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

Abstract

An information processing device includes a virtual map acquisition unit that acquires a three dimensional virtual map corresponding to a real space in which a moving body moves, a detection information acquisition unit that acquires detection information acquired by the moving body in the real space, and a display unit that displays the detection information on the virtual map.SOLUTION: The detection information is information detected by an instrument provided in the real space. The display unit may display a position of the at least one meter on the virtual map, and when one meter is designated, the display unit may display the sensing information sensed by the designated meter. The display unit may be configured to display, on the virtual map, a position of a candidate for the at least one meter from which the mobile object is to acquire the sensing information. The information processing apparatus may further include a movement destination setting section that sets the position of the designated candidate as the movement destination of the mobile body when one candidate is designated.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] Patent Document 1 states that "the map is a three-dimensional map" (claim 8). Patent Document 2 states that "three-dimensional environmental map information is generated based on distance information acquired by a distance sensor" (claim 1). Patent Document 3 states that "The robot body 10 is equipped with various sensors, such as temperature sensors 44, that detect physical quantities of the surrounding environment" (paragraph 0022). Patent Document 4 states that "the entry of an obstacle into the monitoring area is detected, and obstacles in different directions relative to the machine body are detected" (Claim 1). Patent Document 5 states that "an environmental map that represents the three-dimensional positions of objects that exist in real space is dynamically generated" (paragraph 0034). [Prior art document] [Patent documents] [Patent Document 1] Patent No. 7452706 [Patent Document 2] JP 2014-157478 A [Patent Document 3] JP 2015-1810 A [Patent Document 4] JP 2018-141314 A [Patent Document 5] JP 2024-62741 A Summary of the Invention

[0003] In a first aspect of the present invention, there is provided an information processing device. The information processing device includes a virtual map acquisition unit that acquires a three-dimensional virtual map corresponding to a real space in which a mobile object moves, a detection information acquisition unit that acquires detection information acquired by the mobile object in the real space, and a display unit that displays the detection information on the virtual map. The detection information is information detected by an instrument provided in the real space.

[0004] The display unit may display the position of at least one meter on the virtual map, and when one meter is designated, may display detection information detected by the designated meter.

[0005] In any of the information processing devices described above, the display unit may display, on the virtual map, the position of at least one candidate meter from which the mobile object should acquire detection information. Any of the information processing devices described above may further include a destination setting unit that, when one candidate is designated, sets the position of the designated candidate as the destination of the mobile object.

[0006] In any of the above information processing devices, the display unit may display, on the virtual map, candidate positions of a plurality of meters from which the mobile object should continuously obtain detection information. Any of the above information processing devices may further include a destination setting unit that sets, as a destination of the mobile object, the candidate position from which the mobile object should first obtain detection information.

[0007] Any of the above information processing devices may further include a determination unit that determines whether an abnormality has occurred in the real space based on a magnitude relationship between the detection information and a predetermined threshold value of the detection information.

[0008] In any of the information processing devices described above, the display unit may display the order in which the abnormalities occurred on the virtual map in a distinguishable manner.

[0009] Any of the above information processing devices may further include a storage unit that stores the order in which the abnormalities occurred. The display unit may reproduce and display the occurrence of the abnormalities in chronological order on a virtual map.

[0010] In any of the above information processing devices, the determining unit may determine the severity of the abnormality based on a difference between the detection information and a threshold value, and the display unit may display the severity on the virtual map in a distinguishable manner.

[0011] In any of the above information processing devices, the mobile object may have a detection information receiving unit that receives detection information, and the display unit may display on the virtual map any gauge for which the detection information receiving unit has not received detection information.

[0012] In any of the above information processing devices, the detection information receiving unit may be an imaging unit that captures an image of the instrument. The imaging unit may receive the detection information through the captured image of the instrument. The display unit may display, on the virtual map, an image of the instrument for which the imaging unit did not receive detection information.

[0013] In a second aspect of the present invention, there is provided an information processing method. The information processing method includes a virtual map acquisition step of acquiring a three-dimensional virtual map corresponding to a real space in which a mobile object moves, a detection information acquisition step of acquiring detection information acquired by the mobile object in the real space, and a display step of displaying the detection information on the virtual map. The detection information is information detected by an instrument provided in the real space. Information processing methods.

[0014] In a third aspect of the present invention, there is provided an information processing program that causes a computer to execute an information processing method.

