Control device, control method, and recording medium

Abstract

This control device: identifies the position of a moving body in a space in which the moving body is made to move, the moving body having a light-receiving unit installed thereon, by comparing an image of the space represented by three-dimensional data reproducing the space and an image captured from the moving body; and uses the position of the moving body as a basis for controlling the orientation of, and light projection by, a light-emitting unit so as to project light at the light-receiving unit installed on the moving body.

Description

Control device, control method, and recording medium

[0001] The present disclosure relates to a control device and the like.

[0002] Various inspections and monitoring are performed in various facilities and various locations. For example, inspections such as gas detection may be performed using a laser light-emitting unit and a light-receiving unit. For example, Patent Document 1 describes monitoring for suspicious individuals within a target area such as a plant.

[0003] Japanese Patent Application Laid-Open No. 2021-135895

[0004] However, when either the light emitting section or the light receiving section moves, it may be difficult to align the optical axes of the light emitting section and the light receiving section.

[0005] An example of an object of the present disclosure is to provide a control device or the like that can align the optical axes between a light-emitting unit and a light-receiving unit.

[0006] In one aspect of the present disclosure, the control device comprises: an identification means for identifying the position of the moving body in the space by comparing an image of the space represented by three-dimensional data that reproduces the space in which the moving body, in which a light receiving unit is installed, moves with an image captured from the moving body; and a control means for controlling the orientation and light projection of the light emitting unit so that light is projected onto the light receiving unit installed on the moving body based on the position of the moving body.

[0007] In one aspect of the present disclosure, a control method includes a computer executing a process to identify the position of a moving body in space by comparing an image of the space represented by three-dimensional data that reproduces the space in which a moving body having a light receiving unit installed therein moves with an image captured from the moving body, and to control the orientation and light projection of a light emitting unit so that light is projected onto the light receiving unit installed on the moving body based on the position of the moving body.

[0008] A program in one aspect of the present disclosure causes a computer to perform the following process: identify the position of a moving body in space by comparing an image of the space represented by three-dimensional data reproducing the space in which a moving body having a light receiving unit installed therein moves with an image captured from the moving body; and control the orientation and light projection of a light emitting unit so that light is projected onto a light receiving unit installed on the moving body based on the position of the moving body.

[0009] Each program may be stored in a non-transitory computer-readable recording medium.

[0010] According to the present disclosure, it is possible to align the optical axes between the light emitting section and the light receiving section.

[0011] 1 is an explanatory diagram showing an example of a control system including a control device; FIG. 2 is a block diagram showing an example of the configuration of a control device; FIG. 3 is an explanatory diagram showing an example of a mobile body moving around a chemical plant; FIG. 4 is an explanatory diagram showing an example of a light emitting unit installed on a mobile body that can move in three-dimensional directions in a target space; FIG. 5 is an explanatory diagram showing an example of a light emitting unit installed on a mobile body that can move horizontally relative to the ground; FIG. 6 is a flowchart showing an example of the operation of a control device; FIG. 7 is an explanatory diagram showing an example of the configuration of a control system including a control device; FIG. 8 is a block diagram showing an example of the configuration of a control device; FIG. 9 is an explanatory diagram showing an example of light projection from a light emitting unit to a light receiving unit; FIG. 10 is a flowchart showing an example of the operation of the control device; FIG. 11 is a block diagram showing another example of the configuration of a control device; FIG. 12 is an explanatory diagram showing an example of the hardware configuration of a computer.

[0012] Hereinafter, with reference to the drawings, embodiments of a control device, a control method, a program, and a non-transitory recording medium for recording the program according to the present disclosure will be described in detail. The present disclosure does not limit the technology.

[0013] First Embodiment A first embodiment will be described in detail with reference to the drawings.

[0014] 1 is an explanatory diagram showing an example of a control system including a control device. The control system 1 includes a control device 10, a moving object 11, and a light emitting unit 14.

[0015] The control device 10 is connected to a mobile object 11, a light emitting unit 14, and the like via a communication network.

[0016] The mobile body 11 is an example of a mobile body 11 equipped with a light receiving unit 12. The mobile body 11 in Fig. 1 is an example of a mobile body 11 that can move both horizontally and vertically relative to the ground. In Fig. 1, the mobile body 11 is a drone, but the type of the mobile body 11 is not limited.

[0017] For example, an imaging device 13 and a light receiving unit 12 are installed in the moving body 11. The imaging device 13 may be built into the moving body 11 or may be externally attached to the moving body 11. The light receiving unit 12 may be built into the moving body 11 or may be externally attached to the moving body 11. The imaging device 13 may be a general stereo camera. The imaging device 13 can capture an image as seen from the moving body 11.

[0018] The control device 10 can control the light-emitting unit 14 to emit light toward the light-receiving unit 12. There are no particular limitations on the type of light emitted by the light-emitting unit 14. For example, when the control device 10 is used to detect gas or the like, the light-emitting unit 14 may be an infrared laser, the light emitted by the light-emitting unit 14 may be infrared light, and the light-receiving unit 12 may be an infrared sensor.

[0019] The type of communication network is not particularly limited, and may be configured by a plurality of communication networks.

[0020] 2 is a block diagram showing an example of the configuration of the control device 10. In FIG. 2, the control device 10 includes an identifying unit 101 and a control unit 103.

[0021] The identification unit 101 identifies the position of the mobile object 11 in space by comparing an image of the space represented by three-dimensional data that reproduces the space in which the mobile object 11, in which the light receiving unit 12 is installed, moves with an image captured from the mobile object 11. The mobile object 11 may be any mobile object, and may be a drone as shown in FIG. 1 , a vehicle, an AGV (Automated Guided Vehicle), a robot, or a device that moves on pre-installed rails. The type of vehicle is not particularly limited, and may be a car, a bicycle, or the like.

[0022] Here, the space in which the mobile object 11 moves is not particularly limited. This space may be referred to as a target space. For example, the target space may be outside or inside a facility. The facility is not particularly limited to a plant, university, factory, warehouse, room, store, station, etc. The target space may also be the periphery of a road, bridge, building, etc. To give a more specific example, the target space may be near an oil tank. For example, the target space may be near the mouth of a volcano. For example, the target space may be an underground tunnel. For example, the target space may be inside a supermarket.

[0023] 3 is an explanatory diagram showing an example of a mobile object 11 moving around a chemical plant. In FIG. 3, the area around the chemical plant is taken as an example of a target space. In FIG. 3, the mobile object 11 is capable of moving around the chemical plant.

