Information processing apparatus, information processing method, and program product

Abstract

An information processing device is provided with: an information acquisition unit that acquires position information relating to the position of each of a plurality of moving bodies and state information relating to the state of each of the plurality of moving bodies in an actual space in which the plurality of moving bodies move; a receiving unit that receives, on a virtual map corresponding to the actual space, designation of a measurement position of measurement target information, which is information of a measurement target in the actual space; and a specifying unit that specifies the moving body to be moved to the measurement position on the basis of the measurement position and the position information and state information of each of the plurality of moving bodies.

Description

TECHNICAL FIELD

[0001] The present application relates to an information processing apparatus, an information processing method, and a program product. BACKGROUND

[0002] In Patent Literature 1, there is described an autonomous mobile body provided with an autonomous control section for autonomous movement (claim 1). In Patent Literature 2, there is described making management business related to a mobile body or a user thereof efficient (abstract). PRIOR ART DOCUMENTS Patent Literature 1: International Publication No. 2019 / 181896 Patent Literature 2: Japanese Patent Publication No. 2022-180688 SUMMARY

[0003] In a first aspect of the present application, there is provided an information processing apparatus. The information processing apparatus includes: an information acquisition section that acquires position information related to positions of a plurality of mobile bodies and state information related to states of the plurality of mobile bodies in an actual space in which the plurality of mobile bodies move; a reception section that receives a designation of a measurement position of measurement target information on a virtual map corresponding to the actual space, the measurement target information being information of a measurement target of the actual space; and a determination section that determines a mobile body that should move to the measurement position based on the measurement position and the position information and the state information of the plurality of mobile bodies.

[0004] The determination section can determine the mobile body that should move to the measurement position based on a kind of the measurement target information and a kind of measurable information that is information that can be measured by each mobile body.

[0005] In any of the above information processing apparatuses, the determination section can determine the mobile body that should move to the measurement position based on a movement performance of each mobile body and characteristic information of an assumed movement path of each mobile body from an initial position to the measurement position.

[0006] In any of the above information processing apparatuses, a measurement deadline of the measurement target information at the measurement position can be determined in advance. The determination section can determine a mobile body that satisfies the measurement deadline as the mobile body that should move to the measurement position.

[0007] In any of the above information processing apparatuses, in a case where first measurement target information of a first kind acquired by a first mobile body and second measurement target information of a second kind acquired by a second mobile body should be collectively performed at the measurement position, the determination section can also determine the first mobile body and the second mobile body as the mobile bodies that should move to the measurement position.

[0008] In any of the above information processing apparatuses, the determining section can determine the order in which the first mobile body and the second mobile body reach the measurement position, based on the position at which a first sensor that acquires the measurement target information is provided in the first mobile body and the position at which a second sensor that acquires the measurement target information is provided in the second mobile body.

[0009] Any of the above information processing apparatuses can further include a storage section in which tasks that are predetermined for each mobile body and measurement targets in the actual space that should be measured with the surplus of the mobile body are stored in correspondence with each other. The determining section can determine whether the mobile body has a surplus after the mobile body ends the task, and determine, in a case where it is determined that the mobile body has a surplus, the mobile body that should move to the position of the measurement target that should be measured with the surplus as the mobile body that should move to the position of the measurement target.

[0010] In any of the above information processing apparatuses, the storage section can update the stored measurement target in accordance with the measurement target information.

[0011] In any of the above information processing apparatuses, the determining section can determine the state of the measurement target in accordance with the measurement target information. The information acquiring section can acquire the time at which the measurement target information that is involved in the determination of the measurement target by the determining section is acquired by the mobile body. The determining section can determine the time at which the mobile body moves to the measurement position again, based on the state of the measurement target and the time at which the measurement target information is acquired.

[0012] In any of the above information processing apparatuses, the determining section can determine the state of the measurement target in accordance with the measurement target information, and determine the number of mobile bodies that should move toward the measurement position based on the determined state.

[0013] In any of the above information processing apparatuses, the information acquiring section can acquire weather information of the actual space. The determining section can determine the mobile body that should move to the measurement position, based on the measurement position, the position information and the state information of each of the plurality of mobile bodies, and the weather information.

[0014] In a second aspect of the present disclosure, an information processing method is provided. The information processing method includes: an information acquiring stage of acquiring position information related to positions of a plurality of mobile bodies and state information related to states of the plurality of mobile bodies in an actual space in which the plurality of mobile bodies move; a receiving stage of receiving a designation of a measurement position of measurement target information on a virtual map corresponding to the actual space, the measurement target information being information of a measurement target of the actual space; and a determining stage of determining a mobile body that should move to the measurement position, based on the measurement position and the position information and the state information of each of the plurality of mobile bodies.

[0015] In a third aspect of the present disclosure, a program product is provided. The program product includes an information processing program for causing a computer to execute an information processing method.

[0016] Furthermore, the above summary of the invention does not list all the features of the invention. In addition, sub-combinations of these feature groups can also constitute inventions. Attached Figure Description

[0017] Figure 1 This is a schematic top view of an example of the actual space 110 in which multiple moving bodies 90 move. Figure 2 This is a stereoscopic view representing an example of a virtual map 120 corresponding to the actual space 110. Figure 3 This is a block diagram representing an example of an information processing device 100. Figure 4 This is a diagram illustrating an example of the display mode of the display unit 60. Figure 5 This is a diagram illustrating an example of the positional relationships of multiple moving bodies 90 in actual space 110. Figure 6 This is a diagram representing one example of the types of structure 114. Figure 7 This is a diagram illustrating an example of a predetermined task for each of a plurality of moving bodies 90 and the measurement object that each moving body 90 should measure with its spare capacity. Figure 8 This is a diagram representing an example of the anomaly occurrence time ts, recovery time te, and recovery time T for each of the multiple structures 114. Figure 9 This is a diagram illustrating an example of the state of a measured object. Figure 10 This is a flowchart illustrating an example of an information processing method according to an embodiment of the present invention. Figure 11 This is a diagram illustrating an example of the structure of a computer 1200 that can implement the present invention in whole or in part. Detailed Implementation

[0018] The present invention will now be described through embodiments thereof, but these embodiments do not limit the invention as defined in the claims. Furthermore, not all combinations of the features described in the embodiments are necessary for the solution of the invention.

[0019] Figure 1 This is a schematic top view illustrating an example of the actual space 110 in which multiple moving bodies 90 move. Figure 1In the example of FIG. 1, the plurality of mobile bodies 90 are mobile body 90-1 to mobile body 90-3. The actual space 110 is, for example, a space of a factory or the like. The actual space 110 can be a space indoors, or a space outdoors. The actual space 110 can be a space in which it is difficult for a person to enter due to influence of an environment such as radiation or harmful gas, or a space in which it is difficult to enter in itself due to presence of an obstacle or the like.

[0020] The actual space 110 can be provided with a road surface 112, and can be provided with a structure 114. In a case where the actual space 110 is a space of a factory or the like, the road surface 112 is a floor of the factory. The structure 114 is, for example, a device such as a measuring instrument, a manufacturing device, a spare part, or the like. The mobile body 90 can travel on the road surface 112, or can fly in the air.