[0015] The above summary of the invention does not list all of the features of the present invention, and subcombinations of these features may also be inventions. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a schematic top view showing an example of a real space 110 in which a moving object 90 moves. [Figure 2] FIG. 1 is a perspective view showing an example of a three-dimensional virtual map 120 corresponding to a real space 110. [Figure 3] 1 is a block diagram showing an example of an information processing device 100. FIG. [Figure 4] 3A and 3B are diagrams showing an example of a display mode of a display unit 30. FIG. [Figure 5] 10 is a diagram showing another example of the display mode of the display unit 30. FIG. [Figure 6] FIG. 12 illustrates an example configuration of a computer 1200 in which aspects of the present invention may be embodied in whole or in part. DETAILED DESCRIPTION OF THE INVENTION

[0017] The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the scope of the invention according to the claims. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0018] FIG. 1 is a schematic top view showing an example of a real space 110 in which moving bodies 90 move. In the example of FIG. 1, multiple moving bodies 90 move through the real space 110. In the example of FIG. 1, the multiple moving bodies 90 are moving bodies 90-1 to 90-3. The real space 110 is, for example, a space such as a plant. The real space 110 may be an indoor space or an outdoor space. The real space 110 may be a space that is difficult for humans to enter, such as a space where entry is highly dangerous due to environmental influences such as radiation or toxic gases, or a space where entry itself is difficult due to the presence of obstacles, etc.

[0019] The real space 110 may have a road surface 112 and may be equipped with instruments 114. If the real space 110 is a space such as a plant, the road surface 112 is the floor surface of the plant. The mobile object 90 may travel on the road surface 112.

[0020] The meter 114 detects detection information. The meter 114 may be a measuring instrument that measures a physical quantity of a measurement target in the real space 110. The meter 114 is, for example, a concentration measuring instrument that measures the concentration of a specific type of gas (e.g., CO2 (carbon dioxide), O2 (oxygen), etc.), a dose measuring instrument that measures the dose of radiation, a flow measuring instrument that measures the flow rate of a fluid, a pressure measuring instrument that measures the atmospheric pressure in the real space 110, an acoustic measuring instrument that measures abnormal sounds in the real space 110, etc.

[0021] The detection information detected by the meter 114 may be a physical quantity measured by a measuring instrument that measures the physical quantity of a measurement target in the real space 110. For example, if the meter 114 is a concentration measuring instrument, a dose measuring instrument, a flow measuring instrument, a pressure measuring instrument, or an acoustic measuring instrument, the detection information detected by the meter 114 is the concentration, the dose, the flow rate, the pressure, or the acoustic pressure, respectively.

[0022] The meter 114 may be provided in a device 118 provided in the real space 110. The device 118 is, for example, a device that processes a substance. Processing a substance refers to changing the state of the substance. Changing the state of a substance may refer to changing the shape of the substance, or changing at least one of the properties and chemical formula of the substance through a chemical reaction or the like. The meter 114 may measure a physical quantity of a measurement target in the device 118. If the device 118 is a device that processes a substance, the housing of the device 118 may be provided with a meter or the like that indicates the physical quantity measured by the meter 114. For example, if the device 118 is a device that changes the state of a substance while flowing a fluid (e.g., a nuclear reactor), the device 118 may be provided with a flow meter that measures the flow rate of the fluid as the meter 114. The housing of the device 118 may be provided with a meter or the like that indicates the flow rate measured by the flow meter. For example, if device 118 is a device that changes the state of a substance by using a specific type of gas (e.g., a toxic gas), meter 114 may be a flow meter that measures the flow rate of the gas, a pressure meter that measures the pressure of the gas, etc. The housing of device 118 may be provided with a meter that indicates the flow rate, pressure, etc. measured by meter 114, such as a flow meter or pressure meter.

[0023] The device 118 provided in the real space 110 may be a device that generates electromagnetic waves. The device 118 that generates electromagnetic waves is, for example, a device that generates radiation, a device that generates light with wavelengths ranging from ultraviolet light to infrared light, etc. For example, if the device 118 is a device that generates radiation (for example, an X-ray diffraction device), the device 118 that generates electromagnetic waves may be provided with a power meter that indicates the output of radiation as the meter 114. The housing of the device 118 may be provided with a meter or the like that indicates the output of radiation measured by the power meter.

[0024] The detection information detected by the meter 114 may include a physical quantity measured by the meter 114 provided in the device 118 provided in the real space 110. For example, if the device 118 is a device that changes the state of a substance by flowing a fluid (e.g., a nuclear reactor), the detection information detected by the meter 114 may be the flow rate of the fluid measured by the meter 114 (flow meter) provided in the device 118. For example, if the device 118 is a device that changes the state of a substance by using a specific type of gas, the detection information detected by the meter 114 may be the flow rate or pressure of the gas measured by a flow meter or pressure meter provided in the device 118, respectively. For example, if the device 118 is a device that generates electromagnetic waves, the detection information detected by the meter 114 may be the output of the electromagnetic waves measured by a power meter provided in the device 118.

[0025] The meter 114 may include a detection information transmission unit 116 that transmits the detection information. In the example of Fig. 1, the meters 114-1 to 114-9 include detection information transmission units 116-1 to 116-9, respectively. The detection information transmission unit 116 may transmit the detection information to the outside of the meter 114. The detection information transmission unit 116 may transmit the detection information wirelessly.

