Command system, coordination system, and command method

Abstract

[PROBLEM] To provide a system that provides assistance so that a user who directs a countermeasure after a crisis makes crisis countermeasure decisions more accurately or more quickly. [SOLUTION] The present invention is a command system comprising: an integrated information acquisition unit that acquires integrated information in which troop information relating to the status of on-site troops in a disaster area is integrated with sensing data or data obtained by processing the sensing data, said sensing data including image data or point cloud data or spatial data obtained by the sensing of the disaster area from the sky by a flying body; an integrated information display unit that displays the integrated information to a control device used by a user who directs the on-site troops; and a work plan command unit that issues a command as to a work instruction or a work plan for the on-site troops. The work plan command unit causes information about the work instruction or the work plan to be displayed by a troop terminal used by the on-site troops and / or by the control device.

Description

Command system, cooperation system, and command method

[0001] The present invention relates to a command system, a cooperation system, and a command method.

[0002] In recent years, the threat of natural disasters such as earthquakes and heavy rains has been increasing. When such a disaster occurs, local governments and other administrative bodies establish crisis management headquarters, which carry out various support activities required at the disaster site, such as rescue operations, firefighting, infrastructure restoration work, and shelter support activities, in parallel. Therefore, in order to direct the support activities of the numerous on-site units mentioned above, the crisis management headquarters is required to make decisions across each on-site unit based on the information collected from each location.

[0003] The Incident Command System (ICS), a method for managing a chain of command in emergencies, has been proposed, primarily in the United States, for military and disaster-related applications. As shown in Figure 34, the ICS provides command and control that takes into account the different real-time decision-making requirements and the level of detail required for collected information for each application. However, the tasks required of a crisis headquarters in the event of a disaster, including information gathering on-site conditions in cooperation with each on-site unit, response prioritization, decision-making, and issuing commands to each on-site unit, are all performed manually, making it difficult to execute these processes accurately and quickly.

[0004] Furthermore, as a technology related to shelter support activities by field units, Patent Document 1 discloses that when a disaster occurs, limited supplies can be distributed appropriately by taking into account the needs of disaster victims and the situation at the shelter, and that the supply organization that will provide the supplies can be appropriately selected and determined.

[0005] Japanese Patent Application Laid-Open No. 2006-188331

[0006] Although Patent Document 1 discloses a technology for evacuation shelter support activities that efficiently provides supplies to evacuation shelters, it does not take into consideration coordination with support activities other than evacuation shelter support that are required on-site when a crisis occurs, and the work of the crisis response headquarters that oversees all support activities on-site remains difficult.

[0007] Therefore, an object of the present invention is to provide a system that supports a user who directs countermeasures after a crisis occurs in making more accurate or faster decision-making regarding countermeasures against a crisis.

[0008] According to the present invention, a command system is obtained which comprises an integrated information acquisition unit that acquires integrated information by integrating unit information on the status of on-site units in the disaster area with sensing data including image data, point cloud data, or spatial data obtained by sensing the disaster area from the air using an aircraft, or data obtained by processing the sensing data, and integrated information; an integrated information display unit that displays the integrated information on a control device used by a user who commands the on-site units; and a work plan command unit that issues work instructions or work plans to the on-site units, wherein the work plan command unit displays the work instructions or work plan information on at least one of the unit terminals used by the on-site units and the control device.

[0009] According to the present invention, it is possible to provide a system that supports a person in charge of directing emergency countermeasures after an emergency occurs in making more accurate or faster decisions regarding emergency countermeasures.

[0010] 1 is an overall configuration diagram of a coordination system according to one embodiment of the present invention. FIG. 1 is a diagram illustrating an example of stakeholders related to the coordination system according to one embodiment of the present invention. FIG. 1 is a diagram illustrating an example of a configuration diagram of a data acquisition base system according to one embodiment of the present invention. FIG. 1 is a diagram illustrating a configuration diagram of a spatial information data utilization system according to one embodiment of the present invention. FIG. 2 is a diagram illustrating an example of a crisis response on-site command system according to one embodiment of the present invention. FIG. 3 is a functional configuration diagram of a field unit terminal device according to one embodiment of the present invention. FIG. 4 is a functional configuration diagram of a control device according to one embodiment of the present invention. FIG. 5 is a functional configuration diagram of an information integration system according to one embodiment of the present invention. FIG. 6 is a diagram illustrating an example of a general process leading up to decision-making when an incident such as a disaster occurs. FIG. 7 is a diagram illustrating an example of a configuration diagram of an example of a hardware configuration of a coordination system according to one embodiment of the present invention. FIG. 8 is a flowchart illustrating a control flow of a coordination system according to one embodiment of the present invention. FIG. 9 is a diagram illustrating an example of a flowchart when a coordination system according to one embodiment of the present invention acquires on-site information. FIG. 10 is a diagram illustrating an example of a display screen when a coordination device according to one embodiment of the present invention displays unit information. FIG. 11 is a diagram illustrating an example of a display screen when a coordination device according to one embodiment of the present invention displays damage information. FIG. 12 is a diagram illustrating an example of a display screen when a coordination device according to one embodiment of the present invention displays integrated information of unit information and damage information. FIG. 13 is a diagram illustrating an example of a flowchart when a countermeasure generation unit according to one embodiment of the present invention generates countermeasure candidates. FIG. 14 is a diagram illustrating an example of a display screen of countermeasure candidates displayed on a coordination device or a field unit terminal device according to one embodiment of the present invention. FIG. 15 is a diagram illustrating an example of a result of a determination made by a dispatch unit FIG. 1 is a diagram showing an example of a display method for displaying on a display device a work instruction or a work plan generated by a work plan determination unit according to one embodiment of the present invention. FIG. 2 is a diagram showing another example of a display method for displaying on a display device a work instruction or a work plan generated by a work plan determination unit according to one embodiment of the present invention. FIG. 3 is a diagram showing an example of a control flowchart for performing arbitration with a field unit terminal device via a coordinating device after generating a work instruction or a draft work plan in an information integration system according to one embodiment of the present invention. FIG. 4 is a diagram showing an example of a sequence diagram for performing arbitration of work instructions or work plans with a plurality of field unit terminal devices by a coordinating device according to one embodiment of the present invention.FIG. 1 is a diagram showing an example of a display screen displayed when a field unit terminal device according to one embodiment of the present invention arbitrates work instructions or work plans. FIG. 2 is a diagram showing an example of a field unit terminal device according to one embodiment of the present invention displaying work instructions or work plans in AR. FIG. 3 is a diagram showing another example of a field unit terminal device according to one embodiment of the present invention displaying work instructions or work plans in AR. FIG. 4 is a diagram explaining the concept of a common situation diagram generated by an information integration system according to one embodiment of the present invention. FIG. 5 is a diagram showing an example of a common situation diagram generated by an information integration system. FIG. 6 is a diagram showing another example of a common situation diagram generated by an information integration system. FIG. 7 is a diagram showing another example of a common situation diagram generated by an information integration system. FIG. 8 is a diagram showing another example of a common situation diagram generated by an information integration system. FIG. 9 is a diagram showing an example of related information for a common situation diagram generated by an information integration system. FIG. 10 is a diagram showing an example of required performance for each application of an incident command system.

[0011] The details of embodiments of the present invention will be listed and explained below. The present invention has the following configuration. [Item 1] A command system comprising: an integrated information acquisition unit that acquires integrated information by integrating sensing data including image data, point cloud data, or spatial data obtained by sensing a disaster area from the air using an aircraft, or data obtained by processing the sensing data, with unit information regarding the status of on-site units in the disaster area; an integrated information display unit that displays the integrated information on a command device used by a user who commands the on-site units; and a work plan command unit that issues work instructions or work plans to the on-site units, wherein the work plan command unit displays the work instructions or information about the work plan on at least one of a unit terminal used by the on-site units and the command device. [Item 2] The command system described in Item 1 further comprises a unit terminal communication unit that directly or indirectly exchanges information about the work instructions or the work plan between the unit terminal and the command device. [Item 3] In the command system described in item 1 or 2, the unit terminal communication unit displays information regarding the work instruction or the work plan on the unit terminal, obtains response information regarding at least one of acceptance, rejection, or a request for mediation for the information input from the unit terminal from the unit terminal, and displays the response information on the display unit of the commanding device. [Item 4] In the command system described in any of items 1 to 3, the command system includes a work plan mediation unit that generates a proposed change to the work instruction or the work plan in accordance with the response information, and the work plan command unit displays information about the proposed change on at least one of the unit terminal and the commanding device. [Item 5] In the command system described in any of items 1 to 3, when the unit terminal communication unit receives response information of "accepted" from the unit terminal, the work plan command unit displays the accepted work instruction or work plan as final information on at least one of the unit terminal and the commanding device.[Item 6] A command system according to any one of items 1 to 5, further comprising a damage information generation unit that acquires or generates damage information relating to a damage situation including current or future predicted locations of damage or types of damage, wherein the damage information generation unit generates the damage information including at least any of current or future locations or areas of damage relating to objects, damage content, and damage scale, based on at least any of: sensing data acquired from the sky by an aircraft or analytical information of processed data thereof; external information acquired from an external system of the command system; or on-site information acquired from the on-site unit; and the integrated information acquisition unit acquires integrated information by integrating the unit information and the damage information into the sensing data or data obtained by processing the sensing data. [Item 7] The command system according to any one of items 1 to 6, further comprising a damage information generation unit that acquires or generates damage information related to a damage situation including current or expected future damage locations or damage types, wherein the damage information generation unit generates the damage information including at least one of current or future damage locations or areas related to people, damage content, and damage scale based on analytical information of sensing data acquired from the sky by an aircraft or processed data thereof, external information acquired from an external system, or the unit information, and the integrated information acquisition unit acquires integrated information by integrating the unit information and the damage information into sensing data or data obtained by processing the sensing data. [Item 8] The command system according to any one of items 1 to 7, further comprising a task candidate generation unit that determines at least one of task content, task area, and task scale of a single or multiple response task candidates according to the damage information acquired or generated by the damage information generation unit. [Item 9] In the command system according to any one of Items 1 to 8, the task candidate generation unit determines a risk level of damage to people or objects according to the damage information, and determines a priority of the response task candidate according to the risk level, or displays the priority of the response task candidate to a user.[Item 10] The command system according to any one of items 1 to 9, wherein the task candidate generation unit determines the crisis level based on the results of evaluating at least one of the severity of damage to people or property, the scale of the damage, and the possibility of dealing with the damage. [Item 11] The command system according to any one of items 1 to 10, wherein the task candidate generation unit determines the priority of the response task candidates according to the accuracy of the information content of the disaster information in addition to the crisis level, or displays the priority of the response task candidates to a user. [Item 12] The command system according to any one of items 1 to 11, further comprising a unit information generation unit that generates unit information regarding the status of on-site units in a disaster area, and the unit information generation unit acquires or generates the unit information including at least one of the current location, work content, work progress, owned equipment, unit personnel, and work status of the on-site unit, or past activity history information of the on-site unit, or information on future work plans for the on-site unit. [Item 13] The command system according to any one of items 1 to 12, further comprising a unit information generation unit that generates unit information regarding the status of on-site units in a disaster area, wherein the unit information generation unit acquires past activity history information of the on-site units, and generates information regarding the fatigue level or workload of the on-site units based on the past activity history information of the on-site units. [Item 14] The command system according to any one of items 1 to 13, further comprising a unit information generation unit that generates unit information regarding the status of on-site units in a disaster area, wherein the unit information generation unit acquires information on the current work status and work plan of the on-site units, and generates information regarding delays or advances in work progress with respect to the work plan based on the information.[Item 15] A command system according to any one of items 1 to 14, further comprising a damage information generation unit that acquires or generates damage information relating to a damage situation including a current or future disaster location or a disaster type, wherein the integrated information acquisition unit generates the integrated information including the damage information acquired or generated by the damage information generation unit, including at least one of a current or future disaster location or area, damage content, and disaster scale, or unit information including at least one of a current location of the on-site unit, work content, work progress delay status, owned equipment, unit personnel, work status, work plan, fatigue level, past activity history information, and future work plan, and the integrated information display unit displays the integrated information on the control device. [Item 16] The command system according to any one of items 1 to 15, wherein the work plan command unit acquires from the control device user command input information related to at least one of the work area of ​​the response work and the on-site unit that will be instructed to perform the response work as information related to the response work to be performed, and determines the on-site unit or candidate for the response work to be instructed to perform the response work based on the acquired user command input information. [Item 17] The command system according to any one of items 1 to 16, further comprising a unit information generation unit that generates unit information related to the status of on-site units in the disaster area, and the work plan command unit determines the on-site unit or candidate for the response work to be instructed to perform the response work based on the unit information acquired or generated by the unit information generation unit. [Item 18] The command system according to any one of items 1 to 17, wherein the work plan command unit determines an on-site unit located close to the disaster area as the on-site unit or candidate for the response work to be instructed to perform the response work based on the current location of the on-site unit included in the unit information.[Item 19] A command system according to any one of items 1 to 18, comprising: a damage information generation unit that acquires or generates damage information relating to the damage situation, including the current or future predicted location of damage or the type of damage; and a required resource estimation unit that estimates required resources, including equipment or personnel, in the disaster area based on the damage information, wherein the work plan command unit determines, based on information on the equipment or unit personnel possessed by the field unit contained in the unit information, an on-site unit in the disaster area that has the required resources, as the on-site unit or a candidate for the on-site unit to be instructed to carry out the response work. [Item 20] A command system according to any one of items 1 to 19, comprising: a damage information generation unit that acquires or generates damage information relating to a damage situation, including current or expected future damage locations or damage types; and a required work amount estimation unit that estimates a required work amount in the disaster area based on the damage information, wherein the work plan command unit determines, based on at least one of past activity history information, fatigue level, and work progress delay status included in the unit information, on-site units that can perform the required work amount in the disaster area as the on-site unit to be instructed to perform the response work or candidates thereof, or highlights the determined results on the control device. [Item 21] A command system according to any one of items 1 to 20, wherein the work plan command unit determines the work instructions or work plan, or candidates thereof, including the work area where the response work to be performed will be performed, the work content, and information about the on-site unit to be instructed to perform the response work. [Item 22] The command system according to any one of items 1 to 21, further comprising a damage information generation unit that acquires or generates damage information relating to a damage situation including a current or future predicted location of damage or a type of damage, wherein after the work plan command unit determines the work plan, the work plan command unit determines whether or not the work plan needs to be changed based on the damage information. [Item 23] The command system according to any one of items 1 to 22, wherein the work plan command unit displays the on-site unit or candidates for which to instruct execution of the response work determined by the work plan command unit on at least one of the unit terminal and the control device.[Item 24] The command system according to any one of items 1 to 23, wherein the work plan command unit causes at least one of the unit terminal and the commanding device to display information on the on-site unit or its candidates to be instructed to carry out the response work determined by the work plan command unit, and on the disaster area. [Item 25] The command system according to any one of items 1 to 24, wherein the work instruction includes at least one of information on the work location, work content, urgency, and priority for the response work to be carried out within a predetermined time, and the work plan includes at least one of information on the work time, work location, work content, urgency, and priority for the response work to be carried out after the predetermined time. [Item 26] The command system according to any one of items 1 to 25, further comprising a damage information generation unit that acquires or generates damage information on a disaster situation including a current or predicted disaster location or damage type, and the work plan command unit causes at least one of a list of the damage information and a list of the unit information to be displayed on at least one of the unit terminal and the commanding device. [Item 27] ​​A command system according to any one of items 1 to 26, wherein the work plan command unit notifies a user from at least one of the unit terminal and the control device of information relating to the fatigue level or workload of the field unit generated by the unit information generation unit. [Item 28] A command system according to any one of items 1 to 27, wherein the work plan command unit notifies a user from at least one of the unit terminal and the control device of information relating to delays in work progress with respect to the work plan generated by the unit information generation unit.[Item 29] A coordination system comprising: a unit terminal used by a field unit in a disaster area; a control device used by a user in command of the field unit; and an information integration system communicatively connected to the unit terminal and the control device, which operate in coordination with each other, the coordination system comprising: a unit information generation unit that acquires or generates unit information regarding the status of the field unit in the disaster area; an information integration unit that generates integrated information by integrating the unit information with sensing data including image data, point cloud data, or spatial data obtained by sensing the disaster area from the air using an aircraft, or data obtained by processing the sensing data; an integrated information display unit that displays the integrated information on the control device used by the user in command of the field unit; a work plan command unit that issues work instructions or work plans to the field unit; and a work plan display unit that is the work plan command unit and displays information about the work instructions or work plans on at least one of the unit terminals used by the field unit and the control device. [Item 30] A command method in which a computer executes the following steps: acquiring or generating unit information regarding the status of on-site units in a disaster area; acquiring sensing data including image data, point cloud data, or spatial data obtained by sensing the disaster area from the air using an aircraft, or acquiring processed data by processing the sensing data; generating integrated information by integrating the sensing data or the processed data with the unit information; displaying the integrated information on a display unit of a command device used by a user who commands the on-site units; determining work instructions or a work plan for the on-site units; and displaying the determined information about the work instructions or the work plan on at least one of a unit terminal used by the on-site units and the command device.

