JP7633828B2 - MOBILE BODY CONTROL SYSTEM, MOBILE BODY CONTROL DEVICE, AND MOBILE BODY CONTROL METHOD - Google Patents

Description

The present invention relates to a mobile object control system, a mobile object control device, and a mobile object control method that can efficiently have a mobile object patrol areas where there is a high possibility of remaining people being located, depending on the circumstances surrounding the disaster area.

Conventionally, there is known technology for flying a drone over a disaster area to encourage people in the disaster area to evacuate. For example, Patent Document 1 discloses technology related to an aircraft (disaster prevention drone) that acquires disaster prevention information indicating the occurrence of an event such as an earthquake that causes a disaster and the area that will be affected by the event, determines a flight path to fly over the disaster area indicated by the acquired disaster prevention information, issues an instruction to start flying, and, when an instruction to start flying is received, performs flight control to fly along the determined flight path and issues an alert regarding the disaster indicated by the disaster prevention information.

Specifically, when a tsunami warning (major tsunami warning, tsunami warning, or tsunami advisory) is issued, the disaster prevention drone will fly along flight route R1 and output an audio message urging people in tsunami damage predicted area A1 to evacuate. In addition, when a landslide warning is issued in the mountains, the disaster prevention drone will fly along flight route R2 and output an audio message urging people in landslide damage predicted area A2 to evacuate.

JP 2019-086902 A

However, the disaster areas described in the above Patent Document 1 (tsunami damage predicted areas A1 or landslide damage predicted areas A2) are areas predicted in advance according to the type of disaster, but there is no guarantee that there will be any survivors in these disaster areas.

For example, suppose that campsites and fishing spots are predicted to be disaster areas because people tend to gather at these locations on sunny days. In such a case, if the weather on the day is bad, it would be desirable to designate locations where river breakwaters are likely to collapse as disaster areas, rather than campsites and fishing spots.

As such, the location designated as a disaster area varies depending on the circumstances surrounding the area, so an important issue is how to efficiently identify disaster areas according to the circumstances and have drones patrol those areas. Note that this issue arises not only when using drones to patrol, but also when using mobile objects such as patrol robots to patrol.

The present invention has been made to solve the problems of the conventional technology described above, and aims to provide a mobile object control system, a mobile object control device, and a mobile object control method that can efficiently identify disaster areas according to the situation and have mobile objects patrol the areas.

In order to solve the above-mentioned problems and achieve the object, the present invention provides a mobile object control system including a disaster management device that manages disaster information, a regional information management device that manages regional information, a mobile object, and a mobile object control device that controls the mobile object, wherein the mobile object control device includes a disaster information acquisition unit that acquires disaster information from the disaster management device, a regional information acquisition unit that acquires regional information from the regional information management device, a travel route calculation unit that calculates a travel route of the mobile object based on at least the disaster information and regional information related to area information included in the disaster information, and a travel route calculation unit that calculates a travel route of the mobile object based on the travel route calculated by the travel route calculation unit. The movement route calculation unit has a disaster area determination unit that determines one or more disaster areas where remaining personnel may be located based on the disaster information and the area information, a calculation unit that calculates an estimated arrival time for staff to arrive at the disaster area, and an urgency determination unit that determines the urgency of the disaster area based on at least the disaster information, the area information, and the estimated arrival time, and is characterized in that it calculates the movement route of the moving body based on the disaster area determined by the disaster area determination unit and the urgency of the disaster area determined by the urgency determination unit .

The present invention further includes a notification content specification unit that specifies the notification content to be notified by the mobile body based on the disaster area determined by the disaster area determination unit and the urgency of the disaster area, and the notification means notifies the mobile body of information on the travel route calculated by the travel route calculation unit and the notification content specified by the notification content specification unit.

The present invention is also characterized in that, in the above invention, the mobile body moves based on information related to the movement route notified from the mobile body control device, and issues a notification to the disaster area based on the notification content identified by the notification content identification unit.

