Map generation device, map generation method, and program

Abstract

To provide a map generation device and the like, which enable generation of a floor map inside a building using acquired building information from outside the building.SOLUTION: A map generation device is provided, comprising a building information acquisition unit for acquiring building information including an outline of a target building viewed from above, a map generation unit configured to define a frame matched to the outline of the target building included in the acquired building information and divide the inside of the defined frame into grid-like cells to generate a floor map, and an output unit for outputting the generated floor map.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a map generation device and the like for generating a map inside a building.

Background Art

[0002] In a fire extinguishing operation when a fire breaks out, a firefighter may enter the building and perform a fire extinguishing operation. In such a case, if the captain can grasp the situation of the team members who have entered the building, the captain can give appropriate instructions to the team members. For example, if the captain can grasp the position of the team members inside the building, the captain can give instructions to the team members according to their positions.

[0003] If there is a map of the inside of the building (hereinafter referred to as a floor map), the position of the team members inside the building can be displayed on the terminal used by the captain. In the case of a large-scale building, it is easy to obtain information inside the building. However, for most buildings including ordinary residences, it is not always possible to obtain information inside the building. Also, satellite positioning such as GPS (Global Positioning System) cannot accurately grasp the position of team members working inside the building. Therefore, it is required to accurately grasp the position of team members working inside the building.

[0004] Patent Document 1 discloses a system for tracking the position of a moving object. The system of Patent Document 1 determines the initial position of at least one node inside the building based on multilateration from an unmanned aircraft flying outside the building. The nodes include fixed nodes and moving nodes. For example, the moving node is installed on the helmet of a person moving inside the building. The system of Patent Document 1 determines a velocity vector associated with the node based on multilateration. Also, the system of Patent Document 1 detects the turning of the node. The system of Patent Document 1 tracks the nodes moving inside the building while applying an adaptive approach for dealing with the non-uniform velocity of the nodes based on the velocity vector and turning of the nodes.

[0005] Patent Document 2 discloses a cleaning map display device that displays a floor map of the floor on which an autonomous vacuum cleaner travels. The device in Patent Document 2 determines a position in the movement trajectory of the autonomous vacuum cleaner that satisfies predetermined conditions. The device in Patent Document 2 displays on the display unit a trajectory image that shows the location corresponding to the determined to satisfy the predetermined conditions in a different display manner from other locations, and the floor map superimposed on this image. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] U.S. Patent No. 11089432 [Patent Document 2] International Publication No. 2020 / 235295 [Overview of the project] [Problems that the invention aims to solve]

[0007] The method described in Patent Document 1 tracks the position of nodes moving inside a building based on multilateration from an unmanned aerial vehicle flying outside the building. Patent Document 1 does not disclose how to generate a floor map of the building's interior.

[0008] The method described in Patent Document 2 involves superimposing the movement trajectory of an autonomous vacuum cleaner onto a floor map. Patent Document 1 does not disclose how to generate a floor map of a building's interior using the movement trajectory of an autonomous vacuum cleaner.

[0009] Even without a detailed floor map, having a general understanding of the building's layout and size, as well as the locations of doors and windows, can be beneficial in firefighting efforts. If information about the building's interior is obtained beforehand, a floor map of the building's interior can be generated in advance. However, conventional methods have been unable to generate a floor map of a building's interior if the building's floor information is unavailable.

[0010] The purpose of this disclosure is to provide a map generation device, etc., that can generate a floor map of the inside of a building using building information obtained from outside the building. [Means for solving the problem]

[0011] A map generation device according to one aspect of the present disclosure includes: a building information acquisition unit that acquires building information including the outline of a target building as seen from above; a map generation unit that defines a frame according to the outline of the target building included in the acquired building information, divides the inside of the defined frame into grid-like cells and generates a floor map; and an output unit that outputs the generated floor map.

[0012] In one embodiment of the map generation method of this disclosure, building information including the outline of the target building as seen from above is acquired, a frame is defined according to the outline of the target building included in the acquired building information, the inside of the defined frame is divided into grid cells to generate a floor map, and the generated floor map is output.

[0013] The program disclosed herein causes a computer to perform the following processes: acquiring building information including the outline of the target building as seen from above; defining a frame according to the outline of the target building included in the acquired building information; dividing the inside of the defined frame into grid cells to generate a floor map; and outputting the generated floor map. [Effects of the Invention]

[0014] According to this disclosure, it will be possible to provide a map generation device, etc., that can generate a floor map of the inside of a building using building information acquired from outside the building. [Brief explanation of the drawing]

[0015] [Figure 1] This block diagram shows an example of the configuration of a map generation device according to the first embodiment. [Figure 2]It is a conceptual diagram showing an example of building information acquired by the map generation device according to the first embodiment. [Figure 3] It is a conceptual diagram showing an example of a method for acquiring building information acquired by the map generation device according to the first embodiment. [Figure 4] It is a conceptual diagram showing an example of building information acquired by the map generation unit of the map generation device according to the first embodiment. [Figure 5] It is a conceptual diagram showing an example of the frame of the floor map defined by the map generation unit of the map generation device according to the first embodiment. [Figure 6] It is a conceptual diagram showing an example of the floor map generated by the map generation unit of the map generation device according to the first embodiment. [[ID=!3]] [Figure 7] It is a conceptual diagram showing an example of a method for acquiring building information acquired by the map generation device according to the first embodiment. [Figure 8] It is a conceptual diagram showing an example of the floor map generated by the map generation unit of the map generation device according to the first embodiment. [Figure 9] It is a conceptual diagram showing an example of the floor map generated by the map generation unit of the map generation device according to the first embodiment. [Figure 10] It is a flowchart for explaining an example of the operation of the map generation device according to the first embodiment. [Figure 11] It is a block diagram showing an example of the configuration of the map generation device according to the second embodiment. [Figure 12] It is a conceptual diagram showing an example of the floor map updated by the map update unit of the map generation device according to the second embodiment. [Figure 13] [[ID=!3]]It is a conceptual diagram showing an example of the floor map updated by the map update unit of the map generation device according to the second embodiment. [Figure 14] It is a conceptual diagram showing an example of the floor map updated by the map update unit of the map generation device according to the second embodiment. [Figure 15]It is a conceptual diagram showing an example of a floor map updated by the map update unit of the map generation device according to the second embodiment. [Figure 16] It is a flowchart for explaining an example of the operation of the map generation device according to the second embodiment. [Figure 17] It is a flowchart for explaining an example of the floor map update process by the map generation device according to the second embodiment. [Figure 18] It is a flowchart for explaining an example of the floor map update process by the map generation device according to the second embodiment. [Figure 19] It is a flowchart for explaining an example of the floor map update process by the map generation device according to the second embodiment. [Figure 20] It is a flowchart for explaining an example of the floor map update process by the map generation device according to the second embodiment. [Figure 21] It is a block diagram showing an example of the configuration of the map generation device according to the third embodiment. [Figure 22] It is a conceptual diagram showing an example of a floor map updated by the map update unit of the map generation device according to the third embodiment. [Figure 23] It is a conceptual diagram showing an example of a floor map updated by the map update unit of the map generation device according to the third embodiment. [Figure 24] It is a conceptual diagram for explaining an example of the notification of an alert activated from the map generation device according to the third embodiment. [Figure 25] It is a flowchart for explaining an example of the operation of the map generation device according to the third embodiment. [Figure 26] It is a flowchart for explaining an example of the floor map update process / determination process by the map generation device according to the third embodiment. [Figure 27] It is a block diagram showing an example of the configuration of the map generation device according to the fourth embodiment. [Figure 28]This is a conceptual diagram showing an example of a floor map updated by the map update unit of the map generation device according to the fourth embodiment. [Figure 29] This is a conceptual diagram illustrating an example of an alert notification issued by a map generation device according to the fourth embodiment. [Figure 30] This is a flowchart illustrating an example of the operation of the map generation device according to the fourth embodiment. [Figure 31] This is a flowchart illustrating an example of floor map update / determination processing by the map generation device according to the fourth embodiment. [Figure 32] This block diagram shows an example of the configuration of a map generation device according to the fifth embodiment. [Figure 33] This is a conceptual diagram showing an example of a floor map updated by the map update unit of the map generation device according to the fifth embodiment. [Figure 34] This is a conceptual diagram showing an example of a floor map updated by the map update unit of the map generation device according to the fifth embodiment. [Figure 35] This is a flowchart illustrating an example of the operation of the map generation device according to the fifth embodiment. [Figure 36] This is a flowchart illustrating an example of floor map update processing by a map generation device according to the fifth embodiment. [Figure 37] This is a flowchart illustrating an example of floor map update processing by a map generation device according to the fifth embodiment. [Figure 38] This block diagram shows an example of the configuration of a map generation device according to the sixth embodiment. [Figure 39] This block diagram shows an example of a hardware configuration for executing processing by the map generation device according to each embodiment. [Modes for carrying out the invention]

[0016] The embodiments for carrying out the present invention will be described below with reference to the drawings. However, the embodiments described below have technically preferred limitations for carrying out the present invention, but the scope of the invention is not limited thereto. In all the figures used in the description of the embodiments below, the same parts are denoted by the same reference numerals unless there is a particular reason not to. Also, in the embodiments below, repeated explanations of similar configurations and operations may be omitted.

[0017] (First embodiment) First, an example of the configuration of the map generation device according to the first embodiment will be described with reference to the drawings. The map generation device of this embodiment generates a floor map of the interior of a building using building information acquired from outside the building. For example, the building information generates a floor map according to the building's exterior shape and contours. Below, an example of using the floor map generated by the method of this embodiment at a fire scene will be described. The floor map generated by the method of this embodiment can be used for any purpose.

[0018] (composition) Figure 1 is a block diagram showing an example of the configuration of the map generation device 10 according to this embodiment. The map generation device 10 includes a building information acquisition unit 11, a map generation unit 15, and an output unit 19.

[0019] The building information acquisition unit 11 acquires building information. The building information includes information about the building's exterior and outline. The building information acquisition unit 11 acquires building information of the building that is the target of floor map generation (also called the target building) from an external system or device. For example, the building information acquisition unit 11 acquires building information that includes the exterior of the target building as seen from an overhead viewpoint. For example, the building information is a map that includes the target building. For example, the building information is an aerial photograph (image) that includes the target building. For example, the building information is a photograph (image) of the target building taken by an unmanned aerial vehicle such as a drone. The building information is not particularly limited as long as the shape of the target building can be identified.

[0020] Figure 2 is a conceptual diagram showing an example of building information. Figure 2 is an example of map 111 including the target building B. From an overhead perspective, the outline / contour of the target building B can be extracted. With map 111, the scale is clear, so the size of the target building B can be determined. For example, maps are relatively easy to obtain, making them easy to acquire as building information.

