Information processing apparatus, information processing system, information processing method, and information processing program

Abstract

A control unit (104) that performs setting related to a patrol mission conducted by a robot (300) in a plant (1) is provided, and the control unit (104) analyzes, based on data that is stored in an inspection job DB (103a) and that is used in a routine inspection job performed in the plant (1) and based on recorded data that is recorded by an inspector terminal (200) that is used by an inspector (W) in the routine inspection job, a route of the patrol mission and content of an action performed at each spot located on the route, and generates mission data related to the patrol mission according to the robot (300) based on analysis results of the route and the content of the action.

Description

INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING SYSTEM, INFORMATION PROCESSING METHOD, AND INFORMATION PROCESSING PROGRAM

[0001] The present invention relates to an information processing apparatus, an information processing system, an information processing method, and an information processing program.

[0002] Conventionally, in various kinds of plants, such as factories, electrical power plants, electric power substation, or oil refinery facilities, there has been a proposed technology that allows a robot to automatically patrol an inspection site, and allows the robot to perform a predetermined action of acquiring a video image, a sound, and the like at each inspection site (for example, see NPL 1).

[0003] Japanese Laid-open Patent Publication No. 2000-039914

[0004] However, in the conventional technology, there is a problem in that setting work of a patrol mission conducted by the robot is complicated and a lot of time and effort are needed.

[0005] For example, in the conventional technology, in order to define the patrol mission, there is a need to manually input a large amount of information related to a spot for an action that is desired to be performed by the robot and related to the content of the action. Furthermore, for example, in order to check whether the robot is actually able to conduct the mission as a role to be fulfilled by the robot, there is a need to carry the robot into an actual place and operate the robot in advance.

[0006] Moreover, these problems are common problems facing not only the robot but also a generally used autonomous mobile object by which the patrol mission is desired to be conducted in a plant. The autonomous mobile object includes, for example, a drone, a test subject as a virtual object that moves in the inside of the plant that is displayed in virtual space.

[0007] It is an object of the present invention to provide an information processing apparatus, an information processing system, an information processing method, and an information processing program capable of improving labor saving of setting of a patrol mission conducted by an autonomous mobile object in a plant.

[0008] According to an aspect, an information processing apparatus includes a control unit that performs setting related to a patrol mission that is conducted by an autonomous mobile object in a plant. The control unit analyzes, based on data that is stored in an inspection job database and that is used in a routine inspection job performed in the plant and based on recorded data that is recorded by a portable terminal that is used by an inspector in the routine inspection job, a route of the patrol mission and content of an action performed at each spot located on the route, and generates mission data related to the patrol mission according to the autonomous mobile object based on analysis results of the route and the content of the action.

[0009] According to an aspect, an information processing system includes an autonomous mobile object, a portable terminal that is used by an inspector in a routine inspection job performed in a plant, and an information processing apparatus that performs setting related to a patrol mission conducted by the autonomous mobile object in the plant. The information processing apparatus analyzes, based on data that is stored in an inspection job database and that is used in the routine inspection job and based on recorded data that is recorded by the portable terminal, a route of the patrol mission and content of an action performed at each spot located on the route, and generates mission data related to the patrol mission according to the autonomous mobile object based on analysis results of the route and the content of the action.

[0010] According to an aspect, an information processing method is implemented by a computer, which performs setting related to a patrol mission that is conducted by an autonomous mobile object in a plant. The information processing method includes analyzing, based on data that is stored in an inspection job database and that is used in a routine inspection job performed in the plant and based on recorded data that is recorded by a portable terminal that is used by an inspector in the routine inspection job, a route of the patrol mission and content of an action performed at each spot located on the route, and generating mission data related to the patrol mission according to the autonomous mobile object based on analysis results of the route and the content of the action.

[0011] According to an aspect, an information processing program causes a computer, which performs setting related to a patrol mission that is conducted by an autonomous mobile object in a plant, to execute a process. The process includes analyzing, based on data that is stored in an inspection job database and that is used in a routine inspection job performed in the plant and based on recorded data that is recorded by a portable terminal that is used by an inspector in the routine inspection job, a route of the patrol mission and content of an action performed at each spot located on the route, and generating mission data related to the patrol mission according to the autonomous mobile object based on analysis results of the route and the content of the action.

[0012] According to an aspect of one embodiment, it is possible to provide an information processing apparatus, an information processing system, an information processing method, and an information processing program capable of improving labor saving of setting of a patrol mission conducted by an autonomous mobile object in a plant.

[0013] Fig. 1 is an explanatory diagram illustrating, in outline, a method of setting a patrol mission according to an embodiment.Fig. 2 is a diagram illustrating an example of a configuration of an inspector terminal according to the embodiment.Fig. 3 is a diagram (No. 1) illustrating an example of a configuration of a robot according to the embodiment.Fig. 4 is a diagram (No. 2) illustrating an example of a configuration of a robot according to the embodiment.Fig. 5 is a block diagram illustrating an example of a configuration of an inspection job system according to the embodiment.Fig. 6 is an explanatory diagram illustrating a route analysis process performed by a route analysis unit.Fig. 7 is a diagram illustrating one example of an inspection procedure instruction.Fig. 8 is an explanatory diagram of an action analysis process performed by an action analysis unit.Fig. 9 is a flowchart illustrating the flow of the process performed by a management device according to the embodiment.Fig. 10 is a diagram of a hardware configuration illustrating one example of a computer that implements a function of the management device according to the embodiment.

[0014] Preferred embodiments of an information processing apparatus, an information processing system, an information processing method, and an information processing program disclosed in the present invention will be described in detail below with reference to the accompanying drawings. Furthermore, the present invention is not limited to the embodiments. In addition, the same components are denoted by the same reference numerals and an overlapping description will be omitted. Each of the embodiments can be used in any appropriate combination as long as they do not conflict with each other.

[0015] In addition, in the following, it is assumed that the information processing system according to the embodiment is an inspection job system 10 that performs an inspection job in a plant. Furthermore, it is assumed that the information processing apparatus according to the embodiment is a management device 100. The management device 100 is a device that manages the overall inspection job in the inspection job system 10.

[0016] In the inspection job system 10, the inspection job is performed by allowing a robot 300 to automatically patrol inspection sites, and allowing the robot to perform a predetermined action at each of the inspection sites, that is, by allowing the robot 300 to conduct a patrol mission. The robot 300 corresponds to one example of an autonomous mobile object. It is assumed that the information processing method according to the embodiment is a method of setting the patrol mission conducted by the robot 300.

[0017] <Outline of method of setting patrol mission according to the present embodiment> An outline of a method of setting a patrol mission according to the present embodiment will be described with reference to Fig. 1 to Fig. 4. Fig. 1 is an explanatory diagram illustrating, in outline, a method of setting the patrol mission according to the embodiment. Furthermore, Fig. 2 is a diagram illustrating an example of a configuration of an inspector terminal 200 according to the embodiment. Fig. 3 is a diagram (No. 1) illustrating an example of a configuration of the robot 300 according to the embodiment. Fig. 4 is a diagram (No. 2) illustrating an example of a configuration of the robot 300 according to the embodiment.

[0018] First, a problem in the conventional technology will be more specifically described. In the conventional technology, at the time of setting of the patrol mission conducted by the robot 300, the work indicated by, for example, the following items indicated by (A) to (D) are performed manually.

