SERVER DEVICE AND RELATED CONTROL METHOD, MAP CREATION SYSTEM AND PROGRAM

Abstract

This enables simpler and more efficient updating of map data for an area where a mobile object is moving, using an end device that remotely controls the mobile object. A management server has a secondary storage device for storing map data for the area where a mobile object (a vehicle) is moving. The management server captures an image of the mobile object, which is the operating target of the end device. The management server provides the end device with screen data from an operating screen containing a map based on the map data stored in the secondary storage device and the captured image. The operating screen serves to capture user interaction for editing the map.The management server collects input data from the terminal device, indicating user input via the operating screen displayed on the terminal device based on the screen data, and updates the map data stored in the secondary storage device according to the input data.

Description

TECHNICAL FIELD

[0001] The present invention relates to a server device for updating map data using a terminal that remotely controls a mobile object, a related control method, a map creation system, and a program. BACKGROUND

[0002] On a construction site, such as one with a relatively large work area, map data of the work area must be created in advance so that an autonomous vehicle can transport materials (supplies). Furthermore, for such a vehicle to operate autonomously within the work area, the map data must be updated according to daily changes in the condition of the work area.

[0003] Patent Literature 1 discloses a method in which a work vehicle such as a combine harvester is operated with various sensors such as a gyro sensor in a farm, and local information about obstacles, crops, and the like in the farm is input into a map based on sensor information collected by the sensors. CITATION LISTPATENT LITERATURE

[0004] PTL 1: Japanese Patent Application Laid-Open No. 2004-213239 SUMMARY OF THE INVENTION TECHNICAL PROBLEM

[0005] In the conventional technology described above, an operator collects sensor information while operating a work vehicle such as a combine harvester and manipulates map data. However, in order to update map data according to daily changes in the condition of a work area, it is necessary to be able to manipulate maps more easily and efficiently.

[0006] Therefore, one aspect of the present invention provides a technique that enables easier and more efficient updating of map data of an area in which a mobile object moves, using a terminal that remotely controls the mobile object. SOLUTION TO THE PROBLEM

[0007] According to one aspect of the present invention, there is provided a server device capable of communicating with a mobile object for which remote control can be performed, and a terminal that performs remote control of the mobile object, the server device comprising: a storage device for storing map data of an area in which the mobile object moves; a capture device for capturing, from the mobile object, an image obtained by capturing the surroundings of the mobile object with an imaging unit provided in the mobile object;a providing device for providing, to the terminal device, screen data of an operation screen containing a map based on the map data stored in the storage device and the image captured by the capturing device, the operation screen serving to detect a user operation for editing the map; and an updating device for detecting input data of the terminal device indicating an input via the operation screen displayed in the terminal device based on the screen data, and for updating the map data stored in the storage device according to the input data. ADVANTAGEOUS EFFECTS OF THE INVENTION

[0008] According to the present invention, it is possible to update map data of an area in which a mobile object moves more easily and efficiently by using a terminal that remotely controls the mobile object. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic diagram showing a configuration example of a map creation system. Fig. Figure 2 is a block diagram showing an example of the hardware configuration of a car. Fig. Figure 3 is a block diagram showing an example of the hardware configuration of a management server. Fig. Figure 4 is a block diagram showing an example of the hardware configuration of a terminal device. Fig. Figure 5 is a block diagram showing an example of the functional configuration of a management server. Fig. 6 is a flowchart illustrating a processing operation performed by a management server. Fig. Figure 7 is a diagram showing an example of an operation screen provided by the management server for the terminal device. Fig. Figure 8 is a diagram showing an example of an operation screen provided by the management server for the terminal device. Fig. Figure 9 is a diagram showing an example of an operation screen provided by the management server for the terminal device. Fig. Figure 10 is a diagram showing an example of an operation screen provided by the management server for the terminal device. Fig. Figure 11 is a diagram showing an example of an operation screen provided by the management server for the terminal device. Fig. Figure 12 is a diagram showing an example of an operation screen provided by the management server for the terminal device. DESCRIPTION OF THE EMBODIMENTS

[0009] Embodiments will be described in detail below with reference to the accompanying drawings. It should be noted that the following embodiments do not limit the scope of the claimed invention, and no limitation is imposed on an invention requiring a combination of all the features described in the embodiments. Two or more of the features described in the embodiments may be combined if necessary. Furthermore, identical or similar embodiments are denoted by the same reference numerals, and redundant descriptions are omitted. <systemkonfiguration>

[0010] Fig. 1 is a schematic diagram showing a configuration example of a map creation system according to an embodiment of the present invention. In the following description, it is assumed that a mobile object is a vehicle (a cart). However, the mobile object is not limited to a vehicle and may also be a flying object, a robot, or the like.

[0011] The map creation system of the present embodiment includes a management server 100, a terminal 110, and a cart 120. The management server 100, the terminal 110, and the cart 120 can communicate via a network 140. The network 140 includes one or more networks such as the Internet, a mobile network (e.g., LTE or 5G networks), and a local area network (LAN). The management server 100 can communicate with the terminal 110 and the cart 120 via the network 140. The terminal 110 can communicate with the management server 100 and the cart 120 via the network 140. In addition, the terminal 110 and the cart 120 can also communicate directly with each other without using the network 140.

[0012] The cart 120 is a vehicle used for work in a work area 130. The cart 120 is a cart with a loading area for loading material (delivery) and can be used, for example, for transporting material from a material storage area to a work site in the work area 130. The work area 130 is an area (terrain) in which specified work, such as construction work, snow removal, lawn mowing, grass cutting, land cultivation, or transportation, is carried out. The following description assumes that the work area 130 is a construction site where construction work is being carried out. One cart 120 or a plurality of carts 120 can be used in the work area 130.

