Management system, management method, and storage medium

Abstract

To provide a management system, a management method, a management program, and a storage medium capable of positioning with high accuracy in a wider range.SOLUTION: The management system 100 includes a plurality of autonomous mobile units 21 and a management device 1. Each of the plurality of autonomous mobile machines 21 has a movement control part 251 for controlling autonomous movement and an antenna 216 for receiving a signal from a GNSS satellite 200. A management device 1 includes an operation plan creation part 150 for creating operation plans of a plurality of autonomous mobile units 21. The operation plan creation part 150 selects an autonomous mobile unit 21 capable of securing an operation schedule in a first predetermined period as a selected mobile unit 23 from among the plurality of autonomous mobile units 21, and creates an operation plan so as to move the selected mobile unit 23 to a predetermined geographical position and keep it still for at least a part of the first predetermined period.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a management system, a management method, a management program, and a storage medium for performing relative positioning using an autonomous mobile device. [Background technology]

[0002] Relative positioning is a method of determining the relative positional relationship between multiple receivers based on signals received from multiple satellites. For example, in the RTK-GNSS (Real Time Kinematic Global Navigation Satellite System), positioning is performed using signals received from satellites by a base station whose position is known and a mobile station whose position is unknown.

[0003] The relative positioning method has higher accuracy than the point positioning method, and is therefore expected to be applied to various industrial fields.

[0004] Patent Document 1 discloses a base station device that includes an integrated unit that houses, in a housing, a secondary battery, a power conversion unit that converts power supplied from the secondary battery, a communication unit that performs ad-hoc communication with other devices, and a drive unit that moves the device autonomously.

[0005] Patent Document 2 discloses a traffic management system. The traffic management system includes a plurality of transport vehicles that travel along a transport route connected to a work area to transport objects to be transported, permanently parked vehicles that are permanently stationed in the work area, a control system that manages the transport vehicles and the permanently parked vehicles, and a wireless relay station that relays wireless communications between the transport vehicles and the control system. In the traffic management system, each of the plurality of transport vehicles is provided with a wireless communication device for wireless communication. The traffic management system installs a wireless relay station in the permanently parked vehicles and determines which transport vehicles should access the wireless relay station based on vehicle information of the transport vehicles.

[0006] Patent Document 3 discloses a server device. The server device communicates with multiple autonomous mobile devices equipped with wireless communication units via a wireless base station and instructs each autonomous mobile device to operate. The wireless communication unit of each autonomous mobile device has a relay function that relays communication between the wireless base station and another wireless communication unit provided in another autonomous mobile device, and transmits location information of the autonomous mobile device and information on the reception strength of wireless communication radio waves to the server device. The server device has a communication unit that transmits information instructing the autonomous mobile devices to operate based on the location information and reception strength information so that if the destination is outside the wireless communication area of ​​the wireless base station, one of the autonomous mobile devices can use the relay function of another autonomous mobile device to reach the destination. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Application Publication No. 2019-33323 [Patent Document 2] Japanese Patent Application Laid-Open No. 2016-146010 [Patent Document 3] Japanese Patent Application Publication No. 2017-033121 Summary of the Invention [Problem to be solved by the invention]

[0008] The accuracy of relative positioning methods deteriorates as the distance between a base station whose location is known and a mobile station whose location is unknown increases. Also, installing multiple fixed base stations whose locations are known in advance increases costs.

[0009] The present invention provides a management system, a management method, a management program, and a storage medium that enable positioning with higher accuracy over a wider area. [Means for solving the problem]

[0010] The present invention provides A management system including a plurality of autonomous mobile devices and an information processing device, The plurality of autonomous mobile devices each an autonomous movement control unit that controls autonomous movement; a receiving unit that receives signals from satellites in a satellite positioning system; the information processing device has an operation plan creation unit that creates operation plans for the plurality of autonomous mobile devices, The operation plan creation unit Among the plurality of autonomous mobile devices, an autonomous mobile device that can secure a schedule for operation during a first predetermined period is selected as a first autonomous mobile device; The operation plan is created so that the first autonomous mobile device moves to a predetermined geographical location and remains stationary for at least a portion of the first predetermined period.

[0011] The present invention also provides A management method for creating an operation plan for a plurality of autonomous mobile devices each capable of receiving signals from a satellite in a satellite positioning system, comprising: selecting, from among the plurality of autonomous mobile devices, an autonomous mobile device that can secure a schedule for operation during a first predetermined period as a first autonomous mobile device; and creating the operation plan so that the first autonomous mobile device moves to a predetermined geographical location and remains stationary for at least a portion of the first predetermined period.

[0012] The present invention also provides A management program for creating an operation plan for a plurality of autonomous mobile devices each capable of receiving signals from a satellite in a satellite positioning system, selecting, from among the plurality of autonomous mobile devices, an autonomous mobile device that can secure a schedule for operation during a first predetermined period as a first autonomous mobile device; and creating the operation plan so that the first autonomous mobile device moves to a predetermined geographical location and remains stationary for at least a portion of the first predetermined period.

[0013] The present invention also provides A computer-readable storage medium stores the management program. [Effects of the Invention]

[0014] According to the present invention, it is possible to perform positioning with high accuracy over a wider range. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram illustrating an overview of a management system 100. [Figure 2] FIG. 2 illustrates an example of a hardware configuration of a management device 1. [Figure 3] FIG. 2 is a diagram illustrating an example of a functional block diagram of a management device 1. [Figure 4] 2 is a diagram illustrating an example of the hardware configuration of an autonomous mobile device 21. FIG. [Figure 5] FIG. 2 is a diagram showing an example of a functional block diagram of an autonomous mobile device 21. [Figure 6] 1 is a diagram for explaining a situation in which the management device 1 selects an autonomous mobile device 21 as a base station. [Figure 7] FIG. 10 is a diagram showing the relationship between the position CP of the antenna 216 and the positions of the satellites. [Figure 8] FIG. 2 is a diagram for explaining the surrounding environment of an autonomous mobile device 21 that serves as a base station. [Figure 9] FIG. 1 is a diagram illustrating an overview of positioning according to an embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of a processing flow for operating an autonomous mobile device 21 as a base station. [Figure 11] FIG. 10 is a diagram illustrating an example of a processing flow for creating an operation plan. [Figure 12] FIG. 10 is a diagram showing a schematic diagram of a process when one autonomous mobile device 21 is moved to operate as a base station. [Figure 13] FIG. 10 is a diagram showing a schematic diagram of a process when two autonomous mobile devices 21 are moved to operate as base stations. [Figure 14] FIG. 10 is a diagram showing an example of a processing flow for switching an autonomous mobile device 21 as a base station. [Figure 15]FIG. 10 is a diagram illustrating an example of a processing flow for creating a replacement operation plan. [Figure 16] FIG. 10 is a diagram showing a schematic diagram of a process for switching an autonomous mobile device 21 as a base station. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a diagram showing an overview of a management system 100 according to one embodiment of the present invention. The system of this embodiment includes a management device 1 and multiple autonomous mobile devices 21 and performs relative positioning. Relative positioning generally involves using two or more receivers to simultaneously observe four or more of the same GNSS satellites. Using the positions of the GNSS satellites as a reference, the time difference between the arrival of radio signals from the GNSS satellites at each receiver is measured to determine the relative positional relationship between the two points. The management device 1 and the autonomous mobile devices 21 can communicate via a network 5 such as the Internet. In the example of FIG. 1, there are two autonomous mobile devices, but there may be three or more.

