JP6760876B2 - Control devices, programs, and control methods - Google Patents

Description

The present invention relates to control devices, programs, and control methods.

Conventionally, an unmanned air vehicle (for example, a drone) autonomously flies by a positioning method using a global navigation satellite system (Global Positioning System (s): GNSS) such as GPS (Global Positioning System), and a transmission line is connected. A technique for inspecting a transmission line by flying to an inspection point and using an image taken from the vicinity of the transmission line is known (for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2001-39397

However, with conventional technology, even if it is possible to control an unmanned aerial vehicle so as to image an object installed outdoors, an object installed indoors where it is difficult to use a positioning method such as GNSS. It was sometimes difficult to control the unmanned aerial vehicle to image.
The present invention has been made in view of the above problems, and an object of the present invention is to provide a mechanism for controlling a moving body moving indoors.

(1) One aspect of the present invention includes a storage unit that stores three-dimensional spatial information of the real space inside the building, an imaging unit that images the real space, a ranging unit that measures the distance to an object, and the above. A movement control unit that controls movement based on three-dimensional space information, a movement path associated with the three-dimensional space information, and the distance between the distance measuring unit and the object in the real space. A three-dimensional space information acquisition unit that acquires the three-dimensional space information of the real space imaged by the imaging unit and the three-dimensional space acquired by the three-dimensional space information acquisition unit during movement under the control of the movement control unit. When the information update unit that updates the three-dimensional spatial information stored in the storage unit and the movement control unit change to a route different from the movement route based on the information, the route is changed. It is a mobile control device including a transmission unit that notifies the server device of the change at the timing of the change .

(2) In one aspect of the present invention, in the control device according to (1) above, the transmission unit transmits the image pickup result in the real space by the image pickup unit to the server device when the route is changed. To do .

(3) In one aspect of the present invention, the control device according to (1) or (2) above turns the moving body at the changed position when the route is changed.

(4) In one aspect of the present invention, in the control device according to the above (1) to (3), the distance measuring unit determines whether or not there is an object on or around the moving path. Upon detection, the movement control unit changes and moves the movement path associated with the three-dimensional spatial information based on the measurement result of the distance measuring unit.

( 5 ) One aspect of the present invention is an imaging step of imaging the real space and a distance measuring step of measuring the distance to an object on a computer provided with a storage unit for storing three-dimensional spatial information of the real space inside the building. The movement control that controls the movement based on the three-dimensional space information, the movement path associated with the three-dimensional space information, and the distance between the object in the real space measured by the distance measuring step. The three-dimensional space information acquisition step that acquires the three-dimensional space information of the real space captured by the imaging step and the three-dimensional space information acquisition step that the three-dimensional space information acquisition step acquires while moving under the control of the step and the movement control step. When changing to a route different from the movement route in the information update step for updating the three-dimensional space information stored in the storage unit and the movement control step based on the three-dimensional space information , It is a program for executing a transmission step of notifying the server device of the change at the timing when the change is made .

( 6 ) One aspect of the present invention corresponds to an imaging procedure for imaging a real space, a distance measuring procedure for measuring a distance to an object, three-dimensional space information in the real space inside a building, and the three-dimensional space information. A movement control procedure that controls the movement of the moving body based on the attached movement path and the distance between the object in the real space measured by the distance measuring procedure, and a moving body controlled in the movement control procedure. Based on the three-dimensional space information acquisition procedure for acquiring the three-dimensional space information of the real space captured by the imaging procedure and the three-dimensional space information acquired in the three-dimensional space information acquisition procedure during the movement of In the information update procedure for updating the three-dimensional space information and the movement control procedure, when changing to a route different from the movement route, a transmission procedure for notifying the server device of the change at the timing when the route is changed. It is a control method including.

According to the present invention, it is possible to provide a mechanism for controlling a moving body that moves indoors.

