Map creation support system, map creation support program, computer-readable recording medium on which the same is recorded, and map creation support method

Abstract

The present invention provides a map creation support system, a map creation support program, a computer-readable recording medium on which the program is recorded, and a map creation support method, all of which assist in creating maps based on information obtained from autonomously moving mobile objects. [Solution] The map creation support system of the present invention comprises: a map acquisition unit 34 that acquires a map based on images obtained from the moving object; an object information acquisition unit 36 ​​that acquires object information relating to an object estimated to be the target for setting a task based on information obtained from the moving object; an object display unit 38 that displays the object information 65 acquired by the object information acquisition unit on the map; and a task proposal unit 40 that proposes a task estimated for the object information displayed on the map.

Description

Technical Field

[0001] The present invention relates to a map creation support system, a map creation support program, a computer-readable recording medium on which this is recorded, and a map creation support method.

Background Art

[0002] Conventionally, as shown in Patent Document 1, there is known an information processing device that creates an environmental map for self-position estimation so as to prevent a self-mobile robot from colliding with an object. This information processing device has means for appropriately capturing the outer shape of an object by superimposing detection data of an object within a predetermined height range on an environmental map.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In an information processing device as shown in Patent Document 1, while creating an environmental map, an object is detected for the purpose of preventing a self-mobile robot from colliding with an object. However, regarding the setting of the object to be worked on and the task, it cannot be done together with the creation of the environmental map, and for the business flow including the movement and task of the self-mobile robot using the environmental map, it takes time and effort to individually set the task, and there is a problem that the efficiency of task setting is poor.

[0005] Further, for example, when the application area of the self-mobile robot is wide, the business flow of the self-mobile robot using the environmental map becomes long, and there is a problem that it takes more time and effort to individually set the object to be worked on and the task. Furthermore, when attempting to define targets or tasks individually, there was a problem of overlooking targets, which resulted in the extra work of redesigning the workflow.

[0006] This invention was made to solve these problems and aims to provide a map creation support system that can efficiently create maps using an autonomously moving mobile body and set tasks for objects. [Means for solving the problem]

[0007] To achieve the above objective, according to one embodiment of the present invention, a map creation support system that assists in creating a map based on information obtained from an autonomously mobile body, A map acquisition unit that acquires a map based on information obtained from the aforementioned mobile object, An object information acquisition unit acquires object information relating to an object estimated to be the target for setting a task based on information obtained from the aforementioned moving body, The object information acquired by the object information acquisition unit is displayed on the map by the object display unit, The system includes a task proposal unit that proposes tasks estimated for the object information displayed on the map. According to the embodiment of the present invention configured as described above, a map creation support system that assists in creating a map based on information obtained from an autonomously mobile body comprises a map acquisition unit that acquires a map, an object information acquisition unit that acquires object information about an object, an object display unit that displays the object information acquired by the object information acquisition unit on the map, and a task proposal unit that proposes tasks to be estimated for the object information displayed on the map. As a result, based on information obtained from an autonomously mobile body, the object display unit displays the object information on the map in conjunction with the acquisition of the map, and the task proposal unit proposes tasks to be estimated. Therefore, the estimated objects are displayed on the map in conjunction with the creation of the map, and tasks that the mobile body can perform on the objects can be set relatively easily, enabling efficient map creation by an autonomously mobile body and task setting for objects. Therefore, for example, when introducing an autonomously mobile robot to a new site, map creation and task setting using the autonomously mobile robot become easier.

[0008] According to one embodiment of the present invention, preferably further comprising a point addition function unit that adds the object displayed by the object display unit as a waypoint to which the moving body stops to perform a task along its travel path. According to one embodiment of the present invention configured in this manner, the task proposal unit can propose a task to the estimated object, and the point addition function unit can add the object as a waypoint to which the moving body stops to perform a task along its travel path. This makes it relatively easy to register objects as waypoints for performing tasks at the location of the object as objects are registered or added.

[0009] According to one embodiment of the present invention, preferably, the task suggestion unit displays the object information and suggests a task estimated based on the object information. According to the embodiment of the present invention configured in this manner, the task suggestion unit displays the object information and suggests a task estimated based on the object information. As a result, since the task suggestion unit suggests an estimated task along with the object information, the user can confirm whether the suggested task is based on correct object recognition. Therefore, the user can select a suggested task efficiently and with confidence.

[0010] According to one embodiment of the present invention, preferably, the system further includes a modification function that modifies the object information of the object and proposes a task based on the modified object information. According to the embodiment of the present invention configured in this manner, the task proposal unit includes a modification function unit that modifies the object information of the object and proposes a task based on the modified object information. As a result, when the object information is modified, the modification function unit proposes a task based on the modified object information. Therefore, the modification of the object information and the proposed task can be linked.

[0011] According to one embodiment of the present invention, preferably, the system further includes a type estimation function unit that estimates the type of equipment of an object with respect to the object information acquired by the object information acquisition unit, and the task proposal unit proposes an operation task according to the type or main function of the object estimated by the type estimation function unit. According to the embodiment of the present invention configured in this manner, the object information acquisition unit's type estimation function only estimates the type of equipment of the object, and then proposes a task according to the type or main function of the object. This allows for faster and simpler task proposal without fully recognizing the details of the object.

[0012] According to one embodiment of the present invention, preferably, when multiple tasks are proposed by the task proposal step, the system further includes a multiple task setting unit that can be configured to execute the multiple tasks sequentially on the object. According to the embodiment of the present invention configured in this manner, when the task proposal unit proposes multiple tasks, the multiple task setting unit can set the multiple tasks to be executed sequentially on the object. This makes it possible to efficiently set tasks for an object in a relatively simple manner, even when it is desired to execute multiple tasks on a single object.

[0013] According to one embodiment of the present invention, preferably, the mobile body's camera is used to acquire images of the surroundings of the mobile body, and the search unit is provided to assist in the search for the target object. According to this embodiment of the present invention, the search unit can cause the camera of the moving object to acquire images of the surroundings of the moving object, thereby assisting in the search for the target object.

[0014] According to one embodiment of the present invention, preferably, the system further includes an estimation assistance function unit that receives input of auxiliary information that assists in estimating the object. According to one embodiment of the present invention configured in this manner, the map creation support system includes an estimation support function unit that accepts input of auxiliary information that assists in the estimation of the target object. This allows for the prior acceptance of auxiliary information such as images of the target object, for example, an object to be inspected. Therefore, the estimation of the target object can be performed more reliably and quickly.

