JP2024079127A - Moving body, moving body system, and information processing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology of informing a user of whether the user can designate a passage position of a moving body.

SOLUTION: The present invention provides a moving body that autonomously moves to pass through a designated passage position, and that includes: a user information acquisition unit which acquires user information on a user who designates the passage position; and a moving body information display unit which displays a result of collation between first authority information, which is needed to designate the passage position, and the user information.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a mobile body, a mobile body system, and an information processing system.

Mobile objects such as autonomous mobile robots are attracting attention as one of the means to achieve business efficiency, automation, and labor reduction. Mobile objects move along preset routes. Users define the route to be traveled by setting waypoints, which are points on the route.

Technology for authenticating a user who operates a moving object is known (see, for example, Patent Document 1). Patent Document 1 discloses a technology for authenticating a user and changing operation parameters according to the user's authority in order to properly manage components of a robot, such as a controller.

However, with conventional technology, the user is not informed of why the desired passing position cannot be set, which can lead to delays in the setting process.

In view of the above problem, the present invention aims to provide a technology that notifies a user whether or not it is possible to set the passing position of a moving object.

In view of the above problem, the present invention provides a mobile body that moves autonomously so as to pass through a set passing position, and includes a user information acquisition unit that acquires user information of a user who sets the passing position, and a mobile body information display unit that displays a comparison result between first authority information that sets the passing position and the user information.

It is possible to provide a technology that notifies a user whether or not it is possible to set the passing position of a moving object.

FIG. 2 is a diagram illustrating an outline of the operation of the mobile system. FIG. 1 is a diagram illustrating an example of the configuration of a mobile system. FIG. 1 is a perspective view of an external appearance of an example of a moving body. FIG. 2 is a diagram illustrating a hardware configuration of an example of a moving body. FIG. 1 is a diagram illustrating an example of a hardware configuration of an information processing system and a terminal device. FIG. 2 is a functional block diagram of an example illustrating functions of a mobile object, an information processing system, and a terminal device, divided into blocks. FIG. 11 is a diagram illustrating an example of user information transmitted to the information processing system. 11 is a diagram showing an example of authority information stored in an authority information storage unit; FIG. 11 is a diagram illustrating the process of registering candidates for waypoints that a mobile body will pass through during autonomous driving within a base. FIG. FIG. 13 is a diagram showing an example of registered waypoints. FIG. 11 is a diagram showing an example of set waypoint information. FIG. 11 is a sequence diagram illustrating an example of a process flow for a user to set a waypoint. FIG. 11 is a flowchart illustrating an example of a process in which the information processing system checks whether or not a user has authority to set a waypoint, and the terminal device displays the check result. FIG. 13 is a diagram showing an example of a waypoint setting screen displayed on the terminal device. FIG. 2 is a functional block diagram of an example illustrating functions of a mobile object, an information processing system, and a terminal device, divided into blocks. 10 is a diagram showing an example of prohibited area information stored in a prohibited area information storage unit; FIG. FIG. 11 is a flowchart illustrating an example of a process in which the information processing system checks whether a user has the authority to set a waypoint and whether the user will pass through a prohibited movement area, and the terminal device displays the check result. FIG. 13 is a diagram showing an example of a waypoint setting screen displayed on the terminal device. FIG. 11 is a sequence diagram illustrating an example of a flow of notifying an administrator that a moving object has entered a prohibited movement area after a user has set a waypoint. FIG. 13 is a diagram showing an example of a mail display screen displayed on a terminal device by an administrator. 10 is a diagram showing an example of prohibited area information stored in a prohibited area information storage unit; FIG. FIG. 11 is a flowchart illustrating an example of a process in which the information processing system checks whether a user has the authority to set a waypoint and whether the user will enter a prohibited movement area, and the terminal device displays the check result. FIG. 2 is a functional block diagram of an example illustrating functions of a mobile object, an information processing system, and a terminal device, divided into blocks. FIG. 11 is a diagram illustrating an example of available device information stored in an available device information storage unit. FIG. 11 is a flowchart illustrating an example of a process in which the information processing system checks whether a user has the authority to set a waypoint and whether the user can use a device, and the terminal device displays the check result. FIG. 13 is a diagram showing an example of a waypoint setting screen displayed on the terminal device. FIG. 2 is a functional block diagram of an example illustrating functions of a mobile object, an information processing system, and a terminal device, divided into blocks. FIG. 11 is a flowchart illustrating an example of a process in which the information processing system checks whether or not a user has authority to set a waypoint, and the terminal device displays the check result. FIG. 13 is a diagram showing an example of a waypoint setting screen displayed on the terminal device. FIG. 11 is a sequence diagram illustrating an example of a flow in which a user sets a waypoint when a moving object is in a prohibited movement area. FIG. 13 is a diagram showing an example of a waypoint setting screen displayed on the terminal device. FIG. 11 is a flowchart illustrating an example of a process in which the information processing system checks whether or not a user has authority to set a waypoint, and the terminal device displays the check result. FIG. 13 is a diagram showing an example of a waypoint setting screen displayed on the terminal device. FIG. 2 is a functional block diagram of an example illustrating functions of a mobile object, an information processing system, and a terminal device, divided into blocks. 10 is a diagram showing an example of test drive mode capable moving object information stored in a test drive mode capable moving object information storage unit; FIG. A flowchart illustrating an example of a process in which an information processing system checks whether a user has the authority to set a waypoint and whether a test drive mode is permitted for a moving object, and a terminal device displays the check result. FIG. 13 is a diagram showing an example of a waypoint setting screen displayed on the terminal device. FIG. 2 is a functional block diagram of an example illustrating functions of a mobile object, an information processing system, and a terminal device, divided into blocks. 10 is a diagram showing an example of moving object operation record information stored in a moving object operation record information storage unit; FIG. 11 is a sequence diagram illustrating an example of a process in which a user displays an operation record of a moving object on a terminal device. FIG. FIG. 11 is a diagram showing an example of operation results of a moving object displayed by a terminal device.

Below, as an example of an embodiment of the present invention, a mobile system and a method of displaying information performed by the mobile system will be described with reference to the drawings.

<Outline of operation or processing>
Due to the effects of a declining birthrate and an aging population, labor shortages and labor shortages have become a hot topic. On the other hand, IoT technologies and infrastructure, such as AI (Artificial Intelligence), robots, and high-speed, large-volume data communications via 5G, are evolving rapidly, and their widespread use is expected. Under these circumstances, technology development and verification is underway in various industries to utilize IoT technologies such as AI and robots to improve business efficiency, automate operations, and reduce manpower.

Figure 1 is a diagram explaining the general operation of the mobile body system 100. In this embodiment, the information processing system 40 authenticates the user who operates the mobile body 20 using an IC card or the like, and places restrictions on the functions that the user can use in relation to the mobile body 20 based on the user's authority information. The information processing system 40 then notifies the terminal device 30 operated by the user of the collation results based on the restrictions (details will be described later).

(1) To receive authentication, the user holds, for example, an IC card over the mobile object 20. The mobile object 20 reads the IC card and transmits the card ID along with an authentication request to the information processing system 40. The user may also be authenticated by logging in to the information processing system 40 from the terminal device 30.

(2) The information processing system 40 authenticates the user using the card ID and identifies the user's pre-set authority information.

(3) The user connects the terminal device 30 to the information processing system 40 and sets a waypoint for the moving body 20, for example, using a web app. The waypoint that the user is attempting to set is transmitted to the information processing system 40, which determines whether the waypoint can be set based on the user's authority information. If it is determined that the waypoint cannot be set, the information processing system 40 transmits a message to the terminal device 30 indicating that setting of the waypoint is restricted.

(4) The terminal device 30 displays 9 that the setting of waypoints is restricted, so the user can determine how to enable operation, preventing work from stalling. For example, the user can understand that he or she does not have the authority to set a waypoint and set a waypoint that is permitted to the user. In addition, because the waypoint is set if the user has the authority, a decrease in security can be prevented.

<Terminology>
A passing position is a target point through which a moving body passes, and can be set on a map by an administrator or the like. The passing position may be set, for example, at an intersection or a T-junction, or may be set at any position that has space and is movable. In addition, in the case of a moving body capable of moving in three dimensions, the passing position may be a three-dimensional coordinate. In this embodiment, the passing position is called a waypoint.

Autonomous movement refers to a moving body being able to understand the environment and move independently without being controlled by a human. In this embodiment, waypoints may be set for the moving body to move autonomously, or waypoints may be set as a guide for the user to control it.

The user information may correspond to or be linked to the user's authority information, and the user's authority information may be obtained, or the user information may include the authority information.

The authority information refers to the authority required to set a waypoint or the authority required to move a moving object through a specified area. The authority information may be, for example, department, position, title, job type, gender, age, etc.

<System configuration example>
2 is a diagram showing an example of the configuration of a mobile body system 100 according to this embodiment. The mobile body system 100 has a predetermined area as a monitoring area, and includes a mobile body 20 that moves within the monitoring area, and an information processing system 40 that serves as a control system that controls the mobile body 20. The mobile body 20 and the information processing system 40 are connected to a communication network N and communicate with each other via the communication network N.

