A work setting system, a work setting program, a computer-readable recording medium equipped therewith, and a work setting method.

Abstract

A task setting system is provided that sets tasks for onboard functional units mounted on an autonomously movable body at a destination of the autonomously movable body. [Solution] The work setting system of the present invention comprises a movable vehicle 2, an on-board function unit 4 that is mounted on the vehicle and executes functions at its destination, a map display unit 42 that displays a map on a user interface showing the area in which the vehicle can move, a point setting unit 44 that sets a point on the map that will become the destination of the vehicle and at which the function of the on-board function unit will be executed, a point function display unit 46 that displays functions that can be executed by the on-board function unit for each point so that they can be selected, and a link function unit 52 that links the execution of the function selected by the point function display unit to the point set by the point setting unit.

Description

[Technical Field]

[0001] The present invention relates to a task setting system, a task setting program, a computer-readable recording medium including the same, and a task setting method. [Background technology]

[0002] BACKGROUND ART Conventionally, as shown in Patent Document 1, an autonomous mobile device is known that moves autonomously within a building while recognizing its own position and the surrounding environment. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-5470 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in autonomous mobile devices such as the one shown in Patent Document 1, the movement of the device itself and the control of functional units such as cameras mounted on the autonomous mobile device are set independently. Therefore, each must be programmed individually, and the user who intends to operate the autonomous mobile device must set the movement of the autonomous mobile device and the control of functional units such as cameras mounted on the autonomous mobile device individually. This is not only troublesome for the user, but also makes the setup complicated.

[0005] The present invention was made to solve these problems and aims to provide a work setting system that can set the execution of the functions of the mounted functional unit at a point in combination with setting the destination point of the moving object. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, according to one embodiment of the present invention, there is provided a task setting system for setting tasks for an onboard functional unit mounted on an autonomously mobile body at a destination of the mobile body, the task setting system including: a mobile body; the onboard functional unit that is mounted on the mobile body and executes a function at the destination; a map display unit that displays a map on a user interface showing an area in which the mobile body can move; a point setting unit that sets a point on the map that will be the destination of the mobile body and where the function of the onboard functional unit will be executed; a point function display unit that displays functions that can be executed by the onboard functional unit for each point so that the function can be selected; and a link function unit that links the execution of the function selected by the point function display unit to the point set by the point setting unit. According to one embodiment of the present invention configured as described above, the link function unit can link the execution of the function selected by the point function display unit to the point set by the point setting unit. This allows the execution of the function of the built-in function unit at the point to be set relatively easily in combination with the setting of the point of the moving object's destination.

[0007] According to one embodiment of the present invention, it is preferable to further include an attribute information addition unit that adds attribute information to the points, and the point function display unit displays the functions that the built-in function unit can perform for the points according to the attribute information. According to one embodiment of the present invention configured as described above, the point function display unit displays the functions that the built-in function unit can execute for the points in accordance with the attribute information. Thus, the functions that the built-in function unit can execute in accordance with the attribute information of the points are displayed to the user, and the user can more easily set the functions that the built-in function unit executes.

[0008] According to one embodiment of the present invention, preferably the point function display section displays a function based on a device installed in the installed function section. According to the embodiment of the present invention configured in this manner, the point function display unit displays a function based on the device information installed in the mounted function unit. This allows the point function display unit to display a function corresponding to the device information installed in the mounted function unit. For example, the point function display unit will no longer suggest a function that uses an arm function when the arm function is not installed in the mounted function unit. Furthermore, for example, if the mounted function unit is equipped with a camera that can only capture images up to a predetermined number of pixels, the point function display unit will display a function that captures a photograph with a number of pixels within that capability. This allows the user to efficiently select a function corresponding to the device information of the mounted function unit.

[0009] According to one embodiment of the present invention, the mobile body is preferably configured to be capable of autonomously traveling to the point. According to the embodiment of the present invention configured in this way, the mobile body is configured to autonomously travel to the point. This allows the mobile body to make its own decisions regarding its movement to the point, and, in combination with setting the destination point of the mobile body, the execution of the functions of the mounted functional unit at the point can be set relatively easily. Therefore, by setting the point and the function to be executed at the point in a relatively simple manner for the user, a series of operations in which the mobile body moves and performs the function at the point can be set relatively easily.

[0010] According to one embodiment of the present invention, the built-in function unit preferably includes a depth information acquisition unit that acquires depth information of the surrounding environment. According to one embodiment of the present invention configured in this manner, the mounted functional unit includes a depth information acquisition unit that acquires depth information of the surrounding environment. This allows the mobile unit and the mounted functional unit to measure the distance to the target even indoors where radio waves are difficult to reach, making it easier to move to the point.

[0011] According to one embodiment of the present invention, preferably, a point adjustment function unit is provided that can adjust the position of the point while maintaining the attribute information attached to the point. According to the embodiment of the present invention configured in this manner, a point adjustment function unit is provided that can adjust the position of the point while maintaining the attribute information attached to the point. This makes it possible to change the position of the point while keeping the point and attribute information linked.

[0012] According to one embodiment of the present invention, preferably, the attribute information attached to the point is provided with a modification function that allows the attribute information to be arbitrarily changed even after it has been set once. According to one embodiment of the present invention configured as described above, a change function unit is provided that can arbitrarily change the attribute information added to the points even after it has been set. As a result, even if, for example, the device to be used for work with points is changed from an analog device to a digital device, or an old version is upgraded to a new version, and the mode or operation changes, the function displayed by the point function display unit can be easily changed by changing the attribute information.

[0013] According to one embodiment of the present invention, preferably, the point function display unit has a multiple function execution unit that selects and executes multiple functions of the mounted function units that are displayed. According to the embodiment of the present invention configured in this manner, the point function display unit has a multiple function execution unit that allows the user to select and execute multiple functions of the mounted function units that are displayed. This makes it easy to select and execute multiple functions of the mounted function units for a point.

[0014] According to one embodiment of the present invention, preferably, the point setting unit includes an access direction designation function that defines the access direction when the moving body reaches the point. According to the embodiment of the present invention configured in this manner, the point setting unit includes an access direction designation function that defines the access direction when the moving body reaches the point. This allows the access direction when the moving body reaches the point to be defined, and the direction in which the equipment of the mounted function unit faces the point, even when it is preferable for the equipment to be facing a predetermined direction relative to the point upon arrival.

[0015] According to one embodiment of the present invention, the point setting section preferably includes a route setting function section that sets the order in which the moving object will arrive at the plurality of points. According to one embodiment of the present invention configured as described above, the point setting unit includes a route setting function unit that sets the order in which the moving object will arrive at the plurality of points, thereby making it possible to relatively easily set the order in which the moving object will arrive at the plurality of points by the route setting function unit.

