Information processing device, information processing method, and computer program

Abstract

To provide an information processing device capable of acquiring information required when a mobile body performs work.SOLUTION: An information processing device includes: space information acquisition means for acquiring space information, which is information on a physical space; work specification information acquisition means for acquiring work specification information, which is specification information of work performed by an autonomously moving mobile body in the physical space; determination means for determining lacking information that is lacking with respect to the space information when planning execution of the work that is defined by the work specification information, based on the space information acquired by the space information acquisition means and the work specification information acquired by the work specification information acquisition means; and presentation means for presenting the lacking information determined by the determination means to a requester of the work.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an information processing device, an information processing method, a computer program, and the like. [Background technology]

[0002] In recent years, services such as robot sharing have become popular. When using a shared robot service, it is necessary to select a robot that is suitable for the work environment, and to do so, it is necessary to provide information about the work environment. However, when considering factories, offices, and ordinary homes, the work environment contains highly confidential and private information, so consideration is required.

[0003] In response to this, Patent Document 1 describes a technology that determines the reward rate according to tolerance in order to promote data collection in residential areas in a smart city while taking into consideration the privacy information of residents. Specifically, the number and operation mode of sensors are determined according to the resident's tolerance, and the reward is set higher when tolerance is high compared to when tolerance is low. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2023-55133 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the technology of Patent Document 1 relates to a data collection device and a data collection method, and it is not possible to protect privacy or confidentiality of information about physical space when planning a robot's work. Furthermore, it is not possible to appropriately acquire missing spatial information when planning a robot's work. Therefore, one of the objects of the present invention is to provide an information processing device that can acquire information necessary for a moving object to perform work. [Means for solving the problem]

[0006] In the information processing device, a space information acquisition means for acquiring space information, which is information about a physical space; a task specification information acquisition means for acquiring task specification information, which is specification information of a task to be performed by an autonomously moving body in the space; a determination means for determining, based on the spatial information acquired by the spatial information acquisition means and the work specification information acquired by the work specification information acquisition means, information that is insufficient regarding the spatial information in planning the execution of the work defined by the work specification information; and a presentation means for presenting the shortage information determined by the determination means to a requester of the work. [Effects of the Invention]

[0007] According to the present invention, it is possible to realize an information processing device that can acquire information required when a moving body performs work. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing an example of an application scene of an information processing device 200 according to the first embodiment. [Figure 2] 1 is a functional block diagram showing an example of the configuration of an information processing device 200 according to a first embodiment. [Figure 3] 1 is a flowchart showing an example of a basic processing flow according to the first embodiment. [Figure 4] FIG. 3 is a diagram showing an example of information about a physical space according to the first embodiment. [Figure 5] FIG. 2 is a diagram illustrating an example of a user interface when performing confidentiality processing on information about a physical space according to the first embodiment. [Figure 6] FIG. 10 is a diagram showing an example of a user interface when presenting missing information to a requester in the first embodiment. [Figure 7]FIG. 7 is a functional block diagram showing an example of the configuration of an information processing device 700 according to a second embodiment. [Figure 8] 10 is a flowchart showing a basic processing flow according to the second embodiment. [Figure 9] FIG. 1 is a diagram illustrating an example of the hardware configuration of an information processing device according to first to third embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiment. In each drawing, the same members or elements are given the same reference numerals, and duplicated descriptions will be omitted or simplified.

[0010] <Embodiment 1> 1 is a diagram showing an example of an application scene of an information processing device 200 according to a first embodiment of the present invention. In this embodiment, an example of requesting floor cleaning work using a robot sharing service will be described. In the following description, information that will not be disclosed to the robot sharing service provider, i.e., information that includes confidential privacy or secrets, will be referred to as "confidential information."

[0011] In this embodiment, an example of a cleaning robot that moves autonomously will be described as a mobile body, but the robot may perform any task. Furthermore, the present invention can be applied to mobile bodies other than robots, such as autonomously operable drones and vehicles.

