Information processing device, information processing method, and information processing program
The information processing apparatus and method address the challenge of managing multiple mobile bodies in complex environments by using a virtual map to track and display their status, facilitating efficient command and control, and enhancing operational efficiency and safety.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-09-12
- Publication Date
- 2026-03-25
AI Technical Summary
Existing systems lack an efficient method to manage and coordinate the operations of multiple mobile bodies in complex environments, such as hazardous spaces, by providing real-time status updates and enabling effective command and control through a virtual map.
An information processing apparatus and method that acquires a three-dimensional virtual map of a real space, tracks the positions and states of multiple mobile bodies, and displays their status on the virtual map, allowing for command transmission and priority setting based on their states and roles, with the ability to highlight critical situations and provide real-time image updates.
Enables effective management and coordination of mobile bodies in complex environments by providing real-time status updates and enabling informed decision-making through a virtual map, enhancing operational efficiency and safety.
Smart Images
Figure 2026052788000001_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to an information processing apparatus, an information processing method, and an information processing program.
Background Art
[0002] Patent Document 1 describes that "the map is a three-dimensional map" (Claim 8). Patent Document 2 describes that "three-dimensional environmental map information is generated based on distance information acquired by a distance sensor" (Claim 1). Patent Document 3 describes that "an autonomous mobile body including an autonomous control unit for autonomous movement" (Claim 1). Patent Document 4 describes that "when an error state occurs in the floor treatment device, it facilitates finding the floor treatment device" (Abstract). Patent Document 5 describes that "it improves the efficiency of management operations related to a mobile body or its user." (Abstract). [Prior Art Documents] [Patent Documents] [Patent Document 1] Japanese Patent No. 7452706 [Patent Document 2] Japanese Unexamined Patent Application Publication No. 2014-157478 [Patent Document 3] International Publication No. 2019 / 181896 [Patent Document 4] Japanese Unexamined Patent Application Publication No. 2018-156644 <着 [Patent Document 5] Japanese Unexamined Patent Application Publication No. 2022-180688
Summary of the Invention
[0003] In a first aspect of the present invention, an information processing apparatus is provided. The information processing apparatus includes a virtual map acquisition unit that acquires a three-dimensional virtual map corresponding to the real space in which a plurality of mobile bodies move, the virtual map including the initial position and the destination position of the movement of the mobile bodies, an information acquisition unit that acquires position information regarding the respective positions of the plurality of mobile bodies in the real space and state information regarding the respective states, and a display unit that displays the state information of the plurality of mobile bodies at positions corresponding to the respective positions of the plurality of mobile bodies in the virtual map.
[0004] The state of the moving object may include the state of movement of the moving object.
[0005] In any of the above-mentioned information processing devices, the mobile object may be moved by the power of a storage battery. The state of the mobile object may include the remaining battery charge.
[0006] In any of the above-mentioned information processing devices, if the state of the mobile object reaches a predetermined state, the display unit may display a marking on the virtual map requesting instructions from the operator for the mobile object.
[0007] In any of the above-described information processing devices, the display unit may display a marking on a virtual map at a position corresponding to the position of the moving object when the state of the moving object is in a predetermined state.
[0008] Any of the above information processing devices may further include a command transmission unit that, when an instruction is given to a mobile object on which a marking is displayed, transmits a command to the instructed mobile object to improve a predetermined state.
[0009] Any of the above information processing devices may further include a priority setting unit that sets the priority of the mobile objects on which the operator should request instructions, based on the status of each of the multiple mobile objects. The display unit may display markings including the priority on a virtual map.
[0010] In any of the above-mentioned information processing devices, the state of the mobile object may be whether or not the mobile object is performing the role assigned to it.
[0011] In any of the above-mentioned information processing devices, a predetermined start time is set for when the mobile entity begins performing its role. The state of the mobile entity may be either ahead or behind the actual start time when the mobile entity began performing its role, relative to the predetermined start time.
[0012] In any of the above-described information processing devices, a first scheduled start time for the mobile object to begin performing its first role, and a second scheduled start time for the mobile object to begin performing its second role, which is later than the first scheduled start time, may be predetermined. The information acquisition unit may acquire the first actual start time for the mobile object to begin performing its first role and the second actual start time for the mobile object to begin performing its second role. The information acquisition unit may determine the relative magnitudes of the first difference between the first scheduled start time and the first actual start time, and the second difference between the second scheduled start time and the second actual start time. If the second difference is greater than the first difference, the display unit may display status information on the virtual map indicating that the mobile object's state is one that the operator should pay attention to.
[0013] In any of the above-described information processing devices, each of the multiple moving objects may have an imaging unit that captures images of real space. If at least one specific moving object is designated, the display unit may display an image captured by the imaging unit of the designated moving object.
[0014] In any of the above-described information processing devices, if at least one specific moving object is designated, the display unit may display an image of another moving object captured by the imaging unit of the designated moving object.
