Information processing device, information processing method, and information processing program

Abstract

Determine the moving object that should be moved to the measurement position relative to the structure. [Solution] The present invention provides an information processing device comprising: an information acquisition unit that acquires position information and state information regarding the respective positions of multiple moving objects in a real space in which multiple moving objects are moving; a reception unit that accepts the specification of a measurement location for measurement target information, which is information of a measurement target in the real space, on a virtual map corresponding to the real space; and a determination unit that determines which moving object should move to the measurement location based on the measurement location and the position information and state information of each of the multiple moving objects.

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 "an autonomous mobile body including an autonomous control unit for autonomously moving" (Claim 1). Patent Document 2 describes "to improve the efficiency of management operations related to a mobile body or its user" (Abstract). [Prior Art Documents] [Patent Documents] [Patent Document 1] International Publication No. 2019 / 181896 [Patent Document 2] 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 an information acquisition unit that acquires position information regarding each of a plurality of mobile bodies and state information regarding each of the plurality of mobile bodies in a real space in which the plurality of mobile bodies move, a reception unit that receives a designation of a measurement position of measurement target information, which is information of a measurement target in the real space, on a virtual map corresponding to the real space, and a determination unit that determines a mobile body to move to the measurement position based on the measurement position, the position information, and the state information of each of the plurality of mobile bodies.

[0004] The determination unit may determine a mobile body to move to the measurement position based on the type of the measurement target information and the type of measurable information that each mobile body can measure.

[0005] In any of the above information processing apparatuses, the determination unit may determine a mobile body to move to the measurement position based on the movement performance of each mobile body and characteristic information of an assumed movement route along which each mobile body moves from an initial position to the measurement position.

[0006] In any of the above-described information processing devices, the measurement deadline for the information to be measured at the measurement location may be predetermined. The determination unit may determine that a moving object that has met the measurement deadline should be moved to the measurement location.

[0007] In any of the above-described information processing devices, the first mobile body may have a first target acquisition unit that acquires a first type of measurement target information, and the second mobile body may have a second target acquisition unit that acquires a second type of measurement target information. If, at the measurement position, the first target acquisition unit is to acquire a first type of measurement target information and the second target acquisition unit is to acquire a second type of measurement target information, the determination unit may determine the first mobile body and the second mobile body as mobile bodies to be moved to the measurement position.

[0008] In any of the above-described information processing devices, the determination unit may determine the order in which the first moving body and the second moving body reach the measurement position based on the position of the first target acquisition unit on the first moving body and the position of the second target acquisition unit on the second moving body.

[0009] Any of the above information processing devices may further include a storage unit that stores a predetermined role for each mobile body and a measurement target in real space that the mobile body should measure with its remaining capacity. After the mobile body has completed its role, the determination unit may determine whether the mobile body has remaining capacity, and if it determines that it does, it may determine that the mobile body that has been determined to have remaining capacity should move to the position of the measurement target that should be measured with its remaining capacity.

[0010] In any of the above-described information processing devices, the mobile device may have a target acquisition unit that acquires information on the target of measurement. The storage unit may update the stored target of measurement according to the information on the target of measurement.

[0011] In any of the above-described information processing devices, the moving object may have an object acquisition unit that acquires information about the object to be measured. The determination unit may determine the state of the object to be measured according to the information about the object to be measured. The information acquisition unit may acquire the acquisition time at which the object acquisition unit acquired the information about the object to be measured related to the determination of the object to be measured by the determination unit. Based on the state of the object to be measured and the acquisition time, the determination unit may determine the movement time at which the moving object moves back to the measurement position.

[0012] In any of the above-described information processing devices, the mobile body may have a target acquisition unit that acquires information on the object to be measured. The determination unit may determine the state of the object to be measured according to the information on the object to be measured, and determine the number of mobile bodies to move toward the measurement position based on the determined state.

[0013] In any of the above-described information processing devices, the information acquisition unit may acquire weather information in real space. The determination unit may determine which moving object should move to the measurement position based on the measurement position, the position information and state information of each of the multiple moving objects, and the weather information.

[0014] A second aspect of the present invention provides an information processing method. The information processing method comprises an information acquisition step of acquiring position information and state information regarding the respective positions and states of multiple moving objects in a real space in which multiple moving objects are moving; a reception step of receiving a specification of a measurement location for measurement target information, which is information of a measurement target in the real space, on a virtual map corresponding to the real space; and a determination step of determining which moving object should move to the measurement location based on the measurement location and the position information and state information of each of the multiple moving objects.

[0015] In a third embodiment of the present invention, an information processing program is provided. The information processing program causes a computer to execute an information processing method.

[0016] It should be noted that the above summary of the invention does not enumerate all of its features. Furthermore, subcombinations of these features may also constitute an invention. [Brief explanation of the drawing]

[0017] [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 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 60. [Figure 5] It is a diagram showing an example of the positional relationship of a plurality of moving bodies 90 in the real space 110. [Figure 6] It is a diagram showing an example of the type of the structure 114. [Figure 7] It is a diagram showing an example of a role predetermined for each of the plurality of moving bodies 90 and a measurement target to be measured by each moving body 90 with its surplus capacity. [Figure 8] It is a diagram showing an example of the abnormal occurrence time ts, the recovery time te, and the recovery time T in each of the plurality of structures 114. [Figure 9] It is a diagram for explaining an example of the state of the measurement target. <00,00081> [Figure 10] It is a flowchart showing an example of the information processing method according to one embodiment of the present invention. [Figure 11] It is a diagram showing an example of the configuration of the computer 1200 in which a plurality of aspects of the present invention can be embodied wholly or partially.