[0012] In Fig. 1, reference numeral 100 represents a scene in which a cleaning service is requested using a robot sharing service. A requester 101 operates an information processing terminal 106 such as a smartphone, and uses a spatial information measuring device 107 such as a camera connected to the information processing terminal 106 to photograph (sense) the entire space including the location 103 where the cleaning service is requested.

[0013] The spatial information measuring device 107 may be a sensor such as a LiDAR (Light Detection and Ranging) connected to the information processing terminal 106.

[0014] Reference numeral 102 denotes spatial information such as image data obtained by a client sensing the entire space including the space to be worked on using a spatial information measuring device 107 such as a camera connected to an information processing terminal 106. The spatial information such as image data includes distance image data and the like.

[0015] In this embodiment, the image data 120 obtained by sensing the entire space is referred to as physical space information. The requester 101 specifies the area to be worked on in the physical space information, and performs anonymization on the area containing private or confidential information before sending it to the robot sharing company 104.

[0016] While concealing private or confidential information can reduce the risk of information leaks, this has the effect of making it difficult to plan work execution precisely, since the information within the concealed space becomes unknown when planning work execution.

[0017] The robot sharing company 104 is equipped with a plurality of robots 105 with different performance and functions, and is engaged in the business of renting out the robots, and performs predetermined processing using an information processing device 200 based on information about the entire physical space, such as image data 120. The information processing device 200 then presents the requester 101 with information that is lacking in planning the execution of the work.

[0018] 2 is a functional block diagram showing an example of the configuration of the information processing device 200 according to embodiment 1. Below, an example of the configuration of the main parts of the information processing device 200 will be described, but other functional blocks may also be included.

[0019] Note that some of the functional blocks shown in FIG. 2 are realized by causing a CPU 31, which serves as a computer in the information processing device, to execute a computer program stored in a memory, which serves as a storage medium.

[0020] However, some or all of these functions may be implemented by hardware, which may be a dedicated circuit (ASIC) or a processor (reconfigurable processor, DSP).

[0021] 2 may not be contained in the same housing, but may be configured as separate devices connected to each other via signal paths. The above explanation regarding FIG. 1 also applies to FIG. 7.

[0022] The information processing device 200 creates an execution plan for the work specification information based on the physical space information and the work specification information, and identifies any information that is missing when creating the execution plan and presents it to the client. 201 is a spatial information acquisition unit as a spatial information acquisition means, which acquires spatial information, which is information about the physical space sensed by the client using a spatial information measurement device 107 such as a camera or LiDAR, and also acquires map and floor plan information from, for example, a server.

[0023] Reference numeral 202 denotes a work specification information acquisition unit as a work specification information acquisition means, which acquires work specification information, which is specification information for work to be performed by a robot as an autonomously operating mobile body, based on the information on the physical space received by the space information acquisition unit 201.

[0024] Reference numeral 203 denotes a determination unit as a determination means, which determines the missing information that is required to plan the execution of work that is predetermined by the work specification information, based on the physical space information acquired by the space information acquisition unit 201 and the work specification information acquired by the work specification information acquisition unit 202.

[0025] Reference numeral 204 denotes a presentation unit as a presentation means, which transmits the missing information determined by the determination unit 203 to the information processing terminal 106 operated by the work requester 101 to present and request it, and also transmits data to a server or the like to store the information.

[0026] Next, the processing flow of the first embodiment will be described with reference to Fig. 3. Fig. 3 is a flowchart showing an example of a basic processing flow according to the first embodiment. Note that the CPU 901 (see Fig. 9) serving as a computer in the information processing device 200 executes a computer program stored in memory, thereby sequentially performing the operations of the steps in the flowchart of Fig. 3.

[0027] In step S300, the CPU 901 acquires information about the physical space using the space information acquisition unit 201. Here, step S300 functions as a space information acquisition step for acquiring space information, which is information about the physical space.

[0028] In this embodiment, the information on the physical space acquired in step S300 is data obtained by the client sensing the entire space to be worked on, and the area containing confidential information has been concealed. However, this embodiment also includes a case where the information on the physical space does not have a concealed area.