The present invention also provides a mobile body control device that is capable of communicating with a disaster management device that manages disaster information, a regional information management device that manages regional information, and a mobile body, and controls the mobile body, the mobile body control device comprising: a disaster information acquisition unit that acquires disaster information from the disaster management device; a regional information acquisition unit that acquires regional information from the regional information management device; a movement route calculation unit that calculates a movement route of the mobile body based on at least the disaster information and regional information related to area information included in the disaster information; and a notification means that notifies the mobile body of information related to the movement route calculated by the movement route calculation unit, the movement route calculation unit having a disaster area determination unit that determines one or more disaster areas where a remainder may be located based on the disaster information and the regional information; a calculation unit that calculates an estimated arrival time for an employee to arrive in the disaster area; and an urgency determination unit that determines the urgency of the disaster area based on at least the disaster information, the regional information, and the estimated arrival time, and is characterized in that the movement route of the mobile body is calculated based on the disaster area determined by the disaster area determination unit and the urgency of the disaster area determined by the urgency determination unit .

The present invention also provides a mobile body control method in a mobile body control system including a disaster management device that manages disaster information, a regional information management device that manages regional information, a mobile body, and a mobile body control device that controls the mobile body, the method including a disaster information acquisition step in which the mobile body control device acquires disaster information from the disaster management device, a regional information acquisition step in which the mobile body control device acquires regional information from the regional information management device, a travel route calculation step in which the mobile body control device calculates a travel route for the mobile body based on at least the disaster information and regional information related to area information included in the disaster information, and and a notification process of notifying the moving body of information related to the calculated movement route , the movement route calculation process including a disaster area determination process of determining one or more disaster areas where remaining personnel may be located based on the disaster information and the regional information, a calculation process of calculating an estimated arrival time for staff to arrive at the disaster area, and an urgency determination process of determining the urgency of the disaster area based on at least the disaster information, the regional information, and the estimated arrival time, and is characterized in that the movement route of the moving body is calculated based on the disaster area determined by the disaster area determination process and the urgency of the disaster area determined by the urgency determination process .

The present invention provides a mobile object control system, a mobile object control device, and a mobile object control method that can efficiently identify disaster areas according to the situation and have a mobile object patrol the areas.

FIG. 1 is an explanatory diagram for explaining an overview of a mobile object control system according to an embodiment. FIG. 2 is a diagram showing a system configuration of a mobile object control system according to the embodiment. FIG. 3 is a functional block diagram showing the configuration of the local information management device shown in FIG. FIG. 4 is a functional block diagram showing the configuration of the mobile object control device shown in FIG. FIG. 5 is a functional block diagram showing the configuration of the moving body shown in FIG. FIG. 6 is a sequence diagram showing a processing procedure of the mobile object control system shown in FIG.

Below, embodiments of a mobile object control system, a mobile object control device, and a mobile object control method according to the present invention will be described in detail with reference to the drawings. Note that the embodiments described below will be described with reference to the case where a drone is used as the mobile object.

<Overview of the mobility control system>
An overview of the mobile object control system according to the present embodiment will be described. Fig. 1 is an explanatory diagram for explaining the overview of the mobile object control system according to the embodiment. As shown in Fig. 1, this mobile object control system is a system that calculates a moving route of a mobile object based on disaster information and regional information, and notifies the mobile object of information related to the calculated moving route.

The mobile unit control device 30 receives disaster information from a disaster management device (not shown) and receives regional information related to area information (to be described later) from a regional information management device (not shown) (S1). This disaster information includes earthquake alerts that may cause disasters, weather warnings and advisories for heavy rain and strong winds, information on dam discharges, and area information indicating areas where disasters may occur due to these events. Regional information also includes hazard map information, damage tendency information, staff position information, sidewalk information, roadway information, evacuation site information, and the like. Upon receiving the disaster information and regional information, the mobile unit control device 30 calculates a movement route for the mobile unit 40a to patrol the disaster area and transmits the movement route to the waiting mobile unit 40a (S2). Specifically, based on the disaster information and regional information, it determines one or more disaster areas where a disaster may occur and where remaining people may be located, and calculates the movement route of the mobile unit 40a based on the determined disaster area.