[0026] The mobile object 90 may be a robot capable of autonomous travel, or may be a robot that can be remotely controlled by a user 130 (described later) of an information processing device 100 (described later). The mobile object 90 may be a four-legged robot that moves while in contact with a road surface 112, a caterpillar-type or wheel-type robot, or a drone that moves through the air. The mobile object 90 may be a robot that patrols the real space 110.

[0027] The mobile object 90 may have a detection information receiving unit 92 that acquires detection information detected by the meter 114. Each of the multiple mobile objects 90 may have a detection information receiving unit 92 that receives the detection information. In this example, the mobile objects 90-1 to 90-3 have detection information receiving units 92-1 to 92-3, respectively. The detection information receiving unit 92 may receive the detection information transmitted by the detection information transmitting unit 116 of the meter 114 wirelessly. The wireless communication may be short-range wireless (for example, Wifi (registered trademark), Bluetooth (registered trademark), etc.).

[0028] The detection information receiving unit 92 may be an imaging unit (described later) that captures an image showing the detection information. The detection information may be detection information shown on a meter or the like provided on the housing of the device 118. When the detection information receiving unit 92 is an imaging unit, each of the mobile units 90-1 to 90-3 has an imaging unit. The detection information may be information about an obstacle in the real space 110 that is not on the virtual map 120 (described later).

[0029] The plurality of moving bodies 90 may each have a position information acquisition unit 94 that acquires the location of the moving body 90 in the real space 110. The position information acquisition unit 94 is, for example, a GPS (Global Positioning System). In the example of Fig. 1, moving bodies 90-1 to 90-3 each have a position information acquisition unit 94-1 to 94-3, respectively.

[0030] In this specification, technical matters may be explained using orthogonal coordinate axes of the X-axis, Y-axis, and Z-axis. In this specification, a plane parallel to the road surface 112 is defined as the XY plane, and a direction perpendicular to the road surface 112 is defined as the Z-axis direction. In this specification, any one direction within the XY plane is defined as the X-axis direction, and a direction perpendicular to the X-axis within the XY plane is defined as the Y-axis direction. The Z-axis direction may be a direction parallel to the vertical direction, and the XY plane may be a horizontal plane.

[0031] FIG. 2 is a perspective view showing an example of a three-dimensional virtual map 120 corresponding to the real space 110. The virtual map 120 may be a map created for a purpose other than displaying detection information. The virtual map 120 may be a pre-existing map or a map created based on map information acquired by the mobile object 90. Examples of pre-existing maps include CAD data used when the real space 110 was constructed, Google Maps, etc. The map created based on map information acquired by the mobile object 90 is a map created using, for example, SLAM (Simultaneous Localization and Mapping) technology. FIG. 2 shows an area of ​​the virtual map 120 corresponding to the real space 110. The road surface 112, devices 118, and meters 114 of the real space 110 are shown on the virtual map 120. In FIG. 2, only the device 118 corresponding to device 118-6 in FIG. 1 is labeled with the symbols for the device 118 and the meter 114.

[0032] 3 is a block diagram showing an example of an information processing device 100. The information processing device 100 includes a virtual map acquisition unit 10, a detection information acquisition unit 20, a display unit 30, and a control unit 50. The display unit 30 is, for example, a display, a monitor, or the screen of a smartphone. The information processing device 100 may include a destination setting unit 60, a reception unit 62, a determination unit 64, and a storage unit 66. The reception unit 62 is, for example, a keyboard, a mouse, or the like.

[0033] A part or the whole of the information processing device 100 may be realized by a computer. The control unit 50 may be a CPU (Central Processing Unit) of the computer. When the information processing device 100 is realized by a computer, an information processing program for causing the computer to function as the information processing device 100 may be installed on the computer, and an information processing program for causing the computer to execute an information processing method described below may also be installed on the computer.

[0034] The virtual map acquisition unit 10 acquires the virtual map 120. The virtual map acquisition unit 10 may acquire the virtual map 120 via the Internet. The storage unit 66 may store the virtual map 120 acquired by the virtual map acquisition unit 10.

[0035] The detection information acquisition unit 20 acquires detection information acquired by the moving body 90 in the real space 110. The detection information acquisition unit 20 may wirelessly acquire the detection information received by the detection information receiving unit 92 of the moving body 90. The detection information acquisition unit 20 may acquire detection information acquired by each of the multiple moving bodies 90. The detection information receiving unit 92 of the moving body 90 may acquire the detection information each time while moving in the real space 110. The detection information acquisition unit 20 may acquire the detection information acquired each time while the moving body 90 moves.

[0036] The detection information acquisition unit 20 may acquire the detection information of the instrument 114 received by the detection information receiving unit 92 of the mobile body 90 in association with the position information of the instrument 114 acquired by the position information acquisition unit 94 of the mobile body 90.

[0037] Fig. 4 is a diagram showing an example of a display mode of the display unit 30. Fig. 4 shows an example in which a user 130 of the information processing device 100 is viewing the display unit 30 while operating the reception unit 62. A virtual map 120 is displayed on the display unit 30.

