Comparison display system, comparison display program, computer-readable recording medium including the same, and comparison display method

Abstract

A comparison display system, a comparison display program, a computer-readable recording medium including the same, and a comparison display method are provided that can easily analyze tasks that cause discrepancies between plans and results. [Solution] The comparison display system 1 of the present invention comprises a schedule display unit 42 that displays task scheduled time information based on the operation plan relating to the movement tasks of the mobile body 2 and the tasks for executing specified functions by the built-in functional unit 4, a result display unit 44 that displays task result time information relating to the movement tasks of the mobile body and the tasks for executing specified functions by the built-in functional unit based on the results of executing the operation plan, and a correspondence display unit 46 that displays the task scheduled time information and the task result time information in correspondence with each other for at least some of the tasks.

Description

[Technical Field]

[0001] The present invention relates to a comparison display system, a comparison display program, a computer-readable recording medium including the program, and a comparison display 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 an autonomous mobile device such as that shown in Patent Document 1, there are cases where the planned time for the device to move differs from the actual time of the movement. In such cases, there is a problem in that it takes time for a person to be present to check how the difference between the plan and the result occurred. Furthermore, when an autonomous mobile device is equipped with a functional unit to perform a certain function, there is a problem that such a discrepancy between the plan and the result is more likely to occur. Analyzing the tasks that cause such a discrepancy between the plan and the result and analyzing the causes of the discrepancy is a problem that requires time and effort.

[0005] The present invention has been made to solve such problems, and aims to provide a comparison display system, a comparison display program, a computer-readable recording medium including the same, and a comparison display method that make it easier to analyze tasks that result in discrepancies between plans and results. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, according to one embodiment of the present invention, a comparison display system is provided that displays an operation plan of an autonomously movable body and the onboard functional unit mounted on the mobile body so as to facilitate a comparison with the results of executing the operation plan, and includes a schedule display unit that displays task scheduled time information based on the operation plan relating to the movement task of the mobile body and the execution task of a specified function by the onboard functional unit, a result display unit that displays task result time information relating to the movement task of the mobile body and the execution task of a specified function by the onboard functional unit based on the results of executing the operation plan, and a correspondence display unit that displays the task scheduled time information and the task result time information in correspondence with each other for at least some of the tasks. According to one embodiment of the present invention, the comparison display system includes a schedule display unit that displays task scheduled time information based on the operation plan for the movement tasks of the mobile body and the execution tasks of predetermined functions by the onboard functional unit, a result display unit that displays task result time information for the movement tasks of the mobile body and the execution tasks of predetermined functions by the onboard functional unit based on the results of executing the operation plan, and a correspondence display unit that displays the task scheduled time information and the task result time information in correspondence with at least some of the tasks. This allows, when an autonomously mobile body and the onboard functional unit mounted on the mobile body execute a predetermined function at a destination, task scheduled time information based on the operation plan and task result time information based on the result of executing the operation plan to be displayed in correspondence with at least some of the tasks. This makes it possible to compare the difference between the scheduled time and the result time for a task when the autonomously mobile body and the onboard functional unit mounted on the mobile body autonomously move and execute a predetermined function, thereby facilitating analysis of tasks for which a difference between the schedule and the result occurs.

[0007] According to one embodiment of the present invention, preferably, the correspondence display section displays the task scheduled time information and the task result time information in association with each other for each task. According to one embodiment of the present invention configured as described above, the correspondence display unit displays the task planned time information and the task result time information in correspondence with each other for each task, thereby making it easier to compare the difference between the planned time and the result time for each task and to analyze which tasks are causing differences between the planned time and the result.

[0008] According to one embodiment of the present invention, the correspondence display unit preferably arranges the tasks in chronological order and displays the task scheduled time information and the task result time information in correspondence with each other for each arranged task. According to one embodiment of the present invention configured as described above, the correspondence display unit arranges the tasks in chronological order and displays the task scheduled time information and the task result time information in a corresponding manner for each arranged task. This makes it easier to compare the difference between the scheduled time and the result time for each arranged task and to analyze which tasks have differences between the schedule and the results.

[0009] According to one embodiment of the present invention, the correspondence display unit preferably includes a ratio display unit for displaying, for each task, the ratio of the result time of the task result time information to the scheduled time of the task scheduled time information. According to one embodiment of the present invention configured as described above, the correspondence display unit includes a ratio display unit that displays, for each task, the ratio of the result time of the task result time information to the scheduled time of the task scheduled time information. This allows the ratio display unit to easily compare the difference between the scheduled time and the result time for each task based on the ratio of the result time of the task result time information to the scheduled time of the task scheduled time information, thereby making it possible to intuitively and quickly analyze which tasks have differences between the schedule and the results.

[0010] According to one embodiment of the present invention, it is preferable that the device further comprises a first display unit that displays a simulation of the movement task of the moving body based on the operation plan and the execution task of a specified function by the built-in functional unit, a second display unit that displays the result information of executing the operation plan, and a comparison display function unit that displays the first display unit, the second display unit, and the corresponding display unit side by side to make it easier to compare them. According to one embodiment of the present invention configured as described above, the apparatus further includes a first display unit that displays a simulation of a movement task of the moving body based on the operation plan and an execution task of a predetermined function by the onboard functional unit, a second display unit that displays result information of the execution of the operation plan, and a comparison display function unit that displays the first display unit, the second display unit, and the corresponding display unit side by side for easy comparison. As a result, the comparison display function unit can display the first display unit, the second display unit, and the corresponding display unit side by side for easy comparison, and when a difference occurs between the planned time and the result time for a task, it is easy to investigate the cause of the difference by comparing the simulation by the first display unit and the result information by the second display unit.

[0011] According to one embodiment of the present invention, the second display unit preferably has a parameter display function for displaying a diagram showing changes in a predetermined parameter over time, in addition to or instead of displaying result information. According to one embodiment of the present invention configured as described above, the second display unit has a parameter display function that displays a graph showing changes in a predetermined parameter over time in addition to or instead of displaying result information. This makes it possible to analyze the cause of a difference even when it is difficult to do so using only the display by the comparison display function unit.

[0012] According to one embodiment of the present invention, a comparison display program is provided that displays an operation plan for an autonomously movable body and the onboard functional unit mounted on the mobile body so as to facilitate a comparison between the operation plan and the results of executing the operation plan, and includes a schedule display unit that displays task scheduled time information based on the operation plan relating to the movement task of the mobile body and the execution task of a specified function by the onboard functional unit, a result display unit that displays task result time information relating to the movement task of the mobile body and the execution task of a specified function by the onboard functional unit based on the results of executing the operation plan, and a correspondence display unit that displays the task scheduled time information and the task result time information in correspondence with each other for at least some of the tasks. According to one embodiment of the present invention configured as described above, the comparison display program includes a schedule display unit that displays task scheduled time information based on the operation plan for the movement tasks of the mobile body and the execution tasks of predetermined functions by the built-in functional unit, a result display unit that displays task result time information for the movement tasks of the mobile body and the execution tasks of predetermined functions by the built-in functional unit based on the results of executing the operation plan, and a correspondence display unit that displays the task scheduled time information and the task result time information in correspondence with at least some of the tasks. This allows, when an autonomously mobile body and the built-in functional unit mounted on the mobile body execute a predetermined function at a destination, the task scheduled time information based on the operation plan and the task result time information based on the result of executing the operation plan to be displayed in correspondence with at least some of the tasks. Therefore, when an autonomously mobile body and the built-in functional unit mounted on the mobile body autonomously move and execute a predetermined function, the difference between the scheduled time and the result time for a task can be compared, making it easier to analyze tasks that cause a difference between the schedule and the result.

[0013] According to one embodiment of the present invention, preferably, the correspondence display section displays the task scheduled time information and the task result time information in association with each other for each task. According to one embodiment of the present invention configured as described above, the correspondence display unit displays the task planned time information and the task result time information in correspondence with each other for each task, thereby making it easier to compare the difference between the planned time and the result time for each task and to analyze which tasks are causing differences between the planned time and the result.