[0024] Furthermore, the three-dimensional data may be three-dimensional data generated using NeRF (Neural Radiance Fields), three-dimensional mesh data representing a general three-dimensional mesh model, point cloud data, or depth data that is a detection result by a depth sensor, and is not particularly limited. The three-dimensional data generated using NeRF is three-dimensional data obtained by modeling using NeRF based on multiple images of the target space captured at different positions. Here, the identification unit 101 may acquire three-dimensional data prepared in advance from a database or the like, acquire the three-dimensional data by accepting input of three-dimensional data prepared in advance, or acquire the three-dimensional data by generating the three-dimensional data, and is not particularly limited.

[0025] Here, we will briefly explain the characteristics of modeling using 3D data with NeRF. For example, NeRF is a method for representing 3D (three-dimensional) objects using deep learning. When an object is modeled using NeRF, the object's shape, surface gloss, and the like are expressed using mathematical formulas. Unlike general 3D mesh models, NeRF can reproduce different appearances depending on the viewpoint. For example, in modeling that generates 3D mesh data, objects of the same color are modeled identically. In contrast, NeRF can reproduce differences in the appearance of objects due to the way light hits them, which is caused by differences in material. Note that when using NeRF, the greater the number of viewpoints, the higher the reproduction accuracy of the object when modeled.

[0026] For example, when three-dimensional data in which a target space is modeled using NeRF is used, more accurate alignment is possible compared to point cloud data, etc., when there are many similar buildings, objects, rooms, etc. For example, when there are many similar buildings, objects, rooms, etc., it is expected to be difficult to identify the location of an image captured from a moving body 11. Three-dimensional data using NeRF can reproduce even cracks in objects in the target space, allowing for more accurate alignment. Furthermore, when the appearance of the target space varies depending on the weather or time of day, using three-dimensional data using NeRF allows for more accurate alignment compared to using three-dimensional data such as point cloud data. Furthermore, three-dimensional data using NeRF can be created using a visible light camera.

[0027] Specifically, for example, in the comparison process, the identification unit 101 may identify an image that is identical to the image captured from the mobile body 11 by comparing each of a plurality of images of the target space represented by three-dimensional data with the image captured from the mobile body 11. Then, the identification unit 101 identifies the position in real space from which the identified image is visible. Note that, for example, the identification unit 101 may identify the position and orientation of the imaging device 13 installed on the mobile body 11 as position information indicating the position of the mobile body 11.

[0028] For example, if the three-dimensional data is generated using NeRF, the multiple images of the target space represented by the three-dimensional data may be images reproduced according to current weather information. The multiple images of the target space represented by the three-dimensional data may be images reproduced according to current date and time information. The weather information and date and time information may be input by a user via an input device or may be appropriately acquired via a communication network, etc., and the method of acquiring the weather information and date and time information is not particularly limited. Note that the weather information and date and time information may be combined. As described above, even if the appearance of the target space changes depending on the weather or time, the position can be identified with greater accuracy.

[0029] Based on the position of the mobile object 11, the control unit 103 controls the orientation and light projection of the light-emitting unit 14 so that the light is projected onto the light-receiving unit 12 installed on the mobile object 11. Note that the process by which the control unit 103 controls the orientation and light projection of the light-emitting unit 14 onto the light-receiving unit 12 may be performed using existing technology. Also, it is assumed that the control device 10 recognizes in advance the position on the mobile object 11 where the light-receiving unit 12 is attached. This allows the light-emitting unit 14 to align itself and irradiate light onto the light-receiving unit 12. Note that the control unit 103 may also determine the amount of light from the light-emitting unit 14.

[0030] Here, the light emitting unit 14 may be movable or may be fixedly installed, and is not particularly limited.

[0031] First, the processing of the identification unit 101 and the control unit 103 when the light-emitting unit 14 is fixedly installed will be described. For example, the identification unit 101 may acquire position information indicating the position of the light-emitting unit 14 from a storage unit or the like, or may acquire position information indicating the position of the light-emitting unit 14 from the light-emitting unit 14. The method of expressing the position information may be coordinate values, and is not particularly limited. The control unit 103 uses the position information indicating the position of the mobile body 11 on which the light-emitting unit 14 is installed and the position information indicating the position of the light-emitting unit 14 to control the orientation and light projection of the light-emitting unit 14 based on the positional relationship between the mobile body 11 on which the light-emitting unit 14 is installed and the fixed light-receiving unit 12.

[0032] Furthermore, the light-emitting unit 14 may be installed on a mobile body to enable movement. The light-emitting unit 14 may be installed on a mobile body that can move in the target space. For example, a mobile body that can move in the target space may be, for example, a mobile body that can move in the target space horizontally relative to the ground, or a mobile body that can move in the target space vertically relative to the ground. That is, a mobile body that can move in the target space may be, for example, a mobile body that can move in three-dimensional directions in the target space. Here, taking an example of a mobile body that can move in three-dimensional directions, this mobile body may be, for example, a drone as shown in FIG. 3. The light-emitting unit 14 may be installed on a mobile body that can move on the ground. For example, the mobile body 11 that can move horizontally on the ground may be a vehicle, an AGV, a robot, etc. For example, the light-emitting unit 14 may be installed on a mobile body that can move on rails, for example. The rails may not be attached to the ground, but may be attached to a shelf, a wall, etc.

[0033] Next, an example will be described in which the specifying unit 101 specifies the position of the light emitting unit 14 when the light emitting unit 14 is installed on a mobile body 11 that can move in three-dimensional directions in the target space.

[0034] 4 is an explanatory diagram showing an example in which a light-emitting unit 14 is installed in a mobile body 11 that can move in three-dimensional directions in a target space. The control system 1 has a control device 10, a mobile body 11, and a mobile body 15. The control device 10 is connected to the mobile body 11, the mobile body 15, etc. via, for example, a communication network. An imaging device 16 and a light-emitting unit 14 are installed in the mobile body 15. The light-emitting unit 14 may be built into the mobile body 15 or may be externally attached to the mobile body 15. In FIG. 4, the mobile body 15 is a drone.

[0035] For example, the identification unit 101 identifies the position of the mobile body 15 on which the light-emitting unit 14 is installed by comparing an image of the target space represented by the three-dimensional data with an image captured from the mobile body 15 on which the light-emitting unit 14 is installed. The three-dimensional data may be the same as the three-dimensional data used to identify the position of the mobile body 11 on which the light-receiving unit 12 is installed. The control unit 103 controls the orientation and light projection of the light-emitting unit 14 based on the positional relationship between the mobile body 15 on which the light-emitting unit 14 is installed and the mobile body 11 on which the light-receiving unit 12 is installed.

