JP7130409B2 - Control device - Google Patents

Description

The present invention relates to a control device that finds a movement route suitable for a moving object selected from a plurality of moving objects such as guards, drones, and airships that monitor a surveillance area.

2. Description of the Related Art In recent years, when an abnormality such as a fire or an unauthorized intrusion is detected in a customer's property, a security system has been used to efficiently rush a security guard to the location where the abnormality occurred (the location where the abnormality was detected). For example, in Patent Document 1, the position of a moving body such as a security guard or a security vehicle is periodically detected, and when an abnormality is detected, the moving body closest to the location where the abnormality occurs is selected, and the current position of the moving body is selected. A security system has been proposed that transmits a movement route from a position to an abnormality occurrence position to a mobile body and displays it on a terminal of the mobile body.

Japanese Patent Application Laid-Open No. 2003-228781

By the way, in recent years, moving objects that confirm an abnormality that has occurred are not limited to moving objects such as security guards and security vehicles, but also flying types such as unmanned airships equipped with cameras and drones (autonomous flying robots). Security using mobile units is being carried out. As described above, when it is assumed that an abnormality is confirmed not only for a running type mobile body that moves on the ground surface but also for an aerial type mobile body, the position where the abnormality occurs is the most likely to be detected as in the conventional technology. It is not always possible to efficiently guide a moving object by simply selecting a nearby moving object. For example, even if a mobile object closest to the location of the abnormality is selected, it is possible that it is physically impossible for a flying mobile object to arrive, or that it cannot be reached without a long detour. . In addition, in the case of a traveling type mobile object, the degree of freedom of movement is low because the route of movement is limited to a route that can be traveled. In the case of the moving object of (1), since it can move freely in the sky and has a high degree of freedom, the calculation load is large, and it takes time to find the moving route. Therefore, it is necessary to guide the moving object more efficiently by considering the difference between the flying type and the running type.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a control device that efficiently calculates a movement route depending on whether or not a moving object flies.

In order to achieve the above object, current positions of a plurality of moving bodies in a monitoring area including obstacles are input, and a target moving body selected from among the plurality of moving bodies reaches a target position from the current position. A control device for calculating a movement route, which stores in advance a space model representing the monitoring area as a three-dimensional virtual space and attribute information indicating whether or not each of the plurality of moving objects can fly. a storage unit, a target position setting means for setting the target position, a selection means for selecting the target moving object to be used for calculation of the movement path from among the plurality of moving objects, and the target moving object being capable of flying , a graph structure is obtained in which local paths that are components of the movement path are connected from a space in the space model in which the obstacle does not exist, and if the target moving object cannot fly, the space model a graph structure calculating means for obtaining a graph structure in which local routes that are components of the moving route are connected from the travelable space in the above; and the moving route of the target moving object using the graph structure obtained by the graph structure calculating means. and a route search means for searching for a control device characterized by comprising:

Further, as a preferred aspect of the present invention, the target position setting means, when a current occurrence position, which is a position within the monitoring area where an abnormality has occurred, is input, determines if the target moving object can fly, the spatial model set the target position of the moving body at a position in the sky within a predetermined range from the current position of occurrence in the space model, and if the target moving body cannot fly, set the target position on the ground within a predetermined range from the current position of occurrence in the space model. It is assumed that the target position of the moving object is set at the surface position.

Further, as a preferred aspect of the present invention, the storage unit further stores aptitude information describing a relationship with a predetermined type of abnormality that is aptitude for each of the plurality of moving objects, and the selecting means refers to the aptitude information, and selects the target moving object described in relation to the type of anomaly that has occurred at the current occurrence position from among the plurality of moving objects.

Further, as a preferred aspect of the present invention, the selection means selects, as the target moving body, a moving body whose current position is within a predetermined range from the current occurrence position, from among the plurality of moving bodies.