[0015] In any of the above-described information processing devices, multiple states that each of the multiple moving objects can be in may be predetermined. If one of the multiple states is specified, the display unit may display the moving object in that state on the virtual map and not display the moving objects in the other states.
[0016] A second aspect of the present invention provides an information processing method. The information processing method comprises a virtual map acquisition step of acquiring a virtual map that is a three-dimensional virtual map corresponding to the real space in which a plurality of moving objects move, and which includes the initial position and target position of the moving objects; an information acquisition step of acquiring position information and state information relating to the respective positions and states of each of the plurality of moving objects in the real space; and a display step of displaying the respective state information of the plurality of moving objects at positions corresponding to the respective positions of each of the plurality of moving objects in the virtual map.
[0017] In a third aspect of the present invention, an information processing program is provided. The information processing program causes a computer to execute an information processing method.
[0018] Note that the above summary of the invention does not enumerate all the features of the present invention. Also, sub-combinations of these feature groups can also be inventions.
Brief Description of the Drawings
[0019] [Figure 1] It is a schematic top view showing an example of the real space 110 in which a plurality of moving bodies 90 move. [Figure 2] It is a perspective view showing an example of the three-dimensional virtual map 120 corresponding to the real space 110. [Figure 3] It is a block diagram showing an example of the information processing apparatus 100. [Figure 4] It is a diagram showing an example of the display mode of the display unit 30. [Figure 5] It is a diagram showing another example of the display mode of the display unit 30. [Figure 6] It is a diagram showing another example of the display mode of the display unit 30. [Figure 7] It is a diagram showing another example of the display mode of the display unit 30. [Figure 8] It is a flowchart showing an example of an information processing method according to an embodiment of the present invention. [Figure 9] It is a diagram showing an example of the configuration of a computer 1200 in which a plurality of aspects of the present invention can be embodied in whole or in part.
Modes for Carrying Out the Invention
[0020] Hereinafter, the present invention will be described through embodiments of the invention. However, the following embodiments do not limit the invention according to the claims. Also, not all combinations of features described in the embodiments are essential for the solution means of the invention.
[0021] Figure 1 is a schematic top view showing an example of a real space 110 in which multiple mobile bodies 90 move. In the example in Figure 1, the multiple mobile bodies 90 are mobile bodies 90-1 to 90-3. The real space 110 is, for example, a space such as a plant. The real space 110 may be an indoor space or an outdoor space. The real space 110 may be a space that is difficult for humans to enter, such as a space where there is a high risk of danger from entering due to the effects of the environment such as radiation or harmful gases, or a space where it is difficult to enter at all due to the presence of obstacles, etc.
[0022] The physical space 110 may have a road surface 112 and may be equipped with structures 114. If the physical space 110 is the space of a plant, the road surface 112 is the floor of the plant. The structures 114 are, for example, instruments, manufacturing equipment, fixtures, etc. The mobile body 90 may travel on the road surface 112 or fly in the air.
[0023] The mobile body 90 may be an autonomously mobile robot, or a robot that can be remotely controlled by a user of the information processing device 100 (described later). The mobile body 90 may have a control unit that controls its movement. The mobile body 90 may move using power from a battery, or it may move using an energy source other than a battery. The battery may be mounted on the mobile body 90. The mobile body 90 may be a quadruped robot that moves in contact with the road surface 112, a caterpillar-type or wheeled robot, or a drone that moves through the air. The mobile body 90 may be a robot that patrols the real space 110.
[0024] Each of the multiple moving bodies 90 may have an imaging unit 92 that images the real space 110. In this example, moving bodies 90-1 to 90-3 each have imaging units 92-1 to 92-3. The image captured of the real space 110 may contain information relating to the physical quantities of the object in the real space 110.
[0025] The physical quantities of the object include, for example, the position, shape, gradient, width, and temperature of the road surface 112, the condition of the road surface 112, the presence or absence of obstacles on the road surface 112, or the position, shape, and size of the structure 114. The position of the object may be a relative position between multiple objects, a relative position with respect to a set reference position, or an absolute position such as latitude and longitude.
[0026] The condition of the road surface 112 may refer to the arrangement of irregularities on the road surface 112, the presence or absence of cracks, whether or not the road surface 112 is wet, or the presence or absence of foreign matter such as sand on the road surface 112. An obstacle on the road surface 112 may refer to an object larger than a predetermined size (for example, at least one of width, depth, and height), or an object that prevented the moving body 90 from moving due to its presence. The imaging unit 92 may acquire physical quantities such as the position, shape, and size of the structure 114 or obstacle that is hindering the movement of the moving body 90 based on the image acquired while the moving body 90 was unable to move.
[0027] The physical quantities in question may include temperature, humidity, or the concentration of a specific gas (e.g., carbon dioxide) in the real space 110. The mobile body 90 may have sensors to acquire temperature, humidity, or the concentration of a specific gas (e.g., carbon dioxide) in the real space 110.