[0019] (A) Tag a sign of equipment arranged in an inside of a plant 1 by using an IC tag, a two-dimensional (2D) code, or the like in advance. 　(B) Acquire point group data by using a stereo camera or light detection and ranging (LiDAR) by moving the robot 300, and then, generate a 3D map of the plant 1. 　(C) Generate a patrol from the position coordinates of an equipment sign into the generated 3D map. 　(D) Associate a waypoint (patrol stopover point) with a posture angle with respect to the equipment and an action (shooting, etc.).

[0020] The item indicated by (B) is indispensably performed, whereas the items indicated by (A), (C), and (D) are often incidentally performed. Among the items indicated by (A) to (D), there may also a case in which some item is automated by software, but "which action is to be performed" at "which spot" is needed to be manually registered for each action per each spot.

[0021] In this registration work performed by manually, specifically, an input of the following information is needed. 　- registration of inspection equipment 　- association between equipment and an action 　- content of an action (for example, detection of a value indicated a measuring instrument, discoloration, rust, and temperature obtained by image acquisition; an operation of opening and closing a valve; etc.) 　- determination criteria of a posture of a machine body, an angle of mechanical equipment and materials (a camera, a manipulator, etc.), and abnormality at the time of action to be performed 　- a stopover spot and a stopover order of the robot 300 　- a method of avoiding an obstacle (take a detour, stop walking, etc.)

[0022] As a result of this, the setting work of the patrol mission that is conducted by the robot 300 is complicated and needs a lot of time and effort. Moreover, the most of these pieces of information needed to be input are included in a report and the work procedure that is usually used by an inspector in the conventional inspection job system. However, the information is not generated by assuming an amount of information and a format suitable for the robot 300 to be read, so that, in the conventional technology, the information is not able to be used in a control program or the like that is installed in the robot 300.

[0023] Furthermore, in the conventional technology, in order to check whether the robot 300 is actually able to conduct the mission as a role to be fulfilled by the robot 300, there is a need to carry the robot into an actual place and operate the robot in advance. However, this work also needs time and effort and increase in cost.

[0024] Moreover, as a case in which the robot 300 is not able to conduct a mission at an actual place, example cases are as follows: 　- a passage width and a ceiling height are not sufficient for a pass and a rotational movement 　- a machine body becomes unstable due to a steep slope 　- a difference in level is greater than a handling limit of the machine body, a depth of a step is narrower than the handling limit of the machine body 　- a road surface environment is out of an environment to be handled by the machine body 　- tend to easily lose sight of the own position due to an unvaried ambient environment 　- impossible to directly look at a measuring instrument by a camera, and a manipulator is out of reach

[0025] It is desired to identify these problems, cope with these problems, and limit the scope before the robot 300 is carried into the site, but, in some cases, even for a person who is skilled in the robot 300, it is difficult to make a judgement, and it is more difficult to make a judgement for an unskilled person. Furthermore, in order to make this judgement in advance, work for going around the patrol route is consequently generated in addition to the routine patrol work performed by an inspector.

[0026] As described above, in the present circumstances, there is a need to manually input a lot of items in order to set the patrol mission that is conducted by the robot 300. Furthermore, in order to check whether the robot 300 is actually able to conduct the mission as a role to be fulfilled by the robot 300, there is a need to carry the robot 300 into an actual place and operate the robot in advance, so that time, efforts, and a cost are needed.

[0027] In contrast, a large amount of pieces of information that are needed to set the mission is included in an existing work record, an existing inspection procedure instruction, an existing drawing of the plant 1, and the like that are used in the conventional inspection job system, so that, if it is possible to appropriately convert these pieces of information, it is possible to eliminate the need for the complicated manual input or it is possible to easily determine whether the mission is able to be conducted.

[0028] Accordingly, in the method of setting the patrol mission according to the embodiment, the management device 100 that performs setting related to a patrol mission that is conducted by the robot 300 in the plant 1 performs a process of analyzing, on the basis of data that is stored in an inspection job database and that is used in a routine inspection job performed in the plant 1 and on the basis of recorded data that is recorded by a portable terminal that is used by an inspector in the routine inspection job, a route of the patrol mission and content of an action that is performed at each of the spots located on the route, and a process of generating mission data related to the patrol mission according to the autonomous mobile object on the basis of analysis results of the above described route and the content of the above described action.

[0029] In the following, a specific explanation will be given with reference to Fig. 1. The inspection job system 10 according to the embodiment performs the inspection job in the plant 1. As illustrated in Fig. 1, the inspection job system 10 includes the management device 100, one or more of the inspector terminal 200, and one or more of the robot 300 (a robot 300-L, a robot 300-C, etc.).

[0030] The management device 100 includes an inspection job database (DB) 103a. The inspection job DB 103a is a database that stores therein various kinds of data related to the inspection job. The various kinds of data related to the inspection job includes data on, for example, a work record obtained from the routine inspection job performed by an inspector W, an inspection procedure instruction that is used in the inspection job, a drawing of the plant 1, and the like.

[0031] The inspector terminal 200 is a terminal device that is used by the inspector W in the routine inspection job. The inspector terminal 200 is provided such that the inspector W is able to carry the inspector terminal 200.

[0032] As illustrated in Fig. 2, the inspector terminal 200 is provided such that the inspector W is able to wear as, for example, a wearable terminal. The inspector terminal 200 includes, for example, a glass portion 201 and glove portions 202.

[0033] The glass portion 201 is a wearable terminal with a glass type corresponding to so-called smart glasses. The glass portion 201 includes various kinds of sensors (not illustrated), such as a camera, a microphone, an inertial sensor, LiDAR, a temperature sensor, and an ambient light sensor, that are used to recognize an ambient environment of the inspector W.

[0034] The glove portions 202 are wearable terminals with a glove type that are worn on the hands of the inspector W. Each of the glove portions 202 includes various kinds of sensors (not illustrated), such as an inertial sensor, a tactile sensor, and a pressure sensor, that are used to recognize a predetermined action that is performed by the inspector W using the own hands.

[0035] In addition, the glass portion 201 and the glove portions 202 are provided so as to be able to communicate with the management device 100 by, for example, wireless communication. The inspector terminal 200 transmits, to the management device 100, various kinds of data related to space measurement records that have been measured by the various kinds of sensors that are included in the inspector terminal 200, data related to work records, and the like.

[0036] The robot 300 is a device that is a setting target for a patrol mission, and that is an autonomous mobile object type that performs the patrol mission in accordance with the set content. As illustrated in Fig. 3, the robot 300 is constituted as the robot 300-L with, for example, a walking type.

[0037] The robot 300-L includes a main body portion 301, a movement mechanism 302, an arm portion 303, an end effector 304, and one or more of cameras 305. As illustrated in Fig. 3, the movement mechanism 302 of the robot 300-L is constituted as, for example, an autonomous quadrupedal walking type. The arm portion 303 and the end effector 304 constitutes a manipulator.

[0038] Furthermore, the robot 300-L includes various kinds of sensors (not illustrated), such as a microphone that is used to recognize the own situation and an ambient environment of the robot 300-L, an inertial sensor, LiDAR, a temperature sensor, and an ambient light sensor. Furthermore, the robot 300-L is provided such that the robot 300-L is able to communicate with the management device 100 by wireless communication.

[0039] In addition, as illustrated in Fig. 4, the robot 300 is constituted as, for example, the robot 300-C with a crawler type. The robot 300-C includes the main body portion 301, the movement mechanism 302, the arm portions 303, the end effectors 304, and one or more of the cameras 305. As illustrated in Fig. 4, the movement mechanism 302 of the robot 300-C is constituted as, for example, a crawler type. The arm portions 303 and the end effectors 304 constitute manipulators.