[0012] <A. First Embodiment> Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In this specification and the drawings, components having substantially the same functional configurations are designated by the same reference numerals, and redundant description will be omitted. Furthermore, the embodiment described below is merely an example, and other known elements or alternative means may be adopted depending on the application, purpose, scale, etc.

[0013] [A-1. Configuration] (A-1-1. Overview) Fig. 1 is a diagram showing the overall configuration of a collaboration system according to one embodiment of the present invention. As shown in Fig. 1, this system includes a data acquisition system 1000, a spatial information data utilization system 2000, an information integration system 3000, an external system 4000, and a crisis response on-site command system 5000, and each system communicates with each other to form a collaboration system that operates in collaboration with each other.

[0014] The data acquisition system 1000 controls aircraft or other flying objects equipped with sensors including optical cameras, infrared cameras, and laser sensors such as LiDAR to acquire aerial sensing data obtained by sensing information about a target area from the sky. The data acquisition system 1000 may also be a base equipped with a remote control device that exchanges control information with the flying object, or may be composed of a mobile vehicle, ship, flying object, or the like, or may be composed of an immovable building (fixed type).

[0015] The spatial information data utilization system 2000 processes the aerial sensing data acquired by the data acquisition system 1000 to generate orthoimages, three-dimensional spatial models, or three-dimensional spatial data, and combines the data with polygon geographic information to generate map images. The external system 4000 is an external system capable of providing disaster information related to disaster situations, and may include, for example, map apps, disaster prevention apps, the Japan Highway Public Corporation, the Japan Meteorological Agency, electric power companies, telecommunications companies, gas companies, waterworks, etc. It may also be social networking sites, hospitals, mass media, etc., where information is posted from mobile devices used by ordinary people.

[0016] The crisis response on-site command system 5000 includes a commanding device 5100, a remote base commanding device 5200, and a plurality of on-site unit terminal devices 5300 capable of communicating with the commanding device 5100. As shown in FIG. 1 , the on-site unit terminal devices 5300 include, for example, a terminal for the Self-Defense Forces, a terminal for the police, a terminal for the fire brigade, a terminal for the rescue team, a terminal for a heavy equipment operator, a terminal for a shelter staff member, and a terminal for a local government staff member. The commanding device 5100 issues work instructions to the on-site unit terminal devices 5300 and receives replies to the work instructions and information about the on-site unit from the on-site unit terminal devices 5300. In addition, information generated by the remote base commanding device 5200 and OCR read information of user handwritten character information (character information written on a whiteboard) are shared with the commanding device 5100 via a communication line.

[0017] The information integration system 3000 acquires map images generated from aerial sensing data from the spatial information data utilization system 2000, acquires damage information related to the damage situation from an external system, and acquires information on on-site responses from on-site units to work instructions and information on the on-site units from the control device 5100. It also generates a common situation diagram (integrated information) that integrates the acquired information and transmits the common situation diagram to the control device 5100 and each on-site unit terminal device 5300. The functions of the spatial information data utilization system 2000 and the information integration system 3000 can be implemented in a common device and configured as a single subsystem (disaster DX system 6000). On the other hand, the functions of the information integration system 3000 and the control device 5100 can also be implemented in a common housing and configured as a single subsystem.

[0018] (A-1-2. Stakeholders) Figure 2 is a diagram illustrating an example of stakeholders related to a collaboration system according to an embodiment of the present invention. Each system constituting the collaboration system shown in Figure 1 has a user who utilizes the user interface (including a display unit, an input unit, etc.) provided in that system. In the example shown in Figure 2, for example, the data acquisition system 1000 is used by a data acquisition manager, the spatial information data utilization system 2000 is used by a map image generation manager, the external system 4000 is used by an external system user, the control device 5100 is used by a crisis management headquarters commander, the multi-site control device 5200 is used by a multi-site manager, the Self-Defense Force terminal is used by the Self-Defense Force, the police terminal is used by a police officer, the fire department terminal is used by a fire department, the rescue team terminal is used by a rescue team, the heavy equipment operator terminal is used by a heavy equipment operator, the evacuation shelter staff terminal is used by an evacuation shelter staff, and the local government staff terminal is used by a local government staff. Note that, in the example shown in Figure 2, the information integration system 3000 does not have a user interface, but this is not limited thereto; a user interface may also be provided.

[0019] (A-1-3. Data Acquisition System 1000) Figure 2 is a configuration diagram of the data acquisition system. The data acquisition system 1000 includes an aircraft control system 1100, an aircraft flight operation system 1200, an acquired data management system 1300, a communications infrastructure management system 1400, a logistics support system 1500, a flight management system 1600, and an airspace surveillance and control system 1700.

[0020] The aircraft control system 1100 is a system implemented in an aircraft or other flying object, and performs aircraft control including flight control and measurement control of the flying object. The aircraft control system 1100 includes, for example, a flight unit having a flight function, a sensing unit that performs sensing using sensors (optical cameras, IR cameras, LiDAR, other laser sensors, etc.), a communication unit that communicates with each system via a communication infrastructure management system (described later) via satellites, a mobile phone communication network, etc., a state determination unit that determines each state of flight, sensing, and positioning, a data recording unit that records acquired data, etc., and a state determination result recording unit that records information related to flight control and measurement control, as well as state determination results.

[0021] In this specification, the term "aircraft" refers to any flying object capable of autonomous attitude control, regardless of the power source (electric power, prime mover, etc.), the control method (wireless or wired, fully autonomous flight or partially manual flight, etc.), and whether manned or unmanned. Aircraft may also be referred to as unmanned aerial vehicles (UAVs), multicopters, RPASs (remote piloted aircraft systems), or UASs (unmanned aircraft systems). Aircraft may be fixed-wing types with fixed wings, multicopters with multiple propellers, or VTOL types with both fixed wings and multiple propellers. In addition to the aircraft mentioned above, "aircraft" refers to any device that flies in the sky, such as balloons and satellites.

[0022] The aircraft operation system 1200 is a system that generates a flight mission for the aircraft controlled by the aircraft control system 1100 and controls the movement of the aircraft. The flight mission is, for example, a movement plan including the movement route and movement speed of the aircraft, and the movement route is generated in an airspace at an altitude of, for example, 150 m or less to avoid interference with passenger aircraft and the like. The aircraft operation system 1200 transmits control signals to the aircraft via the communication infrastructure management system 1400, which will be described later, in order to operate the aircraft automatically.

[0023] The acquired data management system 1300 has a data management function for acquiring and recording acquired data (optical image data, IR image data, point cloud data acquired by laser sensors such as LiDAR, other spatial data, etc.) and status data of the target area sensed by the aircraft's airframe control system 1100 via communication infrastructure management.

[0024] The communication infrastructure management system 1400 is a system that manages communication means for data (such as sensing data acquired by sensing using an aircraft) transmitted and received between the aircraft control system 1100 and other systems within the data acquisition system 1000, as well as for control information related to aircraft flight and measurement control. Furthermore, the communication infrastructure management system 1400 manages communication means for data (such as sensing data acquired by sensing using an aircraft) transmitted and received between the data acquisition system 1000 and the spatial information data utilization system 2000.