[0016] According to one embodiment of the present invention, it is preferable that the device further includes a work result display function unit that can acquire the work results of the installed functional unit at the set point and display the work results acquired for the point. According to the embodiment of the present invention configured in this manner, the system further includes a work result display function that can acquire the work results of the mounted function at the set point and display the acquired work results for the point, thereby making it easy to summarize and compare the work results for the point. For example, the work results for the past six months can be displayed side by side for the point, or displayed in chronological order. Therefore, it is possible to set the work for the point while checking the work results that have already been acquired.

[0017] According to one embodiment of the present invention, preferably, there is provided a task setting program for setting tasks for an onboard functional unit mounted on an autonomously mobile body at a destination of the mobile body, the task setting program including: a map display unit for displaying a map showing an area in which the mobile body can move on a user interface; a point setting unit for setting a point on the map that will be the destination of the mobile body and that will execute the function of the onboard functional unit; a point function display unit for displaying functions that can be executed by the onboard functional unit for each of the points so that they can be selected; and a link function unit for linking the execution of the function selected by the point function display to the point set by the point setting unit. According to one embodiment of the present invention configured as described above, the link function unit links the execution of the function selected by the point function display to the point set by the point setting unit, which allows the execution of the function of the built-in function unit at the point to be set relatively easily in combination with the setting of the point to be moved by the mobile object.

[0018] According to one embodiment of the present invention, it is preferable that the device further includes an attribute information addition unit that adds attribute information to the points, and the point function display unit displays the functions that the built-in function unit can perform for the points according to the attribute information. According to one embodiment of the present invention configured as described above, the point function display unit displays the functions that the built-in function unit can execute for the points in accordance with the attribute information. Thus, the functions that the built-in function unit can execute in accordance with the attribute information of the points are displayed to the user, and the user can more easily set the functions that the built-in function unit executes.

[0019] According to one embodiment of the present invention, it is preferable that the device further includes a work result display function unit that can acquire the work results of the installed functional unit at the set point and display the work results acquired for the point. According to the embodiment of the present invention configured in this manner, the system further includes a work result display function that can acquire the work results of the mounted function at the set point and display the acquired work results for the point, thereby making it easy to summarize and compare the work results for the point. For example, the work results for the past six months can be displayed side by side for the point, or displayed in chronological order. Therefore, it is possible to set the work for the point while checking the work results that have already been acquired.

[0020] According to one embodiment of the present invention, preferably, a computer-readable recording medium having the task setting program recorded thereon is provided. According to one embodiment of the present invention configured in this manner, a computer-readable recording medium on which an operation setting program is recorded can be used to relatively easily set the execution of the functions of the onboard functional unit at a point in combination with the setting of the point to which the moving body is to move.

[0021] According to one embodiment of the present invention, preferably, a work setting method for setting the work of an onboard function unit mounted on an autonomously mobile body at the destination of the mobile body, comprising: a map display step of displaying a map showing the mobile area of ​​the mobile body on a user interface; a point setting step of setting a point on the map that will be the destination of the mobile body and will also execute the function of the onboard function unit; a point function display step of displaying the functions that the onboard function unit can execute at the point so that it can be selected; and a link step of associating the execution of the function selected in the point function display step with the point set in the point setting step. According to one embodiment of the present invention configured in this manner, the link step associates the execution of the function selected in the point function display step with the point set in the point setting step. This makes it possible to set the execution of the mounted function unit at that point relatively easily in combination with setting the destination point of the moving body. [Effects of the Invention]

[0022] According to the task setting system, task setting program, computer-readable recording medium including the task setting program, and task setting method of the present invention, it is possible to set the execution of functions of onboard functional units at the destination of a moving object. [Brief explanation of the drawings]

[0023] [Figure 1] 1 is a front view of a moving body and an on-board functional unit of a task setting system according to an embodiment of the present invention; [Figure 2] 1 is a rear perspective view of a moving body and an on-board functional unit of an operation setting system according to an embodiment of the present invention, as viewed obliquely from behind. [Figure 3] 1 is a block diagram illustrating a schematic configuration of a mobile object of a task setting system according to an embodiment of the present invention. [Figure 4] 1 is a block diagram illustrating a schematic configuration of an on-board functional unit of an operation setting system according to an embodiment of the present invention. [Figure 5] 1 is a block diagram illustrating a schematic relationship between a task setting unit of a task setting system according to an embodiment of the present invention and a mobile object and an on-board functional unit. [Figure 6] 1 is a diagram illustrating how a mobile object moves along points within a map displayed by a map display unit in an operation setting system according to an embodiment of the present invention. FIG. [Figure 7] FIG. 10 is a diagram showing attribute information displayed for points in the task setting system according to one embodiment of the present invention. [Figure 8] FIG. 10 is a diagram showing a list of functions displayed for points in the task setting system according to one embodiment of the present invention. [Figure 9] FIG. 2 is a diagram showing functions defined in a capability definition section in the task setting system according to an embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing a function list displayed based on attribute information for points in the task setting system according to one embodiment of the present invention. [Figure 11]FIG. 10 is a diagram showing how the order in which a moving object will arrive at a plurality of points is set by a route setting function unit in the task setting system according to one embodiment of the present invention. [Figure 12] This flowchart illustrates the process of a work setting method performed by a work setting system according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0024] A work setting system according to one embodiment of the present invention will be described below with reference to the attached drawings. First, Figure 1 is a front view of a mobile body and on-board functional units of a task setting system according to one embodiment of the present invention. Figure 2 is a rear perspective view of the mobile body and on-board functional units of a task setting system according to one embodiment of the present invention, viewed diagonally from behind. Figure 3 is a block diagram schematically showing the configuration of a mobile body in a task setting system according to one embodiment of the present invention. Figure 4 is a block diagram schematically showing the configuration of the on-board functional units of a task setting system according to one embodiment of the present invention. Figure 5 is a block diagram schematically showing the relationship between the task setting unit, mobile body, and on-board functional units of a task setting system according to one embodiment of the present invention. Figure 6 is a diagram explaining how a mobile body moves along points within a map displayed by a map display unit in a task setting system according to one embodiment of the present invention. In the following description of one embodiment of the present invention, the direction in which the front of the moving body (the side facing the pseudo face monitor, the front side of the paper in Figure 1) faces is referred to as the forward side, the direction in which the back of the moving body opposite the front (the back side of the paper in Figure 1) is referred to as the rear side, the right hand side when looking forward from behind the moving body is referred to as the right side, and similarly, the left hand side when looking forward from behind the moving body is referred to as the left side.