[0029] In step S301, the CPU 901 acquires work specification information using the work specification information acquisition unit 202. The work specification information in this embodiment includes, among physical space information, information indicating the area in which the work is to be performed and type information indicating the type of work. In this embodiment, the type of work is floor cleaning.

[0030] Here, step S301 functions as a work specification information acquisition step for acquiring work specification information, which is specification information for work to be performed in space by an autonomously moving vehicle. In step S302, the CPU 901, using the determination unit 203, identifies information that is lacking for planning the execution of the work within the work target area acquired from the work specification information.

[0031] For example, when cleaning a floor, the time required to perform the task and the required robot performance are determined by the shape of the floor (e.g., unevenness), material, etc. Therefore, information on the shape of the floor (e.g., unevenness), material, color, etc. is necessary. Therefore, in step S302, an overlapping area between the area where the task is to be performed and the area that has been concealed in the physical space information is searched for.

[0032] If an overlapping area exists, the type of information (type of information) that is being concealed in the overlapping area is searched for from information about the physical space, and the overlapping area is determined to be an area where information is insufficient.

[0033] Furthermore, it is determined whether the information types necessary for performing the work (information on the shape, material, color, etc. of the unevenness of the floor) are included, and information types that are not included are determined to be types of missing information. In other words, information types that are kept secret are determined to be missing information types. On the other hand, if there are no overlapping areas, the area with missing information and the missing information type are determined to be "none."

[0034] In step S303, the CPU 901 determines whether there is any missing information that is insufficient for planning the execution of the work specified in the work specification information, using the determination unit 203. That is, in step S303, the result of step S302 is referenced, and if there is no area where information is missing and there is no type of information that is missing, the flow in FIG.

[0035] If the answer in step S303 is Yes, the process proceeds to step S304. Steps S302 to S303 function as a determination step for determining, based on the spatial information and the work specification information, any missing information regarding the spatial information that is required to plan the execution of the work specified by the work specification information.

[0036] Then, in step S304, the CPU 901 requests the information processing terminal 106 of the requester to present the area where the information identified in step S302 is lacking and the type of information that is lacking, via the presentation unit 204. Step S304 functions as a presentation step in which the missing information determined in the determination step is presented to the requester of the work.

[0037] 4 is a diagram showing an example of information about a physical space according to the first embodiment, and shows a specific example of the information about the physical space acquired in step S300. 400 is overall information about the physical space, and includes information in which confidential information has been concealed. In step S300, the information processing device 200 acquires the overall information about the physical space 400 shown in FIG. 4.

[0038] Reference numeral 401 denotes a work target area within the information of the physical space, and reference numerals 402 and 403 denote concealed areas in which concealment processing has been applied to areas containing confidential information within the overall information 400 of the physical space. In this manner, in this embodiment, the physical space is considered to include concealed areas in which concealment processing has been applied to areas containing confidential information.

[0039] Next, Fig. 5 is a diagram showing an example of a user interface when performing concealment processing on information of a physical space according to embodiment 1. In Fig. 5, 500 denotes a UI for performing concealment processing on an area containing confidential information in the overall information of a physical space sensed using a sensor.

[0040] Reference numeral 501 denotes overall information about the physical space, and 502 denotes the area to be worked on within the overall information about the physical space. Reference numerals 503 and 504 denote concealed areas in which private or confidential information has been concealed using a concealment method (e.g., "blacking out") selected in menu 505. Note that the concealed areas may be set by the requester 101, but may also be set by a third party other than the requester 101 (e.g., a facility manager).

[0041] An example of the content and method of presentation by the presentation unit 204 in this embodiment will now be described with reference to Fig. 6. Fig. 6 is a diagram showing an example of a user interface when presenting missing information to a requester in the first embodiment.

[0042] Reference numeral 600 denotes a UI (user interface) screen that presents areas that are deemed to be lacking in the overall information of the physical space provided by the requester. Reference numeral 601 denotes the area to be worked on within the overall information of the physical space. Reference numeral 604 presents and requests information that is deemed to be lacking and needs to be disclosed for each of the concealed areas 602 and 603.

