mobile body control system characterized by comprising:

2. The mobile body, A movement control unit that autonomously controls the movement of the mobile body itself to the notification position notified from the mobile body control device, An output unit that outputs the notification sound in the notification direction notified from the mobile body control device when the notification position is reached. The mobile body control system according to claim 1, characterized by comprising:

3. The mobile body, Equipped with an anemometer for measuring the wind direction and wind speed around the mobile body itself, The specifying unit, Based on the location of the person detected by the detection unit and the wind direction and wind speed measured by the anemometer, a position included in the area where the notification sound reaches the location of the person is specified as the notification position of the mobile body. The mobile body control system according to claim 1, characterized by:

4. The mobile body control device, It is provided with an acquisition unit that acquires the wind direction and wind speed around the location of the person from a regional information management device that manages regional information. The specific part is based on the location of the person detected by the detection unit and the wind direction and wind speed acquired by the acquisition unit, and specifying, as the notification position of the mobile body, a position included in the area where the notification sound reaches the location of the person, the mobile body control system according to claim 1.

5. A mobile body control device that controls a mobile body equipped with an imaging device for imaging a still image or a moving image, a detection unit that detects a person located in a predetermined area based on a still image or a moving image captured by the imaging device of the mobile body; a specific unit that specifies, as the notification position of the mobile body, a position included in the area where the notification sound reaches the location of the person, and specifies the notification direction of the notification sound, based on at least the location of the person detected by the detection unit and the wind direction and wind speed around the location of the person; a notification unit that notifies the mobile body of the notification position specified by the specific unit and the notification direction of the notification sound and characterized by comprising.

6. A mobile body control method in a mobile body control system having a mobile body equipped with an imaging device for imaging a still image or a moving image and a mobile body control device for controlling the mobile body, a detection step in which the mobile body control device detects a person located in a predetermined area based on a still image or a moving image captured by the imaging device of the mobile body; a specific step in which the mobile body control device specifies, as the notification position of the mobile body, a position included in the area where the notification sound reaches the location of the person, and specifies the notification direction of the notification sound, based on at least the location of the person detected in the detection step and the wind direction and wind speed around the location of the person; a notification step in which the mobile body control device notifies the mobile body of the notification position and the notification direction of the notification sound specified in the specific step and characterized by including.

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