[0015] According to one embodiment of the present invention, preferably, the map creation support system further includes: A mobile body that can be moved, An image acquisition unit is mounted on the mobile body and acquires images (information obtained, information necessary for creating a map) taken from the mobile body, The system includes a map creation unit that creates a map based on the image obtained by the image acquisition unit. According to the embodiment of the present invention configured as described above, a map creation support system that assists in creating a map based on information obtained from an autonomously mobile body comprises a mobile body, an image acquisition unit mounted on the mobile body and acquiring information obtained from the mobile body, and a map creation unit that creates a map based on the images obtained by the image acquisition unit. As a result, based on the information obtained from the autonomously mobile body, in conjunction with map acquisition, the object display unit displays object information on the map and proposes estimated tasks. Therefore, estimated objects are displayed on the map in conjunction with map creation support, and tasks that the mobile body can perform on the objects can be set relatively easily, enabling efficient map creation by the autonomously mobile body and task setting for objects. Therefore, for example, when introducing an autonomously mobile robot to a new site, map creation and task setting using the autonomously mobile robot becomes easier. Therefore, for example, when introducing an autonomously mobile robot to a new site, map creation and task setting for the autonomously mobile robot becomes easier.

[0016] According to one embodiment of the present invention, preferably a map creation support program that assists in creating a map based on information obtained from an autonomously mobile body, wherein the computer is A map acquisition unit that acquires a map based on information obtained from the aforementioned mobile object, An object information acquisition unit acquires object information relating to an object estimated to be the target for setting a task based on information obtained from the aforementioned moving body, The object information acquired by the object information acquisition unit is displayed on the map by the object display unit, This unit functions as a task suggestion unit that proposes estimated tasks based on the object information displayed on the map. According to an embodiment of the present invention configured as described above, a map creation support program that supports the creation of a map based on information obtained from an autonomously movable mobile body includes a map acquisition unit that acquires a map, an object information acquisition unit that acquires object information regarding an object, an object display unit that displays the object information acquired by the object information acquisition unit on the map, and a task proposal unit that proposes a task estimated for the object information displayed on the map. Thereby, based on the information obtained from the autonomously movable mobile body, together with the acquisition of the map, the object information is displayed on the map by the object display unit and the task estimated by the task proposal unit is proposed. Therefore, an object estimated on the map is displayed together with the support for map creation, and a task that the mobile body can execute for the object can be set relatively easily, and map creation by the autonomously movable mobile body and task setting for the object can be performed efficiently. Therefore, for example, when introducing an autonomously movable robot to a new site, map creation and task setting using the autonomously movable robot become easier.

[0017] According to an embodiment of the present invention, preferably, the computer is further caused to function as a point addition function unit that adds the object displayed by the object display unit as a via point at which the mobile body stops on the way of the movement route to execute a task. According to an embodiment of the present invention configured as described above, a task can be proposed for the estimated object by the task proposal unit, and the object can be added as a via point at which the mobile body stops on the way of the movement route to execute a task by the point addition function unit. Thereby, along with the registration or addition of the object, it can be registered relatively easily as a via point for executing a task at the position of the object.

[0018] According to an embodiment of the present invention, preferably, the task proposal unit proposes a task estimated based on the object information while indicating the object information. According to an embodiment of the present invention configured as described above, the task proposal unit proposes a task estimated based on the object information while indicating the object information. As a result, since the task proposal unit proposes the estimated task together with the object information, the user can confirm whether the proposed task is proposed based on the correct recognition of the object. Therefore, the user can select the proposed task efficiently and with a sense of security.

[0019] According to an embodiment of the present invention, preferably, the computer is further caused to function as a correction function unit that proposes a task based on the corrected object information by correcting the object information of the object. According to an embodiment of the present invention configured as described above, the task proposal unit includes a correction function unit that proposes a task based on the corrected object information by correcting the object information of the object. As a result, when the object information is corrected, the correction function unit proposes a task based on the corrected object information. Therefore, it is possible to link the correction of the object information and the proposed task.

[0020] According to an embodiment of the present invention, preferably, the computer is further caused to function as a type estimation function unit that estimates the type of the device of the object with respect to the object information acquired by the object information acquisition unit, and the task proposal unit proposes a task according to the type of the object estimated by the type estimation function unit. According to an embodiment of the present invention configured as described above, only the type of the device of the object is estimated by the type estimation function unit of the object information acquisition unit, and a task is proposed according to the type of the object. As a result, a task can be proposed more quickly and simply without completely recognizing the details of the object.

[0021] According to an embodiment of the present invention, preferably, when a plurality of tasks are proposed by the task proposal unit, the computer is further caused to function as a plurality of task setting units that can be set to sequentially execute a plurality of tasks on the object. According to the embodiment of the present invention configured in this manner, when the task proposal unit proposes multiple tasks, the multiple task setting unit can set the multiple tasks to be executed sequentially on the object. This makes it possible to efficiently set tasks for an object in a relatively simple manner, even when it is desired to execute multiple tasks on a single object.

[0022] According to one embodiment of the present invention, preferably, the computer is further configured to function as an estimation assistance function unit that receives input of auxiliary information that assists in the estimation of the object. According to one embodiment of the present invention configured in this manner, the map creation support program includes an estimation support function unit that accepts input of auxiliary information that assists in the estimation of the object. This allows the program to accept in advance auxiliary information such as images of the object, for example, the object to be inspected. Therefore, the estimation of the object can be performed more reliably and quickly.

[0023] According to one embodiment of the present invention, preferably, a computer-readable recording medium on which the map creation support program is recorded is provided. According to the embodiment of the present invention configured in this way, a computer-readable recording medium on which the map creation support program described above is recorded can be used to efficiently perform map creation by an autonomously moving mobile body and set tasks for the target object.