[0025] The logistics support system 1500 is a system that supports the rapid and smooth execution of each task required for acquiring sensing data executed by the data acquisition system 1000 and the coordination between each task. Specifically, the logistics support system 1500 determines whether the acquired data and status data acquired by the acquired data management system 1300 are appropriate and, if inappropriate, requests remeasurement. The logistics support system 1500 may also have a function to determine whether the power and communication infrastructure at the data acquisition site is available and provide alternative means. The logistics support system 1500 may also support each task at the site where an aircraft or other air vehicle is operated (pre-flight equipment preparation, equipment movement, equipment inspection, equipment adjustment, sensor calibration, in-flight operation, coordination, post-flight post-processing, equipment diagnosis, cleanup, etc.). The logistics support system 1500 also determines the equipment and facilities required for each task at the site where an aircraft or other air vehicle is operated and notifies the equipment and facilities management system and reservation system (described later) of the required equipment and facilities.

[0026] The flight management system 1600 is a system that makes decisions and gives instructions for aircraft operations. The flight management system 1600 prepares plans for aircraft operations, including sensing and flight, and transmits the plans to the aircraft control system 1100 that controls the aircraft via the communication infrastructure management system 1400. The flight management system 1600 may prepare plans for multiple aircraft and transmit information about the plans to the aircraft control systems 1100 that control each of the aircraft.

[0027] The airspace monitoring and control system 1700 is a system that monitors the airspace in which the target aircraft is flying. The airspace monitoring and control system 1700 acquires information on the position of the aircraft from the air traffic control system 9000, which controls the aircraft flying within the target airspace. The air traffic control system 9000 may be, for example, a drone traffic management system (UTM), an aircraft traffic management subsystem (UASSP), or an air traffic management system (ATM). That is, the airspace monitoring and control system 1700 measures or acquires information on the environment and other aircraft in the airspace in which the aircraft is flying, and transmits the information to the flight management system 1600. If there is a problem with the aircraft's work plan based on the information from the airspace monitoring and control system 1700, the flight management system 1600 changes the work plan.

[0028] The facility and equipment management system 7000 manages the status of the facilities and equipment at each base where the facilities and equipment are stored, and determines the base where the facilities and equipment can be arranged based on the information on the necessary facilities and equipment notified by the above-mentioned rear support system 1500.

[0029] The reservation system 8000 makes reservations for the use of facilities and equipment based on information about the necessary facilities and equipment notified by the above-mentioned rear support system 1500, or information about locations where facilities and equipment can be arranged as determined by the facility and equipment management system.

[0030] (A-1-4. Spatial information data utilization system 2000) Figure 4 is a configuration diagram of a spatial information data utilization system according to one embodiment of the present invention. The spatial information data utilization system 2000 integrates sensing data of a target area acquired from the data acquisition system 1000 with map data of the target area to generate a map image in which the sensing data and the map are integrated, and provides the generated map image to the information integration system 3000. The spatial information data utilization system 2000 includes a sensing data acquisition unit 2100, a map data storage unit 2200, a user input acceptance unit 2300, and a map image generation unit 2400.

[0031] The sensing data acquisition unit 2100 acquires sensing data from the data acquisition system 1000, and provides the acquired sensing data to the map image generation unit 2400, which will be described later.

[0032] The map data storage unit 2200 records map data that has been acquired in advance from an external system or input by the user, and provides the recorded map data to the map image generation unit 2400. Here, map data refers to data related to geographical information, and includes, for example, polygon geographic data, map data, and the like.

[0033] The user input receiving unit 2300 receives user requests for the generation process executed by the map image generating unit 2400. For example, the user input receiving unit 2300 receives a designation of a target area for generating a map image from the user. Alternatively, if a defect is found in sensing data such as aerial images or three-dimensional point cloud data acquired from the sensing data acquiring unit 2100, the user can input an instruction not to use the sensing data.

[0034] The map image generation unit 2400 generates a map image by integrating the sensing data from the sensing data acquisition unit 2100 and the map data acquired from the map data storage unit 2200. The generated map image is input to the information integration system 3000.

[0035] (A-1-5. Crisis Response On-Site Command System 5000) Fig. 5 is a configuration diagram of a crisis response on-site command system according to one embodiment of the present invention. The crisis response on-site command system 5000 comprises a supervisory device 5100 and an on-site unit terminal device 5300. The on-site unit terminal device 5300 includes terminal devices operated by various on-site units, such as terminals for inspection workers, Self-Defense Force terminals, police terminals, fire brigade terminals, rescue team terminals, heavy equipment operator terminals, shelter staff terminals, and local government staff terminals.

[0036] The commanding device 5100 is a terminal device operated by, for example, a commander of a crisis response headquarters that is set up when a disaster or the like occurs. The commanding device 5100 can transmit work instructions and work plans that are generated in the information integration system or entered by the commander to any of the field unit terminal devices 5300 that are communicatively connected. The field unit terminal device 5300 has a function of transmitting response information (field response) to the received work plans and work instructions to the commanding device 5100, and further has a function of transmitting field unit information regarding the location and work status of the field unit to the commanding device 5100.

[0037] The control device 5100 also transmits the on-site responses and on-site unit information acquired from the on-site unit terminal device 5300 to the information integration system 3000. On the other hand, the control device 5100 acquires from the information integration system 3000 a common situation diagram (integrated information) in which at least one of the damage information and on-site unit information is integrated into a map image, and information on work instructions and work plans generated by the information integration system 3000.

[0038] Here, the terms "work instruction" and "work plan" mentioned above can be defined, for example, as follows: A work instruction is an instruction that includes at least one of information regarding the work location, work content, urgency, and priority for response work that should be performed by an on-site team within a predetermined time, where the predetermined time can be, for example, five minutes. On the other hand, a work plan is a plan that includes at least one of information regarding the work time, work location, work content, urgency, and priority for response work that should be performed after the predetermined time.

[0039] (A-1-6. Field Team Terminal Device 5300) Figure 6 is a functional configuration diagram of a field team terminal device according to one embodiment of the present invention. The field team terminal device 5300 includes a field information acquisition unit 5310, a work command acquisition unit 5320, a work command display unit 5330, a common situation diagram display unit 5340, and a communication unit 5350.

[0040] The on-site information acquisition unit 5310 is equipped with a unit status acquisition unit 5311, a disaster status acquisition unit 5312, and a work instruction response input unit 5313, and acquires information about the on-site unit, such as input information entered by the on-site unit operating the on-site unit terminal device 5300 and measurement information obtained from sensors mounted on the on-site unit terminal device 5300.

[0041] The unit status acquisition unit 5311 acquires, as user input or measured information, position information, speed information, and acceleration as information regarding the status of the on-site unit operating the on-site unit terminal device 5300. Furthermore, it acquires, as user input or measured information, the details of the work being performed, work progress information (such as whether the work is behind schedule or progressing faster than scheduled), resource information (the number of people in the unit, the equipment, and the type and amount of facilities), work status information (waiting, preparing, in progress, on break, delayed, completed ahead of schedule, completed, awaiting instructions, a request for a change in instructions, awaiting arbitration, etc.), past activity history information of the on-site unit, or future work plans of the on-site unit.

[0042] The above-mentioned "past activity history information of the field unit" is information on the details of activities carried out in the past by the field unit operating the field unit terminal device 5300, and can include, for example, the field unit's cumulative work time, travel distance, rest rate, rest time, nighttime activity time, sleep time, water supply, whether or not meals were provided, etc. Furthermore, the above-mentioned "future work plan of the field unit" is information on the future activity plan desired by the field unit operating the field unit terminal device 5300.

[0043] Here, at least one of the measurement information of position information, speed information, and acceleration can be measured by an inertial measurement unit (IMU) mounted on a mobile device or wearable device worn by the field team, and the above-mentioned "work content being performed" can also be automatically determined by the system from at least one of the measurement information of position information, speed information, and acceleration measured by the mobile device or wearable device.

[0044] The disaster status acquisition unit 5312 acquires disaster information relating to the human and material damage status in the disaster area as information manually input by the on-site unit operating the on-site unit terminal device 5300. The disaster information includes information relating to human and material damage, such as the location of the damage, the type of damage, the level and scale of the damage, etc.

[0045] The work instruction response input unit 5313 receives response input from the field team to the work instructions and work plans transmitted from the commanding device 5100, which are acquired by the work instruction acquisition unit 5320 (described later) and displayed by the work instruction display unit 5330 (described later). Here, the response input is at least one of "accept," "reject," and "request arbitration," or a combination of these.

[0046] The work command acquisition unit 5320 acquires the work instructions and work plans transmitted from the commanding device 5100. The work command display unit 5330 displays the work instructions and work plans acquired by the work command acquisition unit 5320.

[0047] The common situation diagram display unit 5340 displays the common situation diagram transmitted from the information integration system 3000. The communication unit 5350 has a function of transmitting information between the field unit terminal device 5300 and the command device 5100 or the information integration system 3000 via wired or wireless communication.

[0048] As described above, the field unit terminal device 5300 displays information obtained from the control device 5100 and the information integration system 3000 to the field unit, which is the user of the field unit terminal device 5300, and also obtains information from the field unit regarding the unit status, damage situation, and response input to work orders, and transmits it to the control device 5100.

[0049] 7 is a functional block diagram of a commanding device according to one embodiment of the present invention. The commanding device 5100 includes a unit terminal communication unit 5110, a field acquired information display unit 5120, a host device information acquisition unit 5130, a host device acquired information display unit 5140, a user input reception unit 5150, and a host device transmission unit 5160.

[0050] (A-1-7-1. Unit terminal communication unit 5110) The unit terminal communication unit 5110 has a function of acquiring or transmitting information exchanged between the command device 5100 and the on-site unit terminal device 5300. The unit terminal communication unit 5110 has an on-site unit status information acquisition unit 5111, a disaster status information acquisition unit 5112, an on-site arbitration information acquisition unit 5113, and a work instruction / plan transmission unit 5114.

[0051] The on-site unit status information acquisition unit 5111 acquires information about the status of the on-site unit, which is acquired by the unit status acquisition unit 5311 and transmitted via the communication unit 5350 of the on-site unit terminal device 5300 .

[0052] The disaster state information acquisition unit 5112 acquires disaster information relating to the human and material damage conditions in the disaster area, which is acquired by the disaster state acquisition unit 5312 and transmitted via the communication unit 5350 of the field unit terminal device 5300.

[0053] The site arbitration information acquisition unit 5113 acquires the response input information of the site team to the work instructions and work plans acquired by the work instruction response input unit 5313 and transmitted via the communication unit 5350 of the site team terminal device 5300.

[0054] The work instruction / plan transmission unit 5114 transmits to the field unit terminal device 5300 the work instructions and work plan request information input by a commander or other user of the commanding device 5100 via the work instruction / plan input unit 5153 described below, or the work instructions and work plan request information acquired by the work instruction / plan candidate acquisition unit 5132. The work instruction and work plan request information may also include requests for changes to work instructions and work plans (such as replacement, postponement, cancellation, suspension, deletion, or addition of work instructions or work plans). At this time, the device may have a function to extract the field unit to which the work instruction and work plan request information should be sent.

[0055] (A-1-7-2. On-site acquired information display unit 5120) The on-site acquired information display unit 5120 has a function of displaying information transmitted from the on-site unit terminal device 5300 acquired by the unit terminal communication unit 5110. The on-site acquired information display unit 5120 includes an on-site unit status information display unit 5121, a disaster status information display unit 5122, and an on-site mediation information display unit 5123.

[0056] The on-site unit status information display unit 5121 displays information relating to the status of the on-site unit acquired by the unit status acquisition unit 5311. The damage status information display unit 5122 displays damage information relating to the human and material damage situation in the disaster area acquired by the damage status acquisition unit 5312. The on-site mediation information display unit 5123 displays response input information (at least one of "accepted," "rejected," and "requested mediation," or a combination of these) from the on-site unit in response to the work instructions and work plans acquired by the work instruction response input unit 5313.

[0057] (A-1-7-3. Upper device information acquisition unit 5130) The upper device information acquisition unit 5130 has a function of acquiring information transmitted from the upper device, the information integration system 3000. The upper device information acquisition unit 5130 includes a common situation diagram acquisition unit 5131 and a work instruction / plan candidate acquisition unit 5132.

[0058] The common situation diagram acquisition unit 5131 has a function of acquiring a common situation diagram generated in the information integration system 3000. The work instruction / plan candidate acquisition unit 5132 has a function of acquiring candidate information for a work instruction or work plan generated in the information integration system 3000.