[0028] Multiple mobile bodies 90 may have a position information acquisition unit 94 that acquires the position of the mobile body 90 in real space 110. The position information acquisition unit 94 is, for example, a GPS (Global Positioning System). In the example in Figure 1, mobile bodies 90-1 to 90-3 each have a position information acquisition unit 94-1 to 94-3.
[0029] In this specification, technical matters may be described using the Cartesian coordinate axes X, Y, and Z. In this specification, the plane parallel to the road surface 112 is defined as the XY plane, and the direction perpendicular to the road surface 112 is defined as the Z-axis direction. In this specification, any one direction within the XY plane is defined as the X-axis direction, and the direction perpendicular to the X-axis within the XY plane is defined as the Y-axis direction. The Z-axis direction may be parallel to the vertical direction, and the XY plane may be a horizontal plane.
[0030] Figure 2 is a perspective view showing an example of a three-dimensional virtual map 120 corresponding to the real space 110. The virtual map 120 may be an existing map, or it may be a map created based on images captured by the imaging unit 92 of the mobile body 90. Existing maps include, for example, CAD data from when the real space 110 was constructed, or Google Maps. Maps created based on images captured by the imaging unit 92 are, for example, maps created using SLAM (Simultaneous Localization and Mapping) technology. Figure 2 shows the area of the virtual map 120 that corresponds to the real space 110.
[0031] The virtual map 120 contains information corresponding to an object in the real space 110. This object is either the road surface 112 or the structure 114 in the real space 110. Figure 2 shows information corresponding to the road surface 112, structures 114-1 to 114-9, and the moving body 90 shown in Figure 1. However, in Figure 2, the moving bodies 90-1 and 90-3 from Figure 1 are omitted.
[0032] The virtual map 120 includes the initial position P1 and the target position P2 of the mobile body 90. In Figure 2, an example of the initial position P1 is shown with a dashed line, and an example of the target position P2 is shown with a dashed line. The target position P2 is the destination to which the mobile body 90 should move. The destination is, for example, the location of the structure 114 whose state the mobile body 90 should check. The operator 130 (described later) may specify the target position P2 using the reception unit 62 (described later).
[0033] The initial position P1 is the position where the mobile body 90 begins to move. The starting position is, if the mobile body 90 is stopped, the stopping position of the mobile body 90. If the mobile body 90 is stopped, this may refer to the case where the mobile body 90 has stopped after completing its designated role, or it may refer to the case where the mobile body 90 is temporarily stopped while performing its designated role. The starting position is, if the mobile body 90 is moving and is designated as the mobile body 90 to move to the target position P2, the position of the mobile body 90 at the time of designation.
[0034] The location information acquisition unit 94 of the mobile device 90 may acquire the initial position P1. The information acquisition unit 20 (described later) may acquire the initial position P1 acquired by the location information acquisition unit 94. The display unit 30 (described later) may display the initial position P1 acquired by the information acquisition unit 20 on the virtual map 120.
[0035] The initial position P1 and the target position P2 may be areas in real space 110 that have a predetermined area or volume. The area with a predetermined area may be an area on the road surface 112. If the mobile body 90 is a drone, the initial position P1 and the target position P2 may be areas in real space 110 that have a predetermined volume. An area in real space that has volume may be, for example, the space of one or more rooms provided in real space 110.
[0036] Figure 3 is a block diagram showing an example of an information processing device 100. The information processing device 100 comprises a virtual map acquisition unit 10, an information acquisition unit 20, a display unit 30, and a control unit 50. The display unit 30 is, for example, a display, monitor, or smartphone screen. The information processing device 100 may also include a ranking setting unit 60, a receiving unit 62, a command transmission unit 64, and a storage unit 80. The receiving unit 62 is, for example, a mouse, keyboard, or smartphone screen.
[0037] Part or all of the information processing device 100 may be implemented by a computer. The control unit 50 may be the CPU (Central Processing Unit) of the computer. If the information processing device 100 is implemented by a computer, the computer may have an information processing program installed to make the computer function as the information processing device 100, and may also have an information processing program installed to execute the information processing method described later.
[0038] The virtual map acquisition unit 10 acquires a virtual map 120. The virtual map acquisition unit 10 may acquire the virtual map 120 via the Internet. The storage unit 80 may store the virtual map 120 acquired by the virtual map acquisition unit 10.
[0039] The information acquisition unit 20 acquires positional information regarding the respective positions of multiple moving objects 90 in the physical space 110. The information acquisition unit 20 may acquire the positional information acquired by each of the multiple moving objects 90 by the respective positional information acquisition units 94. The information acquisition unit 20 may acquire the positional information acquired by the positional information acquisition units 94 wirelessly. The information acquisition unit 20 may acquire the positional information of the moving objects 90 as they move in the physical space 110.