The communication network N is constructed using the Internet, a mobile 20 communication network, a LAN (Local Area Network), etc., and may be either a wired network or a wireless network.

The mobile body 20 is a robot that is installed within a monitored area and is capable of autonomously moving within the monitored area. The autonomous movement may be an action of autonomously moving along a specified route within the monitored area, an action of autonomously moving within the monitored area using technology such as line tracing, or an action of machine learning the routes traveled in the past and moving autonomously using the results of the machine learning. The mobile body 20 can also be manually operated by an operator.

The mobile body 20 is equipped with various sensors and can perform specific tasks such as inspection and maintenance. The mobile body 20 can be equipped with an arm that can grasp objects and can perform tasks such as transportation and light work. The mobile body 20 may be a car, drone, multicopter, unmanned aerial vehicle, etc., so long as it is a robot capable of autonomous movement.

The mobile body 20 is equipped with detection devices (detection means) for detecting the state of the monitored object, such as an imaging device (imaging means), a gas detection device (gas detection means), and a sound recording device (sound recording means), in order to monitor the monitored area. The imaging device captures the monitored object. When the monitored object is a water or gas meter, flow meter, or liquid level gauge, it captures the meter scale and displayed value. The imaging device can also capture holes and obstacles formed on the road surface as the state around the mobile body 20. When the monitored object is a pipe or tank, the gas detection device measures the concentration of harmful gas leaking from these as the surrounding state. The sound recording device records the operating sounds of equipment such as valves, pumps, and compressors. The state of the monitored object may be the temperature or humidity at a specified location, and the mobile body 20 can also be equipped with a temperature and humidity sensor as a detection device.

The monitoring area is an area where the mobile object 20 is installed (also called a target base or simply a base), and is, for example, an outdoor area such as a business office, factory, chemical plant, construction site, substation, farm, field, cultivated land, disaster site, etc., or an indoor area such as an office, school, factory, warehouse, commercial facility, hospital, nursing home, etc. These areas may be any place where there is a need to have the mobile object 20 take on tasks that were previously performed manually. The mobile object 20 monitoring the monitoring area is not limited to one unit, and multiple units may monitor in cooperation. In this case, for example, it is possible to set up so that mobile object A monitors a first area within the monitoring area, mobile object B monitors a second area, and mobile object C monitors a third area. In the following, the mobile object 20 is described as being movable by multiple wheels and equipped with an imaging device (camera) as a detection device.

The information processing system 40 instructs the mobile body 20 to capture an image of a specified monitoring target while moving along a first route via the communication network N. The monitoring target is not limited to one, and may be multiple. The information processing system 40 receives image data of the monitoring target captured by the mobile body 20. The information processing system 40 analyzes the received image data and determines whether or not there is an abnormality. If the monitoring target is a flow meter and the normal flow rate is 1 to 10 m ³ /s, a flow rate outside this range (e.g., 0.5 m ³ /s) is determined to be abnormal. The information processing system 40 can also instruct the mobile body 20 to switch to a second route different from the first route.

The information processing system 40 is realized by one or more information processing devices. The information processing system 40 may be realized by cloud computing, or may be realized by a single information processing device. There may be multiple information processing devices, each of which may provide services according to the load, etc. Cloud computing refers to a form in which resources on a network are used without being aware of specific hardware resources. In addition, the information processing system 40 may exist on the Internet or on-premise.

A terminal device 30, such as a notebook PC (Personal Computer) or tablet PC operated by an operator, is connected to the communication network N. The terminal device 30 accepts multiple waypoints from a user and accepts a route definition for the moving body 20 by connecting the waypoints. The terminal device 30 is also installed at a management base, and communicates with an information processing system 40 via the communication network N, and can display images captured by the moving body 20 from the information processing system 40.

In this way, images of the desired locations are captured and provided without the operator having to operate the system, allowing the operator to identify the cause of any abnormalities in the monitored area and quickly take the most appropriate action. Note that capturing images of all locations during normal inspections would result in a long inspection time, but since only images of the necessary locations are captured when an abnormality is found, it is possible to narrow down the locations to be inspected during normal inspections, thereby shortening the inspection time.

In the example shown in FIG. 2, the operation of the mobile body 20 is controlled by the information processing system 40, but part of the control of the operation of the mobile body 20 may be configured to be performed within the mobile body 20.

Also, the functions of the information processing system 40 may be included in the terminal device 30 without using the information processing system 40 as shown in FIG. 2. In this case, the mobile object 20 and the terminal device 30 communicate directly. Also, the mobile object 20 may have the functions of the information processing system 40 and the terminal device 30.

<Overview of the moving object>
3A is a perspective view of the exterior of the moving body 20 of this embodiment. The moving body 20 is composed of the track-type traveling bodies 10a and 10b and a main body 600.

The track-type vehicles 10a and 10b are units that serve as the means of transportation for the mobile unit 20. The track-type vehicles 10a and 10b are track (crawler) type vehicles that use metal or rubber belts. Compared to vehicles that run on tires, such as automobiles, track-type vehicles have a larger contact area and can run stably, for example, even in environments with poor footing. In addition, vehicles that run on tires require a turning space when turning, whereas the mobile unit 20 equipped with track-type vehicles can perform so-called pivot turns, and can therefore turn smoothly even in limited spaces. The detailed configuration of the track-type vehicles 10a and 10b will be described later.

The main body 600 is a support that supports the track-type vehicles 10a and 10b in a state in which they can run, and is also a control device that controls the driving of the mobile body 20. The main body 600 also includes a battery 605 (described below) that supplies power to drive the track-type vehicles 10a and 10b.

Figure 3(b) is a front view (view from the direction of arrow P) of the moving body 20. The main body 600 of the moving body 20 includes an emergency stop button 31, a status indicator lamp 33, and a cover portion 35. The emergency stop button 31 is an operating means that a person in the vicinity of the moving body 20 presses to stop the moving body 20 while it is moving.

The status indicator lamp 33 is a notification means for notifying the status of the mobile unit 20. For example, when the status of the mobile unit 20 changes, such as when the battery level drops, the status indicator lamp 33 lights up to notify people around the mobile unit 20 of the change in status. The status indicator lamp 33 also lights up when there is a risk of an abnormality occurring, such as when an obstacle that impedes the travel of the mobile unit 20 is detected. Note that while FIG. 3 shows an example in which the mobile unit 20 is provided with two status indicator lamps 33, the number of status indicator lamps 33 may be one or three or more. The notification means may also be configured to notify the status of the mobile unit 20 not only by the status indicator lamp 33 but also by a warning sound emitted from a speaker, etc.

The lid 35 is provided on the top surface of the main body 600 and covers the inside of the main body 600. The lid 35 also has a ventilation section 35a with a vent hole for ventilating the inside of the main body 600.

The two track-type vehicles 10a, 10b are installed with the main body 600 in between, so that the tracks 11a and 11b described below are approximately parallel, i.e., in a state in which the mobile body 20 can run. The number of track-type vehicles is not limited to two, and may be three or more. For example, the mobile body 20 may be installed in a state in which the mobile body 20 can run, such as by lining up three track-type vehicles in three parallel rows. Also, for example, the mobile body 20 may have four track-type vehicles arranged front to back and left to right like the tires of an automobile.

Figure 3(c) is a side view (view from the Q arrow) of the mobile body 20. The tracked vehicle 10a has a triangular shape formed by the drive wheel 13 and two rollers 15a, 15b described below. The triangular tracked vehicle 10a can increase the contact area within the limited front-to-rear size, for example, when there are restrictions on the front-to-rear size of the vehicle, and therefore can improve stability during running. On the other hand, in the case of a so-called tank-type crawler in which the upper side (drive wheel side) is longer than the lower side (roller side), when there are restrictions on the front-to-rear size, the overall contact area becomes smaller and unstable. In this way, the tracked vehicle 10a is effective in improving the running performance of a relatively small mobile body 20.

Note that while the moving body 20 in FIG. 3 is a caterpillar-propelled type, the shape and movement method of the moving body 20 are not limited to the form shown in FIG. 3, and may be a bipedal type, a multipedal type, a drone type, an airplane type, an underwater type, or the like.

<Hardware configuration example>
Next, the hardware configurations of the mobile object 20, the information processing system 40, and the terminal device 30 will be described with reference to Figures 4 and 5. Note that components may be added or deleted from the hardware configurations shown in Figures 4 and 5 as necessary.

<<Mobile>>
4 is a diagram showing an example of the hardware configuration of the moving body according to the embodiment. As shown in FIG. 4, the moving body 20 includes a main body 600 that controls the processing or operation of the moving body 20. The main body 600 includes a radio-controlled receiver 601, a CPU (Central Processing Unit) 602, a memory 603, an IC card reader 611, devices 612, a communication I/F (Interface) 606, a battery 605, a motor driver 606 for driving control, a motor driver 607 for attitude control, and motors 608a and 608b for attitude control. The radio-controlled receiver 601, the CPU 602, the memory 603, the communication I/F 604, the battery 605, the motor driver 606 for driving control, and the motor driver 607 for attitude control are connected via a system bus 610. The system bus 610 is an address bus, a data bus, or the like for electrically connecting the above-mentioned components, and transmits address signals, data signals, various control signals, and the like.