[0021] Figure 3 is a conceptual diagram illustrating an example of a method for acquiring building information. Figure 3 shows an example of using drone 112 to photograph target building B, where a fire has occurred, from an overhead viewpoint. Using drone 112, building information can be obtained even if a map is not available. For example, if drone 112 is equipped with a positioning function such as GPS (Global Positioning System), the positions of the four corners of target building B can be determined according to the positional relationship between target building B and drone 112. Once the positions of the four corners of target building B can be determined, the position within target building B can be determined based on the four corners. Furthermore, using drone 112 allows for real-time acquisition of building information. Building information shown on maps may have changed since the map was created. Therefore, using drone 112 allows for obtaining current building information. The building information may also be aerial photographs taken from a manned aircraft. The building information may also be images taken from fire fighting vehicles such as ladder trucks that can look down on target building B from above. Furthermore, the building information may also be images taken from high places such as buildings, structures, mountains, or cliffs that allow a view overlooking the target building B. If the target building is photographed from an oblique angle above, converting it to a view from directly above the building will generate a more accurate floor map.

[0022] Figure 4 is a conceptual diagram showing an example of building information 110 acquired by the building information acquisition unit 11. Figure 4 shows an example of the building information 110 being displayed on the screen of the terminal device 100. The building information 110 includes the shape of the target building. In the example of Figure 4, the shape of the target building is rectangular. For example, the terminal device 100 can be implemented by an information processing device such as a computer, a mobile terminal such as a smartphone or tablet, or a television. The terminal device 100 is not particularly limited as long as it has a screen.

[0023] The map generation unit 15 defines the floor map frame according to the shape of the building included in the building information. For example, the map generation unit 15 defines the floor map frame along the outline of the building. For example, the map generation unit 15 may omit the exterior walls of the target building and define the floor map frame inside the building outline. The thickness of the exterior walls of the target building can be estimated according to the type and size of the building.

[0024] Figure 5 is a conceptual diagram showing an example of a floor map frame 150 defined by the map generation unit 15. Figure 5 shows an example of the floor map frame 150 being displayed on the screen of the terminal device 100. The floor map frame 150 corresponds to the outline of the building information 110 in Figure 4.

[0025] The map generation unit 15 generates a floor map by dividing the inside of the floor map frame into a grid. Multiple cells are formed inside the floor map, divided into a grid. Preferably, the size of the cells corresponds to the size of the real world. For example, a cell is a 1m x 1m square in the real world. The size of the cells can be set according to the application. Making the cell size smaller increases the accuracy of the position on the floor map. For example, the inside of the floor map may be divided into multiple cells of the same size. The inside of the floor map may be divided into multiple cells of different sizes. The inside of the floor map may be divided into polygonal cells such as triangles or hexagons, rather than rectangles. The inside of the floor map may be divided into cells enclosed by closed curves such as circles or ellipses. Also, the areas of adjacent cells may overlap inside the floor map. Also, multiple cells may be grouped inside the floor map. For example, the floor map generated by the map generation unit 15 is stored in a storage unit (not shown).

[0026] Figure 6 is a conceptual diagram showing an example of a floor map 151 generated by the map generation unit 15. Figure 6 shows an example of the floor map 151 being displayed on the screen of the terminal device 100. In the example in Figure 6, the floor map 151 is divided into multiple cells of the same size. For example, the cells of the floor map 151 are shaped like 1 meter x 1 meter squares in the real world. The size of the cells can be set arbitrarily.

[0027] The output unit 19 outputs the floor map generated by the map generation unit 15. There are no limitations on the destination of the output floor map. For example, the output unit 19 outputs the floor map to a terminal device (not shown). The floor map output to the terminal device is displayed on the terminal device's screen. For example, the output unit 19 outputs the floor map to a terminal device used by a team leader who directs firefighting operations in a target building. The team leader can give accurate instructions to the firefighters (also called workers) carrying out firefighting operations according to the floor map displayed on the screen. The output unit 19 may also output the floor map to a terminal device used by firefighters carrying out firefighting operations in the target building. The firefighters can check the floor map displayed on the screen and determine their own location while moving around inside the target building. Also, the firefighters can check the floor map displayed on the screen and determine the locations of other firefighters while moving around inside the target building. For example, the output unit 19 may store the floor maps in a database built on a server or in the cloud. The floor maps stored in the database can be used for any purpose. Floor maps may be used for purposes other than firefighting.

[0028] Figure 7 is a conceptual diagram showing another example of a method for acquiring building information. Figure 7 shows an example of photographing the target building B, where a fire has occurred, from a side view using camera 113. For example, the target building B is photographed from all four sides. Photographing the target building B from the side allows for the identification of openings such as windows and entrances. When determining entry points into the building prior to firefighting operations, it is sufficient to photograph the target building B from at least one side. Considering the possibility of emergency evacuation from firefighting operations inside the building, it is preferable to photograph the target building B from all four sides. Furthermore, the openings in the building can also be used to estimate the spread of fire. Any camera can be used to photograph the target building B, such as a camera equipped on a mobile device, a general digital camera, a surveillance camera, or a vehicle-mounted camera.

[0029] Figure 8 is an example of a floor map 153 with openings D clearly indicated. Figure 8 shows an example of the floor map 153 displayed on the screen of the terminal device 100. The floor map 153 includes openings of the target building, extracted from an image of the target building taken from a side view. For example, the floor map 153 may display characters or symbols representing the shape and size of openings D. By referring to the floor map 153, it is possible to understand the entrances and exits to the interior of the target building, thus facilitating entry into the building and evacuation to the exterior. Furthermore, by referring to the floor map 153, it becomes possible to estimate the spread of fire according to the arrangement of entrances and exits.

[0030] Figure 9 is a conceptual diagram showing an example of how floor information within a target building is reflected in a floor map. Figure 9 is a floor map 154 ​​with floor information within the target building superimposed. According to floor map 154, the arrangement of corridors, rooms, stairs, elevators, emergency exits (escape routes), etc., within the target building can be clearly understood. Therefore, by correlating the cells included in floor map 154 ​​with the arrangement within the target building, it becomes easier to understand the situation inside the building.

[0031] (operation) Next, an example of the operation of the map generation device 10 according to this embodiment will be described with reference to the drawings. Figure 10 is a flowchart for explaining an example of the operation of the map generation device 10. In the explanation following the flowchart in Figure 10, the map generation device 10 will be described as the main operating component.

[0032] In Figure 10, first, the map generation device 10 acquires building information for the target building (step S11). For example, the map generation device 10 acquires an image (map) including the shape of the target building as building information. For example, the map generation device 10 acquires an image (photograph) of the target building taken from the information's viewpoint using a drone as building information.

[0033] Next, the map generation device 10 defines the frame of the floor map according to the shape of the building included in the building information (step S12). For example, the map generation device 10 defines the frame of the floor map according to the outline of the building.

[0034] Next, the map generation device 10 divides the inside of the defined frame into a grid and generates a floor map (step S13). For example, if there is an image (photograph) of the target building taken from a side view, the map generation device 10 may add openings to the floor map. For example, if there is floor information inside the target building, the map generation device 10 may add floor information to the floor map.

[0035] Next, the map generation device 10 outputs the generated floor map (step S14). The output floor map is displayed on the screen of a terminal device (not shown). In the case of updating the floor map, the map generation device 10 may output only the update information. The update information output from the map generation device 10 overwrites the floor map that has already been sent to the terminal device (not shown).

[0036] As described above, the map generation device of this embodiment comprises a building information acquisition unit, a map generation unit, and an output unit. The building information acquisition unit acquires building information, including the outline of the target building as seen from an overhead viewpoint. The map generation unit defines a frame according to the outline of the target building included in the building information acquired by the building information acquisition unit. The map generation unit divides the inside of the defined frame into grid cells and generates a floor map. The output unit outputs the floor map generated by the map generation unit.

[0037] In this embodiment, a floor map is generated by dividing the interior of a frame defined to match the exterior shape of the target building into a grid of cells. Therefore, according to this embodiment, a floor map of the interior of a building can be generated using building information obtained from outside the building.

[0038] In one embodiment of this system, the building information acquisition unit acquires openings in the target building, extracted from an image of the target building taken from a side view. The map generation unit adds the openings in the target building to the floor map. In this embodiment, the openings in the target building are added to the floor map. Therefore, according to this embodiment, a floor map can be generated that facilitates entry into and evacuation from the target building.

[0039] In one embodiment of this system, the building information acquisition unit acquires floor information of the interior of the target building. The map generation unit overlays the floor information onto the floor map. According to this embodiment, since the floor information of the interior of the target building is overlaid onto the floor map, the structure of the interior of the target building becomes clearer.

[0040] (Second embodiment) Next, an example of the configuration of the map generation device according to the second embodiment will be described with reference to the drawings. The map generation device of this embodiment acquires location information of personnel working inside a building. The map generation device of this embodiment adds the locations of the personnel, corresponding to the acquired location information, to the floor map.

[0041] (composition) Figure 11 is a block diagram showing an example of the configuration of the map generation device 20 according to this embodiment. The map generation device 20 includes a building information acquisition unit 21, a location information acquisition unit 22, a map generation unit 25, a map update unit 27, and an output unit 29.

[0042] The building information acquisition unit 21 has the same configuration as the building information acquisition unit 11 in the first embodiment. The building information acquisition unit 21 acquires building information. The building information includes information about the building's exterior and outline.

[0043] The location information acquisition unit 22 acquires location information, including the location of personnel working inside the building. The location information includes identification information to identify the personnel. There are no particular limitations on the method of acquiring location information. For example, location information can be measured according to the static magnetic field inside the target building. For example, location information can be measured using sensor data detected by an inertial sensor worn by the personnel. For example, location information can be measured according to the transmission and reception of radio waves between a mobile terminal (not shown) carried by the personnel and Wi-Fi® or the like.

[0044] The map generation unit 25 has the same configuration as the map generation unit 15 of the first embodiment. The map generation unit 25 defines the frame of the floor map according to the shape of the building included in the building information. The map generation unit 25 generates the floor map by dividing the inside of the floor map frame into a grid. For example, the floor map generated by the map generation unit 25 is stored in a storage unit (not shown).

[0045] The map update unit 27 obtains the floor map from the map generation unit 25. The map update unit 27 also obtains the location information of personnel working inside the building from the location information acquisition unit 22. The map update unit 27 updates the floor map according to the acquired location information. Specifically, the map update unit 27 adds the locations of the personnel corresponding to the acquired location information to the floor map.

[0046] The output unit 29 has the same configuration as the output unit 19 in the first embodiment. The output unit 29 outputs the floor map updated by the map update unit 27. There are no limitations on the destination of the floor map output.