[0021] The mobile body 90 can be a robot capable of autonomous travel, or can be a robot that is remotely controllable by a user of the information processing apparatus 100 (to be described later). The mobile body 90 can have a control section that controls movement of the mobile body 90. The mobile body 90 can move using electric power of a storage battery, or can move using an energy source other than the storage battery. The storage battery can be mounted on the mobile body 90. The mobile body 90 can be a quadruped robot that moves while contacting the road surface 112, or can be a tracked robot or a wheeled robot, or can be an unmanned aerial vehicle that moves in the air. The mobile body 90 can be a robot that patrols in the actual space 110.

[0022] Each of the plurality of mobile bodies 90 can have an object acquisition section 92 that acquires measurement object information. In the example of FIG. 1, the mobile body 90-1 to the mobile body 90-3 each have an object acquisition section 92-1 to an object acquisition section 92-3. Figure 1 In the example of FIG. 1, the plurality of mobile bodies 90 are mobile body 90-1 to mobile body 90-3. The actual space 110 is, for example, a space of a factory or the like. The actual space 110 can be a space indoors, or a space outdoors. The actual space 110 can be a space in which it is difficult for a person to enter due to influence of an environment such as radiation or harmful gas, or a space in which it is difficult to enter in itself due to presence of an obstacle or the like.

[0023] The object acquisition unit 92 can also be an imaging unit that images the measurement object information. The imaging unit acquires the measurement object information by imaging the measurement object information. The physical quantities of the objects in the actual space 110 can include information related to the physical quantities of the objects in the actual space 110 in the image of the actual space 110. The physical quantities of the objects are, for example, the position, shape, slope, width, temperature, state of the road surface 112, the presence or absence of an obstacle on the road surface 112, the position, shape, size, and the like of the structure 114. The position of the objects can be a relative position among a plurality of objects, a relative position with respect to a set reference position, or an absolute position such as latitude and longitude.

[0024] The state of the road surface 112 can be the configuration of the unevenness on the road surface 112, the presence or absence of a crack, or the like, the state of whether the road surface 112 is wet, or the presence or absence of a foreign object such as sand on the road surface 112. The obstacle on the road surface 112 can refer to an object that is larger than a predetermined size (for example, at least any one of the width, depth, and height) or an object that the moving body 90 cannot move due to the presence of the object. The imaging unit can acquire the physical quantities such as the position, shape, and size of the structure 114 or the obstacle that hinders the movement of the moving body 90, based on the image acquired in a state in which the moving body 90 cannot move.

[0025] The structure 114 can be a device that processes a substance. Processing a substance refers to changing the state of the substance. Changing the state of the substance can refer to changing the shape of the substance or changing at least one of the properties and chemical formula of the substance through a chemical reaction or the like. In the case where the structure 114 is a device that processes a substance, the housing of the structure 114 can be provided with a meter or the like that displays a physical quantity related to the processing of the substance. For example, in the case where the structure 114 is a device that changes the state of a substance while flowing a fluid (for example, an atomic reactor), the structure 114 can be provided with a flow meter that measures the flow rate of the fluid. The housing of the structure 114 can be provided with a meter or the like that displays the flow rate measured by the flow meter. For example, in the case where the structure 114 is a device that changes the state of a substance by using a specific kind of gas (for example, a toxic gas), the structure 114 can be provided with a flow meter that measures the flow rate of the gas, a pressure gauge that measures the pressure of the gas, or the like. The housing of the structure 114 can be provided with a meter or the like that displays the flow rate, pressure, or the like measured by the flow meter, the pressure gauge, or the like.

[0026] The structure 114 can also be an electromagnetic wave generating device. The electromagnetic wave generating structure 114 is, for example, a device that generates radiation, a device that generates light of a wavelength of ultraviolet light to infrared light, or the like. For example, in a case where the structure 114 is a device that generates radiation (for example, an X-ray diffraction device), the electromagnetic wave generating structure 114 can be provided with a power meter that displays the output of the radiation. The housing of the structure 114 can be provided with a meter or the like that displays the output of the radiation measured by the power meter.

[0027] In a case where the object acquisition unit 92 is a photographing unit, the photographing unit can acquire the measurement object information by acquiring an image of a meter or the like provided in the housing of the structure 114 that generates radiation.

[0028] The plurality of mobile bodies 90 can have a position information acquisition unit 94 that acquires position information of the place of the mobile body 90 in the actual space 110. The position information acquisition unit 94 is, for example, a GPS (Global Positioning System). In Figure 1 In the example of FIG. 1, the mobile body 90-1 to the mobile body 90-3 have the position information acquisition unit 94-1 to the position information acquisition unit 94-3, respectively.

[0029] In the present specification, matters are sometimes described using orthogonal coordinate axes of an X axis, a Y axis, and a Z axis. In the present specification, a plane parallel to the road surface 112 is set as an XY plane, and a direction perpendicular to the road surface 112 is set as a Z axis direction. In the present specification, an arbitrary one direction in the XY plane is set as an X axis direction, and a direction orthogonal to the X axis in the XY plane is set as a Y axis direction. The Z axis direction can be a direction parallel to a plumb direction, and the XY plane can be a horizontal plane.

[0030] Figure 2 FIG. 2 is a perspective view that shows an example of a virtual map 120 corresponding to the actual space 110. The virtual map 120 of the present example is three-dimensional. The virtual map 120 can also be two-dimensional having an X axis direction and a Y axis direction. The virtual map 120 can be a map created for a purpose different from the display of the measurement object information. The virtual map 120 can be an existing map, or can be a map created based on map information acquired by the mobile body 90. The existing map is, for example, CAD data at the time of construction of the actual space 110, a Google map, or the like. The map created based on the map information acquired by the mobile body 90 is, for example, a map created by a SLAM (Simultaneous Localization and Mapping) technique or the like. Figure 2 The region in the virtual map 120 corresponding to the actual space 110 is indicated. The road surface 112 and the structure 114 of the actual space 110 are indicated on the virtual map 120.

[0031] The virtual map 120 can include an initial position PI of the mobile body 90. The virtual map 120 can include a measurement position P2 at which the measurement object information is measured. In Figure 2 In the example in which the initial position PI is indicated by a dashed line and the measurement position P2 is indicated by a dotted line. In Figure 2 In the example in the drawing, the mobile body 90-1 and the mobile body 90-3 in Figure 1 The measurement position P2 is a position to which the mobile body 90 is to move or a position to which the mobile body 90 is preferably to move in order to acquire the measurement object information by the object acquisition unit 92. The position to which the mobile body 90 is to move is, for example, a position of a measurement object (for example, the structure 114) whose state is to be confirmed. The measurement position P2 can be designated by the operator 130 (described later) through the reception unit 30 (described later).

[0032] The initial position PI is a position from which the mobile body 90 starts to move. In a case in which the mobile body 90 is stopped, the position from which the mobile body 90 starts to move is a position at which the mobile body 90 is stopped. The case in which the mobile body 90 is stopped can mean a case in which the mobile body 90 is stopped after the mobile body 90 completes a designated task, or can mean a case in which the mobile body 90 is temporarily stopped in the course of performing a designated task. In a case in which the mobile body 90 is moving and the mobile body 90 is designated to move to the measurement position P2, the position from which the mobile body 90 starts to move can be a current position of the mobile body 90 at the time of the designation.

[0033] The position information acquisition unit 94 of the mobile body 90 can acquire the initial position PI. The information acquisition unit 20 (described later) can acquire the initial position PI acquired by the position information acquisition unit 94. The display unit 60 (described later) can display the initial position PI acquired by the information acquisition unit 20 on the virtual map 120.