[0025] As shown in Fig. 1, a task setting system 1 according to one embodiment of the present invention sets tasks for an on-board functional unit 4 mounted on a mobile object 2 at a destination of the mobile object 2, and supports the control of these tasks. The task setting system 1 includes a movable mobile object 2, an on-board functional unit 4 mounted on the mobile object 2, and a task setting unit 40 (see Fig. 5) that sets tasks for the on-board functional unit 4.

[0026] The moving body 2 is configured to be capable of autonomous travel based on its own judgment. The moving body 2 moves, for example, to a specified point (position) P by autonomous travel. The moving body 2 is mainly composed of a device for moving the main body. The moving body 2 is configured to be capable of moving on, for example, a floor surface F. The moving body 2 constitutes a vehicle that can travel on the floor surface F, and is, for example, a robot capable of autonomous travel. Note that while the moving body 2 is configured to be capable of autonomous travel, it may also be configured as an externally operable moving body 2 that is operated by receiving commands from outside. Note that the moving body 2 may be configured to be capable of moving in the air, for example. The moving body 2 may be, for example, a flying object such as a drone. The moving body 2 may be configured to be capable of moving on or underwater, for example. In this case, the moving body 2 may be, for example, a moving body such as a ship or an underwater drone. In addition, in the present technology, since the execution of the function selected by the point function display unit is linked to the point, even when a plurality of moving bodies 2 are operated, different moving bodies 2 can execute the function set at the point P. Therefore, there is an advantage even when a plurality of moving bodies 2 are operated.

[0027] The moving body 2 comprises a moving body main body 6 constituting the main body of the moving body 2, two or more drive wheels 8 attached to the lower part of the moving body main body 6, and a moving body control unit 10. The moving body main body 6 comprises a pillar portion extending upward, and a top portion 2a is disposed at the top of the pillar portion. The top portion 2a forms a cylindrical case with closed top and bottom surfaces. The top portion 2a is positioned, for example, at a height within a range of approximately 1 m to 2 m from the floor F. The moving body 2 is configured to be able to autonomously travel to point P based on the judgment of the moving body control unit 10, using map information (described later) as well as a moving body depth information acquisition unit 77 and the like provided in the moving body 2.

[0028] The drive wheels 8 are, for example, tires for traveling on the floor surface F. The drive wheels 8 are rotatably mounted on the lower part of the mobile body 6. There are two drive wheels 8, one on each side of the front (front) and two on each side of the rear (rear)

[0029] The on-board functional unit 4 is mounted on the moving body 2. While the moving body 2 mainly has a mechanism for moving the main body, the on-board functional unit 4 has devices that realize various functions other than moving the main body on the moving body 2. Since the on-board functional unit 4 is mounted on the moving body 2, it moves together with the moving body 2.

[0030] As shown in Figure 1, the mounted function unit 4 includes a front camera 60 positioned on the front side to capture images of the surroundings, a rear camera 61 (see Figure 2) positioned on the back side to capture images of the surroundings, an infrared camera 62 that captures images by emitting infrared light, a body camera 63 positioned on the front side to capture images of the surroundings, a depth information acquisition unit 64 that captures depth images measuring the distance to surrounding objects, an ultrasonic sensor 65 that can detect surrounding obstacles using ultrasound, a hand unit 66 configured to perform operations on an object, a lifting device 67 that raises and lowers the height of equipment such as the body camera 63 and the hand unit 66, a monitor unit 68 that displays facial expressions and comments, and a cylindrical lighting unit 69 that can light up in any pattern on the mounted function unit 4 to illuminate the surroundings or to display a rotating red light to draw attention to the surroundings.

[0031] As shown in FIG. 2, the on-board functional unit 4 further includes environmental sensors, such as a temperature sensor 71 for detecting air temperature, an air pressure sensor 72 for detecting air pressure, a humidity sensor 73 for detecting air humidity, an odor sensor 74 for detecting the presence and strength of an odor, a radiation dose detector 75 for detecting radiation dose, a CO2 concentration sensor 76 for detecting CO2 concentration, a mobile unit depth information acquisition unit 77 mounted on the front side of the lower mobile unit body and capturing depth images measuring the distance to surrounding objects, a wheel odometry 70 (see FIG. 4) for counting the number of wheel rotations and acquiring movement information indicating the distance traveled and the number of rotations, an acceleration sensor 81 (see FIG. 4) for detecting acceleration, and an audio output device 80 for outputting audio to users of the elevator. For example, the various cameras and sensors mounted on the on-board functional unit 4 function as environmental sensors for measuring the external environment. The components of the on-board functional unit 4 may be partially or entirely configured.

[0032] The front camera 60 is, for example, an RGB camera. The front camera 60 is attached, for example, to the front of the top portion 2a, and can capture videos and images of the front side of the moving object. The front camera 60 is configured to be able to adjust the shooting angle of the camera device according to the position and distance of the subject to be photographed, and to be able to photograph at any angle. Note that the other camera devices are also configured to be able to adjust the shooting angle in the same way, and to be able to photograph at any angle. The rear camera 61 is, for example, an RGB camera. The front camera 60 is, for example, mounted on the rear of the top and can acquire video and images of the rear side of the mobile body 2. The infrared camera 62 is mounted, for example, on the front of the torso 2b, enabling it to recognize and photograph the surrounding environment even in dark places.

[0033] The body camera 63 can take images from the height of the body 2b. Therefore, it is easy to check the work object and the like by the image with the camera at the height of the body 2b. The depth information acquisition unit 64 is attached to, for example, the front part of the torso 2b and can acquire distance information to surrounding objects. The depth information acquisition unit 64 acquires depth information of the surrounding environment. The depth information acquisition unit 64 may be, for example, a LiDAR that captures depth images. The ultrasonic sensors 65 can detect materials that reflect sound waves. The ultrasonic sensors 65 are also resistant to dust and other contaminants. The ultrasonic sensors 65 are arranged on the outer periphery of the main body at positions that divide the outer periphery into six equal parts. Therefore, the ultrasonic sensors 65 can detect obstacles around the moving body 2.

[0034] The hand unit 66 comprises a right hand extending from the right side of the torso 2b and a left hand extending from the left side of the torso 2b. Therefore, the hand unit 66 is configured to move up and down together with the torso 2b. The right and left hands are equipped with shoulder joints, upper arms, elbow joints, arms, wrist joints, fingers, etc., just like human hands. Therefore, the mounted functional unit 4, as a robot, is capable of performing actions that a person would perform with their hands, such as pressing a button, lifting or moving objects, and other actions using fingers.

[0035] The lifting device 67 has the function of raising and lowering the height of some of the equipment mounted on the mounted function unit 4, such as cameras and arms. More specifically, the lifting device 67 is configured to raise and lower the height of the torso 2b along the column to the height of the top 2a of the mobile body 2. The lifting device 67 also has the function of maintaining the torso 2b fixed at a predetermined height.