[0014] According to one embodiment of the present invention, it is preferable that the device further comprises a first display unit that displays a simulation of the movement task of the moving body based on the operation plan and the execution task of a specified function by the built-in functional unit, a second display unit that displays the result information of executing the operation plan, and a comparison display function unit that displays the first display unit, the second display unit, and the corresponding display unit side by side to make it easier to compare them. According to one embodiment of the present invention configured as described above, the apparatus further includes a first display unit that displays a simulation of a movement task of the moving body based on the operation plan and an execution task of a predetermined function by the onboard functional unit, a second display unit that displays result information of the execution of the operation plan, and a comparison display function unit that displays the first display unit, the second display unit, and the corresponding display unit side by side for easy comparison. As a result, the comparison display function unit can display the first display unit, the second display unit, and the corresponding display unit side by side for easy comparison, and when a difference occurs between the planned time and the result time for a task, it is easy to investigate the cause of the difference by comparing the simulation by the first display unit and the result information by the second display unit.

[0015] According to one embodiment of the present invention, there is preferably further provided a computer-readable recording medium having the comparison display program recorded thereon. According to one embodiment of the present invention configured as above, it is possible to provide a computer-readable recording medium on which a predetermined comparison display program is recorded.

[0016] According to one embodiment of the present invention, the method for comparison display preferably provides a display that allows easy comparison between the operation plan of an autonomously movable body and the onboard functional unit mounted on the movable body and the results of executing the operation plan, and includes a schedule display step that displays task scheduled time information based on the operation plan relating to the movement task of the movable body and the execution task of a specified function by the onboard functional unit, a result display step that displays task result time information relating to the movement task of the movable body and the execution task of a specified function by the onboard functional unit based on the result of executing the operation plan, and a correspondence display step that displays the task scheduled time information and the task result time information in correspondence with each other for at least some of the tasks. According to one embodiment of the present invention configured as described above, the comparison display method includes a schedule display step of displaying task scheduled time information based on the operation plan for the movement tasks of the mobile body and the execution tasks of predetermined functions by the built-in functional unit, a result display step of displaying task result time information for the movement tasks of the mobile body and the execution tasks of predetermined functions by the built-in functional unit based on the results of executing the operation plan, and a correspondence display step of displaying the task scheduled time information and the task result time information in correspondence with at least some of the tasks. This makes it possible to display, for at least some of the tasks, the task scheduled time information based on the operation plan and the task result time information based on the results of executing the operation plan when the autonomously mobile body and the built-in functional unit mounted on the mobile body autonomously move and execute predetermined functions. This makes it possible to compare the difference between the scheduled time and the result time for a task when the autonomously mobile body and the built-in functional unit mounted on the mobile body autonomously move and execute predetermined functions, thereby facilitating analysis of tasks for which a difference between the schedule and the result occurs. [Effects of the Invention]

[0017] The comparative display system, comparative display program, computer-readable recording medium including the program, and comparative display method of the present invention make it easier to analyze tasks in which there is a difference between the plan and the result. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a block diagram showing the relationship between a comparison display system according to an embodiment of the present invention, a mobile body, and an on-board functional unit. [Figure 2] 1 is a front view of a moving body and an on-board functional unit of a comparison display system according to an embodiment of the present invention. [Figure 3] FIG. 2 is a rear perspective view of the moving body and the mounted functional unit of the comparison display system according to one embodiment of the present invention, as viewed obliquely from behind. [Figure 4] 1 is a block diagram showing a schematic configuration of a mobile unit of a comparison display system according to an embodiment of the present invention. [Figure 5] 1 is a block diagram illustrating a schematic configuration of a functional unit of a comparison display system according to an embodiment of the present invention. [Figure 6] 3 is a block diagram showing a schematic configuration of a control unit of the comparison display system according to one embodiment of the present invention. FIG. [Figure 7] 1 is a diagram illustrating how a mobile object moves along points within a map displayed in a comparison display system according to an embodiment of the present invention. FIG. [Figure 8] FIG. 10 is a diagram showing a comparison display system according to an embodiment of the present invention, which displays task scheduled time information and task result time information in correspondence with each other for each task over time. [Figure 9] A figure showing the corresponding display of task planned time information and task result time information for each task over time in a comparison display system according to one embodiment of the present invention, a figure showing the state of a mobile object and its on-board functional units displayed on a simulation screen, and a figure showing the state of a mobile object and its on-board functional units displayed in an actually photographed image. [Figure 10] FIG. 10 is a diagram showing CPU usage over time in a comparison display system according to an embodiment of the present invention. [Figure 11] FIG. 10 is a diagram showing disk usage over time in a comparison display system according to an embodiment of the present invention. [Figure 12]FIG. 10 is a diagram showing the elapsed time from system startup in the comparison display system according to one embodiment of the present invention. [Figure 13] FIG. 10 is a diagram illustrating load averages over time in a comparison display system according to an embodiment of the present invention. [Figure 14] FIG. 10 is a diagram showing the temperature of a CPU over time in a comparison display system according to an embodiment of the present invention. [Figure 15] FIG. 10 is a diagram showing PING time over time in a comparison display system according to an embodiment of the present invention. [Figure 16] FIG. 10 is a diagram showing network reception volume over time in a comparison display system according to an embodiment of the present invention. [Figure 17] FIG. 10 is a diagram showing the amount of network transmission over time in a comparison display system according to an embodiment of the present invention. [Figure 18] FIG. 2 is a diagram illustrating network transmission speed over time in a comparison display system according to an embodiment of the present invention. [Figure 19] FIG. 10 is a diagram showing the cart and voltage over time in a comparison display system according to one embodiment of the present invention. [Figure 20] FIG. 10 is a diagram showing current over time in a comparison display system according to an embodiment of the present invention. [Figure 21] 1 is a flowchart illustrating the processing of a comparison display method executed by a comparison display system according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, a comparison display system according to an embodiment of the present invention will be described with reference to the accompanying drawings. First, Fig. 1 is a block diagram showing the relationship between a comparative display system, a mobile body, and an on-board functional unit according to one embodiment of the present invention. Fig. 2 is a front view of the mobile body and on-board functional unit of the comparative display system according to one embodiment of the present invention. Fig. 3 is a rear perspective view of the mobile body and on-board functional unit of the comparative display system according to one embodiment of the present invention, seen obliquely from the rear. Fig. 4 is a block diagram schematically showing the configuration of the mobile body of the comparative display system according to one embodiment of the present invention. Fig. 5 is a block diagram schematically showing the configuration of the on-board functional unit of the comparative display system according to one embodiment of the present invention. Fig. 6 is a block diagram schematically showing the configuration of a control unit of the comparative display 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 face monitor, the front side of the paper in Figure 2) 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 2) 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.

[0020] 1 , a comparison display system 1 according to one embodiment of the present invention supports comparison of an operation plan of both or one of an autonomously movable body 2 and an on-board functional unit 4 mounted on the movable body 2 with the results of executing the operation plan. The comparison display system 1 may include such an autonomously movable body 2 and an on-board functional unit 4 mounted on the movable body 2.

[0021] The moving body 2 is configured to be capable of autonomous travel based on its own judgment to a specified point P (see FIG. 7). The moving body 2 is mainly composed of a device for moving the main body. As shown in FIG. 2, 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 that is operated by receiving commands from outside. Note that the moving body 2 may also 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, for example, capable of moving on or underwater. In this case, the moving body 2 may be, for example, a moving body such as a ship or an underwater drone.

[0022] The mobile object 2 comprises a mobile object main body 6 that constitutes the main body of the mobile object 2, two or more drive wheels 8 attached to the lower part of the mobile object main body 6, and a mobile object control unit 10. The mobile object 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 located, for example, at a height within a range of approximately 1 m to 2 m from the floor F. The mobile object 2 is configured to be able to autonomously travel to a point based on the judgment of the mobile object control unit 10, using map information (described later) as well as a mobile object depth information acquisition unit 77 and the like provided in the mobile object 2.