[0047] Figure 12 is a conceptual diagram showing an example of a floor map (floor map 271) updated by the map update unit 27. Figure 12 shows an example of the floor map 271 being displayed on the screen of the terminal device 200. In the example in Figure 12, the floor map 271 displays the positions of six team members (M1 to M6). In addition, in the example in Figure 12, a reference point R is displayed, which serves as the reference for the positions of team members inside the building. For example, reference point R is set at the entrance of the target building. The position of reference point R is fixed relative to the position of the target building. For example, the positions of the team members are relative to reference point R. If the positions of the team members can be measured in the world coordinate system, reference point R may be omitted. A marker is displayed at the position of each team member. The marker is set with an identification symbol (1 to 6) for each team member (M1 to M6).

[0048] The team leader can refer to floor map 271 to confirm the location of team members inside the building. The leader can then issue individual instructions to team members based on their location on floor map 271.

[0049] Figure 13 is a conceptual diagram showing an example of a floor map (floor map 272) updated by the map update unit 27. Figure 13 shows an example of the floor map 272 being displayed on the screen of the terminal device 200. In the example in Figure 13, the floor map 272 displays the positions of six team members (M1 to M6). In the example in Figure 13, a reference point R is displayed that serves as the basis for the positions of the team members inside the building. A marker is displayed for each team member's position. In addition, the floor map 272 displays trajectories corresponding to changes in the team members' positions. In the example in Figure 13, the trajectory T2 (dotted line) of team member M2 and the trajectory T3 (dotted line) of team member M3 are shown. Trajectories may be displayed for all team members, or for only some team members. Furthermore, the display of trajectories may be switched on or off depending on the operation in the user interface (not shown).

[0050] The team leader, who issues instructions to team members (M1-M6), can refer to floor map 272 to confirm the location and trajectory of team members inside the building. The leader can also identify areas that have been covered based on the team members' trajectories on floor map 272. Based on the team members' locations and trajectories on floor map 272, the leader can issue instructions to individual team members.

[0051] Figure 14 is a conceptual diagram showing an example of a floor map (floor map 273) updated by the map update unit 27. Figure 14 shows an example of the floor map 273 being displayed on the screen of the terminal device 200. In the example in Figure 14, the floor map 273 displays the positions of six team members (M1 to M6). In the example in Figure 14, a reference point R is displayed, which serves as the reference point for the positions of the team members inside the building. A marker is displayed for each team member at their position. In addition, cells corresponding to the positions that the team members have passed through are filled in on the floor map 273. In the example in Figure 14, cells corresponding to the positions that the team members have passed through are hatched. The movement paths (trajectories) of the team members are assumed to be spaces such as corridors and rooms. Therefore, by referring to the floor map 273, the layout of rooms and the structure of corridors inside the building can be roughly understood. The display of movement paths (trajectories) may be switched depending on the operation of the user interface (not shown).

[0052] The team leader, who issues instructions to team members (M1-M6), can refer to floor map 273 to confirm the location and trajectory of team members within the building. The team leader can also identify areas that have been covered based on the team members' movement paths (trajectories) on floor map 273. Filled cells on floor map 273 represent passages and rooms that team members can pass through. Therefore, the location of passages and rooms can be identified based on the shape and size of the filled cells. For example, an area where cells are filled in one direction is likely to be a passage. For example, an area where several cells are clustered together is likely to be a room. The team leader can issue instructions to individual team members based on their location and trajectory on floor map 273. Furthermore, the team leader can identify areas that have been covered by team members based on their movement paths (trajectories) on floor map 273. In addition, the team leader can roughly understand the building's internal structure based on the shape and size of the filled areas on floor map 273.

[0053] Figure 15 is a conceptual diagram showing an example of a floor map (floor map 274) updated by the map update unit 27. Figure 15 shows an example of the floor map 274 being displayed on the screen of the terminal device 200. The floor map 274 in Figure 15 has floor information of the interior of the target building superimposed on it. According to the floor map 274, the arrangement of corridors, rooms, stairs, elevators, emergency exits (evacuation exits), etc., inside the target building can be clearly understood. In the example in Figure 15, the positions of six team members (M1 to M6) are displayed on the floor map 274. In the example in Figure 15, a reference point R that serves as the basis for the positions of the team members inside the building is displayed. A marker is displayed for each team member's position. In addition, the floor map 274 displays trajectories corresponding to changes in the positions of the team members. In the example in Figure 15, the trajectory T2 (dotted line) of team member M2 and the trajectory T3 (dotted line) of team member M3 are shown. The trajectories may be displayed for all team members, or for only some of the team members. Furthermore, the display of trajectories and floor information may be switched depending on the operation in the user interface (not shown). The commander giving instructions to team members (M1-M6) can refer to the floor map 274 to confirm the positions and trajectories of team members inside the building, in correspondence with the building's internal structure. The commander can also identify the areas that have been covered based on the team members' trajectories on the floor map 274. Based on the building's internal structure and the team members' positions and trajectories on the floor map 274, the commander can give precise instructions to individual team members.

[0054] (operation) Next, an example of the operation of the map generation device 20 according to this embodiment will be described with reference to the drawings. Figure 16 is a flowchart illustrating an example of the operation of the map generation device 20. In the explanation following the flowchart in Figure 16, the map generation device 20 will be described as the main operating component.

[0055] In Figure 16, first, the map generation device 20 acquires building information for the target building (step S21). For example, the map generation device 20 acquires an image (map) including the shape of the target building as building information. For example, the map generation device 20 acquires an image (photograph) of the target building taken from the information's viewpoint using a drone as building information.

[0056] Next, the map generation device 20 defines the frame of the floor map according to the shape of the building included in the building information (step S22). For example, the map generation device 20 defines the frame of the floor map according to the outline of the building.

[0057] Next, the map generation device 20 divides the inside of the defined frame into a grid and generates a floor map (step S23).

[0058] Next, the map generation device 20 performs a floor map update process (step S24). In the floor map update process, the map generation device 20 overlays markers indicating the locations of personnel inside the building onto the floor map. Details of the floor map update process will be described later.

[0059] Next, the map generation device 20 outputs the generated floor map (step S25). The output floor map is displayed on the screen of a terminal device (not shown). In the case of updating the floor map, the map generation device 20 may output only the update information. The update information output from the map generation device 20 overwrites the floor map that has already been sent to the terminal device (not shown).

[0060] If the floor map update is to be continued (Yes in step S26), the process returns to step S24. If the floor map update is not to be continued (No in step S26), the process according to the flowchart in Figure 16 is complete. The decision to continue updating the floor map can be made according to pre-set conditions. For example, the decision to continue updating the floor map can be made based on the judgment of the fire brigade captain conducting the firefighting operation.

[0061] [Floor map update process] Next, we will explain the details of the floor map update process (step S24 in Figure 16) with some examples. The following floor map update process will be explained with the map generation device 20 as the main operator.

[0062] <Update example 1> Figure 17 is a flowchart illustrating an example of the floor map update process (Update Example 1). In this update example, markers indicating the locations of personnel inside the building are superimposed on the floor map.

[0063] In Figure 17, first, in response to obtaining location information of personnel inside the building (Yes in step S211), the map generation device 20 adds markers indicating the personnel's locations to the floor map (step S212). On the other hand, if location information of personnel inside the building has not been obtained (No in step S211), the process proceeds to step S213. For example, if location information is not obtained during a pre-set time period, it is determined that location information has not been obtained.

[0064] If the result after step S212, or if the result in step S211 is No, then if it is time to output the floor map (Yes in step S213), the process according to the flowchart in Figure 17 is complete. If it is not time to output the floor map (No in step S213), the process returns to step S211. For example, the floor map is output at a predetermined time or time interval. For example, the timing of the floor map output may be determined according to the judgment of the fire brigade captain conducting firefighting operations.

[0065] <Update example 2> Figure 18 is a flowchart illustrating an example of the floor map update process (Update Example 2). In this update example, in addition to markers indicating the positions of team members inside the building, the trajectories corresponding to the team members' movements are superimposed on the floor map.

[0066] In Figure 18, first, if there is a history of the team member's location information (Yes in step S221), the map generation device 20 adds the team member's movement path (trajectory) to the floor map (step S222). On the other hand, if there is no history of the team member's location information (No in step S221), the process proceeds to step S223.

[0067] If step S222 is followed by step S221 and the answer is No, then, depending on the acquisition of location information for personnel inside the building (step S223 is Yes), the map generation device 20 adds markers indicating the personnel's locations to the floor map (step S224). On the other hand, if location information for personnel inside the building has not been acquired (step S223 is No), the process proceeds to step S226. For example, if location information has not been acquired during a pre-set time period, it is determined that location information has not been acquired.

[0068] Following step S224, the map generation device 20 updates the movement paths of the team members on the floor map in accordance with the location information of the team members inside the building (step S225). The map generation device 20 adds the newly acquired team member locations to the team member movement paths (trajectories).

[0069] If the answer to step S225 is No, or if the answer to step S223 is No, then if it is time to output the floor map (Yes in step S226), the process according to the flowchart in Figure 18 is complete. If it is not time to output the floor map (No in step S226), the process returns to step S223. For example, the floor map is output at a predetermined time or time interval. For example, the timing of the floor map output may be determined according to the judgment of the fire brigade captain conducting firefighting operations.

[0070] <Update example 3> Figure 19 is a flowchart illustrating an example of the floor map update process (Update Example 3). In this update example, the cells corresponding to the locations where team members have passed are highlighted on the floor map.

[0071] In Figure 19, first, if there is a history of the personnel's location information (Yes in step S231), the map generation device 20 highlights the cells corresponding to the locations the personnel have passed through on the floor map (step S232). For example, the map generation device 20 highlights the cells corresponding to the locations the personnel have passed through on the floor map by filling them in. On the other hand, if there is no history of the personnel's location information (No in step S231), the process proceeds to step S233.

[0072] If the answer to step S232 is No, or if the answer to step S231 is No, then, depending on the acquisition of location information of the personnel inside the building (Yes in step S233), the map generation device 20 adds markers indicating the personnel's locations to the floor map (step S234). On the other hand, if location information of the personnel inside the building has not been acquired (No in step S233), the process proceeds to step S236. For example, if location information has not been acquired during a pre-set time period, it is determined that location information has not been acquired.

[0073] Following step S234, the map generation device 20 updates the cell highlighting in accordance with the acquisition of location information of the personnel inside the building (step S235). The map generation device 20 highlights the cells corresponding to the newly acquired locations of the personnel.

[0074] If the result after step S235, or if the result in step S233 is No, then if it is time to output the floor map (Yes in step S236), the process according to the flowchart in Figure 19 is complete. If it is not time to output the floor map (No in step S236), the process returns to step S233. For example, the floor map is output at a predetermined time or time interval. For example, the timing of the floor map output may be determined according to the judgment of the fire brigade captain conducting firefighting operations.

[0075] <Update example 4> Figure 20 is a flowchart illustrating an example of the floor map update process (Update Example 4). In this update example, the floor information inside the building is superimposed onto the floor map.