[0036] The monitor unit 68 is provided on the upper part of the body 2b and forms a monitor portion facing forward. The monitor unit 68 can transmit information to the surroundings by displaying facial expressions, text information, etc. The lighting unit 69 is provided around the entire periphery of the top 2a, and when the lighting unit 69 is turned on, it illuminates the surroundings of the moving body 2 and the on-board functional unit 4. This makes it easier to see the image from the RGB camera and to perform work using the hand unit 66 in a relatively dark environment. The lighting state of the lighting unit 69 can also be changed from a constant lighting state to a rotating lighting state. The rotating lighting state is a state in which the light appears to rotate, for example, by moving the part with the most light. The lighting unit 69 can also light up in red and be in the rotating lighting state.

[0037] The temperature sensor 71 is provided, for example, at the rear of the mobile body 2 and can measure the ambient temperature. All or some of the temperature sensor 71, the air pressure sensor 72, the humidity sensor 73, the odor sensor 74, the dose detector 75, and the CO2 concentration sensor 76 may be connected to a USB port or the like provided on the mobile body 2. The air pressure sensor 72 is provided, for example, at the top 2a and measures the ambient air pressure. The humidity sensor 73 is provided, for example, at the rear of the mobile body 2 and measures the ambient humidity. The odor sensor 74 is provided, for example, at the rear of the mobile body 2 and measures the ambient odor. The dose detector 75 is provided, for example, at the rear of the mobile body 2 and measures the ambient radiation dose, thereby helping to detect radiation, such as whether the radiation level has changed from normal. The CO2 concentration sensor 76 is provided, for example, at the rear of the mobile body 2 and measures the ambient CO2 concentration, thereby helping to detect changes in the CO2 concentration, such as whether something is burning. The moving body depth information acquisition unit 77 is attached to, for example, the front part of the torso 2b, and can acquire distance information to surrounding objects. The moving body depth information acquisition unit 77 acquires depth information of the surrounding environment. The moving body depth information acquisition unit 77 is configured, for example, by a LiDAR that captures depth images. The audio output device 80 is, for example, a speaker. The audio output device 80 can be changed to a device that can output audio.

[0038] The mobile body 2 is further equipped with a mobile body control unit 10. The mobile body control unit 10 is located within the mobile body 6. The mobile body control unit 10 constitutes the control unit of the mobile body 2 and also constitutes the control unit of the mounted function unit 4. Therefore, the mobile body control unit 10 can execute each control function of the mobile body 2 and also execute each control function of the mounted function unit 4. For example, the mobile body control unit 10 has the function of autonomously driving the mobile body 2 to point P while utilizing the mobile body-side depth information acquisition unit 77 (see Figure 1) provided on the mobile body 2. The mobile unit control unit 10 is electrically connected to, for example, the main unit drive unit 12, front camera 60, rear camera 61, infrared camera 62, depth information acquisition unit 64, torso camera 63, ultrasonic sensor 65, hand unit 66, lifting device 67, monitor unit 68, lighting unit 69, temperature sensor 71, pressure sensor 72, humidity sensor 73, odor sensor 74, dose detector 75, and CO2 concentration sensor 76, and has the function of controlling the connected devices. The mobile unit control unit 10 is also electrically connected to the work setting unit 40 on the server, which will be described later.

[0039] The mobile unit control unit 10 incorporates a CPU and memory, and controls connected devices based on a predetermined control program recorded in the memory. The electrical connection between the mobile unit control unit 10 and other devices may be entirely or partially connected by wireless communication such as infrared communication or other methods. The mobile unit control unit 10 may be electrically connected to an external control unit of the mobile unit 2 via the Internet. Parts of the mobile unit control unit 10 may be located in a physically separate location from the mobile unit 2, or may be provided in the form of a program on a server via the Internet. For example, part of the mobile unit control unit 10 may be provided in the work setting unit 40. Similarly, part of the work setting unit 40 may be provided in the mobile unit control unit 10. For example, the mobile unit control unit 10 and the work setting unit 40 may function as an integrated control unit.

[0040] The mobile unit control unit 10 can perform predetermined operations and controls of connected devices at its own discretion, and may also perform predetermined operations and controls of connected devices upon receiving commands from outside the mobile unit 2. For example, the mobile unit control unit 10 may perform predetermined operations and controls at its own discretion for certain controls, but may wait for commands from an external source before performing operations and controls for certain controls.

[0041] The mobile unit control unit 10 is equipped with a program that can execute a function selected by the point function display unit 46, which is linked to point P by the link function unit 52. The mobile unit control unit 10 receives information from the link function unit 52 regarding point P set by the link function unit 52 and the function selected to be executed at that point, so that even in environments where communication with the outside is difficult, the mobile unit control unit 10 can cause the mobile unit 2 and the mounted function unit 4 to execute the processing set by the link function unit 52.

[0042] The mobile object control unit 10 has a function of automatically generating a route to point P, which is the destination of the mobile object 2. The mobile object control unit 10 automatically generates a route to point P and can move the mobile object 2 to point P by autonomous driving.

[0043] Next, the task setting unit 40 will be described with reference to Fig. 5. The task setting unit 40 includes a map display unit 42 that displays a map showing an area in which the mobile object 2 can move on a user interface, a point setting unit 44 that sets points P (see Fig. 6) on the map that will be destinations for the mobile object 2 and that will execute the functions of the built-in functional unit 4, an attribute information adding unit 45 that adds attribute information Z to each point P, a point function display unit 46 that displays functions that the built-in functional unit 4 can execute for each point P so that the functions can be selected, a point adjustment function unit 48 that can adjust the position of the point P while maintaining the attribute information Z added to the point P, a change function unit 50 that can arbitrarily change the attribute information Z added to the point P even after it has been set, a link function unit 52 that links the execution of the function selected by the point function display unit 46 to the point P set by the point setting unit 44, and a task result display function unit 56 that can acquire the task results of the built-in functional units at the set points and display the acquired task results for the points. Therefore, the work setting system 1 can select a function to be executed by the on-board functional unit 4 for the point P in addition to setting the point P to be the destination of the moving object 2, and can set the work at the point P relatively easily.

[0044] The task setting unit 40 is configured, for example, by a predetermined task setting program provided on the server 16. The task setting program, for example, supports task setting of the onboard functional unit 4 mounted on the mobile object 2 at the destination of the mobile object 2. The task setting program is executed on the server 16, and the results are displayed on a user interface of a user connected to the server 16 via the Internet 5, such as a browser on the monitor 7. Thus, the user can execute the task setting program in software executed on the user interface. The task setting program is recorded on a computer-readable recording medium, such as a hard disk drive (HDD), SSD, USB, memory card, optical disk, or storage disk. In this embodiment, the work setting unit 40 is provided on a server 16 separate from the mounted function unit 4, but the work setting unit 40 may also be provided on the mounted function unit 4 or the mobile unit 2. For example, the work setting unit 40 may be provided on the mobile unit control unit 10.