Further, as a preferred aspect of the present invention, the storage unit further stores virtual camera information representing camera parameters of the virtual camera, and the control device further includes a display unit and the movement calculated by the route search means. a display output means for arranging an object representing a route as three-dimensional data on the space model, and for displaying on the display unit a virtual camera image obtained by photographing the space model in which the object is arranged by the virtual camera; shall be prepared.

Further, as a preferred aspect of the present invention, the selection means selects, as the target moving object, a moving object whose current position is included in the field of view of the virtual camera from among the plurality of moving objects.

Further, as a preferred aspect of the present invention, the storage unit further stores an average moving speed of each of the plurality of moving bodies, the selecting means selects a plurality of the target moving bodies, and the display output means A travel time is obtained for each of the target moving bodies using the moving route and the average moving speed, and only the objects of the target moving bodies whose moving times are equal to or less than a predetermined time threshold are placed on the space model. shall be

As described above, according to the present invention, it is possible to provide a control device that can efficiently calculate a movement route according to whether or not a moving body flies.

1 is a diagram showing an overall system configuration of a control system 5; FIG. 3 is a functional block diagram of the control device 1; FIG. 4 is a diagram showing an example of a spatial model 111; FIG. 4 is a table showing mobile unit information 112. FIG. 4 is a table showing abnormality information 113. FIG. 4 is a flow chart showing the operation of the control unit 12; FIG. 9 is an explanatory diagram of target position setting processing; FIG. 10 is an explanatory diagram of graph structure calculation processing; It is a figure which shows the example of a route image.

A configuration of an embodiment of the present invention will be described below with reference to FIG. 1 showing a schematic configuration of a control system 5 to which the present invention is applied. The control system 5 consists of a security device 2 that detects anomalies that have occurred in a predetermined outdoor space (hereinafter referred to as a "monitoring area"), and rushes to the vicinity of the location where the anomaly has been detected to photograph the anomaly. By doing so, mobile bodies 3 such as an airship 3a, a drone 3b, and a security guard 3c for confirming an abnormal state are connected to each mobile body 3 and a security device 2 via a communication network 4 such as the Internet or a public telephone line. and a control device 1.

The moving body 3 has a photographing unit (not shown) and moves so as to photograph abnormalities occurring in the monitoring area. The photographing unit is a so-called camera that includes an imaging element such as a CCD element or a C-MOS element, optical system parts, and the like. If the moving object 3 is a drone 3b or an airship 3a, the imaging unit is a fixed camera installed on the main body of the drone 3b or an airship 3a. be. Also, the mobile object 3 is connected to the control device 1 via a communication network 4 by wireless communication such as a wireless LAN or LTE (Long Term Evolution) so as to be able to transmit information. In addition, the mobile object 3 can determine its current position based on signals from navigation satellites in the Global Navigation Satellite System (GNSS) and the intensity of radio waves received from radio wave transmitters such as multiple beacons. Then, the current position is associated with its own identifier and transmitted to the control device 1 .

The security device 2 is a so-called security controller installed in one or a plurality of security objects in the surveillance area. Receives detection signals from surveillance cameras, etc. The security device 2 notifies the control device 1 via the communication network 4 of the type of abnormality (intrusion, fire, etc.) and the location of the abnormality (location where the abnormality was detected) based on the received detection signal. In addition, the "current occurrence position" in the present invention corresponds to the occurrence position of the abnormality.

The control device 1 is a so-called computer installed in a remote security center. , selects one or a plurality of moving bodies 3 to deal with the abnormality that has occurred, and displays and outputs the moving route of the moving bodies 3 . In particular, the control device 1 of the present invention is characterized by calculating the movement route of the selected moving body 3 using a method according to whether or not the selected moving body 3 can fly. It is possible to efficiently calculate the moving route with less computational load. In this embodiment, "flyable" means not only mobile objects that are structurally incapable of flying, but also mobile objects that are structurally capable of flying but are operationally prohibited from flying. include.

