Mobile body system, information processing device and information processing method

Abstract

To provide a mobile body system that allows a user to recognize that an exception may occur to a mobile body before the mobile body performs work.SOLUTION: There is provided a mobile body system that includes: exception occurrence possibility calculation means which calculates exception occurrence possibility information for determining whether an exception may occur based upon exception occurrence information on a mobile body during past work; exception occurrence determination means which determines whether an exception may occur to the mobile body before the mobile body performs work based upon information associated with a situation in which the mobile body is placed before performing the work and the exception occurrence possibility information; and display control means which controls display of determination results.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a mobile system, an information processing device, and an information processing method. [Background technology]

[0002] In recent years, moving objects such as autonomous robots have been attracting attention as one of the means for realizing business efficiency improvement, automation, or labor saving. One of the moving methods of moving objects is a moving method in which the moving object moves according to a preset moving route. A user defines the moving route along which the moving object should move by setting passing positions (waypoints) that are points on the moving route.

[0003] For example, in a robot management system for managing autonomous robots, a technique has been disclosed in which an abnormality notification is sent to a robot management device when an abnormality occurs in the robot (see, for example, Patent Document 1). Summary of the Invention [Problem to be solved by the invention]

[0004] In a moving object such as an autonomous robot, an unexpected exception may occur. In a conventional moving object such as an autonomous robot, a user is notified after the moving object starts a task, which causes a delay in the user's understanding of the situation, resulting in a decrease in work efficiency.

[0005] An embodiment of the present invention aims to provide a mobile body system that can make a user aware of the possibility of an exception occurring in a mobile body before the mobile body performs work. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, claim 1 of the present application is a mobile body system having an exception occurrence possibility calculation means for calculating exception occurrence possibility information for determining the possibility of an exception occurring based on exception occurrence information of the mobile body during past work performance, an exception occurrence determination means for determining the possibility of an exception occurring of the mobile body before performing work based on information regarding the situation of the mobile body before performing work and the exception occurrence possibility information, before the mobile body performs work, and a display control means for controlling the display of the result of the determination. Effect of the Invention

[0007] According to an embodiment of the present invention, it is possible to make a user aware of the possibility of an exception occurring in a mobile object before the mobile object performs an operation. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a mobile system according to an embodiment of the present invention. [Diagram 2] FIG. 1 is a perspective view of an external appearance of an example of a moving body. [Diagram 3] FIG. 2 is a diagram illustrating an example of a hardware configuration of a moving body. [Figure 4] FIG. 1 is a diagram illustrating an example of a hardware configuration of an information processing system and a terminal device. [Diagram 5] FIG. 2 is a diagram illustrating an example of a functional configuration of a mobile body system according to the present embodiment. [Figure 6] 13 is a diagram showing an example of exception occurrence information stored in an exception occurrence information storage unit; FIG. [Figure 7] FIG. 11 is a diagram illustrating an example of exception occurrence possibility information. [Figure 8] FIG. 13 is a diagram showing an example of a screen that is displayed when it is determined that the possibility of an exception occurring is high. [Figure 9] FIG. 4 is a sequence diagram showing an example of processing of the mobile body system according to the embodiment. [Figure 10] FIG. 2 is a diagram illustrating an example of a functional configuration of a mobile body system according to the present embodiment. [Figure 11]FIG. 13 is a diagram showing an example of a notification to a mobile user. [Figure 12] FIG. 2 is a diagram illustrating an example of a functional configuration of a mobile body system according to the present embodiment. [Figure 13] FIG. 2 is a diagram illustrating an example of a functional configuration of a mobile body system according to the present embodiment. [Figure 14] FIG. 13 is a diagram illustrating an example of a weighting table for exception occurrence possibility information. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] [First embodiment] <System configuration example> 1 is a diagram showing an example of the configuration of a mobile body system 100 according to this embodiment. The mobile body system 100 includes a mobile body 20 used at a target base, a terminal device 30 used by a user at a management base, and an information processing system 40 that controls the mobile body 20. The mobile body 20, the terminal device 30, and the information processing system 40 are connected to a communication network N and communicate via the communication network N. The communication network N is constructed, for example, by the Internet or a LAN (Local Area Network), etc.

[0011] The mobile object 20 is a robot capable of autonomously moving within a target base. The autonomous movement may be an operation of autonomously moving along a specified route within the target base, or an operation of autonomously moving along a route within the target base using a technique such as line tracing. The autonomous movement may be an operation of autonomously moving using the results of machine learning of routes traveled in the past.

[0012] The mobile body 20 is equipped with various sensors and can perform (execute) predetermined work (tasks) such as inspection or maintenance. The mobile body 20 can be equipped with an arm that can grasp an object and can perform work such as transportation or light work. Note that the mobile body 20 may be an automobile, a drone, a multicopter, an unmanned aerial vehicle, or the like, so long as it is a robot capable of autonomous movement.

[0013] The mobile object 20 is equipped with, for example, an imaging device, a gas detection device, an audio recording device, a temperature and humidity measurement device, etc., in order to perform tasks at work points described below.

[0014] When the task is to read a water or gas meter, the imaging device captures the meter scale, the displayed value, etc. The imaging device may capture images of holes or obstacles on the road surface as the surrounding conditions of the mobile object 20. When the task is to detect a gas leak, the gas detection device measures the surrounding gas concentration, etc. When the task is to record operating sounds, the recording device records the operating sounds of equipment such as valves, pumps, compressors, etc. When the task is to measure temperature and humidity, the temperature and humidity measuring device measures temperature and humidity using a temperature and humidity sensor, etc.

[0015] The target base is an area where the mobile object 20 is used, and is, for example, an outdoor area such as a business office, a factory, a chemical plant, a construction site, a substation, a farm, a rice field, an arable land, a disaster site, etc. The target base may also be an indoor area where the mobile object 20 is used, such as an office, a school, a factory, a warehouse, a commercial facility, a hospital, a nursing home, etc.

[0016] The target base may be any place where there is a need to have work performed by the mobile objects 20. At the target base, tasks are assigned to a plurality of mobile objects 20, and the tasks are executed.