[0043] 604 is an example of searching the overlapping area between the work area 601 and the hidden area 602, and presenting and requesting the location and type of missing information. That is, in 604, row A presents, for example, "Please disclose the material and shape of the floor surface and up to 30 cm above the floor surface."

[0044] That is, it indicates and requests missing information that is necessary for planning the execution of the work, such as the layout of objects on the floor surface and within 30 cm above the floor surface in area 605, the material and shape of the floor surface, etc. Also, in 604, row B indicates that there is no missing information in area 603.

[0045] As described above, the information processing device and information processing method according to the first embodiment make it possible to generate an operation plan for a robot or the like while taking into consideration privacy, confidentiality, and the like in information about physical space.

[0046] In the present embodiment, an example has been described in which information on the physical space is generated based on sensor measurement values. However, the information is not limited to sensor measurement values, as long as it can grasp the conditions for executing a work plan, such as the shape of the work location and the location of objects present in the work location.

[0047] For example, physical space information can be generated from design data such as CAD (Computer Aided Design) data or BIM (Building Information Modeling) data. Using design data can save the time and effort required to generate spatial information from sensing or sensor measurements. Alternatively, physical space information can be generated from both sensor measurements and design data.

[0048] 3, the information indicating the work content provided in the work specification information acquired in step S301 may be at a granularity that allows the work content to be understood when planning the execution of the work. For example, in the case of a granularity of mopping, compared to a granularity of cleaning, it is sufficient to specify the information that is lacking for an area limited to the floor surface or a few centimeters above the floor surface, and the area for which disclosure is requested can be limited.

[0049] In this way, information indicating the content of a task such as cleaning may include information regarding the details of the task and the method. For example, the content of the task may be a type such as "cleaning" or a more detailed type such as "mopping." Furthermore, for example, if the task is "mopping," information regarding the details of the task method, such as "dry wiping" or "wet wiping," may be included.

[0050] However, in the case of work such as transporting goods, the requester only needs to specify the starting point and the end point, but when planning the execution of work such as transportation, an additional process is required to calculate the transportation route between the starting point and the end point.

[0051] In step S303 in FIG. 3, the example of concealing private or confidential information has been explained, but if there is information about a physical space that is not concealed and is lacking in order to carry out a task, that information may also be identified.

[0052] 505 in Fig. 5 has been described as an example in which a black cube is used to conceal an area related to privacy or confidentiality. However, the concealment method is not limited to this, and information may be concealed by mosaic processing, masking processing, data deletion, color or brightness information only, low-resolution processing, etc. Furthermore, the information processing device according to this embodiment may include a mobile object performance acquisition means for acquiring the performance of the robot.

[0053] That is, the mobile object performance acquisition means acquires the performance of the robot as a mobile object, specifically, information on the performance of the mobile object such as the positioning accuracy of the mobile object, the accuracy of self-location measurement, the size of the mobile object, the allowable step height that can be reached, the weight of the mobile object, the turning radius, the climbing ability, the accuracy of obstacle detection, etc.

[0054] When planning the execution of a task, the acquired information on the mobile object's performance is used to select a work robot suited to the work environment. Specifically, the mobile object's performance is referenced for allowable step heights and climbing ability, and a work robot that meets the constraints of the target work area is selected.

[0055] Regarding other performance features, a work robot with specifications that will not collide with surrounding objects when performing work in the work area is selected based on information about the placement of objects in the work area and the performance of the moving body.

[0056] Furthermore, the information required to identify missing information for planning the execution of a task may depend on the performance of the mobile object. Specifically, a mobile object with low climbing ability requires more information about the inclination angle when identifying missing information for planning the execution of a task than a mobile object with high climbing ability.

[0057] Furthermore, the lower the performance of the mobile unit, the more accurate or detailed information about the physical space is required. Therefore, information that is lacking in planning the execution of work may be identified based on the acquired performance of the mobile unit.

[0058] <Embodiment 2> In the first embodiment, an example was described in which missing information for planning a task is identified based on task specification information for a task performed by an autonomously moving mechanical device, among information about the physical space, and the missing information is presented and requested. In the second embodiment, a method for determining a reward according to the amount of collected information is described.