[0034] The initial position PI and the measurement position P2 can also be regions having predetermined areas or volumes in the actual space 110. The region having a predetermined area can be a region on the road surface 112. In a case in which the mobile body 90 is a drone, the initial position PI and the measurement position P2 can be regions on a space having a predetermined volume in the actual space 110. The region on the space having a predetermined volume is, for example, a space of one or a plurality of rooms provided in the actual space 110.

[0035] Figure 3is a block diagram indicating an example of the information processing apparatus 100. The information processing apparatus 100 is provided with the information acquisition section 20, the reception section 30, the determination section 40, and the control section 50. The reception section 30 is, for example, a mouse, a keyboard, a screen of a smartphone, or the like. The information processing apparatus 100 can be provided with the virtual map acquisition section 10, the display section 60, the movement path generation section 64, and the storage section 80. The display section 60 is, for example, a display, a monitor, a screen of a smartphone, or the like.

[0036] A part or the whole of the information processing apparatus 100 can be implemented by a computer. The control section 50 can be a CPU (Central Processing Unit) of the computer. In a case where the information processing apparatus 100 is implemented by a computer, an information processing program for causing the computer to function as the information processing apparatus 100 can be installed in the computer, and an information processing program for executing the information processing method described later can be installed.

[0037] The virtual map acquisition section 10 acquires the virtual map 120. The virtual map acquisition section 10 can acquire the virtual map 120 via the Internet. The storage section 80 can store the virtual map 120 acquired by the virtual map acquisition section 10.

[0038] The information acquisition section 20 acquires position information related to positions of the plurality of moving bodies 90 in the actual space 110. The information acquisition section 20 can acquire the position information acquired by the position information acquisition section 94 of each of the plurality of moving bodies 90. The information acquisition section 20 can acquire the position information acquired by the position information acquisition section 94 by wireless communication. The information acquisition section 20 can acquire the position information of the moving body 90 moving in the actual space 110 at any time.

[0039] The information acquisition section 20 acquires state information 96 (described later) related to states of the plurality of moving bodies 90 in the actual space 110. The state of the moving body 90 refers to a property of the moving body 90 at a certain point in time or a property that can change over time. The state of the moving body 90 can include a property that can be recognized on the appearance of the moving body 90, or a property that is difficult to recognize on the appearance of the moving body 90. The property that can be recognized on the appearance of the moving body 90 is, for example, the shape of the moving body 90. The information acquisition section 20 can acquire the state information 96 (described later) of the moving body 90 moving in the actual space 110 at any time.

[0040] The state of the mobile body 90 can include a movement state of the mobile body 90. The movement state of the mobile body 90 is a property of change in the presence position of the mobile body 90 with the passage of time in a case where the presence position of the mobile body 90 changes with the passage of time. The movement state of the mobile body 90 is, for example, at least one of a moving speed and a moving acceleration. The mobile body 90 can have a speedometer. The information acquisition unit 20 can acquire the speed of the mobile body 90 measured by the speedometer of the mobile body 90 by wireless means. The information acquisition unit 20 can acquire the speed of the mobile body 90 and acquire the time rate of change of the speed based on the acquired speed.

[0041] In a case where the mobile body 90 moves using the electric power of the storage battery, the state of the mobile body 90 can also be the remaining amount of the storage battery. The remaining amount of the storage battery can be a ratio of the current charge amount with respect to the full charge amount of the storage battery. The state of the mobile body 90 can also refer to whether the mobile body 90 is in the process of executing a task assigned to the mobile body 90.

[0042] Figure 4 is a diagram indicating an example of a display method of the display unit 60. The display unit 60 can display the state information 96 of each of the plurality of mobile bodies 90 on the virtual map 120 at positions corresponding to the positions of the plurality of mobile bodies 90. In this case, the display unit 60 can display the state information 96 of each of the plurality of mobile bodies 90 on the virtual map 120 at positions corresponding to the positions of the plurality of mobile bodies 90. Figure 4 In the example of Figure 4 , the state information 96-1 to the state information 96-3 are the state information 96 of the mobile body 90-1 to the mobile body 90-3, respectively. In the example of Figure 1 , the display unit 60 displays the state information 96-1 to the state information 96-3 at positions corresponding to the positions of the mobile body 90-1 to the mobile body 90-3 (refer to Figure 4 ). By doing so, the operator 130 can recognize the state of each of the plurality of mobile bodies 90. In the example of Figure 4 , the state information 96 is text information indicating the state of the mobile body 90. In the example of , the text information is displayed on the virtual map 120 by a pop-up box.

[0043] Figure 3 The reception unit 30 (refer to ) receives the designation of the measurement position P2 on the virtual map 120. In this example, the operator 130 designates the measurement position P2 on the virtual map 120 by the pointer 32.

[0044]

[0045] The determination section 40 determines the mobile body 90 that should move to the measurement position P2, based on the measurement position P2 and the position information and the state information 96 of each of the plurality of mobile bodies 90. For example, the determination section 40 calculates the movement time from the initial position PI to the measurement position P2 for each of the plurality of mobile bodies 90, based on the predetermined movement path generated by the movement path generation section 64 and the movement speed of the mobile body 90. The determination section 40 determines, for example, the mobile body 90 having the smallest movement time as the mobile body 90 that should move to the measurement position P2. Thus, the mobile body 90 having the smallest movement time can move to the measurement position P2.

[0046] For example, in a case where the mobile body 90 moves using the electric power of a storage battery, the determination section 40 calculates the movable distance of the mobile body 90 based on the remaining amount of the storage battery. The determination section 40 determines, for example, the mobile body 90 having a movable distance of the mobile body 90 that is equal to or more than the distance of the predetermined movement path generated by the movement path generation section 64 as the mobile body 90 that should move to the measurement position P2. Thus, the mobile body 90 can reliably reach the measurement position P2.

[0047] For example, in a case where the mobile body 90 is executing a process of a task assigned to the mobile body 90, the determination section 40 excludes the mobile body 90 executing the process of the task from the mobile bodies 90 that should move to the measurement position P2, and determines the other mobile bodies 90 than the mobile body 90 as the mobile bodies 90 that should move to the measurement position P2. Thus, it is possible to avoid that the mobile body 90 executing the process of the task moves to the measurement position P2 without completing the task.

[0048] The determination section 40 can determine the mobile body 90 that should move to the measurement position P2, based on the kind of the measurement target information and the kind of the measurable information that is the information measurable by each of the mobile bodies 90. The information measurable by the mobile body 90 refers to the measurement target information that can be acquired by the object acquisition section 92 of the mobile body 90. The kind of the measurable information refers to the kind of information that can be acquired on the specification of the object acquisition section 92. For example, in a case where the object acquisition section 92 is a gas sensor that detects a specific kind of gas, the kind of the measurable information is the specific kind of gas. For example, in a case where the object acquisition section 92 is a temperature and humidity sensor, the kind of the measurable information is temperature or humidity.

[0049] The storage section 80 (see FIG. 1) stores the kind of the measurement target information and the kind of the measurable information. Figure 3The characteristic information of the assumed movement path in which the mobile body 90 moves can be stored in the actual space 110. The assumed movement path can be a path of the mobile body 90 assumed by the operator 130. The characteristic information of the assumed movement path refers to at least one of a shape, a gradient, a width, a state (presence or absence of unevenness, etc.), and presence or absence of an obstacle of the assumed movement path. The characteristic information can be included in the virtual map 120. The virtual map acquisition section 10 can acquire the virtual map 120 including the characteristic information of the assumed movement path. The storage section 80 can store the virtual map 120 including the characteristic information.