[0017] The autonomous mobile device 21 is configured to be able to receive signals from GNSS satellites 200, and the management device 1 can determine the position of the autonomous mobile device 21 using RTK-GNSS. RTK-GNSS is a form of relative positioning in which signals from GNSS satellites 200 are simultaneously observed at a reference station whose position is known and at an observation point whose position is to be determined, the data observed at the reference station is transmitted in real time to the observation point via wireless or other means, and the position of the observation point is determined in real time based on the position result of the reference station. A RTK-GNSS fixed base station 10 installed on the ground may be provided at the work site where the autonomous mobile device 21 operates. There are multiple (at least four) GNSS satellites 200, but for ease of understanding, only one is shown in FIG. 1.

[0018] The management device 1 is a device that manages the operation of the autonomous mobile device 21, and further creates an operation plan for the autonomous mobile device 21.

[0019] Specifically, the management device 1 sets an operation mode for each autonomous mobile device 21 and controls the autonomous mobile device 21 to operate in accordance with the operation mode. In this embodiment, the operation modes include a base station mode and a mobile station mode. In the base station mode, the autonomous mobile device 21 operates as a base station of the RTK-GNSS. In the mobile station mode, the autonomous mobile device 21 operates as a mobile station of the RTK-GNSS. In addition, the management device 1 can receive signals from the autonomous mobile device 21 and acquire the current position of the autonomous mobile device 21, the route traveled, the state of the autonomous mobile device 21, the remaining battery level, the presence or absence of a malfunction, etc.

[0020] The operation plan includes information such as the destination of the autonomous mobile device 21, the route to the destination, the start time of movement, and the movement speed. The management device 1 creates an operation plan for the autonomous mobile device 21 at a predetermined time (for example, before work starts).

[0021] Furthermore, the management device 1 transmits to the autonomous mobile device 21, based on the operation plan, a movement instruction including information such as the movement destination, the route to the movement destination, the movement start time and movement speed, and the rest time.

[0022] The autonomous mobile device 21 is a mobile body capable of autonomous movement. Autonomous movement means movement without human control. The autonomous mobile device 21 can move according to a pre-installed program, and can also move according to movement instructions from the management device 1. Note that the autonomous mobile device 21 may be configured to be able to move by human control in addition to autonomous movement.

[0023] In base station mode, the autonomous mobile device 21 comes to a standstill (stops moving) when it moves to a position specified by the management device 1, and operates as an RTK-GNSS base station at that position. When the autonomous mobile device 21 is not in either mobile station mode or base station mode, it waits, for example, at a predetermined position in a work area. While waiting, the autonomous mobile device 21 does not move, and does not operate as a base station. For example, while waiting, the autonomous mobile device 21 is maintained in a low-power startup mode with the main power supply (ignition) turned off. Furthermore, by charging while waiting, the autonomous mobile device 21 can prepare for the start of the next operation in a predetermined operation plan.

[0024] 2 is a diagram illustrating an example of the hardware configuration of the management device 1. The management device 1 includes a processor 11, a memory 12, a communication interface 13, and a user interface 14. The processor 11, the memory 12, the communication interface 13, and the user interface 14 are connected by, for example, a bus 19.

[0025] The processor 11 is a circuit that performs signal processing, and is, for example, a CPU (Central Processing Unit) that performs overall control of the management device 1. The processor 11 may be realized by other digital circuits such as an FPGA (Field Programmable Gate Array) or a DSP (Digital Signal Processor). The processor 11 may also be realized by combining multiple digital circuits.

[0026] The memory 12 includes, for example, a main memory and an auxiliary memory. The main memory is, for example, a random access memory (RAM). The main memory is used as a work area for the processor 11.

[0027] The auxiliary memory is a non-transitory computer-readable storage medium, such as a non-volatile memory such as a magnetic disk, an optical disk, or a flash memory. The auxiliary memory stores various programs that operate the management device 1. The programs stored in the auxiliary memory are loaded into the main memory and executed by the processor 11.

[0028] The auxiliary memory may also include a portable memory that is removable from the management device 1. The portable memory is, for example, a USB (Universal Serial Bus) flash drive, a memory card such as an SD (Secure Digital) memory card, or an external hard disk drive.

[0029] The communication interface 13 is a communication interface for communicating with an external device (for example, an autonomous mobile device 21) of the management device 1. The communication interface 13 is controlled by the processor 11.

[0030] The user interface 14 includes, for example, an input device that accepts operation input from a user (for example, a person operating the management device 1) and an output device that outputs information. The input device is realized, for example, by a pointing device (for example, a mouse), a key (for example, a keyboard), or a remote control. The output device is realized, for example, by a display or a speaker. Furthermore, both the input device and the output device may be realized by a touch panel or the like. The user interface 14 is controlled by the processor 11.

[0031] 3 is a diagram showing an example of a functional block diagram of the management device 1. In the management device 1, an operation plan creation unit 150 and an operation plan execution unit 160 are realized by the processor 11 executing a program (software). The operation plan creation unit 150 creates an operation plan for the autonomous mobile device 21. The operation plan execution unit 160 causes the autonomous mobile device 21 to execute the operation plan based on the operation plan created by the operation plan creation unit 150. In addition, the management device 1 has a data storage unit 170 realized by the memory 12.

[0032] The operation plan creation unit 150 creates an operation plan, such as a destination, a route to the destination, a start time of movement, and a movement speed, according to a work task for the autonomous mobile device 21 operating in the mobile station mode. Work tasks include, for example, a transportation task of delivering goods, as well as a monitoring task, a baggage storage task, a weeding task, a tilling task, and the like.

[0033] Furthermore, the operation plan creation unit 150 selects, from among the plurality of autonomous mobile devices 21, an autonomous mobile device 21 that can secure an operation schedule for a first predetermined period as an autonomous mobile device 21 to operate in base station mode, and creates an operation plan to move the selected autonomous mobile device 21 to a predetermined geographical position and keep it stationary for at least a portion of the first predetermined period. The first predetermined period is a period that includes a period during which the autonomous mobile device 21 should operate as a base station. The portion of the period may be a time required for positioning statistical processing (for example, a time (period) of about 4 to 12 hours) to be described later, or may be a time (period) during which the autonomous mobile device should operate as a base station after positioning statistical processing (after becoming a base station), or a time (period) that includes these times (periods).