[0045] Furthermore, the work setting program of the work setting unit 40 includes, for example, a map display unit 42 that displays a map showing the movable area of ​​the mobile body on a user interface such as a monitor viewed by the user; a robot information acquisition unit 43 that acquires robot information from the robot capability definition unit 14; a point setting unit 44 that sets point P on the map which will be the destination of the mobile body 2 and will execute the function of the mounted function unit 4; an attribute information addition unit 45 that adds attribute information Z to point P; a point function display unit 46 that displays the functions that the mounted function unit 4 can execute for point P so that it can be selected; a point adjustment function unit 48 that can adjust the position of point P while maintaining the attribute information added to point P; a change function unit 50 that can arbitrarily change the attribute information Z added to point P even after it has been set once; and a link function unit 52 that links the execution of the function selected by the point function display unit to the point set by the point setting unit. Therefore, the work setting program of the work setting unit 40 can select a function to be executed by the mounted function unit 4 at point P, along with setting the destination point P of the mobile body 2, and the work at point P can be set relatively easily.

[0046] As shown in Figure 6, the map display unit 42 displays a map showing the movable area of ​​the mobile body 2. The map display unit 42 has a function to display, for example, map information for each floor. For example, Figure 6 shows how two rooms enclosed by walls W are connected by a corridor indoors. The map displayed by the map display unit 42 may be created based on images acquired by the camera of the mounted function unit 4, or a pre-created map may be acquired and used. For example, such a map is stored in the database 54.

[0047] The robot information acquisition unit 43 is configured to acquire information about the on-board equipment from the robot capability definition unit 14 (see FIG. 3). The robot capability definition unit 14 defines information about the equipment installed in the on-board function unit 4. The robot capability definition unit 14 can provide the robot information acquisition unit 43 with information about the functions that the on-board function unit 4 can execute, based on the information about the equipment installed in the on-board function unit 4. The robot information acquisition unit 43 provides the acquired information to the point function display unit. Therefore, the point function display unit 46 can display candidate functions based on the information about the equipment installed in the on-board function unit. In this embodiment, as shown in Fig. 9, the point function display unit 46 can display functions based on the devices installed in the installed function unit 4. For example, as shown in Fig. 9, the robot capability definition unit 14 sets the types of devices installed in the installed function unit 4, such as camera A, camera B, an arm, a thermal camera, and an environmental sensor, as well as specifications such as resolution and measurement range as more detailed information. For example, if the camera is replaced with a higher-performance one, the information in the robot capability definition unit 14 is updated with the new information. Therefore, the point function display unit 46 can distinguish between executable and inexecutable functions based on the equipment installed in the on-board function unit 4. This is because a function cannot be realized by equipment not installed in the on-board function unit 4. The point function display unit 46 can easily update the recognition of the current equipment by updating the information in the robot capability definition unit 14, even if the equipment breaks down or is replaced with equipment with different performance. The point function display unit 46 displays the setting screen of the robot capability definition unit 14 as shown in window W3, allowing the user to set and manage information about the installed equipment. Based on this concept, for example, the point function display unit 46 displays all functions that can be executed by the installed equipment as shown in FIG. 8, based on the recognition of the installed equipment as shown in FIG. 9. Note that the point function display unit 46 may also include the robot capability definition unit 14.

[0048] As shown in Figure 6, the point setting unit 44 sets a point P on the map. For example, the point setting unit 44 has a function that allows the user to set point P by specifying the location of point P on the map displayed by the map display unit 42. Point P may be specified by inputting coordinate positions, or the user may specify it intuitively by placing a pin on the map, or it may be specified relatively by specifying the distance from a wall W or door (e.g., a certain number of meters from the wall). Markers such as tags or markers may be placed to assist in setting points. The point setting unit 44 is equipped with an access direction specification function 51 that defines the access direction when the mobile body 2 reaches point P. The access direction specification function 51 can instruct the mobile body 2 on the direction in which it should face when reaching point P. For example, the mobile body 2 is designed so that the front camera 60 etc. is basically facing forward. While the front camera 60 and other components can be rotated to a predetermined angle, specifying the direction of approach (access direction) of the mobile unit 2 to point P is beneficial for improving operational efficiency, in order for the mobile unit 2 to efficiently perform the instructed task when it reaches point P.

[0049] The point setting unit 44 includes a route setting function unit 53 that sets the order in which the mobile body 2 reaches multiple points P. As shown in Figure 11, by executing the route setting function unit 53, boxes are displayed near each point P to set the order in which the mobile body 2 will reach them, and the order in which the mobile body 2 will reach the points P can be set by adjusting the numbers in the boxes. The numbers enclosed in squares near points P indicate the set order in which the mobile body 2 will reach the points P.

[0050] The attribute information adding unit 45 adds attribute information Z to each point P (each location). The attribute information Z is also referred to as location meta information, for example. The attribute information Z has attribute information corresponding to each point P as check items. When a point P is set by the point setting unit 44 or when an already set point P is selected, the attribute information adding unit 45 can display a window W1 for adding the attribute information Z, as shown in FIG. 7. The attribute information adding unit 45 displays the attribute information Z on the monitor 7, which is a user interface, so that the attribute information Z can be selected. For example, FIG. 7 shows an example of the window W1 displayed by the attribute information adding unit 45. The window W1 is displayed within application software. The window W1 has the words "location meta information unit" written on it, and the attribute information Z to be added can be selected. The "location meta information unit" can be changed to another term, such as "attribute information."