[0013] The cart 120 can be remotely controlled by an external device such as the terminal 110. Furthermore, the cart 120 can move autonomously along a route on the map toward a destination based on the map data provided by the management server 100. As described above, the cart 120 is configured to be switchable between a remote control mode, in which the cart moves by remote control, and an autonomous driving mode, in which the cart moves autonomously. Note that the cart 120 can also be operated by a person.

[0014] Each cart 120 in the work area 130 is used not only for work (construction work) in the work area 130, but also for creating or editing a map of the work area 130. The map data is managed by the management server 100. When creating or editing the map data, the cart 120 moves within the work area 130 through remote control via the terminal device 110. The creation or editing of the map data managed by the management server 100 is performed while the terminal device 110 remotely controls the cart 120 not used for work (construction work) in the work area 130.

[0015] The management server 100 is a server that manages the car 120 and manages the map data of the work area 130. The management server 100 also manages the registration information of a user who performs map creation or editing work by operating the terminal 110. The management server 100 maintains a work history of the map creation or editing work for each user included in the registration information. Furthermore, the management server 100 can capture and store a travel history of the car 120 in the work area 130.

[0016] The terminal 110 is a device for operating the cart 120 from a remote location. The terminal 110 can be embodied as a dedicated terminal or as a computer terminal, such as a personal computer (PC) or a tablet terminal. Operating the cart 120 using the terminal 110 can be any operation and can include, for example, driving the cart 120. In particular, the terminal 110 can detect parameters corresponding to the user-based operation of the cart 120 (e.g., a steering angle, an accelerator pedal opening, and a brake pedal opening) and transmit the parameters to the cart 120. The cart 120 can be operated according to the operating parameters received from the terminal 110.

[0017] Note that the remote control of the car 120 using the terminal 110 can be used in the following cases, except for performing map creation or editing work in the present embodiment. - In the event that the trolley 120 is returned to the original state from a temporary abnormal state (e.g., a state in which a position sensor no longer functions because the trolley is in the shadow of an object, loses its own position and leads to an emergency stop, or a state in which the trolley is in an emergency stop because it had to brake due to an animal jumping out) on the basis of remote control by a manual operation - In the case of manual operation based on remote control in a blind spot, at an intersection or in a narrow street (in the case, for example, that the car 120 temporarily stops at such a location and a setting for switching from autonomous driving mode to remote control mode is performed) - In case the driving instruction to car 120 is to stop at an intersection - In the event that the car 120 traveling in autonomous driving mode detects an obstacle and stops, the car 120 is instructed to travel through a road or region while avoiding the obstacle - In the event that a software update of the trolley 120 is carried out, or in the event that a change in a transport plan for materials (supplies) using the trolley 120 is permitted <Konfiguration des Wagens>

[0018] Fig. Figure 2 is a block diagram showing an example of the hardware configuration of the cart 120. The cart 120 includes, as hardware components, a processor 201, a memory 202, a drive device 203, a braking device 204, a steering device 205, an imaging device 206 (imaging unit), a position sensor 207, and a communication device 208.

[0019] Processor 201 controls the overall operation of cart 120. Processor 201 may be implemented, for example, by a central processing unit (CPU). Processor 201 may be a single processor or a set of multiple processors that are communicatively linked. Memory 202 stores programs and data used for the operation of cart 120. Memory 202 may, for example, be implemented in the form of a combination of random access memory (RAM) and read-only memory (ROM).

[0020] The drive device 203 is a device for driving the carriage 120 and can be, for example, a motor. The braking device 204 is a device for decelerating the carriage 120 and can be, for example, a disc brake. The steering device 205 is a device for changing the direction of travel of the carriage 120 and can be, for example, a tie rod, a steering axle, or a steering arm.

[0021] The imaging device 206 (imaging unit) is a device for recording the surroundings (e.g., the front) of the cart 120 and can be, for example, a camera. The cart 120 can contain one or more imaging devices 206. The position sensor 207 is a sensor for measuring the geographical position of the cart 120 and can be, for example, a GNSS (Global Navigation Satellite System) sensor. The communication device 208 is a device for communicating with a device outside the cart 120. The communication device 208 can be a wireless communication module with an antenna for conducting wireless communication and a baseband processing circuit. <Konfigurationen von Managementserver und Endgerät>

[0022] Fig. Figure 3 is a block diagram showing an example of the hardware configuration of the management server 100. The management server 100 includes a processor 301, a memory 302, an input device 303, a display device 304, a communication device 305, and a secondary storage device 306 as hardware components.

[0023] Processor 301 controls the overall operation of management server 100. Processor 301 may, for example, comprise a CPU. Processor 301 may be a single processor or a set of multiple processors that are communicatively connected to one another. Memory 302 stores programs and data used to operate management server 100. Memory 302 may, for example, be a combination of RAM and ROM.

[0024] Input device 303 is a device for capturing an instruction from a user of management server 100. Input device 303 may, for example, include a combination of one or more keyboards, a button, a touchpad, and a microphone. Display device 304 is a device for visually presenting information to the user of management server 100. Display device 304 may, for example, be a dot matrix display such as a liquid crystal display. Management server 100 may include a device (e.g., a touchscreen) in which input device 303 and display device 304 are integrated.

[0025] The communication device 305 is a device for communicating with a device external to the management server 100. If the management server 100 performs wired communication, the communication device 305 may be a network interface card (NIC) that has a connector for connecting a cable. If the management server 100 performs wireless communication, the communication device 305 may be a wireless communication module with an antenna and a baseband processing circuit.

[0026] The secondary storage device 306 is a device for non-volatilely storing data used for the operation of the management server 100. The secondary storage device 306 is formed, for example, by a hard disk drive (HDD) or a solid-state drive (SSD).