[0034] Furthermore, the operation plan creation unit 150 creates an operation plan regarding the replacement of the autonomous mobile device 21 operating in base station mode. That is, the operation plan creation unit 150 selects, from the multiple autonomous mobile devices 21, an autonomous mobile device 21 that can secure an operation schedule for a second predetermined period after the start of the first predetermined period as the autonomous mobile device 21 to operate in base station mode, and creates an operation plan to move the selected autonomous mobile device 21 to a predetermined geographical position. The second predetermined period is, for example, the remaining period of the first predetermined period or a period that includes a period newly set as a period during which the autonomous mobile device 21 should operate as a base station.

[0035] The operation plan for this replacement may include details for stopping the selected autonomous mobile device 21 for at least a part of the second predetermined period (for example, a period during which the device operates in base station mode). The operation plan may also include details for removing the autonomous mobile device 21 that is the target of replacement and is operating in base station mode (for example, the timing of replacement).

[0036] When creating an operation plan, the operation plan creation unit 150 performs processes such as selecting a candidate location where the selected autonomous mobile device 21 will operate, and checking whether there are any problems with the candidate location identified as the location where the selected autonomous mobile device 21 will operate.

[0037] The operation plan execution unit 160 transmits a movement instruction to the autonomous mobile device 21 to execute the operation plan created by the operation plan creation unit 150, and further transmits an instruction to start the positioning statistical processing described below and / or an instruction to transmit correction information to the autonomous mobile device 21 that is to be operated in base station mode.

[0038] The data storage unit 170 stores point cloud data of the work site, topographical data, data listing the autonomous mobile devices 21 to be managed, data on the operation plan for each autonomous mobile device 21, data for identifying the remaining battery level of each autonomous mobile device 21, and data indicating the status of each autonomous mobile device 21 (for example, base station mode, mobile station mode, or standby).

[0039] 4 is a diagram showing an example of the hardware configuration of the autonomous mobile device 21. The autonomous mobile device 21 includes a processor 211, a memory 212, a wireless communication interface 213, a sensor 214, a movement mechanism 215, and an antenna 216. The processor 211, the memory 212, the wireless communication interface 213, the sensor 214, the movement mechanism 215, and the antenna 216 are connected by, for example, a bus 219.

[0040] The processor 211 and memory 212 of the autonomous mobile device 21 have the same configurations as the processor 11 and memory 12 of the management device 1, respectively.

[0041] The wireless communication interface 213 is a communication interface that performs wireless communication with an external device (e.g., the management device 1) of the autonomous mobile device 21. The wireless communication interface 213 is, for example, a mobile (cellular) communication device, a Wi-Fi (registered trademark) communication device, or the like. The autonomous mobile device 21 can transmit and receive signals related to positioning (e.g., correction signals SG1 and SG2 described below) with the management device 1 via the wireless communication interface 213. The wireless communication interface 213 is controlled by the processor 211.

[0042] The sensor 214 includes various sensors capable of acquiring information on the moving state of the autonomous mobile device 21 and external information. The sensor 214 is controlled by the processor 11, and the sensing data of the sensor 214 is acquired by the processor 11.

[0043] The sensors 214 include, for example, a camera, a Light Detection and Ranging (LiDAR) sensor, a wheel encoder, and an Inertial Measurement Unit (IMU).

[0044] The camera is a sensor for acquiring image data. The LiDAR sensor is a three-dimensional sensor for recognizing the outside of the autonomous mobile device 21 in three dimensions. Specifically, the LiDAR sensor emits laser light, measures the time it takes for the emitted laser light to hit an object and bounce back, and measures the distance and direction to the object. The LiDAR sensor is provided, for example, to be able to sense the area ahead of the autonomous mobile device 21. Multiple LiDAR sensors may be provided so as to be able to sense multiple directions. The LiDAR sensor may be capable of swiveling (pan and tilt), zooming, etc. The wheel encoder is a sensor that measures the rotational speed of the wheels (wheel speed), and the vehicle speed of the autonomous mobile device 21 can be determined from the measurement results of the wheel encoder. The IMU is a sensor that measures the acceleration in the forward / backward, left / right, and up / down directions of the autonomous mobile device 21, and the angular velocity in the pitch, roll, and yaw directions.

[0045] The movement mechanism 215 is a mechanism that allows the autonomous mobile device 21 to move autonomously. The movement mechanism 215 is, for example, wheels or legs for walking. The movement mechanism 215 is controlled by the processor 211. In the following example, the movement mechanism 15 is assumed to be wheels. Although not shown, the autonomous mobile device 21 is equipped with an actuator such as a motor unit, and moves by driving the movement mechanism 15 with this actuator.

[0046] The antenna 216 is an antenna for receiving signals from the GNSS satellites 200. A communication module (not shown) receives the signals transmitted from the satellites via the antenna 216, and the communication module can calculate position information. The calculated position information is processed by the processor 211 or transmitted to the management device 1 via the wireless communication interface 213.

[0047] Fig. 5 is a diagram showing an example of a functional block diagram of the autonomous mobile device 21. In the autonomous mobile device 21, as shown in Fig. 5, a program (software) is executed by the processor 211 to realize a movement control unit 251, an environmental data processing unit 252, and a positioning processing unit 253. A data storage unit 254 is realized in the memory 212.

[0048] The movement control unit 251 executes processing to control the movement of the autonomous mobile device 21 based on the data stored in the data storage unit 254 .

[0049] The environmental data processing unit 252 executes processing such as transmitting the data acquired by the sensor 214 and stored in the data storage unit 254 to the management device 1.

[0050] The positioning processing unit 253 executes processing for RTK-GNSS positioning based on the data stored in the data storage unit 254.

[0051] The data storage unit 254 stores information about work tasks, information about the mode of the own machine, data acquired by the sensor 214, data acquired by the antenna 216, and the like.

[0052] Next, a situation in which the management device 1 selects an autonomous mobile device 21 as a base station will be described. Fig. 6 is a diagram for explaining a situation in which the management device 1 selects an autonomous mobile device 21 as a base station. Here, it is assumed that there is one fixed base station 10 in a workplace WF, where multiple autonomous mobile devices 21 work in the workplace WF. The workplace WF is, for example, a construction site, a farm, a port, or the like.

[0053] Furthermore, the area that can be covered when the fixed base station 10 operates as a base station is defined as area R0. The fixed base station 10 may be installed in a location where absolute location information (true latitude and longitude) is already known, and the absolute location information is assumed to have been acquired in advance by positioning statistical processing, which will be described later.

[0054] The concept of the area that the fixed base station 10 can cover is an area in which the position information obtained by receiving signals from the GNSS satellites 200 can be corrected using the same correction information, and is determined depending on the application. This definition also applies to the area (hereinafter referred to as R1) that the autonomous mobile device 21 can cover when operating as a base station. For applications requiring highly accurate positioning, this is an area with a radius of, for example, 10 km from the base station, and for applications requiring less accurate positioning, this is an area with a radius of, for example, 100 km from the base station.