[0076] In Figure 20, first, if floor information for the building is available (Yes in step S241), the map generation device 20 superimposes the floor information for the building onto the floor map (step S242). On the other hand, if there is no floor information for the building (No in step S241), the process proceeds to step S243.

[0077] If the answer to step S241 is No, following step S242, then, depending on the acquisition of location information for personnel inside the building (Yes in step S243), the map generation device 20 adds markers indicating the personnel's locations to the floor map (step S244). On the other hand, if location information for personnel inside the building has not been acquired (No in step S243), the process proceeds to step S245. For example, if location information was not acquired during a pre-set time period, it is determined that location information was not acquired.

[0078] If the result after step S244, or if the result in step S243 is No, then if it is time to output the floor map (Yes in step S245), the process according to the flowchart in Figure 20 is complete. If it is not time to output the floor map (No in step S245), the process returns to step S211. For example, the floor map is output at a predetermined time or time interval. For example, the timing of the floor map output may be determined according to the judgment of the fire brigade captain conducting firefighting operations.

[0079] As described above, the map generation device of this embodiment comprises a building information acquisition unit, a location information acquisition unit, a map generation unit, a map update unit, and an output unit. The building information acquisition unit acquires building information, including the outline of the target building as seen from an overhead viewpoint. The location information acquisition unit acquires location information of at least one worker working inside the target building. The map generation unit defines a frame according to the outline of the target building included in the building information acquired by the building information acquisition unit. The map generation unit divides the inside of the defined frame into grid cells and generates a floor map. The map update unit adds the worker's location to the floor map according to the acquired location information. The output unit outputs the floor map generated by the map generation unit.

[0080] In this embodiment, a floor map is generated by dividing the inside of a frame defined to match the exterior shape of the target building into a grid of cells. In addition, in this embodiment, the positions of workers working inside the target building are added to the floor map. Therefore, according to this embodiment, the positions of workers working inside the building can be confirmed in correspondence with the floor map.

[0081] In one embodiment of this system, the map update unit highlights the cell corresponding to the location the worker has passed through. According to this embodiment, the location the worker has passed through becomes clear on the floor map. Workers move through spaces such as corridors and rooms. Therefore, according to this embodiment, the internal structure of the building can be estimated according to the worker's movement history.

[0082] (Third embodiment) Next, an example of the configuration of a map generation device according to the third embodiment will be described with reference to the drawings. The map generation device of this embodiment adds information corresponding to sensor data detected by sensors installed inside the building to the floor map. The sensors may be installed inside the building or carried by the personnel. Below, an example of adding information corresponding to sensor data to the floor map in the configuration of the second embodiment will be given. The method of this embodiment may also be applied to the configuration of the first embodiment.

[0083] (composition) Figure 21 is a block diagram showing an example of the configuration of the map generation device 30 according to this embodiment. The map generation device 30 includes a building information acquisition unit 31, a location information acquisition unit 32, a sensor data acquisition unit 33, a map generation unit 35, a map update unit 37, a determination unit 38, and an output unit 39.

[0084] The building information acquisition unit 31 has the same configuration as the building information acquisition unit 11 in the first embodiment. The building information acquisition unit 31 acquires building information. The building information includes information about the building's exterior and outline.

[0085] The location information acquisition unit 32 has the same configuration as the location information acquisition unit 22 in the second embodiment. The location information acquisition unit 32 acquires location information, including the location of a team member working inside a building. The location information includes identification information to identify the team member.

[0086] The sensor data acquisition unit 33 acquires sensor data detected by sensors installed inside the building. The sensor data includes the location from which the detected data is acquired. For example, the sensor is a temperature measuring instrument that measures temperature. If the sensor is a temperature measuring instrument, the sensor data to be detected is temperature data. For example, the sensor is a gas concentration measuring instrument that measures gas concentration. If the sensor is a gas concentration measuring instrument, the sensor data to be detected is the concentration data of the target gas detected by the gas concentration measuring instrument. For example, the target gases are carbon monoxide, carbon dioxide, hydrogen cyanide, hydrogen chloride, hydrogen bromide, chlorine, etc. For example, the target gases are polycyclic aromatic hydrocarbons, polychlorinated biphenyls, polyhalogenated dibenzodioxins, dibenzofurans, and other hazardous substances generated in fires. There are no limitations on the sensors from which the sensor data acquired by the sensor data acquisition unit 33 is obtained.

[0087] The map generation unit 35 has the same configuration as the map generation unit 15 in the first embodiment. The map generation unit 35 defines the frame of the floor map according to the shape of the building included in the building information. The map generation unit 35 generates the floor map by dividing the inside of the floor map frame into a grid. For example, the floor map generated by the map generation unit 35 is stored in a storage unit (not shown).

[0088] The map update unit 37 obtains the floor map from the map generation unit 35. The map update unit 37 also obtains the location information of personnel working inside the building from the location information acquisition unit 32. The map update unit 37 updates the floor map according to the acquired location information. Specifically, the map update unit 37 adds the locations of the personnel corresponding to the acquired location information to the floor map.

[0089] Furthermore, the map update unit 37 acquires sensor data from the sensor data acquisition unit 33. The map update unit 37 highlights the cells corresponding to the acquisition locations of the detection target data included in the sensor data on the floor map. If the detection target is a toxic gas, it is preferable to highlight the cells surrounding the acquisition location of the detection target data as well. For example, the map update unit 37 changes the degree of highlighting of the cells according to the value of the detection target data. For example, the map update unit 37 increases the intensity of the highlighting as the value of the detection target data increases, and decreases the intensity of the highlighting as the value of the detection target data decreases. For example, the map update unit 37 may highlight the value of the detection target data with the color or pattern of the cell. There are no limitations on the manner of highlighting.

[0090] The determination unit 38 determines whether to activate an alert based on the positional relationship between the highlighted cell on the floor map and the marker of a team member displayed on the floor map. If the determination unit 38 determines that an alert should be activated, it outputs an instruction to activate the alert to the output unit 39. For example, the determination unit 38 determines to activate an alert if the highlighted cell on the floor map and the marker of a team member displayed on the floor map overlap. For example, the determination unit 38 determines to activate an alert if the distance between the highlighted cell on the floor map and the marker of a team member displayed on the floor map is within a pre-set danger range. The conditions for activating the alert can be set arbitrarily.

[0091] The output unit 39 has the same configuration as the output unit 19 in the first embodiment. The output unit 39 outputs the floor map updated by the map update unit 37. The output unit 39 also outputs an alert in response to an alert activation instruction from the determination unit 38. For example, an alert may be a display, sound, or vibration that notifies that a dangerous situation has occurred. There are no limitations on the destination of the floor map or alert output.

[0092] Figure 22 is a conceptual diagram showing an example of a floor map (floor map 351) updated by the map update unit 37. Figure 22 shows an example of the floor map 351 being displayed on the screen of the terminal device 300. In the example of Figure 22, a reference point R, which serves as the reference point for location inside the building, is displayed. In the example of Figure 22, the floor map 351 shows highlighting (hatching) related to temperature and gas concentration. The higher the temperature, the greater the density of the highlighting, and the lower the temperature, the fainter the highlighting. Similarly, the higher the gas concentration, the greater the density of the highlighting, and the lower the gas concentration, the fainter the highlighting. The commander giving instructions to team members can refer to the floor map 351 to check the temperature and gas concentration conditions inside the building. The commander can give instructions to individual team members according to the temperature and gas concentration conditions shown on the floor map 351. If individual team members are equipped with portable terminals that can access the floor map 351, they can also act autonomously by referring to the highlighting (hatching) on ​​the floor map 351.

[0093] Figure 23 is a conceptual diagram showing an example of a floor map (floor map 371) updated by the map update unit 37. Figure 23 shows an example of the floor map 371 being displayed on the screen of the terminal device 300. The floor map 371 shows highlighting (hatching) related to temperature and gas concentration. In the example of Figure 23, the floor map 371 also displays the positions of six team members (M1 to M6). In the example of Figure 23, a reference point R that serves as the reference for positions inside the building is displayed. Markers for each team member are displayed at their positions. For example, the floor map 371 may display trajectories corresponding to changes in the positions of the team members. For example, the floor map 371 may have floor information inside the building superimposed on it. The team leader giving instructions to the team members (M1 to M6) can refer to the floor map 371 to confirm the correspondence between the positions of the team members inside the building and the data to be detected. The team leader can also give instructions to individual team members according to the positional relationship between the positions of the team members inside the building and the data to be detected. In the example shown in Figure 23, team member M4 is located in a position corresponding to a cell with a high gas concentration. In such a case, an alert is output from the output unit 39. The team leader can recognize that team member M4 is in a dangerous situation based on the alert. Even if no alert is triggered, the team leader can instruct team member M4 to move to an area where no target data has been detected by referring to the floor map 371.

[0094] Figure 24 is a conceptual diagram showing how instructions are given to team member M4, who is located in a position corresponding to a cell with a high gas concentration, via team member M4's mobile terminal T. For example, the mobile terminal T can be a mobile beacon or smartphone carried by the team member. In the example in Figure 24, the instruction, "Team member M4, the gas concentration at that location is high. Please evacuate immediately," is output by voice from the mobile terminal T. Upon hearing the instruction, team member M4 can take action accordingly and evacuate from the area filled with the detected gas. The notification emitted from the mobile terminal T is not limited to any method that can be recognized by the team member, such as sound, light, or vibration.

[0095] (operation) Next, an example of the operation of the map generation device 30 according to this embodiment will be described with reference to the drawings. Figure 25 is a flowchart illustrating an example of the operation of the map generation device 30. In the explanation following the flowchart in Figure 25, the map generation device 30 will be described as the main operating component.

[0096] In Figure 25, first, the map generation device 30 acquires building information for the target building (step S31). For example, the map generation device 30 acquires an image (map) including the shape of the target building as building information. For example, the map generation device 30 acquires an image (photograph) of the target building taken from the viewpoint of the information using a drone as building information.

[0097] Next, the map generation device 30 defines the frame of the floor map according to the shape of the building included in the building information (step S32). For example, the map generation device 30 defines the frame of the floor map according to the outline of the building.

[0098] Next, the map generation device 30 divides the inside of the defined frame into a grid and generates a floor map (step S33).

[0099] Next, the map generation device 30 performs a floor map update process / determination process (step S34). In the floor map update process, the map generation device 30 overlays markers indicating the positions of personnel inside the building onto the floor map. In the determination process, the map generation device 30 determines whether to activate an alert based on the positions of personnel inside the building. Details of the floor map update process / determination process will be described later.

[0100] Next, if an alert is triggered during a pre-set time period (Yes in step S35), the map generator 30 outputs an alert (step S36). On the other hand, if no alert is triggered during a pre-set time period (No in step S35), the process proceeds to step S37.