It is a figure which shows the outline of the control device which concerns on 1st Embodiment. It is the first figure which shows an example of the movement route of the drone which concerns on 1st Embodiment. It is a 2nd figure which shows an example of the movement route of the drone which concerns on 1st Embodiment. It is a figure which shows an example of the structure of the control device which concerns on 1st Embodiment. It is a flow chart which shows an example of the operation of the control device which concerns on 1st Embodiment. It is a flow chart which shows an example of the operation of the control device which concerns on 1st Embodiment. It is a figure which shows an example of the control device which concerns on 2nd Embodiment.

[First Embodiment]
Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Overview of control device>
FIG. 1 is a diagram showing an outline of the control device 10 according to the first embodiment.
As shown in FIG. 1, the control device 10 is mounted on a moving body and controls the movement of the moving body. The moving body is, for example, a flying body, an automobile, or the like. In an example of the present embodiment, a case where the moving body is an unmanned aerial vehicle (hereinafter, drone D) will be described. The drone D autonomously flies under the control of the control device 10. The control device 10 controls the flight of the drone D, and acquires information on the space inside the building (hereinafter, the real space) in which the drone D flies.

The control device 10 includes a measuring device 110 and a control unit 120. The measuring device 110 includes an imaging unit 101 and a distance measuring unit 102. The image pickup unit 101 takes an image in the real space and generates an image (hereinafter, image IM). The distance measuring unit 102 measures the distance (hereinafter, distance DT) from the control device 10 (drone D) to an object installed in the real space or an object constituting the real space (hereinafter, object OB). The objects that make up the real space are, for example, walls, ceilings, floors, and the like. The distance measuring unit 102 is, for example, a stereo camera or an infrared sensor.
The control device 10 controls the movement of the drone D based on the image IM and the distance DT, and moves the drone D. The real space in which the drone D moves is, for example, a space in which equipment to be monitored or the like is installed. In this case, the object OB includes equipment to be monitored.

<About movement in real space>
Hereinafter, the movement of the drone D in the real space will be described with reference to the figure.
FIG. 2 is a first diagram showing an example of the movement route of the drone D according to the first embodiment.
The control device 10 controls the drone D based on a predetermined information indicating a movement route (hereinafter, movement route information RT), and causes the drone D to move in the real space. The movement route information RT is a predetermined route, and is a movement route associated with the three-dimensional space information SP in the real space.
The three-dimensional space information SP is, for example, information in which a point cloud of a feature point of an object OB existing in the real space is associated with a relative position and a shooting direction in the real space where the feature point is photographed. In one example of this embodiment, the relative position in real space is indicated by the XYZ Cartesian coordinate system. The movement path is indicated by the coordinates in the real space based on the three-dimensional space information SP.

The movement route information RT may be, for example, information indicating the movement route by coordinates for each predetermined distance, or information indicating the coordinates of a certain position in the real space. When the movement route information RT is information indicating the coordinates of a certain position in the real space, the control device 10 controls the drone D so as to pass through the coordinates or the vicinity of the coordinates.

As shown in FIG. 2, in one example of the present embodiment, the movement route indicated by the movement route information RT is a movement route in which the drone D moves around the object OB1 installed in the real space and the object OB2. More specifically, the movement path indicated by the movement route information RT starts moving from a certain position in the real space (position P0 in the illustrated example), and starts moving at a position corresponding to the angle of the real space (in the illustrated example, the position P0). It is a movement path that changes direction at position P1, position P2, and position P3), goes around the real space around the object OB1 and object OB2, and then ends the movement at position P0. In this case, the locus of movement of the drone D (hereinafter, movement locus TJ) matches the movement route indicated by the movement route information RT.

Hereinafter, changes in the movement path of the movement of the drone D in the real space will be described with reference to the figure.
FIG. 3 is a second diagram showing an example of the movement route of the drone D according to the first embodiment.
Here, in the real space, new equipment to be monitored may be arranged. In the real space shown in FIG. 3, an object OB3 is newly installed in the real space shown in FIG.
In this case, when the control device 10 controls the movement of the drone D based on the movement route information RT, the object OB3 and the drone D come into contact with each other in the vicinity of the position P2. Therefore, the control device 10 changes the movement path of the drone D based on the three-dimensional spatial information SP and the distance DT. For example, the control device 10 changes direction at position P21 and moves along the side surface of the object OB3, and changes direction at position P31 and moves so as to return to position P0. In this case, the movement locus TJ of the drone D is a position changed from the movement route indicated by the movement route information RT (the position of the movement route information RT23 shown in the figure, the position of the movement locus TJ23).