Mode for Carrying Out the Invention

[0018] 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.

[0019] FIG. 1 is a schematic top view showing an example of a real space 110 in which a plurality of moving bodies 90 move. In the example of FIG. 1, the plurality of moving bodies 90 are moving bodies 90-1 to moving body 90-3. The real space 110 is 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 where it is dangerous to enter due to the influence of an environment such as radiation or harmful gas, or a space where it is difficult to enter due to the presence of obstacles or the like, and may be a space where it is difficult for a human to enter.

[0020] In the real space 110, a road surface 112 may be arranged and a structure 114 may be provided. When the real space 110 is a space such as a plant, the road surface 112 is the floor surface of the plant. The structure 114 is, for example, a device such as an instrument, a manufacturing device, equipment, or the like. The moving body 90 may travel on the road surface 112 or may fly in the air.

[0021] The moving body 90 may be a robot capable of autonomous driving, or may be a robot that can be remotely controlled by a user of an information processing device 100 (described later). The moving body 90 may have a control unit that controls the movement of the moving body 90. The moving body 90 may move by the power of a storage battery or may move by an energy source other than the storage battery. The storage battery may be mounted on the moving body 90. The moving body 90 may be a quadruped robot that moves while contacting the road surface 112, may be a caterpillar type or wheel type robot, or may be a drone that moves in the air. The moving body 90 may be a robot that patrols the real space 110.

[0022] Each of the multiple mobile bodies 90 may have a target acquisition unit 92 for acquiring measurement target information. In the example in Figure 1, mobile bodies 90-1 to 90-3 each have target acquisition units 92-1 to 92-3. Measurement target information refers to information about the object to be measured in the real space 110. The target acquisition unit 92 may be a sensor that measures the physical quantity of the object. The physical quantity of the object may include the humidity around the structure 114 in the real space 110, the concentration of a specific gas (e.g., carbon dioxide), or the dose of radiation. The range around the structure 114 may be predetermined for each structure 114 and for each type of physical quantity of the object.

[0023] The target acquisition unit 92 may also be an imaging unit that captures information about the target of measurement. The imaging unit acquires information about the target of measurement by capturing the information about the target of measurement. The image captured of the real space 110 may contain information relating to the physical quantities of the target in the real space 110. The physical quantities of the target may be, for example, the position, shape, gradient, width, 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, size of the structure 114. The position of the target may be a relative position between multiple targets, a relative position with respect to a set reference position, or an absolute position such as latitude and longitude.

[0024] 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 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.

[0025] Structure 114 may be a device for processing substances. Processing a substance means changing the state of the substance. Changing the state of a substance means changing the shape of the substance, or changing at least one of the properties and chemical formula of the substance by a chemical reaction or the like. If structure 114 is a device for processing substances, the housing of structure 114 may be equipped with meters or the like that indicate physical quantities related to the processing of the substance. For example, if structure 114 is a device that changes the state of a substance while a fluid is flowing through it (e.g., a nuclear reactor), structure 114 may be equipped with a flow meter for measuring the flow rate of the fluid. The housing of structure 114 may be equipped with meters or the like that that indicate the flow rate measured by the flow meter. For example, if structure 114 is a device that changes the state of a substance by using a specific type of gas (e.g., a toxic gas), structure 114 may be equipped with a flow meter for measuring the flow rate of the gas, a pressure gauge for measuring the pressure of the gas, etc. The housing of structure 114 may be equipped with meters or the like that that indicate the flow rate, pressure, etc. measured by the flow meter, pressure gauge, etc.

[0026] The structure 114 may be a device that generates electromagnetic waves. Examples of electromagnetic wave generating structures 114 include devices that generate radiation, devices that generate light with wavelengths from ultraviolet to infrared, etc. For example, if the structure 114 is a device that generates radiation (e.g., an X-ray diffractometer), the electromagnetic wave generating structure 114 may be equipped with a power meter that indicates the output of the radiation. The housing of the structure 114 may be equipped with a meter or the like that indicates the output of the radiation measured by the power meter.

[0027] If the target acquisition unit 92 is an imaging unit, the imaging unit may acquire measurement target information by acquiring an image of a meter or the like that is mounted on the housing of the structure 114.

[0028] Multiple mobile bodies 90 may have a location information acquisition unit 94 that acquires the location of the mobile body 90 in real space 110. The location 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 location 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 virtual map 120 corresponding to the real space 110. The virtual map 120 in this example is three-dimensional. The virtual map 120 may also be two-dimensional, having an X-axis direction and a Y-axis direction. The virtual map 120 may be a map created for a purpose other than displaying the information to be measured. The virtual map 120 may be an existing map, or a map created based on map information acquired by 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 map information acquired by the mobile body 90 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. The road surface 112 and structures 114 of the real space 110 are shown on the virtual map 120.