[0050] The movement path generation section 64 can generate a predetermined movement path of the mobile body 90 based on the movement performance of the mobile body 90 and the characteristic information of the assumed movement path. The movement performance of the mobile body 90 is, for example, a maximum speed of the mobile body 90, a width of a path through which the mobile body 90 can pass, a gradient of a path in which the mobile body 90 can move, or the like. For example, the movement path generation section 64 generates a predetermined movement path in which a gradient of the assumed movement path in the characteristic information is smaller than a maximum value of a gradient in which the mobile body 90 can move. For example, the movement path generation section 64 generates a predetermined movement path in which a width of the assumed movement path in the characteristic information is equal to or greater than a minimum width of a path through which the mobile body 90 can pass. For example, the movement path generation section 64 generates a predetermined movement path that avoids the assumed movement path having an obstacle in the characteristic information. Thus, the mobile body 90 can reliably move in the predetermined movement path. In a case where the movement performance of the mobile body 90 does not satisfy the predetermined movement path of the assumed movement path, the movement path generation section 64 can not generate the predetermined movement path.

[0051] The movement path generation section 64 can also generate a predetermined movement path of the mobile body 90 based on the initial position PI of the mobile body 90, the movement performance of the mobile body 90, the measurement position P2, and the characteristic information of the assumed movement path. Thus, the mobile body 90 can reliably move in the predetermined movement path from the initial position PI to the measurement position P2.

[0052] The determination section 40 can determine the mobile body 90 that should move to the measurement position P2 based on the movement performance of each mobile body 90 and the characteristic information of the assumed movement path of each mobile body 90 from the initial position P1 to the measurement position P2. In a case where the movement path generation section 64 can generate the predetermined movement path for all of the plurality of mobile bodies 90, the determination section 40 can determine the mobile body 90 for which the predetermined movement path is the shortest as the mobile body 90 that should move to the measurement position P2. In a case where the movement path generation section 64 cannot generate the predetermined movement path for a specific at least one mobile body 90 (for example, the mobile body 90-1), the determination section 40 can determine at least one of the other mobile bodies 90 (for example, the mobile bodies 90-2 and 90-3) other than the at least one mobile body 90 as the mobile body 90 that should move to the measurement position P2. The determination section 40 can determine the mobile body 90 for which the predetermined movement path is the shortest among the other mobile bodies 90 as the mobile body 90 that should move to the measurement position P2.

[0053] The measurement deadline of the measurement target information at the measurement position P2 can be determined in advance. The measurement deadline determined in advance can be stored in the storage section 80. For example, in a case where the case of the structure 114 is provided with a display section that displays a physical quantity (for example, pressure or temperature, or the like) related to the processing of the display substance, the physical quantity displayed on the display section can change along with the processing of the substance. Therefore, sometimes the display section of the structure 114 displays the measurement value of the physical quantity at a certain timing for a certain period, and if the certain period elapses, the measurement value of the physical quantity at the next certain timing is displayed. The measurement deadline of the measurement target information is, for example, the end of the certain period.

[0054] An atomic clock can also be mounted on the mobile body 90. The mobile body 90 can acquire the time of the atomic clock. The mobile body 90 can also acquire the time from an NTP server via the Internet. The information acquisition section 20 can acquire the time acquired by the mobile body 90. The information acquisition section 20 can also acquire the time from the NTP server via the Internet.

[0055] The information acquisition section 20 can acquire the movement speed of the mobile body 90. The determination section 40 can calculate the required time for the mobile body 90 to move from the initial position P1 to the measurement position P2 based on the distance of the predetermined movement path generated by the movement path generation section 64 and the movement speed of the mobile body 90 acquired by the information acquisition section 20. The determination section 40 can judge whether the mobile body 90 can move to the measurement position P2 before the measurement deadline based on the calculated required time, the current time, and the measurement deadline of the measurement target information.

[0056] The determination section 40 can determine the mobile body 90 that satisfies the measurement deadline as the mobile body 90 that should move to the measurement position P2. The mobile body 90 that satisfies the measurement deadline is the mobile body 90 that the determination section 40 judges as being able to move to the measurement position P2 before the measurement deadline.

[0057] The first mobile body 90 (e.g., mobile body 90-1) can have a first object acquisition unit 92 (e.g., object acquisition unit 92-1) that acquires a first kind of measurement object information. The second mobile body (e.g., mobile body 90-2) can have a second object acquisition unit 92 (e.g., object acquisition unit 92-2) that acquires a second kind of measurement object information. The first kind and the second kind can be mutually different kinds, or can be the same kind.

[0058] In the measurement position P2, in a case where acquisition of the first kind of measurement object information by the first object acquisition unit 92 and acquisition of the second kind of measurement object information by the second object acquisition unit 92 are to be performed together, the determination unit 40 can determine the first mobile body 90 and the second mobile body 90 as mobile bodies that are to be moved to the measurement position P2. The case where acquisition of the first kind of measurement object information and acquisition of the second kind of measurement object information are to be performed together is, for example, a case where the structure 114 is a radiation generating apparatus (e.g., an X-ray diffraction apparatus) that generates radiation, the first kind of measurement object information is an output of the radiation, and the second kind of measurement object information is a temperature of the surroundings of the radiation generating apparatus. In a case where an abnormality can occur in the radiation generating apparatus, the information acquisition unit 20 sometimes acquires the output of the radiation and the temperature of the surroundings of the radiation generating apparatus together, thereby obtaining an insight related to the abnormality. For example, in a case where the output of the radiation is abnormal but the temperature is normal, a shielding function of the radiation in the radiation generating apparatus can be abnormal. For example, in a case where the output of the radiation is abnormal and the temperature is abnormal, a cooling function of circulating water in the radiation generating apparatus can be abnormal. In this way, by acquiring measurement object information of mutually different kinds, an insight related to an abnormality can be obtained. In this example, the first object acquisition unit 92 can be a photographing unit of a meter that displays the output of the radiation, which is provided to a case of the radiation generating apparatus, and the second object acquisition unit 92 can be a temperature sensor that measures the temperature of the surroundings of the radiation generating apparatus.

[0059] Another example of the case where acquisition of the first kind of measurement object information and acquisition of the second kind of measurement object information are to be performed together is, for example, a case where the first kind of measurement object information and the second kind of measurement object information are temperatures of the surroundings of the structure 114. In this example, the first object acquisition unit 92 and the second object acquisition unit 92 can be first and second temperature sensors, respectively. In a case where an abnormality can occur in the structure 114, measurement of the temperature of the surroundings of the structure 114 is sometimes performed with care. In this case, if the measurement value of the first temperature sensor and the measurement value of the second temperature sensor are within an error range, the reliability of the measured temperature is high.

[0060] The first kind of measurement target information and the second kind of measurement target information that are to be acquired together in the case where the first kind of measurement target information and the second kind of measurement target information are to be acquired together can be associated in advance. The first kind of measurement target information and the second kind of measurement target information that are associated in advance can be stored in the storage section 80. The determination section 40 can determine whether the first kind of measurement target information acquired by the first object acquisition section 92 and the second kind of measurement target information acquired by the second object acquisition section 92 are to be acquired together at the measurement position P2, on the basis of the association between the first kind and the second kind stored in the storage section 80.