The control device 10 is a device that causes the drone D to move as described above and acquires information about the real space (for example, the three-dimensional space information SP and the movement locus TJ).
Hereinafter, a specific configuration of the control device 10 will be described.

<Control device configuration>
Hereinafter, the configuration of the control device 10 will be described with reference to FIG.
FIG. 4 is a diagram showing an example of the configuration of the control device 10 according to the first embodiment.
The control device 10 includes a measuring device 110, a control unit 120, and a storage unit 500.
The storage unit 500 stores the three-dimensional spatial information SP and the movement route information RT.

<About measuring device>
The measuring device 110 includes an imaging unit 101, a distance measuring unit 102, a feature point detecting unit 103, a relative position detecting unit 104, and a position specifying unit 105 as its functional units.
The image pickup unit 101 takes an image in the real space as the drone D moves, and generates an image IM. The image pickup unit 101 captures a real space at all times or at a predetermined time interval, for example, and generates an image IM.
The image pickup unit 101 may be configured to generate an image IM at a predetermined position in the real space based on the control of the control device 10. In this case, the predetermined position is a position associated with the three-dimensional space information SP and is a position indicated by the coordinates of the three-dimensional space information SP. The predetermined position may be the coordinates indicated by the movement route information RT. The image pickup unit 101 images an object OB at each position of position P0 to position P3 indicated by the coordinates of the three-dimensional spatial information SP, and generates an image IM.
The distance measuring unit 102 measures the distance DT and supplies it to the control unit 120. The distance measuring unit 102 measures the distance DT, for example, at all times or at predetermined time intervals.

The feature point detection unit 103 detects the feature points of the object OB imaged by the image IM based on the image IM obtained by imaging the real space by the image pickup unit 101. An image in which feature points are represented as a point cloud may be used.
The relative position detection unit 104 stores a plurality of feature points detected by the feature point detection unit 103, the position and orientation of the control device 10 (drone D) when the feature points are imaged, and from the position of the control device 10. Generates identifiable peripheral three-dimensional spatial information ASP. The relative position detection unit 104 supplies the generated peripheral three-dimensional spatial information ASP to the control unit 120. The position where the feature point is imaged is represented by the coordinates (x, y, z) of a virtual three-dimensional space that imitates the real space.

The position specifying unit 105 specifies the current position (hereinafter, the current position CP) of the control device 10 (drone D) based on the three-dimensional space information SP. Specifically, the position specifying unit 105 matches the feature points detected by the feature point detection unit 103 based on the image IM with the feature points indicated by the three-dimensional spatial information SP, and the three-dimensional spatial information SP indicates. Among the coordinates in the real space, the position (coordinates) of the control device 10 (drone D) is specified. As a result, the position specifying unit 105 identifies the current position CP of the control device 10, and even if the control device 10 moves, the position specifying unit 105 is in a three-dimensional space based on the detection results of the acceleration sensor, the gyro sensor, and the geomagnetic sensor. The coordinates on the information SP can be specified. The position specifying unit 105 supplies information indicating the current position CP to the control unit 120.
The position specifying unit 105 may correct the accumulation of deviations in motion tracking by area learning based on the image IM obtained by the image capturing unit 101.

<About the control unit>
The control unit 120 includes a CPU (Central Processing Unit), and includes a movement locus acquisition unit 201, a transmission unit 202, a movement control unit 203, a three-dimensional spatial information acquisition unit 204, and an information update unit 205. Provided as a functional unit.
The movement locus acquisition unit 201 acquires the current position CP from the measuring device 110 at all times or at a predetermined time interval. The movement locus acquisition unit 201 supplies the current position CP acquired from the start of the movement of the drone D to the end of the movement to the transmission unit 202 as the movement locus TJ.