When the mobile unit 40a receives the movement route and movement instructions, it moves along the received movement route. Here, the case of moving to a target river is shown (S3). The mobile unit 40a patrols along the movement route while checking for remaining people (verifying whether or not there are remaining people) (S4). If there are remaining people, the mobile unit 40a moves to a position near the remaining people (S5) and issues a warning to the remaining people via the warning unit (S6).

The mobile unit 40a continues to report until the remaining people have completed their evacuation, and when the evacuation of the remaining people is complete, it returns to the travel route received from the mobile unit control device 30 and resumes patrol (S7). Then, when the patrol is completed, the mobile unit 40a returns to the takeoff location following the travel route (S8).

In this way, the mobile body control system according to this embodiment is configured so that, when the mobile body control device 30 receives disaster information from the disaster management device, it acquires regional information from the regional information management device, calculates a travel route for the mobile body 40a based on at least regional information relating to the region indicated by the disaster information and the area information contained in the disaster information, and notifies the mobile body 40a of information relating to the travel route. This makes it possible to efficiently identify disaster areas according to the situation and have the mobile body 40a patrol them.

The mobile unit control device 30 is also configured to determine one or more disaster areas where the remaining people may be located based on the disaster information and area information, and to calculate the movement route of the mobile unit 40a based on the determined disaster area, so that the mobile unit 40a can be made to patrol areas where the remaining people may be located.

The mobile unit control device 30 can also be configured to determine the urgency of the disaster area based on the disaster information and the regional information, and to calculate the movement route of the mobile unit 40a based on the disaster area and the urgency of the disaster area. When calculating such urgency, the estimated arrival time of staff in the disaster area can be calculated, and the urgency of the disaster area can be determined based on the disaster information, regional information, and the estimated arrival time. The mobile unit control device 30 can also be configured to specify the notification content to be notified by the mobile unit 40a based on the disaster area and the urgency of the disaster area, and to notify the mobile unit 40a of the specified notification content together with the movement route.

<System configuration of the mobile control system>
Next, the system configuration of the mobile object control system according to this embodiment will be described. Fig. 2 is a diagram showing the system configuration of the mobile object control system shown in Fig. 1. As shown in Fig. 2, in this mobile object control system, a disaster management device 10, a regional information management device 20, a mobile object control device 30, and a plurality of mobile objects 40a, 40b, and 40c (hereinafter, sometimes collectively referred to as "mobile objects 40") are connected to a network N.

The disaster management device 10 is a management device that manages disaster-related information operated by a government agency. For example, this includes a disaster prevention information center operated by the Ministry of Land, Infrastructure, Transport and Tourism, and a management device that manages dam discharge information operated by a local government.

The regional information management device 20 is a device that manages regional information. This regional information includes hazard map information 25a, damage trend information 25b, staff location information 25c including the locations of staff monitoring the watershed, sidewalk information 25d, roadway information 25e, and evacuation site information 25f.

The mobile object control device 30 performs the following processes: acquiring disaster information from the disaster management device 10; acquiring regional information relating to the region indicated by the area information included in the disaster information from the regional information management device 20; determining a disaster area where a disaster may occur based on the disaster information and regional information; determining the urgency of the disaster area based on the likelihood of there being any remaining personnel; calculating the time for staff to arrive at the disaster site; calculating the travel route of the mobile object 40 based on the disaster area, the urgency of the disaster area, and the arrival time of staff at the disaster area; identifying the content of the notification to be given to the remaining personnel; and analyzing the captured images received from the mobile object 40.

The mobile unit 40 receives a travel route from the mobile unit control device 30, patrols along the travel route, and if any remaining people are found, notifies the remaining people of warning information to encourage them to evacuate. The mobile unit 40a grasps its own position coordinates according to the travel route using signals from an altitude sensor and a GPS (Global Positioning System) unit, and controls the rotors to move, captures images of the surrounding area with an imaging unit and transmits them to the mobile unit control device 30, and notifies the remaining people of warning information if any remain.