[0101] If step S35 is followed by a "No" response, or if step S35 is answered "No", the map generation device 30 outputs the generated floor map (step S37). The output floor map is displayed on the screen of a terminal device (not shown). In the case of a floor map update, the map generation device 30 may output only the update information. The update information output from the map generation device 30 overwrites the floor map already sent to the terminal device (not shown).

[0102] If the floor map update is to be continued (Yes in step S38), the process returns to step S34. If the floor map update is not to be continued (No in step S38), the process according to the flowchart in Figure 25 is complete. The decision to continue updating the floor map can be made according to pre-set conditions. For example, the decision to continue updating the floor map may be made based on the judgment of the fire brigade captain conducting the firefighting operation.

[0103] [Floor map update process / determination process] Next, we will explain the details of the floor map update / determination process (step S34 in Figure 25) with an example. The following floor map update / determination process will be explained with the map generation device 30 as the main operator.

[0104] Figure 26 is a flowchart illustrating an example of floor map update / determination processing. In this update example, highlighting based on sensor data is added to the floor map. In the flowchart of Figure 26, steps S311 to S314 and step S317 are floor map update processes, and steps S315 to S316 are floor map update processes.

[0105] In Figure 26, first, in response to obtaining location information of personnel inside the building (Yes in step S311), the map generation device 30 adds markers indicating the personnel's locations to the floor map (step S312). On the other hand, if location information of personnel inside the building has not been obtained (No in step S311), the process proceeds to step S317. For example, if location information is not obtained during a pre-set time period, it is determined that location information has not been obtained.

[0106] If sensor data is acquired after step S312 (Yes in step S313), the map generation device 30 adds a warning area corresponding to the sensor data to the floor map (step S314). For example, the map generation device 30 highlights the warning area by filling in the cells included in the floor map with a shade corresponding to the measured value of the sensor data. On the other hand, if no sensor data is acquired (No in step S313), the process proceeds to step S317.

[0107] If, following step S314, there is a team member inside the warning area (Yes in step S315), the map generation device 30 triggers an alert for the team member inside the warning area (step S316). For example, the alert is output to a terminal device used by the commander who sends instructions to the team member. For example, the alert may also be output to a terminal device worn by the team member. If there is no team member inside the warning area (No in step S315), the process proceeds to step S317.

[0108] If the answer to step S316, step S311, step S313, or step S315 is No, and it is time to output the floor map (Yes in step S317), then the process according to the flowchart in Figure 26 is complete. If it is not time to output the floor map (No in step S317), the process returns to step S311. For example, the floor map is output at a predetermined time or time interval. For example, the timing of the floor map output may be determined according to the judgment of the fire brigade captain conducting firefighting operations.

[0109] As described above, the map generation device of this embodiment comprises a building information acquisition unit, a location information acquisition unit, a sensor data acquisition unit, a map generation unit, a map update unit, and an output unit. The building information acquisition unit acquires building information, including the outline of the target building as seen from an overhead viewpoint. The location information acquisition unit acquires location information of at least one worker working inside the target building. The sensor data acquisition unit acquires sensor data, including measured values ​​related to the detection target inside the target building. The map generation unit defines a frame according to the outline of the target building included in the building information acquired by the building information acquisition unit. The map generation unit divides the inside of the defined frame into grid cells and generates a floor map. The map update unit adds the worker's location to the floor map according to the acquired location information. The map update unit highlights the display of the cell corresponding to the location where the detection target is detected, according to the measured values ​​of the sensor data related to the detection target. The output unit outputs the floor map generated by the map generation unit.

[0110] In this embodiment, a floor map is generated by dividing the inside of a frame defined to match the exterior shape of the target building into a grid of cells. In addition, in this embodiment, the positions of workers working inside the target building are added to the floor map. Furthermore, in this embodiment, the display of the cell corresponding to the location where the detected object is detected is highlighted according to the measured value of the sensor data. Therefore, according to this embodiment, the positional relationship between the location where the detected object is detected and the position of workers working inside the building can be confirmed in correspondence with the floor map.

[0111] In one embodiment of this system, a determination unit is provided to determine whether to activate an alert based on the positional relationship between the highlighted cell and the worker's position. If the positional relationship between the highlighted cell and the worker's position satisfies the conditions for activating an alert, the determination unit outputs an instruction to the output unit to output an alert regarding the worker. The output unit outputs an alert regarding the worker in response to the instruction from the determination unit. According to this embodiment, it is possible to determine whether a worker is in a dangerous position by providing an alert based on the positional relationship between the location where the detected object is located and the location of the worker working inside the building.

[0112] (Fourth embodiment) Next, an example of the configuration of the map generation device according to the fourth embodiment will be described with reference to the drawings. The map generation device of this embodiment adds the positions of markers set by personnel working inside a building to the floor map. Below, an example is given of applying the method of this embodiment to the configuration of the second embodiment. The method of this embodiment may also be applied to the configurations of the first or third embodiment.

[0113] (composition) Figure 27 is a block diagram showing an example of the configuration of the map generation device 40 according to this embodiment. The map generation device 40 includes a building information acquisition unit 41, a location information acquisition unit 42, a marker location information acquisition unit 43, a map generation unit 45, a map update unit 47, a determination unit 48, and an output unit 49.

[0114] The building information acquisition unit 41 has the same configuration as the building information acquisition unit 11 in the first embodiment. The building information acquisition unit 41 acquires building information. The building information includes information about the building's exterior and outline.

[0115] The location information acquisition unit 42 has the same configuration as the location information acquisition unit 22 in the second embodiment. The location information acquisition unit 42 acquires location information, including the location of a team member working inside a building. The location information includes identification information to identify the team member.

[0116] The marker location information acquisition unit 43 acquires marker location information, including the locations of markers set by personnel working inside the building. Once the marker location information acquisition unit 43 acquires the marker location information, it outputs the locations of the markers included in the marker location information to the map update unit 47.

[0117] Markers are placed at locations that the team member deems to warrant a warning. Markers can be set at any location using a portable device (not shown) carried by the team member. For example, in response to a team member's operation to set a marker, marker location information, including the team member's current location, is transmitted from the portable device carried by the team member. In reality, it is assumed that team members will be located away from the location deemed to warrant a warning. Therefore, the marker location may be set in an area that includes the vicinity of the team member carrying the portable device that transmitted the marker location information. Also, if a team member can set a marker at any location while referring to a floor map, the location entered by the team member into the floor map may be set as the marker location. For example, if the portable device has a touch panel screen, the marker location may be set in response to the team member's operation on the floor map displayed on the screen. In that case, to prevent accidental operation by the team member, the system may be configured so that markers are placed only in the vicinity of the team member. Markers may include the degree of warning. Markers may also include the type of warning. For example, one type of warning is a restraining order indicating that it is dangerous to approach the marker's location. Another type of warning is an emergency response order indicating that an immediate response is required regarding the marker's location. There are no limitations on the degree or type of warning.

[0118] The map generation unit 45 has the same configuration as the map generation unit 15 in the first embodiment. The map generation unit 45 defines the frame of the floor map according to the shape of the building included in the building information. The map generation unit 45 generates the floor map by dividing the inside of the floor map frame into a grid. For example, the floor map generated by the map generation unit 45 is stored in a storage unit (not shown).

[0119] The map update unit 47 obtains a floor map from the map generation unit 45. The map update unit 47 obtains location information of personnel working inside the building from the location information acquisition unit 42. Furthermore, the map update unit 47 obtains the location of markers from the marker location information acquisition unit 43. The map update unit 47 updates the floor map according to the acquired location information. Specifically, the map update unit 47 adds the locations of personnel according to the acquired location information to the floor map. The map update unit 47 also sets markers at the locations of markers on the floor map. For example, a marker may include an exclamation mark indicating a warning. Markers may be represented by different densities and colors depending on the degree of the warning. Markers may also be represented by different densities and colors depending on the type of warning.

[0120] The determination unit 48 determines whether to activate an alert based on the positional relationship between the highlighted cell on the floor map and the position of the marker displayed on the floor map. If the determination unit 48 determines that an alert should be activated, it outputs an instruction to activate the alert to the output unit 49. For example, the determination unit 48 determines to activate an alert if the position where a marker is set on the floor map overlaps with the position of a team member displayed on the floor map. For example, the determination unit 48 determines to activate an alert if the distance between the position where a marker is set on the floor map and the position of a team member displayed on the floor map is within a pre-set range. The conditions for activating the alert can be set arbitrarily.

[0121] The output unit 49 has the same configuration as the output unit 19 in the first embodiment. The output unit 49 outputs the floor map updated by the map update unit 47. The output unit 49 also outputs an alert in response to an alert activation instruction from the determination unit 48. For example, the alert is notified to personnel who are close to the location of a marker. For example, the alert may be a display, sound, or vibration that notifies that the location of a marker is nearby. There are no limitations on the destination of the floor map or alert output.

[0122] Figure 28 is a conceptual diagram showing an example of a floor map (floor map 471) updated by the map update unit 47. Figure 28 shows an example of the floor map 471 being displayed on the screen of the terminal device 400. The floor map 471 shows the positions of markers (A1, A2) set for the team members. In the example in Figure 28, the floor map 471 also displays the positions of six team members (M1 to M6). In the example in Figure 28, a reference point R, which serves as the basis for positions inside the building, is displayed. A marker for each team member is displayed at their position. The floor map 471 displays trajectories corresponding to changes in the team members' positions. In the example in Figure 28, the trajectory T2 (dotted line) of team member M2 and the trajectory T3 (dotted line) of team member M3 are shown. For example, floor information inside the building may be superimposed on the floor map 471. The team leader, who issues instructions to team members (M1-M6), can refer to the floor map 471 to confirm the correspondence between the positions of team members inside the building and the marker positions. The team leader can also issue instructions to individual team members based on the positional relationship between the team members' positions inside the building and the marker positions. In the example in Figure 28, team member M4 is near marker A1. In such a case, an alert is output from the output unit 49. The team leader can recognize that team member M4 is in a dangerous situation based on the alert. Even if an alert has not been triggered, the team leader can refer to the floor map 471 to instruct team member M4 to move to an area where no detection target data has been detected.

[0123] Figure 29 is a conceptual diagram showing how instructions are given to a team member M4 who is near a marker, via the team member's mobile device T. For example, the mobile device T can be a mobile beacon or smartphone carried by the team member. In the example in Figure 29, a fire is burning near marker A1. Marker A1 is associated with a location inside the building. Marker A1 may or may not be displayed near the location of the fire. For example, depending on the team member M4's position inside the building, marker A1 may be projected onto a surface such as a wall, ceiling, or floor by a head-mounted display (not shown) worn by team member M4. Marker A1 may also be a warning sign. For example, a warning sign is placed by a team member who discovers an event that warrants a warning. In the example in Figure 29, the instruction, "Team member M4 is near the marker. Please take immediate action," is output by voice from the mobile device T. Upon hearing the instruction, team member M4 can extinguish the fire near marker A1 by acting accordingly. For example, after a fire near marker A1 is extinguished, marker A1 may be deleted in response to an operation by a team member using M4. Notifications emitted from the mobile device T are not limited in any way that can be recognized by the team member, such as sound, light, or vibration.