The movement control unit 203 controls the movement of the drone D based on the current position CP, the three-dimensional space information SP, the movement route information RT, the distance DT, the acceleration sensor, the gyro sensor, and the geomagnetic sensor. Specifically, the movement control unit 203 acquires the current position CP at the start of flight of the drone D. The movement control unit 203 uses the detection results of the acceleration sensor, the gyro sensor, and the geomagnetic sensor to move the position (coordinates) of the movement path information RT in the three-dimensional space information SP from the position (coordinates) indicated by the current position CP. Based on this, the movement of the drone D is controlled.
Further, the movement control unit 203 controls the movement of the drone D so that the distance DT makes the distance from the drone D (control device 10) to the object OB a predetermined distance. The movement control unit 203 controls the drone D to move away from the object OB, for example, when the distance DT indicates that the distance to the drone D and the object OB is shorter (closer) than a predetermined distance.

The three-dimensional space information acquisition unit 204 acquires the peripheral three-dimensional space information ASP from the measuring device 110 at all times or at a predetermined time interval. The three-dimensional space information acquisition unit 204 generates a three-dimensional space information SP based on the peripheral three-dimensional space information ASP acquired from the start of the movement of the drone D to the end of the movement. Further, the three-dimensional space information acquisition unit 204 supplies the generated three-dimensional space information SP to the information update unit 205.
The information updating unit 205 updates the three-dimensional space information SP stored in the storage unit 500 to the three-dimensional space information SP acquired from the three-dimensional space information acquisition unit 204.

The transmission unit 202 associates the information indicating the movement locus TJ with the three-dimensional space information SP in the real space in which the drone D has moved by the movement locus TJ, and the date and time when the movement locus TJ was acquired, to the server device. Send. Specifically, the transmission unit 202 corresponds to the movement locus TJ acquired by the movement locus acquisition unit 201, the three-dimensional space information SP generated by the three-dimensional space information acquisition unit 204, and the date and time when the movement locus TJ is acquired. Attach and send to the server device. A server device is a device used by an observer who monitors real space. The observer refers to the information received by the server device (in this example, the movement locus TJ) by using the server device or the terminal device capable of transmitting and receiving information to and from the server device.

In the above description, the case where the information updating unit 205 updates the three-dimensional space information SP stored in the storage unit 500 based on the peripheral three-dimensional space information ASP has been described, but the present invention is not limited to this. The information updating unit 205 may be configured to store the three-dimensional space information SP generated based on the peripheral three-dimensional space information ASP in the storage unit 500 in association with the generated date and time.

<Operation of control unit: Operation at the start of movement>
Hereinafter, the details of the operation of the control device 10 at the start of movement will be described with reference to FIG.
FIG. 5 is a first flow chart showing an example of the operation of the control device 10 according to the first embodiment.
When starting the movement of the drone D, the movement control unit 203 turns the drone D at the movement start position of the drone D (position P0 in this example) (step S10). The image pickup unit 101 acquires the image IM while the drone D is turning (step S10) (step S20). The position specifying unit 105 matches the feature points detected by the feature point detection unit 103 based on the image IM with the feature points indicated by the three-dimensional space information SP, and determines the coordinates of the real space indicated by the three-dimensional space information SP. Among them, the current position CP of the control device 10 (drone D) is specified (step S30).

<Operation of control unit: Operation during movement>
Hereinafter, the details of the operation of the control device 10 during movement will be described with reference to FIG.
FIG. 6 is a flow chart showing an example of the operation of the control device 10 according to the first embodiment.
The operation of the control device 10 shown in FIG. 6 is an operation after the current position CP of the control device 10 (drone D) is specified by the operation at the start of movement of the control device 10 shown in FIG.
From the start to the end of the movement of the drone D based on the movement route information RT (between steps S115 to S140 in the figure), the three-dimensional space information acquisition unit 204 moves from the measuring device 110 to the surrounding three-dimensional space. The information ASP is acquired, and the position specifying unit 105 acquires the current position CP (step S110).
The movement control unit 203 controls the movement of the drone D based on the current position CP, the three-dimensional space information SP, the movement route information RT, the distance DT, the acceleration sensor, the gyro sensor, and the geomagnetic sensor. (Step S115). Specifically, the movement control unit 203 sets the position (coordinates) of the movement path information RT in the three-dimensional space information SP from the position (coordinates) indicated by the current position CP specified by the operation at the start of movement shown in FIG. The movement of the drone D is controlled based on the detection results of the acceleration sensor, the gyro sensor, and the geomagnetic sensor so as to move.