FIG. 2 shows a block diagram of the control device 1. As shown in FIG. As shown in FIG. 2 , the control device 1 includes a storage section 11 , a control section 12 , a display section 13 , an input section 14 and a communication section 15 . The display unit 13 is an information display device such as a display. A controller using the control device 1 uses the display unit 13 to check the image (route image) showing the movement route of the moving body 3 displayed on the display unit 13 . The input unit 14 is an information input device such as a keyboard, mouse, touch panel, portable storage medium reader, or the like. The administrator of the control device 1 can use the input unit 14 to store, for example, three-dimensional shape data of a space model 111, which will be described later, in the storage unit 11, and set various setting information. In addition, the controller refers to the movement routes of a plurality of moving bodies shown in the route image displayed on the display unit 13, selects the moving body 3 suitable for coping with the reported abnormality, and selects the corresponding moving body 3. The input unit 14 is used to instruct the mobile object 3 to check the abnormal state. The communication unit 15 is a communication interface for communicating with the mobile unit 3 and the security device 2 via the communication network 4 .

The storage unit 11 is an information storage device such as ROM, RAM, and HDD. The storage unit 11 stores various programs and various data, and inputs and outputs such information to and from the control unit 12 . The various data include the spatial model 111, the moving body information 112, the abnormality information 113, and various other information used for the processing of the control unit 12 (for example, the graph structure, movement route data, and route image obtained by the processing described later). etc.).

The space model 111 has coordinates representing a three-dimensional virtual space including three-dimensional shape data created by modeling objects (obstacles) such as buildings, ground, trees, etc. in the monitored area. Information. In this embodiment, the three-dimensional shape data of the space model 111 is created by three-dimensional CAD based on the shape information of the monitored area. However, it is not limited to this, and data obtained by capturing the three-dimensional shape of the monitored area by a three-dimensional laser scanner, etc., may be used, and height information created by performing stereo photography or laser ranging from an aircraft is also included. Data representing a three-dimensional shape by polygon data may also be used. The spatial model 111 created in this manner is stored in the storage unit 11 by being set and registered from the input unit 14 by the administrator. A three-dimensional shape indicated by reference numeral 111 in FIG. 3 expresses a space model in a coordinate system representing a three-dimensional virtual space (hereinafter referred to as "model coordinate system").

The mobile body information 112 is information about each mobile body 3 monitoring the monitoring area. The mobile body information 112 includes, as shown in FIG. 4, a mobile body ID that is an identifier of the mobile body 3, a flight attribute that indicates whether or not the mobile body 3 can fly, a current position of the mobile body 3, It is table information that associates the target position of the moving body 3 with aptitude information describing the type of abnormality (for example, fire, intrusion, riot, etc.) that the moving body 3 should deal with. Here, it is assumed that the flight attribute and aptitude information are set in advance by the administrator, and the target position is appropriately updated by the target position setting means 121, which will be described later, each time a report is received from the security device 2. . Also, when the current position is received from each mobile body 3 via the communication network 4, the current position of the mobile body information 112 is updated by the control unit 12. FIG.

The anomaly information 113 is information about one or more anomalies detected in the monitored area, and is updated by the control unit 12 when a report from the security device 2 is received. The anomaly information 113 is, as shown in FIG. 5, table information that associates an anomaly ID, which is an anomaly identifier, an anomaly type (for example, intrusion, fire, riot, etc.), and an anomaly occurrence position. . Here, the location of occurrence of anomaly is the location of occurrence of anomaly notified from the security device 2 (for example, position information at which an anomaly is detected consisting of latitude, longitude, and altitude), and coordinate information (x, y, z).

The virtual camera information 114 is camera parameters that define the field of view of a virtual camera, which is a camera that is virtually arranged in the space model 111, and is information that is used when a route image is generated by the display output means 125, which will be described later. is. When the control device 1 arranges the moving route object generated based on the moving route obtained by the route searching means 124 on the space model 111 and shoots it by the virtual camera set by the virtual camera information 114 image is generated as the route image. Specifically, the virtual camera information 114 includes information on field-of-view transformation, projective transformation, and the size of an image to be generated. Information related to field of view conversion includes the position (center coordinates of the lens or viewpoint) and orientation (direction of the lens optical axis or line of sight) of the virtual camera, and can be updated as needed by the controller operating the input unit 14 . Information related to projective transformation includes a group of parameters for modeling the projection characteristics of the lens, such as focal length and distortion aberration coefficient. Information related to image size includes the number of pixels that make up the image. Information about the transform and the size of the image is assumed to be a predetermined value given in advance.