[0036] Next, an example will be described in which the identification unit 101 identifies the position of the light-emitting unit 14 when the light-emitting unit 14 is installed on a mobile object that is movable horizontally relative to the ground. The mobile object 15 that is movable horizontally relative to the ground may be a mobile object that can run on the ground, or may be, for example, a mobile object that is movable in a substantially horizontal direction relative to the ground, and is not particularly limited. For example, the mobile object 15 that is movable in a direction substantially parallel to the ground may be, for example, a mobile object that can move on a rail that is installed in a direction substantially parallel to the ground. For example, in more detail, the mobile object 15 may be a mobile object that can move on a rail that is installed laterally on a shelf.

[0037] Fig. 5 is an explanatory diagram showing an example in which the light emitting unit 14 is installed on a mobile body 17 that is movable horizontally relative to the ground. The control system 1 includes a control device 10, a mobile body 11, and a mobile body 17. In Fig. 5, the light emitting unit 14 is installed on the mobile body 17 that is movable on the ground.

[0038] If the light-emitting unit 14 is movable horizontally relative to the ground, the identification unit 101 may identify the position of the light-emitting unit 14 using satellite positioning. The control unit 103 then controls the orientation and light projection of the light-emitting unit 14 based on the positional relationship between the mobile body 17 on which the light-emitting unit 14 is installed and the mobile body 11 on which the light-receiving unit 12 is installed. Note that the mobile body 11 is equipped with a device capable of satellite positioning, such as a GPS (Global Positioning System) sensor. The control unit 103 controls the orientation and light projection of the light-emitting unit 14 based on the positional relationship between the mobile body 17 on which the light-emitting unit 14 is installed and the mobile body 11 on which the light-receiving unit 12 is installed.

[0039] Even if the light-emitting unit 14 is mounted on a moving body 17 that can move horizontally relative to the ground, the identification unit 101 may identify the position of the moving body 11 on which the light-emitting unit 14 is installed by comparing an image of the target space represented by the three-dimensional data with an image captured from the moving body 11 on which the light-emitting unit 14 is installed.

[0040] (Flowchart) Figure 6 is a flowchart showing an example of the operation of the control device 10. The identification unit 101 identifies the position of the mobile object 11 in the target space by comparing an image of the space represented by three-dimensional data reproducing the target space in which the mobile object 11, in which the light receiving unit 12 is installed, moves with an image captured from the mobile object 11 (step S101). Next, the control unit 103 controls the direction and light projection of the light emitting unit 14 based on the position of the mobile object 11 so that light is projected toward the light receiving unit 12 installed on the mobile object 11 (step S102). Then, the control device 10 ends the series of processes shown in Figure 6.

[0041] Inspections are sometimes performed manually at various facilities and on-site. For example, in chemical plants, inspections are performed to detect obstacles, gas leaks, abnormal sounds, and the like. For example, there is a technology that installs a laser emitter and a laser receiver and detects foreign objects such as obstacles and gases based on the attenuation of light from the emitter to the receiver. If the foreign object is an obstacle, the light emitted from the emitter may not reach the receiver or may be refracted by the obstacle. Therefore, the presence or absence of an obstacle can be detected based on the light detection results by the light receiver. Furthermore, in the case where the foreign object is gas, there is a technology that detects the type of gas based on the attenuation of light from the emitter to the receiver. The type of gas is not limited to carbon monoxide, toxic gas, etc. For example, if the target space is inside or near a facility, the type of gas may be the gas used in the facility.

[0042] Furthermore, there is a demand for reducing manual inspections by workers, for example. In other words, there is a demand for reducing the labor required for inspections by workers. Therefore, the inventors have considered using a mobile device such as a drone to automate the work. For example, when at least one of the light-emitting unit 14 and the light-receiving unit 12 is installed on a mobile object and the position of at least one of the light-emitting unit 14 and the light-receiving unit 12 moves, it is necessary to align the light-emitting unit 14 and the light-receiving unit 12. In other words, when one of them moves, it may be difficult to align the optical axes.

[0043] Therefore, in the first embodiment, the control device 10 identifies the position of the mobile object 11 in the target space by comparing an image of the target space represented by three-dimensional data that reproduces the target space in which the mobile object 11, in which the light receiving unit 12 is installed, moves with an image captured from the mobile object 11. Then, based on the position of the mobile object 11, the control device 10 controls the orientation and light projection of the light emitting unit 14 so that light is projected toward the light receiving unit 12 installed on the mobile object 11. This allows optical axis alignment even when the light receiving unit 12 moves.

[0044] Furthermore, when the light-emitting unit 14 is installed on a mobile object 11 that can move in a target space, the control device 10 identifies the position of the mobile object on which the light-emitting unit 14 is installed by comparing an image of the target space represented by the three-dimensional data with an image captured from the mobile object on which the light-emitting unit 14 is installed. The control device 10 then controls the orientation and light projection of the light-emitting unit 14 based on the positional relationship between the mobile object 15 on which the light-emitting unit 14 is installed and the mobile object 11 on which the light-receiving unit 12 is installed. This allows optical axis alignment even if the light-receiving unit 12 and the light-emitting unit 14 are movable. In particular, the control device 10 can improve the accuracy of identifying the positional relationship by identifying the position of the mobile object on which the light-emitting unit is installed based on the three-dimensional data used to identify the position of the mobile object on which the light-receiving unit is installed.

[0045] When the light-emitting unit 14 is installed on a mobile object 17 that is movable horizontally relative to the ground, the control device 10 uses satellite positioning to identify the position of the light-emitting unit 14. The control device 10 controls the direction and light projection of the light-emitting unit 14 based on the positional relationship between the mobile object 17 on which the light-emitting unit 14 is installed and the mobile object 11 on which the light-receiving unit 12 is installed. This allows optical axis alignment even when the light-receiving unit 12 and the light-emitting unit 14 are movable.

[0046] Furthermore, the control device 10 controls the orientation of the light emitting unit 14 and the light projection based on the positional relationship between the fixed position of the light emitting unit 14 and the mobile body 11 on which the light receiving unit 12 is installed. This allows for optical axis alignment even if the light receiving unit 12 is movable and the light emitting unit 14 is fixed.