[0061] Figure 5 is a diagram that shows an example of the positional relationship of the plurality of mobile bodies 90 in the actual space 110. The determination section 40 can determine the order in which the first mobile body 90 (e.g., the mobile body 90-1) and the second mobile body 90 (e.g., the mobile body 90-2) reach the measurement position P2, on the basis of the position of the first object acquisition section 92 (e.g., the object acquisition section 92-1) in the first mobile body 90 and the position of the second object acquisition section 92 (e.g., the object acquisition section 92-2) in the second mobile body 90. The position of the object acquisition section 92 can be the position of the object acquisition section 92 with respect to a predetermined reference position in the actual space 110. The predetermined reference position in the actual space 110 is, for example, the position in the Z-axis direction of the road surface 112. In the example of Figure 5 , the position of the object acquisition section 92 is the height from the road surface 112. In the example of Figure 5 , the determination section 40 determines that the mobile body 90-1 reaches the measurement position P2 first, and then the mobile body 90-2 reaches the measurement position P2, on the basis of the height h1 of the object acquisition section 92-1 in the mobile body 90-1 and the height h2 of the object acquisition section 92-2 in the mobile body 90-2.

[0062] In this example, the height h2 is higher than the height h1. Therefore, if the mobile body 90-2 is stopped between the mobile body 90-1 and the structure 114-8 in the X-axis direction, the object acquisition section 92-1 of the mobile body 90-1 can have difficulty acquiring the measurement target information. Therefore, it is preferable to stop the mobile body 90-1 between the mobile body 90-2 and the structure 114-8 in the X-axis direction. Therefore, the determination section 40 determines that the mobile body 90-1 having the height h1 of the object acquisition section 92 reaches first, and then the mobile body 90-2 having the height h2 reaches. Thereby, the object acquisition section 92-1 and the object acquisition section 92-2 can acquire the measurement target information, respectively.

[0063] At the measurement position P2, in a case where the first kind of measurement target information acquired by the first object acquisition unit 92 and the second kind of measurement target information acquired by the second object acquisition unit 92 should be acquired in common, the order in which the first mobile body 90 and the second mobile body 90 reach the measurement position P2 can be determined based on the position of the first object acquisition unit 92 and the position of the second object acquisition unit 92. Thereby, the first object acquisition unit 92 can acquire the first kind of measurement target information, and the second object acquisition unit 92 can acquire the second kind of measurement target information.

[0064] Figure 6 is a diagram indicating an example of the kind of the structure 114. In the present example, the structure 114-1, the structure 114-4, and the structure 114-7 are semiconductor manufacturing apparatuses (pre-processes). The pre-processes can include processes of cleaning, photolithography (transfer onto a wafer), etching, film formation, ion implantation of a wafer. In the present example, the structure 114-2, the structure 114-5, and the structure 114-8 are semiconductor manufacturing apparatuses (post-processes). The post-processes can include processes of cutting, die bonding, wire bonding, molding (protection based on packaging). In the present example, the structure 114-3, the structure 114-6, and the structure 114-9 are semiconductor evaluation apparatuses. The semiconductor evaluation apparatuses of the present example include X-ray inspection apparatuses. The semiconductor evaluation apparatuses of the present example evaluate the state of wire bonding with an X-ray image.

[0065] Figure 7 is a diagram indicating an example of a task determined in advance for each of the plurality of mobile bodies 90 and a measurement target that each mobile body 90 should measure with surplus power. In the present example, the task of the mobile body 90-1 is to acquire the output of radiation in the structure 114, the task of the mobile body 90-2 is to acquire the ambient temperature of the structure 114, and the task of the mobile body 90-3 is to acquire the water amount of cooling water in the structure 114. Figure 7 The correspondence relation between each task and a measurement target that should be measured with surplus power illustrated in the drawing can be stored in the storage unit 80.

[0066] In this example, in a case where the mobile body 90-1 has acquired the output of the radiation in any one of the structures 114-3, 114-6, and 114-9, the measurement object that the mobile body 90-1 should measure with the remaining capacity is the other any one of the structures 114-3, 114-6, and 114-9. In this example, in a case where the mobile body 90-2 has acquired the ambient temperature of any one of the structures 114-1 to 114-9, the measurement object that the mobile body 90-2 should measure with the remaining capacity is the other any one of the structures 114-1 to 114-9. In this example, in a case where the mobile body 90-3 has acquired the water amount of the cooling water in any one of the structures 114-1 to 114-9, the measurement object that the mobile body 90-3 should measure with the remaining capacity is the water amount of the cooling water in the other any one of the structures 114-1 to 114-9.

[0067] The determination section 40 can determine whether the mobile body 90 has the remaining capacity after the mobile body 90 ends the task. For example, the determination section 40 determines whether the mobile body 90-1 has the remaining capacity after the mobile body 90-1 acquires the output of the radiation of the structure 114-3. Information related to whether the mobile body 90 has the remaining capacity can be included in the state information of the mobile body 90. For example, the determination section 40 calculates the movable distance of the mobile body 90-1 based on the remaining amount of the battery after the mobile body 90-1 acquires the output of the radiation of the structure 114-3. The movement path generation section 64 generates a predetermined movement path from the structure 114-3 to the structure 114-6 or the structure 114-9. The determination section 40 determines that the mobile body 90-1 has the remaining capacity in a case where the distance of the predetermined movement path is smaller than the movable distance. The determination section 40 can also cancel the task of the mobile body 90 after the mobile body 90 ends the task.

[0068] In a case where it is determined that the mobile body 90 has the remaining capacity, the determination section 40 can determine the mobile body 90 for which it is determined that the mobile body 90 has the remaining capacity as a mobile body 90 that should move to the position of the measurement object that should be measured with the remaining capacity. For example, in a case where the determination section 40 determines that the mobile body 90-1 has the remaining capacity, the mobile body 90-1 is determined as a mobile body that should move to the position of the structure 114-6 or the structure 114-9.

[0069] The storage section 80 can update the measurement object that the mobile body 90 should measure with the remaining capacity in accordance with the measurement object information. A threshold value can be determined in advance for the measurement object information. For example, in a case where the measurement object information is larger or smaller than the threshold value, the storage section 80 can update the measurement object that the mobile body 90 should measure with the remaining capacity. For example, in a case where the measurement object information is larger than the threshold value, the storage section 80 can update the measurement object that the mobile body 90 should measure with the remaining capacity. Figure 7In the example of FIG. 9, in a case where the surrounding temperature of the structure 114-1 acquired by the mobile body 90-2 is higher than the threshold value, the structure 114-1 can have an abnormality. In this case, the meaning of acquiring the surrounding temperature of the structure 114-1 again after the time point at which the surrounding temperature of the structure 114-1 acquired by the mobile body 90-2 is higher than the threshold value becomes small. Therefore, the storage section 80 can exclude the structure 114-1 from the measurement objects that the mobile body 90-2 should measure with extra effort. For example, in a case where the surrounding temperature of the structure 114-1 acquired by the mobile body 90-2 is higher than the threshold value, the storage section 80 can exclude the structure 114-1 from the measurement objects that the mobile body 90-2 should measure with extra effort. Figure 7 In the example of FIG. 9, in a case where the water amount in the structure 114-2 acquired by the mobile body 90-3 is less than the threshold value, the structure 114-2 can have an abnormality caused by a shortage of water. In this case, the meaning of acquiring the water amount of the structure 114-2 again after the time point at which the water amount of the structure 114-2 acquired by the mobile body 90-3 is less than the threshold value becomes small. Therefore, the storage section 80 can exclude the structure 114-2 from the measurement objects that the mobile body 90-3 should measure with extra effort.