[0031] The virtual map 120 may include the initial position P1 of the mobile body 90. The virtual map 120 may also include the measurement position P2 of the measurement target information. In Figure 2, an example of the initial position P1 is shown by a dashed line, and an example of the measurement position P2 is shown by a dashed line. In Figure 2, the illustrations of mobile bodies 90-1 and 90-3 in Figure 1 are omitted. The measurement position P2 is the destination or preferred destination to which the object acquisition unit 92 of the mobile body 90 should move in order to acquire the measurement target information. The destination to which it should move is, for example, the location of the measurement target (e.g., structure 114) whose state should be checked. The operator 130 (described later) may specify the measurement position P2 using the reception unit 30 (described later).

[0032] 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. If the mobile body 90 is moving and is designated to move to measurement position P2, the starting position may be the current position of the mobile body 90 at the time of designation.

[0033] 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 60 (described later) may display the initial position P1 acquired by the information acquisition unit 20 on the virtual map 120.

[0034] The initial position P1 and the measurement position P2 may be areas in the physical 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 measurement position P2 may be areas in the physical space 110 that have a predetermined volume. An area in the physical space that has volume may be, for example, the space of one or more rooms provided in the physical space 110.

[0035] Figure 3 is a block diagram showing an example of an information processing device 100. The information processing device 100 comprises an information acquisition unit 20, a reception unit 30, a decision unit 40, and a control unit 50. The reception unit 30 is, for example, a mouse, keyboard, or smartphone screen. The information processing device 100 may also comprise a virtual map acquisition unit 10, a display unit 60, a travel path generation unit 64, and a storage unit 80. The display unit 60 is, for example, a display, monitor, or smartphone screen.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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. The information acquisition unit 20 may acquire state information 96 (described later) of the moving objects 90 as they move in the real space 110.

[0040] 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.

[0041] When the mobile unit 90 moves using the power of the storage battery, the state of the mobile unit 90 may be the remaining charge of the storage battery. The remaining charge of the storage battery may be the ratio of the current charge to the full charge of the storage battery. The state of the mobile unit 90 may also refer to whether or not the mobile unit 90 is performing the role assigned to the mobile unit 90.

[0042] Figure 4 shows an example of the display mode of the display unit 60. The display unit 60 may display 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 60 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.

[0043] The reception unit 30 (see Figure 3) accepts the specification of the measurement position P2 on the virtual map 120. In this example, the operator 130 specifies the measurement position P2 on the virtual map 120 using the pointer 32.

[0044] The movement path generation unit 64 generates a planned movement path for each of the multiple moving bodies 90 based on the initial position P1 and the measurement position P2. For example, the movement path generation unit 64 generates the shortest movement path from the initial position P1 to the measurement position P2 as the planned movement path.

[0045] The determination unit 40 determines which moving body 90 should move to the measurement position P2 based on the measurement position P2 and the position information and state information 96 of each of the multiple moving bodies 90. For example, the determination unit 40 calculates the travel time for each of the multiple moving bodies 90 to move from the initial position P1 to the measurement position P2 based on the planned travel path generated by the travel path generation unit 64 and the travel speed of the moving body 90. The determination unit 40 determines, for example, the moving body 90 with the shortest travel time as the moving body 90 that should move to the measurement position P2. As a result, the moving body 90 with the shortest travel time can move to the measurement position P2.

[0046] For example, when the mobile body 90 is moved using the power of a storage battery, the determination unit 40 calculates the distance the mobile body 90 can move based on the remaining battery charge. The determination unit 40 determines, for example, that a mobile body 90 whose distance it can move is greater than or equal to the distance of the planned movement path generated by the movement path generation unit 64 is the mobile body 90 that should be moved to the measurement position P2. This ensures that the mobile body 90 can reliably reach the measurement position P2.

[0047] For example, while a mobile body 90 is performing a role assigned to it, the determination unit 40 excludes the mobile body 90 that is performing the role from the list of mobile bodies 90 that should move to measurement position P2, and determines that another mobile body 90, excluding the mobile body 90, should move to measurement position P2. This prevents the mobile body 90 that is performing a role from moving to measurement position P2 before completing its role.

[0048] The determination unit 40 may determine which mobile body 90 should move to the measurement position P2 based on the type of information to be measured and the type of measurable information that each mobile body 90 can measure. The information that a mobile body 90 can measure refers to the information to be measured that can be acquired by the target acquisition unit 92 of the mobile body 90. The type of measurable information refers to the type of information that can be acquired according to the specifications of the target acquisition unit 92. For example, if the target acquisition unit 92 is a gas sensor that detects a specific type of gas, the type of measurable information is that specific type of gas. For example, if the target acquisition unit 92 is a temperature and humidity sensor, the type of measurable information is temperature or humidity.

[0049] The memory unit 80 (see Figure 3) may store characteristic information of the assumed movement path that the mobile body 90 will take in real space 110. The assumed movement path may be the path that the operator 130 assumes for the mobile body 90. The characteristic information of the assumed movement path refers to at least one of the following: shape, gradient, width, condition (presence or absence of bumps, etc.), and presence or absence of obstacles. The characteristic information may be included in the virtual map 120. The virtual map acquisition unit 10 may acquire the virtual map 120 which includes the characteristic information of the assumed movement path. The memory unit 80 may store the virtual map 120 which includes the characteristic information.