The radio control receiver 601 receives operation instruction signals transmitted from a transmitter such as a PC used by the operator of the mobile body 20. The CPU 602 controls the entire mobile body 20. The CPU 602 is a calculation device that reads out the program P1 or various data required to operate the mobile body 20 stored in the memory 603 and executes processing to realize each function of the mobile body 20.

The memory 603 stores the program P1 executed by the CPU 602, as well as various data required to operate the mobile unit 20. The program P1 is provided in advance in the memory 603.

The program P1 may be provided by being recorded in an installable or executable file format on a recording medium readable by the CPU 602 (computer), such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disc). The program P1 may be provided by being stored on a computer connected to a network such as the Internet and downloaded to the mobile unit 20 via the network. The program P1 may be provided or distributed via a network such as the Internet. When the program P1 is provided from outside, the CPU 602 reads the program P1 via the communication I/F 604. Instead of operating the CPU 602 according to the program P1, the mobile unit 20 may operate the program P1 in a hardware manner by implementing a dedicated ASIC (Application Specific Integrated Circuit) having the same arithmetic and control functions as the program P1.

The communication I/F 604 is a communication interface that communicates (connects) with other devices or apparatuses via a communication network. The communication I/F 604 is, for example, a communication interface such as a wired or wireless LAN (Local Area Network). The communication I/F 604 may also include a communication interface such as 3G (3rd Generation), LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), Wi-Fi (Wireless Fidelity) (registered trademark), WiMAX (Worldwide Interoperability for Microwave Access), Zigbee (registered trademark), or millimeter wave wireless communication. The mobile object 20 may also include a communication circuit for performing short-range wireless communication such as Bluetooth (registered trademark).

The IC card reader 611 is a card reader that reads an IC card using NFC (Near Field communication). The IC card reader may be built into the smartphone.

Devices 612 are various devices that are installed in the moving object and realize optional functions. Devices 612 are, for example, an imaging device (flat camera), a spherical camera, a thermal camera, a microphone, a suction type gas sensor, and a laser type gas sensor.

The battery 605 is a power supply unit that supplies the power required for the processing or operation of the moving body 20. The battery 605 supplies power to, for example, the in-wheel motors 610a, 610b and the attitude control motors 608a, 555b.

The driving control motor driver 606 drives the in-wheel motors 610a, 610b by supplying motor drive signals to the in-wheel motors 610a, 610b, respectively.

The in-wheel motors 610a, 610b are installed inside the drive wheels 13a of the track-type vehicle 10a and the drive wheels 13b of the track-type vehicle 10b, respectively, and transmit rotational force to the drive wheels 13a, 13b. The in-wheel motors 610a, 610b apply a positive rotation to the drive wheels 13a, 13b to move the moving body 20 forward, or a negative rotation to move the moving body 20 backward. Furthermore, the in-wheel motors 610a, 610b rotate only one drive wheel 13a (or 13b) in the positive or negative direction and stop the other drive wheel 13b (or 13a), thereby making the moving body 20 make a pivot turn. In addition, the in-wheel motors 610a and 610b rotate one of the drive wheels 13a (or 13b) in the positive direction and the other drive wheel 13b (or 13a) in the negative direction, thereby making the moving body 20 make a pivot turn.

The attitude control motor driver 607 drives the attitude control motors 608a, 555b by supplying motor drive signals to the attitude control motors 608a, 555b. The attitude control motors 608a, 555b adjust the height of the idlers 18a, 18b, for example, by changing the height of the link 19 (described later) up or down in response to a control signal from the attitude control motor driver 607. The attitude control motors 608a, 555b also prevent the moving body 20 from tipping over, for example, by controlling the attitude of the main body 600.

The mobile unit 20 is not limited to a configuration that runs according to operation instructions received by the radio control receiver 601, but may run using technology such as autonomous running or line tracing. The mobile unit 20 may also run under remote control by a user in a remote location by receiving an operation instruction signal transmitted via a communication network at the communication I/F 604.

<<Information Processing System and Terminal Device>>
Fig. 5 is a diagram showing an example of a hardware configuration of the information processing system 40 according to this embodiment and the terminal device 30. As shown in Fig. 5, the information processing system 40 and the terminal device 30 are constructed by a computer 500, and include a CPU 501, a ROM 502, a RAM 503, a HD (Hard Disk) 504, a HDD (Hard Disk Drive) controller 505, a display 506, an external device connection I/F (Interface) 508, a network I/F 509, a bus line 510, a keyboard 511, a pointing device 512, a DVD-RW (Digital Versatile Disk Rewritable) drive 514, and a media I/F 516.

Of these, the CPU 501 controls the operation of the entire computer 500. The ROM 502 stores programs used to drive the CPU 501, such as IPL. The RAM 503 is used as a work area for the CPU 501. The HD 504 stores various data such as programs. The HDD controller 505 controls the reading or writing of various data from the HD 504 according to the control of the CPU 501. The display 506 displays various information such as a cursor, menu, window, character, or image. The external device connection I/F 508 is an interface for connecting various external devices. In this case, the external device is, for example, a USB (Universal Serial Bus) memory or a printer. The network I/F 509 is an interface for data communication using a network. The bus line 510 is an address bus, a data bus, or the like for electrically connecting each component such as the CPU 501 shown in FIG. 5.

The keyboard 511 is a type of input means equipped with multiple keys used to input characters, numbers, or various instructions. The pointing device 512 is a type of input means for selecting and executing various instructions, selecting a processing target, moving the cursor, and the like. The DVD-RW drive 514 controls the reading and writing of various data from the DVD-RW 513, which is an example of a removable recording medium. Note that the DVD-RW drive 514 is not limited to a DVD-RW, and may be a DVD-R or the like. The media I/F 516 controls the reading and writing (storing) of data from the recording medium 515, such as a flash memory.

<About the function>
The functions of the moving object 20, the information processing system 40, and the terminal device 30 will be described with reference to Fig. 6. Fig. 6 is a functional block diagram that explains the functions of the moving object 20, the information processing system 40, and the terminal device 30 by dividing them into blocks.

<<Mobile>>
The mobile body 20 has a user information acquisition unit 21, a communication unit 22, and a waypoint management unit 23. Each function of the mobile body 20 is a function or means realized by any of the components shown in Fig. 4 operating in response to an instruction from the CPU 602 in accordance with the program P1 in the memory 603. Each function of the mobile body 20 may be realized by a hardware circuit such as an IC.

The user information acquisition unit 21 acquires user authentication information, such as the card ID of the IC card held up by the user and input biometric information. The user information acquisition unit 21 may convert the authentication information into user information, or may transmit the information as is to the information processing system 40. For simplicity, in this embodiment, the user information acquisition unit 21 will be described as converting the authentication information into user information (see FIG. 7).

The communication unit 22 transmits the acquired user information together with an authentication request to the information processing system 40 (an example of a first communication unit). The communication unit 22 also receives information for movement, such as waypoints, from the information processing system 40.

The waypoint management unit 23 holds the waypoints transmitted from the information processing system 40. The waypoint management unit 23 manages the connection order of the waypoints set by the user as a travel route.

Figure 7 shows an example of user information sent to the information processing system 40. As shown in the figure, the user information has a user name, department, and job title as one record (one line in Figure 7). In Figure 7, the user information is specific information such as a user name, department, and job title, but these may also be associated with an IC card or biometric information. That is, the user information in Figure 7 may be associated with a card ID or biometric information held by an IC card, and the mobile object 20 or the information processing system 40 may convert it to the user information in Figure 7. Therefore, the information sent by the communication unit 22 to the information processing system 40 may be a card ID or biometric information (authentication information), and the authentication information is converted to user information by the information processing system 40.

<<Terminal Device>>
The terminal device 30 has a communication unit 61, a mobile object information display unit 62, and a mobile object control input reception unit 63. Each function of the terminal device 30 is a function or means realized by any of the components shown in Fig. 5 operating in response to an instruction from the CPU 501 in accordance with a program loaded from the HD 504 to the RAM 503.

The communication unit 61 transmits and receives various information to and from the information processing system 40 (an example of a second communication unit). In this embodiment, the communication unit 61 transmits information related to the control of the mobile body 20 to the information processing system 40, and receives information supporting the control of the mobile body 20 from the information processing system 40. The supporting information includes the matching results described below.

The mobile object control input receiving unit 63 receives information regarding the control of the mobile object 20 input by the user. When using the mobile object 20, the user inputs information regarding the control of the mobile object 20, such as waypoints (including destinations), the speed of the mobile object 20, and devices (such as imaging devices) to be used at the waypoints, to the terminal device 30. The input information is transmitted to the information processing system 40.

The mobile information display unit 62 displays the matching result or specific contents of the matching result received by the communication unit 61 on the display 506.

<<Information Processing System>>
The information processing system 40 has an authority information setting reception unit 41, an authority information storage unit 42, an authority information comparison unit 43, a communication unit 44, a mobile object information receiving unit 45, and a mobile object information transmitting unit 46. Each function of the information processing system 40 is a function or means realized by any of the components shown in FIG.