[0040] Furthermore, the robot 300-C includes various sensors (not illustrated), such as a microphone that is used to recognize the own situation and an ambient environment of the robot 300-C, an inertial sensor, LiDAR, a temperature sensor, and an ambient light sensor. Furthermore, the robot 300-C is provided such that the robot 300-C is able to communicate with the management device 100 by wireless communication.

[0041] Moreover, in the inside of the floor area of the plant 1, there are many differences in level, stairs, and the like, and also, in some cases, a road surface of the route is not flat, so that, as illustrated in Fig. 3 and Fig. 4, it is preferable that the robot 300 has the movement mechanism 302, such as a walking type or a crawler type, that is able to move even on an uneven route. Accordingly, the movement mechanism 302 may be a flight mechanism. In terms of this, the autonomous mobile object may be, for example, a drone instead of the robot 300.

[0042] A description will be given here by referring back to Fig. 1. In the inspection job system 10 having the configuration described above, the management device 100 sets a patrol mission to be conducted to each of the robots 300 on the basis of various kinds of data that are stored in the inspection job DB 103a and various kinds of data that have been acquired from the inspector terminal 200.

[0043] Specifically, as illustrated in Fig. 1, the management device 100 performs a route analysis process of analyzing a route that is used for the patrol mission on the basis of an inspection target equipment floor drawing stored in the inspection job DB 103a, the inspection procedure instruction stored in the inspection job DB 103a, and the space measurement record received from the inspector terminal 200 (Step S1).

[0044] In the route analysis process, a process of generating a node graph in which waypoints are used as respective nodes on the basis of the inspection target equipment floor drawing, a process of designing a route plan by using the node graph, and a process of extracting 3D space point group data on the basis of the space measurement record obtained by the inspector terminal 200 are performed. The details of the route analysis process will be described later in an explanation provided with reference to Fig. 6.

[0045] Furthermore, the management device 100 performs an action analysis process of analyzing the action performed at each of the waypoints in the patrol mission on the basis of the inspection procedure instruction stored in the inspection job DB 103a, an inspection target equipment list, and the work record received from the inspector terminal 200 (Step S2).

[0046] In the action analysis process, a process of acquiring an action that is needed for the target equipment from inspection recorded data that is included in the inspection procedure instruction, a process of acquiring information that is needed for setting the determination criteria, and a process of complementing each of the pieces of information that have been acquired from the work record related to the inspector terminal 200 are performed. The details of the action analysis process will be described later in an explanation provided with reference to Fig. 8.

[0047] Then, the management device 100 performs a 3D map generation process of generating the 3D map related to the patrol mission of the plant 1 on the basis of the processing result of the route analysis process that has been performed at Step S1 (Step S3).

[0048] In the 3D map generation process, 3D data in the form capable of loading the control program installed in each of the robots 300 is generated. In the 3D map generation process, the 3D map is generated while each of the pieces of data that indicates the route plan on the node graph described above being checked against the pieces of point group data that are included in the 3D space. The 3D map includes the coordinate position of each of the waypoints and the coordinate position of each of the equipment signs. Furthermore, the 3D map separately holds the stopover orders of the waypoints.

[0049] Furthermore, the management device 100 performs an action data generation process of generating the action data on an action performed in the patrol mission of the plant 1 on the basis of the processing result of the action analysis process performed at Step S2 (Step S4).

[0050] The action data is data that indicates content or the like of the action that is performed at each of the waypoints. In the action data generation process, for example, the type of the action to be set (image acquisition, infrared image acquisition, sound acquisition, a valve operation, etc.) is selected on the basis of the information that has been mainly acquired from the inspection target equipment list and the inspection procedure instruction at Step S2. Furthermore, in the action data generation process, for example, detail content (a posture, an angle of view, an abnormality judgement area, etc.) for each action to be set is set on the basis of the information that has been mainly acquired from the work record of the inspector terminal 200 at Step S2.

[0051] Then, on the basis of each of the processing results obtained from the 3D map generation process performed at Step S3 and the action data generation process performed at Step S4, the management device 100 performs a mission data generation process of generating the mission data on the mission to be conducted by each of the robots 300 (Step S5).

[0052] In the mission data generation process, the mission data is described in the format capable of being converted to an application programming interface (API) conforming to a robot operating system (ROS) in accordance with, for example, each of the vendors of the respective robots 300. For example, the mission data used here is described in the format conforming to the open platform that is common to the setting job of the patrol mission.

[0053] Then, the management device 100 performs, on the basis of the processing result obtained from the mission data generation process performed at Step S5, a conversion process of converting the mission data into teaching data by using the API for each of the vendors of the respective robots 300 (Step S6). After the conversion process performed at Step S6, the management device 100 transmits each of the pieces of teaching data, which are associated with the respective robots 300, to the respective robots 300, and allows the robots 300 to conduct the associated patrol missions according to the teaching data.

[0054] Moreover, in the case where a conversion process that is able to be applied to a new type of the robot 300 is performed, it is possible to easily cope with this case by customizing only a module that performs the conversion process.

[0055] In this way, in the method of setting the patrol mission according to the embodiment, the management device 100 that performs setting related to the patrol mission that is conducted by the robot 300 in the plant 1 performs a process of analyzing, on the basis of the data that is stored in the inspection job DB 103a and that is used in the routine inspection job performed in the plant 1 and on the basis of the recorded data that is recorded by the inspector terminal 200 that is used by the inspector W in the above described routine inspection job, the route of the above described patrol mission and the content of the action performed at each of the waypoints located on the route, and performs a process of generating, on the basis of the analysis results of the above described route and the content of the above described action, the mission data related to the above described patrol mission according to the robot 300.

[0056] Therefore, with the method of setting the patrol mission according to the embodiment, it is possible to improve labor saving of setting of the patrol mission conducted by the robot 300 in the plant 1. In the following, an example of a configuration of the inspection job system 10 according to the embodiment will be more specifically described.

[0057] <Example of configuration of inspection job system 10> Fig. 5 is a block diagram illustrating an example of a configuration of the inspection job system 10 according to the embodiment. Moreover, Fig. 5 is a block diagram mainly illustrating the example of the configuration of the management device 100. Furthermore, in Fig. 5, only the components that are needed to explain the present embodiment are illustrated by a function block, and illustrations of general components are omitted.

[0058] Furthermore, in the explanation using Fig. 5, descriptions of the components that have already been described will be appropriately simplified or omitted.

[0059] As illustrated in Fig. 5, the inspection job system 10 includes the management device 100, one or more of the inspector terminals 200, and one or more of the robots 300 (the robot 300-L, the robot 300-C, etc.).

[0060] <Example of configuration of management device 100> The management device 100 is implemented as a server device that is provided in, for example, the plant 1. Furthermore, the management device 100 is implemented as a server device that is provided in, for example, an outside of the plant 1. Furthermore, the management device 100 may also be implemented as, for example, a public cloud.

[0061] The management device 100 is provided such that the management device 100 is able to communicate with the inspector terminal 200 and the robot 300 via various kinds of networks, such as a plant network provided in the plant 1, the Internet, a mobile phone line network, Wi-Fi (registered trademark), and Bluetooth (registered trademark).