[0059] (A-1-7-4. Upper device acquired information display unit 5140) The upper device acquired information display unit 5140 has a function of displaying information acquired by the common situation diagram acquisition unit 5131. The upper device acquired information display unit 5140 has a common situation diagram display unit 5141 and a work instruction / plan candidate display unit 5142. The common situation diagram display unit 5141 displays the common situation diagram acquired by the common situation diagram acquisition unit 5131. The work instruction / plan candidate display unit 5142 displays candidate information for the work instruction or work plan acquired by the work instruction / plan candidate acquisition unit 5132.

[0060] (A-1-7-5. User input acceptance unit 5150) The user input acceptance unit 5150 has a function of accepting input from a user who operates the command device 5100. The user input acceptance unit 5150 includes a display specification input unit 5151, a disaster / unit information input unit 5152, a work instruction / plan input unit 5153, and a disclosure restriction input unit 5154.

[0061] The display specification input unit 5151 is a functional unit that specifies and inputs the display method of the common situation diagram displayed in the common situation diagram display unit 5141 of the higher-level device acquired information display unit 5140, and the information of the work instructions and work plans displayed in the work instruction / plan candidate display unit 5142. In addition, the information to be displayed may be specified and input from the display information displayed by the multiple display units of the site acquired information display unit 5120 and the higher-level device acquired information display unit 5140.

[0062] The damage / unit information input unit 5152 is a functional unit that allows a user to input additional damage information or unit information after checking the damage status information displayed in the damage status information display unit 5122, the on-site unit information displayed in the on-site unit status information display unit 5121, and the common situation diagram displayed in the common situation diagram display unit 5141. For example, if the user, who is a commander, is aware of damage information or unit information that is not shown in the above-mentioned damage status information, on-site unit status information, or common situation diagram, the user can input additional damage information or unit information.

[0063] The work instruction / plan input section 5153 has a function to accept a selection input by the user to select a specific candidate from the candidate information of the work instruction or work plan displayed in the work instruction / plan candidate display section 5142, or a function to allow the user to newly input their own original work instruction or work plan.

[0064] The disclosure restriction input unit 5154 has a function of receiving, from the user, input specifying the organizations to which the common situation map generated by the information integration system 3000 and the on-site unit information and damage information included in the common situation map will be disclosed. For example, the information disclosed by the information integration system 3000 to the mass media is restricted to information that has been confirmed by the on-site unit. Alternatively, the unit 5154 has a function of receiving, from the user, input specifying the time at which the common situation map and the on-site unit information and damage information included in the common situation map will be disclosed to the mass media. For example, the unit 5154 specifies the time at which the information integration system 3000 will disclose the information to the mass media. This is expected to have the effect of preventing people from gathering at the disaster site out of curiosity and causing disruption to response operations at the disaster site.

[0065] (A-1-7-6. Unit 5160 transmitting to higher-level device) The unit 5160 transmitting to higher-level device has a function of transmitting information to the higher-level device, the information integration system 3000. The unit 5160 transmitting to higher-level device includes a field unit status information transmitting unit 5161, a disaster status information transmitting unit 5162, and a field arbitration information transmitting unit 5163.

[0066] The on-site unit status information transmission unit 5161 transmits the status information of the on-site unit acquired by the on-site unit status information acquisition unit 5111 to the information integration system 3000. Next, the damage status information transmission unit 5162 transmits the damage information acquired by the damage status information acquisition unit 5112, or information to which the damage information input by the damage / unit information input unit 5152 has been added, to the information integration system 3000. Next, the on-site arbitration information transmission unit 5163 transmits to the information integration system 3000 the information on the work instructions and work plans transmitted from the work instruction / plan transmission unit 5114 to the on-site unit terminal device 5300, and the response input information of the on-site unit acquired by the on-site arbitration information acquisition unit 5113.

[0067] (A-1-8. Information Integration System 3000) Figure 8 is a functional configuration diagram of an information integration system according to one embodiment of the present invention. The information integration system 3000 integrates disaster information and on-site unit information into a map image generated from sensing data, including image data, point cloud data, or spatial data, obtained by sensing a disaster-stricken area from the air by an aircraft or other flying object, to generate a common situation map, and transmits the generated common situation map to the supervisory device 5100 and the on-site unit terminal device 5300. The information integration system 3000 includes an on-site unit information acquisition unit 3100, a disaster status information acquisition unit 3200, an information integration unit 3300, a countermeasure generation unit 3400, a work plan determination unit 3500, a work plan arbitration unit 3600, a post-confirmation change plan notification unit 3700, a work plan storage unit 3800, and a transmission unit 3900.

[0068] (A-1-8-1. On-site unit information acquisition unit 3100) The on-site unit information acquisition unit 3100 has a function of acquiring on-site unit information acquired via the control device 5100 and determining the status of the on-site unit based on the acquired on-site unit information. The on-site unit information acquisition unit 3100 includes a position information acquisition unit 3110, a resource information acquisition unit 3120, an activity status information acquisition unit 3130, a fatigue level determination unit 3140, and a work progress determination unit 3150.

[0069] The position information acquisition unit 3110 acquires information relating to the position of the on-site unit. Note that the position information acquisition unit 3110 acquires not only position information but also speed information, acceleration information, etc. as information relating to the status of the on-site unit operating the on-site unit terminal device 5300 acquired by the unit status acquisition unit 5311 described above.

[0070] The resource information acquisition unit 3120 acquires resource information relating to the number of people, equipment, and types and quantities of facilities of the field unit acquired by the unit status acquisition unit 5311 described above.

[0071] The activity status information acquisition unit 3130 acquires information relating to the activity status of the field unit acquired by the aforementioned unit state acquisition unit 5311. The activity status information acquisition unit 3130 acquires the activity status of the field unit, including, for example, waiting, preparing, executing, taking a break, delayed, completed ahead of schedule, completed, waiting for instructions, instruction change request, waiting for arbitration, etc. Furthermore, past activity history information of the field unit or future work plans of the field unit may be acquired as the activity status.

[0072] The fatigue level determination unit 3140 estimates the fatigue level (or workload) of the field team based on the past activity history information of the field team acquired by the activity status information acquisition unit 3130.

[0073] The work progress determination unit 3150 acquires the current work status of the field team and information on the work plan acquired by the activity status information acquisition unit 3130, and estimates the work progress delay relative to the work plan based on this information.

[0074] (A-1-8-2. Disaster status information acquisition unit 3200) The disaster status information acquisition unit 3200 acquires disaster information from at least one of the analysis results of aeronautical sensing data acquired by an aircraft or other flying object, an external system, and a command device, or a combination of these. The disaster status information acquisition unit 3200 includes an aeronautical measurement data analysis unit 3210, an external information acquisition unit 3220, and a command device information acquisition unit 3230.

[0075] The aerial measurement data analysis unit 3210 interprets the current damage status by analyzing sensing data of the target area acquired from the data acquisition system 1000 or a map image generated by processing the sensing data. The aerial measurement data analysis unit 3210 includes a map image acquisition unit 3211 and a damage status interpretation unit 3212. The map image acquisition unit 3211 acquires map image information from the spatial information data utilization system 2000. Note that the map image acquisition unit 3211 may acquire sensing data instead of a map image. The damage status interpretation unit 3212 interprets the current damage status of the target area by analyzing the map image (or sensing data) acquired by the map image acquisition unit 3211. Here, the damage status includes the location of human and material damage, the damaged area, the type of damage, and the scale of damage.

[0076] Here, the term "type of damage" refers to the type of damage, and includes, for example, floods, landslides, fires, earthquakes, tsunamis, power outages, and water outages. The term "scale of damage" refers to the extent of the damage, and examples of the physical damage scale include the number of damaged houses, seismic intensity in the case of an earthquake, tsunami height, the area of ​​the damaged area, and the predicted scale of economic loss. The human damage scale includes the number of affected people, the number of injured people, and the severity of injuries.

[0077] The external information acquisition unit 3220 acquires the damage situation from the above-mentioned external system 4000. Here, the damage situation acquired from the external system includes the location of human and physical damage, the damaged area, the type of damage, and the scale of damage.

[0078] The command device information acquisition unit 3230 acquires damage information input by the field team via the command device 5100 and damage information input to the command device 5100. Here, too, the damage situation includes the location of human and material damage, the damaged area, the type of damage, and the scale of damage.

[0079] The damage state information acquisition unit 3200 may have a function to predict not only the current damage state but also the future damage state (including the damaged area, type of damage, and scale of damage) based on the above-mentioned information. For example, when the aerial measurement data analysis unit 3210 interprets road closures, it estimates future secondary damage in isolated areas that will be isolated by the road closures.

[0080] (A-1-8-3. Information integration unit 3300) The information integration unit 3300 generates a common situation diagram by integrating on-site unit information and damage information into a map image or sensing data. The information integration unit 3300 includes a damage / on-site information integrator 3310 and a common situation diagram generator 3320.

[0081] The disaster / site information integrator 3310 generates integrated information by integrating the on-site unit location information acquired by the on-site unit information acquirer 3100 and the damage information (including the location of the damage, the details of the damage, the scale of the damage, etc.) acquired by the damage status information acquirer 3200. Integration can be performed, for example, based on the location and area information included in the on-site unit information and the damage information. Another example is integration by associating the damage type with the on-site unit related to the damage. For example, if the damage type is a flood, rescue team information is integrated.

[0082] The common situation diagram generator 3320 generates a common situation diagram by integrating the on-site unit information and disaster information into a map image acquired from the spatial information data utilization system 2000, or sensing data acquired by the data acquisition system 1000, or pre-recorded map data. The information of the generated common situation diagram is transmitted to the command device 5100 by the transmitter 3900 (described later) and displayed on the command device 5100.

[0083] (A-1-8-4. Countermeasure Generation Unit 3400) The countermeasure generation unit 3400 determines the crisis level based on the damage information, generates countermeasures for the damage, and determines the priority of the countermeasures or suggests them to the user. The countermeasure generation unit 3400 includes a crisis level determination unit 3410, a countermeasure candidate generation unit 3420, and a countermeasure priority determination unit 3430.

[0084] The crisis level determination unit 3410 determines the crisis levels of human and material damage based on the acquired human or material damage information. The determined crisis level information is transmitted to the command device 5100 by the transmission unit 3900 (described later) and displayed. The crisis level can be determined based on the criteria of "severity," "scale of impact," and "controllability."

[0085] As an example of determining the risk level of human damage, for example, "severity" and "scale impact" are determined based on the scale of human damage (number of people, severity of injuries, etc.) obtained from on-site units and external systems (hospitals, media, etc.), and "controllability" is determined according to the damage content (disaster type). Also, as an example of determining the risk level of property damage, "severity" and "scale impact" are determined based on the damage level (number of damaged dwellings, seismic intensity (earthquake), tsunami height, size of damaged area, amount of economic loss, etc.) obtained from the Japan Meteorological Agency, disaster prevention apps, etc., and "controllability" is determined according to the damage content (disaster type).

[0086] The countermeasure candidate generation unit 3420 generates multiple or single candidate countermeasures for the on-site team based on the acquired human or material damage information. The generated countermeasure candidate information is transmitted to the control device 5100 by the transmission unit 3900 (described later) and displayed. The generated countermeasure candidate includes information on at least one of the work content, work area, and work scale of the countermeasure, or a combination of these. The work content can be determined based on the damage content (disaster type) included in the damage information, and the work area can be determined based on the damaged location or area included in the damage information.

[0087] In addition to the above-mentioned damage information, the work area of ​​the candidate countermeasures may be generated based on on-site unit information and work progress information. For example, based on the location information of the on-site unit included in the on-site unit information, a candidate countermeasure is generated in which the work area is a disaster area where rescue activities by the on-site unit are not being carried out or an area predicted to be affected in the future. As another example, based on information on delays in the work progress of the on-site unit estimated by the work progress determination unit 3150, a candidate countermeasure is generated in which the work area is an area where work delays are occurring. In addition, the work scale of the countermeasures can be determined based on the scale of the damage (number of affected people, number of affected dwellings, etc.) included in the damage information.

[0088] The countermeasure priority determination unit 3430 determines the priority of multiple or a single candidate countermeasure among the generated countermeasures according to the crisis level of human or material damage (i.e., triages the countermeasures). Information on the determined priority is transmitted to the command device 5100 by the transmission unit 3900 (described later) and displayed. For example, the priority of a candidate countermeasure for a disaster area with a higher disaster crisis level is evaluated relatively higher. As another example, when the crisis level is the same in different disaster areas, the personal crisis levels are compared and the priority of a candidate countermeasure for a disaster area with a higher personal crisis level is evaluated relatively higher. In other words, the priority of a candidate countermeasure for a disaster area with a higher personal crisis level is evaluated higher than the physical crisis level.