[0055] In the following description, when distinguishing between an autonomous mobile device 21 operating in base station mode and an autonomous mobile device 21 operating in mobile station mode, the former will be referred to as a selected mobile device 23 and the latter as a working mobile device 25.

[0056] As shown in (A) of Figure 6, when the work task of the working mobile device 25 is completed within area R0 of the fixed base station 10, the working mobile device 25 can perform accurate positioning using correction information from the fixed base station 10, and can carry out the work task. On the other hand, as shown in (B) of Figure 6, when the work task of the working mobile device 25 includes an area outside area R0 of the fixed base station 10, the working mobile device 25 outside area R0 cannot perform accurate positioning using correction information from the fixed base station 10. Therefore, the selected mobile device 23 is moved and operated as a base station so that area R1 of the selected mobile device 23 includes the work area of ​​the working mobile device 25. As a result, even if the work area of ​​the working mobile device 25 is outside area R0 of the fixed base station 10, accurate positioning can be performed using correction information from the selected mobile device 23 as long as it is within area R1 of the selected mobile device 23.

[0057] The location where the selected mobile device 23 is moved and stopped is selected so that no obstacles will block the signal from the GNSS satellite 200 to the autonomous mobile device 21. When selecting a location where no obstacles will block the signal from the satellite to the autonomous mobile device 21, the elevation angle is taken into consideration, as an example. FIG. 7 is a diagram showing the relationship between the position CP of the antenna 216 of the autonomous mobile device 21 and the position of the satellite. For example, a location is identified where there are no or relatively few obstacles, such as buildings or trees, at an elevation angle of 30 degrees or more from the position CP of the antenna 216. In this case, for example, a condition may be that the number of obstacles at an elevation angle of 30 degrees or more around the position CP of the antenna 216 is less than a predetermined number, or that the area (volume) occupied by obstacles at an elevation angle of 30 degrees or more around the position CP of the antenna 216 is less than a predetermined value. A stricter criterion may be an elevation angle of 20 degrees or more. Furthermore, the slope of the earth's surface may be used as a condition for identifying a location.

[0058] FIG. 8 is a diagram for explaining the surrounding environment of the autonomous mobile device 21 that serves as a base station. For example, assuming that there are no obstacles such as buildings or trees at an elevation angle of 20 degrees or more, an area UF shaped like an inverted triangular pyramid at an elevation angle of 20 degrees from the position CP of the antenna 216 is monitored, as shown in Fig. 8. In order to reduce the number of obstacles, it is preferable that the position CP of the antenna 216 is high, and it is preferable to install it, for example, at least 2 m above the ground surface.

[0059] 9 is a diagram showing an overview of positioning in this embodiment. As shown in FIG. 6B, when the selected mobile device 23 is moved to a specified location (hereinafter, "specified location") outside the area R0 and operated as a base station, the location of the selected mobile device 23 can be identified using a correction signal SG1 emitted by the fixed base station 10 while the selected mobile device 23 is moving. That is, the fixed base station 10 has absolute location information (true latitude and longitude) of the location where the fixed base station 10 is installed, and calculates an offset amount of the signal from the GNSS satellite 200 by receiving a signal from the GNSS satellite 200 and comparing it with the absolute location information. Then, the fixed base station 10 transmits this offset amount as a correction signal SG1 to the management device 1, and the management device 1 transmits the correction signal SG1 to the selected mobile device 23. The selected mobile device 23 can accurately acquire the location information of the autonomous mobile device 21 by correcting the location information obtained by receiving the signal from the GNSS satellite 200 based on the correction signal SG1. The correction signal SG1 may be generated not only by the fixed base station 10 but also by the management device 1 or by the selected mobile station 23 as the recipient.

[0060] The selected mobile terminal 23 moves to a specific location, then stops, measures signals from GNSS satellites 200 by standalone positioning, and performs statistical processing (calibration) to acquire absolute position information (true latitude and longitude) of the selected mobile terminal 23. Hereinafter, this processing is referred to as positioning statistical processing (survey-in). The positioning statistical processing takes, for example, about 4 to 12 hours. The selected mobile terminal 23 can acquire absolute position information of its stationary position by statistically processing signals from GNSS satellites 200 using the positioning statistical processing. Note that if there is a period of time between the start and end of the positioning statistical processing in which the surrounding environment is not suitable for statistical processing, the accuracy of the statistical processing can be improved by, for example, excluding data from that period.

[0061] The selected mobile device 23 calculates the offset amount of the signal from the GNSS satellite 200 at the specific location by comparing the absolute position information acquired by the positioning statistical processing with the signal from the GNSS satellite 200 received at the specific location, and transmits this offset amount as a correction signal SG2 to the management device 1. By receiving the correction signal SG2 from the management device 1, the work mobile device 25 can use the correction signal SG2 to accurately identify the position of the work mobile device 25. Therefore, the management device 1 can achieve safe operation and remote control within the work site using highly accurate position information.

[0062] After starting the positioning statistical process, the selected mobile device 23 does not move as long as it is in base station mode, operating as a base station. That is, even after the positioning statistical process is completed, the selected mobile device 23 remains stationary as long as it is in base station mode and emitting the correction signal SG2. Because the signals from the GNSS satellites 200 fluctuate depending on the weather, surrounding environment, etc., the correction signal SG2 also changes over time. Therefore, the selected mobile device 23 constantly emits the correction signal SG2, and the working mobile device 25 constantly receives the correction signal SG2.

[0063] Figure 10 is a diagram showing an example of a processing flow for operating a waiting autonomous mobile device 21 as a base station, Figure 11 is a diagram showing an example of a processing flow for creating an operation plan, and Figure 12 is a diagram showing a schematic diagram of the processing when moving one selected mobile device 23 to operate as a base station.

[0064] 10, the operation plan creation unit 150 of the management device 1 detects the occurrence of a predetermined event (step S101). The predetermined event is, for example, (1) a work task is set outside the area R0 covered by the fixed base station 10, (2) the fixed base station 10 goes down (i.e., becomes inoperable), or (3) a user inputs an instruction to operate without installing the fixed base station 10. When the predetermined event occurs, the operation plan creation unit 150 can determine the area and period in which the autonomous mobile device 21 should operate as a base station.

[0065] The operation plan creation unit 150 creates an operation plan based on the predetermined event that has occurred (step S102).

[0066] The operation plan creation process will be explained in more detail with reference to FIG. 11. The operation plan creation unit 150 selects one autonomous mobile device that is on standby (i.e., not scheduled to operate) during the first predetermined period based on the operation plan data stored in the data storage unit 170 (step S103).