[0047] This concludes the description of the first embodiment. The first embodiment may be modified. For example, the following modifications are given.

[0048] <Modifications> In the first embodiment, an example in which the light receiving unit 12 is installed on the mobile body 11 is given as an example of a basic function. For example, the identification unit 101 identifies the position of the mobile body in the target space by comparing an image of the target space represented by three-dimensional data reproducing the target space in which the mobile body, in which the light emitting unit 14 is installed, moves with an image captured from the mobile body. The control unit 103 controls the orientation and light projection of the light emitting unit 14 installed on the mobile body based on the position of the mobile body so that light is projected onto the light receiving unit 12. In this case, the light receiving unit 12 may be installed in a fixed position or may be installed on the mobile body, and is not particularly limited. The mobile body in which the light receiving unit 12 is installed may be a mobile body such as a drone that can move in a three-dimensional direction in the target space, or may be a mobile body that can move horizontally relative to the ground. The processing examples of the identification unit 101 and the control unit 103 when the light receiving unit 12 is fixedly installed, and the processing examples of the identification unit 101 and the control unit 103 when the light receiving unit 12 is installed on a mobile body 11 may be the same as the processing examples of the identification unit 101 and the control unit 103 for the examples shown in Figures 3 and 4 described in the first embodiment, so detailed explanations will be omitted.

[0049] This completes the description of the modified example. Generally, the light-receiving unit 12 is lighter than the light-emitting unit 14. For this reason, for example, if the moving object is a drone, the light-receiving unit 12 may be installed on the drone and flown over the target space, while the light-emitting unit 14 may be fixedly installed.

[0050] Second Embodiment A second embodiment will be described in detail with reference to the drawings. In the second embodiment, an example will be described in which a foreign substance is detected based on a light detection result and the detection result is output. Below, a description of the second embodiment will be omitted to the extent that the description overlaps with the above description.

[0051] 7 is an explanatory diagram showing an example of the configuration of a control system including a control device. The control system 2 includes a control device 20, a mobile object 21, a light emitting unit 24, and a terminal 25.

[0052] The control device 20 is connected to a mobile object 21, a light emitting unit 24, a terminal 25, etc. via a communication network. The mobile object 21 and the light emitting unit 24 may be the same as the mobile object 11 and the light emitting unit 14 shown in FIG. 1, respectively.

[0053] The mobile body 21 is an example of a mobile body provided with the light receiving unit 22. The mobile body 21 in Fig. 7 is an example of a mobile body that can move in three dimensions in the target space, in other words, a mobile body that can move in the horizontal direction and the vertical direction relative to the ground. In Fig. 7, the mobile body 21 is a drone, but the type of the mobile body 21 is not limited.

[0054] For example, an imaging device 23 and a light receiving unit 22 are installed in the moving body 21. The imaging device 23 may be built into the moving body 21 or may be externally attached to the moving body 21. The light receiving unit 22 may be built into the moving body 21 or may be externally attached to the moving body 21. The imaging device 23 may be a general stereo camera. The imaging device 23 can capture an image seen from the moving body 21. The number of light emitting units 24 is not particularly limited. Furthermore, the number of moving bodies 21 on which the light receiving units 22 and imaging devices 23 are installed is not particularly limited. For example, there may be multiple light emitting units 24 for one light receiving unit 22.

[0055] The terminal 25 may be, for example, an output destination device that outputs information from the control device 20, or an input source device that inputs information to the control device 20. For example, the terminal 25 may be pre-installed with an application program that can output information from the control device 20 or transmit information to the control device 20. For example, the terminal 25 may access a website that can connect to the control device 20 via the communication network NT. The type of the terminal 25 is not particularly limited, and may include a PC (Personal Computer), a smartphone, a tablet device, an HMD (Head Mounted Display), etc. The number of terminals 25 may be provided for each user, and is not particularly limited.

[0056] Furthermore, the control device 20 and the terminal 25 may be the same device.

[0057] The type of communication network is not particularly limited, and may be configured by a plurality of communication networks.

[0058] 8 is a block diagram showing an example of the configuration of the control device 20. In FIG. 8, the control device 20 includes an identifying unit 201, a control unit 203, a detecting unit 205, and an output unit 207.

[0059] The identification unit 201 may have, as a basic function, the function of the identification unit 101 shown in Fig. 2. The control unit 203 may have, as a basic function, the function of the control unit 103 shown in Fig. 2.

[0060] As described in the first embodiment, the identification unit 201 identifies the position of the moving body 21 in the target space by comparing an image of the target space represented by three-dimensional data that reproduces the target space in which the moving body 21, in which the light receiving unit 22 is installed, moves with an image captured from the moving body 21.

[0061] The control unit 203 controls the direction of the light emitting unit 24 and the light projection of the light receiving unit 22 installed on the moving object 21 based on the position of the moving object 21 .

[0062] As described in the first embodiment, the light emitting unit 24 may be installed on the moving body 21 or may be fixedly installed.

[0063] 9 is an explanatory diagram showing an example of light projection from the light-emitting unit 24 to the light-receiving unit 22. For example, in FIG. 9, if there is a foreign object between the light-emitting unit 24 and the light-receiving unit 22, the manner in which the light is attenuated changes.

[0064] The detection unit 205 detects a foreign object based on the light detection result by the light receiving unit 22. The foreign object may be an obstacle, gas, or the like. For example, the detection unit 205 may detect the presence or absence of a foreign object based on the manner in which light is attenuated from the light emitter 24 to the light receiving unit 22. Furthermore, for example, if the foreign object is gas, the detection unit 205 may detect the type of gas based on the manner in which light is attenuated from the light emitter 24 to the light receiving unit 22.

[0065] The output unit 207 outputs the detection result detected by the detection unit 205. The output method by the output unit 207 is not particularly limited, and may include display, audio output, lighting or blinking of a lamp, storage in a memory unit, etc. The output destination by the output unit 207 is also not particularly limited. An example of the output destination by the output unit 207 is the user terminal 25. For example, the output unit 207 outputs the detection result detected by the detection unit 205 to the user terminal 25. For example, the output unit 207 may output an alert when a foreign object is detected. Furthermore, the output unit 207 may output an alert in such a way that the type of foreign object can be identified. For example, when a foreign object is detected, the output unit 207 may control the lighting of a lamp near the light receiving unit 22 as an alert. The output unit 207 may control the lighting of the lamp near the light receiving unit 22 using a lighting method depending on the type of foreign object.