[0089] Furthermore, the countermeasure priority determination unit 3430 evaluates the priority of a countermeasure candidate for a disaster-stricken area with a higher accuracy of the disaster information based on the accuracy of the disaster information in addition to the magnitude relationship of the disaster crisis level as described above. For example, when the crisis levels in different disaster-stricken areas are the same, the countermeasure candidate for the disaster-stricken area with a higher accuracy of the disaster information is evaluated as having a higher priority.

[0090] The crisis level determination, generation of countermeasure candidates, and determination of countermeasure priorities in the countermeasure generation unit 3400 described above may all be performed automatically by the system, or some of them may be performed automatically by the system and other parts may be performed manually by the user. As an example, the system may automatically determine the crisis level and display it on the commanding device, and the user of the commanding device may generate countermeasure candidates and determine the countermeasure priorities.

[0091] (A-1-8-5. Work plan determination unit 3500) The work plan determination unit 3500 determines the field unit that will execute the countermeasures based on the generated countermeasure candidates and their priority information, and decides on work instructions and work plans. The work plan determination unit 3500 includes a dispatch unit candidate determination unit 3510, a work instruction / plan proposal generation unit 3520, and a terminal input information acquisition unit 3530.

[0092] The dispatch unit candidate determination unit 3510 determines candidates for field units that can be dispatched to the disaster area of ​​the generated candidate countermeasure. As an example of automatically determining candidate field units that can be dispatched, for example, based on the current locations of the field units included in the unit information, field units located near the disaster area of ​​the candidate countermeasure are determined as field units or candidates to instruct the execution of the countermeasure. As another example, a required resource estimation unit (not shown) is provided that estimates required resources, including equipment or personnel, in the disaster area based on the disaster information. Based on the equipment or personnel information of the field units included in the unit information, field units having the required resources in the disaster area can be determined as field units or candidates to instruct the execution of the countermeasure. The determined candidate field units are transmitted to the supervisory device 5100 by the transmitter 3900 (described later) and displayed on the supervisory device 5100.

[0093] As yet another example, a required work amount estimation unit (not shown) may be provided that estimates the amount of work required in the disaster area based on the disaster information, and on-site units capable of performing the required amount of work in the disaster area may be determined as on-site units or candidates for which to instruct the implementation of countermeasures based on at least one of past activity history information, fatigue level, and work progress delay status included in the unit information. In this case, the on-site units capable of performing the required amount of work are displayed in a list on the display unit of the coordinating device, or are highlighted in a manner that makes them more prominent than other on-site units.

[0094] The work instruction / plan proposal generation unit 3520 generates work instructions or a work plan proposal containing information on the work area, work content, work scale, and on-site dispatch unit that will perform the work, based on the countermeasure candidate and countermeasure priority information generated by the countermeasure generation unit 3400 and the on-site unit information to be dispatched generated by the dispatch unit candidate determination unit 3510. The generated work instructions or work plan proposal are transmitted to the control device 5100 by the transmission unit 3900, which will be described later, and displayed.

[0095] When the work plan determination unit 3500 has already determined a work order or a work plan, the work instruction / plan proposal generation unit 3520 determines whether the already determined work order or work plan needs to be changed based on the damage information. As an example, the work instruction / plan proposal generation unit 3520 determines whether the work plan needs to be changed based on newly acquired property damage, personal damage, or the work status of the unit (such as progress delays). The determined whether the work order or work plan needs to be changed is transmitted to the control device 5100 by the transmission unit 3900 (described later) and displayed.

[0096] The terminal input information acquiring unit 3530 receives user command input information relating to at least one of the work area of ​​the candidate countermeasure and the field unit that will instruct the execution of the candidate countermeasure from the user input accepting unit 5150 of the commanding device 5100, and determines the field unit that will instruct the execution of the countermeasure or a candidate for the field unit based on the received user command input information. At this time, the user input accepting unit 5150 displays candidate countermeasures automatically generated by the system, and the user can select and input any of the candidate countermeasures, or the user can specify and input any countermeasure.

[0097] (A-1-8-6. Work plan arbitration unit 3600) The work plan arbitration unit 3600 acquires response information of the field team regarding the work instructions or work plan from the field team terminal device 5300, generates a proposed change to the work instructions or work plan based on the response information, and transmits the proposed change to the field team terminal device 5300 and the supervisory device 5100 for display. The work plan arbitration unit 3600 includes a response information acquisition unit 3610, a change candidate adjustment unit 3620, a re-change request notification unit 3630, and a change plan confirmation unit 3640.

[0098] The response information acquisition unit 3610 acquires response information to request information regarding work instructions or work plans from the field unit terminal device 5300. Here, the response information includes information regarding at least one of acceptance, rejection, and arbitration request for the request information. The "arbitration request" may include acceptable conditions or reasons for non-acceptance.

[0099] If the acquired response information is "rejection" or "mediation request", the change candidate adjuster 3620 changes the content of the work instruction or work plan according to the content of the response information.

[0100] The re-change request notification unit 3630 notifies the coordinating device 5100 of the proposed changes to the work instructions or work plans changed by the change candidate adjustment unit 3620 and displays them on the work instruction / plan candidate display unit 5142 of the coordinating device 5100, and also notifies the field unit terminal device 5300 via the coordinating device 5100 and displays them on the work command display unit 5330 of the field unit terminal device 5300.

[0101] When the change plan confirmation unit 3640 receives response information of "accepted" from the field unit terminal device 5300 in response to request information regarding a work instruction or work plan, it records the accepted work instruction or work plan as confirmed information in the work plan memory unit 3800 described below.

[0102] (A-1-8-7. Post-confirmation change plan notification unit 3700) The post-confirmation change plan notification unit 3700 transmits confirmation information of the work instruction or work plan confirmed by the change plan confirmation unit 3640 to the commanding device 5100 and the field unit terminal device 5300. This confirmation information may be transmitted to the field unit terminal device 5300 operated by the field unit related to the work instruction or work plan, or may be transmitted to all field unit terminals controlled by the commanding device 5100. The transmitted confirmation information is displayed in the work instruction / plan candidate display unit 5142 of the commanding device 5100, and also in the work command display unit 5330 of the field unit terminal device 5300.

[0103] (A-1-8-8. Work plan storage unit 3800) The work plan storage unit 3800 records the confirmation information confirmed by the change plan confirmation unit 3640. Furthermore, it may also record work instructions or work plans before confirmation that are being reconciled between the field unit terminal device and the command device, as well as response information.

[0104] (A-1-8-9. Transmission unit 3900) The transmission unit 3900 transmits the integrated information and common situation diagram generated by the information integration unit 3300, or the crisis level, potential countermeasures, and countermeasure priority information generated by the countermeasure generation unit 3400, or the dispatch unit candidates, work instructions / work plans, and proposed changes to the work instructions / work plans generated by the work plan determination unit 3500 to at least one of the field unit terminal device and the control device.

[0105] Here, when communication with the field unit terminal device or the commanding device via the transmitter 3900 fails, the communication means is switched to another communication means to maintain communication with the field unit terminal device or the commanding device. For example, when communication with the field unit terminal device or the commanding device is normally performed using a mobile phone communication network such as LTE, when communication fails, communication with the field unit terminal device or the commanding device is maintained by switching to direct communication using a 2.4 GHz communication band, satellite communication via an artificial satellite, communication via a relay aircraft, or the like. For example, the communication status such as communication strength and communication speed can be monitored to determine whether to switch the communication means.

[0106] (A-1-9. Decision-making Process) The system in the present embodiment described above supports the process of decision-making when an incident such as a disaster occurs and having on-site units carry out the decided work, in order to help the person in charge of crisis response after the incident make more accurate or faster decision-making on crisis response. For this reason, the system has functions to support each process as described above.

[0107] Fig. 9 is a diagram showing an example of a general process leading up to decision-making when an incident such as a disaster occurs. As shown in Fig. 9, a general decision-making process is broadly divided into a data acquisition and execution function, a planning and drafting function, and a decision-making function, and the operation of each function is executed in order in multiple cycles by the crisis response commander and on-site units.

[0108] The data acquisition and execution function, which includes data collection and establishing a chain of command at the site, is a function executed immediately after the occurrence of a disaster. The next executed planning function includes creating and updating a common situation map and analyzing the damage situation, and processes and analyzes the acquired data from the disaster site to create and update the common situation map. The next executed decision-making function includes understanding the damage situation, triaging information, and making decisions based on the results of data processing and analysis, and issues work instructions to on-site units such as rescue teams. The system described in this embodiment is implemented with a function to support the work process executed by a crisis response commander when an incident such as a disaster occurs, as shown in Figure 9.

[0109] (A-1-10. Hardware Configuration) Figure 10 is a configuration diagram showing an example of the hardware configuration of a collaboration system according to one embodiment of the present invention. Here, the data acquisition system 1000, spatial information data utilization system 2000, information integration system 3000, coordinating device 5100, other base coordinating device 5200, and field unit terminal device 5300 constituting the collaboration system 1 in the present invention are information processing devices such as server devices and PCs. As shown in the figure, the data acquisition system 1000, spatial information data utilization system 2000, information integration system 3000, coordinating device 5100, other base coordinating device 5200, and field unit terminal device 5300 each include an input device 100, an output device 200, a processing device 300, a main memory device 400, an auxiliary memory device 500, a communication device 600, and a bus 700 that electrically connects each of these devices.

[0110] The input device 100 is a device that allows a user to input information and instructions to the spatial information data utilization system 2000 and the command device 5100. Specifically, the input device 100 is, for example, a touch panel, a keyboard, a mouse, or an audio input device such as a microphone.

[0111] The output device 200 is a device that outputs information generated by the spatial information data utilization system 2000 and the supervisory device 5100. Specifically, the output device 200 is a display device (including eyewear, AR, VR display devices, etc.), a printer, or a speaker.

[0112] The processing device 300 is, for example, a device that performs arithmetic processing. Specifically, the processing device 300 is, for example, a CPU, a microprocessor, a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or other semiconductor devices capable of performing calculations.

[0113] The main storage device 400 is a memory device such as a RAM that temporarily stores various read information and a ROM that stores programs, application programs, and other various information executed by the processing device 300. The auxiliary storage device 500 is a non-volatile storage device such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a flash memory that can store digital information.

[0114] The communication device 600 is a device that performs wireless or wired information communication with an external device.

[0115] In addition, in Figure 10, the hardware configurations of the data acquisition system 1000, spatial information data utilization system 2000, information integration system 3000, control device 5100, other base control device 5200, and field unit terminal device 5300 are explained, but the external system 4000 can also be realized with a hardware configuration similar to that shown in Figure 10 above.

[0116] (A-1-11. Flowchart of Linkage System) Next, we will explain the control flow of the entire linkage system 1. Fig. 11 is a flowchart showing the control flow of the linkage system according to one embodiment of the present invention.

[0117] First, the coordination system 1 acquires unit information (step 101). Specifically, the on-site unit terminal device 5300 acquires unit information regarding the status of on-site units in the disaster area, and the unit information is transmitted to the information integration system 3000 via the control device 5100, and the on-site unit information acquisition unit 3100 acquires the unit information. The unit information can be acquired by manual input by the on-site units, by measurement by the on-site unit terminal device 5300, or by manual input by the control device.

[0118] Next, the linkage system 1 acquires human or material damage information (step 102). Specifically, the information integration system 3000 acquires damage information related to the damage situation, including the current or future expected location or type of damage, from the command device 5100 or the external system 4000. The information integration system 3000 also acquires aerial sensing data from the data acquisition system and generates damage information related to the damage situation, including the current or future expected location or type of damage, based on the aerial sensing data.

[0119] Next, the coordination system 1 integrates the on-site status and the damage status on a common situation diagram and displays them (step 103). Specifically, the information integration unit 3300 of the information integration system 3000 integrates the on-site status and the damage status on a common situation diagram, and displays the integrated information on the control device 5100.

[0120] Next, the information integration system 3000 generates candidate countermeasures for the disaster (step 104). Specifically, the countermeasure generation unit 3400 of the information integration system 3000 determines the crisis level, generates multiple or single candidate countermeasures, and determines the priority of each candidate countermeasure.