[0027] Fig. 4 is a block diagram showing an example of a hardware configuration of the terminal device 110. Similar to the management server 100 described above, the terminal device 110 includes, as hardware components, a processor 401, a memory 402, an input device 403, a display device 404, a communication device 405, and a secondary storage device 406. However, the input device 403 of the terminal device 110 may include a steering wheel, a joystick, an accelerator pedal, a brake pedal, and the like. <Funktionale Konfiguration des Managementservers>

[0028] Fig. Figure 5 is a block diagram showing an example of a functional configuration of the management server 100. Each functional block of the management server 100 can be implemented by the processor 301, which operates according to an instruction of a program stored in the memory 302. Alternatively, some or all of the functional blocks can be implemented in Fig. 5 can be implemented by a special circuit, such as an application-specific integrated circuit (ASIC).

[0029] The management server 100 includes a map management unit 501, an image acquisition unit 502, a screen provision unit 503, an input acquisition unit 504, and a map update unit 505. Fig. 5 shows a function for updating map data stored in the secondary storage device 306 according to the input data acquired by the terminal device 110, but the terminal device 110 may also have a function not shown.

[0030] The map management unit 501 manages map data of an area (work area 130) in which the cart 120 moves and stores the map data in the secondary storage device 306. The image acquisition unit 502 acquires a cart-captured image (captured image) obtained by capturing the surroundings of the cart, which is an operation target of the terminal device 110, with the imaging device 206 provided in the cart 120. For example, the cart 120 transmits the image captured by the imaging device 206 to the management server 100 in real time, and the image acquisition unit 502 acquires the captured image.

[0031] The screen providing unit 503 generates screen data of an operation screen containing a map based on the map data stored in the secondary storage device 306 and the image acquired by the image acquisition unit 502, and is used to detect a user operation for editing the map. The screen providing unit 503 provides (transmits) the generated screen data to the terminal device 110 so that the user can edit the map while performing remote operation of the cart 120 via the terminal device 110.

[0032] The input acquisition unit 504 acquires, from the terminal 110, input data indicating user input via the operation screen displayed on the terminal 110 based on the screen data provided by the screen providing unit 503. The map update unit 505 updates the map data stored in the secondary storage device 306 according to the input data acquired by the input acquisition unit 504. <Overview of creating or editing the map>

[0033] The user of the terminal device 110 accesses the management server 100 by using the terminal device 110 to perform an operation to create or edit a map of the work area 130. For example, the user launches an application (dedicated application or web browser) installed on the terminal device 110 and logs in to the management server 100 using the application. The management server 100 stores, in the secondary storage device 306, registration information of the user operating the terminal device 110 to perform map creation or editing work, and performs login processing based on the registration information.

[0034] The management server 100 provides a remote user interface (remote UI) for map creation or editing work to the application of the terminal device 110 via the network 140. The management server 100 notifies the user logging in to the management server 100 of information indicating a target of the work to be performed by the user of the terminal device 110, such as materials, a working time, and the cart 120 as the operation target, via the remote UI.

[0035] The user of the terminal device 110 initiates a remote operation on the cart 120 representing an operation target and initiates map creation or editing of the work area 130 based on the information sent via the remote UI. The management server 100 provides the terminal device 110 used for map creation or editing via the remote UI with an operation screen containing an image captured by the cart 120 and acquires input data indicating an input via the operation screen from the terminal device 110. The management server 100 updates the map data according to the acquired input data.

[0036] The work of map editing is described below, and the work of map creation can be realized in a similar way. During map creation, a new map of the work area 130 is created. The work of map creation includes the work of arranging roads or regions on a map displayed on the operation screen and inputting information related to the arranged roads or regions while the car 120 is moved in the work area 130 by remote control. Map editing is the editing of a created map in response to daily or temporary changes in the conditions in the work area 130. The map editing work includes, for example, the following work - Designation of temporarily impassable areas (roads or areas) due to severe weather (e.g. tornado) - Designation of temporarily impassable areas due to the presence of larger animals or designation of temporarily impassable areas from which such animals are expelled - Designation of temporarily impassable areas due to accidents or construction work - Identifying an inaccessible area in which a plant grows, which is recognized as an obstacle during the autonomous driving of the vehicle 120 - Indicating a speed limit on a road that is in poor condition due to frequent use by a car 120 km / h or due to the passage of time.

[0037] Furthermore, the map editing performed by the user of the terminal 110 may be performed based on the travel history of the car 120 stored in the management server 100, in addition to being performed based on the image captured by the car 120 and displayed on the operation screen. For example, instead of an intersection, a location where the car 120 must be frequently stopped (e.g., due to an emergency stop, a stop due to an obstacle, or a stop due to a bump caused by unevenness, for example, measuring a predetermined number of stops or more within a certain period of time) may be designated as an impassable area or a caution area.In this case, for example, the terminal device 110 can acquire the travel history of the car 120 from the management device 100 via the remote UI according to a user operation on the input device 403 and display it to the user on the display device 404. <verarbeitungsverfahren>

[0038] An example of processing performed by the management server 100 is shown in Fig. 6 described. Fig. 6 is a flowchart showing a processing procedure performed by the management server 100.

[0039] Every process step in Fig. 6 may be executed by the processor 301 operating according to an instruction of a program stored in the memory 302. Alternatively, some or all of the steps in Fig. 6 are executed by a special circuit, such as an ASIC. As described above, in response to the execution of a user operation to start the card processing work in the terminal 110, the processing procedure performed by the management server 100 is executed according to Fig. 6 started.

[0040] In S601, the image acquisition unit 502 (processor 301) acquires a cart image obtained by capturing the surroundings of the cart constituting an operation target of the terminal 110 with the imaging device 206 provided in the cart 120, and the processing proceeds to S602. In step S602, the screen provision unit 503 (processor 301) generates screen data of an operation screen including a map based on the map data stored in the secondary storage device 306 and the image acquired by the image acquisition unit 502, the operation screen for capturing a user operation for editing the map.Further, in S603, the screen providing unit 503 (processor 301) provides (transmits) the generated screen data to the terminal 110 so that the map can be edited while performing a remote operation of the cart 120 via the terminal 110, after which the processing continues in S604.