[0059] 7 is a functional block diagram showing an example of the configuration of an information processing device 700 according to embodiment 2. Below, the main parts of the information processing device 700 will be described, but other processing parts may also be included. Reference numeral 701 denotes a spatial information acquisition unit, 702 denotes a work specification information acquisition unit, 703 denotes a determination unit, and 704 denotes a presentation unit. 701 to 704 are functional blocks similar to 201 to 204 in FIG. 2, so some of the description will be omitted.

[0060] The task specification information acquisition unit 702 acquires task specification information to be performed by the robot as a mobile body that moves autonomously within the physical space information received by the space information acquisition unit 701. The content of the specification information acquired in the second embodiment includes task start time information in addition to the content described in the first embodiment.

[0061] Reference numeral 705 denotes a time difference information calculation unit as a time difference information calculation means, which acquires the time when the physical space information was acquired from the spatial information measurement device 107 by the spatial information acquisition unit 701, and calculates the difference between this and the work execution start time acquired by the work specification information acquisition unit 702.

[0062] A determination unit 706 serves as a determination means and determines the reward rate to be given to the client 101 based on the time difference calculated by the time difference information calculation unit 705. The reward rate determined by the determination unit 706 is presented to the information processing terminal 106 by the presentation unit 704 for request, and the data is also sent to a server or the like to store the information.

[0063] Next, Fig. 8 is a flowchart showing a basic processing flow according to embodiment 2. Note that the CPU 901 (see Fig. 9) as a computer in the information processing device 200 executes a computer program stored in memory, thereby sequentially performing the operations of the steps in the flowchart in Fig. 8.

[0064] Step S800 is the same process as step S300 in Fig. 3, and therefore description thereof will be omitted. In step S801, CPU 901 causes work specification information acquisition unit 702 to acquire work specification information.

[0065] The work specification information acquired in step S801 includes information on the work content, such as cleaning, delivery, and security, as well as information on the work start time, etc. Note that in the second embodiment, the work start time is used as an example, but information on the work end time, budget, etc. may also be included. Steps S802 to S804 are the same processes as steps S302 to S304 in Fig. 3, and therefore description thereof will be omitted.

[0066] In step S805, the CPU 901 calculates the difference between the time when the physical space information acquired in step S800 was acquired and the work start time acquired in step S801 using the time difference information calculation unit 705. In step S806, the CPU 901 determines the remuneration using the determination unit 706 based on the time difference information calculated in step S805.

[0067] The reward award rate is not particularly limited, but in the second embodiment, for example, the reward award rate is determined depending on the size of the calculated difference. Specifically, if the calculated difference is small, a larger reward is awarded than if the difference is large. The reward may be a coupon, a discount voucher, or a reflection in the usage fee. Note that the reward in this embodiment may include not only the reward itself but also the reward award rate.

[0068] In step S807, the CPU 901 causes the presentation unit 704 to present the reward (or the reward award rate) determined in step S806 to the information processing terminal 106.

[0069] The above sequence enables the information processing device and information processing method according to embodiment 2 to collect information about physical space while taking privacy into consideration. Furthermore, since the reward (or the reward rate) is determined according to the amount of collected information, it is possible to improve the accuracy of planning work based on work specification information for work to be performed by an autonomously operating robot or the like, among the information about physical space.

[0070] Note that instead of the time difference information calculation unit 705, a spatial information difference calculation means may be provided, and the reward grant rate may be determined based on the difference calculated by the spatial information difference calculation means. The spatial information difference calculation means calculates a spatial information difference, which is the difference between the information on the physical space at the time measured by the client and the information on the physical space at the time measured in real time by the robot as a moving body. When the spatial information difference is small, a higher reward grant rate is granted compared to when the difference is large.

[0071] Furthermore, if both the physical space information measured by the client and the physical space information measured in real time by the robot are three-dimensional shape models, the difference in physical space information is calculated by calculating the sum or average of the distances between corresponding points on both models.