[0062] As illustrated in Fig. 5, the management device 100 includes a human machine interface (HMI) unit 101, a communication unit 102, a storage unit 103, and a control unit 104.

[0063] The HMI unit 101 is a component that provides an interface part related to an input and an output from and to a user (for example, the inspector W, an operator, etc.) who uses the management device 100.

[0064] The HMI unit 101 includes an input interface that receives an input operation received from the user. The input interface is implemented by, for example, a touch panel, a pointing device, a button, a microphone, or the like. Furthermore, the input interface may also be implemented by a software part.

[0065] Furthermore, the HMI unit 101 includes an output interface that submits image information, light emission information, sound information, or the like to the user. The output interface is implemented by, for example, a display, light emitting diode (LED), a speaker, or the like. Moreover, the HMI unit 101 may also be implemented by a touch panel display that is integrally constituted by an input interface and an output interface.

[0066] Furthermore, the HMI unit 101 may also be an interface part that is able to perform a remote input or a remote output from a personal computer (PC) or the like that is remotely connected.

[0067] The communication unit 102 is implemented by a network adapter, or the like. The communication unit 102 connects the management device 100 to the inspector terminal 200 and each of the robots 300 by wireless communication and / or wire communication so as to be able to communicate with each other.

[0068] The storage unit 103 is implemented by a storage device, such as a random access memory (RAM), a flash memory, or a hard disk drive (HDD). The storage unit 103 may also be implemented by a memory card, such as a SD card. The storage unit 103 stores therein an information processing program according to the embodiment executed by the control unit 104. Furthermore, the storage unit 103 stores therein various kinds of information that are used in information processing performed by the control unit 104.

[0069] In the example illustrated in Fig. 5, the storage unit 103 stores therein the inspection job DB 103a, inspector terminal record information 103b, common platform (PF) information 103c, a robot DB 103d, and a vendor classification PF information 103e.

[0070] The inspection job DB 103a is a database that stores therein, as described above, various kinds of data related to the inspection job. The inspection job DB 103a is appropriately updated by, for example, a routine inspection job performed by the inspector W. The inspection job DB 103a includes various kinds of data related to the inspection target floor drawing, the inspection procedure instruction, the inspection target equipment list, and the like that are described above.

[0071] Moreover, the inspection job DB 103a may be held by an external device, such as a database server, that manages various kinds of databases that are used in, for example, the plant 1, and may be appropriately acquired by the management device 100 from the external device by way of the communication unit 102.

[0072] The inspector terminal record information 103b is various kinds of data that are recorded by the inspector terminal 200. The inspector terminal record information 103b is acquired from the inspector terminal 200 by an acquisition unit 104b that will be described later by way of the communication unit 102.

[0073] The common PF information 103c is information related to the above described common open platform that is used in the mission data generation process performed at Step S5. Furthermore, the common PF information 103c includes the mission data that has been generated from the mission data generation process.

[0074] The robot DB 103d is a database that stores therein property data on the robot 300 including the specifications of various kinds of the robots 300 that are able to be used in the plant. The robot DB 103d may also include information on the robot 300 other than the robots 300 that have actually been installed in the plant 1.

[0075] The vendor classification PF information 103e is information related to API or the like for each vendor described above that is used in the conversion process performed at Step S6. Furthermore, the vendor classification PF information 103e includes converted teaching data that has been converted by the conversion process.

[0076] The control unit 104 corresponds to a so-called processor. The control unit 104 is implemented by a central processing unit (CPU), a micro processing unit (MPU), or the like.

[0077] The control unit 104 reads the information processing program according to the embodiment that is stored in the storage unit 103 and then executes the read information processing program by using the RAM as a work area. The control unit 104 may also be implemented by an integrated circuit, such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA).

[0078] The control unit 104 includes a user interface (UI) control unit 104a, the acquisition unit 104b, a route analysis unit 104c, an action analysis unit 104d, a 3D map generation unit 104e, an action data generation unit 104f, a mission data generation unit 104g, a conversion unit 104h, and a transmission unit 104i, and implements or executes the function and the operation of the information processing that will be described below.

[0079] Moreover, the internal configuration of the control unit 104 is not limited to the configuration illustrated in Fig. 5, but may also be another configuration as long as the configuration in which the information processing that will be described below is able to be performed is used. Furthermore, the connection relation among each of the processing units included in the control unit 104 is not limited to the connection relation illustrated in Fig. 5, but may also be another connection relation.

[0080] The UI control unit 104a performs input-output control with respect to the user operated by way of the HMI unit 101. The acquisition unit 104b acquires various kinds of data including the above described space measurement record and the work record from the inspector terminal 200 by way of the communication unit 102. Furthermore, the acquisition unit 104b stores the acquired data in the inspector terminal record information 103b.

[0081] The route analysis unit 104c performs the above described route analysis process at Step S1. In the following, the route analysis process performed by the route analysis unit 104c will be specifically described. Fig. 6 is a diagram illustrating the route analysis process performed by the route analysis unit 104c. Furthermore, Fig. 7 is a diagram illustrating one example of the inspection procedure instruction.

[0082] As illustrated in Fig. 6, the route analysis unit 104c generates waypoints on the basis of the inspection target equipment floor drawing stored in the inspection job DB 103a, generates a node graph by using the waypoints as the respective nodes, and design a route plan on the node graph (Step S11).

[0083] More specifically, the route analysis unit 104c generates, at Step S11, the waypoints that are located in the space of the plant 1 on the basis of both of the drawing data and a reduction scale of the inspection target equipment floor drawing. Furthermore, the route analysis unit 104c generates the node graph in which the generated waypoints that are assumed to be the respective nodes are connected by a link. Furthermore, the route analysis unit 104c performs the route plan for formation of the route data that is related to the robot 300 and that is constructed on the node graph. The route data constructed on the node graph is formed as the data that is able to be checked against the point group data included in the 3D space stored in the 3D map generation unit 104e that will be described later.

[0084] Furthermore, the route analysis unit 104c adds a constraint condition to the route plan performed at Step S11 on the basis of the inspection procedure instruction that is stored in the inspection job DB 103a (Step S12). As illustrated in Fig. 7, the inspection procedure instruction includes, for example, an inspection order of each of the pieces of equipment, equipment position information, equipment sign information, and the inspection recorded data. The equipment sign information is information on an image that is used to identify equipment, a tag (including a name tag and an IC tag), a 2D code, and the like.

[0085] The route analysis unit 104c applies the constraint condition with respect to the route plan by associating the various kinds of data that are included in the inspection procedure instruction with the respective waypoints.

[0086] A description will be given here by referring back to Fig. 6. Furthermore, at Step S13, the route analysis unit 104c adds handling with respect to the coordinate data included in the 3D space that is obtained by measuring the real space to each of the waypoints obtained at Step S11 on the basis of the space measurement record that is included in the inspector terminal record information 103b. Furthermore, at Step S13, the route analysis unit 104c extracts feature points that are used to generate a 3D model in the real space. The 3D model mentioned here is, for example, the above described 3D map. The feature points to be extracted is the point group data or the like located in, for example, the 3D space of the plant 1 described above. In order to determine in advance whether or not a movement of the actual robot 300 is able to be performed, in addition to the position of the inspection target equipment, there is a need to obtain information on a difference in level, a passage width, a ceiling height, and the like located on the way along the route. This type of measurement of the space is performed by the inspector terminal 200, and then, the route analysis unit 104c acquires the 3D data. Moreover, it is assumed these pieces of information are automatically acquired by the inspector terminal 200 during the inspection work, but the embodiment is not limited to this. Furthermore, in the present embodiment, it is assumed that the 3D map as the 3D model is generated / used by way of the point group process performed by using the point group data, but the embodiment is not limited to the 3D model. For example, various methods may also be used including a method of, for example, obtaining a 3D model in the form of a space mesh without performing the point group process.