[0024] According to one embodiment of the present invention, preferably a map creation support method that assists in creating a map based on information obtained from an autonomously mobile body, A map acquisition step of acquiring a map based on information obtained from the aforementioned mobile object, Object information acquisition step: Based on the information obtained from the moving body, object information is acquired regarding an object that is estimated to be the target for setting a task. The object information acquired in the object information acquisition step is displayed on the map in the object display step, The system includes a task proposal step that proposes an estimated task for the object information displayed on the map. According to the embodiment of the present invention configured as described above, there is a map creation support method that supports the creation of a map based on information obtained from an autonomously mobile body, comprising: a map acquisition step of acquiring a map based on information obtained from the mobile body; an object information acquisition step of acquiring object information relating to an object estimated to be the target for setting a task based on information obtained from the mobile body; an object display step of displaying the object information acquired in the object information acquisition step on the map; and a task proposal step of proposing a task estimated for the object information displayed on the map. As a result, based on information obtained from an autonomously mobile body, the object display unit displays the object information on the map in conjunction with the acquisition of the map, and the task proposal unit proposes an estimated task.Therefore, the estimated object is displayed on the map in conjunction with the creation of the map, and tasks that the mobile body can perform on the object can be set relatively easily, and map creation by an autonomously mobile body and task setting for the object can be performed efficiently.Therefore, for example, when introducing an autonomously mobile robot to a new site, map creation and task setting using the autonomously mobile robot become easier. [Effects of the Invention]

[0025] According to the map creation support system, map creation support program, computer-readable recording medium on which the same is recorded, and map creation support method of the present invention, it is possible to efficiently create maps using an autonomously moving mobile body and set tasks for objects. [Brief explanation of the drawing]

[0026] [Figure 1] This is a block diagram showing the relationship between the map creation support unit and a mobile object in a map creation support system according to one embodiment of the present invention. [Figure 2]This is a perspective view of a mobile map creation support system according to one embodiment of the present invention, viewed from a diagonal front angle. [Figure 3] This is a rear view showing the mobile unit of a map creation support system according to one embodiment of the present invention. [Figure 4] This is a block diagram schematically showing the configuration of a mobile unit of a map creation support system according to one embodiment of the present invention. [Figure 5] This is a block diagram illustrating the configuration of the onboard functional unit of a mobile body for a map creation support system according to one embodiment of the present invention. [Figure 6] This block diagram schematically shows the configuration of the map creation support unit of the server in a map creation support system according to one embodiment of the present invention. [Figure 7] This figure shows an example of a map and objects displayed on the map in a map creation support system according to one embodiment of the present invention. [Figure 8] This figure shows an example of a task proposed in a map creation support system according to one embodiment of the present invention. [Figure 9] This flowchart shows an example of the processing of a map creation support method in a map creation support system according to one embodiment of the present invention. [Figure 10] This flowchart shows an example of the processing performed by the map creation support unit in a map creation support system according to one embodiment of the present invention. [Figure 11] This flowchart shows an example of processing in the mobile unit control section of a map creation support system according to one embodiment of the present invention. [Figure 12] This flowchart shows an example of a task execution process by a mobile device according to one embodiment of the present invention. [Modes for carrying out the invention]

[0027] A map creation support system according to one embodiment of the present invention will be described below with reference to the attached drawings. First, Figure 1 is a block diagram showing the relationship between the map creation support unit and the mobile body of a map creation support system according to one embodiment of the present invention. Figure 2 is a perspective view of the mobile body of the map creation support system according to one embodiment of the present invention, viewed from the front at an oblique angle. Figure 3 is a rear view showing the mobile body of the map creation support system according to one embodiment of the present invention. Figure 4 is a block diagram schematically showing the configuration of the mobile body of the map creation support system according to one embodiment of the present invention. Figure 5 is a block diagram schematically showing the configuration of the mounted function unit of the mobile body of the map creation support system according to one embodiment of the present invention. Figure 6 is a block diagram schematically showing the configuration of the map creation support unit of the map creation support system according to one embodiment of the present invention. In the following description of one embodiment of the present invention, the direction facing the front of the mobile body (the side the monitor unit faces) is referred to as the front side, the direction facing the back of the mobile body opposite the front (the back side of the page in Figure 2) is referred to as the rear side, the right side when viewing the mobile body from the rear to the front is referred to as the right side, and similarly the left side when viewing the mobile body from the rear to the front is referred to as the left side.

[0028] As shown in Figure 1, a map creation support system 1 according to one embodiment of the present invention assists in the creation of a map based on information obtained from an autonomously mobile body 2, such as captured images. The map creation support system 1 can create a map (see Figure 8) from scratch, in which the mobile body 2 can move within the area shown on the map. The map creation support system 1 may also provide map creation support to improve the completeness of a partially constructed map. Map creation includes partial creation such as updates and improvements, such as reflecting changes to the map or adding work tasks.

[0029] In this embodiment, the map creation support system 1 comprises a movable mobile body 2, a mounted function unit 10 mounted on the mobile body 2, and a map creation support unit 31 provided on a server 30 that assists in creating a map with task information based on information obtained from the mobile body 2. The mobile body 2 and the server 30 are electrically connected via the Internet I. The server 30 and the information terminal 50 are also electrically connected via the Internet I. The map creation support system 1 does not necessarily have a mobile body 2. The map creation support system 1 may be configured to assist in map creation by a system on the server 30 without a mobile body 2. The map creation support unit 31 is not limited to being provided on the server 30; as a modification, the map creation support unit 31 may be provided on the mobile body 2.

[0030] Mobile unit 2 is configured to be able to move autonomously based on its own judgment. Mobile unit 2 moves autonomously to, for example, a designated final destination point (location) P. Mobile unit 2 is configured to be able to move on a floor surface F (see Figures 2 and 8). Mobile unit 2 constitutes a vehicle that can travel on a floor surface F, and is, for example, an autonomously moving robot. Although mobile unit 2 is configured to be able to move autonomously, it may also be configured as an externally controllable mobile unit 2 that can be operated by receiving commands from an external source. Mobile unit 2 may also be configured to be able to move in the air, for example.

[0031] As shown in Figure 2, the mobile body 2 comprises a mobile body 4 that constitutes the main body of the mobile body 2, two or more drive wheels 6 attached to the lower part of the mobile body 4, and a mobile body control unit 8. The mobile body 4 is equipped with a lifting device 15 that forms an upwardly extending column, and a top portion 2a is located at the top of the lifting device 15. The top portion 2a forms a cylindrical case with its upper and lower surfaces closed. The top portion 2a is located at a height, for example, within a range of approximately 50 cm to 200 cm from the floor surface F. Based on a map described later, the mobile body 2 is configured to autonomously travel to point P by the judgment of the mobile body control unit 8, using a depth information acquisition unit 13 etc. provided on the mobile body 2.