[0051] An example of how the attribute information adding unit 45 adds the attribute information Z will be described. In FIG. 7, for example, suppose that a meter facility is located at point P (see FIG. 6) at P3, and the user wants the on-board functional unit 4 to perform an inspection of the meter facility at point P (P3). In this case, when the user sets point P at P3 on the map using the point setting unit 44, the attribute information adding unit 45 further displays a window W1 for setting the "point meta information unit" as shown in FIG. 7, and the user selects "equipment type (meter, fire extinguisher)" and "inspection item (visual inspection, temperature measurement)." In this way, when point P (P3) is selected, the attribute information adding unit 45 has the function of displaying a list of settable attributes, such as "equipment type (meter, fire extinguisher)" and "inspection item (visual inspection, temperature measurement)." Therefore, in FIG. 7, at point P (P3), "equipment type (meter, fire extinguisher)" and "inspection item (visual inspection, temperature measurement)" are set as attribute information Z. Based on the attribute information Z for such point P (P3), processing is executed by the point function display unit 46, which will be described later. Furthermore, for points P for which attribute information Z has already been set, when point P is selected, the set attribute information Z will be displayed. If the user selects to add attribute information, the functions that the installed function unit can perform for the point will be displayed, and further attribute information Z can be added. Examples of such attribute information include, for inspection items, equipment type (meter, fire extinguisher), inspection items (visual inspection, temperature measurement), environmental measurements (temperature measurement, air quality measurement), etc. Also, for example, as inspection items, • Commands to change the shooting position (e.g., adjusting the orientation of the mobile body and mounted functions, raising or lowering the torso, etc.) Meter photography and reading • Send the image and reading results to the cloud (after inspection is complete). - Turning on the light (shooting in dark places) • Temperature measurement using a thermal camera (to check if the measuring instrument is showing an abnormal temperature, etc.) Settings such as the above are also possible. Furthermore, for example, security items can include object detection (such as detecting people), and action items can include verbal announcements (voice output), notifications to security guards (email, etc.), and recording of video and images via camera if a person is detected in a place where such a person is not expected. For patrol actions, settings can include displaying text on the face display during patrols and activating a patrol light (indicating that patrols are in progress by illuminating the light). Additionally, for example, monitoring items can be set, which are similar to the security items mentioned above. The point function display unit 46 may display candidate functions corresponding to attribute information Z based on AI that has been trained through machine learning to suggest candidate functions corresponding to attribute information Z.

[0052] As shown in FIG. 8, the point function display unit 46 displays a list of functions that the built-in function unit 4 can execute at point P when point P is selected. For example, FIG. 8 shows an example of a window W2 displayed by the point function display unit 46. For example, the executable function list is a list of all functions that can be executed by the device installed in the built-in function unit 4. In this way, for example, when point P (P3) is selected, the point function display unit 46 displays a list of functions that the built-in function unit 4 can execute at point P (P3). Similarly, lists of executable functions are displayed for other points P. In other words, the point function display unit 46 has a function of displaying processing information (command list) for point P.

[0053] FIG. 8 shows an example of a list of functions displayed by the point function display unit 46. For example, the function list displays function F1 as "take a photo with camera A," function F2 as "take a photo with camera B," function F3 as "take a photo with a thermal camera," function F4 as "press a button with the arm," and function F5 as "obtain information with an environmental sensor." When a function displayed by the point function display unit 46, for example function F4 as "press a button with the arm," is selected, a window for inputting more detailed data required for executing function F4 opens. For example, for function F4, the height to which the arm (the hand of the hand unit 66) is extended, the distance to which the arm (the hand of the hand unit 66) is extended forward, etc. are input. The server 16 also has a database 54 in which control data and other information required for each function is set and stored. Predetermined presets of the data and other information required for each function are defined in the database 54. Each function displayed in the function list is selected from the database 54, and each function can be realized with relatively simple settings or adjustments. The database 54 includes a database of equipment set for each point, functions to be executed depending on the equipment, work items to be executed, and so on.

[0054] For example, if a meter facility is located at point P3 and attribute information Z corresponding to the meter facility has been input to point P (P3), the point function display unit 46 may display a list of functions that the built-in function unit 4 can execute at point P on the user interface in accordance with the attribute information Z. In this case, for example, the point function display unit 46 may propose and display candidate functions to be executed based on the attribute information Z (the facility type (meter, etc.) and inspection item in FIG. 7) related to point P. For example, as shown in FIG. 10, the function list based on the attribute information Z displays function F11 as "take a photo with camera A," function F12 as "take a photo with camera B," and function F13 as "take a photo with a thermal camera." In this case, the point function display unit 46 displays candidate functions to be executed in accordance with the attribute information Z, without displaying all of the functions that can be executed by itself.

[0055] The point function display unit 46 also has a multiple function execution unit 55 that selects multiple functions of the built-in function unit 4 to be displayed and executes them in a predetermined order. For example, when the point function display unit 46 displays a function list F1 to F5 as shown in FIG. 8, the multiple function execution unit 55 can select F1 "take a photo with camera A" and F3 "take a photo with thermal camera." The multiple function execution unit 55 can also arbitrarily determine the order of execution, and can be set to execute F3, F1, for example. Therefore, it is relatively easy to set multiple functions to be executed in order at point P.

[0056] The point adjustment function unit 48 can adjust the position of a point while maintaining the attribute information Z attached to that point P. When it is desired to adjust the position of point P, it is possible to change the position of point P while keeping the link between point P and attribute information Z intact. Furthermore, when it is desired to adjust the position of the point P, the effort of re-inputting the attribute information Z can be eliminated.

[0057] The modification function unit 50 allows the attribute information Z attached to point P to be arbitrarily changed even after it has been set. This means that, for example, even if the equipment being worked on at point P changes from analog to digital equipment, is upgraded from an old version to a new version, or the type of equipment changes, the function displayed by the point function display unit 46 can be easily changed by changing the attribute information Z.

[0058] The link function unit 52 has the function of associating the execution of a function selected by the point function display unit 46 with point P. This means that point P and the function that the mounted function unit 4 will execute when point P is reached are specified as a set. Therefore, a set of point P and the function to be executed at that point can be set for each point. The autonomous mobile unit 2 can move to each point P at its own discretion. The user only needs to set the function they want to be executed for each point P, making it easier to set the movement of the mobile unit 2 and the execution of the function of the mounted function unit 4. In addition, because the operation settings are simplified, a wider range of users can introduce and use the autonomous mobile unit 2 and the mounted function unit 4. Furthermore, since point P and the function executed by the mounted function unit 4 are combined, the position of point P can be changed while the execution functions are combined, or the order in which the mobile unit 2 visits multiple points P can be changed. Also, since the execution function is set for each point P, the execution function can be managed for each point P, making it easier to manage the operation of the mobile unit 2 and the mounted function unit 4.

[0059] The work result display function unit 56 acquires the work results of the mounted function unit 4 at the set points. The work results are, for example, images from the mounted function unit 4 or measurement results from sensors. The work result display function unit 56 has a function to link the recorded work results to the points and can display the acquired work results for the points. For example, it has a function to display acquired work results when a point is selected. The work result display function unit 56 can not only link work results to point information, but also aggregate work results linked to points and output reports. For example, the work result display function unit 56 can also display work results for the past six months in chronological order. The work result display function unit 56 is configured with a program that enables such control.

[0060] Next, a task setting method for setting tasks for onboard functional units mounted on a moving body at a destination of the moving body will be described with reference to Fig. 12. Fig. 12 is a flowchart illustrating the processing of the task setting method executed by the task setting system 1.