The control unit 12 has a microprocessor unit such as a CPU, memories such as ROM and RAM, and peripheral circuits thereof, and executes various signal processing. The control unit 12 has selection means 121, target position setting means 122, graph structure calculation means 123, route search means 124, and display output means 125 which are implemented as functional modules of programs operating on the microprocessor unit. These functional modules are implemented by the control unit 12 executing programs stored in the storage unit 11 .

The selection means 121 performs a process of selecting a moving object 3 to be a movement route calculation target from among the plurality of moving objects 3 described in the moving object information 112 . In this embodiment, the selection unit 121 refers to the suitability information of the mobile object information 112, and selects the mobile object 3 whose suitability information indicates the type of anomaly reported from among the plurality of mobile objects 3. It is selected as the moving body 3 to be calculated.

The target position setting means 122 uses the space model 111, the mobile body information 112, and the abnormality information 113 in the storage section 11 to set the target position as the destination for each mobile body 3 selected by the selection means 121. Perform target position setting processing for In this embodiment, the target position setting means 122 sets the target position to a position within a predetermined range from the position of occurrence of the abnormality in the space model 111 and does not interfere with any obstacles, and stores the target position in the moving body information 112. do. In particular, the target position to be set is varied according to the flight attributes of the mobile object 3 . Details of the target position setting process will be described later.

The graph structure calculation means 123 performs a graph structure calculation process for obtaining a graph structure that serves as a basis for calculating a moving route for each moving body 3 selected by the selection means 122 . In the graph structure calculation process, the flight attribute of the moving body information 112 is referred to, and if the selected moving body 3 is a moving body 3 that can fly, the graph structure is obtained from the space in the space model 111 where no obstacles exist. , if the selected moving body 3 is a moving body 3 that cannot fly, then processing for obtaining a graph structure from a drivable space (hereinafter referred to as "drivable space") corresponding to a travel path such as a road in the space model 111 is performed. conduct. Details of the graph structure calculation processing will be described later.

The route search means 124 uses the graph structure calculated by the graph structure calculation means 123 to perform a route search process for generating the movement route of each moving body 3 selected by the selection means 122 . Various route generation methods can be applied to the movement route generation method, but in the present embodiment, the A* (Aster) route search method is used to search for waypoints on the movement route. That is, in the graph structure, the route search is started from the node closest to the current position of the moving body 3, and the route to the node closest to the target position set by the target position setting means 121 is obtained. Then, the route search means 124 starts from the current position of the moving body 3, sets each node of the route obtained by the route search process as a waypoint, and sets a set of coordinate data of each point to the target position as movement route data. and stored in the storage unit 11 in association with the mobile body ID of the corresponding mobile body 3 .

The display output unit 125 arranges the moving route object obtained by connecting the coordinate values of the moving route data calculated by the route searching unit 124 with a line on the space model 111, and shoots it with the virtual camera set by the virtual camera information 114. A virtual camera image corresponding to the image at the time is obtained as a route image. At this time, the route image is obtained by rendering processing using a known computer graphics technique. Rendering processing is described in detail in, for example, "Computer Graphics" (edited and published by the Computer Graphics Editorial Committee, published in 2006), so a detailed description thereof will be omitted. Further, the display output unit 125 outputs the generated route image to the display unit 13 for display.