[0087] Both of the result of the route plan performed by the route analysis unit 104c at Step S11 and the point group data extracted at Step S13 are used by the 3D map generation unit 104e.

[0088] A description will be given here by referring back to Fig. 5. The action analysis unit 104d performs the above described action analysis process at Step S2. In the following, the action analysis process performed by the action analysis unit 104d will be specifically described. Fig. 8 is a diagram illustrating the action analysis process performed by the action analysis unit 104d.

[0089] As illustrated in Fig. 8, the action analysis unit 104d acquires an equipment ID, an equipment sign, an inspection item, and the like on the basis of the inspection target equipment list stored in the inspection job DB 103a (Step S21). Furthermore, regarding the target equipment extracted at Step S21, the action analysis unit 104d extracts an action that is needed for the subject target equipment from the inspection recorded data that is included in the inspection procedure instruction, and extracts the information that is needed to set the determination criteria (Step S22).

[0090] The content to be extracted as the action that is needed for the target equipment is, for example, image acquisition, infrared image acquisition, sound acquisition, a valve operation, and the like. The image acquisition corresponds to a case in which, for example, a visual inspection is needed. The infrared image acquisition corresponds to a case in which, for example, a temperature check is needed. The sound acquisition corresponds to a case in which, for example, an abnormal sound check is needed. Furthermore, an opening and closing of a valve corresponds to a case in which, for example, a check of the degree of opening of the valve is needed.

[0091] Furthermore, the content that is extracted as the information that is needed to set the determination criteria is an area of the judgement targeted for correctness or incorrectness of the judgement performed at the time of an inspection, a determination threshold, or the like.

[0092] Furthermore, the action analysis unit 104d complements various kinds of information indicated at Step S22 on the basis of a record on a viewpoint image of the inspector W, a line of sight, a gaze point, a sound, a sense of touch, and the like stored in the work record included in the inspector terminal record information 103b (Step S23). At Step S23, the action analysis unit 104d calculates a camera position and an angle obtained when inspector W looks into the target equipment by using a photogrammetry technique from, for example, the video image, and performs, in accordance with this, an arithmetic operation on a manipulator motion performed by the robot 300 on the basis of the camera 305. Specifically, the action analysis unit 104d converts a local coordinate position of the inspector W converted from, for example, the viewpoint image of the inspector W to a robot coordinate position of the robot 300. Then, the action analysis unit 104d determines an access position of each of the end effector 304, the camera 305, and the like corresponding to the inspection position (for example, a valve operation position in a case of the valve operation, whereas an image capturing position in a case of the visual inspection) of the inspector W in the robot coordinate system. Then, the action analysis unit 104d performs an arithmetic operation on the manipulator motion including an angle of rotation of each of the joints of the robot 300 by performing an inverse kinematics arithmetic operation on each of the subject access positions.

[0093] Moreover, regarding the standard work procedure manual included in the inspection procedure instruction, operation content is instructed by almost all the text data, so that there may be a case in which a behavior of the actual inspector W is not able to be obtained from the inspection job DB 103a, and thus, the process performed at Step S23 complements this.

[0094] Each of the pieces of data that have been extracted by the action analysis unit 104d at Step S22 on the basis of the Steps S21 and S23 is used by the action data generation unit 104f.

[0095] A description will be given here by referring back to Fig. 5. The 3D map generation unit 104e performs the 3D map generation process at Step S3 described above. In other words, the 3D map generation unit 104e generates the 3D data in the form that can be read by the control program installed in each of the robots 300. The 3D map generation unit 104e generates the 3D map while checking the route data that indicates the route plan performed on the node graph described above against the point group data contained in the 3D space.

[0096] The action data generation unit 104f performs the action data generation process described above at Step S4. The mission data generation unit 104g performs the mission data generation process described above at Step S5. The action data generation process and the mission data generation process have already been described, and the descriptions thereof will be omitted here.

[0097] The conversion unit 104h performs the conversion process described above at Step S6. Moreover, the conversion unit 104h may also perform the conversion process on the robot 300 that is associated with the vendor and that is assigned by the user by way of, for example, the HMI unit 101.

[0098] Furthermore, the conversion unit 104h may also determine whether or not the subject patrol mission is able to be conducted by the robot 300 that has been installed in the plant 1 on the basis of the mission data generated by the mission data generation unit 104g and the robot DB 103d.

[0099] Furthermore, if it is determined that the subject patrol mission is not able to be conducted by the robot 300 that has been installed in the plant 1, the conversion unit 104h may suggest the available robot 300 on the basis of the robot DB 103d to the user by way of the HMI unit 101.

[0100] Furthermore, if it is determined that the subject patrol mission is not able to be conducted by the robot 300 that has been installed in the plant 1, the conversion unit 104h may suggest, for example, a change in route, a change in action, or the like in order to allow the robot 300 to be able to conduct the subject patrol mission to the user by way of the HMI unit 101.

[0101] The transmission unit 104i transmits, via the communication unit 102, the teaching data that has been converted by the conversion unit 104h to the subject robot 300.

[0102] <Flow of process performed by management device 100> In the following, the flow of the process performed by the management device 100 will be described with reference to Fig. 9. Fig. 9 is a flowchart illustrating the flow of the process performed by the management device 100 according to the embodiment.

[0103] As illustrated in Fig. 9, the acquisition unit 104b acquires various kinds of information from the inspection job DB 103a (Step S101). The various kinds of information acquired here include at least the inspection target equipment floor drawing, the inspection procedure instruction, and the inspection target equipment list.

[0104] Furthermore, the acquisition unit 104b acquires various kinds of information from the inspector terminal 200 (Step S102). The various kinds of information acquired here include at least the space measurement record and the work record.

[0105] Then, the route analysis unit 104c performs the route analysis process on the basis of the various kinds of information that have been acquired at Steps S101 and S102 (Step S103). Then, the 3D map generation unit 104e performs the 3D map generation process on the basis of the processing result obtained from the route analysis process (Step S104).

[0106] Furthermore, the action analysis unit 104d performs the action analysis process on the basis of the various kinds of information that have been acquired at Steps S101 and S102 (Step S105). Then, the action data generation unit 104f performs the action data generation process on the basis of the processing result obtained from the action analysis process (Step S106).

[0107] Subsequently, the mission data generation unit 104g performs the mission data generation process on the basis of the processing results obtained from the 3D map generation process and the action data generation process (Step S107).

[0108] Then, the conversion unit 104h performs the conversion process in accordance with the type of the robot 300 (Step S108). Then, the transmission unit 104i transmits the converted teaching data to the robot 300 (Step S109), and ends the process.

[0109] <Summary and modification> As described above, in the method of setting the patrol mission according to the embodiment, the management device 100 generates the 3D map in the range of the patrol conducted by the robot 300 including the position of the inspection target equipment. Furthermore, the management device 100 extracts an action of the robot 300 on the basis of the model pattern (i.e., various kinds of data included in the inspection job DB 103a) of the inspection work to be performed on the target equipment, and generates the mission data related to the patrol mission. Moreover, if the 3D map has already been present, already exist data can be substituted for the processes of generating the 3D map and the mission data.