[0066] As an example of display by the output unit 207, the output unit 207 may superimpose the detection results on the target space represented by the three-dimensional data. Specifically, for example, the output unit 207 may display the detection results on the target space represented by the three-dimensional data as a heat map. The heat map may represent a concentration distribution that indicates the concentration of a specific gas. For example, the output unit 207 may superimpose colors or shades corresponding to the gas concentration at each position on the target space represented by the three-dimensional data.

[0067] The output unit 207 may output the detection results in a time series so that they can be compared. Specifically, for example, the output unit 207 may display the detection results in a time series as an animation in the target space represented by the three-dimensional data. For example, the output unit 207 may display the detection results in a time series as an animation that changes every predetermined time in the target space represented by the three-dimensional data. Alternatively, specifically, for example, the output unit 207 may display images in which the detection results are superimposed on the target space represented by the three-dimensional data in a time series.

[0068] The output unit 207 may also output, as a detection result, that no abnormality is found.

[0069] Furthermore, as described above, there may be multiple light-emitting units 24 for one light-receiving unit 22. In such a case, the control unit 203 may select a light-emitting unit 24 from the multiple light-emitting units 24 to emit light based on the position of the single mobile object 21 and the respective positions of the multiple light-emitting units 24. For example, the control unit 203 may select a light-emitting unit 24 from which the light-receiving unit 22 can receive light. In this case, the control unit 203 may select a light-emitting unit 24 from which the light-receiving unit 22 can receive light using the orientation of the light-emitting unit 24 and the orientation of the light-emitting unit 24. For example, the control unit 203 may select a light-emitting unit 24 from the multiple light-emitting units 24 that is closest to the light-receiving unit 22. Then, the control unit 203 controls the light emission and orientation of the selected light-emitting unit 24 so that the selected light-emitting unit 24 emits light toward the light-receiving unit 22 installed on the mobile object 21. As described above, the method for identifying the respective positions of the multiple light-emitting units 24 is not particularly limited.

[0070] Here, a specific use case of the control device 20 will be briefly described.

[0071] For example, in a chemical plant, gas may leak from pipe joints or corroded parts. Therefore, if the target space is the periphery of a chemical plant as shown in Fig. 3, the detection unit 205 may detect whether there is gas used in the chemical plant based on the light detection result by the light receiving unit 22.

[0072] For example, if the target space is near the mouth of a volcano, it is difficult for people to approach. For this reason, a mobile body 21 equipped with an imaging device 23 and a light-emitting unit 24 and a mobile body equipped with an imaging device and a light-receiving unit 22 may be used.

[0073] For example, in facilities such as stores, warehouses, and factories, mobile objects 21 such as robots may patrol autonomously or travel on rails. In such cases, foreign objects may be detected while the mobile object 21 oscillates. Specifically, an example in which multiple light-emitting units 24 are fixedly installed will be described. The identification unit 201 detects the position of the mobile object 21 based on the interior of the facility represented by three-dimensional data that recreates the actual interior of the facility and images captured by the robot. Note that in this case, if the mobile object 21 oscillates, the identification unit 201 may also identify the position of the mobile object 21 by including the orientation of the light-receiving unit 22 of the mobile object 21. Next, the control unit 203 selects a light-emitting unit 24 to emit light from the multiple fixed light-emitting units 24 based on the respective positions of the multiple fixed light-emitting units 24 and the position of the mobile object 21. The control unit 203 then controls the light emission and orientation of the selected light-emitting unit 24 so that the light is emitted toward the light-receiving unit 22 installed on the mobile object 21. This allows foreign objects to be detected while patrolling the facility. For example, the imaging device 23 provided on the mobile object 21 may be used in combination with an imaging device for inventory management of shelves.

[0074] (Flowchart) FIG. 10 is a flowchart illustrating an example of the operation of the control device 20. The identification unit 201 identifies the position of the mobile object 21 in the target space by comparing an image captured from the mobile object 21 with an image of the target space represented by three-dimensional data reproducing the target space in which the mobile object 21, in which the light receiving unit 22 is installed, moves (step S201). Next, the control unit 203 controls the orientation and light projection of the light receiving unit 22 installed on the mobile object 21 based on the position of the mobile object 21 (step S202). The detection unit 205 detects a foreign object based on the light detection result by the light receiving unit 22 (step S203). The output unit 207 outputs the detection result detected by the detection unit 205 (step S204). The control device 20 then ends the series of processes illustrated in FIG. 10.

[0075] As described above, in the second embodiment, the control device 20 detects a foreign object based on the light detection result by the light receiving unit 22. The foreign object is a gas or an obstacle. In this way, it is possible to detect an abnormality in the gas, the obstacle, or the like.

[0076] The control device 20 outputs the detected detection results. For example, the output unit 207 superimposes and displays the detection results on the target space represented by the three-dimensional data. The output unit 207 may also display the time-series detection results as an animation on the target space represented by the three-dimensional data. For example, assuming that moving a mobile object 21 such as a drone does not disturb the air much, the spatial gas leak can be visualized by moving the mobile object 21 within the target space. In other words, the spread of the gas leak can be visualized. Therefore, problem areas can be discovered earlier.

[0077] Furthermore, the second embodiment is not limited to the above-described example, and various modifications are possible. For example, the second embodiment may be modified and used. For example, the following modifications are given.

[0078] 11 is a block diagram showing another example of the configuration of the control device 20. For example, in addition to the second embodiment, the control device 20 may further include a mobile object control unit 209 that controls the mobile object 21 on which the light receiving unit 22 is installed. In this case, the control device 20 may have the mobile object control unit 209 controlling the movement of the mobile object 21, while the control unit 203 controls the direction of the light emitting unit 24 and the light emission.

[0079] This concludes the description of the second embodiment. Furthermore, the respective embodiments and modifications may be combined as appropriate. For example, the first embodiment and the second embodiment may be combined. For example, the modification described in the first embodiment may be combined with the second embodiment. Furthermore, the first embodiment and the modification described in the second embodiment may be combined.

[0080] Furthermore, the configuration of the control devices 10 and 20 is not particularly limited. For example, the functional units of the control devices 10 and 20 may be realized by a single device. Alternatively, for example, each functional unit or database of the control devices 10 and 20 may be realized by a different device and configured as a system. For example, each functional unit of the control devices 10 and 20 may be configured by multiple servers and configured as a system. For example, a system may be realized that has a database server including each database and a server having each functional unit. A system may be realized that has a server that has some of the functional units of the control device 20 and another server that has some of the functional units of the control device 20. Note that the number of servers is not particularly limited.