[0040] The information acquisition unit 20 acquires state information 96 (described later) regarding the state of each of the multiple moving objects 90 in the real space 110. The state of a moving object 90 refers to the properties of the moving object 90 at a certain point in time, or properties that may change over time. The state of a moving object 90 may include properties that are identifiable from the appearance of the moving object 90, or properties that are difficult to identify. An example of a property that is identifiable from the appearance of the moving object 90 is the shape of the moving object 90.
[0041] The state of the mobile body 90 may include the state of motion of the mobile body 90. The state of motion of the mobile body 90 refers to the nature of the change when the position of the mobile body 90 changes over time. The state of motion of the mobile body 90 is, for example, at least one of the moving speed and moving acceleration. The mobile body 90 may have a speedometer. The information acquisition unit 20 may wirelessly acquire the speed of the mobile body 90 measured by the speedometer of the mobile body 90. The information acquisition unit 20 acquires the speed of the mobile body 90 and may acquire the rate of change of speed over time (i.e., acceleration) based on the acquired speed.
[0042] When the mobile unit 90 moves using the power of the battery, the state of the mobile unit 90 may be the remaining charge of the battery. The remaining charge of the battery may be the ratio of the current charge to the fully charged capacity of the battery.
[0043] Figure 4 shows an example of the display mode of the display unit 30. The display unit 30 displays the status information 96 of each of the multiple mobile bodies 90 at positions corresponding to the respective locations of the multiple mobile bodies 90 on the virtual map 120. In the example of Figure 4, status information 96-1 to status information 96-3 are the status information 96 of mobile bodies 90-1 to mobile bodies 90-3, respectively. In the example of Figure 4, the display unit 30 displays status information 96-1 to status information 96-3 at positions corresponding to the respective locations of mobile bodies 90-1 to mobile bodies 90-3 (see Figure 1). This allows the operator 130 to recognize the status of each of the multiple mobile bodies 90. In the example of Figure 4, the status information 96 is textual information indicating the status of the mobile body 90. In the example of Figure 4, this textual information is shown in a callout on the virtual map 120.
[0044] Figure 5 shows another example of the display mode of the display unit 30. When the state of the mobile body 90 reaches a predetermined state, the display unit 30 may display a marking 98 on the virtual map 120 requesting instructions from the operator 130 regarding the mobile body 90. The marking 98 may be text or a color. The marking 98 may also be a flashing of the target mobile body 90 on the virtual map 120. In the example of Figure 5, the marking 98 is a speech bubble with words that draw attention to the target mobile body 90-1.
[0045] When the mobile body 90 is in a moving state, the predetermined state of the mobile body 90 may be at least one of the predetermined speed and acceleration of the mobile body 90. If it is preferable for the mobile body 90 to move below a certain speed, the predetermined speed of the mobile body 90 may be that certain speed. That certain speed may be a speed determined for the mobile body 90's mobility (e.g., a recommended speed). If it is preferable for the mobile body 90 to move below a certain acceleration, the predetermined acceleration of the mobile body 90 may be that certain acceleration. That specific acceleration may be an acceleration determined for the mobile body 90's mobility.
[0046] When the mobile unit 90 moves using the power of the battery, the predetermined state of the mobile unit 90 may be the remaining charge of the battery. The predetermined state of the mobile unit 90 may be a ratio of a specific charge amount to the full charge amount of the battery. The specific charge amount may be the minimum charge amount that should be maintained. For example, the predetermined state of the mobile unit 90 may be a charge amount of 1 / 2 of the full charge amount of the battery, or 1 / 4 of the full charge amount, or 1 / 10 of the full charge amount.
[0047] The display unit 30 may display a marking 98 at a position on the virtual map 120 corresponding to the position of the mobile body 90 when the state of the mobile body 90 reaches a predetermined state. The position of the mobile body 90 when the state of the mobile body 90 reaches a predetermined state may refer to the position of the mobile body 90 when the speed of the mobile body 90 changes from a speed less than a predetermined speed to a predetermined speed, or it may refer to the position of the mobile body 90 when the acceleration of the mobile body 90 changes from an acceleration less than a predetermined acceleration to a predetermined acceleration. The position of the mobile body 90 when the state of the mobile body 90 reaches a predetermined state may refer to the position of the mobile body 90 when the ratio of the charge amount to the full charge amount of the battery reaches a specific ratio, when the mobile body 90 is moving using the power of the battery.
[0048] The reception unit 62 receives instructions for the mobile object 90 on the virtual map 120. In the example in Figure 5, the operator 130 gives instructions for the mobile object 90-1 on the display unit 30 using the pointer 32 shown on the display unit 30. Giving instructions for the mobile object 90-1 on the display unit 30 may be done by clicking on the mobile object 90-1 displayed on the display unit 30.