[0017] The information processing system 40 manages, for example, task information of a task assigned to the moving body 20. The information processing system 40 manages exception occurrence information of the moving body 20 during past task execution as described below. The information processing system 40 calculates exception occurrence possibility information, described below, based on the exception occurrence information. The information processing system 40 determines, as described below, the possibility of an exception occurrence in the moving body 20 when the moving body 20 before executing the task starts a task before performing the task, based on information about the moving body 20 before executing the task and the exception occurrence possibility information.

[0018] Furthermore, the information processing system 40 instructs the mobile object 20 to execute a task via the communication network N. The information processing system 40 receives the result of the task execution from the mobile object 20 via the communication network N and manages it.

[0019] The information processing system 40 is realized by one or more information processing devices. The information processing system 40 may be realized by cloud computing, or may be realized by a single information processing device. Cloud computing refers to a form in which resources on a network are used without being aware of specific hardware resources. In addition, the information processing system 40 may exist on the Internet or on-premise.

[0020] The terminal device 30 is a notebook PC (Personal Computer), tablet PC, or the like operated by a user. The terminal device 30 accepts registration of task information of a task to be assigned to the moving object 20 from the user. The terminal device 30 accepts registration of exception occurrence information of the moving object 20 during past task execution from the user. The terminal device 30 displays the task status assigned to a plurality of moving objects 20. Furthermore, the terminal device 30 displays the possibility of an exception occurrence of the moving object 20 when the moving object 20 starts the task before executing the task, as described below.

[0021] 1 is an example, and the information processing system 40 may be omitted by having the terminal device 30 execute the processing of the information processing system 40. In the mobile system 100 in which the information processing system 40 is omitted, the mobile body 20 and the terminal device 30 communicate directly with each other.

[0022] <Outline of the moving object> 2(a) is a perspective view of the exterior of the moving body 20 of this embodiment. The moving body 20 is composed of track-type moving bodies 10a and 10b and a main body 600.

[0023] The track-type vehicles 10a, 10b are units that serve as a means of transportation for the moving body 20. The track-type vehicles 10a, 10b are track (crawler) type vehicles using metal or rubber belts. The track-type vehicles have a larger ground contact area than vehicles that run on tires such as automobiles, and can run stably even in environments with poor footing, for example. In addition, vehicles that run on tires require a turning space when turning, whereas the moving body 20 equipped with track-type vehicles can perform so-called pivot turns, and can therefore turn smoothly even in limited spaces.

[0024] The main body 600 is a support that supports the track-type vehicles 10a, 10b in a state in which they can run, and is also a control device that controls the driving of the moving body 20. The main body 600 also includes a battery 605 (described later) that supplies power to drive the track-type vehicles 10a, 10b.

[0025] 2(b) is a front view (view from the direction of arrow P) of the moving body 20. The main body 600 of the moving body 20 includes an emergency stop button 31, a status display lamp 33, and a cover part 35. The emergency stop button 31 is an operating means that a person in the vicinity of the moving body 20 presses to stop the moving body 20 while it is moving.

[0026] The status indicator lamp 33 notifies surrounding users of the status of the moving object 20. For example, when the status of the moving object 20 changes, such as when the battery level drops, the status indicator lamp 33 may be turned on to notify surrounding users of the change in status of the moving object 20. The status indicator lamp 33 may also be turned on when there is a risk of an exception occurring, such as when the presence of an obstacle that impedes the movement of the moving object 20 is detected. Note that FIG. 2 shows an example in which the moving object 20 is provided with two status indicator lamps 33. The number of status indicator lamps 33 may be one, or three or more. The moving object 20 may also be configured to notify surrounding users of the status by a warning sound or the like emitted from a speaker.

[0027] The lid portion 35 is provided on the upper surface of the main body 600, and covers the inside of the main body 600. The lid portion 35 also has a ventilation portion 35a having a ventilation hole for ventilating the inside of the main body 600.

[0028] The two track-type vehicles 10a, 10b are installed with the main body 600 in between, so that the tracks 11a and 11b described below are substantially parallel, i.e., in a state in which the vehicle 20 can run. The number of track-type vehicles is not limited to two, and may be three or more. For example, the vehicle 20 may be installed in a state in which the vehicle 20 can run, such as by arranging three track-type vehicles in three rows in parallel. Also, for example, the vehicle 20 may have four track-type vehicles arranged in the front, rear, left and right directions like the tires of an automobile.

[0029] FIG. 2(c) is a side view (view from the Q arrow) of the moving body 20. The tracked moving body 10a has a triangular shape formed by the drive wheel 13 and two rollers 15a, 15b described later. The triangular tracked moving body 10a can increase the ground contact area within the limited front-to-rear size, for example, when the front-to-rear size of the moving body is restricted, and can improve stability during running. On the other hand, in the case of a so-called tank-type crawler in which the upper side (drive wheel side) is longer than the lower side (roller side), when the front-to-rear size is restricted, the overall ground contact area becomes small and unstable. In this way, the tracked moving body 10a is effective in improving the running performance of a relatively small moving body 20.

[0030] 2 shows an example of a caterpillar-type moving body 20. The shape and moving method of the moving body 20 are not limited to the embodiment in FIG. 2, and may be a bipedal type, a multipedal type, a drone type, a flying type, or an underwater type.

[0031] <Hardware configuration example> Next, the hardware configurations of the moving object 20, the information processing system 40, and the terminal device 30 will be described with reference to Figures 3 and 4. Note that components may be added or deleted from the hardware configurations shown in Figures 3 and 4 as necessary.

[0032] FIG. 3 is a diagram showing an example of a hardware configuration of a moving body according to an embodiment. As shown in FIG. 3, the moving body 20 includes a main body 600 that controls the processing or operation of the moving body 20. The main body 600 includes a radio-controlled receiver 601, a CPU (Central Processing Unit) 602, a memory 603, an IC card reader 611, devices 612, a communication I / F (Interface) 606, a battery 605, a motor driver 606 for driving control, a motor driver 607 for attitude control, and motors 608a and 608b for attitude control. The radio-controlled receiver 601, the CPU 602, the memory 603, the communication I / F 604, the battery 605, the motor driver 606 for driving control, and the motor driver 607 for attitude control are connected via a system bus 610. The system bus 610 is an address bus, a data bus, or the like for electrically connecting the above-mentioned components, and transmits address signals, data signals, various control signals, and the like.