[0041] In S604, the input acquisition unit 504 (processor 301) acquires input data from the terminal 110 indicating input via the operation screen displayed on the terminal 110 based on the screen data provided in S603, after which processing proceeds to S605. In S605, the map update unit 505 (processor 301) updates the map data stored in the secondary storage device 306 according to the input data acquired in S604. Thereafter, processing returns to S601, repeating the processes S601 to S605 performed in the management server 100 while continuing map editing by the user in the terminal 110.

[0042] For each user included in the registration information stored in the secondary storage device 306, the management server 100 can evaluate a skill level for map processing using the terminal device 110 based on the work history of the processing work and store an evaluation result in association with the registration information. The skill level evaluation may include, for example, an evaluation based on the accumulated time of the processing work, an evaluation based on the length of a road on which processing was performed and the size of the region, a point-based evaluation based on processing work at night or in bad weather where remote operation of the car 120 may be difficult, and a feedback evaluation from a client regarding map quality.In addition, the qualification level evaluation may also consider the presence or absence of participation in a training course for learning local rules at a workplace corresponding to the work area 130, the passing or failure of a test in the training course, and the like. Such an evaluation of the qualification level for the user's processing work allows a contractor performing work (construction work) in the work area 130 to refer to the qualification level for the processing work of each user, for example, when selecting a user to be entrusted with processing the map of the work area 130. Furthermore, a period during which the user can perform work can be stored in conjunction with the registration information.Consequently, when selecting a user, the entrepreneur can entrust a user with the map processing work, even in a period close to midnight when, for example, no work (construction work) is being carried out, thus making it possible to create a map easily and effectively by further utilizing the advantage of map creation based on remote operation.

[0043] Fig. 7 shows an example of an operation screen provided by the management server 100 to the terminal 110 in S603 and displayed on the display device 404 of the terminal 110. An operation screen 700 includes an area 710 in which a map of the work area 130 is displayed, and an area 720 in which a frame of the image captured by the cart 120 is displayed. The captured image displayed in the area 720 is an image obtained by capturing the front of the cart 120 remotely controlled by the terminal 110 with its imaging device 206. For example, the captured image includes an image of another cart 721 turning left in front of the cart 120, and an image of a pole 722 defining the road on which the cart 120 travels.

[0044] As in Fig. As shown in Figure 7, the image captured by the image capture unit 502 from the cart 120 is placed on the terminal 110 in a part (area 720) of the operation screen provided by the screen providing unit 503 to the terminal 110. As described above, the captured image transmitted from the cart 120 to the management server 100 is forwarded from the management server 100 to the terminal 110.

[0045] The image providing unit 503 displays the image captured by the cart 120 in the area 720, generates screen data of an operation screen for simultaneously displaying a map (and an operation element) in an area 710 different from the area 720 (for example, an area adjacent to the area 720), and provides the generated screen data to the terminal device 110. The user of the terminal device 110 performs remote control of the cart 120 by using the input device 403 (e.g., a joystick) while checking a current position 711 of the cart 120 constituting an operation target and the captured image in the area 720 displayed on the map in the area 710. In addition, the user of the terminal 110 performs a user operation to edit the card in the area 710 by an operation on the card and the operation elements 731 to 733 while checking the captured image in the area 720.The terminal 110 transmits the input data corresponding to the user operation received on the operation screen 700 to the management server 100.

[0046] As described above, according to the present embodiment, by providing an operation screen such as the operation screen 700 from the management server 100 to the terminal device 110, the user can edit the map corresponding to the map data based on the acquired image while remotely operating the cart 120 from a remote location using the terminal device 110. As described above, it is possible to update the map data of the area in which the cart 120 moves more easily and efficiently by using the terminal device 110 to remotely control the cart 120 (as a mobile object).

[0047] In one embodiment, the screen providing unit 503 configures an operation screen to be provided to the terminal 110 so that a user operation can be received to select a road or region on a map included in the operation screen and to add information about the selected road or region. For example, the screen providing unit 503 configures an operation screen so that a user operation can be received to add information related to traveling on the selected road or region with the cart 120 (as a mobile object).

[0048] The operation screen 700 is configured such that, in the event that a road is selected on the map in the area 710, information concerning the driving of the car 120 can be inserted as information to be added to the selected road as follows: - Inserting a direction of passage (whether the passage is one-way or not and, in the case of a one-way street, a direction in which driving is permitted) - Inserting a temporary stop (confusing intersection or similar) - Inserting a speed limit - Inserting a bump in a road - Inserting a road width (for example, whether two or more cars 120 can pass a road) - Inserting a temporary evacuation site (a place to avoid at the time of overtaking or the occurrence of an accident on a narrow road) - Insertion of a temporary passage

[0049] In the example in Fig. 7, for example, road 713 is set to "impassable," and road 713 is displayed in such a way that this can be recognized. As described above, the screen providing unit 503 displays the map on the operation screen 700 in such a way that it is possible to recognize whether or not each road on the map has been edited.

[0050] Furthermore, in the example in Fig. 7, a user operation is performed for the road 712 to select a new road 712 on the map in the area 710, to select "passable" as the setting item using the operation element 731, and to select "impassable" as the setting content using the operation element 732. Note that roads other than roads 712 and 713 are set as passable. As described above, the information that can be set using the operation screen 700 and affects the passage of the car 120 may include information indicating a restriction on the passage of the car 120. In addition, the information concerning the passage of the car 120 may also include information indicating a scheduled lifting time of such a restriction.

[0051] The operation screen 700 is further configured to be capable of receiving a user operation for adding information indicating a reason for impassability with respect to the road set as "impassable." Examples of the reason why the road is impassable include the occurrence of obstacles (tall plants, large rocks, large animals, and the like) or the weather (tornado, dust, mud, or puddles due to rain, snow, and the like). In the example in Fig. 7, a user operation is performed using the actuator 733 to select "obstacle" as the reason for "impassable".