<Configuration of regional information management device 20>
Next, a configuration of the regional information management device 20 shown in Fig. 3 will be described. Fig. 3 is a functional block diagram showing the configuration of the regional information management device 20 shown in Fig. 2. As shown in Fig. 3, the regional information management device 20 has a display unit 21, an operation unit 22, a communication I/F unit 23, a control unit 24, and a storage unit 25.

The display unit 21 is a display device such as a liquid crystal panel or a display device, and the operation unit 22 is an input device such as a keyboard or a mouse. The communication I/F unit 23 is an interface unit used when communicating with other devices such as the disaster management device 10 and the mobile object control device 30.

The control unit 24 is a control unit that controls the entire regional information management device 20, and has a hazard map information acquisition unit 24a, a disaster tendency information acquisition unit 24b, a staff position information acquisition unit 24c, a sidewalk information acquisition unit 24d, a roadway information acquisition unit 24e, and an evacuation site information acquisition unit 24f. In practice, by loading these programs into the CPU and executing them, the processes corresponding to the hazard map information acquisition unit 24a, the disaster tendency information acquisition unit 24b, the staff position information acquisition unit 24c, the sidewalk information acquisition unit 24d, the roadway information acquisition unit 24e, and the evacuation site information acquisition unit 24f are executed.

The hazard map information acquisition unit 24a acquires hazard map information on floods, landslides, high tides, tsunamis, etc. for each city, town, and village provided by public agencies, and stores it in the memory unit 25 as hazard map information 25a. Here, a case is shown in which a server device of a public agency manages the hazard map information, and the regional information management device 20 acquires the hazard map information online from the server device of the public agency, but an operator can also input the hazard map information from the operation unit 22.

The disaster tendency information acquisition unit 24b acquires information on past disasters and information on the degree of crowding at campsites, fishing spots, tourist destinations, and other locations where people tend to gather, depending on the season and date, and stores this information in the memory unit 25 as disaster tendency information 25b.

The staff position information acquisition unit 24c acquires information on the positions of staff in disaster areas, for example, from position information on mobile devices carried by staff of government offices or town halls that manage rivers, or staff of river offices, etc., and stores this information in the memory unit 25 as staff position information 25c. The sidewalk information acquisition unit 24d acquires information on sidewalks included in information provided by government agencies or commercially available map data, and stores this information in the memory unit 25 as sidewalk information 25d.

The roadway information acquisition unit 24e acquires roadway information from the map data and stores it in the memory unit 25 as roadway information 25e. The evacuation site information acquisition unit 24f acquires information on evacuation sites in municipalities from the map data and stores it in the memory unit 25 as evacuation site information 25f.

The storage unit 25 is a storage device such as a hard disk drive or non-volatile memory, and stores hazard map information 25a, damage tendency information 25b, staff position information 25c, sidewalk information 25d, roadway information 25e, and evacuation site information 25f. Note that the hazard map information 25a, damage tendency information 25b, sidewalk information 25d, roadway information 25e, and evacuation site information 25f are updated periodically (for example, once a month).

<Configuration of mobile object control device 30>
Next, a description will be given of the configuration of the mobile body control device 30 shown in Fig. 2. Fig. 4 is a functional block diagram showing the configuration of the mobile body control device 30 shown in Fig. 2. As shown in Fig. 4, the mobile body control device 30 has a display unit 31, an operation unit 32, a communication I/F unit 33, a wireless communication unit 34, a control unit 35, and a storage unit 36.

The display unit 31 is a display device such as a liquid crystal panel or a display device, and the operation unit 32 is an input device such as a keyboard or a mouse. The communication I/F unit 33 is an interface unit for communicating with other devices such as the disaster management device 10 and the regional information management device 20. The wireless communication unit 34 is an interface unit for wireless communication with the mobile body 40.

The control unit 35 is a control unit that controls the entire mobile unit control device 30, and has a disaster information acquisition unit 35a, a regional information acquisition unit 35b, a disaster area determination unit 35c, an urgency determination unit 35d, a travel route calculation unit 35e, a staff arrival time calculation unit 35f, a notification content identification unit 35g, and an image analysis unit 35h. In practice, by loading these programs into the CPU and executing them, the processes corresponding to the disaster information acquisition unit 35a, the regional information acquisition unit 35b, the disaster area determination unit 35c, the urgency determination unit 35d, the travel route calculation unit 35e, the staff arrival time calculation unit 35f, the notification content identification unit 35g, and the image analysis unit 35h are executed.