[0067] The operation plan creation unit 150 selects one candidate location within the work area WF where the selected mobile device 23 will operate as a base station (step S105) based on the point cloud data stored in the data storage unit 170. In step S105, for example, as described above, a location where no obstacles block signals from the GNSS satellites 200 to the selected mobile device 23 is selected.

[0068] The operation plan creation unit 150 presents the selected candidate locations to the user. Then, the operation plan creation unit 150 determines whether the user has input OK (that is, whether the user has approved the identified candidate locations) (step S107). Note that if the user is unable to input OK to the management device 1 or if the user has previously input that the processing of step S107 may be skipped, the processing of step S107 may be skipped.

[0069] If the user does not input OK (step S107: NO route), the operation plan creation unit 150 selects another candidate location, and the process returns to step S105. On the other hand, if the user inputs OK (step S107: YES route), the operation plan creation process ends. Note that when reselecting a candidate location, the user may manually input the candidate location. Hereinafter, the candidate location identified in step S107 is referred to as the specific location.

[0070] 10, when the operation plan is created, the operation plan execution unit 160 transmits a movement instruction to the specific location to the selected mobile device 23, as shown in (A) of Fig. 12 (step S111). Upon receiving the movement instruction, the selected mobile device 23 moves to the specific location by the movement mechanism 215.

[0071] When the selected mobile device 23 moves to the specific location, the environmental data processing unit 252 of the selected mobile device 23 acquires data on the environment around the selected mobile device 23 (hereinafter referred to as ambient environment data). The ambient environment data includes, for example, image data acquired by a camera and data acquired by LiDAR. The environmental data processing unit 252 of the selected mobile device 23 transmits the acquired ambient environment data to the management device 1, and the operation plan creation unit 150 receives the ambient environment data (step S113). If the camera of the selected mobile device 23 is mounted only on the front and cannot acquire rearward images, the selected mobile device 23 may acquire the ambient environment data by, for example, traveling in a circle around the specific location.

[0072] The operation plan creation unit 150 determines whether there is a problem with the surrounding environment of the specific location based on the received surrounding environment data (step S115). If there is a problem with the surrounding environment of the specific location (for example, there is an obstacle in the vicinity) (step S115: NO route), the process returns to step S105 of the operation plan creation process, and a candidate location is selected again, and an operation plan is created again. Although a candidate location is selected using point cloud data in the process of step S105, there may be an obstacle not reflected in the point cloud data, or other problems may arise in the surrounding environment later, so the processes of steps S113 and S115 are executed. Note that in addition to the processes of steps S113 and S115, a process of checking the reception status of signals from GNSS satellites 200 may be executed.

[0073] On the other hand, if there is no problem with the surrounding environment (step S115: YES route), the operation plan execution unit 160 transmits an instruction to change to the base station mode and an instruction to start positioning statistical processing (survey-in) to the selected mobile device 23 (step S117), as shown in (B) of Fig. 12. After completing the positioning statistical processing, the operation plan execution unit 160 transmits an instruction to transmit a correction signal SG2 to the selected mobile device 23 (step S119).

[0074] In this way, the selected mobile unit 23 starts operating as a base station. By the selected mobile unit 23 issuing the correction signal SG2 in base station mode, the management device 1 can use this correction signal SG2 to accurately identify the position of the work mobile unit 25. Therefore, safe operation and remote control within the work site WF can be achieved using highly accurate position information.

[0075] Furthermore, even if the area is outside the area R0 of the fixed base station 10, the area in which work can be performed can be dynamically expanded according to the need for work.

[0076] Furthermore, although installation of the fixed base station 10 is relatively costly, costs can be reduced by operating the autonomous mobile device 21 as a base station. Furthermore, maintenance costs can also be reduced. Note that the autonomous mobile device 21 may be equipped with the wireless communication interface 213, antenna 216, and battery as a detachable base station unit, and the base station unit may be installed after the autonomous mobile device 21 moves to a specific location.

[0077] 10 to 12 illustrate the process of moving one autonomous mobile device 21 to operate as a base station, but the present invention is not limited to this and two autonomous mobile devices 21 may be moved. Fig. 13 is a diagram schematically showing the process of moving two selected mobile devices 23 to operate as base stations.

[0078] In this case, the operation plan creation unit 150 selects two autonomous mobile devices 21 that are on standby (i.e., not scheduled to operate) during the target period based on the operation plan data stored in the data storage unit 170, and transmits instructions to move to each specific location to the two selected mobile devices 23, as shown in (A) of Fig. 13. Hereinafter, one selected mobile device 23 will be referred to as the first selected mobile device 23A, and the other selected mobile device 23 will be referred to as the second selected mobile device 23B.

[0079] 12(B), the first selected mobile terminal 23A is instructed to start positioning statistical processing (survey-in) in the first specific location, and the second selected mobile terminal 23B is instructed to emit a correction signal SG2 as a base station in the second specific location. This allows the working mobile terminal 25 to perform a work task outside the area R0 of the fixed base station 10 without waiting for the completion of the positioning statistical processing by the first selected mobile terminal 23A. Note that the first specific location and the second specific location are preferably overlapping areas of each other's areas R1.

[0080] In the example of (B) in Fig. 12, the second specific location is within area R0 of the fixed base station 10. If the second specific location is within area R0 of the fixed base station 10, the position of the second selected mobile device 23B can be accurately identified using a correction signal SG1 from the fixed base station 10, and the position of the working mobile device 25 can also be accurately identified using a correction signal SG2 from the second selected mobile device 23B. However, the second specific location may be outside area R0. Even if the second specific location is outside area R0 of the fixed base station 10, the position can be identified with higher accuracy than when the working mobile device 25 performs independent positioning.

[0081] Furthermore, by moving with two selected mobile devices 23, in step S113 of Figure 10, the camera of the first selected mobile device 23A can acquire ambient environment data for the second selected mobile device 23B, and conversely, the camera of the second selected mobile device 23B can acquire ambient environment data for the first selected mobile device 23A.

[0082] After completing the positioning statistical processing, the first selected mobile device 23A starts operating as a base station. This allows the working mobile device 25 to use the correction signal SG2 of the first selected mobile device 23A, which has more accurate position information (absolute position information) over a wider range, and the management device 1 can accurately identify the position of the working mobile device 25. The second selected mobile device 23B is a temporary base station until the positioning statistical processing of the first selected mobile device 23A is completed, and after the first selected mobile device 23A completes the positioning statistical processing, it is instructed to end the base station mode and wait at a predetermined location. In addition, when it is preferable to leave the second selected mobile device 23B as a base station rather than leaving the first selected mobile device 23A as a base station, such as when the first selected mobile device 23A has a low remaining battery, the first selected mobile device 23A may be made to wait at a predetermined location after the positioning statistical processing is completed, and the second selected mobile device 23B may be moved to a first specific location where the first selected mobile device 23A performed the positioning statistical processing, and the second selected mobile device 23B may be made to operate as a base station.