[0124] (operation) Next, an example of the operation of the map generation device 40 according to this embodiment will be described with reference to the drawings. Figure 30 is a flowchart for explaining an example of the operation of the map generation device 40. In the explanation following the flowchart in Figure 30, the map generation device 40 will be described as the main operating component.

[0125] In Figure 30, first, the map generation device 40 acquires building information for the target building (step S41). For example, the map generation device 40 acquires an image (map) including the shape of the target building as building information. For example, the map generation device 40 acquires an image (photograph) of the target building taken from the information's viewpoint using a drone as building information.

[0126] Next, the map generation device 40 defines the frame of the floor map according to the shape of the building included in the building information (step S42). For example, the map generation device 40 defines the frame of the floor map according to the outline of the building.

[0127] Next, the map generation device 40 divides the inside of the defined frame into a grid and generates a floor map (step S43).

[0128] Next, the map generation device 40 performs a floor map update process / determination process (step S44). In the floor map update process, the map generation device 40 overlays markers indicating the positions of personnel inside the building onto the floor map. In the determination process, the map generation device 40 determines whether to activate an alert based on the positions of personnel inside the building. Details of the floor map update process / determination process will be described later.

[0129] Next, if an alert is triggered during a pre-set time period (Yes in step S45), the map generation device 40 outputs an alert (step S46). On the other hand, if no alert is triggered during a pre-set time period (No in step S45), the process proceeds to step S47.

[0130] If step S45 is followed by a "No" response, or if step S45 is answered "No", the map generation device 40 outputs the generated floor map (step S47). The output floor map is displayed on the screen of a terminal device (not shown). In the case of a floor map update, the map generation device 40 may output only the update information. The update information output from the map generation device 40 overwrites the floor map already sent to the terminal device (not shown).

[0131] If the floor map update is to be continued (Yes in step S48), the process returns to step S44. If the floor map update is not to be continued (No in step S48), the process according to the flowchart in Figure 25 is complete. The decision to continue updating the floor map can be made according to pre-set conditions. For example, the decision to continue updating the floor map may be made based on the judgment of the fire brigade captain conducting the firefighting operation.

[0132] [Floor map update process / determination process] Next, we will explain the details of the floor map update / determination process (step S44 in Figure 30) with an example. The following floor map update / determination process will be explained with the map generation device 40 as the main operator.

[0133] Figure 31 is a flowchart illustrating an example of floor map update / determination processing. In this update example, the positions of markers set by team members are added to the floor map. In the flowchart of Figure 31, steps S411 to S414 and step S417 are floor map update processes, and steps S415 to S416 are floor map update processes.

[0134] In Figure 31, first, in response to obtaining location information of personnel inside the building (Yes in step S411), the map generation device 40 adds markers indicating the personnel's locations to the floor map (step S412). On the other hand, if location information of personnel inside the building has not been obtained (No in step S411), the process proceeds to step S417. For example, if location information is not obtained during a pre-set time period, it is determined that location information has not been obtained.

[0135] If marker location information is obtained after step S412 (Yes in step S413), the map generation device 40 adds the marker location corresponding to the marker location information to the floor map (step S414). For example, the map generation device 40 adds a marker including an exclamation mark to the floor map. On the other hand, if marker location information is not obtained (No in step S413), the process proceeds to step S417.

[0136] Following step S414, if there is a team member near the marker (Yes in step S415), the map generation device 40 triggers an alert for the team member near the marker (step S416). For example, the alert is output to a terminal device used by the commander who sends instructions to the team member. For example, the alert may also be output to a terminal device worn by the team member. If there is no team member near the marker (No in step S415), proceed to step S417.

[0137] If the answer to step S416, step S411, step S413, or step S415 is No, and it is time to output the floor map (Yes in step S417), then the process according to the flowchart in Figure 26 is complete. If it is not time to output the floor map (No in step S417), the process returns to step S411. For example, the floor map is output at a predetermined time or time interval. For example, the timing of the floor map output may be determined according to the judgment of the fire brigade captain conducting firefighting operations.

[0138] As described above, the map generation device of this embodiment comprises a building information acquisition unit, a location information acquisition unit, a marker location information acquisition unit, a map generation unit, a map update unit, and an output unit. The building information acquisition unit acquires building information, including the outline of the target building as seen from an overhead viewpoint. The location information acquisition unit acquires location information of at least one worker working inside the target building. The marker location information acquisition unit acquires marker location information, including the location of a marker set by a worker inside the target building. The map generation unit defines a frame according to the outline of the target building included in the building information acquired by the building information acquisition unit. The map generation unit divides the inside of the defined frame into grid cells and generates a floor map. The map update unit adds the worker's location to the floor map according to the acquired location information. The map update unit highlights the cell corresponding to the location where a marker is set, according to the worker's settings. The output unit outputs the floor map generated by the map generation unit.

[0139] In this embodiment, a floor map is generated by dividing the inside of a frame defined to match the exterior shape of the target building into a grid of cells. In addition, in this embodiment, the positions of workers working inside the target building are added to the floor map. Furthermore, in this embodiment, the display of cells corresponding to the positions where markers are set is highlighted according to the marker position information set by the workers. Therefore, according to this embodiment, the positional relationship between the positions where markers are set and the positions of workers working inside the building can be confirmed in association with the floor map.

[0140] In one embodiment of this system, a determination unit is provided to determine whether to activate an alert based on the positional relationship between a highlighted cell and the worker's position. If the positional relationship between the highlighted cell and the worker's position satisfies the conditions for activating an alert, the determination unit outputs an instruction to the output unit to output an alert related to the worker. The output unit outputs an alert related to the worker in response to the instruction from the determination unit. According to this embodiment, the worker can perform an action corresponding to the set marker by providing an alert based on the positional relationship between the location where the marker is set and the location of the worker working inside the building.

[0141] (Fifth embodiment) Next, an example of the configuration of the map generation device according to the fifth embodiment will be described with reference to the drawings. The map generation device of this embodiment changes the information displayed on the floor map according to the passage of time. The method of this embodiment can be applied to any of the configurations of the first to fourth embodiments.

[0142] (composition) Figure 32 is a block diagram showing an example of the configuration of the map generation device 50 according to this embodiment. The map generation device 50 includes a building information acquisition unit 51, a location information acquisition unit 52, a map generation unit 55, a map update unit 57, and an output unit 59. The map generation device 50 may also include a sensor data acquisition unit, a marker location information acquisition unit, and a determination unit.

[0143] The building information acquisition unit 51 has the same configuration as the building information acquisition unit 11 in the first embodiment. The building information acquisition unit 51 acquires building information. The building information includes information about the building's exterior and outline.

[0144] The location information acquisition unit 52 acquires location information, including the location of personnel working inside the building. The location information includes identification information to identify the personnel. The location information also includes the time when the location information was measured. There are no particular limitations on the method of acquiring the location information.

[0145] The map generation unit 55 has the same configuration as the map generation unit 15 in the first embodiment. The map generation unit 55 defines the frame of the floor map according to the shape of the building included in the building information. The map generation unit 55 generates the floor map by dividing the inside of the floor map frame into a grid. For example, the floor map generated by the map generation unit 55 is stored in a storage unit (not shown).

[0146] The map update unit 57 obtains the floor map from the map generation unit 55. It also obtains the location information of personnel working inside the building from the location information acquisition unit 52. The map update unit 57 updates the floor map according to the acquired location information. Specifically, the map update unit 57 adds the locations of personnel according to the acquired location information to the floor map. The map update unit 57 highlights the cells on the floor map that correspond to the locations that personnel have passed through. For example, the map update unit 57 highlights the cells on the floor map that correspond to the locations that personnel have passed through by filling them in.

[0147] The map update unit 57 changes the highlighting of the floor map according to the passage of time. For example, the map update unit 57 gradually reduces the intensity of the highlighting of the floor map according to the passage of time. For example, the map update unit 57 changes the color and pattern of the highlighting of the floor map according to the passage of time.

[0148] The map update unit 57 may be configured to acquire sensor data and marker position information. In that case, the map update unit 57 acquires the measurement time of the sensor data and the setting time of the marker position information. When sensor data is acquired, the map update unit 57 highlights the cells on the floor map that correspond to the acquisition locations of the detected data included in the sensor data. The map update unit 57 changes the highlighting according to the time elapsed since the measurement time of the sensor data. When marker position information is acquired, the map update unit 57 adds marker indicators (highlighting) to the floor map. The map update unit 57 changes the highlighting according to the time elapsed since the measurement time of the sensor data.

[0149] For example, if a new route (trajectory) is acquired for a team member's movement path, the map update unit 57 adds / overwrites the acquired route on the floor map. For example, if new sensor data or marker location information is acquired for a highlighted cell, the map update unit 57 updates the highlighting displayed on the floor map with highlighting corresponding to the new sensor data or marker location information. For example, if the sensor data or marker location information is different from the past, the map update unit 57 updates the highlighting displayed on the floor map. For example, the map update unit 57 may change the color of the cell highlighting to indicate that it is updated information.

[0150] For example, the map update unit 57 displays the time the information was updated (update time) and the elapsed time since that time for information displayed in cells included in the floor map. For example, the cells on which the update time and elapsed time are displayed are manually set according to the specifications of the team leader or team members on the screen displaying the floor map. The cells on which the update time and elapsed time are displayed may also be set automatically. For example, when a cell is highlighted according to the location of a team member or the acquisition of sensor data, the cells adjacent to that cell are also highlighted. The update time is associated with one of the multiple cells highlighted in this way. The cell to which the update time is associated can be set arbitrarily. The highlighting of the cells is automatically changed according to the time elapsed since the update time. The time interval for changing the highlighting and the type of highlighting can be set arbitrarily.

[0151] The output unit 59 has the same configuration as the output unit 19 in the first embodiment. The output unit 59 outputs the floor map updated by the map update unit 57. There are no limitations on the destination of the floor map output.

[0152] Figure 33 is a conceptual diagram showing an example of a floor map (floor map 551) updated by the map update unit 57. Figure 33 shows an example of the floor map 551 displayed on the screen of the terminal device 500. In the example of Figure 33, a reference point R, which serves as the reference for location within the building, is displayed. In the example of Figure 33, the positions of the team members are omitted. In the example of Figure 33, hatching is applied to the cells corresponding to the positions that the team members have passed through. The hatching applied to the cells changes over time. In the time period shown in Figure 33 (13:40~13:48), the cell corresponding to the most recent time (13:48) is the darkest, and the cells become lighter as time progresses. In the example of Figure 33, the update timing is 2 minutes. Starting from the time that the team members passed through, the cells gradually become lighter at each update timing (2 minutes). In addition, the highlighting of the cells may be changed to a different color at each update timing. The cell highlighting may be left in its faintest state to clearly indicate the location where the team member has passed, or it may be removed at a predetermined update timing.