[0081] Furthermore, the terminal 25 may have each of the functional units of the control devices 10 and 20. That is, the terminal 25 may have an application program in which each of the functional units of the control devices 10 and 20 is coded.

[0082] Furthermore, the process of generating information to be displayed on the terminal 25 may be performed by a functional unit included in the control devices 10 and 20, such as the output unit 207. This process may also be performed by the terminal 25. That is, the terminal 25 may generate information for a screen to be displayed on the terminal 25 based on data received from the control devices 10 and 20, and display the screen based on the screen information. Furthermore, the user interface in each embodiment is an example, and various modifications are possible.

[0083] (Example of Computer Hardware Configuration) Next, an example of a hardware configuration in which each device such as the control devices 10 and 20 and the terminal 25 is realized by a computer will be described.

[0084] 12 is an explanatory diagram showing an example of the hardware configuration of a computer. For example, some or all of the devices can be realized using any combination of a computer 80 and a program as shown in FIG.

[0085] The computer 80 includes, for example, a processor 801, a ROM (Read Only Memory) 802, a RAM (Random Access Memory) 803, and a storage device 804. The computer 80 also includes a communication interface 805 and an input / output interface 806. The components are connected to each other, for example, via a bus 807. The number of each component is not particularly limited, and there may be one or more of each component.

[0086] The processor 801 controls the entire computer 80. The processor 801 may be, for example, a central processing unit (CPU), a digital signal processor (DSP), a graphics processing unit (GPU), a physics processing unit (PPU), a tensor processing unit (TPU), a quantum processor, or a combination thereof, and is not particularly limited.

[0087] The computer 80 also includes a ROM 802, a RAM 803, and a storage device 804. Examples of the storage device 804 include semiconductor memory such as flash memory, a hard disk drive (HDD), and a solid state drive (SSD). For example, the storage device 804 stores an operating system (OS) program, application programs, and programs according to the embodiments. Alternatively, the ROM 802 stores application programs and programs according to the embodiments. The RAM 803 is used as a work area for the processor 801.

[0088] The processor 801 also loads programs stored in the storage device 804, ROM 802, etc. The processor 801 then executes each process coded in the program. The processor 801 may also download various programs via the communication network NT. The processor 801 also functions as a part or all of the computer 80. The processor 801 may then execute the processes or instructions in the illustrated flowchart based on the program.

[0089] The communication interface 805 is connected to a communication network NT such as a LAN (Local Area Network) or a WAN (Wide Area Network) via a wireless or wired communication line. The communication network NT may be composed of multiple communication networks NT. As a result, the computer 80 is connected to external devices and external computers 80 via the communication networks NT. The communication interface 805 serves as an interface between the communication network NT and the inside of the computer 80. The communication interface 805 also controls the input and output of data from external devices and external computers 80.

[0090] Furthermore, the input / output interface 806 is connected to at least one of an input device, an output device, and an input / output device. The connection method may be wireless or wired. Examples of the input device include a keyboard, a mouse, and a microphone. Examples of the output device include a display device, a lighting device, and an audio output device that outputs audio. Examples of the input / output device include a touch panel display. Note that the input device, output device, and input / output device may be built into the computer 80 or may be externally attached to the computer 80.

[0091] The hardware configuration of the computer 80 is an example. The computer 80 may have some of the components shown in FIG. 12 . The computer 80 may have components other than those shown in FIG. 12 . For example, the computer 80 may have a drive device or the like. The processor 801 may then read programs and data stored on a recording medium attached to the drive device or the like into the RAM 803. Examples of non-transitory tangible recording media include optical disks, flexible disks, magneto-optical disks, and USB (Universal Serial Bus) memories. As described above, the computer 80 may have input devices such as a keyboard and a mouse. The computer 80 may have an output device such as a display. The computer 80 may also have an input device, an output device, and an input / output device.

[0092] The computer 80 may also include various sensors (not shown). The types of sensors are not particularly limited. The computer 80 may also include an imaging device capable of capturing images or videos.

[0093] This concludes the description of the hardware configuration of each device. There are various variations in the method of realizing each device. For example, each device may be realized by any combination of a different computer and program for each component. Furthermore, multiple components of each device may be realized by any combination of a single computer and program.

[0094] Furthermore, some or all of the components of each device may be realized by circuits for specific applications. Furthermore, some or all of the components of each device may be realized by general-purpose circuits such as FPGAs (Field Programmable Gate Arrays). Furthermore, some or all of the components of each device may be realized by a combination of circuits for specific applications and general-purpose circuits. These circuits may be a single integrated circuit. Alternatively, these circuits may be divided into multiple integrated circuits. The multiple integrated circuits may be connected via a bus or the like.

[0095] Furthermore, when some or all of the components of each device are realized by a plurality of computers, circuits, etc., the plurality of computers, circuits, etc. may be centrally located or distributed.

[0096] The control methods described in the respective embodiments may be implemented by a computer such as the control devices 10 and 20 .

[0097] Each program described in each embodiment is recorded on a computer-readable recording medium such as a HDD, SSD, flexible disk, optical disk, magneto-optical disk, or USB memory. Each program is executed by being read from the recording medium by a computer. Each program may also be distributed via a communication network NT.

[0098] The functions of the components of the control device 10 and the control device 20 described above may be realized by dedicated hardware, such as a computer. Alternatively, the components may be realized by software. Alternatively, the components may be realized by a combination of hardware and software.

[0099] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above embodiments. The configuration and details of the present disclosure may include embodiments to which various modifications that would be apparent to those skilled in the art are applied within the scope of the present disclosure. The present disclosure may include embodiments in which the features described herein are appropriately combined or substituted as necessary. For example, features described using a particular embodiment may also be applied to other embodiments to the extent that no contradiction occurs. For example, although multiple operations are described in sequence in the form of a flowchart, the order of description does not limit the order in which the multiple operations are performed. Therefore, when implementing the embodiments, the order of the multiple operations may be changed as long as the content is not affected.

[0100] Some or all of the above-described embodiments can be described as follows: However, some or all of the above-described embodiments are not limited to the following.

[0101] (Supplementary Note 1) A control device comprising: an identification means for identifying the position of a moving body in a space by comparing an image of the space represented by three-dimensional data that reproduces the space in which a moving body in which a light receiving unit is installed moves with an image captured from the moving body; and a control means for controlling the orientation and light projection of a light emitting unit so that light is projected onto a light receiving unit installed on the moving body based on the position of the moving body.