[0032] The drive wheels 6 are, for example, tires for traveling on the floor surface F. The drive wheels 6 are rotatably mounted on the lower part of the mobile body 4. The drive wheels 6 consist of two wheels, one on each side, approximately in the center in the front-rear direction. In addition, driven wheels 7 are also provided below the mobile body 4. The driven wheels 7 consist of two wheels, one on each side, on the front side (front) of the drive wheels 6, and two wheels, one on each side, on the rear side (back) of the drive wheels 6. Some of the drive wheels 6 may be changed to wheels that function as driven wheels. Conversely, some of the driven wheels 7 may be changed to wheels that function as drive wheels. Furthermore, the drive wheels 6 are not limited to wheels and may be changed to other moving devices such as caterpillar tracks or legs. Driving force from the main drive unit 9 (see Figure 4) is transmitted to the drive wheels 6. The main drive unit 9 is, for example, a brushless motor and is located in each tire. The main drive unit 9 may be an in-wheel motor, but it may also be located at a distance from the tires.

[0033] The mobile unit 2 is equipped with a mounted function unit 10. The mounted function unit 10 is mounted on the mobile unit 2. While the mobile unit 2 is mainly equipped with a mechanism for moving the main body, the mounted function unit 10 is equipped with devices that work in conjunction with the mobile unit 2 to assist in movement and to realize various functions such as map creation. Since the mounted function unit 10 is mounted on the mobile unit 2, it moves together with the mobile unit 2.

[0034] As shown in Figure 2, the mounted function unit 10 includes a camera 11, which is an image acquisition unit located on the front side and captures images of the surroundings; a thermal camera 12 that can measure the temperature of objects; a depth information acquisition unit (LIDAR) 13 that acquires depth information to measure the distance to surrounding objects; an ultrasonic sensor 14 that can detect surrounding obstacles using ultrasound; a lifting device 15 that raises and lowers the height of equipment such as the camera 11 and the thermal camera 12; a monitor unit 16 that displays facial expressions and comments; a cylindrical lighting unit 17 that can light up in any pattern on the mounted function unit 10 to illuminate the surroundings or to draw attention to the surroundings by displaying a rotating red light; a microphone unit 18 that receives sound; a speaker unit 19 that acts as an audio output device to output sound; and a CO2 concentration sensor 76 that detects the concentration of CO2.

[0035] Camera 11, acting as an image acquisition unit, is mounted on the mobile body 2 and acquires information obtained from the mobile body 2, such as captured images. Camera 11 is, for example, a so-called gimbal 4K camera. Camera 11 is, for example, an RGB camera. Camera 11 is, for example, mounted facing forward (facing forward) on the front of the top part 2a, and can acquire video and images from the front of the mobile body 2. Camera 11 is configured to adjust the shooting angle of the camera device according to the position and distance of the object to be photographed, so that it can shoot at any angle. Other camera devices are similarly configured to adjust the shooting angle so that they can shoot at any angle. Camera 11 is mounted on the top part 2a via a so-called gimbal mechanism. The gimbal mechanism forms a mechanism that can reduce blur and vibration during shooting by camera 11. Images captured by camera 11 are stored in the memory device of the mobile body control unit and used to create or assist in the creation of maps. When the mobile body 2 is moving, the camera 11 is positioned at a height in the shortened state when the lifting device 15 is shortened, for example, at a height between approximately 50 cm and 100 cm from the floor F. Alternatively, the camera 11 can also be positioned at a height in the extended state when the lifting device 15 is extended, for example, at a height between approximately 100 cm and 200 cm from the floor F.

[0036] The thermal camera 12 has the function of detecting the heat of an object and visualizing its temperature distribution. Therefore, the thermal camera 12 can measure the temperature and temperature distribution of an object without contact. It can also detect the heat of an object even at night or in dark conditions. An infrared camera or the like may be provided in place of or in addition to the camera 11 or the thermal camera 12. The infrared camera, for example, is mounted on the top 2a and has the function of recognizing and capturing the surrounding environment even in dark places. The thermal camera 12 is also mounted on the top 2a and, like the camera 11, its vertical height can be changed, so it can be placed at the same height as the camera 11.

[0037] The depth information acquisition unit 13 is, for example, attached to the front central portion of the torso 2b and can acquire distance information to surrounding objects. The depth information acquisition unit 13 acquires depth information of the surrounding environment. The depth information acquisition unit 13 is, for example, a LiDAR, more preferably a 3D LiDAR, that captures images including depth information.

[0038] The ultrasonic sensor 14 can detect materials that reflect sound waves. Furthermore, the ultrasonic sensor 14 has strong resistance to dust and other particles. The ultrasonic sensor 14 primarily detects obstacles around the moving object 2. Two ultrasonic sensors 14 are arranged side-by-side along the outer circumference of the front right portion of the main body, and two more are arranged side-by-side along the outer circumference of the front left portion of the main body.

[0039] The lifting device 15 has the function of raising and lowering the height of some of the equipment mounted on the mounted function unit 10, such as the camera 11 and the thermal camera 12. More specifically, the lifting device 15 is configured to raise and lower the height of equipment connected to the top 2a of the mobile body 2, such as the camera 11 and the thermal camera 12, along the column. The lifting device 15 is configured to be able to move up and down by a drive unit (not shown) inside the main body and a drive belt extending from the drive unit. Furthermore, the lifting device 15 also has the function of maintaining the top 2a fixed at a predetermined height.

[0040] The monitor unit 16 is located on the upper part of the body 2b and forms a front-facing monitor section. The monitor unit 16 can transmit information to the surroundings by displaying facial expressions, text information, etc. The monitor unit 16 may also have the function of an operation unit that accepts user input. The lighting unit 17 is located on the top 2a and extends around the entire circumference. When the lighting unit 17 is lit, the area around the mobile body 2 and the mounted function unit 10 is illuminated. Therefore, it is possible to easily make the image from the RGB camera visible in a relatively dark environment. The lighting unit 17 can also change its lighting state from a constantly lit state to a rotating lighting state. In the rotating lighting state, for example, the light appears to rotate because the part with the most light moves. The lighting unit 17 can also be lit in red and can be in the rotating lighting state.

[0041] The microphone unit 18 is located on the top 2a and is designed to receive audio input. The speaker unit 19 is located on the front side of the body 2b and is configured to output sound as an audio output device. The CO2 concentration sensor 76 is installed, for example, at the rear of the mobile body 2, and by measuring the surrounding CO2 concentration, it is useful for detecting changes in CO2 concentration, such as whether the CO2 concentration in the room has risen.