[0033] The radio control receiver 601 receives an operation instruction signal. The CPU 602 controls the entire moving body 20. The CPU 602 is a calculation device that reads out the program P1 or various data required to operate the moving body 20 stored in the memory 603 and executes processing to realize each function of the moving body 20.

[0034] The memory 603 stores the program P1 executed by the CPU 602, as well as various data necessary for operating the moving body 20. The program P1 is provided in the memory 603 in advance.

[0035] The program P1 may be provided by being recorded in an installable or executable file format on a recording medium readable by the CPU 602 (computer), such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disc). The program P1 may be provided by being stored on a computer connected to a network, such as the Internet, and downloaded to the mobile object 20 via the network. The program P1 may be provided or distributed via a communication network N, such as the Internet. When the program P1 is provided from outside, the CPU 602 reads the program P1 via the communication I / F 604. Instead of operating the CPU 602 according to the program P1, the mobile object 20 may operate the program P1 in a hardware manner by implementing a dedicated ASIC (Application Specific Integrated Circuit) having the same arithmetic and control functions as the program P1 executes.

[0036] The communication I / F 604 is a communication interface that communicates (connects) with other devices or apparatuses via the communication network N. The communication I / F 604 is, for example, a communication interface such as a wired or wireless LAN (Local Area Network). The communication I / F 604 may include a communication interface such as 3G (3rd Generation), LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), Wi-Fi (Wireless Fidelity) (registered trademark), WiMAX (Worldwide Interoperability for Microwave Access), Zigbee (registered trademark), or millimeter wave wireless communication. The mobile object 20 may include a communication circuit for performing short-range wireless communication such as Bluetooth (registered trademark).

[0037] The IC card reader 611 is a card reader that reads an IC card by NFC (Near Field communication) and may be built into a smartphone.

[0038] The devices 612 are various devices that realize optional functions mounted on the moving object 20. The devices 612 are, for example, an RGB camera, a spherical camera, a microphone, a thermosensor, a gas sensor, a vibration sensor, and the like.

[0039] The battery 605 is a power supply unit that supplies power necessary for the processing or operation of the moving body 20. The battery 605 supplies power to, for example, the in-wheel motors 610a and 610b and the attitude control motors 608a and 608b.

[0040] The driving control motor driver 606 drives the in-wheel motors 610a, 610b by supplying motor drive signals to the in-wheel motors 610a, 610b, respectively.

[0041] The in-wheel motors 610a, 610b are installed inside the drive wheel 13a of the track-type traveling body 10a and the drive wheel 13b of the track-type traveling body 10b, respectively, and transmit rotational force to the drive wheels 13a, 13b.

[0042] The in-wheel motors 610a, 610b provide the drive wheels 13a, 13b with rotation in a positive direction to move the moving body 20 forward, or rotation in a negative direction to move the moving body 20 backward. The in-wheel motors 610a, 610b rotate only one drive wheel 13a (or 13b) in the positive or negative direction and stop the other drive wheel 13b (or 13a), thereby making the moving body 20 make a pivot turn. The in-wheel motors 610a, 610b also rotate one drive wheel 13a (or 13b) in the positive direction and rotate the other drive wheel 13b (or 13a) in the negative direction, thereby making the moving body 20 make a pivot turn.

[0043] The attitude control motor driver 607 drives the attitude control motors 608a, 608b by supplying motor drive signals to the attitude control motors 608a, 608b. The attitude control motors 608a, 608b prevent the moving body 20 from falling over by controlling the attitude of the main body 600 in response to a control signal from the attitude control motor driver 607, for example.

[0044] The moving body 20 is not limited to a configuration that runs according to an operation instruction received by the radio control receiver 601, and may run using a technology such as autonomous running or line tracing. The moving body 20 may also run under remote control by a user at a remote location by receiving an operation instruction signal at the communication I / F 604 via the communication network N.

[0045] Fig. 4 is a diagram showing an example of a hardware configuration of the terminal device 30 and the information processing system 40 according to the present embodiment. As shown in Fig. 4, the terminal device 30 and the information processing system 40 are constructed by a computer 500, and include a CPU 501, a ROM 502, a RAM 503, a HD (Hard Disk) 504, a HDD (Hard Disk Drive) controller 505, a display 506, an external device connection I / F (Interface) 508, a network I / F 509, a bus line 510, a keyboard 511, a pointing device 512, a DVD-RW (Digital Versatile Disk Rewritable) drive 514, and a media I / F 516.

[0046] Among these, the CPU 501 controls the operation of the entire computer 500. The ROM 502 stores programs such as an IPL used to drive the CPU 501. The RAM 503 is used as a work area for the CPU 501. The HD 504 stores various data such as programs. The HDD controller 505 controls reading or writing of various data from the HD 504 under the control of the CPU 501. The display 506 displays various information such as a cursor, a menu, a window, a character, or an image. The external device connection I / F 508 is an interface for connecting various external devices. In this case, the external device is, for example, a USB (Universal Serial Bus) memory or a printer. The network I / F 509 is an interface for data communication using the communication network N. The bus line 510 is an address bus, a data bus, or the like for electrically connecting each component such as the CPU 501 shown in FIG. 4.

[0047] Moreover, the keyboard 511 is a type of input means having a plurality of keys used for inputting characters, numbers, various instructions, etc. The pointing device 512 is a type of input means for selecting and executing various instructions, selecting a processing target, moving a cursor, etc. The DVD-RW drive 514 controls reading and writing of various data from a DVD-RW 513 as an example of a removable recording medium. Note that the DVD-RW drive 514 is not limited to a DVD-RW, and may be a DVD-R or the like. The media I / F 516 controls reading and writing (storing) of data from a recording medium 515 such as a flash memory.

[0048] <Functional configuration> FIG. 5 is a diagram showing an example of a functional configuration of the mobile body system 100 according to the present embodiment.

[0049] The terminal device 30 has a moving object status display unit 38 and an exception occurrence information registration unit 39. Each function of the terminal device 30 is a function or means realized by operating any of the components in FIG. 4 by an instruction from the CPU 501 according to the program loaded from the HD 504 to the RAM 503.