[0050] The movement path generation unit 64 may generate a planned movement path for the mobile body 90 based on the movement performance of the mobile body 90 and the characteristic information of the assumed movement path. The movement performance of the mobile body 90 includes, for example, the maximum speed of the mobile body 90, the width of the path that the mobile body 90 can traverse, and the gradient of the path that the mobile body 90 can traverse. For example, the movement path generation unit 64 generates a planned movement path in which the gradient of the assumed movement path in the characteristic information is less than the maximum gradient that the mobile body 90 can traverse. For example, the movement path generation unit 64 generates a planned movement path in which the width of the assumed movement path in the characteristic information is less than the width of the path that the mobile body 90 can traverse. For example, the movement path generation unit 64 generates a planned movement path that avoids assumed movement paths that are said to have obstacles in the characteristic information. This ensures that the mobile body 90 can reliably move along the planned movement path. If, based on the movement performance of the mobile body 90, there is no planned movement path that satisfies the characteristic information of the assumed movement path, the movement path generation unit 64 does not need to generate a planned movement path.

[0051] The movement path generation unit 64 may generate a planned movement path for the moving body 90 based on the initial position P1 of the moving body 90, the movement performance of the moving body 90, the measurement position P2, and characteristic information of the assumed movement path. This ensures that the moving body 90 can reliably move along the planned movement path from the initial position P1 to the measurement position P2.

[0052] The determination unit 40 may determine which mobile body 90 should move to the measurement position P2 based on the movement performance of each mobile body 90 and characteristic information of the assumed movement path that each mobile body 90 will take from the initial position P1 to the measurement position P2. If the movement path generation unit 64 can generate planned movement paths for all of the multiple mobile bodies 90, the determination unit 40 may determine the mobile body 90 with the shortest planned movement path to be moved to the measurement position P2. If the movement path generation unit 64 cannot generate a planned movement path for a specific at least one mobile body 90 (e.g., mobile body 90-1), the determination unit 40 may determine at least one of the other mobile bodies 90 (e.g., mobile bodies 90-2 and 90-3) to be moved to the measurement position P2. The determination unit 40 may then determine the mobile body 90 with the shortest planned movement path among the other mobile bodies 90 to be moved to the measurement position P2.

[0053] The measurement deadline for the information to be measured at measurement position P2 may be predetermined. The predetermined measurement deadline may be stored in the storage unit 80. For example, if the housing of the structure 114 is equipped with a display unit that shows physical quantities related to the processing of a substance (e.g., pressure or temperature), the physical quantities displayed on the display unit may change as the substance is processed. For this reason, the display unit of the structure 114 may display the measured value of the physical quantity at a certain time for a certain period, and after that period has elapsed, the measured value of the physical quantity at the next time may be displayed. The measurement deadline for the information to be measured is, for example, the end of that certain period.

[0054] The mobile unit 90 may be equipped with an atomic clock. The mobile unit 90 may obtain the time from the atomic clock. The mobile unit 90 may obtain the time from an NTP server via the internet. The information acquisition unit 20 may obtain the time obtained by the mobile unit 90. The information acquisition unit 20 may obtain the time from an NTP server via the internet.

[0055] The information acquisition unit 20 may acquire the moving speed of the moving object 90. The determination unit 40 may calculate the time required for the moving object 90 to move from the initial position P1 to the measurement position P2 based on the distance of the planned movement path generated by the movement path generation unit 64 and the moving speed of the moving object 90 acquired by the information acquisition unit 20. The determination unit 40 may determine whether the moving object 90 can move to the measurement position P2 by the measurement deadline based on the calculated time required, the current time, and the measurement deadline for the information to be measured.

[0056] The determination unit 40 may determine that a mobile body 90 that meets the measurement deadline is a mobile body 90 that should be moved to the measurement position P2. A mobile body 90 that meets the measurement deadline is a mobile body 90 that the determination unit 40 has determined to be able to move to the measurement position P2 by the measurement deadline.

[0057] The first mobile body 90 (for example, mobile body 90-1) may have a first target acquisition unit 92 (for example, target acquisition unit 92-1) that acquires a first type of measurement target information. The second mobile body (for example, mobile body 90-2) may have a second target acquisition unit 92 (for example, target acquisition unit 92-2) that acquires a second type of measurement target information. The first type and the second type may be different from each other, or they may be the same type.

[0058] If, at measurement position P2, the first target acquisition unit 92 should jointly acquire first type of measurement target information and the second target acquisition unit 92 should jointly acquire second type of measurement target information, the determination unit 40 may determine the first mobile body 90 and the second mobile body 90 as mobile bodies to be moved to measurement position P2. Cases where the acquisition of first type of measurement target information and the acquisition of second type of measurement target information should be jointly include, for example, when the structure 114 is a radiation generator (e.g., an X-ray diffractometer) that emits radiation, where the first type of measurement target information is the radiation output and the second type of measurement target information is the temperature around the radiation generator. If there is a possibility that an abnormality is occurring in the radiation generator, the information acquisition unit 20 may be able to obtain insights into the abnormality by acquiring both the radiation output and the temperature around the radiation generator. For example, if the radiation output is abnormal but the temperature is normal, the radiation shielding function of the radiation generator may be abnormal. For example, if the radiation output is abnormal and the temperature is abnormal, the cooling function of the circulating water in the radiation generator may be abnormal. In this way, by acquiring mutually different types of measurement target information, insights into anomalies can be obtained. In this example, the first target acquisition unit 92 may be an imaging unit that images a meter indicating the output of radiation, which is provided on the housing of the radiation generator, and the second target acquisition unit 92 may be a temperature sensor that measures the temperature around the radiation generator.