[0083] Next, a process of replacing the autonomous mobile device 21 as a base station will be described. Fig. 14 is a diagram showing an example of a process flow for replacing the autonomous mobile device 21 as a base station, Fig. 15 is a diagram showing an example of a process flow for creating a replacement operation plan, and Fig. 16 is a diagram schematically showing the process of replacing the autonomous mobile device 21 as a base station.

[0084] 14, the operation plan creation unit 150 of the management device 1 identifies an autonomous mobile device 21 that is in base station mode (i.e., operating as a base station) in the work site WF based on the mode management data stored in the data storage unit 170 (step S201). Hereinafter, the autonomous mobile device 21 identified in step S201 will be referred to as a specific mobile device 27.

[0085] The operation plan creation unit 150 determines whether the remaining battery power of the specific mobile device 27 is less than a predetermined amount (step S203). Information on the remaining battery power may be periodically provided from the selected mobile device 23, or may be calculated based on the remaining power at the start of the base station mode and the time elapsed since the start.

[0086] If the remaining battery power is not less than the predetermined amount (step S203: NO route), the process ends since there is no need to replace the specific mobile device 27. On the other hand, if the remaining battery power is less than the predetermined amount (step S203: YES route), the operation plan creation unit 150 creates an operation plan for replacing the specific mobile device 27 operating with the base station (step S205).

[0087] 15, the process of creating an operation plan related to replacement will be explained in more detail. The operation plan creation unit 150 selects an autonomous mobile device 21 that will operate as a base station in place of the specific mobile device 27 (step S207). Specifically, the operation plan creation unit 150 selects one autonomous mobile device that is on standby (i.e., not scheduled to operate) during the second predetermined period, based on the operation plan data stored in the data storage unit 170. Hereinafter, the autonomous mobile device 21 selected in step S207 will be referred to as the selected mobile device 23.

[0088] Next, the operation plan creation unit 150 selects a destination of the selected mobile machine 23. Specifically, the operation plan creation unit 150 determines whether the destination of the selected mobile machine 23 should be the same location as the location where the specified mobile machine 27 is located by referring to point cloud data of the workplace WF, etc. (step S209).

[0089] If a problem subsequently occurs in the surrounding environment or if a new obstruction condition is met, causing a malfunction in the function as a base station at the same location (step S209: NO route), the operation plan creation unit 150 selects another candidate location from within the workshop WF as a candidate location where the specific mobile device 27 operates as a base station (hereinafter also referred to as a replacement candidate location) based on the point cloud data stored in the data storage unit 170 (step S211). The selection conditions for the replacement candidate location are as described in Figs. 7 and 8. The operation plan creation unit 150 presents the replacement candidate location to the user.

[0090] Then, the operation plan creation unit 150 determines whether or not the user has input OK (that is, whether the user has approved the replacement candidate location) (step S213). Note that if the user is unable to input OK to the management device 1, or if the user has previously input that the processing of step S213 may be skipped, the processing of step S213 may be skipped.

[0091] If the user does not input OK (step S213: NO route), the operation plan creation unit 150 selects another replacement candidate location, and the process returns to step S211. On the other hand, if there is no problem with the same location in step S209, the operation plan creation unit 150 creates an operation plan with the same location as the replacement candidate location and ends the operation plan creation process. Also, if the user inputs OK in step S213 (steps S209, S213: YES route), the operation plan is created with the newly selected other location as the replacement candidate location and ends the operation plan creation process. Note that when reselecting a replacement candidate location, the user may manually input the replacement candidate location. Hereinafter, the candidate locations identified in steps S209 and S213 are referred to as replacement specified locations.

[0092] 14, when the operation plan is created, the operation plan execution unit 160 transmits a movement instruction to the replacement specific location to the selected mobile device 23 (step S217), as shown in (A) of Fig. 16. Upon receiving the movement instruction, the selected mobile device 23 moves to the replacement specific location by the movement mechanism 215.

[0093] When the selected mobile device 23 moves to the replacement specific location, the environmental data processing unit 252 of the selected mobile device 23 acquires the surrounding environment data of the selected mobile device 23. The environmental data processing unit 252 of the selected mobile device 23 transmits the acquired surrounding environment data to the management device 1, and the operation plan creation unit 150 receives the surrounding environment data (step S219). In cases where the selected mobile device 23 has a camera mounted only on the front and cannot acquire rearward video, the selected mobile device 23 may acquire the surrounding environment data by, for example, driving around the vicinity of the identified candidate location. Note that if the replacement specific location is the same location as the location where the specific mobile device 27 is present, the surrounding environment data may be acquired from the specific mobile device 27.

[0094] The operation plan creation unit 150 determines whether there is a problem with the surrounding environment based on the received surrounding environment data (step S221). If there is a problem with the surrounding environment (for example, there is an obstacle in the vicinity) (step S221: NO route), the process returns to step S211 of the operation plan creation process, and the operation plan is created again. Although a replacement candidate location is selected using point cloud data in the process of step S211, the process of step S221 is executed because there may be an obstacle not reflected in the point cloud data, or other problems may later occur in the surrounding environment of the location where the specific mobile device 27 was located. Note that in addition to the process of step S221, a process of checking the reception status of signals from GNSS satellites 200 may be executed.

[0095] On the other hand, if there is no problem with the surrounding environment (step S221: YES route), the operation plan execution unit 160 determines whether the replacement specific location is the same location as the location where the specific mobile unit 27 was located, and if it is the same location (step S223: YES route), since absolute position information already exists, it sends an instruction to change to base station mode and an instruction to send correction signal SG2 to the selected mobile unit 23 (step S225).

[0096] If, in step S223, the location is not the same as the location where the specific mobile terminal 27 was located (step S223: NO), the operation plan execution unit 160 checks whether or not there is absolute position information for that location (step S227). If, in step S227, there is already absolute position information, for example, if the location is one for which positioning data exists after previous positioning statistical processing (step S227: YES route), the operation plan execution unit 160 transmits an instruction to change to the base station mode and an instruction to transmit a correction signal SG2 to the selected mobile terminal 23 (step S225).

[0097] On the other hand, if there is no absolute position information in step S227 (step S227: NO route), for example, if the specific candidate site is an unexplored location, the operation plan execution unit 160 transmits an instruction to start positioning statistical processing (survey-in) to the selected mobile device 23 (step S229). After completing the positioning statistical processing, the operation plan execution unit 160 transmits an instruction to change to the base station mode and an instruction to transmit a correction signal SG2 to the selected mobile device 23 (step S225).

[0098] By performing the above-described processing, even when an autonomous mobile device 21 with battery limitations is used as a base station, it is possible to prevent the base station from stopping operation while a work task is being performed. Note that, in the above-described flow, the necessity of replacement is determined based on the remaining battery power of the autonomous mobile device 21 as a base station, but this is not limiting, and the necessity of replacement may also be determined based on the operating state of the autonomous mobile device 21 as a base station, for example, the presence or absence of a malfunction, or the necessity of replacement may also be determined based on the presence or absence of a change in the operation plan of the autonomous mobile device 21 as a base station.