The disaster information acquisition unit 35a acquires disaster information from the disaster management device 10, including earthquake alerts, weather warnings and alerts for heavy rain and strong winds, information on dam discharges, and area information indicating regions where disasters may occur due to these events, and stores the information in the memory unit 36 as disaster information 36a.

The regional information acquisition unit 35b acquires hazard map information 25a, disaster tendency information 25b, staff position information 25c, sidewalk information 25d, roadway information 25e, and evacuation site information 25f for the region indicated by the area information included in the disaster information 36a from the regional information management device 20, and stores them as regional information 36b in the storage unit 36. The reason regional information is acquired by the regional information acquisition unit 35b is that it is difficult to dynamically determine a disaster area using disaster information alone.

The disaster area determination unit 35c determines areas where a disaster is likely to occur based on the acquired disaster information 36a and area information 36b. For example, if information indicating that there is a high possibility of flooding of River A is acquired in the disaster information 36a, areas in the basin of River A where a disaster is likely to occur are determined to be disaster areas based on the hazard map information 25a of River A stored in the area information 36b and the past disaster information stored in the disaster tendency information 25b, and the determined areas are stored in the memory unit 36 as disaster area determination information 36c.

The urgency determination unit 35d determines the urgency of the disaster area determined by the disaster area determination unit 35c based on the damage tendency information 25b, sidewalk information 25d, roadway information 25e, and staff arrival time information 36f (described later), and stores the information in the memory unit 36 as urgency information 36d. For example, if the weather suddenly changes during a sunny summer day and heavy rain falls, the urgency determination unit 35d determines that there is a high possibility that many people remain at the riverbed campsite and increases the urgency. Also, if the weather changes from the morning and heavy rain falls, it determines that there is a high possibility that many people remain at the fishing spot upstream and increases the urgency.

The travel route calculation unit 35e calculates a travel route that enables the mobile unit 40 to efficiently patrol the disaster area based on the disaster area determination information 36c determined by the disaster area determination unit 35c, the urgency information 36d determined by the urgency determination unit 35d, and the staff arrival time information 36f calculated by the staff arrival time calculation unit 35f described below, and stores the calculated travel route information 36e in the memory unit 36 and transmits the travel route information 36e to the mobile unit 40.

The staff arrival time calculation unit 35f calculates the time it takes for staff to arrive at the disaster area from their current location based on staff position information 25c, sidewalk information 25d, and roadway information 25e acquired by the area information acquisition unit 35b, and stores the time as staff arrival time information 36f in the memory unit 36. The staff arrival time calculation unit 35f may also calculate the arrival time based on sidewalk information 25d, roadway information 25e, and passability information.

The notification content specification unit 35g is a processing unit that specifies the notification content that the mobile unit 40 issues to the remaining people. The notification content is stored in advance in the storage unit 36 as notification content information 36g, and the notification content specification unit 35g specifies the notification content based on the disaster area determination information 36c, the urgency information 36d, and the captured image information 36h described below. The notification content may be created based on the current position of the mobile unit, evacuation site information, sidewalk information, and roadway information.

The captured image analysis unit 35h analyzes captured images of the disaster area received from the mobile unit 40, monitors for the presence or absence of remaining people, and stores the captured images as captured image information 36h in the storage unit 36. When analyzing such captured images, for example, remaining people can be detected by performing template matching processing on the captured images using a human template. The captured images can also be input into a trained model obtained by deep learning to detect the presence or absence of remaining people. When using such deep learning, it is necessary to generate a trained model by performing supervised learning using images containing people and their results as training data.

The memory unit 36 is a storage device such as a hard disk drive or non-volatile memory, and stores disaster information 36a, area information 36b, disaster area determination information 36c, urgency information 36d, travel route information 36e, staff arrival time information 36f, notification content information 36g, and captured image information 36h.