[0042] The mobile unit 2 further comprises a mobile unit control unit 8, a mobile unit storage unit 5 for storing programs, and a mobile unit communication unit 21. The mobile unit control unit 8 is located within the mobile unit body 4. The mobile unit control unit 8 constitutes the control unit of the mobile unit 2 and also constitutes the control unit of the mounted function unit 10. Therefore, the mobile unit control unit 8 can execute each control function of the mobile unit 2 and also execute each control function of the mounted function unit 10. The mobile unit control unit 8 is electrically connected to, for example, the main unit drive unit 9, camera 11, thermal camera 12, depth information acquisition unit 13, ultrasonic sensor 14, lifting device 15, monitor unit 16, lighting unit 17, microphone unit 18, speaker unit 19, and CO2 concentration sensor 76, and has the function of controlling the connected devices. The mobile unit control unit 8 is also electrically connected to a map creation support control unit 32 on the server 30, which will be described later. The mobile unit control unit 8 may be configured to have the same functions as the map creation support control unit 32. Conversely, the map creation support control unit 32 may be configured to have the same functions as the mobile unit control unit 8.

[0043] The mobile unit control unit 8 incorporates a CPU and memory, and controls connected devices based on a predetermined control program stored in the memory. The mobile unit control unit 8 functions as a computer. The electrical connection between the mobile unit control unit 8 and other devices may be entirely or partially connected by wireless communication such as infrared communication or other methods. The mobile unit control unit 8 may be electrically connected to an external control unit of the mobile unit 2 via the Internet. Parts of the mobile unit control unit 8 may be located in a physically separate location from the mobile unit 2, or may be provided in the form of a program on a server via the Internet. For example, part of the mobile unit control unit 8 may be provided in the map creation support control unit 32. Similarly, part of the map creation support control unit 32 may be provided in the mobile unit control unit 8. For example, the mobile unit control unit 8 and the map creation support control unit 32 may function as an integrated control unit. The mobile unit memory unit stores predetermined programs, but does not necessarily need to store all programs; some or all of them may be stored on other servers via the Internet.

[0044] The mobile unit control unit 8 can perform predetermined operations and controls of connected devices at its own discretion, and may also perform predetermined operations and controls of connected devices upon receiving commands from outside the mobile unit 2. For example, the mobile unit control unit 8 may perform predetermined operations and controls at its own discretion for certain controls, but may wait for commands from an external source before performing operations and controls for certain controls.

[0045] The mobile unit control unit 8 functions as the map creation unit 61, the search unit 62, the object estimation unit 63, and the task estimation unit 64, which will be described later, by executing the program stored in the mobile unit memory unit 5, which will be described later. Therefore, the mobile body control unit 8 includes a map creation unit 61 that creates a map based on information obtained from the mobile body 2, a search unit 62 that uses the mobile body's camera at a predetermined location to acquire a wide-area image including the front and side directions of the mobile body to assist in searching for the target object, a target object estimation unit 63, and a task estimation unit 64.

[0046] As shown in Figures 7 and 8, the map creation unit 61 creates a map 65 (map) based on information obtained from the mobile body 2. The map creation unit 61 creates the map 65 based on images obtained by the camera 11 (see Figure 5), which is the image acquisition unit. Based on information obtained from the mobile body 2, the map creation unit 61 recognizes the walls W, floors F, structures B (e.g., stairs, steps, elevator B1, machinery B2, shelves, etc.) of building A, as shown in Figures 7 and 8. For example, the map creation unit 61 can create a map 65 in which the area of ​​the flat floor F between the wall W and structures B is the area D that the mobile body 2 can move through. For example, each structure in the map is shown with line drawings indicating its outline and approximate contours. The map 65 is not limited to a completely completed map, but may also be in an incomplete or in-progress state. The map 65 is not limited to surrounding images or 3D maps, but may also be a map of line drawings (e.g., 2D line drawings) showing the surrounding situation. When creating a map, the mobile unit 2 acquires information about its surroundings. For example, it acquires images of its surroundings using the camera 11. It also recognizes surrounding walls and structures using sensors. When moving or stopped, the mobile unit 2 acquires information about its surroundings and creates a map 65. At the start of the map creation operation, the map is blank, but gradually walls W and structures B are recognized, and map 65 is created. Therefore, while exploring the building by autonomous driving, the mobile unit 2 can expand map 65, including the recognition of the autonomously navigable area D. Regardless of its completeness, map 65 is used as a map showing the operating range of the mobile unit 2 when the mobile unit 2 is operating, and is used for the movement of the mobile unit 2 and the execution of tasks. For example, as shown in Figure 8, the mobile unit control unit 8 can determine that the mobile unit 2 is capable of autonomous movement, for example, by indicating the navigable area D as a movement path G (the actual movement path becomes more complex if it passes through an object (for example, point A to D in Figure 8)). The map creation unit 61 is located on the mobile unit 2, but it may also be located on the server 30 side.

[0047] The search unit 62 has the function of performing operations to collect information on the walls W, floor F, structures B, etc. of building A around the mobile body 2. For example, with the mobile body 2 stopped and the lifting device 15 raised, the camera 11 takes pictures of the surroundings. At this time, the mobile body 2 rotates by a certain angle, for example clockwise (for example, 45 degrees) after each camera shot. In this way, the camera 11 can acquire images covering 360 degrees. Therefore, the search unit 62 can efficiently proceed with acquiring information for map creation.

[0048] The object estimation unit 63 has the function of estimating whether or not an object is estimated to be an object for which a task is set, based on the information obtained from the moving body 2. In estimating the type of object and equipment, the object estimation unit 63 can estimate the object by comparing it with the database of the object information unit, or by estimating the type of object and equipment using an AI tool. In this way, for example, the object estimation unit 63 determines whether or not an object is, for example, a meter, elevator, status display screen monitor, etc., based on the image obtained by the camera 11. Specifically, an AI program or determination program provided in the mobile unit control unit 8 or the map creation support control unit 32 can determine the type, model, model number, etc., of the object from the captured image. If the purpose of installing the mobile unit 2 is inspection, etc., the types of objects that may be objects are set in advance. Objects that can be set in advance include, for example, meters, measuring instruments, elevators, stairs, shelves, computer screens, monitor screens, information display panels, control panels, machinery, consoles, status display lights, fire extinguishing equipment, fire hydrants, etc. It is also possible to add arbitrary objects. The object estimation unit 63 also estimates object information 66 regarding the estimated object. The object information 66 may be, for example, information 66a (see Figure 8) that indicates the existence and location of the object on the map 65, or information 66b (see Figure 8) that indicates the type of object and / or specific device information, etc. Of the object information 66, the information 66a that indicates the existence and location of the object on the map 65 is shown as an exclamation mark in the map 65 shown in Figure 8. Of the object information 66, the information 66b that indicates the type of object and / or specific device information, etc. is displayed in the window that proposes tasks on the map 65 shown in Figure 8 when the exclamation mark shown in 66a is selected.