FIG. 6 is a flow chart of various processes performed by each functional module in the control unit 12 . The processing of the control unit 12 will be described in detail below with reference to FIGS. 6 to 9. FIG. In this embodiment, each time the abnormality information 113 is updated based on a report transmitted by the security device 2, the process of FIG. 6 is executed for the abnormality. An abnormality to be processed is hereinafter referred to as a "target abnormality". Loop 1 in FIG. 6 means that processing is performed for each moving body 3 in the moving body information 112, and that the processing in loop 1 is executed by the number of moving bodies 3. FIG. In the following description, the moving object 3 to be processed in loop 1 is referred to as a "target moving object".

First, the selection means 121 refers to the moving body information 112 and the abnormality information 113, and determines whether the type of the target abnormality is indicated in the suitability information of the target moving body. It is determined whether or not to do so (ST1). If the target moving body does not conform to the target abnormality, that is, if the type of target abnormality is not indicated in the aptitude information of the target moving body (ST1-No), the processing of loop 1 for the target moving body is terminated, After selecting the next moving body 3 in the moving body information 112 as the target moving body, the processing of loop 1 is started.

On the other hand, if the target moving body conforms to the target abnormality, that is, if the type of target abnormality is indicated in the aptitude information of the target moving body (ST1-Yes), the target position setting means 122 performs target position setting processing. (ST2). FIG. 7 is a diagram of a part of the space model 111 cut out for explaining the target position setting process. In the target position setting process, first, the abnormality information 113 is referred to, and the target abnormality occurrence position O is read. Then, the generation position O in the space model 111 is obtained, and the target position is set at a position within a predetermined range from the generation position O and not interfering with the obstacle. In this embodiment, the target position is set at a position with a radius K from the position O of occurrence. In FIG. 7, reference numerals 111a and 111b respectively correspond to buildings and trees existing in the monitoring area, and since the building 111a exists in the space within the radius K from the generation position O, the position in the space does not interfere with the building 111a. is set to the target position. Specifically, the flight attribute of the target moving object is referred to, and if the target moving object is a moving object 3 that cannot fly, the target position P is set to a position on the ground surface with a radius K from the generation position O. Also, if the target moving body is a moving body 3 that can fly, the target position P' is set at a position with a radius K and an elevation angle .theta. In this embodiment, the horizontal angles of the target positions P and P' are set to face the current position of the target moving body. This makes it possible to set the target position to an appropriate three-dimensional position depending on whether or not the moving body 3 can fly. The target position setting means 121 stores the obtained three-dimensional coordinates of the target position in the moving body information 112 .

Next, the graph structure calculation means 123 performs graph structure calculation processing. In the graph structure calculation process, first, the flight attribute of the target moving body is referred to determine whether or not the target moving body can fly (ST3). When it is determined in ST3 that the target moving object is a moving object that can fly (ST3-Yes), the graph structure calculation means 123 converts the space model 111 into voxels of a predetermined size (eg, 50 cm×50 cm×50 cm). Then, the voxel space is obtained by associating the voxel ID, which is the identifier of each voxel, the position of the center of gravity (three-dimensional coordinates) of the voxel in the model coordinate system, and the voxel attribute (ST4). 8A and 8B are diagrams for explaining the graph structure calculation process, and FIG. 8A is a diagram of a part of the voxel space obtained by dividing the space model 111 by voxels. In the figure, voxels shown in black are voxels corresponding to spaces in which obstacles such as buildings exist, and voxels shown in white are voxels corresponding to spaces in which obstacles do not exist. The graph structure calculation means 123 determines whether or not each voxel has an obstacle, and assigns the determination result as a voxel attribute. Note that the graph structure calculation means 123 refers to the moving object information 112 and, based on the current position and size of the other moving object 3, determines the voxel corresponding to the space where the other moving object 3 exists. A voxel attribute may be assigned by determining a voxel corresponding to the space where the In addition, when an obstacle such as a person or a vehicle is detected by the camera of the security device 2, the security device 2 transmits the camera image to the control device 1, and the control device 1 receives the camera image from the security device 2. The position and size of these obstacles on the space model 111 may be obtained from the position and size of the obstacle, and the voxel attribute indicating the obstacle may be given to the voxels corresponding to the obstacle. Further, in the present embodiment, the voxel space is obtained by the graph structure calculation means 123, but the voxel space may be obtained in advance based on the space model 111 and stored in the storage unit 11 in advance.