[0023] The drive wheels 8 are, for example, tires for traveling on the floor surface F. The drive wheels 8 are rotatably attached to the bottom of the mobile body main body 6. Two drive wheels 8 are provided, one on each side of the front side (front side), and two on each side of the back side (rear side). Some of the drive wheels 8 may be changed to wheels that function as driven wheels. Furthermore, the drive wheels 8 are not limited to wheels, and may be changed to other moving devices such as caterpillars or legs. Driving force is transmitted to the drive wheels 8 from a main body drive unit 12. The main body drive unit 12 is, for example, a brushless motor and is disposed on each tire. The main body drive unit 12 may be an in-wheel motor, or may be disposed separately from the tires.

[0024] As shown in Fig. 2, the on-board functional unit 4 is mounted on the moving body 2. The moving body 2 is equipped with the on-board functional unit 4. While the moving body 2 is mainly equipped with a mechanism for moving the main body, the on-board functional unit 4 is equipped with 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.

[0025] As shown in Figures 2 to 5, the built-in functional unit 4 is equipped with a front camera 60 located on the front side and capturing video and images of the surroundings, a rear camera 61 (see Figure 2) located on the rear side and capturing video and images of the surroundings, an infrared camera 62 that captures images by emitting infrared rays, a depth information acquisition unit 64 that captures depth images that measure the distance to surrounding objects, a torso camera 63 located on the front side and capturing video and images of the surroundings, an ultrasonic sensor 65 that can detect surrounding obstacles etc. by ultrasonic waves, a hand unit 66 that is configured to operate on objects, an elevating device 67 that raises and lowers the height of equipment such as the torso 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 of the built-in functional unit 4 to illuminate the surroundings or display a rotating red light to alert people in the surroundings.

[0026] 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 odors, a radiation dose detector 75 for detecting radiation doses, a CO2 concentration sensor 76 for detecting CO2 concentrations, 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. 6) 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. 6) 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.

[0027] 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 attached to the rear of the top, for example, and can capture videos and images of the rear side of the moving object 2. The infrared camera 62 is attached to, for example, the front of the torso 2b, and can recognize and photograph the surrounding environment even in dark places.

[0028] 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 may be, for example, a LiDAR that captures depth images. The body camera 63 can take images from the height of the body 2b, so that the work object and the like can be easily confirmed by the image with the camera at the height of the body 2b. 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.

[0029] The hand unit 66 includes 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 be able to move up and down together with the torso 2b. The right hand and left hand include shoulder joints, upper arms, elbow joints, arms, wrist joints, fingers, etc., just like a human hand. Therefore, the on-board function unit 4, as a robot, can also perform actions that are performed by a human hand, such as pressing a button, lifting or moving an object, and other actions that use the fingers.

[0030] The lifting device 67 has a function of raising and lowering the height of some of the devices mounted on the mounted functional unit 4, such as a camera or an arm. More specifically, the lifting device 67 is configured to be able to raise and lower the height of the body 2b along the column portion up to the top 2a of the moving body 2. The lifting device 67 also has a function of maintaining the body 2b fixed at a predetermined height.

[0031] 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.

[0032] 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 can measure the ambient air pressure. The humidity sensor 73 is provided, for example, at the rear of the mobile body 2 and can measure the ambient humidity. The odor sensor 74 is provided, for example, at the rear of the mobile body 2 and can measure the ambient odor. The dose detector 75 is provided, for example, at the rear of the mobile body 2 and can measure 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 can measure the ambient CO2 concentration, thereby helping to detect changes in the CO2 concentration, such as whether something is burning, by measuring the ambient CO2 concentration. 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.

[0033] As shown in FIG. 4, the moving body 2 further includes a moving body control unit 10. The moving body control unit 10 functions as an operation procedure execution unit, which will be described later. The moving body control unit 10 is disposed inside the moving body main body 6. The moving body control unit 10 constitutes the control unit of the moving body 2, and also constitutes the control unit of the on-board function unit 4. Therefore, the moving body control unit 10 can execute each control function of the moving body 2 and can also execute each control function of the on-board function unit 4. For example, the moving body control unit 10 has a function of executing autonomous traveling of the moving body 2 to a predetermined point while utilizing a moving body-side depth information acquisition unit 77 (see FIG. 2) provided in the moving body 2, etc. The mobile object control unit 10 is electrically connected to, for example, the onboard function unit 4, the main body drive unit 12, the front camera 60, the rear camera 61, the infrared camera 62, the depth information acquisition unit 64, the torso camera 63, the ultrasonic sensor 65, the hand unit 66, the lifting device 67, the monitor unit 68, the lighting unit 69, 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, and has the function of controlling the connected devices. The mobile object control unit 10 is also electrically connected to a control unit 40 on a server, which will be described later.

[0034] The mobile object control unit 10 has a built-in CPU, memory, etc., and controls connected devices based on a predetermined control program recorded in the memory, etc. The mobile object control unit 10 may be electrically connected to other devices, in whole or in part, via wireless communication such as infrared communication or other methods. The mobile object control unit 10 may be electrically connected to a control unit external to the mobile object 2 via the Internet. A portion of the mobile object control unit 10 may be located physically separate from the mobile object 2, or may be provided in the form of a program on a server via the Internet. For example, a portion of the mobile object control unit 10 may be provided in the control unit 40. Similarly, a portion of the control unit 40 may be provided in the mobile object control unit 10. Furthermore, for example, the mobile object control unit 10 and the control unit 40 may function as an integrated control unit.

[0035] The mobile object control unit 10 can perform predetermined operations and control of connected devices at the discretion of the mobile object control unit 10, and may also receive commands from outside the mobile object 2 to perform predetermined operations and control of connected devices. For example, the mobile object control unit 10 performs predetermined operations and control for predetermined control at the discretion of the mobile object control unit 10, but may wait for commands from outside to perform certain operations and control.

[0036] For example, the mobile object control unit 10 can receive an operation plan set by the operation procedure setting unit 51 and cause the mobile object 2 and the on-board functional unit 4 to perform predetermined operations, such as operations specified in the operation plan, based on the operation procedure. The mobile object control unit 10 is also electrically connected to a mobile object operation data recording unit 13 and a mobile object operation data information display unit 15, which will be described later, and can reflect operation data resulting from the execution of predetermined operations of the mobile object 2 and the on-board functional unit 4 in the mobile object operation data recording unit 13 and the mobile object operation data information display unit 15. The mobile object control unit 10 is also electrically connected to a server of the mobile object management system 49, for example, via the Internet.

[0037] The mobile object management system 49 is configured to be able to set an operation procedure, which is an operation plan for the mobile object 2 and the on-board functional unit 4. The mobile object management system 49 includes an operation procedure setting unit 51 that sets an operation procedure, which is an operation plan for the mobile object 2. The mobile object management system 49 is configured, for example, by a program installed on a server. The mobile object management system 49 is configured, for example, as a program that executes software installed on a cloud.

[0038] The operation procedure setting unit 51 can set operation procedures for the moving body 2 and the on-board functional unit 4. For example, the operation procedures are movement procedures for the moving body 2, execution procedures for the functions of the on-board functional unit 4, etc. The operation procedures, which are the operation plans set by the operation procedure setting unit 51, are acquired by the operation procedure execution unit of the moving body 2, thereby setting the operation procedures for the moving body 2 and the on-board functional unit 4. Furthermore, the operation procedures, which are the operation plans set by the operation procedure setting unit 51, are acquired by the simulation operation procedure execution unit 53 of the moving body simulator 56, thereby setting the operation procedures (expected operations to be simulated) of the moving body simulator 56.

[0039] The mobile body simulator 56 is configured to acquire setting information from the operation procedure setting unit 51 of the mobile body management system 49 and acquire an assumed operation schedule for the mobile body 2. The mobile body simulator 56 includes a simulation operation procedure execution unit 53 that acquires setting information from the operation procedure setting unit 51 of the mobile body management system 49 and simulates the operation schedule of the mobile body 2, an operation data recording unit 54 that records operation data in the simulation, and an operation data information display unit 55 that displays operation data information in task units and in chronological order based on the data acquired by the operation data recording unit 54. The mobile object simulator 56 may acquire the setting information (e.g., planned travel time information) of the operation procedure setting unit 51 of the mobile object management system 49 as planned operation information of the mobile object 2. That is, the operation data recording unit 54 may record the setting information of the operation procedure setting unit 51 as operation data in the simulation. The mobile object simulator 56 is provided in the form of a program on a server. The mobile object simulator 56 is electrically connected to the operation procedure setting unit 51 of the mobile object management system 49 via, for example, the Internet.