[0049] The object estimation unit 63 has a function that allows setting the purpose of the operation of the mobile body 2. For example, when the object estimation unit 63 is set to an operation purpose such as inspection, it extracts a group of objects corresponding to the inspection purpose from the image and estimates them as objects. For example, when the object estimation unit 63 is set to an inspection purpose, objects such as meters, measuring instruments, elevators, monitor screens, and information display panels mentioned above may be estimated. On the other hand, when the object estimation unit 63 is set to a security purpose, objects such as the visual status of a door, confirmation of the locking status, a monitor screen showing the open / closed status of a door, a trash can, and confirmation of the status of a room that is not intended to be used may also be estimated. The object estimation unit 63 may be provided in the map creation support unit 31 on the server 30 side, and object estimation may be performed by the map creation support unit 31.

[0050] The task estimation unit 64 estimates the tasks that the mobile body 2 and the equipment mounted on the mobile body 2 can perform based on the object information 66 displayed in the map 65. For example, based on the estimated object information 66, the task estimation unit 64 refers to the task information unit 47 to estimate the tasks to be performed on the object. The task information unit 47 stores typical task information for various objects, so it can estimate the tasks to be performed on an object. The task estimation unit 64 can communicate with the server 30 as needed to obtain examples of tasks to be performed on an object. The task estimation unit 64 may also be provided in the map creation support unit 31 on the server 30 side, and the map creation support unit 31 may perform the task estimation.

[0051] The mobile storage unit 5 is composed of an HDD (Hard Disk Drive). The mobile storage unit may also be composed of, for example, RAM (Random Access Memory), ROM (Read Only Memory), and SSD (Solid State Drive). Furthermore, the mobile storage unit 5 is not limited to being built into the mobile computer, but may also be a storage medium that can be detachably attached to the mobile computer (for example, a USB memory stick, memory card, etc.). In this embodiment, the mobile storage unit 5 is configured to store programs and the like that are executed by the mobile control unit 8.

[0052] The mobile communication unit 21 includes a communication interface for transmitting and receiving signals with external devices wirelessly or via a wired connection. The mobile communication unit 21 enables the mobile control unit 8 to transmit and receive signals with, for example, the map creation support control unit 32 and the information terminal communication unit 54 of the information terminal 50 used by the user.

[0053] Next, the configuration of the information terminal 50 will be explained using Figure 1. As shown in Figure 1, the information terminal 50 is, for example, a computer. For example, the information terminal 50 can output and display the processing results of the map creation support unit 31 to the user of the information terminal 50 via a monitor 53, etc. The information terminal 50 includes a monitor 53 for displaying output information, an information terminal communication unit 54, an operation unit 55, and a control unit 56.

[0054] The monitor 53 can output and display processing results. For example, the processing results of the map creation support unit 31, etc., can be displayed on the monitor 53 via the Internet I. The information terminal communication unit 54 is electrically connected to the communication unit 35 of the map creation support unit 31 and is configured to send and receive signals. The operation unit 55 is configured to accept operation input from outside the information terminal 50. The control unit 56 can execute each control function of the information terminal 50. The control unit 56 has a built-in CPU and memory, etc., and controls connected devices based on a predetermined control program recorded in the memory, etc. The information terminal 50 equipped with the control unit 56 functions as a computer.

[0055] As shown in Figure 1, the server 30 functions as a computer. The server 30 can transmit and receive signals to and from the mobile device 2 via the Internet I, either wirelessly or via a wired connection. Similarly, the server 30 can transmit and receive signals to and from the information terminal 50 via the Internet I, either wirelessly or via a wired connection.

[0056] The map creation support unit 31 assists in creating a map with task information based on information obtained from the autonomously moving mobile body 2, such as captured images or distance information to objects. The map creation support program 43 also assists in creating a map with task information based on information obtained from the autonomously moving mobile body 2, such as captured images or distance information to objects.

[0057] As shown in Figure 6, the map creation support unit 31 further includes a map creation support control unit 32, a storage unit 33, a communication unit 35, a receiving unit 41 for receiving information input, an output unit 42 for outputting processing results to an electrically connected monitor or the like, and a map storage unit 44. The map creation support unit 31 is located on the server 30. The map creation support unit 31 functions as a computer.

[0058] The storage unit 33 is composed of an HDD (Hard Disk Drive). The mobile storage unit may be composed of, for example, RAM (Random Access Memory), ROM (Read Only Memory), and SSD (Solid State Drive). Furthermore, the storage unit 33 is not limited to the computer on the server 30, but may be a storage medium that can be detachably attached to the computer on the server 30 (for example, a USB memory stick, memory card), etc. In this embodiment, the storage unit 33 is configured to store programs and the like that are executed by the map creation support control unit 32.

[0059] The communication unit 35 includes a communication interface for transmitting and receiving signals with external devices wirelessly or via wired connection. The communication unit 35 enables the map creation support control unit 32 to transmit and receive signals with, for example, the mobile unit 8 and the information terminal communication unit 54 of the information terminal 50 used by the user.

[0060] The reception unit 41 has the function of receiving operation input signals. Therefore, it can receive input such as modifications to the target object or target object information 66. It can also modify the map information. The output unit 42 has the function of outputting the processing results of the map creation support unit 31. Therefore, the output unit 42 can display the map on application software or on the monitor 53 of the information terminal 50.