[0050] The information processing system 40 has an exception occurrence information accumulation unit 41, a mobile object information receiving unit 42, an exception occurrence possibility calculation unit 43, an exception occurrence possibility information accumulation unit 44, an exception occurrence determination unit 45, a display control unit 46, and a communication unit 47. Each function of the information processing system 40 is a function or means realized by any of the components in FIG. 4 operating in response to an instruction from the CPU 501 in accordance with a program loaded from the HD 504 to the RAM 503.

[0051] 5 is an example, and the exception occurrence information storage unit 41, the exception occurrence possibility calculation unit 43, the exception occurrence possibility information storage unit 44, and the exception occurrence determination unit 45 may be located in the terminal device 30. In that case, the exception occurrence information storage unit 41, the exception occurrence possibility calculation unit 43, the exception occurrence possibility information storage unit 44, and the exception occurrence determination unit 45 communicate directly within the terminal device 30.

[0052] The terminal device 30 transmits and receives various information to and from the information processing system 40. A mobile user, which is an example of a user, registers exception occurrence information of the mobile device 20 during past work execution through the exception occurrence information registration unit 39 of the terminal device 30. The exception occurrence information registration unit 39 transmits the exception occurrence information registered to the mobile user to the information processing system 40.

[0053] The mobile object information receiving unit 42 of the information processing system 40 receives the exception occurrence information registered for the mobile object user from the exception occurrence information registering unit 39 of the terminal device 30. The exception occurrence information storing unit 41 stores the exception occurrence information received by the mobile object information receiving unit 42, for example, the exception occurrence information shown in FIG.

[0054] Fig. 6 is a diagram showing an example of exception occurrence information stored in the exception occurrence information storage unit 41. The exception occurrence information in Fig. 6 includes, as items (elements), an exception ID, an executing machine, a task date and time, a task start time, a task type, weather, an outside temperature (°C), an inside temperature (°C), an altitude (m), a wind direction, a wind speed (m / s), a start point, an end point, a task point, and an exception content.

[0055] The exception ID is an example of identification information of an exception that occurred in the mobile body 20 while performing a past task. The performing unit is an example of identification information of the mobile body 20 performing the task in which the exception occurred. The task date and time is the date on which the task in which the exception occurred was performed. The task start time is the start time of the task in which the exception occurred.

[0056] The task type is the type of work that the moving body 20 performs at the work point during the work in which the exception occurred. The weather is the weather during the work in which the exception occurred. The outside temperature (°C) is the outside temperature during the work in which the exception occurred. The interior temperature (°C) is the interior temperature of the moving body 20 during the work in which the exception occurred. The altitude (m) is the altitude at which the moving body 20 moves during the work in which the exception occurred.

[0057] The wind direction is the wind direction during the execution of the work in which the exception occurred. The wind speed (m / s) is the wind speed during the execution of the work in which the exception occurred. The start point is the start point of the path along which the moving body 20 moves during the execution of the work in which the exception occurred. The end point is the end point of the path along which the moving body 20 moves during the execution of the work in which the exception occurred. The work point is the location where the moving body 20 performs a specified work such as inspection or maintenance during the execution of the work in which the exception occurred. The exception content is the content of the exception, such as an error (anomaly) that occurred during the execution of the work in the past.

[0058] 6, the exceptions are described as examples of in-machine thermal runaway, overall system down, unclear acquired sound, and unclear acquired image. The exceptions can include not only defects in the mobile object 20 itself, but also defects in the entire work, such as when the meter cannot be read by the imaging device due to the influence of the setting sun.

[0059] The weather and the outside temperature (°C) in the exception occurrence information in Fig. 6 may be data measured by the moving object 20. The weather and the outside temperature (°C) in the exception occurrence information in Fig. 6 may be obtained from an external service such as a Web service.

[0060] The exception occurrence possibility calculation unit 43 calculates exception occurrence possibility information, for example, as shown in FIG. 7, for determining the possibility of an exception occurrence, based on the exception occurrence information as shown in FIG. 6 stored in the exception occurrence information storage unit 41.

[0061] Fig. 7 is a diagram showing an example of exception occurrence possibility information. The exception occurrence possibility information in Fig. 7 includes items such as exception occurrence possibility ID, exception content, most common start time zone (hour), most common task type, most common weather, average temperature (°C), task points, average travel distance (m), average wind speed (m / s), and most common wind direction. The exception occurrence possibility information in Fig. 7 is information that summarizes the exception occurrence information in Fig. 6 by exception content.

[0062] The exception occurrence possibility ID is an example of identification information for exception occurrence possibility information. The exception content is the content of the exception that occurred during past work execution. The most frequent start time period (hour) is data that aggregates the work start time for each exception content that occurred during past work execution, and represents the work start time at which the most exceptions occurred during past work execution.

[0063] The most frequent task type is data that aggregates task types by exception type that occurred during past work execution, and represents the task type that caused the most number of exceptions during past work execution. The most frequent weather is data that aggregates weather by exception type that occurred during past work execution, and represents the weather that caused the most number of exceptions during past work execution.

[0064] The average temperature (℃) is data that aggregates the outside temperature (℃) for each exception that occurred during past work, and represents the average outside temperature (℃) at which exceptions occurred during past work. The task point is data that aggregates the task point for each exception that occurred during past work, and represents the task point at which the most exceptions occurred during past work.

[0065] The average travel distance (m) is data that aggregates the travel distance for each exception that occurred during past work execution, and represents the average travel distance at which an exception occurred during past work execution. The average wind speed (m / s) is data that aggregates the wind speed (m / s) for each exception that occurred during past work execution, and represents the average wind speed at which an exception occurred during past work execution. The most frequent wind direction is data that aggregates the wind direction for each exception that occurred during past work execution, and represents the wind direction in which exceptions occurred the most frequently during past work execution.

[0066] 7 calculated by the exception occurrence possibility calculation unit 43. The mobile object user can instruct the mobile object 20 to start work, for example, from the terminal device 30. In addition, the mobile object user can check the status of the mobile object 20 on the mobile object status display unit 38 of the terminal device 30.