[0121] Next, the information integration system 3000 determines candidates for field units to be dispatched (step 105). Specifically, the dispatch unit candidate determination unit 3510 of the information integration system 3000 determines field units to execute the countermeasures based on the disaster area where the countermeasures will be implemented, the resources required to implement the countermeasures, the workload, etc. Here, the field units to execute the countermeasures are determined based on not only field units already active on-site, but also units on standby that have not yet begun operations.

[0122] Next, the information integration system 3000 generates a work instruction or a work plan (step 106). Specifically, the work plan determination unit 3500 generates a draft of the work instruction or work plan based on candidate information for field units to be dispatched and information input by the user.

[0123] Next, the information integration system 3000 mediates the work instructions or work plans (step 107). Specifically, the work instructions or work plans and the response information from the field units are exchanged between the field unit terminal device 5300 and the control device 5100, or between the field unit terminal device 5300 and the information integration system 3000, to mediate the work instructions or work plans.

[0124] Next, the information integration system 3000 notifies the reconciled work instructions or work plan (step 108). Specifically, the post-confirmation change plan notification unit 3700 transmits the work instructions or work plan that has been confirmed after the reconciliation to the coordinating device 5100 and all the field unit terminal devices 5300 that are the targets of control by the coordinating device, and causes them to be displayed on each terminal device. Note that the confirmed work instructions or work plan may be transmitted only to the field unit terminal devices 5300 of the field units related to the work instructions or work plan, rather than to all the field unit terminal devices 5300.

[0125] (A-1-12. Flowchart for Acquiring Site Information) A detailed operational flow for acquiring unit information will be described below in step 101 of Fig. 11. Fig. 12 is a diagram showing an example of a flowchart for when a linkage system according to an embodiment of the present invention acquires site information.

[0126] First, information on the progress of work is acquired from each of the on-site teams by the on-site team terminal device 5300 of each of the on-site teams (step 201). Here, information on the progress of work includes, for example, work delays relative to the original work plan.

[0127] Next, the on-site unit terminal device 5300 of each on-site unit acquires location information regarding the location of the on-site unit from each on-site unit (step 202). The acquired information is not limited to location information, but may also be speed or acceleration information. Furthermore, the location information may be acquired by manual input by the operator of the on-site unit terminal device, or may be acquired as measurement information from a sensor (such as a GPS sensor) installed in the on-site unit terminal device.

[0128] Next, the on-site unit terminal device 5300 of each on-site unit acquires resource information of the on-site unit (step 203). The acquired resource information is manually input by the operator of the on-site unit terminal device. Specifically, the resource information is information regarding the number of people in the unit, the equipment they possess, and the facilities they possess.

[0129] Next, the activity status information of the field unit is acquired by the field unit terminal device 5300 of each field unit (step 204). Here, the activity status information includes, for example, status information such as waiting, preparing, running, taking a break, delayed, completed ahead of schedule, completed, waiting for instructions, instruction change request, waiting for arbitration, etc.

[0130] (A-1-13. Unit information displayed on the common situation diagram) An example of a display screen when unit information is displayed on the common situation diagram in step 103 of Figure 11 will be described. Figure 13 is a diagram showing an example of a display screen when a command device according to one embodiment of the present invention displays unit information.

[0131] For example, information about a plurality of on-site teams is displayed on a map screen in the common situation diagram display unit 5141 of the command device 5100. In the example shown in Fig. 13, in a disaster area where a river flowing on the right side of the drawing has overflowed, causing flooding, rescue team A, rescue team B, medical team C, and heavy machinery work team D are shown as on-site teams operating in the disaster area, and information about each team, such as the team name, work progress, owned equipment, and number of personnel, is displayed.

[0132] In the example shown in FIG. 13 , Rescue Team A's work progress is "Expected completion of rescue in Area AA: 4 hours later (with delays)," its equipment is "1 boat, 2 rescue vehicles," and its personnel is "5 people." Rescue Team B's work progress is "Expected completion of rescue in Area BB: 2 hours later," its equipment is "2 boats, 3 rescue vehicles," and its personnel is "10 people." Medical Team C's work progress is "20 people accepted. New capacity: 40 people." its equipment is "60 beds (Medical Institution A)," and its personnel is "10 people (5 experienced, 3 mid-level, 2 new)." Finally, Heavy Equipment Work Team D's work progress is "Expected completion of sandbag installation: 8 hours later (with delays) (high fatigue level)," its equipment is "1 excavator, 2 trucks," and its personnel is "5 people." In this way, personnel number information may include information on the personnel's proficiency level in addition to the number of personnel. For example, personnel information for rescue team B lists the number of personnel according to their level of skill: five highly skilled "experts," three "mid-level" "seniors," and two less skilled "newbies."

[0133] As described above, the on-site unit or activity location where there is a delay in the work progress is highlighted by using bold or different colors to indicate the delay. Similarly, the on-site unit or activity location where it is determined that the fatigue level or workload of the on-site unit is high is highlighted by using bold or different colors to indicate that the fatigue level (workload) is high.

[0134] (A-1-14. Disaster Information Displayed on Common Situation Diagram) An example of a display screen when disaster information is displayed on a common situation diagram in step 103 of Fig. 11 will be described. Fig. 14 is a diagram showing an example of a display screen when a commanding device according to one embodiment of the present invention displays disaster information.

[0135] For example, information about multiple on-site units is displayed on a map screen in the common situation diagram display unit 5141 of the commanding device 5100. In the example shown in Fig. 14, in a disaster area where a river flowing on the right side of the drawing has overflowed, causing flooding, the interpretation results of sensing data (aerial sensing data) acquired by the data acquisition system 1000, interpretation results of multiple fixed cameras acquired from the external system 4000, and damage information acquired from the on-site unit terminal device 5300 via the commanding device 5100 are displayed. Here, interpretation of the aerial sensing data and fixed cameras may be performed using AI.

[0136] In the example shown in Figure 14, the interpretation results of the aerial sensing data show that the area on the left side of the river is a flooded area, and the location of the levee breach is displayed. Also, the interpretation result of fixed camera A is "Flooded. Water depth 30 cm," the interpretation result of fixed camera B is "No abnormalities," and the interpretation result of fixed camera C is "No abnormalities." The damage information obtained from the on-site units is displayed as rescue team A's "Flooded. Water depth 40 cm," rescue team B's "Flooded. Water depth 40 cm," medical team C's "No abnormalities," and heavy equipment work team D's "Levee breaching. 30 m wide."

[0137] 14, in addition to the above-mentioned damage information, information about local residents, such as the number of dwellings and residents in each district (District AA, District BB, District CC, District DD), is displayed. In this way, by acquiring or displaying information about local residents in addition to the damage information, it becomes possible to more accurately estimate the scale of the damage.

[0138] (A-1-15. Unit information and damage information displayed on a common situation diagram) An example of a display screen when unit information and damage information are displayed on a common situation diagram in step 103 of Figure 11 will be described. Figure 15 is a diagram showing an example of a display screen when a command device according to one embodiment of the present invention displays integrated information of unit information and damage information.

[0139] For example, information about multiple on-site units and multiple pieces of damage information are displayed on a map screen in the common situation diagram display unit 5141 of the command device 5100. In the example shown in Fig. 15, the unit information and damage information are displayed together in a disaster area where a river flowing on the right side of the drawing has overflowed, causing flooding.

[0140] 13 to 15 illustrate an example of a common situation diagram in which unit information and damage information are displayed on a map screen, but the displayed common situation diagram may instead be a map image in which a map and sensing data (image, point cloud, or spatial data) are integrated. Alternatively, instead of a map format, a list of unit information and damage information may be displayed. The integrated information of unit information and damage information described above may be displayed not only on the command device but also on the on-site unit terminal device.

[0141] (A-1-16. Control flow for generating candidate countermeasures) Next, an example will be described in which the countermeasure generation unit 3400 generates candidate countermeasures in step 104 of Fig. 11. Fig. 16 is a diagram showing an example of a flowchart when the countermeasure generation unit according to one embodiment of the present invention generates candidate countermeasures.

[0142] First, the crisis level determination unit 3410 determines the crisis level (step 301). In this processing step, the crisis level determination unit 3410 determines the crisis level of human damage related to people and the crisis level of material damage related to objects. The crisis level is determined in association with the disaster area or location.

[0143] Next, the countermeasure candidate generation unit 3420 generates countermeasure candidates (step 302). In this processing step, the countermeasure candidate generation unit 3420 determines the content of the countermeasure according to the details of the human and material damage, determines the work area of ​​the countermeasure according to the affected area, and determines the work scale of the countermeasure according to the scale of the damage.

[0144] Next, the countermeasure priority determination unit 3430 determines the priority of the countermeasure candidates (step 303). In this processing step, the countermeasure priority determination unit 3430 prioritizes (triages) each countermeasure based on the determination result of the crisis level.

[0145] (A-1-17. Display Example of Countermeasure Candidates) Next, we will explain the display screen of countermeasure candidate candidates generated by steps 301 to 303 in Fig. 16. Fig. 17 is a diagram showing an example of the display screen of countermeasure candidate candidates displayed on the command device or the field unit terminal device according to one embodiment of the present invention.

[0146] In the example shown in FIG. 17 , the generated candidate countermeasures are displayed in table T101 in tabular format alongside the common situation diagram. Table T101 of candidate countermeasures includes multiple candidate countermeasures, each of which includes information on the countermeasure content, response area / location, crisis level, and priority. Here, the response content includes the details of the countermeasure activities, such as rescuing residents, repairing levees, and providing medical assistance. The response area / location includes information on the area or location where the countermeasure is implemented, such as Area AA, Area BB, Area CC, Area DD, the location of the levee breach, and medical institutions. The crisis level is the crisis level determined in step 301 of FIG. 16 and is information on one of several levels, such as S, A, and B. Next, the priority is information on the priority of the candidate countermeasures determined in step 303 of FIG. 16 and is information on one of several levels, such as S, A, and B.

[0147] Countermeasures No. 001 and 002 shown in Figure 17 have a high crisis level of "S," and are therefore also assigned a correspondingly high priority of "S." Countermeasures No. 003, 004, and 006 are assigned a priority of "A," which corresponds to a crisis level of "A." Countermeasure No. 005 has a crisis level of "A," but its priority is set to "B." This is because countermeasures No. 003, 004, and 006, which are related to human rescue and medical care, are rated higher in priority than countermeasure No. 005, which is aimed at physical recovery.

[0148] Figure 17 shows an example in which the generated candidate countermeasures are displayed in a table format alongside the common situation diagram, but the method of displaying the candidate countermeasures is not limited to this; they may be displayed in association with the position of the common situation diagram, or may be displayed on a screen different from the common situation diagram.

[0149] (A-1-18. Determination of Dispatch Unit Candidates) Next, an example of a candidate list of dispatchable field units generated by the dispatch unit candidate determination unit 3510 when determining field units to execute countermeasures in step 105 of Figure 11 will be described. Figure 18 is a table showing an example of the results of determination of dispatch unit candidates generated by the dispatch unit candidate determination unit according to one embodiment of the present invention.

[0150] Table T102 shown in Figure 18 is a list of units that can be dispatched to the disaster site to implement proposed countermeasures. For each unit, it includes unit identification information, activity status, estimated completion date, and resource information. Unit identification information includes information that identifies units, such as "Rescue Team A," "Rescue Team B," "Rescue Team E," "Heavy Equipment Work Team F," and "Medical Team G." Activity status information includes information indicating the current activity and status of each unit, such as "Currently rescuing residents of Area AA," "Currently rescuing residents of Area BB," and "On standby." The estimated completion date includes the estimated time until the current activity is completed. Finally, resources include information on the personnel and physical resources, including equipment and facilities, possessed by each unit, such as "Number of personnel," "Boats," and "Rescue vehicles."

[0151] (A-1-19. Display of Work Instructions or Work Plans) Next, a description will be given of a display method for displaying information about work instructions or work plans generated by the work plan determination unit 3500 on a field unit terminal device or a supervisory device in step 106 of Fig. 11. Fig. 19 is a display example when information about work instructions or work plans is displayed in a table format, and Fig. 20 is a display example when information about work instructions or work plans is displayed in a time-series chart format.