[0038] The display unit 30 displays the detection information on the virtual map 120. This allows the user of the information processing device 100 to recognize the detection information on the display unit 30. The detection information may be information displayed as text, or may be information composed of visual elements such as text, illustrations, drawings, and symbols. The display unit 30 may display the detection information at a position on the virtual map 120 that corresponds to the position where the mobile object 90 acquired the detection information. This makes it easier for the user of the information processing device 100 to recognize on the display unit 30 which instrument 114 in the real space 110 the detection information is from.

[0039] The receiving unit 62 receives the designation of an instrument 114 on the virtual map 120. The display unit 30 may display the position of at least one instrument 114 on the virtual map 120. When at least one instrument 114 is designated, the display unit 30 may display detection information detected by the designated instrument 114. At least one instrument 114 may be designated by the receiving unit 62. In the example of FIG. 4, the user 130 designates an instrument 114-4 (see FIG. 1) on the display unit 30 with a pointer 32 displayed on the display unit 30. In the example of FIG. 4, the detection information detected by the designated instrument 114-4 is displayed in a speech bubble on the display unit 30. When the user 130 moves the pointer 32 to a location other than the instrument 114-4, the speech bubble indicating the detection information may be erased from the display unit 30.

[0040] The display unit 30 may display, on the virtual map 120, the location of at least one candidate meter 114 from which the mobile object 90 should obtain detection information. The candidate meter 114 may be specified by the user 130. The candidate meter 114 may be a meter 114 for which the user 130 wants to view detection information. The user 130 may specify, with the pointer 32, on the display unit 30, the candidate meter 114 from which detection information should be obtained. In the example of FIG. 4, the user 130 specifies meter 114-4 (see FIG. 1) as the candidate.

[0041] The receiving unit 62 may receive designation of a candidate gauge 114. In this example, the user 130 transmits information indicating the designation of a candidate to the control unit 50 by clicking the mouse, which is the receiving unit 62. The display unit 30 may display the gauges 114 for which detection information has been acquired by at least one moving object 90 within a predetermined period in a manner that allows them to be distinguished from the gauges 114 for which detection information has not been acquired. The display unit 30 may also display the gauges 114 designated by the user 130 in a manner that allows them to be further distinguished.

[0042] When one candidate from which detection information should be acquired is designated, the destination setting unit 60 (see FIG. 3) sets the position of the designated candidate as the destination of the moving object 90. The destination setting unit 60 may transmit the set destination position to the detection information receiving unit 92 of the moving object 90. The detection information receiving unit 92 may receive the destination position. The position information acquiring unit 94 of the moving object 90 may acquire the current position of the moving object 90. The moving object 90 may autonomously travel on the road surface 112 (see FIG. 1) based on the current position and the destination position. This allows the moving object 90 to move to the position of the instrument 114 from which detection information should be acquired.

[0043] The moving object 90 may acquire information about the road surface 112 included in the virtual map 120 and determine a route to travel from the current location to the destination location. In another example, the destination setting unit 60 may determine the route and notify the moving object 90 of the route. The information about the road surface 112 may be, for example, the position, shape, gradient, width, temperature, condition of the road surface 112, the presence or absence of obstacles on the road surface 112, or the position, shape, size, etc. of the device 118. The condition of the road surface 112 may be the arrangement of unevenness on the road surface 112, the presence or absence of cracks, etc., whether the road surface 112 is wet, or the presence or absence of foreign matter such as sand on the road surface 112. An obstacle on the road surface 112 may refer to an object larger than a predetermined size (e.g., at least one of width, depth, and height) or an object that prevents the moving object 90 from moving due to the presence of the object.

[0044] The display unit 30 may display, on the virtual map 120, candidate positions of a plurality of gauges 114 from which the mobile object 90 should continuously obtain detection information. The plurality of gauges 114 from which the mobile object 90 should continuously obtain detection information may be designated in advance by the user 130.

[0045] The multiple instruments 114 that should continuously acquire detection information are, for example, multiple instruments 114 that preferably continuously acquire detection information. For example, if the instruments 114 are concentration measuring instruments that measure the concentration of a specific type of gas (e.g., CO2 (carbon dioxide)), continuously acquiring the gas concentrations measured by the multiple concentration measuring instruments may provide knowledge about the distribution of the concentration of the specific type of gas in the real space 110. For example, if the instruments 114 are dosimeters, continuously acquiring the doses measured by the multiple dosimeters may provide knowledge about the distribution of radiation doses in the real space 110. For example, if the instruments 114 are flow measuring instruments that measure the flow rate of a fluid, continuously acquiring the flow rates measured by the multiple flow measuring instruments may provide knowledge about the location of a water leak in the real space 110. For example, if the instruments 114 are pressure measuring instruments that measure the air pressure in the real space 110, continuously acquiring the air pressure measured by the multiple pressure measuring instruments may provide knowledge about the location of a gas leak in the real space 110. For example, if the instrument 114 is an acoustic measuring instrument that measures abnormal sounds in the real space 110, by continuously acquiring the sound pressures measured by multiple acoustic measuring instruments, it may be possible to obtain information about the location in the real space 110 where the abnormal sounds are occurring.