[0059] Another example of a situation where acquiring the first type of measurement target information and the second type of measurement target information should be done jointly is when the first type of measurement target information and the second type of measurement target information are the temperature around the structure 114. In this example, the first target acquisition unit 92 and the second target acquisition unit 92 may be the first temperature sensor and the second temperature sensor, respectively. If there is a possibility that an abnormality has occurred in the structure 114, it may be desirable to carefully measure the temperature around the structure 114. In such cases, if the measurement value from the first temperature sensor and the measurement value from the second temperature sensor are within the error range, the reliability of the measured temperature is high.

[0060] When acquiring first type of measurement target information and acquiring second type of measurement target information should be done jointly, the first type of measurement target information and the second type of measurement target information may be associated in advance. The first type of measurement target information and the second type of measurement target information that have been associated in advance may be stored in the storage unit 80. The decision unit 40 may determine, at the measurement position P2, whether the first target acquisition unit 92 should acquire first type of measurement target information and the second target acquisition unit 92 should acquire second type of measurement target information jointly, based on the association between the first type and the second type stored in the storage unit 80.

[0061] Figure 5 is a diagram showing an example of the positional relationship of multiple moving bodies 90 in real space 110. The determination unit 40 may determine the order in which the first moving body 90 and the second moving body 90 reach the measurement position P2 based on the position of the first target acquisition unit 92 (e.g., target acquisition unit 92-1) on the first moving body 90 (e.g., moving body 90-1) and the position of the second target acquisition unit 92 (e.g., target acquisition unit 92-2) on the second moving body 90 (e.g., moving body 90-2). The position of the target acquisition unit 92 may be the position of the target acquisition unit 92 with respect to a predetermined reference position in real space 110. The predetermined reference position in real space 110 is, for example, the position of the road surface 112 in the Z-axis direction. In the example of Figure 5, the position of the target acquisition unit 92 is the height from the road surface 112. In the example shown in Figure 5, the determination unit 40 determines, based on the height h1 of the target acquisition unit 92-1 on the moving body 90-1 and the height h2 of the target acquisition unit 92-2 on the moving body 90-2, that the moving body 90-1 will reach the measurement position P2 first, followed by the moving body 90-2.

[0062] In this example, height h2 is higher than height h1. Therefore, if mobile body 90-2 stops between mobile body 90-1 and structure 114-8 in the X-axis direction, it may become difficult for the target acquisition unit 92-1 of mobile body 90-1 to acquire the measurement target information. For this reason, it is preferable that mobile body 90-1 stops between mobile body 90-2 and structure 114-8 in the X-axis direction. For this reason, the determination unit 40 determines that the height of the target acquisition unit 92 is such that mobile body 90-1 with height h1 arrives first, followed by mobile body 90-2 with height h2. As a result, the target acquisition units 92-1 and 92-2 can each acquire the measurement target information.

[0063] When the first target acquisition unit 92 is to acquire first type of measurement target information and the second target acquisition unit 92 is to acquire second type of measurement target information at measurement position P2, the order in which the first mobile body 90 and the second mobile body 90 arrive at measurement position P2 may be determined based on the positions of the first target acquisition unit 92 and the second target acquisition unit 92. This allows the first target acquisition unit 92 to acquire first type of measurement target information and the second target acquisition unit 92 to acquire second type of measurement target information.

[0064] Figure 6 shows an example of the types of structures 114. In this example, structures 114-1, 114-4, and 114-7 are semiconductor manufacturing equipment (front-end). The front-end process may include wafer cleaning, photolithography (transfer onto the wafer), etching, film deposition, and ion implantation. In this example, structures 114-2, 114-5, and 114-8 are semiconductor manufacturing equipment (back-end). The back-end process may include dicing, die bonding, wire bonding, and molding (protection by packaging). In this example, structures 114-3, 114-6, and 114-9 are semiconductor evaluation equipment. The semiconductor evaluation equipment in this example includes an X-ray inspection device. The semiconductor evaluation equipment in this example evaluates the wire bonding state using X-ray images.

[0065] Figure 7 shows the predetermined roles for each of the multiple mobile bodies 90 and an example of a measurement target that each mobile body 90 should measure in its spare capacity. In this example, the role of mobile body 90-1 is to acquire the radiation output of the structure 114, the role of mobile body 90-2 is to acquire the ambient temperature of the structure 114, and the role of mobile body 90-3 is to acquire the amount of cooling water in the structure 114. The correspondence between each role and the measurement target to be measured in its spare capacity, as shown in Figure 7, may be stored in the memory unit 80.

[0066] In this example, if mobile unit 90-1 is acquiring the radiation output from one of the structures 114-3, 114-6, and 114-9, the measurement target that mobile unit 90-1 should measure with its remaining capacity is one of the other structures 114 besides 114-3, 114-6, and 114-9. In this example, if mobile unit 90-2 is acquiring the ambient temperature from one of the structures 114-1 to 114-9, the measurement target that mobile unit 90-2 should measure with its remaining capacity is one of the other structures 114 besides 114-1 to 114-9. In this example, if mobile unit 90-3 is acquiring the amount of cooling water from one of the structures 114-1 to 114-9, the measurement target that mobile unit 90-3 should measure with its remaining capacity is the amount of cooling water from one of the other structures 114 besides 114-1 to 114-9.