[0110] Furthermore, the model pattern of the inspection work to be performed on the target equipment is not limited to the one that has already been accumulated in the plant 1. It may be possible to generate an action of the robot 300 by similarly applying the work record to the equipment that is placed in a location different from the plant 1 or it may be possible to apply the already generated mission data as long as the inspection procedures to be applied are the same and the relative coordinates from the waypoints match (or, it is possible to correct a coordinate shift).

[0111] Based on this point of view, it is possible to also apply the method of setting the patrol mission according to the present embodiment to the newly established or modified equipment in which inspection records have not yet been accumulated. Furthermore, with the method of setting the patrol mission according to the embodiment, it is possible to determine whether or not the patrol mission is able to be conducted by the robot 300 in the plant 1 from the design phase. As a result of this, it is possible to draw up a facility design assuming the patrol mission conducted by the robot 300.

[0112] Furthermore, the management device 100 holds the robot DB 103d including the property data on the robot 300, so that it is possible to determine whether or not the mission is able to be conducted in accordance with a movement of each of the robots 300 at the places including a difference in level, stairs, and the like or in accordance with the device characteristic. As a result of this, it is possible to select and recommend the robot 300 that is suitable for use in each of the plant 1.

[0113] Furthermore, by using the space measurement record and the work record obtained by the inspector terminal 200, it is possible to acquire the 3D data related to the plant 1 and the inspection target equipment and acquire the determination criteria in the routine job. With these pieces of information, it is possible to reduce the number of development steps in a virtual reality (VR) environment used in, for example, a virtual reality (VR) training system or the like for the inspector W. Furthermore, by allowing the state of each of the pieces of equipment in the same VR environment to be always synchronized with the state of the actual equipment, it is also possible to use the obtained synchronized state to perform monitoring of a maintenance situation of the plant 1. Furthermore, the VR environment can be used to estimate an influence at the time of a change in operation in the plant 1 and a response to abnormalities in the plant 1 by synchronizing the VR environment with, for example, a simulator provided in the plant 1.

[0114] <Effects> As described above, the management device 100 according to the embodiment includes the control unit 104 that performs setting that is related to a patrol mission that is conducted by the autonomous mobile object in the plant 1. The control unit 104 analyzes, on the basis of the data that is stored in the inspection job DB 103a and that is used in the routine inspection job performed in the plant 1 and on the basis of the recorded data that is recorded by the inspector terminal 200 that is used by the inspector W in the above described routine inspection job, a route of the patrol mission and the content of an action performed at each of the waypoints located on the route. Furthermore, the control unit 104 generates, on the basis of the analysis results of the above described route and the above described content of the action, the mission data that is related to the above described patrol mission according to the above described autonomous mobile object. Therefore, with the management device 100 according to the embodiment, it is possible to improve the labor saving of the setting of the patrol mission that is conducted by the autonomous mobile object in the plant 1.

[0115] Furthermore, the control unit 104 analyzes the above described route and the above described content of the action while complementing the data stored in the inspection job DB 103a by the above described recorded data. Therefore, with the management device 100 according to the embodiment, it is possible to analyze the content or the like of the above described action while complementing the actual behavior or the like that has been exhibited by the inspector W and that is not able to be obtained from the data that is stored in the inspection job DB 103a and that is mostly described by text data or the like.

[0116] Furthermore, the control unit 104 generates, on the basis of the above described recorded data, the 3D data related to the inside of the plant 1 in accordance with a difference in level, a passage width, and a ceiling height that are located at least on the way along the above described route, and generates the above described mission data on the basis of the above described 3D data. Therefore, with the management device 100 according to the embodiment, it is possible to generate the mission data based on the 3D data in accordance with the actual environment, such as a difference in level, a passage width, and a ceiling height that are located in the inside of the floor area of the plant 1.

[0117] Furthermore, the control unit 104 generates the above described mission data so as to be described in the format convertible to the API in accordance with each of the vendors of the above described autonomous mobile object. Therefore, with the management device 100 according to the embodiment, it is possible to generate the mission data that is able to be converted to the API in accordance with each of the vendors of the autonomous mobile object by which the patrol mission is desired to be conducted.

[0118] Furthermore, the control unit 104 generates the above described mission data so as to be described in the above described format conforming to the open platform that is common to the setting job of the above described patrol mission. Therefore, with the management device 100 according to the embodiment, it is possible to generate the mission data associated with intermediate teaching data described in the format without distinction of vendors of the autonomous mobile object.

[0119] Furthermore, the control unit 104 converts the above described mission data to the above described format that is capable of being set to the above described autonomous mobile object that has been installed in the plant 1. Therefore, with the management device 100 according to the embodiment, the mission data that can be set to the autonomous mobile object that is installed in the plant 1 is generated, so that it is possible to implement the patrol mission with no cost for a new installation of the autonomous mobile object.

[0120] Furthermore, the management device 100 according to the embodiment holds the autonomous mobile object DB including the property data related to the above described autonomous mobile object that has not been installed in the plant 1; and the control unit 104 determines, on the basis of the above described mission data, whether or not the above described patrol mission is able to be conducted by the above described autonomous mobile object that has been installed in the plant 1, and suggests, if the above described patrol mission is not able to be conducted by the above described autonomous mobile object that has been installed in the plant 1, the above described autonomous mobile object that is able to conduct the above described patrol mission to the user on the basis of the above described property data included in the above described autonomous mobile object DB. Therefore, with the management device 100 according to the embodiment, it is possible to provide a support such that the user is able to promptly select the autonomous mobile object that is able to implement the patrol mission to be conducted.

[0121] Furthermore, the inspection job system 10 (corresponding to one example of the "information processing system") according to the embodiment includes the autonomous mobile object, the inspector terminal 200 that is used by the inspector W in the routine inspection job performed in the plant 1, and the management device 100 (corresponding to one example of the "information processing apparatus") that performs setting of the patrol mission conducted by the above described autonomous mobile object in the plant 1. The management device 100 analyzes, on the basis of the data that is stored in the inspection job DB 103a and that is used in the above described routine inspection job and on the basis of the recorded data that is recorded by the inspector terminal 200, the route of the above described patrol mission and the content of the action performed in each of the waypoints located on the route, and generates the mission data related to the above described patrol mission according to the above described autonomous mobile object on the basis of the analysis results of the above described route and the content of the above described action. Therefore, with the inspection job system 10 according to the embodiment, it is possible to improve the labor saving of the setting of the patrol mission conducted by the autonomous mobile object in the plant 1.

[0122] Furthermore, the above described autonomous mobile object is at least a walking type, a crawler type, or a flight type. Therefore, with the inspection job system 10 according to the embodiment, it is possible to implement the patrol mission conducted by the autonomous mobile object that is able to move in the inside of the floor area of the plant 1 in which many differences in level, stairs, and the like are present, and also, in some cases, a road surface of the route is not flat.

[0123] Furthermore, the above described autonomous mobile object is a test subject that moves in the inside of the plant 1 that is displayed in virtual space. Therefore, with the inspection job system 10 according to the embodiment, it is possible to reduce the number of development steps in the VR environment used in, for example, a VR training system or the like for the inspector W. Furthermore, by allowing the state of each of the pieces of equipment in the same VR environment to be always synchronized with the state of the actual equipment, it is also possible to use the obtained synchronized state to perform monitoring of a maintenance situation of the plant 1. Furthermore, the VR environment can be used to estimate an influence at the time of a change in operation in the plant 1 and a response to abnormalities in the plant 1 by synchronizing the VR environment with, for example, a simulator provided in the plant 1.