[0061] Next, with reference to Figure 6, the map creation support control unit 32 provided on the server 30 will be described. The map creation support control unit 32 functions as a computer, executing the map creation support program 43 stored in the memory unit 33, thereby functioning as a map acquisition unit 34, an object information acquisition unit 36, an object display unit 38, a task proposal unit 40, and a task information unit 47. Thus, the map creation support control unit 32 includes a map acquisition unit 34 that acquires a map based on images obtained from the mobile body 2, an object information acquisition unit 36 ​​that acquires object information relating to an object estimated to be the target for setting a task based on information obtained from the mobile body 2, an object display unit 38 that displays the object information acquired by the object information acquisition unit 36 ​​at the position of the object on the map, a task proposal unit 40 that proposes tasks estimated to be executable by the mobile body for the object information 66 displayed on the map, and a task information unit 47 that stores task information for the object.

[0062] The map creation support control unit 32 is composed of, for example, a predetermined map creation support program 43 provided on the server 30. The map creation support program 43 assists in creating maps of the mounted function unit 10 mounted on the mobile body 2 at the destination of the mobile body 2. The map creation support program 43 is executed on the server 30 and displays the results on the user interface of an information terminal 50 connected to the server 30 via the Internet I, for example, a browser on a monitor 53. Therefore, the user can view the execution results of the map creation support program in software executed on the user interface. The map creation support program is recorded on a computer-readable recording medium, such as a hard disk drive (HDD), SSD, USB, memory card, optical disc, or storage disc. In this embodiment, the map creation support control unit 32 is provided on a server 30 separate from the mounted function unit 10, but the map creation support control unit 32 may also be provided on the mounted function unit 10 or the mobile body 2. For example, the map creation support control unit 32 may be provided on the mobile body control unit 8.

[0063] Furthermore, the map creation support program 43 is recorded on a computer-readable recording medium. The computer-readable recording medium may be, for example, a storage device such as an HDD, a USB memory stick, an SD card, a DVD, or other recording medium capable of storing data. Each program of the map creation support program is executed by a computer while recorded on the computer-readable recording medium, and constitutes the map creation support control unit 32 as described above, as well as the various functional units of the map creation support control unit 32.

[0064] The map acquisition unit 34 acquires map data created by the mobile unit control unit 8 either directly from the mobile unit 2 or from the map storage 44. Once the map acquisition unit 34 receives the map data, the map creation support unit 31 can use the map and has map creation capabilities. For example, the map creation support unit 31 assists in creating a map by further improving the acquired map to bring it closer to completion. The map creation support unit 31 can also assist in creating a map with task information by adding or modifying task information to the acquired map. The map acquisition unit 34 is not limited to map data created from scratch by the mobile unit control unit 8; it may also acquire map data by combining information obtained from the mobile unit 2 with a map that has been created to some extent by other means. The map creation support unit 31 has the function of modifying the structure and position within the acquired map data.

[0065] The object information acquisition unit 36 ​​acquires object information 66 relating to an object estimated to be the target for setting a task based on the information obtained from the mobile body 2. In this way, the object information acquisition unit 36 ​​acquires object information 66 relating to an object. For example, the object information 66 relating to an object is acquired as object information 66 relating to an object estimated to be the target for setting a task based on the information obtained from the mobile body 2 in the mobile body 2. Since the object information acquisition unit 36 ​​acquires object information 66, the object display unit 38 can display the object information 66 attached to the object displayed on the map. In addition, the task proposal unit 40 can also realize functions such as task proposal based on the object information 66. The object information acquisition unit 36 ​​may acquire object information 66 relating to the object, such as the position coordinates, size, and height of the object in the map.

[0066] Mobile unit 2 possesses information about its starting and ending points, and can autonomously determine its own travel path between the starting and ending points. Objects have the attribute of being intermediate points placed along the travel path between the starting and ending points, and at these intermediate points, they are not merely intermediate points, but are objects on which mobile unit 2 performs predetermined actions (tasks). For example, objects may be measuring instruments such as meters, or status display screens such as monitors. From this perspective, objects are objects that are the targets of work, and are distinct from and separate from the object (point) set as the final destination of the movement.

[0067] The object information acquisition unit 36 ​​includes a type estimation function unit 36a that estimates the type of equipment or approximate main function (e.g., meter, status display screen, etc.) of the object with respect to the object information 66, and the task proposal unit 40 proposes a task according to the type of object estimated by the type estimation function unit 36a. Thus, it becomes possible to propose simpler tasks based on the type of equipment (main function) of the object. The type of equipment of the object may be set as an analog meter, a digital value display meter, a status display screen such as a monitor, etc. The task proposed by the task proposal unit 40 is associated with the location information of the object on the map.

[0068] The object display unit 38 has a function to display the object in a selectable format on the map. The object display unit 38 not only displays the object on the map, but also forms it as a button that can be selected on the browser. When an object is selected, the task suggestion list from the task suggestion unit 40 is displayed. In addition, since the object is displayed in a selectable format on the map, it is easier to confirm whether the object is correctly recognized, and whether its position and area are correctly recognized. Therefore, the user can proceed with map creation more efficiently.

[0069] The task proposal unit 40 implements a function that proposes tasks that the mobile unit 2 can perform on an object based on information about the object. For example, if the object is a meter, the task proposal unit 40 can propose various tasks such as a task to photograph the meter's scale with the camera 11, a task to simply report the captured image, and a task to compare the captured image with database information to determine whether or not there is an abnormality. Depending on the type of object, the task proposal unit 40 can obtain the tasks it can propose from the task information unit 47.

[0070] The task suggestion unit 40 displays the object information 66 and, as shown in Figure 8, proposes a task 67 estimated based on the object information, alongside it. This allows the user to easily select a task that matches the object, as tasks tailored to the object are proposed alongside the object information 66, such as the detection of an elevator. Furthermore, if the task estimation is incorrect for any reason, it becomes easier to notice that the estimation is incorrect.

[0071] The task proposal unit 40 includes a modification function unit 49 that modifies the object information of the object and proposes a task based on the modified object information. This allows the proposed task to be modified if the object information needs to be modified. Furthermore, if the object is changed to a different object, for example, if a meter is changed to a new meter, the proposed task can also be modified by modifying the object information.

[0072] The system includes a multiple task setting unit 57 that allows setting the target object to execute multiple tasks sequentially when multiple tasks are proposed by the task proposal unit 40. This allows setting multiple tasks when multiple tasks are proposed, and also allows setting the order in which those tasks are executed. This makes it easy to set multiple tasks even when multiple tasks are desired for a target object. The task proposal unit 40 may also propose multiple tasks in a task list.