[0049] When an instruction is given to a mobile body 90 displaying the marking 98, the command transmission unit 64 may transmit a command to the instructed mobile body 90 to improve a predetermined state. A command to improve a predetermined state is, for example, a command to control the speed of the mobile body 90 so that it travels at a speed below a certain speed if the mobile body 90 is traveling at a speed above a certain speed. A command to improve a predetermined state is, for example, a command to control the acceleration of the mobile body 90 so that it accelerates or decelerates at an acceleration below a certain acceleration if the mobile body 90 is accelerating or decelerating at an acceleration below a certain acceleration. A command to improve a predetermined state is a command to decelerate or stop the mobile body 90 when the charge level of the storage battery reaches a certain ratio of the full charge level. By the command transmission unit 64 transmitting a command to the instructed mobile body 90, the mobile body 90 can be improved from a predetermined state.
[0050] Figure 6 shows another example of the display mode of the display unit 30. The priority setting unit 60 sets the priority of the mobile bodies 90 that the operator 130 should request instructions from, based on the state of each of the multiple mobile bodies 90. For example, if a mobile body 90 is moving at a speed V greater than or equal to a specific speed Vs, even though it is preferable for it to move at a speed less than a specific speed Vs, the priority setting unit 60 sets the priority based on the difference between speed V and speed Vs. For example, the priority setting unit 60 sets a higher priority for mobile bodies 90 with a larger difference between speed V and speed Vs.
[0051] For example, if it is preferable for the moving object 90 to move at an acceleration below a certain acceleration As, but it is accelerating at an acceleration A greater than or equal to that specific acceleration As, the ranking setting unit 60 sets a priority based on the difference between acceleration A and acceleration As. For example, the ranking setting unit 60 sets a higher priority for the moving object 90 with a larger difference between acceleration A and acceleration As.
[0052] For example, if a mobile unit 90 is powered by a battery and the ratio of the battery's charge to its full charge is below a certain percentage, the priority setting unit 60 assigns a higher priority to mobile units 90 equipped with batteries that have a smaller charge ratio.
[0053] The display unit 30 may display markings 98, including priority levels, on the virtual map 120. In the example shown in Figure 6, the display unit 30 displays characters indicating priority levels on the virtual map 120. This allows the operator 130 to identify the mobile object 90 that should be given priority for instructions on the virtual map 120.
[0054] When the mobile body 90 performs a designated role in the physical space 110, the state of the mobile body 90 may be whether or not it is performing the designated role. The role is, for example, monitoring the road surface 112 or a structure 114. The operator 130 may assign a role to each of the multiple mobile bodies 90 via the reception unit 62. The assigned roles may be stored in the storage unit 80. The assigned roles may be transmitted to the mobile body 90 via the command transmission unit 64.
[0055] The display unit 30 may display an indication 98 on the virtual map 120 showing whether or not the mobile unit 90 is performing a designated role. This allows the operator 130 to determine on the virtual map 120 whether or not the mobile unit 90 is performing a designated role.
[0056] When the mobile unit 90 performs a designated role, the scheduled start time for the start of the role may be predetermined. The scheduled start time may be predetermined by the operator 130. The scheduled start time may be stored in the memory unit 80. The scheduled start time may be transmitted to the mobile unit 90 by the command transmission unit 64.
[0057] The mobile device 90 may be equipped with an atomic clock. The mobile device 90 may obtain the time from the atomic clock. The mobile device 90 may also obtain the time from an NTP server via the internet.
[0058] When the mobile unit 90 begins executing the designated role, the information acquisition unit 20 (see Figure 3) acquires the actual start time when the mobile unit 90 began executing the designated role. This actual start time is the time acquired by the mobile unit 90. The information acquisition unit 20 acquires status information 96 (see Figure 5) indicating that the mobile unit 90 has begun executing the designated role. This status information 96 may be information indicating the state of the mobile unit 90 at the actual start time.
[0059] The state of the mobile device 90 may be that the actual start time is ahead or behind the scheduled start time. The information acquisition unit 20 may determine whether the actual start time is ahead or behind the scheduled start time based on the scheduled start time and the actual start time. If the information acquisition unit 20 determines that the actual start time is ahead of the scheduled start time, it may acquire the time obtained by subtracting the scheduled start time from the actual start time as the time that is ahead. If the information acquisition unit 20 determines that the actual start time is behind the scheduled start time, it may acquire the time obtained by subtracting the actual start time from the scheduled start time as the time that is behind.
[0060] The mobile unit 90 may have difficulty starting to perform its role at the scheduled start time. For example, if an obstacle exists on the road surface 112 while the mobile unit 90 is moving, it may be difficult for the mobile unit 90 to arrive at the position where it will perform its role before the scheduled start time. For example, if the role of the mobile unit 90 is to monitor multiple structures 114 (see Figure 1), and monitoring one structure 114 takes longer than planned, it may be difficult for the mobile unit 90 to start monitoring the other structures 114 that are scheduled to be monitored after the one structure 114 at the scheduled start time. In such cases, the actual disclosure time may be later than the scheduled start time.