[0153] The team leader, who gives instructions to team members, can refer to floor map 551 to confirm the paths taken by the team members. The team leader can also identify the areas that have been addressed based on the team members' paths on floor map 551. Filled cells on floor map 551 represent passages and rooms that team members can traverse. Therefore, the location of passages and rooms can be identified based on the shape and size of the filled cells. The team leader can give instructions to individual team members based on their positions and paths on floor map 551. Furthermore, the team leader can identify the areas that have been addressed based on the team members' paths on floor map 551. In addition, the team leader can intuitively grasp the current work locations and movements of team members based on changes in the highlighting on the floor map. For example, if a team member's work location remains unchanged for a long period, it can be understood that there is a reason why that team member cannot move. In such cases, it can be assumed that the team member is having trouble with their work or is injured and unable to move. Therefore, the team leader can give instructions to other team members to move towards the location of the team member in question. For example, if a team member's work position fluctuates significantly, it can be inferred that the team member has not reached their intended location. In such cases, the team leader can give instructions to that team member based on the movements of other team members on the floor map.

[0154] Figure 34 is a conceptual diagram showing an example of a floor map (floor map 552) updated by the map update unit 57. Figure 34 shows an example of the floor map 552 being displayed on the screen of the terminal device 500. In the example of Figure 34, the positions of the team members are omitted. In the example of Figure 43, a reference point R that serves as the reference for positions inside the building is displayed. For example, the floor map 552 may display the positions of the team members and the trajectories corresponding to changes in the positions of the team members. For example, floor information inside the building may be superimposed on the floor map 552. The floor map 552 shows highlighting (hatching) related to temperature and gas concentration. In the example of Figure 34, depending on the detection of a detection target at a position corresponding to a certain cell, cells adjacent to that cell are also highlighted. The highlighting is updated to different intensities and colors according to the elapsed time from the detection time (update time) in each cell.

[0155] In the example in Figure 34, the target object is detected at points X, Y, and Z. The floor map 552 in Figure 34 was updated at 13:50:40. The cell highlighting at point X was updated at 13:45:40. The elapsed time since 13:45:40 is 5 minutes and 00 seconds. The cell highlighting at point Y was updated at 13:46:10. The elapsed time since 13:46:10 is 4 minutes and 30 seconds. The cell highlighting at point Z was updated at 13:48:00. The elapsed time since 13:48:00 is 2 minutes and 40 seconds.

[0156] The team leader, issuing instructions to team members, can refer to floor map 552 to confirm the time (update time) and elapsed time of detection of an object within the building, corresponding to the cells on the floor map. The team leader can recognize changes in the status of the highlighted information on the floor map according to the time elapsed since the detection of the object. Information with a shorter time elapsed since the update time is presumed to have undergone a smaller change in status. Conversely, information with a longer time elapsed since the update time is presumed to have undergone a larger change in status. The team leader can issue instructions to individual team members in accordance with the changes in status, based on the time elapsed since the detection of the object.

[0157] (operation) Next, an example of the operation of the map generation device 50 according to this embodiment will be described with reference to the drawings. Figure 35 is a flowchart illustrating an example of the operation of the map generation device 50. In the explanation following the flowchart in Figure 35, the map generation device 50 will be described as the main operating component.

[0158] In Figure 35, first, the map generation device 50 acquires building information for the target building (step S51). For example, the map generation device 50 acquires an image (map) including the shape of the target building as building information. For example, the map generation device 50 acquires an image (photograph) of the target building taken from the information's viewpoint using a drone as building information.

[0159] Next, the map generation device 50 defines the frame of the floor map according to the shape of the building included in the building information (step S52). For example, the map generation device 50 defines the frame of the floor map according to the outline of the building.

[0160] Next, the map generation device 50 divides the inside of the defined frame into a grid and generates a floor map (step S53).

[0161] Next, the map generation device 50 performs a floor map update process (step S54). In the floor map update process, the map generation device 50 overlays markers indicating the positions of personnel inside the building and warning areas corresponding to sensor data onto the floor map. If an alert is to be triggered based on the positional relationship between the warning area and the personnel, the same determination process as in the third embodiment is performed. Details of the floor map update process will be described later.

[0162] Next, the map generation device 50 outputs the generated floor map (step S55). The output floor map is displayed on the screen of a terminal device (not shown). In the case of updating the floor map, the map generation device 50 may output only the update information. The update information output from the map generation device 50 overwrites the floor map that has already been sent to the terminal device (not shown).

[0163] If the floor map update is to be continued (Yes in step S56), the process returns to step S54. If the floor map update is not to be continued (No in step S56), the process according to the flowchart in Figure 35 is complete. The decision to continue updating the floor map can be made according to pre-set conditions. For example, the decision to continue updating the floor map may be made based on the judgment of the fire brigade captain conducting the firefighting operation.

[0164] [Floor map update process] Next, we will explain the details of the floor map update process (step S54 in Figure 35) with some examples. The following floor map update process will be explained with the map generation device 50 as the main operator.

[0165] <Update example 1> Figure 36 is a flowchart illustrating an example of the floor map update process (Update Example 1). In this update example, cells corresponding to the locations where team members have passed are highlighted on the floor map. Furthermore, in this update example, the highlighting is changed according to the passage of time.

[0166] In Figure 36, first, if there is a history of the personnel's location information (Yes in step S511), the map generation device 50 highlights the cells on the floor map that correspond to the locations the personnel have passed through (step S512). For example, the map generation device 50 highlights the cells on the floor map that correspond to the locations the personnel have passed through by filling them in. On the other hand, if there is no history of the personnel's location information (No in step S511), the process proceeds to step S513.

[0167] If step S512 is followed by step S511 and the answer is No, then, depending on the acquisition of location information for personnel inside the building (step S513 is Yes), the map generation device 50 adds markers indicating the personnel's locations to the floor map (step S514). On the other hand, if location information for personnel inside the building has not been acquired (step S513 is No), the process proceeds to step S516. For example, if location information was not acquired during a pre-set time period, it is determined that location information was not acquired.

[0168] Following step S514, the map generation device 50 updates the cell highlighting in accordance with the acquisition of location information of the personnel inside the building (step S515). The map generation device 50 highlights the cells corresponding to the newly acquired locations of the personnel.

[0169] If step S515 is followed by step S513 and the answer is No, then if it is time to update the travel route (Yes in step S516), the map generator 50 updates the display of the travel route according to the time elapsed since the update time (step S517). For example, the map generator 50 changes the intensity and color of the cell highlighting according to the time elapsed. On the other hand, if it is not time to update the travel route (No in step S516), the process proceeds to step S518.

[0170] If the result after step S517, or if the result in step S516 is No, then if it is time to output the floor map (Yes in step S518), the process according to the flowchart in Figure 36 is complete. If it is not time to output the floor map (No in step S518), the process returns to step S513. For example, the floor map is output at a predetermined time or time interval. For example, the timing of the floor map output may be determined according to the judgment of the fire brigade captain conducting firefighting operations.

[0171] <Update example 2> Figure 37 is a flowchart illustrating an example of the floor map update process (update example 2). In this update example, a warning area corresponding to the measured values ​​of the sensor data is added to the floor map. In this update example, the display of the warning area is changed according to the passage of time. In the flowchart of Figure 37, the process of adding markers indicating the positions of team members to the floor map is omitted. Markers indicating the positions of team members can be added to the floor map using the same method as in the third embodiment.

[0172] In Figure 37, first, if sensor data is acquired (Yes in step S521), the map generation device 50 adds a warning area to the floor map according to the measured value of the sensor data (step S522). For example, the map generation device 50 highlights the warning area by filling in the cells included in the floor map with shades corresponding to the measured value of the sensor data. On the other hand, if sensor data is not acquired (No in step S521), the process proceeds to step S523.

[0173] If step S522 is followed by step S521 and the answer is No, then if it is time to update the warning area (Yes in step S523), the map generator 50 updates the display of the warning area according to the time elapsed since the update time (step S523). For example, the map generator 50 changes the intensity and color of the cell display according to the time elapsed. On the other hand, if it is not time to update the warning area (No in step S523), the process proceeds to step S525.

[0174] If the result after step S524, or if the result in step S523 is No, then if it is time to output the floor map (Yes in step S525), the process according to the flowchart in Figure 37 is complete. If it is not time to output the floor map (No in step S525), the process returns to step S521. For example, the floor map is output at a predetermined time or time interval. For example, the timing of the floor map output may be determined according to the judgment of the fire brigade captain conducting firefighting operations.

[0175] As described above, the map generation device of this embodiment comprises a building information acquisition unit, a location information acquisition unit, a map generation unit, a map update unit, and an output unit. The building information acquisition unit acquires building information, including the outline of the target building as seen from an overhead viewpoint. The location information acquisition unit acquires location information of at least one worker working inside the target building. The map generation unit defines a frame according to the outline of the target building included in the building information acquired by the building information acquisition unit. The map generation unit divides the inside of the defined frame into grid cells and generates a floor map. The map update unit adds the worker's location to the floor map according to the acquired location information. The map update unit changes the display of the cells according to the elapsed time since the update time when the cell display was updated. The output unit outputs the floor map generated by the map generation unit.

[0176] In this embodiment, a floor map is generated by dividing the interior of a frame defined to match the exterior shape of the target building into a grid of cells. In addition, the positions of workers working inside the target building are added to the floor map. Furthermore, in this embodiment, the display of the cells is changed according to the elapsed time since the update time when the cell display was updated. Therefore, according to this embodiment, the elapsed time of worker passage, sensor data detection, marker setting, etc., can be intuitively grasped by the changes in the display of the cells shown on the floor map.

[0177] (Sixth embodiment) Next, a map generation device according to the sixth embodiment will be described with reference to the drawings. The map generation device of this embodiment has a simplified configuration compared to the first to fifth embodiments. Figure 38 is a block diagram showing an example of the configuration of the map generation device 60 according to this embodiment. The map generation device 60 includes a building information acquisition unit 61, a map generation unit 65, and an output unit 69.

[0178] The building information acquisition unit 61 acquires building information, including the outline of the target building as seen from an overhead perspective. The map generation unit 65 defines a frame according to the outline of the target building included in the building information acquired by the building information acquisition unit 61. The map generation unit 65 divides the inside of the defined frame into grid cells and generates a floor map. The output unit 69 outputs the floor map generated by the map generation unit 65.

[0179] In this embodiment, a floor map is generated by dividing the interior of a frame defined to match the exterior shape of the target building into a grid of cells. Therefore, according to this embodiment, a floor map of the interior of a building can be generated using building information obtained from outside the building.