[0072] On the other hand, if both pieces of spatial information are point clouds, the multiple point cloud data are aligned using known techniques, and then the sum or average of the distances between the corresponding point clouds is calculated. Note that the method for calculating the difference is not limited as long as it calculates the difference between the information measured by the client and the information measured by the robot.

[0073] The determination unit 706 may determine the reward (or reward grant rate) to be provided to the requester based on, for example, at least one of the time difference at the time calculated by the time difference information calculation unit 705 and the spatial information difference of the physical spatial information calculated by the spatial information difference calculation means.

[0074] The reward (or the reward rate) may be determined based on the difference between the task execution time calculated when planning the task execution and the task time actually taken when the robot as a mobile body executes the task. Alternatively, the reward (or the reward rate) may be determined based on the difference between the workload calculated when planning the task execution and the workload actually executed by the robot.

[0075] When the difference is small, a larger reward (or reward award rate) is awarded compared to when the difference is large. That is, the smaller the difference, the larger the reward (or reward award rate).

[0076] The reward may also be determined according to the amount or proportion of missing information determined by the determination unit 703. Specifically, the reward is determined according to the proportion of disclosed information among the information required to plan the execution of the work specified in the work specification information. If the proportion of disclosed information is high, the reward is awarded at a higher rate than if it is low.

[0077] However, if there is a concealed area within the work area, the amount of missing information is unknown, so the reward may be determined according to the proportion of the concealed area within the work area. If the proportion of the concealed area within the work area is large, the reward rate will be lower than if it is small.

[0078] The reward award rate may be calculated using the difference obtained by one of these calculation methods, or the reward award rate may be calculated by combining the differences obtained by these calculation methods with weighting factors. By doing so, the client is prompted to provide information necessary for the robot to perform the work, thereby further improving the accuracy of the work plan.

[0079] <Embodiment 3> In the first embodiment, an example of collecting information while taking privacy into consideration in the case of overall information of a physical space was described, and in the second embodiment, an example of determining a reward according to the amount of collected information was described. In the third embodiment, an example of providing feedback on the amount of overall information of a physical space provided by a requester will be described.

[0080] The configuration of the third embodiment may be substantially the same as that of the information processing device according to the second embodiment shown in Fig. 7. That is, 701 to 703, 705, and 706 may be the same functional blocks as those of the second embodiment, and the description thereof will be omitted. A presentation unit 704 in the third embodiment presents feedback information for the physical space information provided by the requester to the information processing terminal 106.

[0081] Specifically, if there is an image difference of a predetermined threshold or more before and after the robot performs the task, the missing information for the secret area in the physical space information is presented to the information processing terminal 106 as feedback to the requester.

[0082] For example, if there is a difference in the physical space information calculated by the space information difference calculation means and the difference is equal to or greater than a predetermined threshold, the missing information for the confidential area or the like in the physical space information is presented to the information processing terminal 106 as feedback to the requester.

[0083] Furthermore, information on predicted accuracy when information in a hidden area within the information on the physical space is disclosed, and information on a reward that will be given as an additional reward when the requester discloses information in the hidden area may also be presented to the information processing terminal 106. Feedback may be given to the requester in this manner, and the content of the feedback is not particularly limited.

[0084] The specific method of calculating the accuracy prediction information is, for example, if there is work content that was estimated when planning the execution of work but could not actually be performed, to determine whether the work area of ​​the work that could not be performed overlaps with the secret area.

[0085] If the work area of ​​the task that could not be completed overlaps even partially with the confidential area, it is determined that the estimated work content can be completed if the client discloses information in the confidential area, etc. Furthermore, the accuracy is predicted based on the proportion of the work content in the confidential area to the total work content. Furthermore, the reward award rate can be calculated using the same method as described in embodiment 2.

[0086] The information processing device according to the third embodiment makes it possible to provide feedback to the requester about the amount of information about the physical space provided by the requester. This allows the requester to know the amount of information to provide in subsequent requests, allowing the requester to provide an appropriate amount of information the next time. In other words, the accuracy of planning the execution of the work can be improved compared to the first time.