[0067] The decision unit 40 may determine whether the mobile body 90 has any remaining capacity after it has completed its role. For example, the decision unit 40 may determine whether the mobile body 90-1 has any remaining capacity after it has acquired the radiation output of the structure 114-3. The status information of the mobile body 90 may include information regarding whether the mobile body 90 has any remaining capacity. For example, the decision unit 40 calculates the distance the mobile body 90-1 can travel based on the remaining battery charge after the mobile body 90-1 has acquired the radiation output of the structure 114-3. The travel path generation unit 64 generates a planned travel path from structure 114-3 to structure 114-6 or structure 114-9. If the distance of the planned travel path is less than the distance that can travel, the decision unit 40 determines that the mobile body 90-1 has any remaining capacity. The decision unit 40 may release the mobile body 90 from its role after it has completed its role.

[0068] If the determination unit 40 determines that the moving body 90 has remaining capacity, it may determine that the moving body 90 that has been determined to have remaining capacity should be moved to the position of the measurement target that should be measured using the remaining capacity. For example, if the determination unit 40 determines that the moving body 90-1 has remaining capacity, it will determine that the moving body 90-1 should be moved to the position of structure 114-6 or structure 114-9.

[0069] The memory unit 80 may update the measurement targets that the mobile body 90 should measure in its spare capacity, according to the measurement target information. A threshold value may be predetermined for the measurement target information. For example, if the measurement target information is greater than or less than the threshold value, the memory unit 80 may update the measurement targets that the mobile body 90 should measure in its spare capacity. For example, in the example in Figure 7, if the ambient temperature of the structure 114-1 acquired by the mobile body 90-2 is higher than the threshold temperature, there is a possibility that an abnormality has occurred in the structure 114-1. In such a case, there is little point in the mobile body 90-2 acquiring the ambient temperature of the structure 114-1 again after it has acquired that the ambient temperature of the structure 114-1 is higher than the threshold temperature. For this reason, the memory unit 80 may exclude the structure 114-1 from the measurement targets that the mobile body 90-2 should measure in its spare capacity. For example, in the example in Figure 7, if the amount of water in structure 114-2 acquired by the mobile unit 90-3 is less than the threshold amount, there is a possibility that an abnormality has occurred in structure 114-2 due to insufficient water. In such a case, there is little point in the mobile unit 90-3 acquiring the amount of water in structure 114-2 again after it has acquired that the amount of water in structure 114-2 is less than the threshold amount. For this reason, the memory unit 80 may exclude structure 114-2 from the measurement targets that the mobile unit 90-3 should measure with its remaining capacity.

[0070] Figure 8 shows an example of the abnormality occurrence time ts, recovery time te, and recovery duration T for each of the multiple structures 114. The abnormality occurrence time ts is the time when an abnormality occurred in the structure 114. The recovery time te is the time when the structure 114 recovered from the abnormality. The recovery duration T is the time from the abnormality occurrence time ts to the recovery time te.

[0071] In this example, the role of the mobile body 90-1 in Figure 7 is assumed to be the radiation dose around the structure 114. The determination unit 40 may determine the state of the measurement target according to the measurement target information. For example, if the measurement target information is the radiation dose, the target acquisition unit 92-1 of the mobile body 90-1 acquires the dose. The target acquisition unit 92-1 may be a dosimeter. The determination unit 40 determines the state around the radiation generator according to the magnitude of the radiation dose. The determination unit 40 may determine whether the state of the measurement target is abnormal or normal according to the measurement target information. For example, if the magnitude of the radiation dose is greater than the dose threshold, there is a high probability that radiation is leaking around the structure 114. For this reason, the determination unit 40 determines that an abnormality in the dose has occurred around the structure 114. When the radiation dose around the structure 114 decreases over time and becomes smaller than the dose threshold, the determination unit 40 determines that the state around the structure 114 has recovered from the abnormality. The memory unit 80 may store the abnormality occurrence time ts, recovery time te, and recovery duration T for each of the multiple structures 114 shown in Figure 9.

[0072] The information acquisition unit 20 may acquire the acquisition time of the measurement target information related to the determination of the measurement target by the determination unit 40, which was acquired by the target acquisition unit 92. The measurement target information related to the determination of the measurement target by the determination unit 40 is, for example, the radiation dose around the radiation generator when the determination unit 40 determines the state around the radiation generator according to the magnitude of the radiation dose. The acquisition time of the measurement target information related to the determination of the measurement target acquired by the target acquisition unit 92 is, for example, the time when the radiation dose exceeds the threshold when the radiation dose changes from a state below the threshold to a state above the threshold. This time is the abnormal occurrence time ts shown in Figure 9. In another example, the acquisition time of the measurement target information related to the determination of the measurement target acquired by the target acquisition unit 92 is the time when the radiation dose at the threshold is acquired when the radiation dose changes from a state above the threshold to a state below the threshold. This time is the recovery time te shown in Figure 9.