[0102] (Supplementary Note 2) The control device according to Supplementary Note 1, wherein the three-dimensional data is three-dimensional data obtained by modeling using NeRF based on a plurality of images of the space.

[0103] (Supplementary Note 3) The control device described in Supplementary Note 1, wherein, when the light-emitting unit is installed on a moving body that can move in the space, the identification means identifies the position of the moving body on which the light-emitting unit is installed by comparing an image of the space represented by the three-dimensional data with an image captured from the moving body on which the light-emitting unit is installed, and the control means controls the orientation and light projection of the light-emitting unit based on the positional relationship between the moving body on which the light-emitting unit is installed and the moving body on which the light-receiving unit is installed.

[0104] (Supplementary Note 4) The control device described in Supplementary Note 1 or 2, wherein the identification means identifies the position of the light-emitting unit using satellite positioning when the light-emitting unit is installed on a mobile body that can move horizontally relative to the ground, and the control means controls the orientation and light projection of the light-emitting unit based on the positional relationship between the mobile body on which the light-emitting unit is installed and the mobile body on which the light-receiving unit is installed.

[0105] (Supplementary Note 5) The control device according to Supplementary Note 1 or 2, wherein the light-emitting unit is fixedly installed, and the control means controls the orientation and light projection of the light-emitting unit based on a positional relationship between a position where the light-emitting unit is fixedly installed and the moving body on which the light-receiving unit is installed.

[0106] (Supplementary Note 6) The control device according to any one of Supplementary Notes 1 to 5, further comprising: a detection unit that detects a foreign object based on a result of light detection by the light receiving unit.

[0107] (Supplementary Note 7) The control device according to Supplementary Note 6, wherein the foreign object is a gas or an obstacle.

[0108] (Supplementary Note 8) The control device according to Supplementary Note 6 or 7, further comprising: an output unit that outputs a detection result detected by the detection unit.

[0109] (Supplementary Note 9) The control device according to Supplementary Note 8, wherein the output means displays the detection result in a superimposed manner on the space represented by the three-dimensional data.

[0110] (Supplementary Note 10) The control device according to Supplementary Note 9, wherein the output means displays the detection results in time series as animation in the space represented by the three-dimensional data.

[0111] (Supplementary Note 11) The control device according to any one of Supplementary Notes 8 to 10, wherein the output means outputs a signal indicating that there is no abnormality in the space when the foreign object is not detected.

[0112] (Supplementary Note 12) The control device according to any one of Supplementary Notes 1 to 11, wherein the moving body on which the light receiving unit is installed is a drone.

[0113] (Supplementary Note 13) The control device according to Supplementary Note 3, wherein the moving body on which the light emitting unit is installed is a drone.

[0114] (Supplementary Note 14) The control device according to Supplementary Note 4, wherein the moving body on which the light emitting unit is installed is a vehicle.

[0115] (Supplementary Note 15) The control device according to any one of Supplementary Notes 1 to 14, wherein the space is a periphery of a plant facility.

[0116] (Supplementary Note 16) A control device according to any one of Supplementary Notes 1 to 15, wherein there are a plurality of light-emitting units, and the control means selects a light-emitting unit to project light from the plurality of light-emitting units based on the position of the moving body on which the light-receiving unit is installed, and controls the light projection and direction of the light-emitting unit selected to project light onto the light-receiving unit installed on the moving body.

[0117] (Supplementary Note 17) A control method for executing a process in which a computer identifies the position of a moving object in space by comparing an image of the space represented by three-dimensional data that reproduces the space in which a moving object, in which a light receiving unit is installed, moves with an image captured from the moving object, and controls the orientation and light projection of a light emitting unit so that light is projected onto the light receiving unit installed on the moving object based on the position of the moving object.

[0118] (Supplementary Note 18) A non-transitory computer-readable recording medium having recorded thereon a program for causing a computer to execute the following process: identifying the position of a moving body in space by comparing an image of the space represented by three-dimensional data reproducing the space in which a moving body having a light receiving unit installed therein moves with an image captured from the moving body; and controlling the orientation and light projection of a light emitting unit so that light is projected onto the light receiving unit installed on the moving body based on the position of the moving body.

[0119] (Supplementary Note 19) A program that causes a computer to execute a process of: identifying the position of a moving object in space by comparing an image of the space represented by three-dimensional data that reproduces the space in which a moving object with a light receiving unit installed therein moves with an image captured from the moving object; and controlling the orientation and light projection of a light emitting unit so that light is projected onto the light receiving unit installed on the moving object based on the position of the moving object.

[0120] (Supplementary Note 20) A control device comprising: an identification means for identifying a position of a moving body in a space by comparing an image of the space represented by three-dimensional data reproducing the space in which a moving body having a light emitting unit installed therein moves with an image captured from the moving body; and a control means for controlling the orientation and light projection of the light emitting unit installed on the moving body so as to project light onto a light receiving unit based on the position of the moving body.

[0121] (Supplementary Note 21) The control device according to Supplementary Note 20, wherein the three-dimensional data is three-dimensional data obtained by modeling using NeRF based on a plurality of images of the space.

[0122] (Appendix 22) The control device described in Appendix 20 or 21, wherein, when the light receiving unit is installed on a moving body that can move in the space, the identification means identifies the position of the moving body on which the light receiving unit is installed by comparing an image of the space represented by the three-dimensional data with an image captured from the moving body on which the light receiving unit is installed, and the control means controls the orientation and light projection of the light emitting unit based on the positional relationship between the moving body on which the light emitting unit is installed and the moving body on which the light receiving unit is installed.

[0123] (Supplementary Note 23) The control device described in Supplementary Note 20 or 21, wherein the identification means identifies the position of the light receiving unit using satellite positioning when the light receiving unit is installed on a mobile body that can move horizontally relative to the ground, and the control means controls the orientation of the light emitting unit and the light projection based on the positional relationship between the mobile body on which the light emitting unit is installed and the mobile body on which the light receiving unit is installed.

[0124] (Supplementary Note 24) The control device according to Supplementary Note 20 or 21, wherein the light receiving unit is fixedly installed, and the control means controls the orientation and light projection of the light emitting unit based on a positional relationship between a position where the light receiving unit is fixedly installed and the moving body on which the light emitting unit is installed.