[0061] The mobile unit 90 may begin performing its role before the scheduled start time. For example, if a sensor mounted on the mobile unit 90 detects an abnormality in the structure 114 that the mobile unit 90 is scheduled to monitor, the mobile unit 90 may begin performing its role without waiting for the scheduled start time. In such cases, the disclosed actual time may be earlier than the scheduled start time.
[0062] The display unit 30 may display an indicator 98 on the virtual map 120 showing whether the actual start time of the mobile body 90's performance of its role is ahead or behind the scheduled start time of the mobile body 90's performance of its role. This allows the operator 130 to recognize on the virtual map 120 whether the actual start time is ahead or behind the scheduled start time.
[0063] When the mobile unit 90 performs a first role and a second role in sequence, the first scheduled start time for starting the first role and the second scheduled start time for starting the second role may be predetermined. Here, the second start time is later than the first start time. For example, when the mobile unit 90 monitors a plurality of structures 114 in sequence, the first role is to monitor the first structure 114 (e.g., structure 114-1), and the second role is to monitor the second structure 114 (e.g., structure 114-2).
[0064] The information acquisition unit 20 (see Figure 3) may acquire a first actual start time when the mobile body 90 began executing the first role. The information acquisition unit 20 may acquire status information 96 (see Figure 5) indicating that the mobile body 90 has begun executing the first role. The information acquisition unit 20 may acquire a second actual start time when the mobile body 90 began executing the second role. The information acquisition unit 20 may acquire status information 96 indicating that the mobile body 90 has begun executing the second role.
[0065] The information acquisition unit 20 (see Figure 3) may acquire a first difference between the first scheduled start time and the first actual start time, and a second difference between the second scheduled start time and the second actual start time. If the first actual start time is behind the first scheduled start time, the first difference may be the time obtained by subtracting the first actual start time from the first scheduled start time. The same applies to the second difference. If the first actual start time is ahead of the first scheduled start time, the first difference may be the time obtained by subtracting the first scheduled start time from the first actual start time. The same applies to the second difference.
[0066] The information acquisition unit 20 may determine the relative magnitudes of the first difference and the second difference. If the second difference is greater than the first difference, the display unit 30 (see Figure 3) may display status information 96 on the virtual map 120 indicating that the state of the moving object 90 is one that the operator 130 should pay attention to. If the actual start time is behind the scheduled start time and the second difference is greater than the first difference, the magnitude of the delay in the actual start time is increasing with the passage of time. If the actual start time is ahead of the scheduled start time and the second difference is greater than the first difference, the magnitude of the advance in the actual start time is increasing with the passage of time. By displaying status information 96 indicating that the state of the moving object 90 is one that the operator 130 should pay attention to, the display unit 30 can recognize that the moving object 90 is in a state that the operator 130 should pay attention to.
[0067] Figure 7 shows another example of the display mode of the display unit 30. The display unit 30 may be divided into multiple sections 34. In this example, the display unit 30 is divided into four sections 34 (sections 34-1 to 34-4). In this example, the virtual map 120 is displayed in section 34-1. In the examples of Figures 4 to 6, the virtual map 120 is displayed across the entire display unit 30. The information processing device 100 may be able to switch between the display modes of Figures 4 to 6 and the display mode of Figure 7.
[0068] The imaging unit 92 of the mobile body 90 (see Figure 1) captures an image of the real space 110. The image of the real space 110 may include an image of the road surface 112 or an image of the structure 114. The image of the real space 110 may include an image of another mobile body 90 (e.g., mobile body 90-2) captured by the imaging unit 92 (e.g., imaging unit 92-1) of a specific mobile body 90 (e.g., mobile body 90-1). The information acquisition unit 20 (see Figure 3) may acquire the image captured by the imaging unit 92.
[0069] The display unit 30 may display images captured by the imaging unit 92 (see Figure 1) of the mobile body 90. For example, the display unit 30 may display an image captured by imaging unit 92-1 in section 34-2, an image captured by imaging unit 92-2 in section 34-3, and an image captured by imaging unit 92-3 in section 34-4.
[0070] Operator 130 may specify at least one specific mobile object 90 via the reception unit 62. If at least one specific mobile object 90 is specified, the display unit 30 may display an image captured by the imaging unit 92 of the specified mobile object 90. For example, if mobile object 90-1 is specified, the display unit 30 may display an image captured by the imaging unit 92-1 in any of sections 34-1 to 34-3. The display unit 30 may also display the image captured by the imaging unit 92 on the virtual map 120.
[0071] If at least one specific mobile body 90 is specified, the display unit 30 may display an image of another mobile body 90 captured by the imaging unit 92 of the specified mobile body 90. For example, if mobile body 90-1 is specified, the display unit 30 displays an image of mobile body 90-2 captured by the imaging unit 92-1. If the information acquisition unit 20 (see Figure 3) cannot acquire the position information and state information 96 of the mobile body 90, the mobile body 90 may be in an abnormal state. An abnormal state is, for example, a state in which the mobile body 90 is unable to move because it has fallen over. If there is a high probability that the mobile body 90 is in an abnormal state, the display unit 30 will display an image of the mobile body 90 captured by another mobile body 90, so that the operator 130 can confirm the actual state of the mobile body 90 that is highly likely to be in an abnormal state on the display unit 30.