<Configuration of moving body 40a>
Next, the configuration of the moving body 40a shown in Fig. 2 will be described. Fig. 5 is a functional block diagram showing the configuration of the moving body 40a shown in Fig. 2. The moving bodies 40b and 40c have the same configuration. As shown in Fig. 5, the moving body 40a has an imaging unit 41, an altitude sensor 42, a GPS unit 43, a notification unit 44, a wireless communication unit 45, a rotor 46, a control unit 47, and a storage unit 48.

The imaging unit 41 uses a camera to capture images of the disaster area. It is desirable for the camera mounted on the imaging unit 41 to be capable of simultaneously capturing visible light images and infrared light images of the same imaging range. However, it may also be capable of capturing only visible light images.

The altitude sensor 42 is a sensor that measures the altitude of the mobile unit 40a. For example, a barometric pressure sensor can be used as the altitude sensor 42, but a barometric pressure sensor can also be combined with an ultrasonic sensor. This allows the mobile unit 40a to stably maintain its altitude close to the ground. The GPS unit 43 is a unit that receives signals from multiple GPS satellites and identifies the position coordinates of the device itself.

The notification unit 44 is a processing unit that notifies remaining people of notification information 48c received from a notification information processing unit 47c described later. Examples of notification modes include audio notification using a synthesized sound, notification using an alarm sound, etc., but notification using light emission is also acceptable. The wireless communication unit 45 is an interface unit for wireless communication with the mobile body control device 30. The multiple rotors 46 rotate individually under the control of the control unit 47, enabling attitude control and movement of the mobile body 40a.

The control unit 47 is a control unit that controls the entire moving body 40a, and has a flight control unit 47a, an imaging control unit 47b, and a notification information processing unit 47c. The flight control unit 47a controls flight by controlling the multiple rotors 46 using the travel route information 48a, the altitude information output by the altitude sensor 42, and the position information output by the GPS unit 43.

The imaging control unit 47b causes the imaging unit 41 to capture images of the disaster area, and stores the obtained infrared and visible light images in the storage unit 48 as captured image information 48b. The imaging control unit 47b also transmits the captured image information 48b to the mobile object control device 30 during flight.

The notification information processing unit 47c receives notification content information 36g transmitted from the mobile control device 30 and stores it in the memory unit 48 as notification information 48c. It also transmits the stored notification information 48c to the notification unit 44.

The storage unit 48 is a storage device such as a hard disk drive or non-volatile memory, and stores the travel route information 48a, the captured image information 48b, and the notification information 48c. The travel route information 48a is the travel route information 36e calculated by the mobile body control device 30, and the mobile body 40a moves according to this travel route information 48a.

The flight control unit 47a may be configured to interrupt the movement of the moving body 40a on its route and return it to the location where it started moving when the remaining charge of the battery (not shown) falls below a predetermined threshold.

<Processing procedure of the mobile control system>
Next, a process procedure of the mobile object control system in this embodiment will be described with reference to Fig. 6. Fig. 6 is a sequence diagram showing a process procedure of the mobile object control system shown in Fig. 2.

The mobile control device 30 acquires disaster information 36a from the disaster management device 10 (step S101), and acquires regional information 36b relating to the region indicated by the disaster information and the area information included in the acquired disaster information 36a from the regional information management device 20 (step S102). Then, the mobile control device 30 determines the disaster region based on the disaster information 36a and the regional information 36b (step S103).

Then, the mobile control device 30 judges the urgency based on the information on the disaster area and the damage tendency information 25b of the area information 36b (step S104). Then, the mobile control device 30 calculates the time it takes for the staff to arrive at the disaster area (staff arrival time) based on the staff position information 25c, the sidewalk information 25d, and the roadway information 25e (step S105).

Then, the mobile unit control device 30 calculates movement route information 36e for the mobile unit 40a based on the disaster area determination information 36c, the urgency information 36d, and the staff arrival time information 36f (step S106), and transmits the calculated movement route information 36e to the mobile unit 40 (step S107).