Next, in the voxel space obtained in ST4, the graph structure calculation means 123 creates a graph structure in which the center of a voxel in which no obstacle exists is set as a node, and the line segment connecting the nodes adjacent to the node is set as an edge. Generate (ST5). At this time, a cost calculated based on the distance between adjacent nodes is set as the edge weight. FIG. 8(b) is a diagram exemplifying the graph structure of voxels corresponding to a space in which no obstacle exists and which is composed of 3×3×3 voxels indicated by symbol G in FIG. 8(a). , edges are indicated by dotted lines.

When it is determined in ST3 that the target moving object is not the moving object 3 that can fly, that is, it is the moving object 3 that cannot fly (ST3-No), the graph structure calculating means 123 uses the space model 111 to determine that the object cannot fly. A travelable space for the moving object 3 is determined (ST6). In this embodiment, the space model 111 and the current position of the mobile object information 112 are used to obtain the travelable space. Specifically, the information of the moving body 3 that cannot fly is extracted from the moving body information 112, and the obstacle (the ground) of the space model 111 directly below the coordinate value in the height direction at the current position of the moving body 3 is extracted. is obtained as a subspace of the drivable space. Then, the travelable space is obtained by integrating the obtained partial space and other spaces of the space model 111 having continuity. For example, the obstacle space adjacent to the subspace of the obtained travelable space is substantially equal in height to the subspace, and the normal angle of the subspace is substantially equal (does not change significantly). will be integrated as In this embodiment, the mobile object information 112 is used to determine the travelable space in the space model 111. However, the altitude of the travelable space in the monitoring area is stored in advance, and the altitude is approximately equal to the altitude. A space that is an obstacle space and whose inclination is within a travelable angle range may be obtained as a travelable space. As the space model 111, not only the three-dimensional geometric shapes of obstacles, but also attribute information indicating that the space of the obstacles corresponds to the travelable space is stored in advance. may be calculated.

Next, the graph structure calculation means 123 obtains points (branch points) at which the travel route branches when the obtained travel space is taken as a travel route, arranges nodes at the branch points, and arranges nodes adjacent to each other along the travel space. A graph structure is generated with edges being line segments connecting the nodes (ST7). At this time, it is assumed that a cost calculated based on the distance between adjacent nodes is set as the edge weight. FIG. 8(c) is a diagram showing an example when a graph structure is obtained from the drivable space. , and nodes are indicated by circles and edges by dotted lines.

Next, the route search means 124 performs the above-described route search processing using the graph structure calculated by the graph structure calculation means 123, and obtains moving route data (ST8). Next, the display output unit 125 arranges the movement path objects of all the moving bodies 3 selected as movement path calculation targets on the space model 111, and displays the space model 111 in which the movement path objects are arranged as a virtual camera. A display output process is performed to display and output the obtained virtual camera image as a route image on the display unit 13 by photographing with the virtual camera defined by the information 114 (ST9). FIG. 9 is a diagram for explaining the display output process. FIG. 9(a) shows an object r (solid line arrow) on the movement route from the current position S of the moving body 3 corresponding to the security guard to the target position P, An example of a case in which an object r' (dotted line arrow) on a movement path from a current position S' of a moving object 3 corresponding to a drone to a target position P' is arranged on the space model 111. FIG. Subsequently, in the display output process, after arranging the object of the movement path on the space model 111, the display output means 125 displays the virtual camera corresponding to the image taken by the virtual camera set in the virtual camera information 114. An image is obtained, and the virtual camera image is displayed on the display unit 13 as a route image. 9B is a diagram showing an example of the route image X. FIG.