[0070] Figure 8 FIG. 10 is a diagram showing an example of the abnormality occurrence time ts, the recovery time te, and the recovery time T of each of the plurality of structures 114. The abnormality occurrence time ts is a time at which the structure 114 has an abnormality. The recovery time te is a time at which the structure 114 recovers from the abnormality. The recovery time T is a time from the abnormality occurrence time ts to the recovery time te.

[0071] In the present example, Figure 7 The task of the mobile body 90-1 is to acquire the radiation dose of the radiation in the surroundings of the structure 114. The determination section 40 can judge the state of the measurement object according to the measurement object information. For example, in a case where the measurement object information is the radiation dose of the radiation, the object acquisition section 92-1 of the mobile body 90-1 acquires the radiation dose. The object acquisition section 92-1 can be a radiation dose meter. The determination section 40 judges the state of the surroundings of the radiation generating device according to the magnitude of the radiation dose of the radiation. The determination section 40 can judge whether the state of the measurement object is abnormal or normal according to the measurement object information. For example, in a case where the magnitude of the radiation dose of the radiation is greater than a threshold value of the radiation dose, the possibility that the radiation leaks to the surroundings of the structure 114 is high. Therefore, the determination section 40 judges that an abnormality of the radiation dose occurs in the surroundings of the structure 114. The radiation dose of the radiation in the surroundings of the structure 114 decreases with the passage of time, and in a case where it is less than the threshold value of the radiation dose, the determination section 40 judges that the state of the surroundings of the structure 114 recovers from the abnormality. The abnormality occurrence time ts, the recovery time te, and the recovery time T of each of the plurality of structures 114 shown in FIG. 9 can be stored in the storage section 80. Figure 8 The abnormality occurrence time ts, the recovery time te, and the recovery time T of each of the plurality of structures 114 shown in FIG. 9 can be stored in the storage section 80.

[0072] The information acquisition unit 20 can acquire the time at which the object acquisition unit 92 acquired the measurement object information involved in the determination of the measurement object by the determination unit 40. For example, in a case where the determination unit 40 determines the state of the surroundings of the radiation generation apparatus depending on the size of the radiation dose of the radiation, the measurement object information involved in the determination of the measurement object by the determination unit 40 is the radiation dose of the radiation in the surroundings of the radiation generation apparatus. For example, in a case where the state of the radiation dose of the radiation changes from a state below a threshold value to a state greater than the threshold value, the time at which the object acquisition unit 92 acquired the measurement object information involved in the determination of the measurement object is the time at which the object acquisition unit 92 acquired the radiation of the radiation dose exceeding the threshold value. This time is the abnormality occurrence time ts shown in FIG. 6. In another example, the time at which the object acquisition unit 92 acquired the measurement object information involved in the determination of the measurement object is the time at which the object acquisition unit 92 acquired the radiation of the radiation dose of the threshold value in a case where the state of the radiation dose of the radiation changes from a state greater than the threshold value to a state below the threshold value. This time is the recovery time te shown in FIG. 6. Figure 8 The information acquisition unit 20 can acquire the time at which the object acquisition unit 92 acquired the measurement object information involved in the determination of the measurement object by the determination unit 40. For example, in a case where the determination unit 40 determines the state of the surroundings of the radiation generation apparatus depending on the size of the radiation dose of the radiation, the measurement object information involved in the determination of the measurement object by the determination unit 40 is the radiation dose of the radiation in the surroundings of the radiation generation apparatus. For example, in a case where the state of the radiation dose of the radiation changes from a state below a threshold value to a state greater than the threshold value, the time at which the object acquisition unit 92 acquired the measurement object information involved in the determination of the measurement object is the time at which the object acquisition unit 92 acquired the radiation of the radiation dose exceeding the threshold value. This time is the abnormality occurrence time ts shown in FIG. 6. In another example, the time at which the object acquisition unit 92 acquired the measurement object information involved in the determination of the measurement object is the time at which the object acquisition unit 92 acquired the radiation of the radiation dose of the threshold value in a case where the state of the radiation dose of the radiation changes from a state greater than the threshold value to a state below the threshold value. This time is the recovery time te shown in FIG. 6. Figure 8 The information acquisition unit 20 can acquire the time at which the object acquisition unit 92 acquired the measurement object information involved in the determination of the measurement object by the determination unit 40. For example, in a case where the determination unit 40 determines the state of the surroundings of the radiation generation apparatus depending on the size of the radiation dose of the radiation, the measurement object information involved in the determination of the measurement object by the determination unit 40 is the radiation dose of the radiation in the surroundings of the radiation generation apparatus. For example, in a case where the state of the radiation dose of the radiation changes from a state below a threshold value to a state greater than the threshold value, the time at which the object acquisition unit 92 acquired the measurement object information involved in the determination of the measurement object is the time at which the object acquisition unit 92 acquired the radiation of the radiation dose exceeding the threshold value. This time is the abnormality occurrence time ts shown in FIG. 6. In another example, the time at which the object acquisition unit 92 acquired the measurement object information involved in the determination of the measurement object is the time at which the object acquisition unit 92 acquired the radiation of the radiation dose of the threshold value in a case where the state of the radiation dose of the radiation changes from a state greater than the threshold value to a state below the threshold value. This time is the recovery time te shown in FIG. 6.

[0073] The determination unit 40 can determine the time at which the mobile body 90 moves again to the measurement position P2 based on the state of the measurement object and the time at which the object acquisition unit 92 acquired the measurement object information involved in the determination of the measurement object. The measurement position P2 is the structure 114 in which the determination unit 40 determines the state of the measurement object. The determination unit 40 can determine the time at which the mobile body 90 moves again to the measurement position P2 based on the state of the measurement object, the abnormality occurrence time ts, and the recovery time te. For example, in a case where the measurement object is in an abnormal state, the determination unit 40 can determine the time at which the mobile body 90 moves again to the measurement position P2 as a time after the elapse of the recovery time T from the abnormality occurrence time ts. The mobile body 90 can move again to the measurement position P2 at the time determined by the determination unit 40. The object acquisition unit 92 of the mobile body 90 that moves again to the measurement position P2 can acquire the measurement object information again. The determination unit 40 can determine the state of the measurement object from the measurement object information. In a case where the determination unit 40 determines the state of the measurement object to be normal, the operator 130 can confirm that the state of the measurement object is normal.

[0074] Figure 9is a diagram illustrating an example of the state of the measurement object. The determination section 40 can judge the state of the measurement object from the measurement object information, and determine the number of mobile bodies 90 toward the measurement position P2 based on the judged state. For example, in a case where the measurement object information is a radiation dose of a radiation ray, in a case where the magnitude of the radiation dose of the radiation ray is greater than a threshold value of the radiation dose, the determination section 40 judges that the radiation dose is abnormal around the structure 114 (radiation ray generating device). In a case where the magnitude of the radiation dose of the radiation ray is equal to or less than the threshold value of the radiation dose, the determination section 40 judges that the radiation dose is normal around the structure 114 (radiation ray generating device). In Figure 7 In the example of FIG. 10, the determination section 40 judges that an abnormality of the radiation dose has occurred, based on the radiation dose acquired by the object acquisition section 92-1 of the mobile body 90-1.