The communication unit 44 receives user information (which may be a card ID or biometric information) from the moving body 20. The communication unit 44 also transmits to the moving body 20 information relating to the control of the moving body 20, such as waypoints (including the destination), the speed of the moving body 20, and devices (such as imaging devices) to be used at the destination.

The authority information setting reception unit 41 receives authority information for each waypoint in advance from the administrator of the mobile system 100. The administrator connects the terminal device 30 to the information processing system 40 and transmits the authority information. This authority information is stored in the authority information storage unit 42. An example of authority information is shown in FIG. 8.

The mobile information receiving unit 45 receives information about the control of the mobile unit 20 from the terminal device 30 and passes it to the authority information matching unit 43.

The authority information comparison unit 43 compares the user information with the waypoints entered by the user into the terminal device 30, and determines whether or not the waypoint can be set for each waypoint. Details of the comparison will be described later. The mobile information transmission unit 46 transmits a message or the like including the comparison result or whether or not the setting can be performed based on the comparison result to the terminal device 30 (an example of a third communication unit).

Figure 8 shows an example of authority information stored in the authority information storage unit 42. Figure 8 shows authority information set for each waypoint. When the mobile body 20 is connected to a network, the authority information storage unit 42 is a database in cloud space, but it may also be located inside the mobile body 20 (locally), such as in the main body's memory 603. The authority information has items for configurable departments and configurable positions that correspond to the waypoint ID.

- The waypoint ID item stores identification information that uniquely identifies or specifies a waypoint. The waypoint ID may be assigned by an administrator or automatically. A waypoint may not only indicate a single location (one point), but may also indicate an area that includes the surroundings of a certain location.

- The configurable department item stores the department to which the user who can set this waypoint belongs (an example of first authority information).

The configurable roles field stores the roles of users who can set this waypoint (an example of first authority information).

The configurable department and configurable job title may mean that users who satisfy both can set a waypoint, or it may mean that users who satisfy only one of the configurable department and configurable job title can set a waypoint.

The authority information may also include the time period during which the setting is permitted. In this case, users of a specific department or position may move the waypoint to the mobile unit 20 only during a limited time.

<<Modifications of block configuration>>
6 may not be provided, and in this case, the terminal device 30 may have the functions of the information processing system. In this case, the mobile object 20 and the terminal device 30 communicate with each other by wire or wirelessly. The mobile object 20 may have all the functions of the information processing system 40 and the terminal device 30.

<Waypoint setting example>
9 is a diagram for explaining the operation of registering candidates for waypoints that the mobile body 20 passes through in autonomous driving within a base by driving the mobile body 20. The user performs a predetermined input operation on the terminal device 30, starts operation on the mobile body 20, and displays map information of the target base. The user remotely controls the mobile body 20 while viewing images captured by the mobile body 20 on the operation screen, and searches for a waypoint while viewing images captured by the imaging device while checking the current position of the mobile body 20, and registers the waypoint by pressing a waypoint registration button. In the example shown in FIG. 9, the user drives the mobile body 20 through each of the four areas, areas 1 to 4, and searches for candidates for waypoints.

Figure 10 shows an example of registered waypoints. Waypoints (positions P0 to P21) are registered to inspect areas 1 to 4. The waypoints also include inspection locations where the mobile unit 20 performs specified tasks such as imaging.

Waypoints are registered so that the moving body 20 starts from position P0 and moves to positions P1 to P21 in order. The waypoints set as shown in FIG. 10 are transmitted to the information processing system 40, and are set in the moving body 20 by the information processing system 40 transmitting them to the moving body 20.

The waypoint may be coordinates such as latitude and longitude. In the case of indoors, the position information of the mobile unit 20 may be position information (indoor coordinates) detected by UWB (Ultra Wide Band), position information (coordinates) detected by IMES (Indoor Messaging System), etc. In addition, the waypoint may be information that can be compared with the position of the mobile unit 20 at a base.

Figure 11 shows an example of set waypoint information. A waypoint is location information associated with a point ID. The point IDs are assigned in order from top to bottom, and in the example of Figure 11, the travel route is "P0 → P1 → P2 → ...". The location information is the coordinates of the waypoint. These coordinates may be latitude and longitude, or may be coordinates based on a certain position within the base.

<Operation or Processing>
FIG. 12 is a sequence diagram illustrating the flow of processing in which the user sets a waypoint.

S1: First, the user holds an IC card over the mobile object 20 being used or inputs biometric information, and the user information acquisition unit 21 of the mobile object 20 acquires user information.

S2: The communication unit 22 of the mobile object 20 transmits the user information to the information processing system 40. The communication unit 44 of the information processing system 40 receives the user information. As a result, the authority information matching unit 43 identifies the user's department and position.

S3: The user specifies the moving object 20 as shown in FIG. 14, which will be described later, and specifies a waypoint on the terminal device 30. The moving object control input receiving unit 63 of the terminal device 30 receives the waypoint specification.

S4: The communication unit 61 of the terminal device 30 transmits the identification information of the moving body 20 and information related to the control of the moving body 20 (waypoint, speed of the moving body 20, device to be used at the destination (such as an imaging device)) to the information processing system 40.

S5: The mobile object information receiving unit 45 of the information processing system 40 receives the identification information of the mobile object 20 and information related to the control of the mobile object 20. The authority information matching unit 43 uses the user information and information related to the control of the mobile object 20 (mainly waypoints) to check whether the user has the authority to set waypoints. Details of this are explained in Figure 13.

S6: If the comparison result is OK, the information processing system 40 accepts the waypoint. When the user completes setting the waypoint and sets it on the moving body 20, the communication unit 44 of the information processing system 40 transmits the waypoint, the speed of the moving body 20, the device (such as an imaging device) to be used at the waypoint, etc. to the moving body 20.

The communication unit 22 of the mobile unit 20 receives these, and the waypoint management unit 23 manages the movement route in which the waypoints are connected. The connections between waypoints may be set by an administrator, or may be set automatically using a mathematical method (e.g., the shortest travel distance, minimal route overlap, etc.). The mobile unit 20 moves within the base according to the movement route. Movement control uses a known method, so details will be omitted.

S7: If the comparison result is NG, the mobile information transmission unit 46 of the information processing system 40 transmits to the terminal device 30 that the comparison result is NG. The comparison result being NG includes, for example, that the setting of the waypoint is restricted due to lack of authority.

S8: The communication unit 61 of the terminal device 30 receives that the matching result is NG, and the mobile unit information display unit 62 outputs the matching result. Details are explained in FIG. 14.

Figure 13 is a flowchart illustrating the process in which the information processing system 40 checks whether the user has the authority to set a waypoint and the terminal device 30 displays the check result.

The authority information matching unit 43 acquires the department and position associated with the waypoint in the authority information storage unit 42. The authority information matching unit 43 compares the department and position in the authority information with the department and position in the user information. That is, the authority information matching unit 43 determines whether the department and position in the authority information include the department and position in the user information (S11). In this way, the authority information matching unit 43 compares whether the acquired authority information and user information are associated. If they are associated, the user is authorized to set the waypoint as a passing position.

If the determination in step S11 is Yes, the process proceeds to step S12, and if the determination in step S11 is No, the process proceeds to step S13. The process in step S12 may be similar to step S6 in FIG. 12, and the process in step S13 may be similar to steps S7 and S8 in FIG. 12.

14 is an example of a waypoint setting screen 200 displayed by the terminal device 30. The waypoint setting screen 200 in FIG. 14 displays a message 206 indicating that the mode is a travel route setting mode. Setting of a travel route also includes setting of a waypoint. The user sets waypoints A to E using a pointing device such as a mouse or a touch panel. Next, when the user sets waypoint F, the comparison result is NG, so the mobile information display unit 62 displays a dialog box 201. The dialog box 201 displays waypoint information 202, a message 203 saying "The specified waypoint cannot be set. Please specify another waypoint," a Yes button 204, and a No button 205. The message 203 includes the comparison result, and includes a message that the setting of the waypoint is restricted because it is NG. Note that the message 203 preferably includes a message that the user does not have the authority to set the waypoint, or the user preferably knows that the message 203 is displayed when the user does not have the authority to set the waypoint. By looking at message 203, the user can understand that the waypoint cannot be set and can set a different waypoint. In other words, the user can understand why the waypoint cannot be set and set a different waypoint, making it less likely that work will come to a standstill.

Message 203 in FIG. 14 is an example of a message when the comparison result is NG, but the terminal device 30 may also display a message when the comparison result is OK. The terminal device 30 receives from the information processing system 40 a message that the comparison result is OK or that the waypoint setting is permitted because the comparison result is OK, and displays a message based on the comparison result. In other words, the terminal device 30 can change the message depending on the comparison result.

In addition, instead of the information processing system 40 performing the comparison, the information processing system 40 may transmit the authority information and user information to the terminal device 30, and the terminal device 30 may compare the authority information and user information for each waypoint. In this case, the user may input the user information into the terminal device 30.

According to this embodiment, a message is displayed indicating that a waypoint cannot be set, allowing the user to determine how to enable the operation, thereby preventing work from stalling. For example, the user knows that he or she does not have the authority to set a waypoint, and can set a waypoint that is permitted for the user. In addition, the waypoint is set if the user has the authority, preventing a decrease in security.