[0072] The mobile unit 90 may take on a predetermined set of states. These predetermined states include, for example, an operating state (on state) and a non-operating state (off state). The operating state may include one or more states. For example, the operating state may include a low-speed mode and a high-speed mode. Each of the multiple mobile units 90 may take on a predetermined set of states.
[0073] The operator 130 may specify one of several states via the reception unit 62. If one of several states is specified, the display unit 30 may display one mobile object 90 in that state on the virtual map 120, and does not need to display mobile objects 90 in other states. For example, if the operating state is specified as the state of the mobile object 90, the display unit 30 may display the mobile object 90 in the operating state, and does not need to display the mobile object 90 in the non-operating state. This can improve the visibility of the virtual map 120 for the operator 130.
[0074] Figure 8 is a flowchart showing an example of an information processing method according to one embodiment of the present invention. An information processing method according to one embodiment of the present invention will be explained using the information processing device 100 shown in Figure 3 as an example. The information processing method comprises a virtual map acquisition stage S100, an information acquisition stage S102, and a display stage S104.
[0075] The virtual map acquisition stage S100 is the stage in which the virtual map acquisition unit 10 acquires a three-dimensional virtual map 120 that corresponds to the real space 110 in which the multiple moving objects 90 move, and which includes the initial position and target position of the moving objects 90. The information acquisition stage S102 is the stage in which the information acquisition unit 20 acquires position information and state information 96 regarding the respective positions and states of the multiple moving objects 90 in the real space 110. The display stage S104 is the stage in which the display unit 30 displays the state information 96 of the multiple moving objects 90 at positions corresponding to the respective positions of the multiple moving objects 90 on the virtual map 120.
[0076] Figure 9 shows an example of the configuration of a computer 1200 in which multiple embodiments of the present invention may be embodied in whole or in part. A program installed on the computer 1200 can cause the computer 1200 to function as an operation associated with an apparatus according to an embodiment of the present invention, or as one or more "parts" of such apparatus, or to execute such operation or one or more "parts", and / or to cause the computer 1200 to execute a process or a stage of such process according to an embodiment of the present invention. Such a program may be executed by the CPU 1212 to cause the computer 1200 to execute a specific operation associated with some or all of the blocks in the flowcharts and block diagrams described herein. Furthermore, a process or a stage of such process according to an embodiment of the present invention may be executed on the cloud.
[0077] The computer 1200 according to this embodiment includes a CPU 1212, RAM 1214, a graphics controller 1216, and a display device 1218, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a hard disk drive 1224, a DVD-ROM drive 1226, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The computer also includes legacy input / output units such as a ROM 1230 and a keyboard 1242, which are connected to the input / output controller 1220 via an input / output chip 1240.
[0078] The CPU 1212 operates according to the programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires the image data generated by the CPU 1212 and stores it in the frame buffer provided in the RAM 1214 or within the graphics controller 1216 itself, and displays the image data on the display device 1218.
[0079] The communication interface 1222 communicates with other electronic devices via a network. The hard disk drive 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD-ROM drive 1226 reads programs or data from the DVD-ROM 1201 and provides them to the hard disk drive 1224 via the RAM 1214. The IC card drive reads programs and data from the IC card and / or writes programs and data to the IC card.
[0080] The ROM 1230 internally stores a boot program, etc., that is executed by the computer 1200 when activated, and / or programs that depend on the computer 1200's hardware. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via a parallel port, serial port, keyboard port, mouse port, etc.
[0081] The program is provided on a computer-readable storage medium such as a DVD-ROM 1201 or an IC card. The program is read from the computer-readable storage medium and installed on a hard disk drive 1224, RAM 1214, or ROM 1230, which are examples of computer-readable storage media, and executed by the CPU 1212. The information processing described within these programs is read by the computer 1200, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the operation or processing of information in accordance with the use of the computer 1200.
[0082] For example, when communication is performed between a computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as RAM 1214, a hard disk drive 1224, a DVD-ROM 1201, or an IC card, transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area provided on the recording medium.
[0083] Furthermore, the CPU 1212 may read all or necessary parts of files or databases stored on external recording media such as the hard disk drive 1224, DVD-ROM drive 1226 (DVD-ROM 1201), or IC card into the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 may then write the processed data back to the external recording media.
[0084] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium for information processing. The CPU 1212 may perform various types of processing on the data read from RAM 1214, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to RAM 1214. The CPU 1212 may also retrieve information in files, databases, etc., within the recording medium. For example, if multiple entries are stored in the recording medium, each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 may search among the multiple entries for an entry that matches the specified condition for the attribute value of the first attribute, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies the predetermined condition.