[0087] 9 is a diagram showing an example of the hardware configuration of an information processing device according to embodiments 1 to 3. Reference numeral 900 denotes an information processing device. Reference numeral 901 denotes a CPU, 902 denotes a RAM, 903 denotes a storage unit such as an HDD or SSD, 904 denotes a communication unit, and 905 denotes a system bus.

[0088] A CPU 901 uses a RAM 902 as a work memory, executes an OS (operating system) and various computer programs stored in a storage unit 903, and controls each unit of the information processing device via a system bus 905. This enables the information processing method shown in the flowcharts of FIGS.

[0089] Although the present invention has been described in detail above based on the preferred embodiments, the present invention is not limited to the above embodiments, and various modifications and combinations of the above embodiments are possible based on the spirit of the present invention, and are not excluded from the scope of the present invention. The present invention also includes the following combinations.

[0090] (Configuration 1) An information processing device characterized by having: a spatial information acquisition means for acquiring spatial information, which is information about a physical space; a work specification information acquisition means for acquiring work specification information, which is specification information about a work to be performed in the space by an autonomously moving vehicle; a determination means for determining, based on the spatial information acquired by the spatial information acquisition means and the work specification information acquired by the work specification information acquisition means, any missing information regarding the spatial information that is missing when planning the execution of the work defined by the work specification information; and a presentation means for presenting the missing information determined by the determination means to a requester of the work.

[0091] (Configuration 2) The information processing device according to Configuration 1, characterized in that the work specification information includes information representing the type of work and information indicating the area in which the work is to be performed from the spatial information acquired by the spatial information acquisition means.

[0092] (Configuration 3) The information processing device according to configuration 1 or 2, wherein the space includes a hidden area in which a region containing confidential information has been subjected to a concealment process.

[0093] (Configuration 4) The information processing device described in Configuration 3 is characterized in that the determination means searches for an overlapping area between the area where the work is to be performed and the secret area, and if the overlapping area exists, determines whether the overlapping area contains the information type necessary to perform the work, and determines that the information type that is not contained is the type of missing information.

[0094] (Configuration 5) An information processing device according to any one of configurations 1 to 4, characterized in that it comprises at least one of a time difference information calculation means for calculating a time difference between the time when the spatial information acquired by the spatial information acquisition means was acquired and the start time of the work acquired by the work specification information acquisition means, and a spatial information difference calculation means for calculating a spatial information difference between the spatial information acquired by the spatial information acquisition means and the spatial information at the time measured by the moving body, and a determination means for determining a reward to be provided to the client based on at least one of the time difference and the spatial information difference.

[0095] (Configuration 6) 6. The information processing device according to configuration 5, wherein the determination means increases the reward as at least one of the time difference and the spatial information difference decreases.

[0096] (Configuration 7) The information processing device according to any one of configurations 1 to 4, further comprising a determination means for determining a reward to be given to the client.

[0097] (Configuration 8) The information processing device described in Configuration 7, characterized in that the determination means determines the reward based on the difference between the work execution time calculated when planning the execution of the work and the work time actually taken by the mobile body when executing the work.

[0098] (Configuration 9) The information processing device described in configuration 7 or 8, characterized in that the determination means determines the reward based on the difference between the amount of work calculated when planning the execution of the task and the amount of work actually performed by the robot.

[0099] (Configuration 10) The information processing device according to any one of configurations 7 to 9, wherein the determination means determines the reward according to the amount or proportion of the missing information.

[0100] (Configuration 11) The information processing device according to any one of configurations 7 to 10, wherein the determination means determines the reward in accordance with the proportion of a hidden area in the work area.

[0101] (Configuration 12) The information processing device according to any one of configurations 8 to 11, wherein the determination means increases the reward as the difference decreases.

[0102] (Method) An information processing method comprising: a spatial information acquisition step of acquiring spatial information, which is information about a physical space; a work specification information acquisition step of acquiring work specification information, which is specification information about work to be performed in the space by an autonomously moving vehicle; a determination step of determining, based on the spatial information acquired by the spatial information acquisition step and the work specification information acquired by the work specification information acquisition step, any missing information regarding the spatial information that is missing when planning the execution of the work specified by the work specification information; and a presentation step of presenting the missing information determined in the determination step to a requester of the work.