In this embodiment, a travel-prohibited area is set in the information processing system 40, and a mobile system 100 is described that restricts the setting of waypoints when a travel route passes through the travel-prohibited area.

In this embodiment, the hardware configuration diagrams in Figures 3 and 4 described in the first embodiment above can be used.

<About the function>
Fig. 15 is a functional block diagram for explaining the functions of the mobile body 20, the information processing system 40, and the terminal device 30 in this embodiment by dividing them into blocks. In the explanation of Fig. 15, since components with the same reference numerals as in Fig. 6 perform similar functions, there are cases where only the main components of this embodiment are mainly explained.

<<Information Processing System>>
The information processing system 40 newly includes a movement-prohibited area setting reception unit 47, a movement-prohibited area information storage unit 48, and a notification unit 49. The movement-prohibited area setting reception unit 47 receives a movement-prohibited area setting from an administrator in advance. The movement-prohibited area information storage unit 48 stores the movement-prohibited area information that has been set.

Figure 16 is an example of prohibited area information stored in the prohibited area information storage unit 48. The prohibited area is, for example, the latitude and longitude of the four vertices of a rectangle that represents the prohibited area. The prohibited area in Figure 16 shows the latitude and longitude of the four vertices counterclockwise from the top left vertex. The shape of the prohibited area may be a polygon with pentagons or more sides, or any shape drawn by hand.

Note that the prohibited movement area information in FIG. 16 is not associated with authority information, but as described below, the prohibited movement area information may also be associated with authority information.

The authority information matching unit 43 in this embodiment determines whether the movement route enters a prohibited movement area. The authority information matching unit 43 determines whether a straight line connecting the waypoints is included in the prohibited movement area. If it is included, the setting of a waypoint specified later by the user is restricted. The setting of both of the two waypoints, or the setting of the waypoint set earlier, may also be restricted.

Even if a prohibited movement area has been set, if the mobile object 20 enters the prohibited movement area, the notification unit 49 notifies the administrator, etc., by email or SNS.

<Operation or Processing>
The flow of the process for the user to set a waypoint may be the same as the sequence diagram of Fig. 12. Fig. 17 is a flow chart for explaining the process in which the information processing system 40 checks whether the user has the authority to set a waypoint and whether the user will pass through a prohibited movement area, and the terminal device 30 displays the check result. Fig. 17 mainly explains the differences from Fig. 13.

The determination in step S21 may be the same as step S11 in FIG. 13. If the determination in step S21 is Yes, in step S22, the authority information comparison unit 43 determines whether the straight line connecting the waypoints is included in the prohibited movement area (S22).

If the answer is Yes in step S22, the process proceeds to step S23, and if the answer is No in step S22, the process proceeds to step S24. The process of step S23 may be the same as step S12 in FIG. 13, and the process of step S24 may be the same as step S13 in FIG. 13.

Figure 18 is an example of a waypoint setting screen 200 displayed by the terminal device 30. The user sets waypoint A using a pointing device such as a mouse or touch panel. Next, the user sets waypoint F. Waypoint F is a waypoint that the user can set in this embodiment. The authority information matching unit 43 creates straight lines connecting the waypoints in the order of the movement route, and determines whether each straight line enters a prohibited movement area 216 stored in the prohibited movement area information storage unit 48. The overlap between the straight lines and the prohibited movement area is determined, for example, by whether the straight line intersects with any of the four sides that make up the prohibited movement area.

In FIG. 18, the straight line 217 connecting waypoints A and F has entered the prohibited movement area 216. Note that "entering" refers to overlapping or touching. Therefore, the authority information comparison unit 43 determines that the comparison result is NG. The mobile information transmission unit 46 of the information processing system 40 transmits the comparison result of NG and the prohibited movement area into which the straight line has entered to the terminal device 30.

The mobile unit information display unit 62 of the terminal device 30 displays a prohibited movement area 216 on the map, and also displays the dialog box 211 of FIG. 18. The dialog box 211 displays waypoint information 212, a message 213 stating "The specified waypoint cannot be set because it includes a prohibited movement area. Please specify a different waypoint," a Yes button 214, and a No button 215. By looking at the message 213, the user can understand that the waypoint cannot be set because it passes through a prohibited movement area, and can set a different waypoint.

The information processing system 40 may transmit all of the prohibited areas included in the map to the terminal device 30, not just the prohibited area 216 into which the straight line 217 has entered. The information processing system 40 may also transmit all of the prohibited areas included in the map to the terminal device 30 before the user specifies a waypoint. In this case, the terminal device 30 can determine whether the straight line between the waypoints enters a prohibited area and display the dialog box 211. Furthermore, if the terminal device 30 displays the prohibited areas, the user can set waypoints that avoid the prohibited areas.

<When a moving object enters a restricted area>
Even if a prohibited area is set, the moving body 20 may enter the prohibited area. The moving body 20 may enter the prohibited area unintentionally when the position information detected by the GPS during autonomous driving becomes temporarily unstable. There may also be a case where a user maliciously or unintentionally causes the moving body 20 to enter the prohibited area by remote control (manual operation).

Therefore, if the mobile object 20 enters a prohibited movement area, the information processing system 40 notifies the administrator by sending an email, etc.

Figure 19 is a sequence diagram that explains the process of notifying the administrator that the mobile object 20 has entered a prohibited movement area after the user has set a waypoint.

S31: After the mobile object 20 is powered on and started up, the communication unit 22 periodically transmits location information to the information processing system 40. If the location information detected by GPS is unstable, it is determined that the mobile object 20 is in a restricted movement area if an accurate location can be detected.

S32: The communication unit 44 of the information processing system 40 receives the location information, and the authority information matching unit 43 determines whether the location information is included in a prohibited movement area stored in the prohibited movement area information storage unit 48.

S33: If the location information is included in a prohibited movement area, the notification unit 49 notifies the administrator, etc., by email or SNS. Note that it is assumed that the administrator's email address and SNS are set in advance.

Figure 20 is an example of an email display screen 220 that the administrator displays on the terminal device 30. The name of the information processing system 40 is set as the sender 221 of the email display screen 220, and the administrator's email address is set as the destination 222. The message body displays a message 223 saying "There is a moving object that has entered the movement prohibited area," a date and time 224, a moving object ID 225, a movement prohibited area ID 226, latitude and longitude 227 at the time of intrusion, and a total intrusion time 228. In addition, the latitude and longitude 227 at the time of intrusion is the location information when the presence of the moving object 20 in the movement prohibited area is first detected. The administrator can estimate from which direction the moving object 20 entered. The total intrusion time 228 is the total time from when the moving object 20 starts to intrude into the movement prohibited area to when it exits. The total intrusion time 228 increases over time while the moving object 20 is moving through the movement prohibited area. The notification unit 49 may issue the notification shown in FIG. 20, for example, at regular intervals while the moving object 20 is in the movement-prohibited area.

Upon receiving a notification such as that shown in FIG. 20, the administrator can stop communication of the mobile unit 20 (to prevent information leakage), prohibit movement (to prevent further movement), or identify the operating user (to issue a movement instruction) via the information processing system 40. The administrator can also move to a movement-prohibited area and remove the mobile unit 20.

In this embodiment, we will explain the mobile system 100 in the case where authority information is assigned to the prohibited travel area information in the second embodiment.

In this embodiment, the hardware configuration diagrams in Figures 3 and 4 and the functional block diagram in Figure 15 described in the first embodiment above can be used.

As shown in FIG. 21, in this embodiment, a field for permitted departments (an example of second authority information) is added to the prohibited area information storage unit 48. FIG. 21 is an example of prohibited area information stored in the prohibited area information storage unit 48. In FIG. 21, prohibited areas are set, for example, on a department basis. There may also be a field for settable job titles.

By allowing only certain departments to move around restricted areas, it is expected that automated inspections can be achieved while preventing information leaks to the outside world.

<Operation or Processing>
The flow of the process for the user to set a waypoint may be the same as the sequence diagram of Fig. 12. Fig. 22 is a flow chart for explaining the process in which the information processing system 40 checks whether the user has the authority to set a waypoint and whether the user will enter a prohibited movement area, and the terminal device 30 displays the check result. Fig. 22 mainly explains the differences from Fig. 17.

The processing of step S41 may be the same as step S21 in FIG. 17. If the answer to step S41 is Yes, in step S42, the authority information comparison unit 43 determines whether the straight line between the waypoints is not included in the prohibited movement area, or if it is included, whether the user's department is included in the departments that can be set in the prohibited movement area (S42).

If the answer is Yes in step S42, the process proceeds to step S43, and if the answer is No in step S42, the process proceeds to step S44. The process of step S43 may be the same as step S23 in FIG. 17, and the process of step S44 may be the same as step S24 in FIG. 17.

According to this embodiment, by allowing only specific departments to move around prohibited areas, it is expected that automatic inspection can be achieved while preventing information leaks to the outside.

In this embodiment, we will explain a mobile system 100 in which available devices are set for each waypoint.

In this embodiment, the hardware configuration diagrams in Figures 3 and 4 described in the first embodiment above can be used.