[0052] Fig. 8 shows an example in which a region is selected on the map in area 710 of the operation screen 700. In this example, an operation element 734 for detecting a user operation for adding information related to the passage of the cart 120 in the selected region is displayed on the map in response to the user operation for selecting the region 715. When a region is selected on the map in area 710, the operation screen 700 is configured to be capable of setting information related to the passage of the cart 120 as information to be added to the selected region, as follows. - Specify whether or not entry into the region is possible, or specify a condition under which entry into the region is possible (e.g., due to uneven ground, a vehicle can only enter if it is unloaded, or only if it has a certain vehicle height or width or less) - Specify a building (e.g. the type of building) - Specify a construction site (e.g. an area under construction and the date and time of the planned completion of the work) - Specify a material warehouse (a start and a destination point for transport with trolley 120) - Specify an area covered with plants (a weed or tree planting area, the type of plant and its growth rate, and the like) - Specify areas where attention must be paid to the presence of animals

[0053] As described above, the information on the map related to traveling on the road or region with the vehicle 120 may include whether or not the vehicle 120 may travel on the road or region, or a condition under which the vehicle 120 may travel on the road or region.

[0054] In the example in Fig. 8, for example, "construction site" is set for region 714 and "material storage yard" is set for region 715, with regions 714 and 715 being displayed in such a way that the settings are distinguishable from each other. As described above, the screen providing unit 503 displays the map on the operation screen 700 in such a way that it is possible to distinguish whether or not each road or region on the map has been edited. Consequently, when performing map editing work, the user of the terminal device 110 can easily determine whether or not each road or region on the map has been edited. As a result, the user of the terminal device 110 can edit the map, for example, giving priority to a road or region that has not been edited yet.

[0055] In addition, the example in Fig. 8, a user operation is performed to select a new region 716 on the map in the area 710 and to select "prohibited area" using the operation element 734 as the setting element for the region 716. In this case, as in Fig. 9, the operating element 734 in the operating screen 700 is switched to an operating element 735 in order to set information indicating a reason for blocking a region designated as a "prohibited area". In the example in Fig. 9, "presence of animals" is selected as the reason why region 715 is a "prohibited area".

[0056] In this case, as in Fig. 10, the operating element 735 in the operation screen 700 is switched to an operating element 736, which is used to set a scheduled lifting time. As described above, the operation screen 700 can be configured to be capable of setting the scheduled lifting time of the restriction with respect to the region for which the "prohibited area" restriction has been set.

[0057] As described above, such information can be used for the operation of the vehicle 120 for work (construction work) in the work area 130 by making it possible to add information related to the travel of the vehicle 120 to each road or region on the map using the operation screen 700. Furthermore, it is possible to make map editing work more efficient by using such information.

[0058] In one embodiment, the screen providing unit 503 may display the map on the operation screen of the terminal 110, so that it is possible to distinguish whether or not work (construction work) is being carried out on each of the roads or regions on the map. In the example in Fig. 11, a region 717 in which work is being performed and a region 718 in which no work is being performed are displayed on the map in area 710 of the operation screen 700, so that the regions can be distinguished from one another and also from other regions. This makes it possible, for example, to send a notification to the user of the terminal 110 so that the construction work truck 120 can preferentially enter a region in which no work is being performed, and the map creation or editing truck 120 cannot enter the region. This can prevent a user operating the map editing truck 120 with the aid of the terminal 110 from driving the truck into a region in which work (construction work) is being performed and disrupting the work.

[0059] In one embodiment, the screen providing unit 503 may further display the map on the operation screen of the terminal 110 such that the processing priority of each of the roads or regions can be identified on the map. In the example in Fig. 11, the processing priority of each region is identifiably displayed by the numerical values ​​P1 to P3. For example, a smaller numerical value indicates a higher priority (i.e., P1 has the highest priority). Note that the processing priority of each region may also be displayed using another display method; for example, the processing priority of each region may be clearly displayed based on the color shading of the region on the map. Consequently, the user operating the map editing cart 120 using the terminal device 110 can determine the processing priority of each region on the map. Therefore, the user of the terminal device 110 can move the cart 120 to each region in descending order of priority and perform the processing of the region.

[0060] The editing priority setting for each road or region on the map is performed, for example, as follows. The map data stored in the secondary storage device 306 may include information indicating a start time of work (construction work) on each road or region on the map. In this case, the screen providing unit 503 may set the priority of each road or region on the map higher as the time until the start time becomes shorter. This makes it possible, for example, to preferentially perform the map editing work for a region where construction work will not be carried out until the next day during a nighttime period when no construction work is being carried out. Consequently, the construction work carriage 120 for a region where construction work is being carried out can be operated using the latest map data.

[0061] The map data stored in the secondary storage device 306 may include information indicating a start time and a completion time of work (construction work) for each of the roads or regions on the map. In this case, the screen providing unit 503 may, based on the work period from the start time to the completion time of work in each of the roads or regions on the map, set the priority of a road or region where work is not being performed higher than the priority of a road or region on the map where work is being performed. This makes it possible, for example, to preferentially perform map editing work for a region where no construction work is being performed during the daytime when construction work is being performed.Therefore, a user who operates the map editing cart 120 using the terminal 110 can be prevented from driving the cart into the region where construction work is being carried out and disturbing the work.

[0062] In one embodiment, the screen providing unit 503 may configure an operation screen to display the map superimposed on a portion of the image captured by the image capturing unit 502 from the cart 120. For example, Fig. The operation screen 1200 shown in FIG. 12 is configured to display a map to be superimposed on a partial area 1210 of the captured image displayed in the area 1220. Furthermore, for example, in the case where the terminal device 110 is a PC, a tablet device, or the like, the screen providing unit 503 may configure the operation screen 1200 to display an operation element 1230 for detecting a user operation to add information to a road or region selected on the map, and an operation element 1240 for detecting a remote operation of the car 120. In the case where the terminal device 110 is a PC, an operation using the operation element 1240 may be performed using a mouse, for example. If the terminal device 110 is a tablet device, an operation using the operation element 1240 may be performed using a touch operation, for example.