[0073] The determination unit 40 may determine the time at which the mobile body 90 moves back to the measurement position P2 based on the state of the object to be measured and the acquisition time at which the object acquisition unit 92 acquires the object to be measured information related to the determination of the object to be measured. The measurement position P2 is the structure 114 whose state of the object to be measured was determined by the determination unit 40. The determination unit 40 may determine the time at which the mobile body 90 moves back to the measurement position P2 based on the state of the object to be measured, the abnormality occurrence time ts, and the recovery time te. For example, if the object to be measured is in an abnormal state, the determination unit 40 may determine the time at which the mobile body 90 moves back to the measurement position P2 to be after the recovery time T has elapsed from the abnormality occurrence time ts. The mobile body 90 may move back to the measurement position P2 at the time at which the determination unit 40 has determined. The object acquisition unit 92 of the mobile body 90 that has moved back to the measurement position P2 may acquire the object to be measured again. The determination unit 40 may determine the state of the object to be measured according to the object to be measured information. If the determination unit 40 determines that the state of the object to be measured is normal, the operator 130 can confirm that the state of the object to be measured is normal.

[0074] Figure 9 is a diagram illustrating an example of the state of the object to be measured. The determination unit 40 may determine the state of the object to be measured according to the information about the object to be measured, and based on the determined state, determine the number of moving bodies 90 to move toward the measurement position P2. For example, if the information about the object to be measured is the dose of radiation, and the magnitude of the radiation dose is greater than the dose threshold, the determination unit 40 determines that the dose around the structure 114 (radiation generator) is abnormal. If the magnitude of the radiation dose is less than or equal to the dose threshold, the determination unit 40 determines that the dose around the structure 114 (radiation generator) is normal. In the example of Figure 7, the determination unit 40 determines that an abnormal dose has occurred based on the dose acquired by the object acquisition unit 92-1 of the moving body 90-1.

[0075] If the determination unit 40 determines that the dose is abnormal, it determines, for example, to set the number of mobile bodies 90 to be directed toward the measurement position P2 (location of the radiation generator) to zero. That is, the determination unit 40 decides not to direct any of the mobile bodies 90 toward the measurement position P2. In the example in Figure 7, the determination unit 40 decides not to direct either mobile body 90-2 or mobile body 90-3 toward the measurement position P2. If the dose around the structure 114 (radiation generator) is abnormal, there is a high probability that radiation is leaking around the structure 114. Therefore, there is a possibility that a malfunction has occurred in the structure 114. For this reason, the determination unit 40 may decide not to direct either mobile body 90-2 or mobile body 90-3 toward the measurement position P2.

[0076] If the determination unit 40 determines that the dose is normal, it determines, for example, two or more, the number of mobile bodies 90 to direct towards the measurement position P2 (the position of the radiation generator). In the example shown in Figure 7, the determination unit 40 determines that mobile bodies 90-2 and 90-3 should be directed towards the measurement position P2. This allows the operator 130 to monitor the ambient temperature of the structure 114 and the amount of cooling water while confirming that the dose is normal.

[0077] Multiple ranges may be predetermined for a normal dose state. In the example in Figure 9, a first range and a second range are defined. The first range is greater than the boundary value and less than or equal to the threshold. The second range is less than or equal to the boundary value. The boundary value is less than the threshold.

[0078] When the determination unit 40 determines that the dose is normal, it may determine the number of mobile bodies 90 to direct towards the measurement position P2 based on that dose. For example, if the dose is within the first range, the determination unit 40 determines that there are two or more mobile bodies 90 to direct towards the measurement position P2. The first range is closer to an abnormal state than the second range. For this reason, the determination unit 40 determines that there are two or more mobile bodies 90 to direct towards the measurement position P2. This allows the operator 130 to carefully monitor the structure 114. For example, if the dose is within the second range, the determination unit 40 determines that there is one mobile body 90 to direct towards the measurement position P2. The second range is further from an abnormal state than the first range. For this reason, there is a higher probability that the degree of normality around the structure 114 is higher than in the first range. For this reason, the determination unit 40 may determine that there is one mobile body 90 to direct towards the measurement position P2.

[0079] The information acquisition unit 20 may acquire weather information for the real space 110. The object acquisition unit 92 of the mobile body 90 may acquire water droplets in the real space 110. The object acquisition unit 92 may be a water detection sensor. Based on the water droplet detection result by the object acquisition unit 92, the information acquisition unit 20 may determine and acquire weather information for the real space 110. If the object acquisition unit 92 detects water droplets, the information acquisition unit 20 may determine that the weather in the real space 110 is rainy. If the object acquisition unit 92 does not detect water droplets, the information acquisition unit 20 may determine that the weather in the real space 110 is cloudy or sunny. The information acquisition unit 20 may acquire weather information for the location in the real space 110 via the Internet. The location in the real space 110 may be a location represented by latitude and longitude coordinates.

[0080] The determination unit 40 may determine which mobile body 90 should move to the measurement position P2 based on the measurement position P2, the position and state information of each of the multiple mobile bodies 90, and the weather information of the real space 110. For example, if the information to be measured is the dose of radiation, the ambient dose rate during rainy weather tends to be higher than the ambient dose rate during cloudy or sunny weather. In this example, the ambient dose rate is the dose per unit time measured in the real space 110. Therefore, in the example of Figure 7, if the determination unit 40 determines that the weather in the real space 110 is rainy, it does not need to determine that mobile body 90-1 should move to the measurement position P2. If the determination unit 40 determines that the weather in the real space 110 is cloudy or sunny, it may determine that mobile body 90-1 should move to the measurement position P2.