<About the function>
Fig. 23 is a functional block diagram for explaining the functions of the moving body 20, the information processing system 40, and the terminal device 30 in this embodiment by dividing them into blocks. In the explanation of Fig. 23, since components with the same reference numerals as in Fig. 15 perform similar functions, there are cases where only the main components of this embodiment are mainly explained.

<<Information Processing System>>
The information processing system 40 newly includes a device determination unit 51 and an available device information storage unit 52. The device determination unit 51 determines whether a device set by a user for use at a waypoint for inspection or the like can be used at the specified waypoint. The available device information storage unit 52 stores devices that can be used at each waypoint.

Figure 24 shows an example of available device information stored in the available device information storage unit 52. The devices are, for example, an imaging device, a spherical camera, a thermal camera, a microphone, an aspirating gas sensor, and a laser gas sensor. These are examples of devices mounted on the mobile object 20, and other devices may also be mounted.

It is preferable that only devices appropriate for the inspection content be used at each waypoint. For example, at waypoints where meter readings are desired, imaging devices are permitted. At waypoints where sound measurements are not desired, microphone use is restricted. This ensures that only appropriate inspections are performed at appropriate waypoints.

If the device determination unit 51 determines that the use of the device selected by the user at the waypoint is not restricted at the waypoint, the mobile information transmission unit 46 transmits a message to that effect to the terminal device 30.

<Operation or Processing>
The flow of the process for the user to set a waypoint may be the same as the sequence diagram of Fig. 12. Fig. 25 is a flow chart for explaining the process in which the information processing system 40 checks whether the user has the authority to set a waypoint and whether the user can use the device, and the terminal device 30 displays the check result. In Fig. 25, the differences from Fig. 17 will mainly be explained.

The processing in steps S51 and S52 may be the same as S21 and S22 in FIG. 17. If the answer to step S52 is Yes, in step S53, the device determination unit 51 determines whether the use of the device specified by the user is permitted at the waypoint (S53).

If the answer is Yes in step S53, the process proceeds to step S54, and if the answer is No in step S53, the process proceeds to step S55. The process of step S54 may be similar to step S23 in FIG. 17, and the process of step S55 may be similar to step S24 in FIG. 17. In step S55, a message is sent to inform the user that the selected device cannot be used at the waypoint specified by the user.

FIG. 26 is an example of a waypoint setting screen 200 displayed by the terminal device 30. The user sets waypoints A to E using a pointing device such as a mouse or a touch panel. The user also specifies waypoint E, and specifies the devices to be used at waypoint E in the device setting field 231. Here, as an example, the user specifies an imaging device, a spherical camera, and a laser gas sensor as the devices to be used at waypoint E. The device determination unit 51 determines whether the imaging device, spherical camera, and laser gas sensor can be used (are permitted) at waypoint E by referring to the available device information storage unit 52.

In the example of FIG. 26, it has been determined that the use of the laser gas sensor is not possible (is restricted) at waypoint E. Note that in this embodiment, waypoint E is a waypoint that can be set by the user. Also, the straight line connecting waypoints D and E is not included in the prohibited travel area.

Therefore, the mobile information transmission unit 46 of the information processing system 40 transmits to the terminal device 30 a message that the use of the device is restricted. The mobile information display unit 62 of the terminal device 30 displays the dialog box 232 of FIG. 26. The dialog box 232 displays the device to be used 233, a message 234 stating "The laser gas sensor cannot be used at the specified waypoint. Please select another device", a Yes button 235, and a No button 236. By looking at the message 234, the user can understand that the laser gas sensor cannot be used at the waypoint.

The information processing system 40 may transmit devices that can be used at the waypoint to the terminal device 30 in advance. In this case, the terminal device 30 may display only devices that can be used at the waypoint in the device setting field 231 so that they can be selected (for example, devices that cannot be used may be displayed in half brightness). Alternatively, the information processing system 40 may transmit devices that can be used at the waypoint to the terminal device 30 at the time the user specifies the waypoint.

In this embodiment, we will describe a mobile system 100 that presents alternative, settable waypoints to the user when the authority information comparison unit 43 determines that a waypoint cannot be set.

In this embodiment, the hardware configuration diagrams in Figures 3 and 4 described in the first embodiment above can be used.

<About the function>
Fig. 27 is a functional block diagram for explaining the functions of the moving body 20, the information processing system 40, and the terminal device 30 in this embodiment by dividing them into blocks. In the explanation of Fig. 27, since components with the same reference numerals as in Fig. 23 perform similar functions, there are cases where only the main components of this embodiment are mainly explained.

<<Information Processing System>>
The information processing system 40 newly includes an alternative passing position identifying unit 53. When the authority information checking unit 43 determines that a waypoint cannot be set, the alternative passing position identifying unit 53 identifies an alternative waypoint (an example of an alternative passing position) that can be set. The waypoint presented as an alternative may be the one closest in distance to the waypoint determined to be unsettable. Alternatively, the alternative waypoint may be a waypoint that is within a threshold distance from the waypoint determined to be unsettable and that can be used by the same device.

<Operation or Processing>
The flow of the process in which the user sets a waypoint may be the same as the sequence diagram in Fig. 12. Fig. 28 is a flow chart for explaining the process in which the information processing system 40 checks whether the user has the authority to set a waypoint, and the terminal device 30 displays the check result. In Fig. 28, the differences from Fig. 25 will mainly be explained.

The processing of steps S61 to S63 may be the same as S51 to S53 in FIG. 25. If the determination in step S61 is No, in step S64, the alternative passing position identification unit 53 identifies another waypoint (excluding waypoints that have already been set) that is closest to the waypoint determined to be unsettable (S64). The alternative waypoint identified by the alternative passing position identification unit 53 is transmitted to the terminal device 30 together with the matching result in step S66.

If the answer is Yes in step S63, the process proceeds to step S65, and if the answer is No in step S63, the process proceeds to step S66. The process of step S65 may be the same as step S54 in FIG. 25, and the process of step S66 may be the same as step S55 in FIG. 25.

Figure 29 is an example of a waypoint setting screen 200 displayed by the terminal device 30. Figure 29 mainly explains the differences from Figure 14. The dialog box 241 in Figure 29 displays a new message 209 stating "The nearest selectable waypoint is G." By seeing the message 209, the user can consider setting waypoint G as an alternative to waypoint F.

In this embodiment, a mobile body system 100 is described that notifies a user when the user attempts to set a waypoint for a mobile body 20 that is already in a prohibited movement area. This embodiment is described using the functional block diagram of FIG. 15 described in the second embodiment above.

Before the user moves the moving body 20 autonomously, the user may remotely (manually) move the moving body 20 to a start position and then set a waypoint. If the start position is in a prohibited area, the moving body 20 will be in the prohibited area when the waypoint is set, and the information processing system 40 will notify the user of this. This prevents the user from unintentionally setting a waypoint that starts movement within the prohibited area.

<<Operation or Processing>>
Fig. 30 is a sequence diagram explaining the flow of a user setting a waypoint when the moving body 20 is in a movement-prohibited area. Steps S71 to S73 may be similar to S31 to S33 in Fig. 19. In steps S71 to S73, the moving body 20 moves autonomously or by remote control by the user while transmitting position information to the information processing system 40.

S74: The user operates the terminal device 30 to set a waypoint on the moving body 20 that has already moved to the start position, and requests the waypoint setting screen 200 from the information processing system 40.

S75: The communication unit 61 of the terminal device 30 sends a request for the waypoint setting screen 200 to the information processing system 40.

S76: The mobile object information receiving unit 45 of the information processing system 40 receives a request for the waypoint setting screen 200. The authority information checking unit 43 checks whether the current position of the mobile object 20 is included in a prohibited movement area.

S77: If the current location is not included in the prohibited movement area, the mobile information transmission unit 46 of the information processing system 40 transmits a waypoint setting screen to the terminal device 30.

S78: The communication unit 61 of the terminal device 30 receives the waypoint setting screen, and the mobile information display unit 62 displays the waypoint setting screen.

S79: If the current location is included in the prohibited movement area, the mobile object information transmission unit 46 of the information processing system 40 transmits to the terminal device 30 the waypoint setting screen 200 along with a message indicating that the mobile object 20 is already in the prohibited movement area.

S80: The communication unit 22 of the moving body 20 receives the waypoint setting screen and the information that the moving body 20 is in a prohibited area, and the moving body information display unit 62 displays the waypoint setting screen and the information that the moving body 20 is in a prohibited area.

Figure 31 is an example of a waypoint setting screen 200 displayed by the terminal device 30. The waypoint setting screen 200 in Figure 31 displays a message 255 indicating that manual operation is in progress, the current position 256 of the moving object 20, a prohibited movement area 216, and a dialog box 251. The dialog box 251 also displays a message 252 stating, "Waypoints cannot be set within prohibited movement areas. Please move to another location and set a waypoint."

The user can check the waypoint setting screen 200 in FIG. 31 and understand that the current position 256 of the moving object 20 is in the prohibited movement area 216, and that the user needs to move the moving object 20 due to the message 252. This prevents the user from unintentionally setting a waypoint that starts movement within the prohibited movement area.