[0040] As shown in FIG. 11 , the simulation operation procedure execution unit 53 has a function of displaying a simulation of the movement task of the mobile object 2 and the execution task of a predetermined function by the onboard functional unit 4 based on the operation plan. The simulation operation procedure execution unit 53 acquires an operation procedure, which is the operation plan set by the operation procedure setting unit 51. Then, based on this operation procedure, the simulation operation procedure execution unit 53 can create the operation of the mobile object 2 and the onboard functional unit 4 in a simulation on the mobile object simulator 56. The simulation operation procedure execution unit 53 acquires map information about the surroundings of the mobile object 2 and can move the mobile object 2 and the onboard functional unit 4 in accordance with the operation plan in a virtual 3D space based on the map to show the user the operation schedule. In this way, the simulation operation procedure execution unit 53 can show the user the simulated operation of the mobile object 2 and the onboard functional unit 4 as an image based on the acquired operation plan. The simulation operation procedure execution unit 53 has a function of moving the mobile object 2 and the onboard functional unit 4 in the simulation. The simulation operation procedure execution unit 53 has a function of reproducing the operation in the simulation as an image or video, but it is also possible to simply simulate and confirm the scheduled operation based on the operation plan of the moving body 2 and the on-board functional unit 4 without displaying the operation in the simulation as an image or video. In other words, the simulation operation procedure execution unit 53 may simply acquire the operation plan and set it as the scheduled operation plan as is.

[0041] The operation data recording unit 54 records (acquires) the operation of the mobile body 2 and the on-board functional unit 4 in the simulation assumed by the simulation operation procedure executing unit 53. The operation data recording unit 54 records the required time for each predetermined task. The operation data recording unit 54 may use the scheduled time in the received operation plan as the required time.

[0042] The operation data information display unit 55 displays the operation assumed by the simulation operation procedure execution unit 53, for example, by dividing it into task units, and can also organize and display the divided tasks in chronological order as operation data information for each task. By dividing and arranging the tasks in chronological order, the operation data information display unit 55 can easily compare the scheduled time and the resulting time for each task. In this way, the data information display unit 55 has the function of dividing the movement tasks of the mobile object 2 and the execution tasks of the onboard functional unit 4 into task units, and organizing and displaying them in chronological order.

[0043] The comparison display system 1 of this embodiment includes a control unit 40 of the comparison display system 1 (see FIG. 6). The control unit 40 of the comparison display system 1 is electrically connected to the mobile object 2, for example, via the Internet 5, wireless communication, etc. (see FIG. 1). Furthermore, the control unit 40 is electrically connected to a mobile object simulator 56, for example, via the Internet 5, wireless communication, etc. The control unit 40 of the comparison display system 1 is also electrically connected to a monitor 7, for example, a monitor on the user's side, for example, via the Internet 5, wireless communication, etc. Therefore, the execution results of the functional units according to the programs in the control unit 40 are displayed on the monitor 7.

[0044] Next, the control unit 40 of the comparison display system 1 will be described with reference to FIG. The control unit 40 includes a schedule display unit 42 that displays task scheduled time information I1 based on the operation plan relating to the movement task of the mobile body 2 and the task of executing a specified function by the onboard functional unit 4, a result display unit 44 that displays task result time information I2 relating to the movement task of the mobile body 2 and the task of executing a specified function by the onboard functional unit 4 based on the results of executing the operation plan, and a correspondence display unit 46 that displays the task scheduled time information I1 and the task result time information I2 in correspondence with each other for at least some of the tasks.

[0045] The control unit 40 is configured, for example, by a predetermined program provided on the server 16. The program has a function of supporting comparison of the operation plan of the mobile object 2 and the onboard functional unit 4 mounted on the mobile object 2 with the results of executing the operation plan. The program is executed on the server 16 and displays the results on a user interface, such as a monitor 7, of a user connected to the server 16 via the Internet 5. Thus, the user can execute the predetermined program in software executed on the user interface. The predetermined 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 control unit 40 is provided on a server 16 (e.g., a server on the cloud) at a location separate from the built-in functional unit 4, but the control unit 40 may also be provided in the built-in functional unit 4 or the mobile object 2. For example, the control unit 40 may be provided in the mobile object control unit 10.

[0046] In addition, the specified program of the control unit 40 includes, for example, a schedule display unit 42 that displays task scheduled time information I1 based on an operation plan relating to the movement task of the mobile body 2 and the execution task of a specified function by the built-in functional unit 4, a result display unit 44 that displays task result time information I2 relating to the movement task of the mobile body 2 and the execution task of a specified function by the built-in functional unit 4 based on the result of executing the operation plan, and a correspondence display unit 46 that displays the task scheduled time information I1 and the task result time information I2 in correspondence with each other for at least some of the tasks. Therefore, the control program of the control unit 40 supports comparison of the operation plan of the autonomously movable body 2 and the on-board functional unit 4 mounted on the movable body 2 with the results of executing the operation plan.

[0047] The schedule display unit 42 displays task scheduled time information I1 based on an operation plan for a movement task of the moving object 2. The schedule display unit 42 also displays task scheduled time information I1 based on an operation plan for a task for executing a predetermined function by the onboard functional unit 4. More specifically, the schedule display unit 42 acquires virtual operation data records identified by the simulation operation procedure execution unit 53 and displays task scheduled time information I1 (see FIG. 8 ) based on these operation data records. The task scheduled time information I1 is, for example, information regarding the estimated required time for the task. The task scheduled time information I1 may directly display a numerical value for time, or may not directly display a time value but may instead display the length of time using a certain indicator, such as a bar graph corresponding to the length of time. The scheduled required time information may also be displayed as a percentage or a guideline using other forms of representation, such as a graph. The task scheduled time information I1 may, for example, be displayed divided into task units, and the divided tasks may be arranged in chronological order to provide operation time information for each task. The schedule display unit 42 makes it easy to compare the scheduled time and the resulting time for each task because the data information display unit 55 divides and arranges tasks into task units and arranges the tasks in chronological order. In this way, the data information display unit 55 has the function of dividing the task scheduled time information I1 into task units, and organizing and displaying them in chronological order.

[0048] Next, Fig. 8 and Fig. 9 show examples of task scheduled time information I1 and task result time information I2. Fig. 8 is a diagram showing a comparison display system according to one embodiment of the present invention that displays task scheduled time information and task result time information in correspondence with each other for each task over time. Fig. 9 is a diagram showing a comparison display system according to one embodiment of the present invention that displays task scheduled time information and task result time information in correspondence with each task over time, a diagram showing the state of the mobile object and on-board functional units displayed on a simulation screen, and a diagram showing the state of the mobile object and on-board functional units displayed in an actually captured image. For example, suppose that a movement task T1 of the moving object 2 is defined as movement from point P1 to point P2. For this movement task T1 (see FIG. 8 ), task scheduled time information I1(T1) based on the operation plan for the movement task T1 is displayed by the schedule display unit 42 as shown in FIG. 8 . Furthermore, suppose that an execution task T2 of the built-in functional unit 4 is defined as, for example, image capture by the front camera 60. For this execution task T2 (see FIG. 8 ), task scheduled time information I1(T2) based on the operation plan for the execution task T2 is displayed by the schedule display unit 42. The schedule display unit 42 is not limited to displaying the task scheduled time information I1 in a graph format as in the present embodiment, but may also display the task scheduled time information I1 in other formats such as numerical values, graphs, or tables. The schedule display unit 42 also has a function of acquiring information necessary for displaying the task scheduled time information I1 from the operation data recording unit 54 and the moving object control unit 10.