[0063] As described above, the management server 100 (server device) of the above-described embodiment includes the secondary storage device 306 in which the map data of the area in which the vehicle 120 is traveling is stored. The image acquisition unit 502 acquires an image captured from the car (captured image) obtained by capturing the surroundings of the car with the imaging device 206 provided in the car 120, which is an operation target of the terminal device 110. The screen provision unit 503 provides the terminal device 110 with screen data of an operation screen for detecting a user operation for editing the map, so that the map can be edited while performing a remote operation for the vehicle 120 in the terminal device 110.The operation screen includes a map based on map data stored in the secondary storage device 306 and a captured image captured by the image capture unit 502. The input capture unit 504 captures, via the terminal device 110, input data indicating user input via the operation screen displayed on the terminal device 110 based on the screen data provided by the screen provision unit 503. The map update unit 505 updates the map data stored in the secondary storage device 306 according to the input data acquired by the input capture unit 504.

[0064] As described above, according to the above-described embodiment, a user can edit the map corresponding to the map data based on the captured image while performing remote control of the cart 120 from a remote location using the terminal device 110. As described above, it is possible to update the map data of the area in which the cart 120 moves more easily and efficiently by using the terminal device 110 that performs remote control of the cart 120. <modifikationsbeispiele>

[0065] In the above-described embodiment, an example was described in which the terminal device 110 and the cart 120 perform communication via the management server 100, but the terminal device 110 and the cart 120 may also perform direct communication without using the management server 100. In this case, the screen providing unit 503 of the management server 100 provides the terminal device 110 with screen data of an operation screen including a map based on the map data stored in the secondary storage device 306. The operation screen is for receiving a user operation for editing the map, so that the map can be edited while remotely operating the cart 120 in the terminal device 110.

[0066] The terminal device 110 captures a cart image obtained by capturing the surroundings of the cart with the imaging device 206 provided on the cart 120. The terminal device 110 causes the cart image captured by the cart 120 to be incorporated into the operation screen based on the screen data provided from the management server 100, displays the operation screen on the display device 404, and transmits input data corresponding to the user operation received on the operation screen to the management server 100. The map update unit 505 of the management server 100 updates the map data stored in the secondary storage device 306 according to the input data received from the terminal device 110 indicating the input via the operation screen.

[0067] According to such an embodiment, similar to the embodiment described above, it is possible to update the map data of the area in which the cart 120 moves more easily and efficiently by using the terminal 110 that remotely controls the cart 120. <Zusammenfassung der Ausführungsformen>

[0068] The above embodiments disclose at least the following embodiments. <punkt1>

[0069] A server device (100) capable of communicating with a mobile object (120) for which remote control can be performed, and a terminal (110) that performs remote control of the mobile object, the server device comprising: a storage device for storing map data of an area in which the mobile object moves; an image capturing unit (502) for capturing, from the mobile object, an image obtained by capturing the surroundings of the mobile object with an imaging unit (206) provided in the mobile object; a providing device (503) for providing, to the terminal, screen data of an operation screen containing a map based on the map data stored in the storage device and the image captured by the capturing device, the operation screen being for capturing a user operation for editing the map; and an updating device (504, 505) for acquiring input data via the terminal device indicative of an input via the operation screen displayed in the terminal device based on the screen data, and for updating the map data stored in the storage device corresponding to the input data.

[0070] According to this point, it is possible to update the map data of the area in which the mobile object moves more easily and efficiently by using the terminal that remotely controls the mobile object. <Punkt 2>

[0071] The server device according to item 1, wherein the providing device configures the operation screen so that a user operation for selecting a road or a region on the map included in the operation screen and for adding information to the selected road or region can be received.

[0072] According to this point, the user of the terminal device is allowed to edit the map data by adding information about the street or region selected on the map. <Punkt 3>

[0073] The server device according to item 1 or 2, wherein the providing device configures the operation screen so that a user operation for selecting a road or a region on the map included in the operation screen and for adding information related to traveling on the selected road or region with the mobile object can be detected.

[0074] According to this point, the user of the terminal device can edit the map data by adding information related to driving the mobile object along the road or the region selected on the map. Furthermore, such information can be used for the operation of the mobile object. <Punkt 4>

[0075] The server device according to item 3, wherein the information concerning travel includes information indicating a restriction on travel of the road or region with the mobile object.

[0076] According to this point, the user of the terminal device is able to edit the map data by adding information indicating the restriction of travel on the road or region selected on the map with the mobile object, and such information can be used for the operation of the mobile object. <Punkt 5>

[0077] The server device according to item 4, wherein the information relating to the travel further includes information indicating a planned lifting time of the restriction.

[0078] According to this point, the user of the terminal device can edit the map data by adding information indicating the planned lifting time of the restriction on driving on the road or region selected on the map with the mobile object. Furthermore, such information can be used for the operation of the mobile object. <Punkt 6>

[0079] The server device according to any one of items 3 to 5, wherein the information concerning entry includes whether or not the mobile object can enter the road or the region at all, or a condition under which the mobile object can enter the road or the region.

[0080] According to this point, the user of the terminal device can edit the map data by adding whether or not the mobile object can enter the street or region selected on the map, or a condition under which the mobile object can enter the street or region. Furthermore, such information can be used for the operation of the mobile object. <Punkt 7>

[0081] The server device according to any one of items 1 to 6, wherein the providing device displays the map on the operation screen in such a way that it is recognizable whether the individual streets or regions on the map have been edited or not.

[0082] According to this point, when performing map editing, the terminal user can easily determine whether individual streets or regions on the map have been edited or not. This allows the terminal user to, for example, edit the map to prioritize an unedited street or region. <Punkt 8>

[0083] The server device according to one of the items 1 to 7, wherein the map data displays a map of a work area in which a predetermined work is being carried out, and the deployment facility displays the map on the operation screen in such a way that it is clear for each of the streets or regions on the map whether the work is being carried out or not.

