Control device, control method, and program

Abstract

In this control device, a spatial information acquisition unit acquires spatial information of a movement area in which a moving body to be controlled moves. An image data acquisition unit acquires image data obtained by capturing images of the surrounding area of the moving body. An identification unit identifies the position of the moving body and a surrounding object around the moving body from the spatial information and the image data. When the surrounding object is not included in the spatial information, an instruction unit calculates the possibility of contact between the moving body and the surrounding object, and if the possibility is equal to or greater than a threshold value, outputs a signal instructing the moving body to avoid the surrounding object.

Claims

1. A spatial information acquisition means for acquiring spatial information of the movement area in which the controlled moving object moves, Image data acquisition means for acquiring image data captured around the aforementioned moving object, A means for identifying the position of the moving object and surrounding objects around the moving object from the spatial information and the image data, An instruction means that calculates the possibility of contact between the moving body and the surrounding object if the surrounding object is not included in the spatial information, and outputs a signal instructing to avoid the surrounding object if the possibility is greater than or equal to a threshold, An update means for updating the spatial information in order to register a surrounding object in the spatial information when the surrounding object not included in the spatial information satisfies predetermined update conditions, Equipped with, The update means registers the surrounding object in the spatial information with the condition that the surrounding object is stationary for a predetermined period of time. Control device.

2. The spatial information acquisition means acquires the spatial information on which the first planned route of the moving object can be superimposed, The identifying means identifies the moving body by referring to a predetermined first planned route. The control device according to claim 1.

3. The system further includes operational information acquisition means for acquiring operational information including a second planned route of a second mobile body different from the aforementioned mobile body, The identification means identifies the second moving object from the image data at the time the image data was captured, by referring to the second planned route. The control device according to claim 2.

4. The identification means identifies the second moving body by comparing the position of the second moving body included in the second planned path with the position of the identified surrounding object. The control device according to claim 3.

5. The identification means identifies the position of the surrounding object based on a plurality of image data obtained by photographing the area around the moving object from a plurality of different locations. The control device according to claim 1.

6. The system further comprises communication means for directly communicating wirelessly with the aforementioned mobile body, The identification means identifies the position of the moving body based on the position information transmitted by the moving body and the image data. The control device according to claim 1.

7. The control device according to claim 1, wherein the spatial information acquisition means acquires the spatial information from a predetermined spatial information provision service.

8. The spatial information acquisition means acquires the spatial information, including geographic information of the three-dimensional virtual space in the movement area. The control device according to any one of claims 1 to 7.

9. Computers The spatial information of the movement area in which the controlled moving object moves is acquired. Image data is obtained by taking pictures of the area around the aforementioned moving object. From the spatial information and the image data, the position of the moving object and surrounding objects around the moving object are identified. If the surrounding object is not included in the spatial information, the probability of contact between the moving body and the surrounding object is calculated, and if the probability is greater than or equal to a threshold, a signal is output instructing to avoid the surrounding object. If a surrounding object not included in the spatial information satisfies a predetermined update condition, the spatial information is updated in order to register the surrounding object in the spatial information. The surrounding object is registered in the spatial information with the condition that the surrounding object remains stationary for a predetermined period of time. Control method.

10. The spatial information of the movement area in which the controlled moving object moves is acquired. Image data is obtained by taking pictures of the area around the aforementioned moving object. From the spatial information and the image data, the position of the moving object and surrounding objects around the moving object are identified. If the surrounding object is not included in the spatial information, the probability of contact between the moving body and the surrounding object is calculated, and if the probability is greater than or equal to a threshold, a signal is output instructing to avoid the surrounding object. If a surrounding object not included in the spatial information satisfies a predetermined update condition, the spatial information is updated in order to register the surrounding object in the spatial information. The surrounding object is registered in the spatial information with the condition that the surrounding object remains stationary for a predetermined period of time. The control method is to be executed by a computer. program.

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