[0049] The result display unit 44 displays task-by-task, chronologically-series operation data information (such as time information and parameter information) regarding the execution results of each of the movement tasks of the moving object 2 and the execution tasks of a predetermined function by the onboard functional unit 4. As shown in FIG. 8, the result display unit 44 displays, for example, task result time information I2 as the length of a bar graph below the vertical axis. The result display unit 44 displays the operation results of the operation procedure execution unit 11 described below. The result display unit 44 acquires operation data of the moving object 2 and the onboard functional unit 4 from the moving object operation data recording unit 13 and the moving object operation data information display unit 15. Below, the operation procedure execution unit 11 will be described first.

[0050] As shown in FIG. 1 , the moving body 2 includes an operation procedure execution unit 11 that executes an operation procedure, which is an operation plan, a moving body operation data recording unit 13, and a moving body operation data information display unit 15. The operation procedure execution unit 11 of the moving body 2 acquires the operation procedure, which is an operation plan, set by the operation procedure setting unit 51. Then, based on this operation procedure, the operation procedure execution unit 11 causes the moving body 2 and the on-board functional unit 4 to perform actual operations via the moving body control unit 10. The operation procedure execution unit 11 is disposed in the moving body main body 6. The operation procedure execution unit 11 may be formed integrally with the moving body control unit 10 or as a part of the moving body control unit 10.

[0051] The mobile object motion data recording unit 13 records motion data when the motion procedure execution unit 11 actually performs a motion. The mobile object motion data recording unit 13 records various data related to the mobile object 2 and the onboard functional unit 4. For example, the mobile object motion data recording unit 13 records the time required to perform a task, such as the time required to move from point P2 to P3. The motion data recording unit 54 records the required time for each predetermined task. Furthermore, for example, the mobile object motion data recording unit 13 also records parameters such as voltage in addition to the time required to perform a task, as shown in Figures 10 to 20 described below. The motion data recording unit 54 may use the scheduled time in the motion plan as the required time.

[0052] The mobile object motion data information display unit 15 can divide the information obtained by the mobile object motion data recording unit 13, for example, into task units, and organize and display the divided tasks as motion data information in chronological order. By dividing and arranging tasks into task units and chronologically, the mobile object motion data information display unit 15 can easily compare the scheduled time and the resulting time for each task. In this way, the mobile object motion data information display unit 15 has the function of dividing the time required for the movement tasks of the mobile object 2 and the execution tasks of the onboard functional unit 4 into task units, and organizing and displaying them in chronological order.

[0053] As shown in FIG. 1, the result display unit 44 displays task result time information I2 (see FIG. 8) based on an operation plan related to a movement task of the moving object 2. The result display unit 44 also displays task result time information I2 (see FIG. 8) based on an operation plan related to an execution task of a predetermined function by the onboard functional unit 4. More specifically, the result display unit 44 acquires records of actual operation data executed by the moving object operation procedure execution unit 11, and displays task result time information I2 based on these operation data records. In this way, the result display unit 44 displays information such as the required time as a result of actually executing the task.

[0054] As shown in FIG. 8 , the task result time information I2 is, for example, information regarding the actual required result time for the task. The task result time information I2 may directly display the time value, or may not directly display the time value but may instead display the length of time using a certain indicator, such as a bar graph, based on the length of time. The task result time information I2 may also be displayed as a percentage or a rough guide using other forms of graphs or other representations. For example, the task result time information I2 may be displayed by dividing the tasks into tasks and arranging the divided tasks in chronological order to provide operation time information for each task. The result display unit 44 uses the mobile object motion data information display unit 15 to divide and arrange the tasks by task and in chronological order, making it easy to compare the scheduled time and the result time for each task. In this way, the mobile object motion data information display unit 15 has the function of dividing the movement tasks of the mobile object 2 and the execution tasks of the onboard functional unit 4 into tasks, and then organizing and displaying them in chronological order.

[0055] The correspondence display unit 46 will be further described with reference to FIGS. 8 and 9 show how a comparison display system according to one embodiment of the present invention displays task scheduled time information I1 and task result time information I2 for each task over time. In FIG. 9, the horizontal axis shows tasks arranged by task over time (chronological order). In FIG. 9, task scheduled time information I1, etc., is displayed for each task, such as tasks T1, T2, T3, and T4, over time. The vertical axis shows task scheduled time information I1 and task result time information I2 for the same task. More specifically, the vertical axis displays a bar graph with a length corresponding to the task scheduled time as task scheduled time information I1 from the top, and a bar graph with a length corresponding to the task result time as task result time information I2 from the bottom, for the same task. Therefore, the vertical axis displays the difference between the schedule and the result in an intuitively easy-to-understand manner.

[0056] The correspondence display unit 46 displays task scheduled time information I1 and task result time information I2 in correspondence with each other for each task (for each task). This makes it easy to recognize the difference between the scheduled time and the result time for each task (a task for moving a mobile object or a task for executing a function of an onboard functional unit). Furthermore, the correspondence display unit 46 arranges each task in chronological order, and displays the scheduled time and the result time in correspondence with each other for each arranged task. The correspondence display unit 46 has a function for displaying diagrams such as those shown in FIGS. 8 and 9. The correspondence display unit 46 includes a ratio display unit 47 that displays, for each task, the ratio of the result time of the task result time information I2 to the scheduled time of the task scheduled time information I1. As shown in Figures 8 and 9, the ratio display unit 47 can display, for each task, the ratio of the result time of the task result time information I2 to the scheduled time of the task scheduled time information I1 in a relatively easy-to-understand manner as differences in the ratio of the lengths of bar graphs.

[0057] A task is a task set as a single operation (task). The moving body 2 and the on-board functional unit 4 are configured to be capable of autonomous travel. For example, as shown in FIG. 7, the moving body 2 and the on-board functional unit 4 move while autonomously traveling from point P to point P, and then perform the function of the on-board functional unit 4 upon reaching each point P. For example, a travel task from point P2 to point P3, an execution task such as taking a photo of a meter at point P3, an execution task such as measuring a temperature, and an execution task such as transmitting the measurement results are executed. Basically, tasks are set in relatively small work units, but they may also be grouped tasks, such as multiple tasks at point P3 that combine multiple operations to be performed at point P3.

[0058] The correspondence display unit 46 is not limited to displaying all tasks, but may display only some of the tasks. Furthermore, the correspondence between the scheduled time and the result time may be displayed while a plurality of tasks are grouped. Furthermore, when displaying the task scheduled time information I1 and the task result time information I2 in a corresponding manner, the correspondence display unit 46 may display a bar graph of the task scheduled time information I1 and a bar graph of the task result time information I2 side by side, with the starting heights of the bars being the same. Thus, the comparison method may be any other type of graph (e.g., a line graph or a pie chart) that can compare I1 and I2.

[0059] 9, the correspondence display unit 46 further includes a first display unit 48 that displays a simulation of the movement task of the moving body based on the operation plan and the execution task of a predetermined function by the built-in functional unit, a second display unit 50 that displays result information obtained from the moving body and the built-in functional unit as the result of executing the operation plan, and a comparison display function unit 52 that displays the first display unit, the second display unit, and the correspondence display unit side by side for easy comparison. The result information includes position information and is, for example, an actual image.

[0060] As shown in Figure 9, the first display unit 48 has the function of displaying the simulated moving body 2 and the onboard functional unit 4 assumed by the simulation operation procedure execution unit 53, moving in accordance with an operation plan within a virtual 3D space based on a map. In the window L1 at the top left of FIG. 9, a bar B for selecting a time is provided at the bottom, and the states of the moving body 2 and the on-board functional unit 4 in the simulation according to the time are displayed at the top. For example, in addition to the states of the virtual moving body 2 and the on-board functional unit 4, the window L1 also virtually displays surrounding objects recognized by the sensors of the on-board functional unit 4. In this way, the first display unit 48 displays the states of the moving body 2 and the on-board functional unit 4 on the simulation screen, making it relatively easy to recognize the planned operating states of the operation plan. In this way, the first display unit 48 can display the moving body 2 and the on-board functional unit 4 in the simulation on an application executed as software.