In this embodiment, as a variation of the first embodiment, a mobile system 100 is described that can set a waypoint for a test drive even if the authority information comparison unit 43 determines that the waypoint cannot be set.

For example, there are cases where it is necessary to check the behavior of the moving object 20 when it is different from normal operation, such as during a test drive or during a demonstration experiment. During a demonstration experiment, since there are people around the moving object 20, it is often possible to make an emergency stop immediately if an abnormality occurs. Therefore, there is a need to be able to operate it regardless of the authority of the responsible department, etc.

In this embodiment, the user can set the test drive mode on the waypoint setting screen 200. The test drive mode is a mode in which the user is permitted to set waypoints for test driving, even if the user does not have the authority to set waypoints. Since this is a mode solely for test driving, the information processing system 40 may restrict the frequency with which the test drive mode can be used, the user's authority, or the time period for each user.

Figure 32 is a flow chart illustrating a process in which the information processing system 40 checks whether or not a user has the authority to set a waypoint, and the terminal device 30 displays the check result. The explanation of Figure 32 will mainly focus on the differences from Figure 13.

If the determination in step S11 is No, the process proceeds to step S11-2. In step S11-2, the authority information comparison unit 43 determines whether or not a signal indicating that the test drive mode is in effect has been transmitted from the terminal device 30 (S11-2).

If the determination in step S11-2 is Yes, the process proceeds to step S12, and if the determination in step S11-2 is No, the process proceeds to step S13. In step S12, the information processing system 40 transmits to the terminal device 30 a message indicating that the terminal device 30 does not have the authority to set the specified waypoint and that the terminal device 30 can set the waypoint because it is in test driving mode.

Figure 33 is an example of a waypoint setting screen 200 displayed by the terminal device 30. The explanation of Figure 33 will mainly explain the differences from Figure 14. The waypoint setting screen 200 of Figure 33 displays a message 208 indicating that the mode is test driving mode. The waypoint setting screen 200 of Figure 33 also displays the waypoint information 202 specified in the dialog box 201 and a message 207 stating "You do not have the authority to set the specified waypoint, but it will be set for test driving mode." By looking at the message 207, the user can understand that although the waypoint F was set, the waypoint F should not have been set. The user can check the behavior of the moving body 20 as necessary when it is different from normal operation, regardless of the authority of the department or the like that has jurisdiction over the area around the waypoint.

In this embodiment, we will explain the mobile body system 100 in which the administrator pre-sets whether the test drive mode is available for each mobile body 20 in Example 7.

In this embodiment, the hardware configuration diagrams in Figures 3 and 4 described in the first embodiment above can be used.

<About the function>
Fig. 34 is a functional block diagram for explaining the functions of the moving body 20, the information processing system 40, and the terminal device 30 in this embodiment by dividing them into blocks. In the explanation of Fig. 34, since components with the same reference numerals in Fig. 6 perform similar functions, there are cases where only the main components of this embodiment are mainly explained.

<<Information Processing System>>
The information processing system 40 newly includes a test drive mode enabled mobile object information storage unit 54. The test drive mode enabled mobile object information storage unit 54 stores, for each mobile object 20, a setting as to whether the test drive mode is enabled or disabled.

Figure 35 is an example of test driving mode enabled mobile body information stored in the test driving mode enabled mobile body information storage unit 54. The test driving mode enabled mobile body information is information set for each mobile body 20 as to whether or not the test driving mode is enabled. "O" indicates that the test driving mode is enabled, and "X" indicates that the test driving mode is disabled.

<Operation or Processing>
36 is a flow chart for explaining a process in which the information processing system 40 checks whether the user has the authority to set a waypoint and whether the test drive mode is permitted for the moving body 20, and the terminal device 30 displays the check result. The explanation of FIG. 36 will mainly focus on the differences from FIG. 13.

If the determination in step S11 is No, the process proceeds to step S11-3. In step S11-3, the authority information comparison unit 43 determines whether the terminal device 30 has transmitted a signal indicating that the test drive mode is in effect, and whether the target mobile unit 20 is a mobile unit 20 for which test mode setting is permitted (S11-3).

If the determination in step S11-3 is Yes, the process proceeds to step S12, and if the determination in step S11-3 is No, the process proceeds to step S13. Note that in step S12, the information processing system 40 transmits to the terminal device 30 a message indicating that the terminal device 30 does not have the authority to set the specified waypoint, but that the mobile object 20 being operated can set the waypoint.

Figure 37 is an example of a waypoint setting screen 200 displayed by the terminal device 30. The explanation of Figure 37 will mainly focus on the differences from Figure 14. The waypoint setting screen 200 in Figure 37 displays 210 indicating that the travel route setting mode is a test driving mixed mode. The test driving mixed mode is a mode in which both test driving and normal operation vehicles travel together. Normal operation is an operation in which waypoints that the user does not have the authority to set, as in Example 1.

The waypoint setting screen 200 in FIG. 37 displays the waypoint information 202 specified in the dialog box 201, a moving body ID 262, and a message 261 stating, "You do not have the authority to set the specified waypoint, but the moving body 20 you are operating can set it. Do you want to set it as a waypoint?". By looking at the message 261, the user can understand that while the F waypoint cannot be set, it can be set for the moving body 20 you are operating.

In Example 7, all moving bodies 20 can set waypoints regardless of authority, but in this example, the test drive mode can be applied only to specific moving bodies 20. This allows the administrator to achieve both test drive and normal operation even when the driving area is used for a mixture of test drive and normal operation, such as when introducing a new moving body 20 or a moving body 20 dedicated to test drive.

In this embodiment, a mobile body system 100 is described that displays the operation history of the mobile body 20. This allows the user to know what tasks the mobile body 20 has performed so far. This can be useful for the user to compare inspection results and consider ways to improve the efficiency of inspection routes.

In this embodiment, the hardware configuration diagrams in Figures 3 and 4 described in the first embodiment above can be used.

<About the function>
Fig. 38 is a functional block diagram for explaining the functions of the moving body 20, the information processing system 40, and the terminal device 30 in this embodiment by dividing them into blocks. In the explanation of Fig. 38, since components with the same reference numerals as in Fig. 6 perform similar functions, there are cases where only the main components of this embodiment are mainly explained.

<<Information Processing System>>
The information processing system 40 newly includes a moving object operation result information storage unit 55. The moving object operation result information storage unit 55 stores past operation results for each moving object 20.

Figure 39 is an example of mobile object operation record information stored in the mobile object operation record information storage unit 55. Mobile object operation record information is information that records in chronological order what operations the mobile object 20 has performed. In Figure 39, the waypoint and the device used are recorded in association with the date and time. That is, the date and time when the mobile object 20 passed through the waypoint are recorded, and when the mobile object 20 uses a device 612 at the waypoint, that device is recorded.

The mobile unit 20 periodically transmits location information to the information processing system 40, and when a device 612 is used, the type of the device is transmitted to the information processing system 40. Note that in FIG. 39, the location information is not limited to waypoints, and for example, location information every second may be recorded together with the date and time.

<Operation or Processing>
FIG. 40 is a sequence diagram illustrating a process in which the user displays the operation history of the moving object 20 on the terminal device 30. As shown in FIG.

S91: The user inputs an operation to the terminal device 30 to specify a moving object 20 and display its operation history.

S92: The communication unit 61 of the terminal device 30 specifies the mobile object ID and sends a request for operation history to the information processing system 40.

S93: The mobile object information receiving unit 45 of the information processing system 40 receives a request for operation history specifying a mobile object ID. The mobile object information transmitting unit 46 obtains the operation history associated with the mobile object ID from the mobile object operation history information storage unit 55.

S94: The mobile information transmission unit 46 transmits the acquired operation history to the terminal device 30.

S95: The communication unit 22 of the mobile unit 20 receives the operation history, and the mobile unit information display unit 62 displays the operation history.

Figure 41 is an example of the operation history of a moving object 20 displayed by the terminal device 30. In Figure 41, it is assumed that the operation history is displayed on a waypoint setting screen 200. A display history button 271 is displayed on the waypoint setting screen 200. When the user presses the display history button 271, a confirmation dialog 272 is displayed. The confirmation dialog 272 has a moving object ID 272a (the moving object 20 selected or specified by the user) being operated, a message 272b asking "Do you want to display the operation history so far?", a Yes button 272c, and a No button 272d.

When the user presses the Yes button 272c, an operation history window 273 pops up. As shown in FIG. 41, the operation history window 273 displays the operation information stored in the mobile object operation history information storage unit 55 in chronological order along with the mobile object ID 274 and period 275.

The user can view the operation history to see what tasks the mobile unit 20 has performed so far, compare inspection results, and consider ways to improve the efficiency of inspection routes. Note that displaying operation history is possible in all of the above embodiments.

<Other application examples>
The above describes the best mode for carrying out the present invention using examples, but the present invention is not limited to these examples in any way, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention.

For example, in this embodiment, the terminal device 30 displays that the waypoint cannot be set, but the terminal device 30 may also display that the waypoint can be set. The terminal device 30 may notify that the waypoint cannot be set not by a message (text) but by an image such as an icon, a warning sound, or a voice.