[0046] When the instruments 114 are provided in devices 118 provided in the real space 110, and the devices 118 are devices that generate radiation (e.g., X-ray diffraction devices), the instruments 114 provided in the multiple devices 118 may continuously acquire the radiation output status of each device 118, thereby obtaining information about the radiation dose in the real space 110. In such cases, it is preferable that the detection information (information about the radiation dose) be continuously acquired. For example, if the devices 118 are devices that change the state of matter by using a specific type of gas, the instruments 114 provided in the multiple devices may continuously acquire at least one of the gas flow rate and pressure, thereby obtaining information about the gas concentration in the real space 110. In such cases, it is preferable that the detection information (information about at least one of the gas flow rate and pressure) be continuously acquired.

[0047] The destination setting unit 60 (see FIG. 3) may set one candidate location from which detection information should be obtained first as the destination of the mobile object 90. The one candidate location from which detection information should be obtained first may be specified by the user 130. The destination setting unit 60 may transmit the set destination location to the detection information receiving unit 92 of the mobile object 90. The detection information receiving unit 92 may receive the destination location. This allows the mobile object 90 to move to the location of the device 118 where the meter 114 from which detection information should be obtained first is installed.

[0048] Similarly, the destination setting unit 60 (see FIG. 3) may set one candidate location from which detection information should be acquired second as the destination of the mobile object 90. The destination setting unit 60 may transmit the set destination location to the detection information receiving unit 92 of the mobile object 90. This allows the mobile object 90 to move to the location of the device 118 where the meter 114 from which detection information should be acquired second is provided. In this way, the mobile object 90 can move sequentially to the locations of the devices 118 where each of the multiple candidate meters 114 from which detection information should be acquired is provided.

[0049] The determination unit 64 (see FIG. 3 ) determines whether an abnormality has occurred in the real space 110 based on the magnitude relationship between the detection information and a predetermined threshold value of the detection information. The threshold value of the detection information may be predetermined by the user 130. The threshold value of the detection information may be determined for each type of information to be detected. The threshold value of the detection information determined for each type may be stored in the storage unit 66.

[0050] For example, if the detection information is the concentration of a specific type of gas, the threshold value may be a concentration that is likely to cause harm to human health if exceeded. If the gas is CO2 (carbon dioxide), the concentration may be, for example, 1000 ppm. If the detection information is the dose of radiation, the threshold value may be a dose that is likely to cause harm to human health if exceeded. The dose may be, for example, 500 millisieverts. If the detection information is the flow rate of a fluid, the threshold value may be a flow rate that is likely to cause a water leak if exceeded, or a flow rate that is likely to cause a flow pipe blockage if exceeded. For example, if the real space 110 is equipped with a meter 114 that uses gas, the threshold value may be a pressure in the real space 110 at or above which a gas leak is likely to occur. For example, if the detection information is an abnormal noise in the real space 110, the threshold value may be a level at which a malfunction of the meter 114 is likely to occur if the loudness of the abnormal noise is greater than or equal to a certain level.

[0051] When the determination unit 64 (see FIG. 3 ) determines that an abnormality has occurred in the real space 110 based on the detection information, the display unit 30 may display at least one gauge 114 that detected the detection information. The display unit 30 may display the position of at least one other gauge 114 that is within a threshold distance from the one gauge 114 as a candidate position of at least one gauge 114 from which the mobile object 90 should further acquire detection information. The threshold distance may be predetermined by the user 130 for each type of detection information. The predetermined threshold distance may be stored in the memory unit 66. When one candidate is designated, the destination setting unit 60 (see FIG. 3 ) may set the position of the designated candidate as the destination of the mobile object 90. By the destination setting unit 60 setting the position of the designated candidate as the destination of the mobile object 90, the mobile object 90 can acquire detection information of the gauge 114 at the designated position.

[0052] For example, if the determination unit 64 determines that an abnormality has occurred in the concentration of a specific type of gas, the detection information acquisition unit 20 can acquire the gas concentrations measured by other meters 114 (gas concentration measuring devices) that are within a range of less than a threshold distance from the meter 114 (gas concentration measuring device) that detected the abnormal gas concentration, thereby obtaining knowledge about the range of the gas concentration abnormality. For example, if the determination unit 64 determines that an abnormality has occurred in the radiation dose, the detection information acquisition unit 20 can acquire the dose measured by other meters 114 (dosimetry devices) that are within a range of less than a threshold distance from the meter 114 (dosimetry device) that detected the abnormal dose, thereby obtaining knowledge about the range of the dose abnormality. For example, if the determination unit 64 determines that an abnormality has occurred in the flow rate of a fluid, the detection information acquisition unit 20 can acquire the flow rate measured by other meters 114 (flow rate measuring devices) that are within a range of less than a threshold distance from the meter 114 (flow rate measuring device) that detected the abnormal flow rate, thereby obtaining knowledge about the range of the flow rate abnormality. For example, if the determination unit 64 determines that an abnormality in atmospheric pressure has occurred, knowledge about the range of the abnormality in atmospheric pressure can be obtained by having the detection information acquisition unit 20 acquire the air pressure measured by another instrument 114 (pressure measurement instrument) that is within a range of less than a threshold distance from the instrument 114 (pressure measurement instrument) that detected the abnormal air pressure.For example, if the determination unit 64 determines that an abnormality in volume has occurred, knowledge about the range of the abnormality in volume can be obtained by having the detection information acquisition unit 20 acquire the volume measured by another instrument 114 (sound measurement instrument) that is within a range of less than a threshold distance from the instrument 114 (sound measurement instrument) that detected the abnormal volume.