[0081] Figure 10 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 an information acquisition stage S100, a reception stage S102, and a decision stage S104.

[0082] The information acquisition stage S100 is the stage in which the information acquisition unit 20 acquires positional information and state information regarding the respective positions of the multiple moving bodies 90 in the physical space 110 in which the multiple moving bodies 90 move. The reception stage S102 is the stage in which the reception unit 30 accepts the specification of the measurement position P2 of the measurement target information, which is information of the measurement target in the physical space 110, on the virtual map 120 corresponding to the physical space 110. The decision stage S104 is the stage in which the decision unit 40 determines which moving body 90 should move to the measurement position P2 based on the measurement position and the positional information and state information of the multiple moving bodies 90.

[0083] Figure 11 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 said apparatus, or to execute said operation or said one or more "parts", and / or to cause the computer 1200 to execute a process or a stage of said 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 of the flowcharts and block diagrams described herein. Furthermore, a process or a stage of said process according to an embodiment of the present invention may be executed on the cloud.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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]

[0095] 10...Virtual map acquisition unit, 20...Information acquisition unit, 30...Reception unit, 32...Pointer, 40...Decision unit, 50...Control unit, 60...Display unit, 64...Movement path generation unit, 80...Storage unit, 90...Moving body, 92...Target acquisition unit, 94...Location information acquisition unit, 96...Status information, 100...Information processing device, 110...Real space, 112...Road surface, 114...Structure, 120...Virtual map, 130...Operator, 1200...Co 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. An information acquisition unit that acquires positional information regarding the position of each of the multiple moving objects in a real space in which multiple moving objects are moving, and state information regarding the state of each of the multiple moving objects, On a virtual map corresponding to the real space, there is a reception unit that receives the specification of the measurement location of the measurement target information, which is information of the measurement target in the real space, A determination unit that determines which moving body should move to the measurement position based on the measurement position and the position information and state information of each of the plurality of moving bodies, An information processing device equipped with the following features.

2. The information processing apparatus according to claim 1, wherein the determination unit determines which moving body should move to the measurement position based on the type of information to be measured and the type of measurable information which is information that each of the moving bodies can measure.

3. The information processing apparatus according to claim 1, wherein the determination unit determines which of the moving bodies should move to the measurement position based on the movement performance of each of the moving bodies and characteristic information of the assumed movement path by which each of the moving bodies moves from the initial position to the measurement position.

4. The measurement period for the measurement target information at the aforementioned measurement location is predetermined. The determination unit determines that the moving body that has met the measurement deadline is the moving body to be moved to the measurement position. The information processing apparatus according to claim 1.

5. The first mobile body has a first target acquisition unit for acquiring the first type of measurement target information, and the second mobile body has a second target acquisition unit for acquiring the second type of measurement target information. If, at the measurement position, the first target acquisition unit is to acquire the first type of measurement target information and the second target acquisition unit is to acquire the second type of measurement target information, the determination unit determines the first and second moving bodies as the moving bodies to be moved to the measurement position. The information processing apparatus according to claim 1.

6. The information processing apparatus according to claim 5, wherein the determination unit determines the order in which the first moving body and the second moving body reach the measurement position based on the position of the first target acquisition unit on the first moving body and the position of the second target acquisition unit on the second moving body.

7. The system further includes a memory unit in which a predetermined role for each of the aforementioned moving bodies is associated with the object to be measured in the real space that the moving body should measure with its surplus capacity. The determination unit determines whether the moving body has remaining capacity after it has completed its role, and if it determines that it has remaining capacity, it determines that the moving body that has been determined to have remaining capacity should be moved to the position of the object to be measured using that remaining capacity. The information processing apparatus according to claim 1.

8. The mobile body has a target acquisition unit that acquires the measurement target information, The storage unit updates the stored measurement target information according to the measurement target information. The information processing apparatus according to claim 7.

9. The mobile body has a target acquisition unit that acquires the measurement target information, The determination unit determines the state of the object to be measured according to the information of the object to be measured, The information acquisition unit acquires the time at which the target acquisition unit acquired the measurement target information related to the determination of the measurement target by the determination unit. The determination unit determines the time at which the moving body moves back to the measurement position, based on the state of the object to be measured and the acquisition time. The information processing apparatus according to claim 1.

10. The mobile body has a target acquisition unit that acquires the measurement target information, The determination unit determines the state of the object to be measured according to the information of the object to be measured, and determines the number of moving bodies to be directed toward the measurement position based on the determined state. The information processing apparatus according to claim 1.

11. The information acquisition unit acquires weather information in the real space, The determination unit determines which moving body should move to the measurement position based on the measurement position, the position information and state information of each of the plurality of moving bodies, and the weather information. The information processing apparatus according to claim 1.

12. An information acquisition step in which position information regarding the position of each of the multiple moving objects in a real space in which multiple moving objects are moving, and state information regarding the state of each of the multiple moving objects are acquired, On a virtual map corresponding to the real space, a reception stage is performed to receive the specification of the measurement location of the measurement target information, which is information of the measurement target in the real space. A decision step in which a moving body is determined to move to the measurement position based on the measurement position and the position information and state information of each of the plurality of moving bodies, An information processing method comprising the following:

13. An information processing program for causing a computer to execute the information processing method described in claim 12.

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