[0067] When a mobile body user issues an instruction to start work by the mobile body 20 from the terminal device 30, the exception occurrence determination unit 45 of the information processing system 40 determines the possibility of an exception occurring for the mobile body 20 when the current mobile body 20 starts work, based on the exception occurrence possibility information, for example, shown in Fig. 7, stored in the exception occurrence possibility information storage unit 44 and information about the current mobile body 20 (information about the situation of the mobile body 20 before the work is performed). The information about the current mobile body 20 is, for example, the time, outside temperature (°C), wind speed (m / s), wind direction, and weather.

[0068] The exception occurrence determination unit 45 determines whether the information on the current moving body 20 matches the exception occurrence possibility information in FIG. 7 or falls within a certain range. For uniquely determined data such as wind direction or weather, a determination can be made based on whether there is a match. For numerical data such as outside temperature (°C) or travel distance, a determination can be made based on whether the error is within 10%, for example. For example, if the average temperature (°C) in the exception occurrence possibility information is "36.5°C", a determination can be made based on whether the current outside temperature (°C) of the moving body 20 included in the information on the moving body 20 is within "36.5±3.65°C". The threshold value used by the exception occurrence determination unit 45 for determination may be set in advance by the moving body manager.

[0069] A specific example will be described below. It is assumed that a mobile user is attempting to instruct a mobile unit "M1" to start work of a task type "meter reading" at work point "A" at time "11:25".

[0070] It is assumed that the exception occurrence determination unit 45 has acquired information such as the current outside temperature "36.3°C", wind speed "2.7 m / s", wind direction "southwest", and weather "sunny" from various sensors mounted on the moving object 20 or from an external service. It is assumed that the travel distance expected for the work is "905 m". The travel distance expected for the work can be calculated, for example, from information on the start point and the end point.

[0071] If work is started under such circumstances, the exception occurrence judgment unit 45 will judge based on the exception occurrence possibility information in Figure 7 that there is a high possibility that an exception with the exception content "internal thermal runaway" will occur, based on the exception occurrence possibility information of the exception occurrence possibility ID "P0032".

[0072] The display control unit 46 controls the mobile object status display unit 38 of the terminal device 30 to display the result of the determination made by the exception occurrence determination unit 45. The mobile object status display unit 38 displays the result of the determination made by the exception occurrence determination unit 45 on the display 506, for example, as shown in a screen 1000 in FIG.

[0073] Fig. 8 is a diagram showing an example of a screen 1000 that is displayed when it is determined that there is a high possibility of an exception occurring. In the screen 1000, a window 1002 is displayed that includes the message "When the inspection starts, there is a high possibility of an [in-machine thermal runaway] occurring. We recommend that you perform the inspection after some time has passed." By checking the window 1002 on the screen 1000 in Fig. 8, the user of the mobile object can know the possibility of an exception occurring in the mobile object 20 when the mobile object 20 starts work, which can be expected to ensure reliable work execution and work efficiency.

[0074] <Processing> FIG. 9 is a sequence diagram showing an example of a process of the mobile body system 100 according to this embodiment.

[0075] In step S1, the mobile object user issues an instruction to start work by the mobile object 20 from the terminal device 30. In step S2, the terminal device 30 requests the information processing system 40 to start work by the mobile object 20.

[0076] In step S3, the exception occurrence determination unit 45 of the information processing system 40 refers to the exception occurrence possibility information accumulated by the exception occurrence possibility information accumulation unit 44 and information on the current moving body 20. In step S4, the exception occurrence determination unit 45 of the information processing system 40 determines the possibility of an exception occurring in the moving body 20 when the current moving body 20 starts work, based on the exception occurrence possibility information accumulated by the exception occurrence possibility information accumulation unit 44 and the information on the current moving body 20.

[0077] Specifically, the exception occurrence judgment unit 45 judges whether the information regarding the current moving body 20 matches the exception occurrence possibility information or is within a certain range, and if the information regarding the current moving body 20 matches the exception occurrence possibility information or is within a certain range, it judges that there is a high possibility that an exception will occur.

[0078] In step S5, the display control unit 46 of the information processing system 40 responds to the terminal device 30 with the result of the determination made by the exception occurrence determination unit 45. Specifically, the display control unit 46 controls the mobile object status display unit 38 of the terminal device 30 to display the result of the determination made by the exception occurrence determination unit 45.

[0079] In step S6, the mobile object status display unit 38 of the terminal device 30 displays the result of the determination made by the information processing system 40 on the display 506, for example, as in window 1002 of screen 1000 shown in FIG. 8, in accordance with the response from the information processing system 40.

[0080] Therefore, the user of the moving object can check in advance the possibility of an exception occurring to the moving object 20 when the moving object 20 starts work.

[0081] [Second embodiment] The exception occurrence information registration unit 39 of the terminal device 30 may be configured to accept registration by a mobile unit user or a mobile unit manager of conditions (e.g., threshold values) for determining in the exception occurrence determination unit 45 that there is a possibility of an exception occurring in the mobile unit 20. For example, the exception occurrence information registration unit 39 can be set to determine that there is a possibility of an exception occurring if some elements match, even if not all elements of the exception occurrence possibility information match.

[0082] In the mobile body system 100 according to the present embodiment, elements (items) of the exception occurrence possibility information that are thought to be unrelated to the occurrence of an exception may become apparent through long-term operation. The mobile body system 100 according to the present embodiment allows the mobile body user or mobile body manager to flexibly configure the system according to the local environment, thereby enabling optimal business execution and work efficiency according to the local situation.

[0083] [Third embodiment] The functional configuration of the mobile body system 100 according to this embodiment may be, for example, a functional configuration as shown in Fig. 10. Note that the functional configuration of Fig. 10 is similar to the functional configuration of Fig. 5 except for some parts, and therefore the description will be omitted as appropriate. Fig. 10 is a diagram showing an example of the functional configuration of the mobile body system 100 according to this embodiment. The information processing system 40 in Fig. 10 shows a functional configuration in which a notification unit 50 is added to the functional configuration of Fig. 5.

[0084] The mobile object user registers, from the exception occurrence information registration unit 39 of the terminal device 30, information on the exception occurrence of the mobile object 20 during past work execution, as well as information on normal operation of the mobile object 20 during past work execution. The exception occurrence information registration unit 39 transmits the exception occurrence information and normal operation information registered to the mobile object user to the information processing system 40. The normal operation information includes information on the mobile object 20 when the mobile object 20 was operating normally.