[0053] For example, if the judgment unit 64 determines that an instrument 114 provided in a device 118 installed in the real space 110 has detected an abnormality in the gas flow rate, the display unit 30 may display the location of another device 118 equipped with another instrument 114 that is within a range less than a threshold distance from the device 118 equipped with the instrument 114 that detected the abnormality, as the location of the device 118 equipped with at least one candidate instrument 114 from which the mobile body 90 should further obtain detection information. For example, if the device 118 installed in the real space 110 is a device that generates radiation and the device is equipped with a power meter 114 that indicates the radiation output, and the judgment unit 64 determines that the meter 114 installed in the device 118 has detected an abnormality in the radiation output, the display unit 30 may display the location of the device 118 equipped with another meter 114 that is within a range less than a threshold distance from the device 118 equipped with the meter 114 that detected the abnormality, as the location of the device 118 equipped with at least one candidate meter 114 from which the mobile body 90 should further obtain detection information.

[0054] 5 is a diagram showing another example of the display mode of the display unit 30. The detection information receiving unit 92 of the mobile object 90 may acquire the time at which the detection information is received. The detection information acquiring unit 20 (see FIG. 3) may acquire the first time at which the detection information receiving unit 92-1 of the mobile object 90-1 (see FIG. 1) receives the first detection information, the second time at which the detection information receiving unit 92-2 of the mobile object 90-2 (see FIG. 1) receives the second detection information, and the third time at which the detection information receiving unit 92-3 of the mobile object 90-3 (see FIG. 1) receives the third detection information. The first time to the third time may be the times at which the detection information receiving units 92-1 to 92-3 respectively acquired the detection information that the determining unit 64 determined to indicate the occurrence of an abnormality.

[0055] The display unit 30 may identifiably display the order of occurrence of abnormalities on the virtual map 120. The display unit 30 may identifiably display the order of occurrence of abnormalities based on first to third times. For example, if the first time is the earliest time, the second time is the next earliest time, and the third time is the latest time, and the instrument 114 that detected the first detection information is 114-1, the instrument 114 that detected the second detection information is 114-2, and the instrument 114 that detected the third detection information is 114-3, the display unit 30 may identifiably display that the instrument 114-1 detected the abnormality first, the instrument 114-2 detected the abnormality next, and the instrument 114-3 detected the abnormality next. In the example of FIG. 5, the display unit 30 displays numbers indicating the order in which the abnormalities were detected on the instruments 114-1 to 114-3.

[0056] The storage unit 66 (see FIG. 3) may store the order in which the abnormalities occurred. In the example of FIG. 5, the storage unit 66 stores that the instrument 114-1 detected the abnormality first, the instrument 114-2 detected the abnormality next, and the instrument 114-3 detected the abnormality again next. The storage unit 66 may store the order in which the abnormalities were detected and the time at which the detection information receiver 92 of the mobile object 90 received the detection information in association with each other. In the example of FIG. 5, the storage unit 66 stores that the instrument 114-1 detected the abnormality first, the instrument 114-2 detected the abnormality next, and the instrument 114-3 detected the abnormality again next, as well as the times (first time to third time) at which the instruments 114-1 to 114-3 detected the abnormalities in association with each other.

[0057] The display unit 30 may reproduce and display the occurrence of an abnormality in chronological order on the virtual map 120. For example, the display unit 30 displays numbers indicating the order in which the instruments 114-1 to 114-3 detected the abnormality in chronological order. The reception unit 62 (see FIG. 3 ) may receive an instruction from the user 130 to reproduce and display the occurrence of an abnormality on the virtual map 120. When the reception unit 62 receives an instruction from the user 130, the display unit 30 may reproduce and display the occurrence of an abnormality on the virtual map 120 in chronological order.

[0058] The display unit 30 may reproduce and display the occurrence of anomalies in chronological order on the virtual map 120, and may also reproduce and display the time intervals between the occurrence of anomalies. For example, if the first period between the first time and the second time is one minute, and the second period between the second time and the third time is two minutes, the ratio of the first period to the second period is 1:2. In this case, for example, the display unit 30 may display on the virtual map 120 that the instrument 114-1 first detected an anomaly, and then five seconds later, that the instrument 114-2 detected an anomaly, and then ten seconds later, that the instrument 114-3 detected an anomaly. This makes it easier for the user 130 to recognize the order and time intervals of the occurrence of anomalies on the virtual map 120.