Next, the movement control unit 203 acquires the distance DT from the measuring device 110 (step S120). The movement control unit 203 controls the movement of the drone D based on the movement route information RT, and compares the acquired distance DT with a predetermined distance (step S130). When the distance DT indicates that the drone D and the object OB are separated from a predetermined distance (step S130; NO), the movement control unit 203 sets the drone D based on the movement distance indicated by the movement route information RT. Move (fly) (step S115). Further, when the distance DT indicates that the drone D and the object OB are closer than a predetermined distance (step S130; YES), the movement control unit 203 changes the movement route indicated by the movement route information RT, and the drone D changes the movement route. Is moved (flying) (step S140). Specifically, when the distance DT indicates that the drone D and the object OB are closer than a predetermined distance, the movement control unit 203 changes the movement route so as to move away from the object OB and moves the drone D. ..

The three-dimensional space information acquisition unit 204 generates a three-dimensional space information SP based on the peripheral three-dimensional space information ASP acquired from the start to the end of the movement of the drone D (step S145). The information update unit 205 acquires the three-dimensional space information SP generated by the three-dimensional space information acquisition unit 204, and updates the three-dimensional space information SP stored in the storage unit 500 (step S150). The transmission unit 202 associates the movement locus TJ acquired by the movement locus acquisition unit 201 with the three-dimensional space information SP generated by the three-dimensional space information acquisition unit 204 with the date and time when the movement locus TJ is acquired, and provides a server. It is transmitted to the device (step S160).

In the above description, when the distance DT indicates that the drone D and the object OB are closer than a predetermined distance, the movement control unit 203 changes the movement route so as to move away from the object OB and moves the drone D. The case has been described, but it is not limited to this. The movement control unit 203 cannot return to the movement route indicated in the movement route information RT when the distance DT indicates that the drone D and the object OB are closer than a predetermined distance, or when the movement route is changed. It may be determined that the drone D may be controlled to move (return) to the position where the drone D has started to move.

<Summary of the first embodiment>
As described above, the control device 10 of the present embodiment includes the measurement device 110 and the control unit 120, and the control unit 120 is a moving body (in an example of the present embodiment) based on the three-dimensional spatial information SP. , Drone D) controls the movement.
Here, when controlling the movement of the drone D, the drone D (control device 10) is controlled by a method using a global navigation satellite system (s) such as GPS (Global Positioning System) (hereinafter, GNSS). The method of detecting the position of was common. In this regard, when it is difficult for the drone D to receive the GNSS radio wave indoors or the like, the position of the drone D cannot be detected, and it may be difficult to control the movement of the drone D.

The control device 10 of the present embodiment detects the position of the drone D indoors based on the three-dimensional space information SP in the real space in which the drone D moves. As a result, the control device 10 of the present embodiment can control the drone D in the real space and control the movement of the drone D moving indoors.

Further, the control device 10 of the present embodiment generates a three-dimensional space information SP based on the peripheral three-dimensional space information ASP to be measured as the drone D moves, and the generated three-dimensional space information SP is used. The three-dimensional spatial information SP of the storage unit 500 is updated.
As described above, in the real space where the drone D moves, equipment or the like to be monitored by the observer may be installed. Here, it is preferable that the three-dimensional space information SP in the real space is updated according to the new installation and removal of the equipment to be monitored.
According to the control device 10 of the present embodiment, the movement of the drone D automates the acquisition and update of the three-dimensional space information SP in the real space, so that the observer or the like measures the real space and the three-dimensional space information. It is possible to reduce the trouble of updating the SP.