[0061] As shown in FIG. 9 , the second display unit 50 has a function of acquiring and displaying actual images, including operational images of result information obtained when the moving body 2 and the built-in functional unit 4 are controlled based on the operation plan. In the upper right window R1 of FIG. 9 , similar to the upper left window L1, a time selection bar is provided at the bottom, and the state of the moving body 2 and the built-in functional unit 4 in the actual image corresponding to the time is displayed at the top. While the example shows images captured from outside the moving body 2 and the built-in functional unit 4, the second display unit 50 may also display images captured by a camera or the like of the built-in functional unit 4 while the operation plan of the moving body 2 and the built-in functional unit 4 is being executed. Images from multiple cameras may also be displayed by switching between them. For example, in FIG. 9 , in addition to the actual state of the moving body 2 and the built-in functional unit 4, the recognized state of the surroundings recognized by the sensor of the built-in functional unit 4 is also superimposed on the actual image. In this way, the second display unit 50 displays actual images including the state of the moving body 2 and the built-in functional unit 4, making it relatively easy to recognize the actual operating state based on the operation plan. The second display unit 50 is equipped with a program that can acquire and display the operating status using actual images when the moving object 2 and the on-board functional unit 4 are operated based on a predetermined operation plan. Therefore, the user can relatively easily compare the simulation display on the first display unit 48 with the actual video or image display of the result information on the second display unit 50 using the first display unit 48 and the second display unit 50. In addition, the user can check the status of parts that differ between the simulation display and the actual video or image display while comparing them.

[0062] The second display unit 50 also includes a parameter display function 58 that displays, in addition to or instead of an actual image display, a diagram showing changes in a predetermined parameter over time. For example, as shown in Figures 10 to 20, the parameter display function 58 can display a diagram showing changes in a parameter. The parameter display function 58 can arbitrarily switch between displaying any of the diagrams shown in Figures 10 to 20 within window R1 or in front of window R1.

[0063] The second display unit 50 may display a diagram showing CPU usage (%) over time in the comparison display system, as shown in Fig. 10. The horizontal axis indicates the elapsed time from the start of a task, for example, and the vertical axis indicates CPU usage (%). The CPU usage (%) over time can be confirmed.

[0064] The second display unit 50 may display a diagram showing disk usage (%) over time in the comparison display system, as shown in Fig. 11. The horizontal axis indicates the elapsed time from the start of a task, for example, and the vertical axis indicates the disk usage (%) of the storage device. The disk usage (%) over time can be confirmed. The second display unit 50 may display a diagram showing the time (minutes) elapsed since system startup in the comparison display system, as shown in Fig. 12. For example, the horizontal axis shows the time elapsed since system startup, and the vertical axis shows a predetermined index. The time elapsed since system startup can be confirmed. The second display unit 50 may display a diagram showing the load average (1 minute) over time in the comparison display system, as shown in Fig. 13. The horizontal axis indicates the elapsed time from the start of a task, for example, and the vertical axis indicates an index showing the load average (1 minute). The load average over time can be confirmed. The second display unit 50 may display a graph showing the temperature (degrees) of the CPU over time in the comparison display system, as shown in Fig. 14. The horizontal axis indicates the elapsed time from the start of a task, for example, and the vertical axis indicates an index showing the temperature (degrees) of the CPU. Changes in the temperature (degrees) of the CPU over time can be confirmed.

[0065] The second display unit 50 may display a diagram showing the PING value, which indicates the response speed of network communication over time in the comparison display system, as shown in Fig. 15. The horizontal axis indicates the elapsed time from the start of a task, for example, and the vertical axis indicates the PING value. Changes in the PING value over time can be confirmed. The second display unit 50 may display a graph showing the network reception volume (MB) over time in the comparison display system, as shown in Fig. 16. The horizontal axis indicates the elapsed time from the start of a task, for example, and the vertical axis indicates the value of the network reception volume. Changes in the value of the network reception fee over time can be confirmed. The second display unit 50 may display a diagram showing the network transmission volume (MB) over time in the comparison display system, as shown in Fig. 17. The horizontal axis indicates the elapsed time from the start of the task, for example, and the vertical axis indicates the value of the network transmission volume. Changes in the value of the network transmission volume over time can be confirmed. The second display unit 50 may display a diagram showing the network transmission speed (Mbps) over time in the comparison display system, as shown in Fig. 18. The horizontal axis indicates the elapsed time from the start of a task, for example, and the vertical axis indicates the network transmission speed value. Changes in the network transmission speed value over time can be confirmed. The second display unit 50 may display a graph showing the cart and voltage (V) over time in a comparison display system, as shown in Fig. 19. The horizontal axis indicates the elapsed time from the start of a task, for example, and the vertical axis indicates the cart and voltage values. Changes in the cart and voltage values ​​over time can be confirmed. The second display unit 50 may display a graph showing the current (mA) over time in a comparison display system, as shown in Fig. 20. The horizontal axis indicates the elapsed time from the start of a task, for example, and the vertical axis indicates the current value. This allows the user to see the change in the current value over time.

[0066] The comparison display function unit 52 can display the window L1 of the first display unit 48 and the window R1 of the second display unit 50 side by side to facilitate comparison. Window R1 of the second display unit 50 may switch between displaying FIGS. 10 to 20 of the parameter display function 58. The comparison display function unit 52 can further display the correspondence display unit 46 below the first display unit 48 and the second display unit 50, which are arranged side by side. Arranging the window L1 and the window R1 side by side above the correspondence display unit 46 allows for efficient comparison, but the arrangement and size relationship between the correspondence display unit 46, the window L1, and the window R1 may be changed. The comparison display function unit 52 further includes a time point display function 57 that displays the simulation results in the first display unit 48 according to the time point at which the task in the corresponding display unit 46 is executed and an actual image of the result information in the second display unit 50. When a predetermined task in the corresponding display unit 46 is selected by the time point display function 57, the simulation results in the first display unit 48 at that time point and the actual image in the second display unit 50 are displayed in their respective windows.

[0067] Next, a comparison display method for displaying an operation plan of an autonomously movable body 2 and an on-board functional unit 4 mounted on the movable body 2 and a result of executing the operation plan in a manner that allows easy comparison will be described with reference to Fig. 21. Fig. 21 is a flowchart illustrating the processing of the comparison display method executed by the comparison display system 1.

[0068] As shown in FIG. 21 , when the comparative display system 1 receives an operation command on the user interface and starts the comparative display method, it proceeds from START to S1. First, in preparation step S1, the moving body 2 and the on-board functional unit 4 mounted on the moving body 2 are prepared. Then, the moving body 2 is prepared so that it can move in relation to a task based on an operation plan. The on-board functional unit 4 is prepared so that it can execute a predetermined function in relation to the task based on the operation plan. The control unit 40 is connected to the moving body 2 and the on-board functional unit 4 mounted on the moving body 2. The control unit 40 is also connected to a moving body simulator 56. The control unit 40 is also connected to a monitor 7 and can output display content to the monitor 7. A simulation operation procedure execution unit 53 of the mobile body simulator 56 acquires an operation procedure, which is an operation plan set by the operation procedure setting unit 51. An operation data recording unit 54 and an operation data information display unit 55 acquire operation data in the simulation. Furthermore, the motion procedure execution unit 11 of the moving object 2 acquires the motion procedure, which is the motion plan set by the motion procedure setting unit 51. In the moving object motion data recording unit 13 and the moving object motion data information display unit 15, actual motion data is acquired from images and videos taken by the front camera 60 of the built-in functional unit 4, etc. When the control unit 40 ends S1, it proceeds to S2.

[0069] Next, in S2, the schedule display unit 42 of the control unit 40 executes a schedule display step. The schedule display unit 42 acquires data on task scheduled time information I1 for each task from the action data recording unit 54 and the action data information display unit 55. The schedule display unit 42 displays the task scheduled time information I1 for each task. When the control unit 40 ends S2, it proceeds to S3.

[0070] Next, in S3, the result display step is executed by the result display unit 44 of the control unit 40. The result display unit 44 acquires data on task result time information I2 for each task from the mobile object motion data recording unit 13 and the mobile object motion data information display unit 15. The result display unit 44 displays the task result time information I2 for each task. When the control unit 40 ends S3, it proceeds to S4.