[0059] The determination unit 64 (see FIG. 3 ) may determine the severity of the abnormality based on the difference between the detection information and a predetermined threshold value of the detection information. The determination unit 64 may determine that the larger the difference, the more serious the abnormality. The determination unit 64 may rank the severity of the abnormality based on the magnitude of the difference. For example, if the magnitude of the difference includes three ranks: a first magnitude, a second magnitude larger than the first magnitude, and a third magnitude larger than the second magnitude, the determination unit 64 may rank the severity of the abnormality as low if the difference is the first magnitude, as medium if the difference is the second magnitude, and as high if the difference is the third magnitude.

[0060] The display unit 30 may display the severity in a distinguishable manner on the virtual map 120. For example, the display unit 30 displays an indication of the severity of the abnormality, such as light, medium, or heavy, on the virtual map 120. This allows the user 130 to recognize the severity of the abnormality on the display unit 30.

[0061] The display unit 30 may display on the virtual map 120 the gauges 114 for which the detection information receiving unit 92 of the moving object 90 has not received detection information. The gauges 114 for which the detection information receiving unit 92 has not received detection information refer to gauges 114 for which the detection information receiving unit 92 is unable to receive detection information, for example, because the device 118 on which the gauges 114 are provided has tilted or fallen over. By the display unit 30 displaying on the virtual map 120 the gauges 114 for which the detection information has not been received, the user 130 can recognize on the virtual map 120 the gauges 114 that may have fallen over or the like.

[0062] If the detection information receiving unit 92 is an imaging unit, the imaging unit may receive the detection information from an image of the instrument 114. When the display unit 30 displays an instrument 114 for which detection information has not been received on the virtual map 120, the display unit 30 may display an image of the instrument 114 for which the imaging unit has not received detection information on the virtual map 120. This allows the user 130 to recognize the instrument 114 for which detection information has not been received from the image. This makes it easier for the user 130 to recognize whether the instrument 114 has fallen over or the like.

[0063] 6 is a flowchart showing an example of an information processing method according to an embodiment of the present invention. The information processing method according to an embodiment of the present invention will be described using the information processing device 100 shown in FIG.

[0064] The information processing method includes a virtual map acquisition step S100, a detection information acquisition step S110, and a display step S120. The virtual map acquisition step S100 is a step in which the virtual map acquisition unit 10 acquires a three-dimensional virtual map 120 corresponding to a real space 110 in which a moving object 90 moves. The detection information acquisition step S110 is a step in which the detection information acquisition unit 20 acquires detection information acquired by the moving object 90 in the real space 110. The display step S130 is a step in which the display unit 30 displays the detection information on the virtual map 120. The detection information is information detected by an instrument 114 provided in the real space 110.

[0065] 6 illustrates an example of the configuration of a computer 1200 in which aspects of the present invention may be embodied in whole or in part. A program installed on the computer 1200 may cause the computer 1200 to function as or perform operations associated with an apparatus according to an embodiment of the present invention or one or more “parts” of the apparatus, and / or to perform a process or steps of the process according to an embodiment of the present invention. Such a program may be executed by the CPU 1212 to cause the computer 1200 to perform specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein. Furthermore, a process or steps of the process according to an embodiment of the present invention may be executed on a cloud.

[0066] A computer 1200 according to this embodiment includes a CPU 1212, a RAM 1214, a graphics controller 1216, and a display device 1218, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a hard disk drive 1224, a DVD-ROM drive 1226, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The computer also includes legacy input / output units such as a ROM 1230 and a keyboard 1242, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0067] The CPU 1212 operates according to programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires image data generated by the CPU 1212 into a frame buffer or the like provided in the RAM 1214 or into the graphics controller 1216 itself, and causes the image data to be displayed on the display device 1218.

[0068] The communication interface 1222 communicates with other electronic devices via a network. The hard disk drive 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD-ROM drive 1226 reads programs or data from the DVD-ROM 1201 and provides the programs or data to the hard disk drive 1224 via the RAM 1214. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0069] The ROM 1230 stores therein a boot program or the like that is executed by the computer 1200 upon activation, and / or a program that depends on the hardware of the computer 1200. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via a parallel port, a serial port, a keyboard port, a mouse port, etc.

[0070] The programs are provided by a computer-readable storage medium such as a DVD-ROM 1201 or an IC card. The programs are read from the computer-readable storage medium, installed in the hard disk drive 1224, RAM 1214, or ROM 1230, which are also examples of computer-readable storage media, and executed by the CPU 1212. Information processing described in these programs is read by the computer 1200, and causes cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be configured by implementing operations or processing of information in accordance with the use of the computer 1200.