[0085] The mobile object information receiving unit 42 of the information processing system 40 receives the exception occurrence information and normal operation information registered for the mobile object user from the exception occurrence information registering unit 39 of the terminal device 30. The exception occurrence possibility information storing unit 44 stores the normal operation information received by the mobile object information receiving unit 42.

[0086] When a mobile body user instructs the mobile body 20 to start work from the terminal device 30, the exception occurrence judgment unit 45 of the information processing system 40 judges the possibility of an exception occurring in the mobile body 20 when the current mobile body 20 starts work, based on the normal operation information accumulated in the exception occurrence possibility information accumulation unit 44 and information regarding the current mobile body 20.

[0087] The exception occurrence judgment unit 45 can detect exceptional behavior that differs from normal operation, such as distortion of the captured image or detection of abnormal sounds, by comparing information about the moving body 20 during past normal operation with information about the moving body 20 at present as the operating status.

[0088] For example, if a car is parked on the inspection route, the image captured by the camera of the moving body 20 will be significantly different. Also, if a car is parked, the moving body 20 needs to make a detour, and there is a concern that the inspection will not be completed within the specified time. Also, the moving body 20 may not be able to complete the inspection normally due to reasons such as the inspection target being tilted at the work point. Even if such an exception occurs, the moving body system 100 according to this embodiment can determine the possibility of an exception occurring in the moving body 20 by comparing the camera images taken during past normal operation and the current image.

[0089] Furthermore, in the mobile body system 100 according to this embodiment, it is possible to detect not only known exception occurrences but also unknown exception occurrences by calculating the degree of discrepancy between information about the mobile body 20 during past normal operation and information about the current mobile body 20. Note that information for determining the occurrence of an exception may be stored in the exception occurrence possibility information storage unit 44 by aggregating and processing information about the past normal operation of the mobile body 20, as with exception occurrence possibility information, and used.

[0090] The notification unit 50 notifies the user of the result of the determination made by the exception occurrence determination unit 45 as to the possibility of an exception occurring by sending an email or the like. The mobile object status display unit 38 of the terminal device 30 displays the result of the determination made by the exception occurrence determination unit 45. When it is determined that the possibility of an exception occurring is high, the mobile object status display unit 38 notifies the mobile object user by displaying, for example, as shown in Fig. 11.

[0091] Fig. 11 is a diagram showing an example of a notification to a mobile object user. Screen 1100 in Fig. 11 displays a message saying "There is a mobile object where an exception may occur." By checking screen 1100 in Fig. 11, the mobile object user can know the possibility of an exception occurring in mobile object 20 when mobile object 20 starts work, which can be expected to ensure reliable work execution and work efficiency.

[0092] [Fourth embodiment] The functional configuration of the mobile body system 100 according to this embodiment may be, for example, a functional configuration as shown in Fig. 12. Note that the functional configuration of Fig. 12 is similar to the functional configuration of Fig. 5 except for some parts, and therefore the description will be omitted as appropriate. Fig. 12 is a diagram showing an example of the functional configuration of the mobile body system 100 according to this embodiment. The information processing system 40 in Fig. 12 shows a functional configuration in which an alternative proposal presenting unit 48 is added to the functional configuration of Fig. 5.

[0093] When the exception occurrence determination unit 45 determines that the possibility of an exception occurring is high, the alternative proposal presentation unit 48 presents an alternative proposal for performing the work to prevent the occurrence of the exception. For example, the alternative proposal presentation unit 48 presents an alternative proposal for performing the work that can be determined to have a low possibility of an exception occurring, based on the exception occurrence possibility information.

[0094] For example, the alternative suggestion unit 48 suggests alternatives such as "if you wait 30 minutes, the possibility of an exception occurring will be reduced" or "if you perform the operation on a sunny day, you can prevent an exception." The display control unit 46 controls the alternatives suggested by the exception occurrence determination unit 45 to be displayed on the mobile object status display unit 38 of the terminal device 30. The mobile object status display unit 38 displays the alternatives suggested by the exception occurrence determination unit 45 on the display 506. Therefore, when it is determined that the possibility of an exception occurring is high, the mobile object user can know how to perform the operation to reduce the possibility of an exception occurring.

[0095] The alternative proposal presenting unit 48 may present a suggestion (presentation of an alternative proposal for the current work) regarding the work content, such as "Because the possibility of an exception occurring is extremely high in the current situation, it would be better to temporarily stop the current task and move on to the next work" as an alternative proposal. Therefore, the mobile body system 100 according to this embodiment is expected to improve the overall efficiency of the work.

[0096] [Fifth embodiment] The functional configuration of the mobile body system 100 according to this embodiment may be, for example, a functional configuration as shown in Fig. 13. Note that the functional configuration of Fig. 13 is similar to the functional configuration of Fig. 5 except for some parts, and therefore the description will be omitted as appropriate. Fig. 13 is a diagram showing an example of the functional configuration of the mobile body system 100 according to this embodiment. The information processing system 40 in Fig. 13 shows a functional configuration in which a prohibition unit 49 is added to the functional configuration of Fig. 5.

[0097] When the exception occurrence determination unit 45 determines that there is a high possibility of an exception occurring, the prohibition unit 49 prohibits the start of work by the moving object 20. For example, when it is determined that there is a high possibility of an exception occurring, the prohibition unit 49 forcibly prevents the moving object 20 from starting work.

[0098] For example, when an exception occurs in the mobile body 20, there are various concerns that the mobile body system 100 according to this embodiment may temporarily stop operations. Therefore, when the mobile body system 100 according to this embodiment judges that there is a high possibility of an exception occurring, the mobile body manager can set the mobile body system 100 according to this embodiment so that the mobile body user cannot start operations at his / her own discretion. Therefore, the mobile body system 100 according to this embodiment can prevent breakdowns or more than normal wear and tear of the mobile body 20 in advance.