In addition, in this embodiment, waypoints that the user can select are set in advance, but the user may set any location as a waypoint. In this case, the authority information is associated with the prohibited area information as described in Example 3. The authority information comparison unit 43 determines whether the waypoint set by the user intrudes into prohibited area information for which the user does not have authority.

The configuration examples in FIG. 6 and the like are divided according to main functions to facilitate understanding of the processing by the mobile body 20, the information processing system 40, and the terminal device 30. The present invention is not limited by the manner in which the processing units are divided or the names of the processing units. The processing by the mobile body 20, the information processing system 40, and the terminal device 30 can also be divided into even more processing units depending on the processing content. Also, it can be divided so that one processing unit includes even more processes.

Furthermore, each function of the embodiments described above can be realized by one or more processing circuits. Here, the term "processing circuit" in this specification includes a processor programmed to execute each function by software, such as a processor implemented by an electronic circuit, and devices such as an ASIC (Application Specific Integrated Circuit), DSP (digital signal processor), FPGA (field programmable gate array), and conventional circuit modules designed to execute each function described above.

Embodiments of the present invention provide significant improvements in computer power and functionality. These improvements allow users to utilize computers that provide more efficient and robust interaction with tables, which are a way of storing and presenting information in information processing devices. Furthermore, embodiments of the present invention provide a better user experience through the use of more efficient, powerful and robust user interfaces. Such user interfaces provide better interaction between humans and machines.

<Appendix to claims>
[Claim 1]
A moving body that moves autonomously so as to pass through a set passing position,
a user information acquisition unit that acquires user information of a user who sets the passing position;
a moving object information display unit that displays a result of a comparison as to whether or not a user specified by the user information has first authority information for setting the passing position;
A mobile object having the above configuration.
[Claim 2]
The moving body according to claim 1 , wherein the moving body information display unit displays a message indicating that the passing position set by the user cannot be set if the user identified by the user information does not have the first authority information.
[Claim 3]
an authority information storage unit in which the first authority information for setting the passing position is set to the passing position;
an authority information collating unit that collates whether or not the first authority information associated with the passing position in the authority information storage unit is held by a user specified by the user information;
The moving body according to claim 1 or 2, comprising:
[Claim 4]
A moving body as described in any one of claims 1 to 3, wherein, when a straight line connecting the passing positions set by the user and the passing positions enters a predetermined prohibited movement area, the moving body information display unit displays a message indicating that at least one of the passing positions set by the user cannot be set.
[Claim 5]
the moving body detects position information of the moving body,
The mobile body according to claim 4 , further comprising a notification unit that notifies a preset administrator when it is determined based on the position information that the mobile body has entered the movement-prohibited area.
[Claim 6]
a movement-prohibited area information storage unit in which second authority information for setting the passing position passing through the movement-prohibited area is set in association with the movement-prohibited area,
When a straight line connecting the passing position set by a user and the passing position enters the movement prohibited area, and the second authority information is not held by the user specified by the user information,
The moving body according to claim 4 , wherein the moving body information display unit displays a message indicating that at least one of the passing positions set by the user cannot be set.
[Claim 7]
an available device information storage unit in which a type of device available at the passing position is set in association with the passing position,
A mobile body as described in any one of claims 1 to 6, wherein, when the device that the user has set to be used at the passing location is set as unavailable in the available device information storage unit, the mobile body information display unit displays a message indicating that the device that the user has set to be used at the passing location cannot be used at the passing location.
[Claim 8]
an alternative pass position specifying unit that specifies an alternative pass position that substitutes for the pass position set by a user when the user specified by the user information does not have first authority information for setting the pass position,
8. The moving body according to claim 1, wherein the moving body information display unit displays the alternative passing position.
[Claim 9]
The moving body detects its own location information,
When the user starts to set the passing position, if it is determined based on the position information that the moving object has already entered the movement prohibited area,
The moving body according to claim 4 , wherein the moving body information display unit displays a message indicating that the moving body is entering the movement-prohibited area.
[Claim 10]
When the setting of the passing position is accepted for moving in a predetermined traveling mode,
Even if the user specified by the user information does not have the first authority information, it is not determined that the passing position set by the user cannot be set,
10. The moving body according to claim 1, wherein the moving body information display unit displays a message indicating that the passing position set by the user can be set.
[Claim 11]
a travel mode available mobile body information storage unit that is associated with the mobile body and that is set to indicate whether the predetermined travel mode can be set;
When the user specified by the user information does not have the first authority information, and when the travel mode available moving body information storage unit is set to allow the user to set the predetermined travel mode to the moving body for which the passing position is set,
The moving body according to claim 10 , wherein the moving body information display unit displays a message indicating that the passing position set by the user can be set.
[Claim 12]
A moving object operation record information storage unit that stores the past operation records of the moving object,
12. The mobile body according to claim 1, wherein the mobile body information display unit displays the past operation records stored in the mobile body operation record information storage unit.
[Claim 13]
The mobile body according to claim 12 , wherein the operation history includes a type of device used at the passing position.

20 Mobile body 30 Terminal device 40 Information processing system 100 Mobile body system

JP 2021-99846 A

Claims (16)

A moving body that moves autonomously so as to pass through a set passing position,
a user information acquisition unit that acquires user information of a user who sets the passing position;
a mobile object information display unit that displays a result of matching first authority information that sets the passing position with the user information;
A mobile object having the above configuration. The moving body according to claim 1, wherein the moving body information display unit displays a message indicating that the passing position set by the user cannot be set if the user identified by the user information does not have the first authority information. an authority information storage unit in which the first authority information for setting the passing position is stored at the passing position;
an authority information collating unit that collates whether or not the first authority information associated with the passing position in the authority information storage unit is held by a user specified by the user information;
The moving body according to claim 1 or 2, comprising: The moving body according to claim 1, wherein, when a straight line connecting the passing positions set by the user and the passing positions enters a pre-set prohibited movement area, the moving body information display unit displays a message indicating that at least one of the passing positions set by the user cannot be set. the moving body detects position information of the moving body,
The mobile body according to claim 4 , further comprising a notification unit that notifies a preset administrator when it is determined based on the position information that the mobile body has entered the movement-prohibited area. a movement-prohibited area information storage unit in which second authority information for setting the passing position passing through the movement-prohibited area is stored in association with the movement-prohibited area,
When a straight line connecting the passing positions set by a user and the passing positions enters the movement prohibited area, and the second authority information is not held by the user identified by the user information,
The moving body according to claim 4 , wherein the moving body information display unit displays a message indicating that at least one of the passing positions set by the user cannot be set. an available device information storage unit that stores a type of device that can be used at the passing position in association with the passing position;
The mobile body of claim 1, wherein, when the device that the user has set to be used at the passing location is stored as unavailable in the available device information storage unit, the mobile body information display unit displays a message indicating that the device that the user has set to be used at the passing location cannot be used at the passing location. an alternative passing position specifying unit that specifies an alternative passing position that substitutes for the passing position set by a user when the user specified by the user information does not have first authority information for setting the passing position,
The moving body according to claim 1 , wherein the moving body information display unit displays the alternative passing position. The moving body detects its own location information,
When the user starts to set the passing position, if it is determined that the moving object has already entered the movement prohibited area based on the position information,
The moving body according to claim 4 , wherein the moving body information display unit displays a message indicating that the moving body is entering the movement-prohibited area. When the setting of the passing position is accepted for moving in a predetermined traveling mode,
Even if the user specified by the user information does not have the first authority information, it is not determined that the passing position set by the user cannot be set,
The moving body according to claim 1 , wherein the moving body information display unit displays a message indicating that the passing position set by the user can be set. a travel mode available mobile body information storage unit that stores information on whether the predetermined travel mode can be set in association with the mobile body,
When the user specified by the user information does not have the first authority information, and when the travel mode available moving body information storage unit stores that the user is able to set the predetermined travel mode to the moving body for which the passing position is set,
The moving body according to claim 10 , wherein the moving body information display unit displays a message indicating that the passing position set by the user can be set. A moving object operation record information storage unit that stores the past operation records of the moving object,
The mobile object according to claim 1 , wherein the mobile object information display unit displays the past operation records stored in the mobile object operation record information storage unit. The mobile body according to claim 12, wherein the operation history includes the type of device used at the passing position. The mobile body according to claim 1, wherein the matching result is a result of matching whether or not the first authority information and the user information are associated with each other. A mobile body system including a mobile body that moves autonomously so as to pass through a set passing position, an information processing system that can communicate with the mobile body, and a terminal device that can communicate with the information processing system,
The moving body is
a user information acquisition unit that acquires user information of a user who sets the passing position;
a first communication unit that transmits the user information to the information processing system;
The terminal device
a second communication unit that transmits the passing position set by a user to the information processing system;
The information processing system includes:
a third communication unit that transmits to the terminal device a result of matching between first authority information for setting the passing position transmitted from the terminal device and the user information,
The terminal device displays the matching result. An information processing system capable of communicating with a moving object that autonomously moves so as to pass through a set passing position,
a communication unit that receives user information of a user who sets the passing position from the moving object;
a mobile object information display unit that displays a result of matching first authority information that sets the passing position transmitted from a terminal device with the user information;
An information processing system having the above configuration.

Images