[0071] Next, in S4, the correspondence display unit 46 of the control unit 40 executes a correspondence display step. In the correspondence display step, the correspondence display unit 46 displays task scheduled time information I1 and task result time information I2 in correspondence with each other for each task. This makes it easy to recognize the difference between the scheduled time and the result time for each task. As shown in FIG. 9, the correspondence display unit 46 arranges each task in chronological order and displays the scheduled time and the result time in correspondence with each other for each arranged task. The correspondence display unit 46 also displays, via the ratio display unit 47, the ratio of the result time of the task result time information I2 to the scheduled time of the task scheduled time information I1 for each task. The ratio display unit 47 displays the ratio of the result time of the task result time information I2 to the scheduled time of the task scheduled time information I1 for each task in a relatively easy-to-understand manner as the difference in the proportion of the length of a bar graph. After completing S4, the control unit 40 proceeds to S5.

[0072] Next, in S5, a first display step is executed by the first display unit 48 of the control unit 40. The first display unit 48 can display the moving object 2 and the on-board functional unit 4 in a simulation executed on an application executed as software. In FIG. 9, in addition to the states of the virtual moving object 2 and the on-board functional unit 4, the state of the surroundings recognized by the sensors of the on-board functional unit 4 is also virtually displayed. In this way, by the first display unit 48 displaying the states of the moving object 2 and the on-board functional unit 4 on the simulation screen, the planned operating state of the operation plan can be recognized relatively easily. When the control unit 40 ends S5, it proceeds to S6.

[0073] Next, in S6, a second display step is executed by the second display unit 50 of the control unit 40. The second display unit 50 acquires and displays actual images obtained when the control of the moving body 2 and the built-in functional unit 4 is executed based on the operation plan. In FIG. 9, in addition to the actual state of the moving body 2 and the built-in functional unit 4, the recognized state of the surroundings recognized by the sensors of the built-in functional unit 4 is also displayed superimposed on the actual image. In this way, by the second display unit 50 displaying the state of the moving body 2 and the built-in functional unit 4 using actual images, the actual operating state based on the operation plan can be recognized relatively easily. When the control unit 40 ends S6, it proceeds to S7.

[0074] Next, in S7, a comparison display step is executed by the comparison display function unit 52 of the control unit 40. The comparison display function unit 52 displays the window of the first display unit 48 and the window of the second display unit 50 side by side to make them easy to compare. The comparison display function unit 52 can further display the corresponding display unit 46 below the first display unit 48 and the second display unit 50 side by side. Note that the second display unit 50 may use its parameter display function to display a diagram showing changes in a predetermined parameter over time in addition to or instead of displaying an actual image. When the control unit 40 completes S7, it proceeds to END.

[0075] As described above, the task scheduled time information I1 and task result time information I2 are displayed in correspondence with each other for each task by the correspondence display unit 46. In this way, the difference between the scheduled time and the result time for a task is compared, and an example is shown below in which an analysis is performed to determine which tasks have differences between the schedule and the result. As shown in FIG. 8, the graph displayed by the correspondence display unit 46 indicates that task result time information I2 for task TX1 is longer than task scheduled time information I1. Task TX1 was a task for reading the values ​​on a digital meter. A simulation screen at the time of execution of the same task TX1 and actual images (images from the front camera 60 and the torso camera 63) were displayed side by side, revealing that the mobile object 2 and the onboard functional unit 4 were performing their functions in the expected positions. In this case, the values ​​on the digital meter were captured by the torso camera 63. However, it was found that the capture by the torso camera 63 was repeated multiple times, which took time. Examining the actual image revealed that direct sunlight was reflecting off the meter screen, making the values ​​on the screen very difficult to read. This caused the meter values ​​to be unreadable, and the capture was repeated multiple times, which took time. In this way, by identifying task TX1 in which an unexpected problem occurred, it is possible to quickly and easily identify the cause and consider countermeasures. In this case, by attaching a canopy to the meter to prevent direct sunlight from reaching the meter, the task result time information I2 was improved in the same way as the task scheduled time information I1.

[0076] Furthermore, for task TX2, the task result time information I2 was longer than the task scheduled time information I1. Task TX2 was a transmission task for reporting data read by task TX1 to the user. When the simulation screen at the time of execution of task TX2 was displayed side by side with actual images (images from the front camera 60 and the torso camera 63), it was found that the mobile unit 2 and the onboard function unit 4 were performing their functions in the expected positions. However, it was found that the onboard function unit 4 was unable to transmit (communicate) data properly and was repeating the transmission process until completion, which took time. Examination of the actual images revealed that new machinery had been installed next to the point where the meter was read, and this equipment had weakened the communication environment (weak radio waves) at the point where the meter was read, causing the data transmission (communication) to fail. Therefore, repeated data transmission took time to complete. In this case, by improving the data transmission task in TX2 so that the mobile unit 2 would move to a point where the radio waves were expected to be good before executing it, the task result time information I2 for task TX2 was improved to the same extent as the task scheduled time information I1.

[0077] Similarly, for task TX3, the task result time information I2 was longer than the task planned time information I1. Task TX3 was a movement task for a mobile object to move from point P3 to P4. By displaying the simulation screen at the time of task TX3 alongside actual images (images from front camera 60 and torso camera 63) side by side, it was discovered that there was a small step not visible on the map on the way from point P3 to P4. Although mobile object 2 could overcome this step, it stopped in front of it and proceeded slowly over it. Therefore, it was determined that the movement from point P3 to P4 took longer than planned. In this case, the task planned time information I1 was adjusted to match the actual task result time information I2, and the small step was considered for future improvement, such as through factory repairs. In this way, even if immediate improvements are not possible, it is possible to identify areas where the task execution time can be shortened by improving specific areas in the future.

[0078] For task TX4, the task result time information I2 is shorter than the task scheduled time information I1. Task TX4 was a movement task for a moving object to move from point P4 to P5. By displaying the simulation screen at the time of task TX4 alongside actual images (images from the front camera 60 and torso camera 63) side by side, it was found that the route from point P4 to P5 was a gentle downhill slope, and the movement was smooth, resulting in a slight reduction in the result time. In this case, the task scheduled time information I1 was corrected to match the actual task result time information I2. Just to be sure, it was also possible to check whether the vehicle was going too fast on the downhill slope. In this way, it is possible to discover or recognize issues and problems that may affect tasks in the actual field, even if they are not shown on the diagram.

[0079] According to one embodiment of the present invention configured as described above, the comparison display system includes a schedule display unit 42 that displays task scheduled time information based on the operation plan for the movement tasks of the mobile body 2 and the execution tasks of predetermined functions by the onboard functional unit 4; a result display unit 44 that displays task result time information for the movement tasks of the mobile body 2 and the execution tasks of predetermined functions by the onboard functional unit 4 based on the results of executing the operation plan; and a correspondence display unit 46 that displays the task scheduled time information and the task result time information in correspondence with at least some of the tasks. This allows, when the autonomously mobile mobile body 2 and the onboard functional unit 4 mounted on the mobile body 2 execute predetermined functions at their destinations, task scheduled time information based on the operation plan and task result time information based on the results of executing the operation plan to be displayed in correspondence with at least some of the tasks. Therefore, when the autonomously mobile mobile body 2 and the onboard functional unit 4 mounted on the mobile body 2 autonomously move and execute predetermined functions, the difference between the scheduled time and the result time for each task can be compared, facilitating analysis of tasks for which a discrepancy between the schedule and the result occurs.

[0080] According to one embodiment of the present invention configured as described above, the correspondence display unit 46 displays the task scheduled time information and the task result time information in correspondence with each other for each task. This makes it easier to compare the difference between the scheduled time and the result time for each task and analyze which tasks are causing differences between the schedule and the results.

[0081] According to one embodiment of the present invention configured as described above, the correspondence display unit 46 arranges the tasks in chronological order and displays the task scheduled time information and the task result time information in a corresponding manner for each arranged task. This makes it easier to compare the difference between the scheduled time and the result time for each arranged task and to analyze which tasks have differences between the schedule and the results.

[0082] According to one embodiment of the present invention configured as described above, the correspondence display unit 46 includes a ratio display unit 47 that displays, for each task, the ratio of the result time of the task result time information to the scheduled time of the task scheduled time information. This allows the ratio display unit 47 to easily compare the difference between the scheduled time and the result time for each task based on the ratio of the result time of the task result time information to the scheduled time of the task scheduled time information, making it possible to intuitively and quickly analyze which tasks have differences between the schedule and the results.