[0099] [Sixth embodiment] 13, for example, the mobile body system 100 according to this embodiment may be configured to accept, from a mobile body manager, a registration of an exception occurrence that prohibits the mobile body 20 from starting work when it is determined that there is a high possibility of an exception occurring. For example, the mobile body system 100 according to this embodiment can prohibit the mobile body 20 from starting work for only some of the exceptions registered as the occurrence of an exception that prohibits the mobile body 20 from starting work, which is determined to have a high possibility of an exception occurring.

[0100] For example, some exceptions, if they occur, will cause fatal damage to the mobile body 20, while others will not. The mobile body system 100 according to this embodiment is expected to perform work efficiently in accordance with the local environment by flexibly changing its behavior depending on the type of exception that is determined to have a high probability of occurrence.

[0101] [Seventh embodiment] In the mobile body system 100 according to this embodiment, for example in the functional configuration of Fig. 10, the notification unit 50 notifies the result of the determination of the possibility of an exception occurring to a notification destination associated with the mobile body user by email or the like. According to the mobile body system 100 according to this embodiment, it is possible to know the possibility of an exception occurring in the mobile body 20 at an information processing terminal other than the terminal device 30, without looking at the display of the terminal device 30 that controls the mobile body 20, such as the terminal device 30. The mobile body user can quickly know the possibility of an exception occurring in the mobile body 20, enabling efficient and reliable business execution.

[0102] [Eighth embodiment] In the seventh embodiment, the mobile system 100 according to the present embodiment allows the mobile user to arbitrarily set the registration of the contents of the exception occurrence to be notified to the notification destination associated with the mobile user by e-mail or the like. The mobile system 100 according to the present embodiment can be customized to notify only of fatal exception occurrences such as thermal runaway inside the aircraft. This allows the mobile user of the mobile system 100 according to the present embodiment to grasp only the possibility of necessary exception occurrences. In addition, the mobile system 100 according to the present embodiment may be configured to change the notification destination depending on the type of exception. As a result, the mobile system 100 according to the present embodiment allows flexible task execution according to the local environment.

[0103] [Ninth embodiment] 5, the mobile body system 100 according to this embodiment may accept, from a mobile body user or a mobile body manager, registration of weights for elements of the exception occurrence possibility information stored in the exception occurrence possibility information storage unit 44. For example, the mobile body system 100 according to this embodiment may have a weighting table as shown in FIG. 14 for the exception occurrence possibility information in FIG. 7.

[0104] Fig. 14 is a diagram showing an example of a weighting table for exception occurrence possibility information. The weighting table in Fig. 14 includes items such as exception content, start time zone coefficient, task type coefficient, weather coefficient, temperature coefficient, task point coefficient, travel distance coefficient, wind speed coefficient, and wind direction coefficient.

[0105] As a specific example, assume that a mobile object 20 performs a meter reading task at time "11:02". Also assume that the weather is "sunny", the temperature is "36.8°C", the task point is "B", the estimated travel distance is "903 m", the wind speed is "10.6 m / s", and the wind direction is "northwest".

[0106] In this case, the items "Most common start time zone (hour)", "Most common task type", "Most common weather", "Average temperature (℃)", and "Average distance traveled (m)" in the exception occurrence possibility information in Fig. 7 match, or the values ​​are within a certain range (within 10%, etc.). In this situation, the exception occurrence determination unit 45 calculates the anomaly score as follows and determines the possibility of an exception occurrence. For example, it is assumed that the mobile object manager has preset a setting so that if the anomaly score is "15.0" or higher, it is determined that there is a high possibility of an exception occurrence.

[0107] Anomaly score = 1.3 + 0.2 + 3.5 + 8.2 + 3.6 = 16.8 16.8 > 15.0, so it is determined that there is a high possibility of an exception occurring (an exception will occur). Since the information to be emphasized differs depending on the type of exception, it is considered that the accuracy of judging the possibility of an exception occurring can be improved by changing the weighting of the elements of the exception occurrence possibility information depending on the type of exception, such as placing emphasis on the outside temperature or weather in the case of an in-cabin thermal runaway. In the mobile body system 100 according to this embodiment, the accuracy of judging the possibility of an exception occurring can be improved by judging the possibility of an exception occurring by taking into account the weighting of each element of the exception occurrence possibility information (average temperature, most common weather, average wind speed, etc.) for each exception content.

[0108] <Other application examples> The above describes the best mode for carrying out the present invention using examples, but the present invention is not limited to these examples in any way, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention.

[0109] The terminal device 30 and the information processing system 40 may execute a Web application. A Web application is an application that runs as a result of cooperation between a program written in a programming language (e.g., JavaScript (registered trademark)) that runs on a Web browser and a program on the Web server side. In contrast, an application that cannot be executed unless it is installed on the terminal device 30 is called a native application. In this embodiment, the application executed on the terminal device 30 may be either a Web application or a native application.

[0110] The information processing system 40 generates screen information for displaying a screen of a Web application on the terminal device 30. The screen information is a program written in HTML, XML, a scripting language, CSS (Cascading Style Sheet), etc., where the structure of a Web page is mainly specified by HTML, the operation of the Web page is defined by the scripting language, and the style of the Web page is specified by CSS.

[0111] Moreover, the functional configuration example in Fig. 5 etc. is divided according to main functions in order to facilitate understanding of the processing of the mobile body 20, the terminal device 30, and the information processing system 40. The processing of the mobile body 20, the terminal device 30, and the information processing system 40 in Fig. 5 etc. can be divided into more processing units, or one processing unit can be divided so as to include more processes.

[0112] Each function of the above-described embodiments can be realized by one or more processing circuits. Here, the term "processing circuit" in this specification includes a processor programmed to execute each function by software, such as a processor implemented by an electronic circuit, and a device such as an ASIC (Application Specific Integrated Circuit), a DSP (digital signal processor), an FPGA (field programmable gate array), or a conventional circuit module designed to execute each function described above.

[0113] The mobile body system 100 according to this embodiment considers the past work records of the mobile body 20 and environmental information, etc., determines the possibility of an exception occurring before or during the start of work by the mobile body 20, and notifies the user of that fact. The user can grasp the possibility of an exception occurring before or during work. This allows the user to consider and prepare for work using alternative means, enabling the user to work reliably and efficiently.