[0084] According to this point, it is possible to prevent the user who operates the mobile object for map editing using the terminal device from causing the mobile object to enter a region where work is being carried out and disrupt the work. <Punkt 9>

[0085] The server device according to any one of items 1 to 8, wherein the providing device displays the map on the operation screen in such a way that the processing priorities set for the respective roads or regions on the map can be recognized.

[0086] According to this point, the user operating the mobile object via the terminal device for map editing can determine the editing priority of each region on the map. Therefore, the terminal user can instruct the mobile object to move to each region in descending order of priority and perform the editing of the region. <Punkt 10>

[0087] The server device according to point 9, where the map data displays a map of a work area in which a predetermined work is being carried out and includes information indicating a start time of the work in each of the streets or regions on the map, and the deployment facility sets a priority that is higher the shorter the time until the start time of each of the streets or regions on the map.

[0088] According to this point, the mobile object can be operated using the latest map data for the region in which the work is carried out. <Punkt 11>

[0089] The server device according to point 9 or 10, where the map data displays a map of a work area in which a predetermined work is being performed and includes information indicating a start time and a finish time of the work in each of the streets or regions on the map, and the deployment facility sets a higher priority for a road or region where the work is not being performed than for a road or region where the work is being performed on the map.

[0090] According to this point, it is possible to prevent the user who operates the mobile object for map editing using the terminal device from causing the mobile object to enter the region where the work is being carried out and disrupting the work. <Punkt 12>

[0091] The server device according to any one of items 1 to 11, wherein the providing means configures the operation screen to display an operation element for detecting a remote operation of the mobile object together with an operation element for detecting a user operation for adding information to a road or a region selected on the map.

[0092] According to this point, the user of the terminal device is able to perform the remote control of the mobile object together with the user operation to add information to the road or region selected on the map using the operation screen. <Punkt 13>

[0093] The server device according to any one of items 1 to 12, wherein the providing means configures the operation screen to display the map superimposed on a portion of the image.

[0094] According to this point, it is possible to effectively utilize the display area of ​​the operation screen. <Punkt 14>

[0095] The server device according to any one of items 1 to 13, wherein the storage device stores registration information of a user operating the terminal device, and the server device further comprises an evaluation device for evaluating, for each user included in the registration information, a qualification level for the card processing work using the terminal device based on a work history of the processing work, and storing a result of the evaluation corresponding to the registration information.

[0096] According to this point, the contractor performing the work in the work area may refer to the qualification level for the processing work of each user, for example, when selecting the user to whom the work of processing the map of the work area should be entrusted. <Punkt 15>

[0097] The server device according to any one of items 1 to 14, wherein the mobile object is configured to be remotely controlled and to move autonomously based on the map data provided by the server device.

[0098] According to this point, the mobile object is enabled to move autonomously based on the updated map data. <Punkt 16>

[0099] The server device according to item 15, wherein the mobile object is a cart having a loading area for loading a material.

[0100] According to this point, it is possible to update the map data of the area in which the truck moves more easily and efficiently by using the terminal that remotely controls the truck with the loading platform for loading materials. <Punkt 17>

[0101] A map creation system comprising: the server device according to any one of items 1 to 16; a mobile object for which remote control can be performed; and a terminal that performs remote control of the mobile object, wherein the device has a remote control device for performing the remote control of the mobile object via the server device, a display device for displaying the operation screen based on the screen data provided by the server device, a transmission device for transmitting the input data corresponding to a user operation received on the operation screen to the server device.

[0102] According to this point, a map creation system is provided that enables map data of an area in which a mobile object moves to be updated more easily and efficiently by using a terminal that remotely operates the mobile object. <Punkt 18>

[0103] A map creation system comprising: a server device; a mobile object for which remote control can be performed; and a terminal device that performs remote control of the mobile object, wherein the server device has a storage device for storing map data of an area in which the mobile object moves, a providing device for providing, for the terminal, screen data of an operation screen containing a map based on the map data stored in the storage device, the operation screen being used to detect a user operation for editing the map, and an update device for updating the map data stored in the storage device according to the input data received from the terminal and for displaying an input via the operation screen, and wherein the device has a detection device for detecting, from the mobile object, an image obtained by recording the surroundings of the mobile object with an imaging unit provided in the mobile object, a display device for displaying the operation screen based on the screen data provided by the server device, wherein the display device displays the image captured by the capture device by inserting the image into the operation screen, and a transmission device for transmitting the input data corresponding to a user operation received via the operation screen to the server device.

[0104] According to this point, a map creation system is provided that enables map data of an area in which a mobile object moves to be updated more easily and efficiently by using a terminal that remotely controls the mobile object. <Punkt 19>

[0105] A control method for a server device capable of communicating with a mobile object for which remote control can be performed and a terminal device that performs remote control of the mobile object, and including a storage device for storing map data of an area in which the mobile object moves, the control method comprising: a capturing step of capturing, from the mobile object, an image obtained by capturing the surroundings of the mobile object with an imaging unit provided in the mobile object; a providing step of providing, to the terminal, screen data of an operation screen containing a map based on the map data stored in the storage device and the image acquired in the acquisition step, the operation screen being for detecting a user operation for editing the map; and an updating step of acquiring, via the terminal device, input data indicating an input via the operation screen displayed in the terminal device based on the screen data, and updating the map data corresponding to the input data stored in the storage device.

[0106] According to this point, it is possible to update the map data of the area in which the mobile object moves more easily and efficiently by using the terminal that remotely operates the mobile object. <Punkt 20>

[0107] A program for causing a computer to perform each step of the method of controlling the server device according to item 19.

[0108] According to this point, the above points are provided in the form of a program.