[0124] Furthermore, the information processing method according to the embodiment causes the computer that performs setting related to the patrol mission conducted by the autonomous mobile object in the plant 1 to perform a process of analyzing, on the basis of the data that is stored in the inspection job DB 103a and that is used in the routine inspection job performed in the plant 1 and on the basis of the recorded data that is recorded by the inspector terminal 200 that is used by the inspector W performed in the above described routine inspection job, the route of the above described patrol mission and the content of the action performed at each of the waypoints located on the route, and a process of generating the mission data related to the above described patrol mission according to the above described autonomous mobile object on the basis of the analysis results of the above described route and the content of the above described action. Therefore, with the information processing method according to the embodiment, it is possible to improve the labor saving of the setting of the patrol mission conducted by the autonomous mobile object performed in the plant 1.

[0125] Furthermore, the information processing program according to the embodiment causes the computer that performs setting related to the patrol mission conducted by the autonomous mobile object in the plant 1 to perform a process of analyzing, on the basis of the data that is stored in the inspection job DB 103a and that is used in the routine inspection job performed in the plant 1 and on the basis of the recorded data that is recorded by the inspector terminal 200 that is used by the inspector W performed in the above described routine inspection job, the route of the above described patrol mission and the content of the action performed at each of the waypoints located on the route, and a process of generating the mission data related to the above described patrol mission according to the above described autonomous mobile object on the basis of the analysis results of the above described route and the content of the above described action. In other words, the management device 100 that is the computer that performs setting related to the patrol mission conducted by the autonomous mobile object in the plant 1 performs a process of analyzing, on the basis of the data that is stored in the inspection job DB 103a and that is used in the routine inspection job performed in the plant 1 and on the basis of the recorded data that is recorded by the inspector terminal 200 that is used by the inspector W performed in the above described routine inspection job, the route of the above described patrol mission and the content of the action performed at each of the waypoints located on the route, and a process of generating the mission data related to the above described patrol mission according to the above described autonomous mobile object on the basis of the analysis results of the above described route and the content of the above described action. Therefore, with the information processing program according to the embodiment, it is possible to improve the labor saving of the setting of the patrol mission conducted by the autonomous mobile object in the plant 1.

[0126] <Other embodiments> In the above explanation, a description has been given of the embodiments according to the present invention; however, the present invention may also be implemented with various kinds of embodiments other than the embodiments described above.

[0127] <System> 　The flow of the processes, the control procedures, the specific names, and the information containing various kinds of data or parameters indicated in the above specification and drawings can be arbitrarily changed unless otherwise stated.

[0128] Furthermore, the components of each unit illustrated in the drawings are only for conceptually illustrating the functions thereof and are not always physically configured as illustrated in the drawings. In other words, the specific shape of a separate or integrated device is not limited to the drawings. Specifically, all or part of the device can be configured by functionally or physically separating or integrating any of the units depending on various loads or use conditions.

[0129] Furthermore, all or any part of each of the processing functions performed by the each of the devices can be implemented by a CPU and by programs analyzed and executed by the CPU or implemented as hardware by wired logic.

[0130] <Hardware> The management device 100, the inspector terminal 200, and the robot 300 according to the embodiment described above are implemented by a computer 1000 having the configuration illustrated in, for example, Fig. 10. In the following, an explanation will be given by using the management device 100 as an example. Fig. 10 is a diagram of a hardware configuration indicating one example of the computer 1000 that implements the function of the management device 100 according to the embodiment.

[0131] As illustrated in Fig. 10, the computer 1000 includes a communication device 1000a, a secondary storage device 1000b, a memory 1000c, and a processor 1000d. Furthermore, each of the units illustrated in Fig. 10 is connected by a bus or the like with each other.

[0132] The communication device 1000a is a network interface card (NIC) or the like, and communicates with another device. The secondary storage device 1000b is implemented by a flash memory, a HDD, or the like, and stores therein the programs and the databases that operate the functions illustrated in Fig. 5.

[0133] The processor 1000d operates the thread that executes each of the function described above in Fig. 5 and the like by reading the programs that execute the same process as that performed by each of the processing units illustrated in Fig. 5 and from the secondary storage device 1000b or the like and loading the read programs in the memory 1000c. For example, the thread executes the same functions as those performed by each of the processing units included in the management device 100. Specifically, the processor 1000d reads, from the secondary storage device 1000b or the like, the programs having the same functions as those performed by the UI control unit 104a, the acquisition unit 104b, the route analysis unit 104c, the action analysis unit 104d, the 3D map generation unit 104e, the action data generation unit 104f, the mission data generation unit 104g, the conversion unit 104h, and the transmission unit 104i. Then, the processor 1000d executes the thread for executing the same processes as those performed by the UI control unit 104a, the acquisition unit 104b, the route analysis unit 104c, the action analysis unit 104d, the 3D map generation unit 104e, the action data generation unit 104f, the mission data generation unit 104g, the conversion unit 104h, the transmission unit 104i, and the like.

[0134] In this way, the computer 1000 is operated as an information processing apparatus that performs various kinds of processing methods by reading and executing the programs. Furthermore, the computer 1000 is also able to implement the same functions as those described above in the embodiment by reading the above described programs from a recording medium by a medium reading device and executing the read programs. Moreover, the programs described here are not limited to be executed by only the computer 1000. For example, For example, the present invention may also be similarly used in a case in which a computer or a server each having another hardware configuration executes a program or in a case in which another computer and a server cooperatively execute the program with each other.

[0135] The programs may be distributed via a network, such as the Internet. Furthermore, the programs may be executed by storing the programs in a recording medium that can be read by a computer readable recording medium, such as a HDD, a flexible disk (FD), a CD-ROM, a magneto-optical disk (MO), a digital versatile disk (DVD), or the like, and read the programs from the recording medium by the computer. The recording medium in which these programs are recorded is also one mode of the present disclosure.

[0136] <Others> Some examples of combinations of the disclosed technical features are described in the following.