[0085] The program or software module described above may be stored on or near the computer 1200 in a computer-readable storage medium. Alternatively, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the program to the computer 1200 via the network.
[0086] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.
[0087] It should be noted that the execution order of operations, procedures, steps, and stages in the apparatus, systems, programs, and methods shown in the claims, specifications, and drawings is not explicitly stated as "before," "prior to," etc., and that these can be implemented in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," "next," etc. for convenience, it does not mean that it is essential to perform the operations in that order. [Explanation of symbols]
[0088] 10...Virtual map acquisition unit, 20...Information acquisition unit, 30...Display unit, 32...Pointer, 34...Section, 50...Control unit, 60...Ranking setting unit, 62...Reception unit, 64...Command transmission unit, 80...Storage unit, 90...Moving unit, 92...Imaging unit, 94...Location information acquisition unit, 96...Status information, 98...Marking, 100...Information processing device, 110...Real space, 112...Road surface, 114...Structure, 120...Virtual map, 130...Operator, 1 200...Computer, 1201...DVD-ROM, 1210...Host controller, 1212...CPU, 1214...RAM, 1216...Graphics controller, 1218...Display device, 1220...Input / output controller, 1222...Communication interface, 1224...Hard disk drive, 1226...DVD-ROM drive, 1230...ROM, 1240...Input / output chip, 1242...Keyboard
Claims
1. A virtual map acquisition unit acquires a three-dimensional virtual map corresponding to the real space in which multiple moving objects move, the virtual map including the initial position and target position of the moving objects. An information acquisition unit that acquires positional information regarding the position of each of the plurality of moving objects in the real space and state information regarding the state of each of them, In the virtual map, a display unit is provided that displays the status information of each of the multiple moving objects at a position corresponding to the position of each of the multiple moving objects, An information processing device equipped with the following features.
2. The information processing apparatus according to claim 1, wherein the state of the moving body includes the state of movement of the moving body.
3. The aforementioned mobile unit moves using the power of a storage battery. The state of the mobile body includes the remaining charge of the storage battery. The information processing apparatus according to claim 1.
4. The information processing apparatus according to claim 3, wherein when the state of the moving body reaches a predetermined state, the display unit displays a mark on the virtual map requesting instructions from the operator for the moving body.
5. The information processing apparatus according to claim 4, wherein the display unit displays the marking at a position on the virtual map corresponding to the position of the moving body when the state of the moving body reaches a predetermined state.
6. The information processing apparatus according to claim 4, further comprising a command transmission unit that transmits a command to the mobile body to improve the predetermined state when the instruction is given to the mobile body on which the marking is displayed.
7. The system further includes a priority setting unit that sets the priority order of the mobile bodies on which the operator should request the instruction, based on the state of each of the plurality of mobile bodies. The display unit displays the indication including the priority order on the virtual map. The information processing apparatus according to claim 4.
8. The information processing apparatus according to claim 1, wherein the state of the moving body is whether or not the moving body is performing a role assigned to it.
9. The scheduled start time at which the mobile body begins to perform the role is predetermined. The state of the moving body is either ahead of or behind the actual start time when the moving body began performing its role, relative to the scheduled start time. The information processing apparatus according to claim 8.
10. A first scheduled start time at which the mobile body begins to perform the first role, and a second scheduled start time at which the mobile body begins to perform the second role, which is later than the first scheduled start time, are predetermined. The information acquisition unit acquires the first start time at which the mobile body began executing the first role, and the second start time at which it began executing the second role. The information acquisition unit determines the relative magnitude of the first difference between the first scheduled start time and the first actual start time, and the second difference between the second scheduled start time and the second actual start time. If the second difference is greater than the first difference, the display unit displays the status information on the virtual map indicating that the status of the moving object is one that the operator should pay attention to. The information processing apparatus according to claim 9.
11. Each of the aforementioned plurality of moving bodies has an imaging unit that images the real space, If at least one of the specified moving objects is designated, the display unit displays an image captured by the imaging unit of the designated moving object. The information processing apparatus according to claim 1.
12. The information processing apparatus according to claim 11, wherein, when at least one specific moving body is designated, the display unit displays an image of the other moving bodies captured by the imaging unit of the designated moving body.
13. A plurality of states that each of the plurality of moving bodies can take are predetermined. If one of the multiple states is specified, the display unit displays the moving object in the one state on the virtual map and does not display the moving objects in the other states. The information processing apparatus according to claim 1.
14. A virtual map acquisition step involves acquiring a three-dimensional virtual map corresponding to the real space in which multiple moving objects are moving, the virtual map including the initial position and target position of the moving objects. An information acquisition step in which position information regarding the position of each of the plurality of moving objects in the real space and state information regarding the state of each of them are acquired, In the virtual map, a display stage is provided in which the status information of each of the multiple moving objects is displayed at a position corresponding to the position of each of the multiple moving objects. An information processing method comprising the following:
15. An information processing program for causing a computer to execute the information processing method described in claim 14.