[0099] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present invention is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention. Furthermore, the components of the above-described embodiments may be combined in any manner without departing from the spirit of the invention.

[0100] The positioning method is not limited to RTK-GNSS, and other relative positioning methods that use base stations (or reference points) can also be used.

[0101] Furthermore, a charger for charging the autonomous mobile device 21 is provided within the work site WF, and by knowing the absolute position information of the installation location of the charger in advance, it can be operated as a base station while the autonomous mobile device 21 is being charged. Furthermore, a headquarters base is provided within the work site WF, and by installing a fixed base station 10 at the headquarters base, for example, when the autonomous mobile device 21 is to be transported at a construction site, the headquarters base can be moved according to the progress of the construction, thereby making it possible to dynamically set the area R0 covered by the fixed base station 10. Furthermore, a waiting area where the autonomous mobile device 21 waits and a charging base where a charger is installed may be provided side by side. By charging the autonomous mobile device 21 while it is waiting, the autonomous mobile device 21 can be used efficiently.

[0102] The management device 1 may be a server device installed at a headquarters or other location, or may be a distributed server configured by a plurality of server devices or a distributed virtual server (cloud server) created in a cloud environment. Furthermore, at least one of the autonomous mobile devices 21 may be designated as a master mobile device and the other autonomous mobile devices 21 as slave mobile devices, and the master mobile device may be given the functions of the management device 1.

[0103] The management method described in the above embodiment can be realized by executing a prepared control program on a computer. The control program is recorded on a computer-readable storage medium and executed by being read from the storage medium. The control program may be provided in a form stored on a non-transitory storage medium such as a flash memory, or may be provided via a network such as the Internet.

[0104] This specification also describes at least the following: Note that the components in parentheses correspond to those in the above-described embodiment, but are not limited to these.

[0105] (1) A management system (management system 100) including a plurality of autonomous mobile devices (autonomous mobile devices 21) and an information processing device (management device 1), The plurality of autonomous mobile devices each an autonomous movement control unit (movement control unit 251) that controls autonomous movement; a receiving unit (antenna 216) for receiving signals from a satellite (GNSS satellite 200) in the satellite positioning system; The information processing device has an operation plan creation unit (operation plan creation unit 150) that creates operation plans for the plurality of autonomous mobile devices, The operation plan creation unit Among the plurality of autonomous mobile devices, an autonomous mobile device that can secure a schedule for operation during a first predetermined period is selected as a first autonomous mobile device (selected mobile device 23); creating the operation plan so that the first autonomous mobile device moves to a predetermined geographical location and remains stationary for at least a portion of the first predetermined period; Management system.

[0106] According to (1), an autonomous mobile device that is not scheduled to operate can operate as a base station, which allows for more flexible setting of the area where positioning is possible. This makes it possible to perform highly accurate positioning over a wider area.

[0107] (2) The management system according to (1), The operation plan creation unit Among the plurality of autonomous mobile devices, an autonomous mobile device that can secure a schedule for operation in a second predetermined period that is after the start of the first predetermined period is selected as a second autonomous mobile device (selected mobile device 23); creating the operation plan to move the second autonomous mobile device to the predetermined geographical location; Management system.

[0108] According to (2), the second autonomous mobile device can take over the function of the first autonomous mobile device as a base station.

[0109] (3) The management system according to (2), The operation plan creation unit creating the operation plan so that the second autonomous mobile device moves to the predetermined geographical location and remains stationary for at least a portion of the second predetermined period; Management system.

[0110] According to (3), the second autonomous mobile device can take over the function of the first autonomous mobile device as a base station.

[0111] (4) The management system according to (2) or (3), The operation plan creation unit creating the operation plan so as to move the second autonomous mobile device to the predetermined geographical position and to move the first autonomous mobile device (specific mobile device 27) away from the predetermined geographical position; Management system.

[0112] According to (4), after the second autonomous mobile device takes over the function of the base station, the first autonomous mobile device can be moved.

[0113] (5) The management system according to (4), The operation plan creation unit determining the departure of the first autonomous mobile device based on the remaining battery power of the first autonomous mobile device; Management system.

[0114] According to (5), by determining whether to leave the autonomous mobile station functioning as a base station depending on the remaining battery power, it is possible to avoid loss of base station function due to insufficient remaining battery power.

[0115] (6) The management system according to (4), The operation plan creation unit determining the departure of the first autonomous mobile device based on the operation state of the first autonomous mobile device; Management system.

[0116] According to (6), by determining the departure of an autonomous mobile station functioning as a base station depending on the operating state, it is possible to avoid loss of the function as a base station due to a failure of the autonomous mobile station.

[0117] (7) The management system according to (4), The operation plan creation unit determining the departure of the first autonomous mobile device based on whether or not there is a change in the operation schedule of the first autonomous mobile device during the first predetermined period; Management system.

[0118] According to (7), by determining whether to leave the autonomous mobile device functioning as a base station in response to changes in the operation schedule, the autonomous mobile device can be utilized effectively.

[0119] (8) The management system according to any one of (4) to (7), The operation plan creation unit creating the operation plan so that the second autonomous mobile device is stopped at the same position as the predetermined geographical position when the predetermined geographical position satisfies a first condition related to the surrounding environment; Management system.

[0120] According to (8), if the resting location of the first autonomous mobile device is suitable for arranging a base station, positioning with high accuracy can be continued by arranging the second autonomous mobile device in the same location.

[0121] (9) The management system according to (8), the first condition includes at least one of a condition regarding an elevation angle between an object around the predetermined geographical position and the first autonomous mobile device, a condition regarding a height of the object around the predetermined geographical position, and a condition regarding a slope of the earth's surface; Management system.

[0122] According to (9), highly accurate positioning is possible by determining the position of an autonomous mobile device functioning as a base station based on factors that reduce the accuracy of positioning.

[0123] (10) The management system according to (8) or (9), The operation plan creation unit creating the operation plan so that the second autonomous mobile device is stopped at another position that satisfies the first condition and is different from the predetermined geographical position, when the predetermined geographical position satisfies a second condition related to the surrounding environment or when the predetermined geographical position subsequently no longer satisfies the first condition; Management system.

[0124] According to (10), if the resting location of the first autonomous mobile device is not suitable for placing a base station, or if it becomes unsuitable later, highly accurate positioning is possible by placing the second autonomous mobile device in a different location.

[0125] (11) The management system according to (10), The other location is a location for which positioning data already exists. Management system.

[0126] According to (11), even if the resting position of the second autonomous mobile device is set to a location different from the resting position of the first autonomous mobile device, if positioning data exists, there is no need to perform positioning statistical processing after the second autonomous mobile device comes to a stop, so positioning can be continued with high accuracy.