[0137] (1) 　An information processing apparatus comprising: 　a control unit that performs setting related to a patrol mission that is conducted by an autonomous mobile object in a plant, wherein 　the control unit 　　analyzes, based on data that is stored in an inspection job database and that is used in a routine inspection job performed in the plant and based on recorded data that is recorded by a portable terminal that is used by an inspector in the routine inspection job, a route of the patrol mission and content of an action performed at each spot located on the route, and 　　generates mission data related to the patrol mission according to the autonomous mobile object based on analysis results of the route and the content of the action. (2) 　The information processing apparatus according to (1), wherein the control unit analyzes the route and the content of the action while complementing the data stored in the inspection job database by the recorded data. (3) 　The information processing apparatus according to (1) or (2), wherein 　the control unit 　　generates, based on the recorded data, 3D data related to an inside of the plant in accordance with a difference in level, a passage width, and a ceiling height that are located at least on a way along the route, and 　　generates the mission data based on the 3D data. (4) 　The information processing apparatus according to (1), (2), or (3), wherein the control unit generates the mission data so as to be described in a format convertible to an application programming interface (API) according to each vendor of the autonomous mobile object. (5) 　The information processing apparatus according to (4), wherein the control unit generates the mission data so as to be described in the format conforming to an open platform that is common to a setting job of the patrol mission. (6) 　The information processing apparatus according to (4) or (5), wherein the control unit converts the mission data to the format that is capable of being set to the autonomous mobile object that has been installed in the plant. (7) 　The information processing apparatus according to any one of (1) to (6), wherein 　the information processing apparatus holds an autonomous mobile object database including property data on the autonomous mobile object that has not been installed in the plant, and 　the control unit 　　determines, based on the mission data, whether or not the patrol mission is able to be conducted by the autonomous mobile object that has been installed in the plant, and 　　suggests, when the patrol mission is not able to be conducted by the autonomous mobile object that has been installed in the plant, the autonomous mobile object that is able to conduct the patrol mission to a user based on the property data included in the autonomous mobile object database. (8) 　An information processing system comprising: 　an autonomous mobile object; 　a portable terminal that is used by an inspector in a routine inspection job performed in a plant; and 　an information processing apparatus that performs setting related to a patrol mission conducted by the autonomous mobile object in the plant, wherein 　the information processing apparatus 　　analyzes, based on data that is stored in an inspection job database and that is used in the routine inspection job and based on recorded data that is recorded by the portable terminal, a route of the patrol mission and content of an action performed at each spot located on the route, and 　　generates mission data related to the patrol mission according to the autonomous mobile object based on analysis results of the route and the content of the action. (9) 　The information processing system according to (8), wherein the autonomous mobile object is at least a walking type, a crawler type, or a flight type. (10) 　The information processing system according to (9), wherein the autonomous mobile object is a test subject that moves in an inside of the plant displayed in virtual space. (11) 　An information processing method that is implemented by a computer, which performs setting related to a patrol mission that is conducted by an autonomous mobile object in a plant, comprising: 　analyzing, based on data that is stored in an inspection job database and that is used in a routine inspection job performed in the plant and based on recorded data that is recorded by a portable terminal that is used by an inspector in the routine inspection job, a route of the patrol mission and content of an action performed at each spot located on the route; and 　generating mission data related to the patrol mission according to the autonomous mobile object based on analysis results of the route and the content of the action. (12) 　An information processing program that causes a computer, which performs setting related to a patrol mission that is conducted by an autonomous mobile object in a plant, to execute a process comprising: 　analyzing, based on data that is stored in an inspection job database and that is used in a routine inspection job performed in the plant and based on recorded data that is recorded by a portable terminal that is used by an inspector in the routine inspection job, a route of the patrol mission and content of an action performed at each spot located on the route; and 　generating mission data related to the patrol mission according to the autonomous mobile object based on analysis results of the route and the content of the action. (13) 　A computer-readable recording medium having stored therein an information processing program, the information processing program that causes a computer, which performs setting related to a patrol mission that is conducted by an autonomous mobile object in a plant, to execute a process comprising: 　analyzing, based on data that is stored in an inspection job database and that is used in a routine inspection job performed in the plant and based on recorded data that is recorded by a portable terminal that is used by an inspector in the routine inspection job, a route of the patrol mission and content of an action performed at each spot located on the route; and 　generating mission data related to the patrol mission according to the autonomous mobile object based on analysis results of the route and the content of the action.

[0138] 1 plant 10 inspection job system 100 management device 101 HMI unit 102 communication unit 103 storage unit 103a inspection job DB 103b inspector terminal record information 103c common PF information 103d robot DB 103e vendor classification PF information 104 control unit 104a UI control unit 104b acquisition unit 104c route analysis unit 104d action analysis unit 104e 3D map generation unit 104f action data generation unit 104g mission data generation unit 104h conversion unit 104i transmission unit 200 inspector terminal 300, 300-L, 300-C robot W inspector

Claims

1. An information processing apparatus comprising: 　　a control unit that performs setting related to a patrol mission that is conducted by an autonomous mobile object in a plant, wherein 　　the control unit 　　　　analyzes, based on data that is stored in an inspection job database and that is used in a routine inspection job performed in the plant and based on recorded data that is recorded by a portable terminal that is used by an inspector in the routine inspection job, a route of the patrol mission and content of an action performed at each spot located on the route, and 　　　　generates mission data related to the patrol mission according to the autonomous mobile object based on analysis results of the route and the content of the action.

2. The information processing apparatus according to claim 1, wherein the control unit analyzes the route and the content of the action while complementing the data stored in the inspection job database by the recorded data.

3. The information processing apparatus according to claim 1, wherein 　　the control unit 　　　　generates, based on the recorded data, 3D data related to an inside of the plant in accordance with a difference in level, a passage width, and a ceiling height that are located at least on a way along the route, and 　　　　generates the mission data based on the 3D data.

4. The information processing apparatus according to claim 1, wherein the control unit generates the mission data so as to be described in a format convertible to an application programming interface (API) according to each vendor of the autonomous mobile object.

5. The information processing apparatus according to claim 4, wherein the control unit generates the mission data so as to be described in the format conforming to an open platform that is common to a setting job of the patrol mission.

6. The information processing apparatus according to claim 4, wherein the control unit converts the mission data to the format that is capable of being set to the autonomous mobile object that has been installed in the plant.

7. The information processing apparatus according to claim 1, wherein 　　the information processing apparatus holds an autonomous mobile object database including property data on the autonomous mobile object that has not been installed in the plant, and 　　the control unit 　　　　determines, based on the mission data, whether or not the patrol mission is able to be conducted by the autonomous mobile object that has been installed in the plant, and 　　　　suggests, when the patrol mission is not able to be conducted by the autonomous mobile object that has been installed in the plant, the autonomous mobile object that is able to conduct the patrol mission to a user based on the property data included in the autonomous mobile object database.

8. An information processing system comprising: 　　an autonomous mobile object; 　　a portable terminal that is used by an inspector in a routine inspection job performed in a plant; and 　　an information processing apparatus that performs setting related to a patrol mission conducted by the autonomous mobile object in the plant, wherein 　　the information processing apparatus 　　　　analyzes, based on data that is stored in an inspection job database and that is used in the routine inspection job and based on recorded data that is recorded by the portable terminal, a route of the patrol mission and content of an action performed at each spot located on the route, and 　　　　generates mission data related to the patrol mission according to the autonomous mobile object based on analysis results of the route and the content of the action.

9. The information processing system according to claim 8, wherein the autonomous mobile object is at least a walking type, a crawler type, or a flight type.

10. The information processing system according to claim 9, wherein the autonomous mobile object is a test subject that moves in an inside of the plant displayed in virtual space.

11. An information processing method that is implemented by a computer, which performs setting related to a patrol mission that is conducted by an autonomous mobile object in a plant, comprising: 　　analyzing, based on data that is stored in an inspection job database and that is used in a routine inspection job performed in the plant and based on recorded data that is recorded by a portable terminal that is used by an inspector in the routine inspection job, a route of the patrol mission and content of an action performed at each spot located on the route; and 　　generating mission data related to the patrol mission according to the autonomous mobile object based on analysis results of the route and the content of the action.

12. An information processing program that causes a computer, which performs setting related to a patrol mission that is conducted by an autonomous mobile object in a plant, to execute a process comprising: 　　analyzing, based on data that is stored in an inspection job database and that is used in a routine inspection job performed in the plant and based on recorded data that is recorded by a portable terminal that is used by an inspector in the routine inspection job, a route of the patrol mission and content of an action performed at each spot located on the route; and 　　generating mission data related to the patrol mission according to the autonomous mobile object based on analysis results of the route and the content of the action.

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