[0083] According to one embodiment of the present invention configured as described above, the display device further includes a first display unit 48 that displays a simulation of a movement task of the moving object 2 based on the operation plan and a task of executing a predetermined function by the onboard functional unit 4, a second display unit 50 that displays result information (e.g., an actual image) of executing the operation plan, and a comparison display function unit 52 that displays the first display unit 48, the second display unit 50, and the corresponding display unit 46 side by side for easy comparison. As a result, the comparison display function unit 52 can display the first display unit 48, the second display unit 50, and the corresponding display unit 46 side by side for easy comparison, and when a difference occurs between the planned time and the result time for a task, the cause of the difference can be easily investigated by comparing the simulation by the first display unit 48 and the result information by the second display unit 50.

[0084] According to one embodiment of the present invention configured as described above, the second display unit 50 has a parameter display function that displays a diagram showing changes in a predetermined parameter over time in addition to or instead of displaying an actual image of the result information. This makes it possible to analyze the cause of the difference using the parameter display function even when it is difficult to analyze the cause using only the display by the comparison display function unit 52.

[0085] According to one embodiment of the present invention configured as described above, the comparison display program includes a schedule display unit 42 that displays task scheduled time information based on the operation plan for the movement tasks of the mobile body 2 and the execution tasks of predetermined functions by the onboard functional unit 4; a result display unit 44 that displays task result time information for the movement tasks of the mobile body 2 and the execution tasks of predetermined functions by the onboard functional unit 4 based on the results of executing the operation plan; and a correspondence display unit 46 that displays the task scheduled time information and the task result time information in correspondence with at least some of the tasks. As a result, when the autonomously mobile mobile body 2 and the onboard functional unit 4 mounted on the mobile body 2 execute predetermined functions at their destinations, the task scheduled time information based on the operation plan and the task result time information based on the results of executing the operation plan can be displayed in correspondence with at least some of the tasks. Therefore, when the autonomously mobile mobile body 2 and the onboard functional unit 4 mounted on the mobile body 2 autonomously move and execute predetermined functions, the difference between the scheduled time and the result time for each task can be compared, making it easier to analyze tasks for which a difference between the schedule and the result occurs.

[0086] According to one embodiment of the present invention configured as described above, the correspondence display unit 46 displays the task scheduled time information and the task result time information in correspondence with each other for each task. This makes it easier to compare the difference between the scheduled time and the result time for each task and analyze which tasks are causing differences between the schedule and the results.

[0087] According to one embodiment of the present invention configured as described above, the display device further includes a first display unit 48 that displays a simulation of a movement task of the moving object 2 based on the operation plan and a task of executing a predetermined function by the onboard functional unit 4, a second display unit 50 that displays result information of executing the operation plan, and a comparison display function unit 52 that displays the first display unit 48, the second display unit 50, and the corresponding display unit 46 side by side for easy comparison. As a result, the comparison display function unit 52 can display the first display unit 48, the second display unit 50, and the corresponding display unit 46 side by side for easy comparison, and when a difference occurs between the planned time and the result time for a task, the cause of the difference can be easily investigated by comparing the simulation by the first display unit 48 and the result information (e.g., an actual image) by the second display unit 50.

[0088] According to one embodiment of the present invention configured as above, it is possible to provide a computer-readable recording medium on which a predetermined comparison display program is recorded.

[0089] According to one embodiment of the present invention configured as described above, the comparison display method includes a schedule display step of displaying task scheduled time information based on the operation plan for the movement tasks of the mobile body 2 and the execution tasks of predetermined functions by the built-in functional unit 4; a result display step of displaying task result time information for the movement tasks of the mobile body 2 and the execution tasks of predetermined functions by the built-in functional unit 4 based on the results of executing the operation plan; and a correspondence display step of displaying the task scheduled time information and the task result time information in correspondence with each other for at least some of the tasks. As a result, when the autonomously mobile mobile body 2 and the built-in functional unit 4 mounted on the mobile body 2 execute predetermined functions at their destinations, the task scheduled time information based on the operation plan and the task result time information based on the results of executing the operation plan can be displayed in correspondence with each other for at least some of the tasks. Therefore, when the autonomously mobile mobile body 2 and the built-in functional unit 4 mounted on the mobile body 2 autonomously move and execute predetermined functions, the difference between the scheduled time and the result time for each task can be compared, making it easier to analyze tasks for which a difference between the schedule and the result occurs. [Explanation of symbols]

[0090] 1: Comparison display system 2: Moving object 4: Functional part 42: Schedule display section 44:Result display section 46: Corresponding display section 47: Percentage display section 48:1st display section 50:Second display 52: Comparison display function section 58: Parameter display function I1: Task scheduled time information I2: Task result time information

Claims

1. A comparison display system that displays an operation plan of an autonomously movable body and an on-board functional unit mounted on the movable body, and a result of executing the operation plan, so that the comparison can be easily performed, a schedule display unit that displays task scheduled time information based on the operation plan related to a movement task of the moving body and an execution task of a predetermined function by the on-board functional unit; a result display unit that displays task result time information related to a movement task of the moving body and an execution task of a predetermined function by the on-board functional unit based on a result of executing the operation plan; a correspondence display unit that displays the task planned time information and the task result time information in a corresponding manner for at least some of the tasks.

2. The comparison system according to claim 1 , wherein the correspondence display unit displays the task planned time information and the task result time information in correspondence with each other for each task.

3. 2. The comparison display system according to claim 1, wherein the correspondence display unit arranges the tasks in chronological order and displays the task planned time information and the task result time information in association with each other for each arranged task.

4. The comparison system according to claim 1 , wherein the correspondence display unit includes a ratio display unit that displays, for each task, a ratio of the result time of the task result time information to the scheduled time of the task scheduled time information.

5. a first display unit that displays a simulation of a movement task of the moving body based on the operation plan and a task of executing a predetermined function by the on-board functional unit; a second display unit that displays information on the results of executing the action plan; The comparison display system according to claim 1 , further comprising: a comparison display function unit that displays the first display unit, the second display unit, and the corresponding display unit side by side for easy comparison.

6. The comparison display system according to claim 5 , wherein the second display unit has a parameter display function that displays a graph showing changes in a predetermined parameter over time in addition to or instead of displaying result information.

7. A comparison display program that displays an operation plan of an autonomously movable body and an on-board functional unit mounted on the movable body in a manner that makes it easy to compare the operation plan with a result of executing the operation plan, a schedule display unit that displays task scheduled time information based on the operation plan related to a movement task of the moving body and an execution task of a predetermined function by the on-board functional unit; a result display unit that displays task result time information related to a movement task of the moving body and an execution task of a predetermined function by the on-board functional unit based on a result of executing the operation plan; a correspondence display unit that displays the task planned time information and the task result time information in a corresponding manner for at least some of the tasks.

8. 8. The comparison display program according to claim 7, wherein the correspondence display unit displays the task planned time information and the task result time information in correspondence with each other for each task.

9. a first display unit that displays a simulation of a movement task of the moving body and an execution task of the on-board functional unit based on the operation plan; a second display unit that displays information on the results of executing the action plan; The comparison display program according to claim 7 , further comprising: a comparison display function unit that displays the first display unit, the second display unit, and the corresponding display unit side by side for easy comparison.

10. 10. A computer-readable recording medium on which the comparison display program according to claim 7 is recorded.

11. A comparison display method for displaying an operation plan of an autonomously movable body and an on-board functional unit mounted on the movable body, and a result of executing the operation plan, in a manner that makes it easy to compare the operation plan, the method comprising: a schedule display step of displaying task scheduled time information based on the operation plan relating to a movement task of the moving body and an execution task of a predetermined function by the on-board functional unit; a result display step of displaying task result time information relating to a movement task of the moving body and an execution task of a predetermined function by the on-board functional unit based on a result of executing the operation plan; a correspondence display step of displaying the task planned time information and the task result time information in a corresponding manner for at least some of the tasks.

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