Further, the control device 10 of the present embodiment stores the acquired movement locus TJ and the date and time when the movement locus TJ is acquired in the storage unit 500 in association with each other. Here, as the object OB is installed on the movement path indicated by the movement route information RT, it may be difficult for the drone D to move. The control device 10 of the present embodiment is the latest by moving the drone D based on the movement locus TJ to which the latest date is associated among the movement loci TJ stored in the storage unit 500 by the control unit 120. The drone D can be moved based on the state of the real space.
When the control device 10 indicates that the movement locus TJ acquired by the movement locus acquisition unit 201 has changed from the movement locus TJ stored in the storage unit 500, the control device 10 moves the movement route information RT to the acquired movement locus TJ. A movement route update unit for updating the route may be provided.

Further, the control device 10 of the present embodiment acquires the movement locus TJ, associates the acquired movement locus TJ with the acquired date and time, and transmits information indicating the movement locus TJ to the server device.
According to the control device 10 of the present embodiment, the observer can confirm the movement locus TJ received by the server device. In addition, the observer can confirm that a new object OB has been installed in the real space by confirming the movement locus TJ acquired at different times. Specifically, when the observer indicates that the two movement trajectories TJ have moved by different movement paths, the observer confirms that a new object OB has been installed in the real space or that the object OB has been removed. can do.

Further, in the control device 10 of the present embodiment, when the movement control unit 203 indicates that the distance DT is closer than the predetermined distance between the drone D and the object OB, the movement control unit 203 is based on the movement route of the movement route information RT. When the distance DT indicates that the drone D and the object OB are separated from each other by a predetermined distance, the drone D is moved based on the movement path of the movement route information RT.
In other words, in the control device 10 of the present embodiment, the distance measuring unit 102 detects whether or not there is an object OB on or around the movement path on which the drone D moves, and the movement control unit 203 determines whether or not there is an object OB. Based on the measurement result of the distance measuring unit 102, the movement route of the movement route information RT is changed to move the drone D.
According to the control device 10 of the present embodiment, when the object OB exists on the movement path or around the movement path, the movement of the drone D can be controlled so that the drone D does not collide with the object OB.

Further, in the control device 10 of the present embodiment, the image pickup unit 101 images the image IM at a position in the real space associated with the three-dimensional space information SP.
According to the control device 10 of the present embodiment, the real space is imaged at a predetermined position, and the image IM imaged can be confirmed by the observer or the like. When the predetermined position is, for example, a position where the indicator lamp or display of the object OB can be confirmed, the observer can grasp the state of the object OB in detail based on the image IM.

The control device 10 includes an imaging unit (hereinafter, real space imaging unit) that generates an image for detecting feature points in real space, and an imaging unit (hereinafter, feature points) that images real space and generates an image IM. It may be configured to include an imaging unit). The real space imaging unit is, for example, an imaging unit capable of generating an image (image IM) having a higher resolution than the feature point imaging unit. Therefore, according to the control device 10, the observer can grasp the state of the object OB in more detail based on the high-resolution image IM.
In addition, the observer may want to image the object OB from a desired direction or a desired position while generating an image for detecting a feature point in the real space. Here, when the real space imaging unit and the feature point imaging unit are separate bodies, the control device 10 controls the direction and angle of view of the real space imaging unit to create an object from a desired direction or a desired position. It is possible to generate an image for detecting a feature point while imaging the OB. In this case, the real space imaging unit captures the real space at a predetermined position and direction for imaging the object OB at the position and direction indicated by the coordinates of the three-dimensional space information SP, and images IM. May be configured to generate.

[Second Embodiment]
Hereinafter, the second embodiment of the present invention will be described with reference to the drawings.
In the first embodiment, the configuration for controlling the movement of the drone D has been described.
In the second embodiment, a case where the movement of the drone D is controlled based on the instruction regarding the movement of the drone D will be described.
The same components as those in the above-described embodiment are designated by the same reference numerals and the description thereof will be omitted.