[0127] (12) The management system according to any one of (2) to (11), The first autonomous mobile device and the second autonomous mobile device each The autonomous movement control unit, the receiving unit, and a battery are included, the receiving unit and the battery constitute a detachable unit (base station unit) that can be detached from the aircraft body; the first autonomous mobile device and the second autonomous mobile device install the detachable body at the predetermined geographical location; Management system.

[0128] According to (12), the part that functions as a base station can be attached to and detached from the autonomous mobile device, improving convenience.

[0129] (13) A management method for creating an operation plan for a plurality of autonomous mobile devices (autonomous mobile devices 21) each capable of receiving a signal from a satellite (GNSS satellite 200) in a satellite positioning system, the method comprising: a step of selecting, from among the plurality of autonomous mobile devices, an autonomous mobile device that can secure a schedule for operation during a first predetermined period as a first autonomous mobile device (step S103); and creating the operation plan (step S102) to move the first autonomous mobile device to a predetermined geographical location and keep the first autonomous mobile device stationary for at least a portion of the first predetermined period. Management method.

[0130] According to (13), an autonomous mobile device that is not scheduled to operate can operate as a base station, which allows for more flexible setting of the area where positioning is possible. This makes it possible to perform highly accurate positioning over a wider area.

[0131] (14) A management program for creating an operation plan for a plurality of autonomous mobile devices (autonomous mobile devices 21) each capable of receiving a signal from a satellite (GNSS satellite 200) in a satellite positioning system, a step of selecting, from among the plurality of autonomous mobile devices, an autonomous mobile device that can secure a schedule for operation during a first predetermined period as a first autonomous mobile device (step S103); and creating the operation plan (step S102) to move the first autonomous mobile device to a predetermined geographical location and keep it stationary for at least a portion of the first predetermined period.

[0132] According to (14), an autonomous mobile device that is not scheduled to operate can operate as a base station, which allows for more flexible setting of the area where positioning is possible. This makes it possible to perform highly accurate positioning over a wider area.

[0133] (15) A computer-readable storage medium storing the management program described in (14).

[0134] According to (15), an autonomous mobile device that is not scheduled to operate can operate as a base station, which allows for more flexible setting of the area where positioning is possible. This makes it possible to perform highly accurate positioning over a wider area.

[0135] (16) The management system according to any one of (1) to (12), The plurality of autonomous mobile devices each A communication unit (wireless communication interface 213) capable of transmitting and receiving signals related to positioning (correction signals SG1 and SG2) is provided. Management system. [Explanation of symbols]

[0136] 1 Management device (information processing device) 21 Autonomous Mobile Device 100 Management Systems 150 Operation Planning Department 200 GNSS satellites (satellites) 216 Antenna (receiving part) 251 Mobility control unit (autonomous mobility control unit)

Claims

1. A management system including a plurality of autonomous mobile devices and an information processing device, The plurality of autonomous mobile devices each an autonomous movement control unit that controls autonomous movement; a receiving unit that receives signals from satellites in a satellite positioning system; the information processing device has an operation plan creation unit that creates operation plans for the plurality of autonomous mobile devices, The operation plan creation unit Among the plurality of autonomous mobile devices, an autonomous mobile device that can secure a schedule for operation during a first predetermined period is selected as a first autonomous mobile device; creating the operation plan so that the first autonomous mobile device moves to a predetermined geographical location and remains stationary for at least a portion of the first predetermined period; Management system.

2. The management system according to claim 1, The operation plan creation unit Among the plurality of autonomous mobile devices, an autonomous mobile device that can secure a schedule for operation in a second predetermined period that is after the start of the first predetermined period is selected as a second autonomous mobile device; creating the operation plan to move the second autonomous mobile device to the predetermined geographical location; Management system.

3. 3. The management system according to claim 2, The operation plan creation unit creating the operation plan so that the second autonomous mobile device moves to the predetermined geographical location and remains stationary for at least a portion of the second predetermined period; Management system.

4. 4. The management system according to claim 2 or 3, The operation plan creation unit creating the operation plan to move the second autonomous mobile device to the predetermined geographical position and to move the first autonomous mobile device away from the predetermined geographical position; Management system.

5. 5. The management system according to claim 4, The operation plan creation unit determining the departure of the first autonomous mobile device based on a remaining battery level of the first autonomous mobile device; Management system.

6. 5. The management system according to claim 4, The operation plan creation unit determining the departure of the first autonomous mobile device based on an operation state of the first autonomous mobile device; Management system.

7. 5. The management system according to claim 4, The operation plan creation unit determining the departure of the first autonomous mobile device based on whether or not there is a change in the operation schedule of the first autonomous mobile device during the first predetermined period; Management system.

8. The management system according to any one of claims 4 to 7, The operation plan creation unit creating the operation plan so that the second autonomous mobile device is stopped at the same position as the predetermined geographical position when the predetermined geographical position satisfies a first condition related to the surrounding environment; Management system.

9. The management system according to claim 8, the first condition includes at least one of a condition regarding an elevation angle between an object around the predetermined geographical position and the first autonomous mobile device, a condition regarding a height of the object around the predetermined geographical position, and a condition regarding a slope of the earth's surface; Management system.

10. 10. The management system according to claim 8 or 9, The operation plan creation unit creating the operation plan so that the second autonomous mobile device is stopped at another position that satisfies the first condition and is different from the predetermined geographical position, when the predetermined geographical position satisfies a second condition related to the surrounding environment or when the predetermined geographical position subsequently no longer satisfies the first condition; Management system.

11. The management system according to claim 10, The other location is a location for which positioning data already exists. Management system.

12. 12. The management system according to claim 2, The first autonomous mobile device and the second autonomous mobile device each The autonomous movement control unit, the receiving unit, and a battery are included, the receiving unit and the battery constitute a detachable body that can be detached from the aircraft body; the first autonomous mobile device and the second autonomous mobile device install the detachable body at the predetermined geographical location; Management system.

13. A management method for creating an operation plan for a plurality of autonomous mobile devices each capable of receiving signals from a satellite in a satellite positioning system, comprising: selecting, from among the plurality of autonomous mobile devices, an autonomous mobile device that can secure a schedule for operation during a first predetermined period as a first autonomous mobile device; creating the operation plan so that the first autonomous mobile device moves to a predetermined geographical location and remains stationary for at least a portion of the first predetermined period; Management method.

14. A management program for creating an operation plan for a plurality of autonomous mobile devices each capable of receiving signals from a satellite in a satellite positioning system, selecting, from among the plurality of autonomous mobile devices, an autonomous mobile device that can secure a schedule for operation during a first predetermined period as a first autonomous mobile device; and creating the operation plan so as to move the first autonomous mobile device to a predetermined geographical location and keep the first autonomous mobile device stationary for at least a portion of the first predetermined period.

15. A computer-readable storage medium storing the management program according to claim 14.

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