[0075] In a case where it is judged that the radiation dose is abnormal, the determination section 40 determines the number of mobile bodies 90 toward the measurement position P2 (the position of the radiation ray generating device) to be, for example, zero. That is, the determination section 40 determines that none of the mobile bodies 90 is toward the measurement position P2. In Figure 7 In the example of FIG. 10, the determination section 40 determines that neither the mobile body 90-2 nor the mobile body 90-3 is toward the measurement position P2. In a case where the radiation dose around the structure 114 (radiation ray generating device) is abnormal, the possibility that the radiation ray leaks to the surroundings of the structure 114 is high. Therefore, there is a possibility that the structure 114 has an abnormality. Thus, the determination section 40 can determine that neither the mobile body 90-2 nor the mobile body 90-3 is toward the measurement position P2.

[0076] In a case where it is judged that the radiation dose is normal, the determination section 40 determines the number of mobile bodies 90 toward the measurement position P2 (the position of the radiation ray generating device) to be, for example, two or more. In Figure 7 In the example of FIG. 10, the determination section 40 determines the mobile body 90-2 and the mobile body 90-3 to be toward the measurement position P2. Thereby, the operator 130 can monitor the temperature around the structure 114 and the water amount of the cooling water while confirming that the radiation dose is normal.

[0077] In a state where the radiation dose is normal, a plurality of ranges can be determined in advance. In Figure 9 In the example of FIG. 10, a first range and a second range are determined. The first range is a range that is greater than a boundary value and equal to or less than a threshold value. The second range is a range that is less than the boundary value. The boundary value is smaller than the threshold value.

[0078] In a case where it is determined that the radiation dose is normal, the determination unit 40 can determine the number of mobile bodies 90 that are to move toward the measurement position P2 on the basis of the radiation dose. For example, in a case where the radiation dose is in the first range, the determination unit 40 determines the number of mobile bodies 90 that are to move toward the measurement position P2 to be two or more. The first range is closer to an abnormal state than the second range. Thus, the determination unit 40 determines the number of mobile bodies 90 that are to move toward the measurement position P2 to be two or more. Thereby, the operator 130 can carefully monitor the structure 114. For example, in a case where the radiation dose is in the second range, the determination unit 40 determines the number of mobile bodies 90 that are to move toward the measurement position P2 to be one. The second range is farther from an abnormal state than the first range. Thus, the degree of normality of the surroundings of the structure 114 is likely to be higher than in the case of the first range. Thus, the determination unit 40 can determine the number of mobile bodies 90 that are to move toward the measurement position P2 to be one.

[0079] The information acquisition unit 20 can acquire weather information of the actual space 110. The object acquisition unit 92 of the mobile body 90 can detect a water droplet in the actual space 110. The object acquisition unit 92 can be a water detection sensor. The information acquisition unit 20 can judge and acquire the weather information of the actual space 110 on the basis of a detection result of the water droplet by the object acquisition unit 92. In a case where the object acquisition unit 92 detects a water droplet, the information acquisition unit 20 can judge the weather of the actual space 110 to be rainy. In a case where the object acquisition unit 92 does not detect a water droplet, the information acquisition unit 20 can judge the weather of the actual space 110 to be overcast or sunny. The information acquisition unit 20 can also acquire weather information of the location of the actual space 110 via the Internet. The location of the actual space 110 can be a location represented by coordinates of latitude and longitude.

[0080] The determination unit 40 can determine the mobile body 90 that is to move to the measurement position P2 on the basis of the measurement position P2, the position information and the state information of each of the plurality of mobile bodies 90, and the weather information of the actual space 110. For example, in a case where the measurement object information is a radiation dose of a radioactive ray, the space radiation dose rate is likely to be higher in a rainy day than in an overcast day or a sunny day. In this example, the space radiation dose rate is a radiation dose per unit time measured in the actual space 110. Thus, in a case where the weather of the actual space 110 is judged to be rainy, the determination unit 40 can determine the mobile body 90-1 to be the mobile body 90 that is to move to the measurement position P2. In a case where the weather of the actual space 110 is judged to be overcast or sunny, the determination unit 40 can determine the mobile body 90-2 to be the mobile body 90 that is to move to the measurement position P2. Figure 7 In the example of FIG. 6, in a case where the weather of the actual space 110 is judged to be rainy, the determination unit 40 can not determine the mobile body 90-1 to be the mobile body 90 that is to move to the measurement position P2. In a case where the weather of the actual space 110 is judged to be overcast or sunny, the determination unit 40 can determine the mobile body 90-1 to be the mobile body 90 that is to move to the measurement position P2.

[0081] Figure 10 is a flowchart showing an example of an information processing method according to an embodiment of the present application.Figure 3 An information processing method according to an embodiment of the present application will be described with reference to the information processing apparatus 100 shown in FIG. 1. The information processing method includes an information acquisition step S100, a reception step S110, and a determination step S120.

[0082] The information acquisition step S100 is a step in which the information acquisition unit 20 acquires position information related to the positions of the plurality of moving bodies 90 and state information related to the states of the plurality of moving bodies 90 in the actual space 110 in which the plurality of moving bodies 90 move. The reception step S110 is a step in which the reception unit 30 receives a designation of a measurement position P2 of measurement target information on the virtual map 120 corresponding to the actual space 110, the measurement target information being information of a measurement target of the actual space 110. The determination step S120 is a step in which the determination unit 40 determines the moving body 90 that should move to the measurement position P2 on the basis of the measurement position and the position information and the state information of the plurality of moving bodies 90.

[0083] Figure 11 is a diagram showing an example of the structure of the computer 1200 that can realize the present application in whole or in part. The computer 1200 can function as, or execute, an operation or one or more "parts" of the apparatus according to the embodiments of the present application, and / or the computer 1200 can execute a process or a step of the process according to the embodiments of the present application, by a program installed in the computer 1200. To cause the computer 1200 to execute a specific operation associated with some or all of the modules of the flowcharts and block diagrams described in this specification, such a program can be executed by the CPU 1212. Further, a process or a step of the process according to the embodiments of the present application can be executed on the cloud.

[0084] The computer 1200 according to the present embodiment includes the CPU 1212, the RAM 1214, the graphics controller 1216, and the display device 1218, which are connected to each other through the host controller 1210. The computer 1200 further includes the communication interface 1222, the hard disk drive 1224, the DVD-ROM drive 1226, and the IC card drive 1228, which are connected to the host controller 1210 via the input / output controller 1220. The computer further includes the ROM 1230 and the conventional input / output unit such as a keyboard 1242, which are connected to the input / output controller 1220 via the input / output chip 1240.

[0085] The CPU 1212 acts in accordance with programs stored in the ROM 1230 and the RAM 1214, thereby controlling the units. The graphics controller 1216 takes image data generated by the CPU 1212 in a frame buffer or the like provided in the RAM 1214 or in the graphics controller 1216 itself, and displays the image data on the display device 1218.

[0086] The communication interface 1222 is capable of communicating with other electronic devices via a network. The hard disk drive 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD-ROM drive 1226 reads programs or data from the DVD-ROM 1201, and provides the programs or data to the hard disk drive 1224 via the RAM 1214. The IC card drive reads and / or writes programs and data from and to an IC card.

[0087] The ROM 1230 internally stores a boot program or the like executed at activation by the computer 1200 and / or a program dependent on the hardware of the computer 1200. The input / output chip 1240 can also connect various input / output units to the input / output controller 1220 via a parallel port, a serial port, a keyboard port, a mouse port, or the like.