[0071] For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into the RAM 1214 and instruct the communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in the RAM 1214, the hard disk drive 1224, the DVD-ROM 1201, or a recording medium such as an IC card, and transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area or the like provided on the recording medium.

[0072] Furthermore, the CPU 1212 may cause all or a necessary portion of a file or database stored on an external recording medium such as the hard disk drive 1224, the DVD-ROM drive 1226 (DVD-ROM 1201), an IC card, etc. to be read into the RAM 1214, and may perform various types of processing on the data on the RAM 1214. The CPU 1212 may then write back the processed data to the external recording medium.

[0073] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium to be processed. The CPU 1212 may perform various types of processing on data read from the RAM 1214, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search / replacement, etc., as described throughout this disclosure and specified by the instruction sequences of the programs, and write the results back to the RAM 1214. The CPU 1212 may also search for information in a file, database, etc. on the recording medium. For example, if multiple entries, each having an attribute value of a first attribute associated with an attribute value of a second attribute, are stored on the recording medium, the CPU 1212 may search for an entry whose attribute value of the first attribute matches a specified condition from among the multiple entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0074] The programs or software modules described above may be stored in a computer-readable storage medium on or near the computer 1200. A recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can also be used as the computer-readable storage medium, thereby providing the programs to the computer 1200 via the network.

[0075] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the claims that such modifications and improvements can also be included within the technical scope of the present invention.

[0076] It should be noted that the execution order of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before," "prior to," etc., and that the processes can be performed in any order unless the output of a previous process is used in a subsequent process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," etc. for convenience, this does not mean that the processes must be performed in this order. [Explanation of symbols]

[0077] 10...virtual map acquisition unit, 20...detection information acquisition unit, 30...display unit, 32...pointer, 50...control unit, 60...destination setting unit, 62...reception unit, 64...determination unit, 66...storage unit, 90...moving object, 92...detection information receiving unit, 94...position information acquisition unit, 100...information processing device, 110...real space, 112...road surface, 114...instrument, 116...detection information transmission unit, 118...device, 120...virtual map, 130...user, 1200 computer, 1201 DVD-ROM, 1210 host controller, 1212 CPU, 1214 RAM, 1216 graphics controller, 1218 display device, 1220 input / output controller, 1222 Communication interface, 1224 hard disk drive, 1226 DVD-ROM drive, 1230 ROM, 1240 input / output chip, 1242 keyboard

Claims

1. a virtual map acquisition unit that acquires a three-dimensional virtual map corresponding to the real space in which the moving object moves; a detection information acquisition unit that acquires detection information acquired by the moving object in the real space; a display unit that displays the detection information on the virtual map; Equipped with The detection information is information detected by an instrument provided in the real space. Information processing device.

2. The information processing device according to claim 1 , wherein the display unit displays a position of at least one of the meters on the virtual map, and when one of the meters is designated, displays the detection information detected by the designated meters.

3. the display unit displays, on the virtual map, a position of at least one candidate meter from which the moving object should obtain the detection information; a destination setting unit that sets, when one of the candidates is designated, the position of the designated candidate as a destination of the moving object; The information processing device according to claim 1 .

4. the display unit displays, on the virtual map, positions of a plurality of candidate meters from which the moving body should continuously obtain the detection information; a destination setting unit that sets the position of one of the candidates from which the detection information is to be acquired first as a destination of the moving object; The information processing device according to claim 1 .

5. The information processing apparatus according to claim 1 , further comprising a determination unit that determines whether an abnormality has occurred in the real space based on a magnitude relationship between the detection information and a predetermined threshold value of the detection information.

6. The information processing device according to claim 5 , wherein the display unit displays the order of occurrence of the abnormalities on the virtual map in a distinguishable manner.

7. A storage unit that stores the order in which the abnormalities occur, the display unit reproduces and displays the occurrence of the abnormality in chronological order on the virtual map. The information processing device according to claim 6 .

8. the determination unit determines the severity of the abnormality based on a difference between the detection information and the threshold value; the display unit displays the severity on the virtual map in a distinguishable manner. The information processing device according to claim 5 .

9. the moving body has a detection information receiving unit that receives the detection information, the display unit displays, on the virtual map, the instruments for which the detection information receiving unit has not received the detection information. The information processing device according to claim 1 .

10. the detection information receiving unit is an imaging unit that images the instrument, the imaging unit receives the detection information by capturing an image of the instrument; the display unit displays, on the virtual map, an image of the instrument for which the imaging unit did not receive the detection information. The information processing device according to claim 9 .

11. a virtual map acquisition stage for acquiring a three-dimensional virtual map corresponding to the real space in which the mobile object moves; a detection information acquisition step of acquiring detection information acquired by the moving object in the real space; a display step of displaying the detection information on the virtual map; Equipped with The detection information is information detected by an instrument provided in the real space. Information processing methods.

12. An information processing program for causing a computer to execute the information processing method of claim 11.

Images