[0061] As shown in FIG. 12, a task setting method is started for setting a task for the on-board functional unit 4 mounted on the moving object 2 at the destination of the moving object 2.

[0062] First, as a preparation step, the mobile body 2 and the mounted function unit 4 installed on the mobile body 2 are prepared. Then, as shown in Figure 5, the mobile body 2 is connected to the work setting unit 40 and prepared to move to the set point P. The mounted function unit 4 is connected to the work setting unit 40 and prepared to perform a predetermined function on point P.

[0063] When the work setting system 1 receives an operation command on the user interface and starts the control support method, it proceeds from start to S1 and executes a map display step S1 which displays a map on the monitor 7, which is the user interface, showing the movable area of ​​the mobile body 2 (for example, a map of the area inside the room surrounded by the wall W in Figure 5). In the map display step S1, the task setting system 1 acquires and displays a map of an area (for example, a room in a facility or the like) in which the moving object 2 is expected to move from the database 54. When the display of the map in the map display step S1 is completed, the task setting system 1 proceeds to S2.

[0064] In S2, a point setting step S2 is executed to set a point P on the map that will be the destination of the moving object 2 and that will execute the function of the built-in functional unit 4. In the point setting step S2, a point P is set on the map in the map display step S1. The point P can be set on the map as a circle (black circle) as shown in FIG. 6, for example. This point P specifies the position where the function of the built-in functional unit 4 will be executed. This point P forms an icon, and when point P is selected, a further window pops up, allowing attribute information Z to be added and a function to be selected. When the execution of the point setting step S2 is completed, the process proceeds to S3.

[0065] In S3, an attribute information adding step S3 is executed in which the attribute information adding unit 45 adds attribute information Z to the set point P. According to the attribute information adding step S3, as shown in Fig. 7, when a point P is set or a point P is selected, a window W1 for adding the attribute information Z is displayed by the attribute information adding unit 45. The selected attribute information Z is added to the point P as additional information. When the execution of the attribute information adding step S3 is completed, the process proceeds to S4.

[0066] In S4, a point function display step S4 is executed, which displays functions that can be executed by the built-in function unit 4 for said point P so that they can be selected. When point P is selected, in the point function display step S4, a further window W2 (see FIG. 8) pops up, which displays a list of functions that can be executed by the built-in function unit 4, and it is possible to select a function from this list. After the point function display step S4 is executed, the process proceeds to S5.

[0067] In S5, when a function is selected for point P in point function display step S4, link step S5 makes it possible to link the execution of the function selected in point function display step S4 to the point P set in point setting step S2. This makes it possible to relatively easily set the execution of the function of the built-in functional unit 4 at point P in combination with the setting of point P as the destination of the moving object 2. When execution of link step S5 is completed, the process proceeds to end.

[0068] As a variant, the work result display step may display the work result of the built-in functional unit 4 acquired for the point P by selecting the point P. The work result display function unit 56 acquires the work result of the built-in functional unit 4 at the point set by the point setting unit or the like. Therefore, the point P and the work result recorded for the point are linked, and the work result acquired for the point can be displayed. The work result display step allows the work result for the point P to be confirmed and used as a reference when selecting a function for the point P as described above.

[0069] According to one embodiment of the present invention configured in this manner, the execution of the function selected by the point function display unit 46 can be linked to the point P set by the point setting unit by the link function unit 52. This allows the execution of the function of the built-in function unit 4 at the point P to be set relatively easily in combination with the setting of the point P to which the moving object 2 is to move.

[0070] According to one embodiment of the present invention configured in this manner, the point function display unit 46 displays the functions that the built-in function unit 4 can execute for the point P in accordance with the attribute information Z. Therefore, the functions that the built-in function unit 4 executes can be displayed to the user in accordance with the attribute information Z of the point P, making it easier to set the functions that the built-in function unit 4 executes.

[0071] According to one embodiment of the present invention configured as described above, the point function display unit 46 displays functions based on device information installed in the built-in function unit 4. This allows the point function display unit 46 to display functions according to the device information installed in the built-in function unit 4. For example, the point function display unit 46 will not suggest functions using devices not installed in the built-in function unit 4, such as suggesting a function using an arm function when the arm function is not installed. Furthermore, for example, if the built-in function unit 4 is equipped with a camera that can only capture images up to a certain number of pixels, the point function display unit 46 will display a function for capturing photos with a pixel count within this range. This allows the user to efficiently select functions according to the device information of the built-in function unit 4.

[0072] According to one embodiment of the present invention configured as described above, the moving body 2 is configured to be able to autonomously travel to the point P. This allows the moving body 2 to make autonomous decisions about its movement to point P, and in combination with setting point P as the moving body 2's destination, it is possible to relatively easily set the execution of the function of the on-board functional unit 4 at point P. Therefore, if the user relatively simply sets point P and the function to be executed at point P, it is possible to relatively easily set a series of operations in which the moving body 2 moves and executes the function at point P.

[0073] According to one embodiment of the present invention configured as described above, the built-in functional unit 4 includes a depth information acquisition unit 64 that acquires depth information of the surrounding environment. This allows the moving object 2 and the built-in functional unit 4 to measure the distance to the target even indoors where radio waves are difficult to reach, making it easier to move to point P.

[0074] According to one embodiment of the present invention configured as described above, there is provided a point adjustment function unit 48 that can adjust the position of the point P while maintaining the attribute information Z added to the point P. This makes it possible to change the position of the point P while keeping the point P and the attribute information Z linked to each other.

[0075] According to the embodiment of the present invention configured in this manner, the attribute information Z attached to point P is provided with a change function unit 50 that allows for arbitrary changes to the attribute information Z even after it has been set. This allows for easy changes to the function displayed by the point function display unit 46 by changing the attribute information Z, even in cases where the equipment being worked on at point P is changed from an analog device to a digital device, or when the configuration or operation changes, such as when upgrading from an old version to a new version.

[0076] According to one embodiment of the present invention configured as described above, the point function display unit 46 has a multiple function execution unit 55 that selects and executes multiple functions of the displayed built-in function unit 4. This makes it easy to select and execute multiple functions of the built-in function unit 4 for the point P.

[0077] According to the embodiment of the present invention configured in this manner, the point setting unit 44 includes an access direction designation function 51 that defines the access direction when the mobile body 2 reaches the point P. This allows the access direction when the mobile body 2 reaches the point P to be defined, and the direction in which the equipment of the mounted function unit 4 faces the point P, even when it is preferable for the equipment to be facing a predetermined direction relative to the point P upon arrival.

[0078] According to one embodiment of the present invention configured as described above, the point setting unit 44 includes a route setting function unit 53 that sets the order in which the moving object 2 will arrive at the plurality of points P. This allows the route setting function unit 53 to relatively easily set the order in which the moving object 2 will arrive at the plurality of points P.