FIG. 7 is a diagram showing an example of the control device 11 according to the second embodiment.
As shown in FIG. 7, the control device 11 of the present embodiment includes a measuring device 110 and a control unit 121. The control unit 121 includes a CPU, and includes a movement locus acquisition unit 201, a transmission unit 202, a movement control unit 203, a three-dimensional spatial information acquisition unit 204, an information update unit 205, and a reception unit 206. Provided as a functional unit.
The receiving unit 206 receives the instruction information DC from the server device. The instruction information DC is information that indicates the movement start time of the drone D. The receiving unit 206 supplies the received instruction information DC to the mobile control unit 203.
The movement control unit 203 controls the movement of the drone D based on the instruction information DC. Specifically, the movement control unit 203 starts the movement of the drone D at the time indicated by the instruction information DC.
Since the following configurations are the same as those in the above-described embodiment, the description thereof will be omitted.

The movement control unit 203 controls the drone D so as to move to a predetermined position at the time indicated by the instruction information DC, instead of the configuration in which the movement of the drone D is started based on the instruction information DC. It may be. The predetermined position is, for example, a position in which the imaging unit 101 images the object OB in advance, and is a position associated with the three-dimensional spatial information SP.

<Summary of the second embodiment>
As described above, the control device 11 of the present embodiment controls the movement of the moving body (drone D in the example of the present embodiment) based on the instruction information DC received from the server device by the receiving unit 206.
Here, the observer may want to grasp the state of the real space and the state of the object OB at a desired time. Specifically, the observer may want to grasp the state of the real space and the state of the object OB during the daytime and at nighttime. In addition, the observer may want to update the three-dimensional space information SP in the real space every month.
According to the control device 11 of the present embodiment, the drone D can be moved at the time indicated by the instruction information DC, and the state of the real space and the state of the object OB can be acquired.

In the above description, the case where the moving body is the drone D has been described, but the present invention is not limited to this. For example, the moving body may be an autonomous vehicle that does not require driver control. In addition, a passenger may be on board the moving body. In this case, the control device 10 may control the movement of the moving body on behalf of the passenger, or may assist the passenger in controlling the movement of the moving body.

Although the case where the three-dimensional spatial information SP is stored in the storage unit 500 in advance has been described, the present invention is not limited to this. The control device 10 has, for example, a configuration in which the moving body is moved in a real space where the three-dimensional space information SP does not exist based on the control of the operator of the moving body to generate the three-dimensional space information SP. May be good.

Further, the transmission unit 202 may be configured to transmit an image IM or an image in which a feature point in the real space is detected based on the image IM (hereinafter, a feature point image) to the server device. In this case, the server device may instruct the transmission of the image IM or the feature point image, and the transmission unit 202 may transmit the image IM or the feature point image based on the instruction.
Further, the transmission unit 202 may be configured to transmit information for notifying the change to the server device at the timing when the movement route is changed from the movement route information RT. As a result, the observer can grasp that the movement route of the movement route information RT has been changed.
Further, the movement control unit 203 may be configured to turn the drone D at the changed position (position P2 in the case of the above-mentioned example) when the movement route is changed. In this case, the imaging unit 101 images the real space as the drone D rotates, and generates an image IM. Further, the transmission unit 202 transmits the image IM generated by the image pickup unit 101 to the server device at the position where the movement route is changed. This allows the observer to check the state around the position where the movement route has been changed.

The control device 10 and each part included in the control device 11 in each of the above embodiments may be realized by dedicated hardware, or may be realized by a memory and a microprocessor. Good.

The control device 10 and each part included in the control device 11 are composed of a memory and a CPU (central processing unit), and a program for realizing the functions of the control device 10 and each part included in the control device 11 is loaded into the memory. The function may be realized by executing the function.

Further, a program for realizing the functions of the control device 10 and each part included in the control device 11 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read by the computer system and executed. The process may be performed accordingly. The term "computer system" as used herein includes hardware such as an OS and peripheral devices.