As described above, in the control system 5 of the present embodiment, the controller confirms the route image X displayed on the display unit 13 of the control device 1, so that the controller can determine whether the moving object 3 can fly. It is possible to comprehend the movement route calculated in consideration of the characteristics such as whether or not. Therefore, the controller can grasp a more realistic moving route for the moving object 3, and can give a reliable handling instruction. In particular, the control system 5 of the present embodiment calculates the movement route using different methods depending on whether the mobile object 3 can fly or not. In other words, for the mobile body 3 that can fly, it is necessary to calculate the moving route from the wide area of the sky part in the space model 111, whereas for the mobile body 3 that cannot fly, the travelable space of the space model 111 Since the moving route is calculated from the limited narrow space, it is possible to greatly reduce the calculation load necessary for calculating the moving route of the moving body 3 that cannot fly. Therefore, the controller can more quickly grasp the movement route of the moving body 3, and can give a more reliable handling instruction.

In addition, since the control system 5 of the present embodiment determines whether the target position is in the sky or on the ground according to whether or not the mobile object 3 can fly, Therefore, it is possible to calculate a more appropriate moving route.

Further, the control system 5 of the present embodiment refers to the aptitude information of the mobile object information 112, selects the mobile object 3 corresponding to the type of the target abnormality, and only the selected mobile object 3 has a moving route. Calculated. Therefore, since the movement route is not calculated for the moving body 3 that is not suitable for dealing with the abnormality that has occurred, the calculation load can be further reduced, and the movement route can be calculated more quickly.

By the way, the present invention is not limited to the above embodiments, and may be implemented in various different embodiments within the scope of the technical idea described in the claims. Moreover, the effects described in the embodiments are not limited to these.

In the above embodiment, the target position is set by the target position setting means 122 in ST2. Alternatively, the abnormality occurrence position O may be simply set as the target position.

In the above-described embodiment, in ST1, the selection means 121 selects the moving body 3 whose type of abnormality matches the aptitude information as the moving body 3 for which the moving route is to be calculated. However, in addition to the above conditions or instead of the above conditions, the selection means 121 refers to the current position of the mobile body information 112 and selects a An existing moving body 3 may be selected. As a result, since it takes time to confirm the abnormality of the moving body 3 far away from the abnormality occurrence position O, the calculation load can be further reduced by excluding the moving body 3 from the movement route calculation target. Furthermore, in addition to these conditions or instead of these conditions, the selection means 121 may select the moving object 3 whose current position is included in the field of view of the virtual camera defined by the virtual camera information 114. good. As a result, the moving object 3 whose current position is so far away that the current position of the moving object 3 is not displayed in the route image displayed on the display unit 13 can be excluded from the moving route calculation target. The calculation load can be further reduced. Furthermore, in addition to these conditions or instead of these conditions, the selection means 121 selects the moving body 3 specified by the controller or the like using the input unit 14 as the moving body 3 whose moving route is to be calculated. You may choose. For example, when the air traffic controller drags the space model 111 displayed on the display unit 13 with the input unit 14 such as a mouse, the selection unit 121 selects the moving object 3 whose current position is included in the dragged range. You may

In the above embodiment, the display output means 125 arranges the movement path objects of all the moving bodies 3 selected in ST1 in the space model 111 in ST9, and displays the path image obtained based on the virtual camera information 114. It is displayed on the display unit 13 . However, not limited to this, the average moving speed of each moving body 3 is stored in advance as the moving body information 112, the total moving distance is obtained from the moving route obtained by the route searching means 124, and the total moving distance and the average Only the movement path objects of the moving body 3 whose movement time is within a pre-stored time limit are placed on the space model 111, and obtained based on the virtual camera information 114. The route image may be displayed on the display unit 13 . As a result, the movement route of the moving body 3 whose movement time exceeds the time limit is not displayed, so that the controller can quickly grasp only the moving route of the moving body 3 that can reach the location where the abnormality occurs within the time limit. Therefore, it is possible to give more appropriate handling instructions.