[0079] According to the embodiment of the present invention configured in this manner, the system further includes a work result display function unit 56 that can acquire the work results of the mounted function unit 4 at the set points and display the acquired work results for the points, thereby making it easy to summarize and compare the work results for the points. For example, the work results for the past six months can be displayed side by side for the points, or displayed in chronological order. Therefore, it is possible to set the work for the points while checking the work results that have already been acquired.

[0080] According to this embodiment of the present invention, the link function unit 52 associates the execution of the function selected by the point function display with the point P set by the point setting unit 44. This makes it possible to set the execution of the mounted function unit 4 at the point P, in combination with setting the destination point P of the mobile body 2, in a relatively simple manner.

[0081] According to one embodiment of the present invention configured in this manner, the point function display unit 46 displays the functions that the built-in function unit 4 can execute for the point P in accordance with the attribute information Z. Therefore, the functions that the built-in function unit 4 executes can be displayed to the user in accordance with the attribute information Z of the point P, making it easier to set the functions that the built-in function unit 4 executes.

[0082] According to the embodiment of the present invention configured in this manner, the system further includes a work result display function unit 56 that can acquire the work results of the mounted function unit 4 at the set points and display the acquired work results for the points, thereby making it easy to summarize and compare the work results for the points. For example, the work results for the past six months can be displayed side by side for the points, or displayed in chronological order. Therefore, it is possible to set the work for the points while checking the work results that have already been acquired.

[0083] According to one embodiment of the present invention configured in this manner, a computer-readable recording medium on which an operation setting program is recorded can be used to relatively easily set the execution of the function of the onboard functional unit 4 at point P in combination with setting the destination point P of the moving body 2.

[0084] According to one embodiment of the present invention configured in this manner, the link step associates the execution of the function selected in the point function display step with the point set in the point setting step. This makes it possible to set the execution of the mounted function unit 4 at the point in combination with setting the destination point of the mobile body 2 in a relatively simple manner. [Explanation of symbols]

[0085] 1: Work setting system 2: Moving object 4: Functional part 42: Map display section 44: Point setting section 45: Attribute information addition section 46: Point function display section 48: Point adjustment function section 50: Change function section 51: Access direction specification function 52: Link function section 53: Route setting function unit 55: Multiple function execution unit 64: Depth information acquisition section P: Point Z: Attribute information

Claims

1. A work setting system for setting the work of a mounted functional unit mounted on an autonomously mobile body at the destination of the mobile body, A mobile body that can be moved, The mounted functional unit, which is mounted on the mobile body and performs a function at the destination, A map display unit that displays a map showing the movable area of ​​the mobile object on the user interface, A point setting unit that sets a point in the map that can be set as the destination of the moving object and that can also execute the function of the mounted function unit, A point function display unit that displays the functions that the mounted function unit can perform for the aforementioned point, allowing the user to select the desired function. A link function unit, which associates the execution of a function selected by the point function display unit with the point set by the point setting unit, so that different moving bodies can execute a function set to be executed for the point at the point, A work setting system in which the mobile body can move to the point by autonomous movement based on its own judgment, and the mobile body can execute a function set at the point based on information received from the link function unit, which is a set of the point configured to be executed by a different mobile body on a server separate from the mobile body, and the function selected to be executed at that point.

2. Furthermore, it includes an attribute information addition unit that adds attribute information to the aforementioned points, The work setting system according to claim 1, wherein the point function display unit displays a function that the mounted function unit can perform for the point according to the attribute information.

3. The work setting system according to claim 1, wherein the point function display unit displays a function based on the equipment mounted on the mounted function unit.

4. The work setting system according to claim 1, wherein the mounted function unit includes a depth information acquisition unit that acquires depth information of the surrounding environment.

5. The work setting system according to claim 2, further comprising a point adjustment function unit that can adjust the position of the point while maintaining the attribute information attached to the point.

6. The work setting system according to claim 2, further comprising a change function unit that allows the attribute information attached to the point to be arbitrarily changed even after it has been set.

7. The work setting system according to claim 1, wherein the point function display unit has a multiple function execution unit that allows the user to select and execute multiple functions of the mounted function units that are displayed.

8. The work setting system according to claim 1, wherein the point setting unit includes an access direction specification function that defines the access direction when the moving body reaches the point.

9. The work setting system according to claim 1, wherein the point setting unit includes a route setting function unit that sets the order in which the moving body reaches a plurality of points.

10. Furthermore, the work setting system according to claim 1 is further equipped with a work result display function unit that can acquire the work results of the mounted function unit at the set point and display the acquired work results for the point.

11. A work setting program for setting the tasks of a mounted functional unit mounted on an autonomously mobile body at the destination of the mobile body, A map display unit that displays a map showing the movable area of ​​the mobile object on the user interface, A point setting unit that sets a point in the map that can be set as the destination of the moving object and that can also execute the function of the mounted function unit, A point function display unit that displays the functions that the mounted function unit can perform for the aforementioned point, allowing the user to select the desired function. A link function unit, which associates the execution of a function selected by the point function display unit with the point set by the point setting unit, so that different moving bodies can execute a function set to be executed for the point at the point, The mobile body is capable of moving to the point by autonomous movement based on its own judgment, and the mobile body is capable of executing a work setting program that, based on information received from the link function unit, which consists of a set of the point configured to be executed by a different mobile body on a server separate from the mobile body, and the function selected to be executed at that point, can execute the function set at the point.

12. Furthermore, the system includes an attribute information addition unit that adds attribute information to the aforementioned points. The work setting program according to claim 11, wherein the point function display unit displays the functions that the mounted function unit can perform on the point according to the attribute information.

13. Furthermore, the work setting program according to claim 11 includes a work result display function unit that can acquire the work results of the mounted function unit at the set point and display the acquired work results for the point.

14. A computer-readable recording medium on which the work setting program described in any one of claims 11 to 13 is recorded.

15. A method for setting the operation of a mounted functional unit installed on an autonomously mobile body at its destination, A map display step that displays a map on the user interface showing the movable area of ​​the mobile object, A point setting step involves setting a point in the map that can be set as the destination of the moving object and that can also perform the function of the mounted functional unit, A point function display step that displays the functions that the mounted function unit can perform for the aforementioned point, so that it can be selected. A link step comprising: a link step that associates the execution of a function selected by the point function display unit with a point set by the point setting unit, so that different moving bodies can perform a function set to be performed on the point at the point; A work setting method wherein the mobile body can move to the point by autonomous movement based on its own judgment, and the mobile body can execute a function set at the point based on information received from the link step, which is a set of the point configured to be executed by a different mobile body on a server separate from the mobile body, and the function selected to be executed at that point.

Images