When the mobile unit 40a receives the movement route information 36e from the mobile unit control device 30 (step S108), it starts moving according to the movement route information 36e (step S109). When the mobile unit 40a arrives in the disaster area, it transmits its position and captured image information 48b to the mobile unit control device 30 (step S110).

When the mobile unit control device 30 receives the captured image information 48b from the mobile unit 40a, it analyzes the captured image (step S111). If the image analysis reveals that a person is still present, the mobile unit control device 30 transmits an instruction to the mobile unit 40a to temporarily suspend movement along the route, and transmits the notification content information 36g identified by the notification content identification unit 35g (step S112).

When the moving body 40a receives the temporary suspension instruction, it temporarily suspends movement along the movement route (step S113) and notifies the remaining people of notification information 48c (step S114). In addition, the moving body 40a transmits movement information including its own position and captured image information 48b to the moving body control device 30 (step S115).

The mobile unit control device 30 analyzes the movement information and captured image information 48b transmitted from the mobile unit 40a, and if it determines that the evacuation of remaining people is complete, transmits an instruction to the mobile unit 40a to resume patrol according to the movement route information 48a (step S116). When the mobile unit 40a receives the instruction to resume patrol according to the movement route information 48a, it resumes patrol from the position where the route movement was interrupted (step S117).

When the mobile unit 40a completes the patrol according to the movement route information 48a, or when the remaining battery charge falls below a threshold, the mobile unit 40a returns to the position from which it started moving (step S118).

When the mobile unit 40a has patrolled the entire travel route, the mobile unit control device 30 ends the process as the patrol is complete (step S119: Yes), and if the patrol is not complete (step S119: No), the mobile unit control device 30 returns to step S106 and calculates new travel route information 36e from the interrupted location.

As described above, in this embodiment, the mobile unit control device 30 is configured to acquire disaster information 36a from the disaster management device 10 and regional information 36b from the regional information management device 20, and to perform disaster area prediction based on the disaster information 36a and regional information 36b. This makes it possible to have the mobile unit efficiently patrol areas where there is a high probability of remaining people being located depending on the circumstances surrounding the disaster area. Furthermore, the mobile unit control device 30 calculates a travel route for the mobile unit 40a to efficiently patrol the disaster area based on the disaster area prediction and the urgency determination result, and can quickly evacuate remaining people if any are present.

In the above embodiment, a drone is used as the mobile body 40a, but the present invention is not limited to this and can also be applied to a robot that travels on the ground. In addition, in the above embodiment, confirmation of remaining persons and identification of the content of the notification are performed by the mobile body control device 30, but these functions can also be performed by the mobile body 40a.

The configurations illustrated in the above embodiments are merely functional schematics, and do not necessarily have to be physically configured as illustrated. In other words, the form of distribution and integration of each device is not limited to that illustrated, and all or part of the devices can be functionally or physically distributed and integrated in any unit depending on various loads, usage conditions, etc.

The mobile object control system, mobile object control device, and mobile object control method of the present invention can efficiently identify disaster areas according to the situation and have mobile objects patrol the areas.

N network 10 disaster management device 20 regional information management device 21 display unit 22 operation unit 23 communication I/F unit 24 control unit 24a hazard map information acquisition unit 24b damage tendency information acquisition unit 24c staff position information acquisition unit 24d sidewalk information acquisition unit 24e roadway information acquisition unit 24f evacuation site information acquisition unit 25 storage unit 25a hazard map information 25b damage tendency information 25c staff position information 25d sidewalk information 25e roadway information 25f evacuation site information 30 mobile object control device 31 display unit 32 operation unit 33 communication I/F unit 34 wireless communication unit 35 control unit 35a disaster information acquisition unit 35b regional information acquisition unit 35c disaster region determination unit 35d urgency determination unit 35e movement route calculation unit 35f Staff arrival time calculation unit 35g Notification content identification unit 35h Captured image analysis unit 36 Memory unit 36a Disaster information 36b Area information 36c Disaster area determination information 36d Urgency information 36e Travel route information 36f Staff arrival time information 36g Notification content information 36h Captured image information 40, 40a, 40b, 40c Mobile body 41 Imaging unit 42 Altitude sensor 43 GPS unit 44 Notification unit 45 Wireless communication unit 46 Rotor 47 Control unit 47a Flight control unit 47b Imaging control unit 47c Notification information processing unit 48 Memory unit 48a Travel route information 48b Captured image information 48c Notification information