[0088] A program is provided from a computer-readable storage medium such as the DVD-ROM 1201 or the IC card. The program is read from the computer-readable storage medium, and installed in the hard disk drive 1224, the RAM 1214, or the ROM 1230, which are also examples of computer-readable storage media, and executed by the CPU 1212. Information processing described in these programs is read to the computer 1200, thereby bringing about cooperation between the programs and the various types of hardware resources described above. An apparatus or a method can be constituted by the operation or processing of information accompanying the use of the computer 1200.

[0089] For example, in the case where communication is performed between the computer 1200 and an external device, the CPU 1212 can execute a communication program loaded in the RAM 1214, and instruct the communication interface 1222 to the communication processing based on processing described in the communication program. The communication interface 1222 reads transmission data stored in a transmission buffer area provided in the RAM 1214, the hard disk drive 1224, the DVD-ROM 1201, or a storage medium such as an IC card, transmits the read transmission data to a network, or writes reception data received from a network to a reception buffer area or the like provided in the storage medium, under the control of the CPU 1212.

[0090] Further, the CPU 1212 can read all or a necessary part of a file or a database stored in the hard disk drive 1224, the DVD-ROM drive 1226 (DVD-ROM 1201), an external storage medium such as an IC card, and the like to the RAM 1214, and perform various types of processing on the data on the RAM 1214. Then, the CPU 1212 can write the processed data back to the external storage medium.

[0091] Various types of information such as various types of programs, data, tables, and databases can be stored in the storage medium so as to perform information processing. The CPU 1212 can perform various types of processing described throughout the present specification on the data read from the RAM 1214 and write the results back to the RAM 1214, the various types of processing including various types of operations specified by an instruction sequence of a program, information processing, conditional judgment, conditional branching, unconditional branching, search / replacement of information, and the like. Further, the CPU 1212 can search for information in a file, a database, and the like within the storage medium. For example, in a case where a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored within the storage medium, the CPU 1212 can search for an entry that coincides with a condition that specifies an attribute value of the first attribute from the plurality of entries, and read the attribute value of the second attribute stored in the entry, thereby acquiring the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0092] The program or the software module described above can be stored in a computer readable storage medium on or near the computer 1200. Further, a storage medium such as a hard disk or a RAM provided within a server system connected to a dedicated communication network or the Internet can be used as the computer readable storage medium, whereby the program is provided to the computer 1200 via the network.

[0093] The present application has been described above with reference to the embodiments, but the technical scope of the present application is not limited to the scope described in the above embodiments. It is apparent to those skilled in the art that various changes or modifications can be made to the above-described embodiments. It is clear that such changes or modifications are included in the technical scope of the present application described in the claims.

[0094] The order of execution of the processes of the various processing such as actions, processes, steps, and stages of the apparatuses, systems, programs, and methods shown in the claims, the specification, and the drawings is not particularly indicated as "earlier," "before," and the like, and in addition, it should be noted that the execution can be performed in any order as long as the output of the previous processing is not used in the subsequent processing. With regard to the flow of actions in the claims, the specification, and the drawings, even if the description is made using "first," "then," and the like for the convenience of explanation, it does not mean that the execution must be performed in that order. Reference Signs

[0095] 10 virtual map acquisition section, 20 information acquisition section, 30 reception section, 32 pointer, 40 determination section, 50 control section, 60 display section, 64 movement path generation section, 80 storage section, 90 mobile body, 92 object acquisition section, 94 position information acquisition section, 96 status information, 100 information processing apparatus, 110 actual space, 112 road surface, 114 structure, 120 virtual map, 130 operator, 1200 computer, 1201 DVD-ROM, 1210 main controller, 1212 CPU, 1214 RAM, 1216 graphics controller, 1218 display device, 1220 input / output controller, 1222 communication interface, 1224 hard disk drive, 1226 DVD-ROM drive, 1230 ROM, 1240 input / output chip, 1242 keyboard

Claims

1. An information processing apparatus, characterized by comprising: Possessing: an information acquisition unit that acquires position information related to positions of a plurality of mobile bodies and state information related to states of the plurality of mobile bodies in an actual space in which the plurality of mobile bodies move; a reception unit that receives a designation of a measurement position of measurement target information on a virtual map corresponding to the actual space, the measurement target information being information of a measurement target of the actual space; and a determination unit that determines a mobile body that should move to the measurement position based on the measurement position and the position information and the state information of each of the plurality of mobile bodies. The determination unit determines the mobile body that should move to the measurement position based on a kind of the measurement target information and a kind of measurable information that is information that each of the plurality of mobile bodies can measure.

2. The information processing apparatus according to claim 1, characterized in that, The determination unit determines the mobile body that should move to the measurement position based on a movement performance of each of the plurality of mobile bodies and characteristic information of an assumed movement path of each of the plurality of mobile bodies from an initial position to the measurement position.

3. The information processing apparatus according to claim 1 or 2, characterized by, 4. The information processing device according to claim 1 or 2, wherein a measurement deadline of the measurement target information at the measurement position is determined in advance, the determination unit determines the mobile body that satisfies the measurement deadline as the mobile body that should move to the measurement position.

5. The information processing device according to claim 1 or 2, wherein in a case where the measurement target information of a first kind acquired by a first mobile body and the measurement target information of a second kind acquired by a second mobile body should be collectively performed at the measurement position, the determination unit determines the first mobile body and the second mobile body as the mobile bodies that should move to the measurement position. The determination unit determines an order in which the first mobile body and the second mobile body arrive at the measurement position based on a position at which a first sensor that acquires the measurement target information is provided in the first mobile body and a position at which a second sensor that acquires the measurement target information is provided in the second mobile body. 6.The information processing apparatus according to claim 5, wherein 7. The information processing device according to claim 1 or 2, wherein the information processing device further includes a storage unit in which a task determined in advance for each of the plurality of mobile bodies and a measurement target in the actual space that the mobile body should measure with a surplus are stored in correspondence with each other, the determination unit determines, after the mobile body ends the task, whether the mobile body has the surplus, and in a case where it is determined that the mobile body has the surplus, determines the mobile body that is determined to have the surplus as the mobile body that should move to a position of the measurement target that should be measured with a surplus.

8. The information processing device according to claim 7, wherein the storage unit updates the stored measurement target based on the measurement target information.

9. The information processing device according to claim 1 or 2, wherein the determination unit determines a state of the measurement target based on the measurement target information, ​ The information acquisition unit acquires a time point at which the mobile body acquires the measurement object information related to the measurement object whose judgment by the determination unit is performed, The determination unit determines a moving time point at which the mobile body moves to the measurement position again, based on the state of the measurement object and the time point.

10. The information processing apparatus according to claim 1 or 2, wherein The determination unit judges the state of the measurement object from the measurement object information, and determines the number of the mobile bodies toward the measurement position based on the judged state.

11. The information processing apparatus according to claim 1 or 2, wherein The information acquisition unit acquires weather information of the actual space, The determination unit determines the mobile body that should move to the measurement position based on the measurement position, the position information and the state information of each of the plurality of mobile bodies, and the weather information.

12. An information processing method characterized by provided with: an information acquisition stage that acquires position information related to a position of each of a plurality of mobile bodies and state information related to a state of each of the plurality of mobile bodies in an actual space in which the plurality of mobile bodies move; a reception stage that receives a designation of a measurement position of measurement object information on a virtual map corresponding to the actual space, the measurement object information being information of a measurement object of the actual space; and a determination stage that determines a mobile body that should move to the measurement position based on the measurement position and the position information and the state information of each of the plurality of mobile bodies.

13. A program product, characterized by an information processing program for causing a computer to execute the information processing method according to claim 12.

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