[0125] (Supplementary Note 25) A control method in which a computer identifies the position of a moving body in space by comparing an image of the space represented by three-dimensional data that reproduces the space in which a moving body with a light-emitting unit installed therein moves with an image captured from the moving body, controls the orientation and light emission of the light-emitting unit installed on the moving body so that the light is emitted toward a light-receiving unit based on the position of the moving body, and executes processing.

[0126] (Supplementary Note 26) A non-transitory computer-readable recording medium having recorded thereon a program for executing a process that identifies the position of a moving body in a space by comparing an image of the space represented by three-dimensional data that reproduces the space in which a moving body having a light-emitting unit installed therein moves with an image captured from the moving body, and controls the orientation and light projection of the light-emitting unit installed on the moving body so that the light is projected onto a light-receiving unit based on the position of the moving body.

[0127] (Supplementary Note 27) A program that causes a computer to identify the position of a moving body in space by comparing an image of the space represented by three-dimensional data that reproduces the space in which a moving body with a light-emitting unit installed therein moves with an image captured from the moving body, and controls the orientation and light projection of the light-emitting unit installed on the moving body so that the light is projected onto a light-receiving unit based on the position of the moving body, and executes processing.

[0128] Furthermore, some or all of the configurations described in Supplementary Notes 2 to 16, which are dependent on Supplementary Note 1, may also be dependent on Supplementary Notes 17, 18, and 19 in the same dependent relationship as Supplementary Notes 2 to 16. Furthermore, not limited to Supplementary Notes 1, 17, 18, and 19, but also various hardware, software, various recording means for recording software, or systems may be made to be dependent on some or all of the configurations described as Supplements, within the scope of each of the above-mentioned embodiments.

[0129] Furthermore, some or all of the configurations described in Supplementary Notes 21 to 24, which are dependent on Supplementary Note 20, may also be dependent on Supplementary Notes 25, 26, and 27 in the same dependent relationship as Supplementary Notes 21 to 24. Furthermore, not limited to Supplementary Notes 20, 25, 26, and 27, but within the scope of each of the above-mentioned embodiments, some or all of the configurations described as Supplements may also be dependent on various hardware, software, various recording means for recording software, or systems.

[0130] 1, 2 Control system 10, 20 Control device 11, 21 Mobile body 12, 22 Light receiving unit 13, 23 Imaging device 14, 24 Light emitting unit 15 Mobile body 16 Imaging device 17 Mobile body 25 Terminal 80 Computer 101, 201 Identification unit 103, 203 Control unit 205 Detection unit 207 Output unit 209 Mobile body control unit 801 Processor 802 ROM 803 RAM 804 Storage device 805 Communication interface 806 Input / output interface 807 Bus NT Communication network

Claims

1. A control device comprising: an identification means for identifying the position of a moving object in space by comparing an image of the space represented by three-dimensional data that reproduces the space in which a moving object with a light receiving unit installed therein moves with an image captured from the moving object; and a control means for controlling the orientation of a light emitting unit and the light projection so that light is projected onto the light receiving unit installed on the moving object based on the position of the moving object.

2. The control device according to claim 1, wherein the three-dimensional data is obtained by modeling using Neural Radiance Fields (NeRF) based on a plurality of images captured at different positions in the space.

3. The control device described in claim 1, wherein, when the light-emitting unit is installed on a moving body that can move within the space, the identification means identifies the position of the moving body on which the light-emitting unit is installed by comparing an image of the space represented by the three-dimensional data with an image captured from the moving body on which the light-emitting unit is installed, and the control means controls the orientation and light projection of the light-emitting unit based on the positional relationship between the moving body on which the light-emitting unit is installed and the moving body on which the light-receiving unit is installed.

4. A control device as described in claim 1 or 2, wherein the identification means identifies the position of the light-emitting unit using satellite positioning when the light-emitting unit is installed on a mobile body that can move horizontally relative to the ground, and the control means controls the orientation and light projection of the light-emitting unit based on the positional relationship between the mobile body on which the light-emitting unit is installed and the mobile body on which the light-receiving unit is installed.

5. A control device as described in claim 1 or 2, wherein the light-emitting unit is fixedly installed, and the control means controls the direction and light projection of the light-emitting unit based on the positional relationship between the fixedly installed position of the light-emitting unit and the mobile body on which the light-receiving unit is installed.

6. A control device according to any one of claims 1 to 5, further comprising: detection means for detecting a foreign object based on the result of light detection by said light receiving section.

7. The control device according to claim 6, wherein the foreign object is a gas or an obstacle.

8. The control device according to claim 6 or 7, further comprising output means for outputting the detection result detected by said detection means.

9. The control device according to claim 8, wherein said output means displays said detection results superimposed on said space represented by said three-dimensional data.

10. The control device according to claim 9, wherein said output means displays said detection results in time series as animation in said space represented by said three-dimensional data.

11. The control device according to any one of claims 8 to 10, wherein the output means outputs a signal indicating that there is no abnormality in the space when the foreign object is not detected.

12. A control device according to any one of claims 1 to 11, wherein the moving body on which the light receiving unit is installed is a drone.

13. The control device according to claim 3, wherein the moving body on which the light emitting unit is installed is a drone.

14. The control device according to claim 4, wherein the moving body on which the light emitting unit is installed is a vehicle.

15. A control device according to any one of claims 1 to 14, wherein the space is the periphery of a plant facility.

16. A control device as described in any one of claims 1 to 15, wherein there are a plurality of light-emitting units, and the control means selects a light-emitting unit to emit light from the plurality of light-emitting units based on the position of the moving body on which the light-receiving unit is installed, and controls the light emission and direction of the light-emitting unit selected to emit light toward the light-receiving unit installed on the moving body.

17. A control method in which a computer executes a process in which it identifies the position of a moving object in space by comparing an image of the space represented by three-dimensional data that reproduces the space in which a moving object with a light-receiving unit installed therein moves with an image captured from the moving object, and controls the orientation and light projection of a light-emitting unit so that light is projected onto the light-receiving unit installed on the moving object based on the position of the moving object.

18. A non-transitory computer-readable recording medium that stores a program for causing a computer to execute the following process: identify the position of a moving object in space by comparing an image of the space represented by three-dimensional data that reproduces the space in which a moving object with a light-receiving unit installed therein moves with an image captured from the moving object; and control the orientation and light projection of a light-emitting unit so that light is projected onto the light-receiving unit installed on the moving object based on the position of the moving object.

Images