In the above embodiment, the graph structure calculation means 123 obtains the graph structure by using the travelable space obtained in ST6 and arranging nodes at the branch points of the travelable space in ST7. However, not limited to this, the graph structure calculation means 123 divides the travelable space into spaces of a predetermined size and shape (for example, square or triangular), arranges nodes at the center of gravity of the divided spaces, It is possible to generate a graph structure whose edges are line segments connecting the nodes.

In the above embodiment, the display output means 125 displays and outputs the route image X in the display output processing of ST9. However, not limited to this, the movement route calculated in ST8 may be transmitted to another server (not shown) via the communication unit 15. FIG.

DESCRIPTION OF SYMBOLS 1... Control apparatus 2... Security apparatus 3... Mobile body 4... Communication network 5... Control system 11... Storage part 12... Control part 13... Display part 14. Input unit 15 Communication unit 111 Spatial model 112 Moving body information 113 Abnormality information 114 Virtual camera information 121 Selection means 122 Target position setting means 123 Graph structure calculation means 124 Route search means 125 Display output means

Claims (7)

A control device that receives current positions of a plurality of moving bodies in a monitoring area including obstacles and calculates a moving route from the current position of a target moving body selected from the plurality of moving bodies to a target position. hand,
a storage unit storing in advance a space model expressing the monitoring area as a three-dimensional virtual space, and attribute information indicating whether each of the plurality of moving objects can fly;
When a predetermined position within the monitoring area is input, if the target moving object is capable of flying, the target position is set to a position in the sky within a predetermined range from the predetermined position in the space model; If the moving object cannot fly, the target position is set to a position on the ground surface within a predetermined range from the predetermined position in the space model. target position setting means;
selecting means for selecting the target moving object to be calculated as the movement route from among the plurality of moving objects;
When the target moving object is flyable, a graph structure is obtained in which the local paths, which are components of the movement path, are connected from the space in the space model in which the obstacle does not exist, and the target moving object cannot fly. , graph structure calculation means for obtaining a graph structure in which local routes, which are components of the movement route, are connected from the drivable space in the space model;
route searching means for searching for the moving route of the target moving body using the graph structure obtained by the graph structure calculating means;
A control device comprising: When the current occurrence position, which is the position within the monitoring area where the abnormality has occurred, is input, the target position setting means is configured to, if the target moving body is capable of flying, move within a predetermined range from the current occurrence position in the space model. setting the target position of the target moving object to a position in the sky above, and if the target moving object cannot fly, set the target moving object to a position on the ground surface within a predetermined range from the current occurrence position in the space model 2. The control device according to claim 1, wherein the target position of is set. The storage unit further stores aptitude information describing a relationship between each of the plurality of moving bodies and a predetermined abnormality type as being aptitude,
3. The selection means according to claim 2, wherein said selecting means refers to said aptitude information and selects said target moving body describing a relationship with a type of anomaly occurring at said current occurrence position from said plurality of moving bodies. control equipment. 4. The control apparatus according to claim 2, wherein said selection means selects, as said object moving object, a moving object whose current position is within a predetermined range from said current position of occurrence, from among said plurality of moving objects. The storage unit further stores virtual camera information representing camera parameters of the virtual camera,
The control device further arranges, on the space model, an object expressing the movement route calculated by the display unit and the route search means as three-dimensional data, and converts the space model in which the object is arranged into the virtual space model. 5. The control device according to any one of claims 1 to 4, further comprising display output means for displaying and outputting a virtual camera image captured by a camera on said display unit. 6. The control device according to claim 5, wherein said selection means selects, as said target mobile body, a mobile body whose current position is included in the field of view of said virtual camera from among said plurality of mobile bodies. The storage unit further stores an average moving speed of each of the plurality of moving objects,
The selection means selects a plurality of the target moving bodies,
The display output means obtains a travel time for each of the target moving bodies using the moving route and the average moving speed, and displays only the object of the target moving body whose moving time is equal to or less than a predetermined time threshold. 7. The control device according to claim 5 or 6, arranged on a space model.

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