[0152] Table T103 shown in Figure 19 is information about work instructions or work plans displayed in tabular form, and includes, for each of multiple countermeasures, information about the countermeasure number, countermeasure content, response area / location, priority, current activity status, and candidate dispatch units. The countermeasure number, countermeasure content, response area / location, and priority include the same information as shown in Figure 17. The current activity status includes information about the current activity status in the response area or location, such as "not performed," meaning that the work has not been performed, or "working," meaning that the work is being performed by a certain field unit. The candidate dispatch units include the unit identification information of the candidate dispatch units shown in Figure 18.

[0153] The diagram in Figure 20 shows an example of a display of work instructions or work plan information in a time series chart format, and includes information on the response area, activity content, and priority for each time frame from past to future for multiple on-site teams. For example, Rescue Team A has already begun rescue activities for residents with priority "A" in District AA, and the work plan shows that the activity will continue until after 2:00 PM.

[0154] Additionally, for field units that are currently behind schedule, the system displays a message indicating that their work progress is behind the planned line. For example, rescue team A and heavy machinery work unit D are currently behind schedule.

[0155] The work instructions or work plan in the time series chart format shown in Figure 20 shows a line for the current time, and if the work is behind schedule compared to the work plan, the fact that the work is behind schedule is displayed on the time series chart.

[0156] In the display examples of work instruction or work plan information shown in Figures 19 and 20, the information on the work instructions or work plans is displayed alongside the common situation diagram, but the method of displaying the work instructions or work plans is not limited to this, and they may be displayed on a screen different from the common situation diagram.

[0157] (A-1-20. Control flow during reconciliation) Next, we will explain the method of reconciling work instructions or work plans that the work plan reconciliation unit 3600 performs with the field unit terminal devices via the command device in step 107 of Fig. 11. Fig. 21 is a diagram showing an example of a control flowchart when reconciliation is performed with the field unit terminal devices via the command device after a work instruction or work plan proposal has been generated in the information integration system 3000.

[0158] First, the supervisory device receives a work instruction or a proposed work plan from the work plan determination unit 3500 and transmits the work instruction or the proposed work plan to the field unit terminal device (step 401).

[0159] Next, the control device determines the next control to be processed depending on whether the response received from the destination field unit terminal device is "accepted" or not (step 402). If the response received from the field unit terminal device is not "accepted", the control device proceeds to the processing of step 403, and if the response received from the field unit terminal device is "accepted", the control device proceeds to the processing of step 408.

[0160] Next, if the response received from the field unit terminal device is not "accepted", the change candidate adjustment unit 3620 of the information integration system 3000 generates another candidate for the work instruction or work plan (step 403).

[0161] Next, the re-change request notifying unit 3630 transmits another candidate for the work instruction or work plan to the commanding device, and the other candidate is displayed in the work instruction / plan candidate display unit 5142 of the commanding device (step 404).

[0162] Next, the work instruction / plan input unit 5153 of the supervisory device accepts input of corrections or selections for other work instructions or work plans (step 405).

[0163] Next, the work instruction / plan sending unit 5114 extracts the field units related to the other candidates for the work instruction or work plan (step 406).

[0164] Next, the work instruction / plan transmitting unit 5114 transmits the work instruction or another candidate work plan to the related field unit terminal again (step 407). After processing this step, the process proceeds to processing of step 402.

[0165] In the process of step 402, if the response received from the field unit terminal device is "accepted", the change plan confirmation unit 3640 confirms the contents of the work instructions or work plan (step 408).

[0166] Next, the information on the confirmed work instructions or work plan is notified to the supervisory device and the field unit terminal device by the post-confirmation change plan notification unit 3700, and the information on the confirmed work instructions or work plan is displayed on the supervisory device and the field unit terminal device (step 409).

[0167] (A-1-20-1. Sequence diagram for arbitration) Next, an example of a method for arbitrating between multiple on-site team terminal devices and the commanding device when changing the work plan will be described in step 107 of Fig. 11. Fig. 22 shows a sequence diagram for arbitrating work instructions or work plans between rescue teams A, B, and C as multiple on-site team terminal devices and the commanding device.

[0168] 22, first, the commanding device transmits a proposed change to the work plan to the terminal device of rescue team B, which is related to the work plan. The terminal device of rescue team B transmits a "reject" response to the commanding device.

[0169] Next, the commanding device transmits the response information of "rejection" to the response information acquisition unit 3610 of the information integration system 3000, and also acquires information on the work plan candidate that has been re-modified by the modification candidate adjustment unit 3620 and transmits it again to the terminal device of rescue team B. The terminal device of rescue team B transmits the response of "acceptance" to the commanding device.

[0170] The control device transmits the "accepted" response information to the response information acquisition unit 3610 of the information integration system 3000, and also acquires information on the work plan confirmed by the change plan confirmation unit 3640, and transmits the confirmed work plan not only to the terminal device of rescue team B, but also to the terminal devices of rescue teams A and C, and displays them on each terminal device.

[0171] (A-1-20-2. Display of the field unit terminal device during arbitration) Next, we will explain the method of displaying a work instruction or work plan in the work instruction display unit 5330 of the field unit terminal device and acquiring response information from the field unit using the work instruction response input unit 5313 in step 107 of Figure 11. Figure 23 is a diagram showing an example of a display screen displayed when the field unit terminal device according to one embodiment of the present invention arbitrates a work instruction or work plan.

[0172] The display screen shown in Figure 23 particularly shows candidate work plan information to be displayed on the display screen of the on-site unit terminal device being investigated by rescue team B. In the display example shown in this figure, a common situation diagram is displayed on the upper side of the display screen, and candidate work plans in the form of time series charts for multiple on-site units including rescue team B are written on the lower side of the display screen. The candidate work plans in the form of time series charts may be similar to the work plans shown in Figure 20.

[0173] The display screen also displays input buttons for obtaining response information from Rescue Team B regarding the candidate work plan. In the example shown in the figure, the buttons for "Accept," "Reject," and "Input Acceptability Conditions" are displayed, and a free-form input field is provided for "Input Acceptability Conditions."

[0174] As shown in this figure, a common situation diagram, candidate information for work instructions or work plans, and a response input field are displayed on the display screen, and response input from rescue team B, who checks the display screen, can be accepted, thereby making it possible to display the information necessary for mediation with each on-site unit and obtain responses.

[0175] (A-1-21. Display of work instructions or work plans after confirmation) Next, we will explain how to display the confirmed work instructions or work plans after arbitration is completed on the work command display unit 5330 of the field unit terminal device in step 108 of Figure 11. The command device and the field unit terminal device display the work instructions or work plans in a table format or time series chart format as shown in Figure 19 or Figure 20, together with the common situation diagram.

[0176] In addition, when integrated information on disaster damage and unit information is generated as digital twin information on a computer in the information integration unit 3300, it is also possible to display the digital twin information and work instructions or work plans on the on-site unit terminal device using AR (Augmented Reality).

[0177] FIG. 24 is a diagram illustrating an example of an AR display of work instructions or a work plan by a field unit terminal device according to one embodiment of the present invention. FIG. 24 particularly illustrates an example of a display screen on the AR device of the field terminal device of rescue team B. Here, the AR device may be a goggle-type display device or a mobile terminal with a camera. On the display unit of the goggle-type display device or the image captured by the camera of the mobile terminal, unit information and damage information (a levee collapse 300 meters ahead) of other field units (rescue team A, heavy equipment work team D) generated in a virtual space on a computer are superimposed according to the position and orientation information of the AR device. Additionally, the display screen displays work instructions and a work plan together with unit information and damage information.

[0178] In this way, unit information and disaster information can be displayed using AR by superimposing it on the captured image instead of using a map-type common situation diagram, allowing workers on the field unit to more easily grasp unit information, disaster information, work instructions, and work plans while working.

[0179] Another example of digital twin information displayed on an AR device is shown in Figure 25. Figure 25 shows an example of the display screen of an AR device operated by heavy equipment work team D, which is working at the location of the levee breach. Here, damage information, such as the estimated volume of the levee defect at the location of the levee breach and the number of sandbags required for repair work, is displayed superimposed on the image captured by the camera on the mobile device or on the display unit of the goggle-type display device, according to the position and orientation information of the AR device. In addition to the damage information, work instructions and work plans are also displayed on the display screen.

[0180] Here, the estimated volume of the levee defect at the location of the levee breach and the number of sandbags required for repair work can be generated by the disaster condition information acquisition unit 3200. If the heavy machinery work team D determines that there are insufficient sandbags based on the information on the number of sandbags displayed on the AR device, it can communicate the required number of sandbags to the control device via the disaster condition acquisition unit 5312.

[0181] (A-1-22. Example of Common Situation Map) Next, the common situation map generated by the information integration system in the present invention and transmitted to and displayed on the command device and the field unit terminal device will be explained with reference to Figs. 26 to 29, along with specific examples. Fig. 26 is a diagram explaining the concept of the common situation map. The common situation map is a map or wide-area image or spatial data that is overwritten and updated with the latest information. Here, the latest information that is overwritten includes optical images (orthoimages, DEM, DSM), point clouds (DSM, DEM), and post-disaster road information, river information, housing information, and topographical information extracted by the system based on the optical image or point cloud information.

[0182] As shown in Fig. 26, the common situation map displays the following multiple pieces of information by overlaying them together: Topographic information: topographic information before and after the disaster Residential map: residential map before and after the disaster (automatically extracted by the system based on optical images and point cloud information) Road and railway map (transportation network): road and railway map before and after the disaster (can be automatically extracted by the system based on optical images and point cloud information) River map: river map before and after the disaster (can be automatically extracted by the system based on optical images and point cloud information) Damage information: damage information collected by the information integration system (collected from on-site units, external systems, and the spatial information data utilization system) Unit information: work status of each on-site unit operating at the disaster site

[0183] Next, FIG. 27 shows an example in which an orthoimage generated from an image acquired by an aircraft and a map image integrating map data are used as a common situation map. FIG. 28 shows an example in which a DEM (Digital Elevation Model) generated from point cloud data acquired by an aircraft and map data are integrated and used as a common situation map. FIG. 29 shows an example in which an oblique image acquired by an aircraft and a DEM (Digital Elevation Model) generated from point cloud data acquired by an aircraft are integrated and used as a common situation map. FIG. 30 shows an example in which an orthoimage acquired by an aircraft and a DEM (Digital Elevation Model) generated from point cloud data acquired by an aircraft are integrated and used as a common situation map. FIG. 31 shows an example in which an oblique image acquired by an aircraft in a local area and a DEM (Digital Elevation Model) generated from point cloud data acquired by an aircraft are integrated and used as a common situation map.

[0184] Next, Fig. 32 shows a common situation map generated by integrating camera images captured by an aircraft with map data and embedding the camera image information at the shooting locations on the map. Fig. 33 shows an example of data recorded in association with the common situation map, in which multiple pieces of time-series sensing data (aerial images, videos, or point clouds) for a specified area of ​​the common situation map are displayed in a selectable manner. By selecting any sensing data, the user can check the sensing data for the desired time.

[0185] In each of the above-described embodiments, the functions of acquiring unit information and disaster information and generating work instructions and work plans are implemented within the information integration system 3000, but all or part of the functions of the information integration system 3000 can also be implemented in the spatial information data utilization system 2000 or the control device 5100.

[0186] The above-described embodiments are merely examples for facilitating understanding of the present invention, and are not intended to limit the present invention. The present invention can be modified and improved without departing from the spirit thereof, and it goes without saying that the present invention includes equivalents thereof.

[0187] [A-2. Effects of this embodiment] The above-described embodiment can assist users who direct countermeasures after a crisis occurs in making more accurate or faster decision-making regarding crisis countermeasures. Specifically, the damage situation is grasped using aerial data from on-site unit terminal devices, external systems, and data acquisition systems, so that the physical and human damage situation can be grasped in real time, even in the hyper-acute phase immediately after a disaster, when the situation changes rapidly. In addition, on-site unit information can be grasped in real time from the on-site unit terminal devices.

[0188] Furthermore, the information integration system determines the priority of candidate countermeasures based on the damage information and displays the results of this determination, allowing users at the crisis headquarters to make more accurate decisions regarding crisis countermeasures. Furthermore, the system has the function of notifying the on-site unit terminal devices of the work instructions and work plans determined by users at the crisis headquarters and acquiring response information, allowing for faster mediation between the crisis headquarters and on-site units.