Claims (5)

A mobile object control system including a disaster management device that manages disaster information, a regional information management device that manages regional information, a mobile object, and a mobile object control device that controls the mobile object,
The mobile object control device includes:
a disaster information acquisition unit that acquires disaster information from the disaster management device;
a regional information acquisition unit that acquires regional information from the regional information management device;
a travel route calculation unit that calculates a travel route of the moving object based on at least the disaster information and regional information related to area information included in the disaster information;
a notification means for notifying the moving object of information related to the moving route calculated by the moving route calculation unit ,
The travel route calculation unit is
a disaster area determination unit that determines one or more disaster areas where a remainder may be located based on the disaster information and the area information;
A calculation unit that calculates an estimated arrival time for an employee to arrive at the disaster area;
an urgency determination unit that determines an urgency of the disaster area based on at least the disaster information, the area information, and the estimated arrival time;
A movement route of the moving object is calculated based on the disaster area determined by the disaster area determination unit and the urgency of the disaster area determined by the urgency determination unit.
A mobile object control system comprising : a notification content specification unit that specifies notification content to be notified by the mobile object based on the disaster area determined by the disaster area determination unit and the urgency of the disaster area;
The notification means is
The mobile object control system according to claim 1 , further comprising: notifying the mobile object of information on the travel route calculated by the travel route calculation unit and the notification content specified by the notification content specification unit. The moving body is
The mobile body control system according to claim 2, characterized in that the mobile body control device moves based on information regarding a travel route notified by the mobile body control device , and an alert is issued to the disaster area based on the alert content identified by the alert content identification unit. A disaster management device for managing disaster information, a local information management device for managing local information, and a mobile body control device that is provided to be capable of communicating with a mobile body and controls the mobile body,
a disaster information acquisition unit that acquires disaster information from the disaster management device;
a regional information acquisition unit that acquires regional information from the regional information management device;
a travel route calculation unit that calculates a travel route of the moving object based on at least the disaster information and regional information related to area information included in the disaster information;
a notification means for notifying the moving object of information related to the moving route calculated by the moving route calculation unit ,
The travel route calculation unit is
a disaster area determination unit that determines one or more disaster areas where a remainder may be located based on the disaster information and the area information;
A calculation unit that calculates an estimated arrival time for an employee to arrive at the disaster area;
an urgency determination unit that determines an urgency of the disaster area based on at least the disaster information, the area information, and the estimated arrival time;
A movement route of the moving object is calculated based on the disaster area determined by the disaster area determination unit and the urgency of the disaster area determined by the urgency determination unit.
A mobile object control device comprising : A mobile object control method in a mobile object control system including a disaster management device that manages disaster information, a regional information management device that manages regional information, a mobile object, and a mobile object control device that controls the mobile object, comprising:
a disaster information acquisition step in which the mobile object control device acquires disaster information from the disaster management device;
a regional information acquisition step in which the mobile object control device acquires regional information from the regional information management device;
a movement route calculation step in which the mobile object control device calculates a movement route of the mobile object based on at least the disaster information and regional information related to area information included in the disaster information;
a notification step of the mobile object control device notifying the mobile object of information related to the travel route calculated by the travel route calculation step ,
The movement path calculation step includes:
a disaster area determination step of determining one or more disaster areas where the remaining people may be located based on the disaster information and the area information;
A calculation step of calculating an estimated arrival time for personnel to arrive at the disaster area;
an urgency determination step of determining an urgency of the disaster area based on at least the disaster information, the area information, and the estimated arrival time;
A movement route of the moving object is calculated based on the disaster area determined in the disaster area determination step and the urgency of the disaster area determined in the urgency determination step.
A moving object control method comprising :

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