[0109] The invention is not limited to the above embodiments, which is why various variations / modifications within the meaning of the invention are possible. LIST OF REFERENCE SYMBOLS 100 management servers 110 end devices 120 cars 501 Card Management Unit 502 Image acquisition unit 503 Screen delivery unit 504 Input capture unit 505 Map Update Unit QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2004-213239

[0004] < / modifikationsbeispiele> < / verarbeitungsverfahren> < / systemkonfiguration>

Claims

[1] A server device capable of communicating with a mobile object for which remote control can be performed, and a terminal performing remote control of the mobile object, the server device comprising: a storage device for storing map data of an area in which the mobile object moves; a capturing device for capturing, from the mobile object, an image obtained by capturing the surroundings of the mobile object with an imaging unit provided in the mobile object; a providing device for providing, to the terminal, screen data of an operation screen containing a map based on the map data stored in the storage device and the image captured by the capturing device, the operation screen being for capturing a user operation for editing the map; and an updating device for acquiring, from the terminal device, input data indicating an input via the operation screen displayed in the terminal device based on the screen data, and for updating the map data stored in the storage device according to the input data. [2] The server device according to claim 1, wherein the providing means configures the operation screen so that a user operation for selecting a road or a region on the map included in the operation screen and for adding information to the selected road or region can be detected. [3] The server device according to claim 1 or 2, wherein the providing means configures the operation screen so that a user operation for selecting a road or a region on the map included in the operation screen and for adding information related to traveling on the selected road or region with the mobile object can be detected. [4] The server device according to claim 3, wherein the travel-related information includes information indicating a restriction on travel of the road or the region with the mobile object. [5] The server device according to claim 4, wherein the information concerning the travel further includes information indicating a scheduled lifting time of the restriction. [6] The server device according to any one of claims 3 to 5, wherein the information concerning travel includes whether or not the mobile object is able to travel the road or the region, or whether a condition for traveling the road or the region with the mobile object is satisfied. [7] The server device according to any one of claims 1 to 6, wherein the providing means displays the map on the operation screen so that it can be seen whether the individual roads or regions on the map have been edited or not. [8] The server device according to any one of claims 1 to 7, wherein the map data displays a map of a work area in which a predetermined work is carried out, and wherein the deployment facility displays the map on the operation screen in such a way that for each of the streets or regions on the map it is clear whether the work is being carried out or not. [9] The server device according to any one of claims 1 to 8, wherein the providing means displays the map on the operation screen so that processing priorities set for the respective roads or regions on the map can be recognized. [10] The server device according to claim 9, wherein the map data displays a map of a work area in which a predetermined work is being carried out and includes information indicating a start time of the work in each street or region on the map, and wherein the deployment facility sets a higher priority as the time until the start time of each of the roads or regions on the map becomes shorter. [11] The server device according to claim 9 or 10, wherein the map data displays a map of a work area in which a predetermined work is being performed and includes information indicating a start time and a finish time of the work in each of the streets or regions on the map, and wherein the dispatcher sets a higher priority on the map for a street or region where work is not being performed than for a street or region where work is being performed. [12] The server device according to any one of claims 1 to 11, wherein the providing means configures the operation screen to display an operation element for detecting a remote operation of the mobile object together with an operation element for detecting a user operation for adding information to a road or region selected on the map. [13] The server device according to any one of claims 1 to 12, wherein the providing means configures the operation screen to display the map superimposed on a portion of the image. [14] The server device according to any one of claims 1 to 13, wherein the storage device stores registration information of a user operating the terminal, and the server device further comprises an evaluation device for evaluating a skill level for each user included in the registration information for the card processing work using the terminal device based on a work history of the card processing work and storing a result of the evaluation in association with the registration information. [15] The server device according to any one of claims 1 to 14, wherein the mobile object is configured to be remotely controlled and capable of moving autonomously based on the map data provided by the server device. [16] The server device according to claim 15, wherein the mobile object is a cart having a loading surface for loading a material. [17] A map creation system comprising: the server device according to any one of claims 1 to 16; a mobile object for which remote control can be performed; and a terminal device performing remote control of the mobile object, the terminal device comprising a remote control device for performing the remote control of the mobile object via the server device, a display device for displaying the operation screen based on the screen data provided by the server device, and a transmission device for transmitting the input data corresponding to a user operation received on the operation screen to the server device. [18] A map creation system comprising: a server device; a mobile object for which remote control can be performed; and a terminal performing remote control of the mobile object, the server device comprising a storage device for storing map data of an area in which the mobile object moves, a providing device for providing, for the terminal, screen data of an operation screen containing a map based on the map data stored in the storage device, the operation screen being used to detect a user operation for editing the map, and an updating device for updating the map data stored in the storage device according to the input data received from the terminal and for displaying an input via the operation screen, and wherein the terminal comprises a detection device for detecting, from the mobile object, an image obtained by recording the surroundings of the mobile object with an imaging unit provided in the mobile object, a display device for displaying the operation screen based on the screen data provided by the server device, wherein the display device displays the image captured by the capture device by inserting the image into the operation screen, and a transmission device for transmitting the input data corresponding to a user operation received on the operation screen to the server device. [19] A control method for a server device capable of communicating with a mobile object for which remote control can be performed and with a terminal device performing remote control of the mobile object, and including a storage device for storing map data of an area in which the mobile object moves, the control method comprising: a capturing step of capturing, from the mobile object, an image obtained by capturing the surroundings of the mobile object with an imaging unit provided in the mobile object; a providing step for providing, to the terminal device, screen data of an operation screen containing a map based on the map data stored in the storage device and the image acquired in the acquiring step, the operation screen being for acquiring a user operation for editing the map; and an updating step of acquiring, by the terminal device, input data indicating an input via the operation screen displayed in the terminal device based on the screen data, and updating the map data stored in the storage device according to the input data. [20] A program for causing a computer to execute each step of the control method for the server device according to claim 19.

Images