[0189] 1... Coordination system (command system) 100... Input device 200... Output device 300... Processing device 400... Main memory device 500... Auxiliary memory device 600... Communication device 700... Bus 1000... Data acquisition system 1100... Aircraft control system 1200... Aircraft flight operation system 1300... Acquired data management system 1400... Communication infrastructure management system 1500... Logistics support system 1600... Flight management system 1700... Airspace surveillance and control system 2000... Spatial information data utilization system 2100... Sensing data acquisition unit 2200... Map data storage unit 2300... User input acceptance unit 2400... Map image generation unit 3000... Information integration system 3100... On-site unit information acquisition unit 3110... Location information acquisition unit 3120... Resource information acquisition unit 3130... Activity status information acquisition unit 3140...Fatigue level determination unit 3150...Work progress determination unit 3200...Disaster condition information acquisition unit 3210...Aerial measurement data analysis unit 3211...Map image acquisition unit 3212...Disaster condition interpretation unit 3220...External information acquisition unit 3230...Control device information acquisition unit 3300...Information integration unit 3310...Disaster / site information integration unit 3320...Common situation map generation unit 3400...Countermeasure generation unit 3410...Crisis level determination unit 3420...Countermeasure candidate generation unit 3430...Countermeasure priority determination unit 3500...Work plan determination unit 3510...Dispatch unit candidate determination unit3520...Work instruction / plan proposal generation unit 3530...Terminal input information acquisition unit 3600...Work plan arbitration unit 3610...Response information acquisition unit 3620...Change candidate adjustment unit 3630...Re-change request notification unit 3640...Change plan confirmation unit 3700...Confirmed change plan notification unit 3800...Work plan storage unit 3900...Transmission unit 4000...External system 5000...Crisis response on-site command system 5100...Control device 5110...On-site unit status information acquisition unit 5112...Disaster status information acquisition unit 5113...On-site arbitration information acquisition unit 5114...Work instruction / plan transmission unit 5120...On-site acquired information display unit 5121...On-site unit status information display unit 5122...Disaster status information display unit 5123...On-site arbitration information display unit 5130...Host device information acquisition unit 5131...Common situation diagram acquisition unit 5132...Work instruction / plan candidate acquisition unit 5140...Host device acquired information display unit 5141...Common situation diagram display unit 5142...Work instruction / plan candidate display unit 5150...User input reception unit 5151...Display specification input unit 5152...Damaged / unit information input unit 5153...Work instruction / plan input unit 5154...Disclosure restriction input unit 5160...Transmission unit to host device 5161...On-site unit status information transmission unit 5162...Damaged state information transmission unit 5163...On-site arbitration information transmission unit 5200...Other base control device 5300...On-site unit terminal device 5310...On-site information acquisition unit 5311...Unit status acquisition unit 5312...Damaged state acquisition unit 5313...Work instruction response input unit 5320...Work command acquisition unit5330... Work command display unit 5340... Common situation diagram display unit 5350... Communications unit 7000... Equipment management system 8000... Reservation system 9000... Air traffic control system

Claims

1. A command system comprising: an integrated information acquisition unit that acquires integrated information by integrating sensing data including image data, point cloud data, or spatial data obtained by sensing a disaster area from the air using an aircraft, or data obtained by processing the sensing data, with unit information regarding the status of on-site units in the disaster area; an integrated information display unit that displays the integrated information on a command device used by a user who commands the on-site units; and a work plan command unit that issues work instructions or work plans to the on-site units, wherein the work plan command unit displays information about the work instructions or work plans on at least one of the unit terminals used by the on-site units and the command device.

2. A command system as described in claim 1, further comprising a unit terminal communication section for directly or indirectly exchanging information regarding the work instructions or the work plan between the unit terminal and the control device.

3. A command system as described in claim 2, wherein the unit terminal communication unit displays information relating to the work instructions or work plans on the unit terminal, obtains response information regarding at least one of acceptance, rejection, and arbitration request for the information input from the unit terminal from the unit terminal, and displays the response information on the display unit of the control device.

4. A command system as described in claim 3, further comprising a work plan mediation unit which generates the work instructions or proposed changes to the work plan in response to the response information, and the work plan command unit causes information on the proposed changes to be displayed on at least one of the unit terminal and the control device.

5. A command system as described in claim 3, wherein when the unit terminal communication unit receives response information of "accepted" from the unit terminal, the work plan command unit displays the accepted work instruction or work plan as confirmed information on at least one of the unit terminal and the control device.

6. A command system as described in claim 1, further comprising a damage information generation unit which acquires or generates damage information relating to a damage situation including current or future predicted damage locations or damage types, wherein the damage information generation unit generates the damage information including at least one of current or future damage locations or areas, damage contents, and damage scale relating to objects based on at least one of sensing data acquired from the sky by an aircraft or analytical information of processed data thereof, or external information acquired from an external system, or on-site information acquired from the on-site unit, and the integrated information acquisition unit acquires integrated information by integrating the unit information and the damage information into the sensing data or data processed from the sensing data.

7. A command system as described in claim 1, further comprising a damage information generation unit which acquires or generates damage information relating to a damage situation including current or future predicted locations or types of damage, wherein the damage information generation unit generates the damage information including at least one of current or future locations or areas of damage relating to people, damage content, and damage scale based on analytical information of sensing data acquired from the sky by an aircraft or processed data thereof, or external information acquired from an external system, or the unit information, and the integrated information acquisition unit acquires integrated information by integrating the unit information and the damage information into the sensing data or data obtained by processing the sensing data.

8. A command system as described in claim 6 or 7, comprising a work candidate generation unit that generates at least one of the work content, work area, and work scale of multiple or a single response work candidate in accordance with the disaster information acquired or generated by the disaster information generation unit.

9. A command system as described in claim 8, wherein the task candidate generation unit determines a risk level of damage to people or objects in accordance with the damage information, and determines a priority of the response task candidates in accordance with the risk level, or displays the priority of the response task candidates to a user.

10. A command system as described in claim 9, wherein the task candidate generation unit determines the crisis level based on the results of evaluating at least one of the severity of damage to people or objects, the scale of the damage, and the possibility of dealing with the damage.

11. A command system as described in claim 9, wherein the task candidate generation unit determines the priority of the response task candidates based on the accuracy of the information content of the disaster information in addition to the crisis level, or displays the priority of the response task candidates to a user.

12. A command system as described in claim 1, further comprising a unit information generation unit that generates unit information regarding the status of on-site units in a disaster area, the unit information generation unit acquiring or generating the unit information including at least one of the current location, work content, work progress, owned equipment, unit personnel, and work status of the on-site unit, or past activity history information of the on-site unit, or information on future work plans for the on-site unit.

13. A command system as described in claim 1, further comprising a unit information generation unit that generates unit information regarding the status of on-site units in a disaster area, the unit information generation unit acquiring past activity history information of the on-site units, and generating information regarding the fatigue level or workload of the on-site units based on the past activity history information of the on-site units.

14. A command system as described in claim 1, further comprising a unit information generation unit that generates unit information regarding the status of on-site units in a disaster area, the unit information generation unit acquiring information regarding the current work status and work plan of the on-site units, and generating information regarding delays or advances in work progress relative to the work plan based on the information.

15. A command system as described in claim 1, further comprising a damage information generation unit which acquires or generates damage information relating to a damage situation including a current or future predicted location or type of damage, wherein the integrated information acquisition unit generates the integrated information including the damage information acquired or generated by the damage information generation unit, the damage information including at least one of a current or future location or area of ​​damage, damage content, and damage scale, or unit information including at least one of a current location of the on-site unit, work content, work progress delay status, owned equipment, unit personnel, work status, work plan, fatigue level, past activity history information, and future work plans, and wherein the integrated information display unit displays the integrated information on the control device.

16. A command system as described in claim 1, wherein the work plan command unit acquires from the control device user command input information relating to at least one of the work area of ​​the response work and the on-site unit that will be instructed to carry out the response work as information relating to the response work to be carried out, and determines the on-site unit or a candidate for the on-site unit that will be instructed to carry out the response work based on the acquired user command input information.

17. A command system as described in claim 1, further comprising a unit information generation unit which generates unit information regarding the status of on-site units in a disaster area, and the work plan command unit determines the on-site unit or candidates for the on-site unit to be instructed to carry out the response work to be performed based on the unit information acquired or generated by the unit information generation unit.

18. A command system as described in claim 17, wherein the work plan command unit determines, based on the current location of the on-site unit contained in the unit information, that an on-site unit located close to the disaster area is the on-site unit or a candidate thereof to be instructed to carry out the response work.

19. A command system as described in claim 17, comprising a damage information generation unit which acquires or generates damage information relating to a damage situation including current or future predicted damage locations or damage types, and a required resource estimation unit which estimates required resources including equipment or personnel required in the disaster area based on the damage information, wherein the work plan command unit determines, based on information on the equipment or unit personnel owned by the on-site unit contained in the unit information, an on-site unit having the required resources in the disaster area as the on-site unit or a candidate for the on-site unit to be instructed to carry out the response work.

20. A command system as described in claim 17, comprising a damage information generation unit which acquires or generates damage information relating to a damage situation including current or future predicted damage locations or damage types, and a required work amount estimation unit which estimates the required work amount in the disaster area based on the damage information, wherein the work plan command unit determines, based on at least one of past activity history information, fatigue level, and work progress delay status contained in the unit information, on-site units capable of carrying out the required work amount in the disaster area as the on-site units or candidates to be instructed to carry out the response work, or highlights them on the control device.

21. A command system as described in claim 1, wherein the work plan command unit determines the work instructions or work plan, or a candidate for either, including the work area in which the response work to be performed will be performed, the work content, and information on the on-site unit that will instruct the execution of the response work.

22. A command system as described in claim 1, further comprising a damage information generation unit that acquires or generates damage information regarding a damage situation including current or future predicted damage locations or damage types, and after the work plan command unit determines the work plan, the work plan command unit determines whether or not the work plan needs to be changed based on the damage information.

23. A command system as described in any one of claims 16 to 19, wherein the work plan command unit displays the on-site unit or a candidate thereof to be instructed to carry out the response work determined by the work plan command unit on at least one of the unit terminal and the control device.

24. A command system as described in claim 18 or 19, wherein the work plan command unit displays information on the on-site unit or its candidates for instructing to carry out the response work determined by the work plan command unit, and information on the disaster area, on at least one of the unit terminal and the control device.

25. A command system as described in claim 1, wherein the work instructions include at least one of information regarding the work location, work content, urgency, and priority for response work to be performed within a specified time, and the work plan includes at least one of information regarding the work time, work location, work content, urgency, and priority for response work to be performed after the specified time.

26. A command system as described in claim 1, further comprising a damage information generation unit which acquires or generates damage information relating to a damage situation including current or future predicted damage locations or damage types, and the work plan command unit displays at least one of a list of the damage information and a list of the unit information on at least one of the unit terminal and the control device.

27. A command system as described in claim 13, wherein the work plan command unit notifies a user of information regarding the fatigue level or workload of the field unit generated by the unit information generation unit from at least one of the unit terminal and the control device.

28. A command system as described in claim 14, wherein the work plan command unit notifies a user of information relating to delays in work progress with respect to the work plan generated by the unit information generation unit from at least one of the unit terminal and the control device.

29. A coordination system comprising: a unit terminal used by a field unit in a disaster area; a control device used by a user in command of the field unit; and an information integration system communicatively connected to the unit terminal and the control device, which operate in coordination with each other, the coordination system comprising: a unit information generation unit which acquires or generates unit information regarding the status of the field unit in the disaster area; an information integration unit which generates integrated information by integrating the unit information with sensing data including image data, point cloud data, or spatial data obtained by sensing the disaster area from the air using an aircraft, or data obtained by processing the sensing data; an integrated information display unit which displays the integrated information on the control device used by the user in command of the field unit; a work plan command unit which issues work instructions or a work plan to the field unit; and a work plan display unit which is configured by the work plan command unit to display information about the work instructions or the work plan on at least one of the unit terminals used by the field unit and the control device.

30. A command method in which a computer executes the following steps: acquiring or generating unit information regarding the status of on-site units in a disaster area; acquiring sensing data including image data, point cloud data, or spatial data obtained by sensing the disaster area from the air using an aircraft, or acquiring processed data by processing the sensing data; generating integrated information by integrating the sensing data or the processed data with the unit information; displaying the integrated information on a display unit of a command device used by a user who commands the on-site unit; determining work instructions or work plans for the on-site unit; and displaying the determined information of the work instructions or work plans on at least one of a unit terminal used by the on-site unit and the command device.

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