[0114] For example, aspects of the present invention are as follows. <1> an exception occurrence possibility calculation means for calculating exception occurrence possibility information for determining the possibility of an exception occurrence based on exception occurrence information of the moving body during past work execution; an exception occurrence determination means for determining a possibility of an exception occurrence of a moving body before the moving body performs a task based on information regarding a situation of the moving body before the task is performed and the exception occurrence possibility information; A display control means for controlling a display of the result of the determination; A mobile system having the above configuration. <2> an exception occurrence information registration means for accepting registration by a user of a threshold value at which the exception occurrence determination means determines that there is a possibility of an exception occurring in the moving object; The above further comprises <1> The mobile system described herein. <3> The exception occurrence determination means determines the possibility of an exception occurring to the mobile object based on information on the situation of the mobile object during the execution of work and information on normal operation of the mobile object during the execution of work in the past. The above <1> or <2> The mobile system described herein. <4> an alternative plan presenting means for presenting an alternative plan for performing a task when the exception occurrence determination means determines that there is a possibility of an exception occurring to the moving body; The above further comprises <1> ~ <3> 13. A mobile system according to any one of claims 1 to 12. <5> a prohibition means for prohibiting the moving object from starting work when the exception occurrence determination means determines that there is a possibility of an exception occurring to the moving object; The above further comprises <1> ~ <4> 13. A mobile system according to any one of claims 1 to 12. <6> The prohibition means receives, from a user, a registration of an exception occurrence of the moving object for prohibiting the start of the work. The above <5> The mobile system described herein. <7> A notification means for notifying a user of the result of the judgment; The above further comprises <1> ~ <6> 13. A mobile system according to any one of claims 1 to 12. <8> The notification means notifies the user of the result of the determination and receives registration of the contents of the exception occurrence of the mobile unit from the user. The above <7> The mobile system described herein. <9> The exception occurrence probability calculation means receives registration of weights for elements of the exception occurrence probability information from a user, The exception occurrence determination means determines the possibility of an exception occurrence of the moving object by using weights for elements of the exception occurrence possibility information. The above <1> ~ <8> 13. A mobile system according to any one of claims 1 to 12. <10> an exception occurrence possibility calculation means for calculating exception occurrence possibility information for determining the possibility of an exception occurrence based on exception occurrence information of the moving body during past work execution; an exception occurrence determination means for determining a possibility of an exception occurrence of a moving body before the moving body performs a task based on information regarding a situation of the moving body before the task is performed and the exception occurrence possibility information; A display control means for controlling a display of the result of the determination; An information processing device having the above configuration. <11> An exception occurrence possibility calculation process for calculating exception occurrence possibility information for determining the possibility of an exception occurrence based on exception occurrence information of the moving object during past work execution; an exception occurrence determination process for determining a possibility of an exception occurrence of the mobile body before the mobile body performs the work based on information regarding the situation of the mobile body before performing the work and the exception occurrence possibility information; A display control process for controlling a display of the result of the determination; An information processing method for performing the above. [Explanation of symbols]

[0115] 20 Mobile 30 Terminal Equipment 40 Information Processing Systems 41 Exception occurrence information storage unit 42 Mobile information receiving unit 43 Exception probability calculation unit 44 Exception occurrence probability information storage unit 45 Exception occurrence judgment part 46 Display control unit 47 Communications Department 48 Alternative proposal section 49 Prohibited part 50 Notification Department 100 Mobile Systems [Prior art documents] [Patent documents]

[0116] [Patent Document 1] JP 2006-048398 A

Claims

1. an exception occurrence possibility calculation means for calculating exception occurrence possibility information for determining the possibility of an exception occurrence based on exception occurrence information of the moving body during past work execution; an exception occurrence determination means for determining a possibility of an exception occurrence of a moving body before the moving body performs a task based on information regarding a situation of the moving body before the task is performed and the exception occurrence possibility information; A display control means for controlling a display of the result of the determination; A mobile system having the above configuration.

2. an exception occurrence information registration means for accepting registration by a user of a threshold value at which the exception occurrence determination means determines that there is a possibility of an exception occurring in the moving object; The mobile system of claim 1 further comprising:

3. The exception occurrence determination means determines the possibility of an exception occurring to the mobile object based on information regarding the situation of the mobile object during the execution of work and information regarding normal operation of the mobile object during the execution of work in the past.

3. A mobile system according to claim 1 or 2.

4. an alternative plan presenting means for presenting an alternative plan for performing a task when the exception occurrence determination means determines that there is a possibility of an exception occurring to the moving body; 3. The mobile system according to claim 1, further comprising:

5. a prohibition means for prohibiting the moving object from starting work when the exception occurrence determination means determines that there is a possibility of an exception occurring to the moving object; 3. The mobile system according to claim 1, further comprising:

6. The prohibition means receives, from a user, a registration of an exception occurrence of the moving object for prohibiting the start of the work.

6. The mobile system according to claim 5.

7. A notification means for notifying a user of the result of the judgment; 3. The mobile system according to claim 1, further comprising:

8. The notification means notifies the user of the result of the determination and receives registration of the contents of the exception occurrence of the mobile unit from the user.

8. The mobile system according to claim 7.

9. The exception occurrence probability calculation means receives registration of weights for elements of the exception occurrence probability information from a user, The exception occurrence determination means determines the possibility of an exception occurrence of the moving object by using weights for elements of the exception occurrence possibility information.

3. A mobile system according to claim 1 or 2.

10. an exception occurrence possibility calculation means for calculating exception occurrence possibility information for determining the possibility of an exception occurrence based on exception occurrence information of the moving body during past work execution; an exception occurrence determination means for determining a possibility of an exception occurrence of a moving body before the moving body performs a task based on information regarding a situation of the moving body before the task is performed and the exception occurrence possibility information; A display control means for controlling a display of the result of the determination; An information processing device having the above configuration.

11. An exception occurrence possibility calculation process for calculating exception occurrence possibility information for determining the possibility of an exception occurrence based on exception occurrence information of the moving object during past work execution; an exception occurrence determination process for determining a possibility of an exception occurrence of the mobile body before the mobile body performs the work based on information regarding the situation of the mobile body before performing the work and the exception occurrence possibility information; A display control process for controlling a display of the result of the determination; An information processing method for performing the above.

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