[0103] (Program) A computer program for controlling each means of the information processing device according to any one of configurations 1 to 12 by a computer.

[0104] In order to realize part or all of the control in the above-described embodiments, a computer program that realizes the functions of the above-described embodiments may be supplied to an information processing device or the like via a network or various storage media. Then, a computer (or a CPU, MPU, or the like) in the information processing device or the like may read and execute the program. In this case, the program and the storage medium storing the program constitute the present invention. [Explanation of symbols]

[0105] 101: Client 106: Information processing terminal 107: Spatial information measurement device 200: Information processing device 201: Spatial information acquisition unit 202: Work specification information acquisition unit 203: Judgment section 204: Presentation section

Claims

1. a space information acquisition means for acquiring space information, which is information about a physical space; a task specification information acquisition means for acquiring task specification information, which is specification information of a task to be performed by an autonomously moving body in the space; a determination means for determining, based on the spatial information acquired by the spatial information acquisition means and the work specification information acquired by the work specification information acquisition means, information that is insufficient regarding the spatial information in planning the execution of the work defined by the work specification information; and a presentation unit that presents the missing information determined by the determination unit to a requester of the work.

2. 2. The information processing apparatus according to claim 1, wherein the work specification information includes information indicating the type of the work and information indicating an area in which the work is to be performed, from among the spatial information acquired by the spatial information acquisition means.

3. The information processing apparatus according to claim 1 , wherein the space includes a secret area in which a secret processing is performed on an area containing confidential information.

4. The determination means The information processing device according to claim 3, characterized in that an overlapping area between the area where the work is to be performed and the secret area is searched for, and if the overlapping area exists, it is determined whether the overlapping area contains the information type necessary to perform the work, and the information type that is not contained is determined to be the type of missing information.

5. a time difference information calculation means for calculating a time difference between a time when the spatial information acquired by the spatial information acquisition means was acquired and a time when the work specification information acquisition means acquired the start time of the work; a spatial information difference calculation means for calculating a spatial information difference between the spatial information acquired by the spatial information acquisition means and the spatial information at the time of measurement by the moving body; At least one of 2. The information processing apparatus according to claim 1, further comprising: a determination unit that determines a reward to be provided to the client based on at least one of the time difference and the spatial information difference.

6. 6. The information processing apparatus according to claim 5, wherein the determination means increases the reward as at least one of the time difference and the spatial information difference decreases.

7. 2. The information processing apparatus according to claim 1, further comprising a determination means for determining a reward to be given to the client.

8. The information processing device according to claim 7, characterized in that the determination means determines the reward based on the difference between the work execution time calculated when planning the execution of the work and the work time actually taken by the mobile body when executing the work.

9. 8. The information processing apparatus according to claim 7, wherein the determination means determines the reward based on a difference between an amount of work calculated when the execution of the work is planned and an amount of work actually performed by the robot.

10. 8. The information processing apparatus according to claim 7, wherein the determination means determines the reward in accordance with an amount or a proportion of the missing information.

11. The information processing apparatus according to claim 7 , wherein the determination means determines the remuneration in accordance with a proportion of a hidden area in the area to be worked on.

12. 9. The information processing apparatus according to claim 8, wherein the determination means increases the reward as the difference decreases.

13. a spatial information acquisition step of acquiring spatial information that is information about a physical space; a work specification information acquisition step of acquiring work specification information which is specification information of a work to be performed by an autonomously moving body in the space; a determination step of determining, based on the spatial information acquired in the spatial information acquisition step and the work specification information acquired in the work specification information acquisition step, information that is insufficient regarding the spatial information for planning the execution of the work defined by the work specification information; a presentation step of presenting the missing information determined in the determination step to a requester of the work.

14. A computer program for controlling each means of the information processing apparatus according to any one of claims 1 to 12 by a computer.

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