In addition, the "computer system" includes a homepage providing environment (or display environment) if a WWW system is used.
Further, the "computer-readable recording medium" refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, or a CD-ROM, or a storage device such as a hard disk built in a computer system. Further, a "computer-readable recording medium" is a communication line for transmitting a program via a network such as the Internet or a communication line such as a telephone line, and dynamically holds the program for a short period of time. In that case, it also includes the one that holds the program for a certain period of time, such as the volatile memory inside the computer system that becomes the server or client. Further, the above-mentioned program may be a program for realizing a part of the above-mentioned functions, and may be a program for realizing the above-mentioned functions in combination with a program already recorded in the computer system.

Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment and may be appropriately modified without departing from the spirit of the present invention. it can. The configurations described in each of the above-described embodiments may be combined.

10, 11 ... Control device, 110 ... Measuring device, 120, 121 ... Control unit, 101 ... Imaging unit, 102 ... Distance measuring unit, 103 ... Feature point detection unit, 104 ... Relative position detection unit, 105 ... Position identification unit, 201 ... movement locus acquisition unit, 202 ... transmission unit, 203 ... movement control unit, 204 ... three-dimensional space information acquisition unit, 205 ... information update unit, 206 ... reception unit, 500 ... storage unit, ASP ... peripheral three-dimensional space information , D ... Drone, DT ... Distance, IM ... Image, SP ... Three-dimensional space information, RT, RT23 ... Movement route information, TJ, TJ23 ... Movement trajectory, DC ... Instruction information, OB, OB1, OB2, OB3 ... Object, CP ... Current position

Claims (6)

A storage unit that stores three-dimensional spatial information of the real space inside the building,
An imaging unit that images the real space,
A distance measuring unit that measures the distance to an object,
A movement control unit that controls movement based on the three-dimensional space information, a movement path associated with the three-dimensional space information, and the distance between the distance measuring unit and the object in the real space. ,
A three-dimensional space information acquisition unit that acquires three-dimensional space information in the real space imaged by the imaging unit while moving under the control of the movement control unit.
An information update unit that updates the three-dimensional space information stored in the storage unit based on the three-dimensional space information acquired by the three-dimensional space information acquisition unit.
When the movement control unit changes to a route different from the movement route, a transmission unit that notifies the server device of the change at the timing when the route change is performed, and a transmission unit.
A moving body control device comprising. The transmitter
When the route is changed, the imaging result of the real space by the imaging unit is transmitted to the server device.
The control device according to claim 1. The movement control unit
When the route is changed, the moving body is swiveled at the changed position.
The control device according to claim 1 or 2. The ranging unit
Detecting whether or not there is an object on or around the movement path,
The movement control unit
Based on the measurement result of the distance measuring unit, the movement path associated with the three-dimensional spatial information is changed and moved.
The control device according to any one of claims 1 to 3. A computer equipped with a storage unit that stores three-dimensional spatial information of the real space inside the building
An imaging step for imaging the real space and
A distance measurement step that measures the distance to an object,
A movement control step that controls movement based on the three-dimensional space information, a movement path associated with the three-dimensional space information, and the distance between the object in the real space measured by the distance measuring step. ,
A three-dimensional space information acquisition step for acquiring the three-dimensional space information of the real space imaged by the imaging step during movement under the control of the movement control step,
An information update step for updating the three-dimensional space information stored in the storage unit based on the three-dimensional space information acquired by the three-dimensional space information acquisition step.
In the movement control step, when changing to a route different from the movement route, a transmission step of notifying the server device of the change at the timing when the route change is performed, and a transmission step.
A program to execute. Imaging procedure for imaging real space and
Distance measurement procedure to measure the distance to an object,
The moving body is based on the three-dimensional space information of the real space inside the building, the movement path associated with the three-dimensional space information, and the distance between the object in the real space measured by the distance measuring procedure. Movement control procedure to control movement and
A three-dimensional space information acquisition procedure for acquiring the three-dimensional space information of the real space captured by the imaging procedure while the moving body is moving controlled in the movement control procedure.
An information update procedure for updating the three-dimensional space information based on the three-dimensional space information acquired in the three-dimensional space information acquisition procedure, and an information update procedure.
In the movement control procedure, when changing to a route different from the movement route, a transmission procedure for notifying the server device of the change at the timing when the route is changed, and a transmission procedure.
Control method including.

Images