[0180] (Hardware) Here, the hardware configuration for executing the control and processing according to each embodiment of this disclosure will be explained using the information processing device 90 (computer) in Figure 39 as an example. Note that the information processing device 90 in Figure 39 is an example configuration for executing the control and processing of each embodiment and does not limit the scope of this disclosure.

[0181] As shown in Figure 39, the information processing device 90 comprises a processor 91, main memory 92, auxiliary storage 93, input / output interface 95, and communication interface 96. In Figure 39, interface is abbreviated as I / F (Interface). The processor 91, main memory 92, auxiliary storage 93, input / output interface 95, and communication interface 96 are connected to each other via a bus 98, enabling data communication. Furthermore, the processor 91, main memory 92, auxiliary storage 93, and input / output interface 95 are connected to a network such as the Internet or an intranet via the communication interface 96.

[0182] The processor 91 loads programs (instructions) stored in the auxiliary storage device 93, etc., into the main memory 92. For example, the program is a software program for executing the control and processing of each embodiment. The processor 91 executes the program loaded into the main memory 92. By executing the program, the processor 91 executes the control and processing of each embodiment.

[0183] The main memory 92 has an area where the program is loaded. The processor 91 loads the program stored in the auxiliary memory 93, etc., into the main memory 92. The main memory 92 is implemented by volatile memory such as DRAM (Dynamic Random Access Memory). Alternatively, non-volatile memory such as MRAM (Magneto Resistive Random Access Memory) may be configured / added as the main memory 92.

[0184] The auxiliary storage device 93 stores various data, such as programs. The auxiliary storage device 93 is implemented by a local disk such as a hard disk or flash memory. It is also possible to omit the auxiliary storage device 93 by configuring the system to store various data in the main memory 92.

[0185] The input / output interface 95 is an interface for connecting the information processing device 90 to peripheral devices, based on standards and specifications. The communication interface 96 is an interface for connecting to external systems and devices via a network such as the Internet or an intranet, based on standards and specifications. The input / output interface 95 and the communication interface 96 may be shared as interfaces for connecting to external devices.

[0186] The information processing device 90 may be connected to input devices such as a keyboard, mouse, or touch panel, as needed. These input devices are used to input information and settings. When a touch panel is used as an input device, the screen with touch panel functionality serves as the interface. The processor 91 and the input devices are connected via an input / output interface 95.

[0187] The information processing device 90 may be equipped with a display device for displaying information. If a display device is provided, the information processing device 90 is equipped with a display control device (not shown) for controlling the display of the display device. The information processing device 90 and the display device are connected via an input / output interface 95.

[0188] The information processing device 90 may be equipped with a drive device. The drive device mediates between the processor 91 and the recording medium (program recording medium) by reading data and programs stored on the recording medium and writing the processing results of the information processing device 90 to the recording medium. The information processing device 90 and the drive device are connected via an input / output interface 95.

[0189] The above is an example of a hardware configuration for enabling the control and processing according to each embodiment of the present invention. The hardware configuration in Figure 39 is an example of a hardware configuration for executing the control and processing according to each embodiment and does not limit the scope of the present invention. Programs that cause a computer to execute the control and processing according to each embodiment are also included in the scope of the present invention.

[0190] A program recording medium that stores the program according to each embodiment is also included in the scope of the present invention. The recording medium can be implemented as an optical recording medium such as a CD (Compact Disc) or DVD (Digital Versatile Disc). The recording medium may also be implemented as a semiconductor recording medium such as a USB (Universal Serial Bus) memory or an SD (Secure Digital) card. Furthermore, the recording medium may be implemented as a magnetic recording medium such as a flexible disk, or other recording media. When a program executed by a processor is recorded on a recording medium, that recording medium corresponds to a program recording medium.

[0191] The components of each embodiment may be combined in any way. The components of each embodiment may be implemented by software. The components of each embodiment may be implemented by circuitry.

[0192] Although the present invention has been described above with reference to embodiments, the present invention is not limited to the above embodiments. Various modifications to the configuration and details of the present invention can be made that will be understood by those skilled in the art within the scope of the present invention.

[0193] Some or all of the above embodiments may also be described as follows, but are not limited to the following: (Note 1) A building information acquisition unit acquires building information, including the outline of the target building as seen from an overhead perspective, A map generation unit defines a frame according to the outline of the target building included in the acquired building information, divides the inside of the defined frame into grid-like cells, and generates a floor map. A map generation device comprising: an output unit that outputs the generated floor map. (Note 2) A location information acquisition unit that acquires location information of at least one worker working inside the aforementioned target building, The map generation device according to Appendix 1, comprising a map update unit 27 that adds the worker's position to the floor map according to the acquired location information. (Note 3) The aforementioned map update unit, A map generation device according to Appendix 2 that highlights the display of the cell corresponding to the position where the worker has passed. (Note 4) The system includes a sensor data acquisition unit that acquires sensor data including measurement values ​​related to the object to be detected inside the target building, The aforementioned map update unit, The map generation device according to Appendix 2, which displays the cell corresponding to the position where the detection target is detected, in accordance with the measured value of the sensor data relating to the detection target. (Note 5) The system includes a marker position information acquisition unit that acquires marker position information, including the position of a marker set by the worker inside the target building, The aforementioned map update unit, The map generation device according to Appendix 2, which highlights the display of the cell corresponding to the position where the marker is set, according to the settings made by the operator. (Note 6) The system includes a determination unit that determines whether to activate an alert based on the positional relationship between the highlighted cell and the worker's position. The determination unit, If the positional relationship between the highlighted cell and the worker's position satisfies the conditions for triggering the alert, the output unit outputs an instruction to output the alert regarding the worker. The output unit is, A map generation device according to Appendix 4 or 5 that outputs the alert concerning the worker in response to instructions from the determination unit. (Note 7) The aforementioned map update unit, A map generating device according to any one of the appendices 3 to 5, which changes the display of the cell according to the elapsed time since the update time when the display of the cell was updated. (Note 8) The aforementioned building information acquisition unit is: From the image of the target building taken from a side view, the openings of the target building are extracted. The map generation unit, A map generation device according to Appendix 1 that adds the openings of the target building to the floor map. (Note 9) The aforementioned building information acquisition unit is: Obtain floor information inside the aforementioned target building, The map generation unit, A map generation device according to Appendix 1, which superimposes the floor information onto the floor map. (Note 10) Computers We obtain building information, including the exterior shape of the target building as seen from an overhead perspective. The frame is defined to match the outline of the target building included in the acquired building information, The defined area within the aforementioned frame is divided into a grid of cells to generate a floor map. A map generation method that outputs the generated floor map. (Note 11) A process to acquire building information, including the outline of the target building as seen from an overhead perspective, A process to define a frame according to the outline of the target building included in the acquired building information, A process to generate a floor map by dividing the inside of the defined frame into grid cells, A program that causes a computer to perform the process of outputting the generated floor map. [Explanation of symbols]

[0194] 10, 20, 30, 40, 50, 60 Map Generator 11, 21, 31, 41, 51, 61 Building Information Acquisition Department 15, 25, 35, 45, 55, 65 Map generation unit Output sections 19, 29, 39, 49, 59, 69 22, 32, 42, 52 Location information acquisition section 27, 37, 47, 57 Map Update Section 38, 48 Judgment section

Claims

1. In an emergency, including a situation in which a fire has occurred, a building information acquisition means for acquiring building information, including the external shape of the target building as seen from above, for a target building for which detailed information of the interior of the building has not been acquired. A map generation means that extracts the outline of the target building from the acquired building information, defines a frame according to the extracted outline of the target building, and divides the inside of the defined frame into grid cells corresponding to the size of the real world to generate a floor map of the inside of the target building, The system includes output means for outputting the generated floor map to terminal devices used by firefighters and their commanders who carry out firefighting operations in the target building, The aforementioned building information acquisition means is From the image of the target building taken from a side view, the openings of the target building are extracted. The map generation means is A map generating device that adds symbols indicating openings in the target building to the floor map.

2. Location information acquisition means for acquiring location information of at least one worker working inside the aforementioned target building, A map generation device according to claim 1, comprising: a map updating means that adds the worker's position to the floor map according to the acquired location information.

3. The aforementioned map update means is The map generation device according to claim 2, which highlights the display of the cell corresponding to the position where the worker has passed.

4. The system includes a sensor data acquisition means for acquiring sensor data, including measurement values ​​related to the object to be detected inside the target building, The aforementioned map update means is The map generation device according to claim 2, which displays the cell corresponding to the position where the detection target is detected in order to highlight it according to the measured value of the sensor data relating to the detection target.

5. The system includes a marker location information acquisition means for acquiring marker location information, including the location of a marker set by the worker inside the target building, The aforementioned map update means is The map generation device according to claim 2, which highlights the display of the cell corresponding to the position where the marker is set, according to the settings made by the operator.

6. The system includes a determination means for determining whether to activate an alert based on the positional relationship between the highlighted cell and the worker's position. The determination means is If the positional relationship between the highlighted cell and the worker's position satisfies the conditions for triggering the alert, an instruction to output the alert regarding the worker is output to the output means. The output means is The map generation device according to claim 4 or 5, which outputs the alert concerning the worker in response to an instruction from the determination means.

7. The aforementioned map update means is A map generating device according to any one of claims 3 to 5, which changes the display of the cell according to the elapsed time since the update time when the display of the cell was updated.

8. Computers In an emergency situation, including a fire, for a target building for which detailed information about the interior of the building has not been obtained, building information including the exterior shape of the target building as seen from above will be obtained. From the acquired building information, the outline of the target building is extracted. The frame is defined to match the outline of the extracted target building, The interior of the defined frame is divided into a grid of cells corresponding to the size of the real world to generate a floor map of the interior of the target building. The generated floor map is output to a terminal device used by the firefighters and their commander who are carrying out firefighting operations in the target building. In acquiring the aforementioned building information, From the image of the target building taken from a side view, the openings of the target building are extracted. In generating the aforementioned floor map, A map generation method that adds symbols indicating openings in the target building to the floor map.

9. In an emergency, including a situation in which a fire has occurred, a process to acquire building information, including the exterior shape of the target building as seen from above, for a target building for which detailed information of the interior of the building has not been acquired, A process to extract the outline of the target building from the acquired building information, A process to define a frame according to the outline of the extracted target building, A process to generate a floor map of the interior of the target building by dividing the interior of the defined frame into grid cells corresponding to the size of the real world, The process involves outputting the generated floor map to terminal devices used by the firefighters and their commanders who carry out firefighting operations in the target building, In the process of acquiring the aforementioned building information, From the image of the target building taken from a side view, the openings of the target building are extracted. In the process of generating the floor map, A program that causes a computer to perform the process of adding symbols indicating openings in the aforementioned building to the floor map.

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