[0073] For example, the following are specific examples of tasks that can be performed on an object. For example, a specific example of an inspection task is shown. If the object is a meter, its location is identified. The meter's location information is registered on a map. Furthermore, the meter's scale is photographed by camera 11. Based on these images, it is possible to check whether the meter's value is abnormal, etc. If the meter is at a high position, the camera 11 is adjusted to the same height as the meter before taking a picture of the meter. Also, if the surrounding environment is dark, the lighting unit 17 is turned on before taking a picture. If the target object is a fire hydrant system or fire extinguisher, the location of the fire hydrant system or fire extinguisher is identified. The fire hydrant system or fire extinguisher is photographed by camera 11. This allows for confirmation of whether the fire hydrant system or fire extinguisher is in proper condition and whether there are any malfunctions or defects. For example, in the case of a fire hydrant, it is possible to check whether indicator lights such as LEDs are lit and whether the door is open. In the case of a fire extinguisher, it is possible to check whether it has been moved or missing. If the object is a pipe (to check for any abnormalities in the condition of the pipe), the pipe is photographed with a thermal camera 12 or camera 11, etc. In the case of pipes carrying water, water leaks at joints and connections, which are prone to leaks, are checked using images from camera 11, etc. Based on these images and videos, it is possible to check whether the temperature of the pipe is abnormal, whether there are any faulty connections or water leaks, etc. If the target is a cable, the thermal camera 12 can be used to check whether overheating or other issues are occurring. While not limited to inspections, if the object in question is a charging station, the system can also be instructed to decide to return to the charging station and recharge if the remaining charge of the mobile unit 2 is low while it is located within a predetermined distance.

[0074] The task proposal unit 40 may select a task to propose by comparing the information stored in the robot information management unit 48, which stores information on the equipment mounted on the mobile body 2, with the task information unit 47. This is because the tasks that the mobile body 2 can perform are limited to the functional range of the equipment mounted on the mobile body 2 (the presence or absence of equipment or limitations in specifications), and therefore it is necessary to reflect the actual situation of the mounted equipment. The robot information management unit 48 basically stores information such as the type, model number, and performance of all mounted equipment.

[0075] The task information unit 47 stores task information for various objects. For example, the task information unit 47 stores typical task information for an object. For example, if the object is a metering system, the task of reading the meter reading is stored as a typical task for the meter. The task information unit 47 constitutes a task information database, and the map creation support control unit 32 can obtain anticipated tasks from the task information unit according to the estimated object.

[0076] Map storage 44 is a storage device that stores maps and estimated tasks and can retrieve them when needed. Map storage 44 can function as a so-called database. Map storage 44 may be located on server 30, or it may be stored on another server in the cloud separate from server 30. Map storage 44 is also electrically connected to server 30 via the internet.

[0077] The map creation support control unit 32 includes a point addition function unit 51 that adds the object estimated by the object information acquisition unit as waypoints that the moving body will stop at to perform a task along its travel path, and an estimation support function unit 52 that receives input of auxiliary information that will assist in the estimation of the object to the moving body. The point addition function unit 51 has the function of adding an object as a waypoint. With this function, waypoints with tasks can be added to the travel route relatively easily. Furthermore, it becomes relatively easy to change the order in which objects are passed.

[0078] The estimation support function unit 52 shares or uses auxiliary information with the mobile unit so that it can be used for estimating an object to be set as the target of a task, or for estimating object information related to said object. For example, by pre-inputting some information such as a photograph, image, or object information of an object to be recognized as an object, it is possible to estimate and register the object more reliably and quickly.

[0079] Next, a map creation support method will be described with reference to Figures 9 to 11. Figure 9 is a flowchart showing an example of the processing of a map creation support method in a map creation support system according to one embodiment of the present invention. Figure 10 is a flowchart showing an example of the processing of the map creation support unit in a map creation support system according to one embodiment of the present invention. Figure 11 is a flowchart showing an example of the processing of the mobile unit in a map creation support system according to one embodiment of the present invention.

[0080] As shown in Figure 9, a map creation support method is initiated that assists in creating a map based on information obtained from the autonomously moving mobile body 2, for example, images captured by the camera 11.

[0081] First, upon receiving a command from the information terminal 50 to start creating a map, the map creation support system 1 starts processing the map creation support method. In S1, the map creation support unit 31 receives a command to start map creation from the information terminal 50 (user-side information terminal), and the map creation support unit 32 starts the map creation process.

[0082] In S2, the map creation support control unit 32 sends a command to start map creation to the mobile unit 2 (autonomous mobile robot). After completing S2, the map creation support control unit 32 proceeds to S3.

[0083] The mobile unit control unit 8 of the mobile unit 2 receives a map creation start command from the map creation support control unit 32 and starts the map creation process as shown in S11. The mobile unit control unit 8, for example, starts autonomous driving as shown in S12 from the time and location where it receives the command to start map creation, and also starts creating a map based on the information obtained from the mobile unit 2 by the map creation unit 61 as shown in S13. The map is also a map candidate in the sense that it can be modified by updating equipment, etc.

[0084] As shown in S12, the mobile unit 2 is capable of autonomous movement, and without user intervention, the mobile unit 2 can proceed to S13 and continue map creation while autonomously moving. The mobile unit control unit 8, for example, performs autonomous movement as needed and creates a map of the room, floor, and building where the mobile unit 2 is located. In S13, the map creation unit 61 creates a map. The mobile unit control unit 8 uses the camera 11, etc., to acquire more accurate and detailed information about the walls W, floors F, and structures B of building A. The map creation unit 61 may also create a map to reflect changes to an already created map or to enhance it with more detailed information.

[0085] Following or in conjunction with the creation of maps from S11 to S13, the mobile body control unit 8 of the mobile body 2 causes the object estimation unit 63 to perform the step of estimating an object, as shown in S14. The object estimation unit 63 has the function of estimating, based on the information obtained from the mobile body 2, whether an object recognized in an image is an object for which a task is to be set. For example, the object estimation unit 63 can estimate a meter in an image as an object for which a task is to be set. Also, for example, the object estimation unit 63 can estimate an elevator in an image as an object for which a task is to be set. Similarly, the object estimation unit may estimate a fire hydrant, fire extinguisher, etc., in an image as an object for which a task is to be set.

[0086] The object estimation unit 63 can also estimate object information about the estimated object. For example, the object estimation unit 63 estimates the type of equipment of the object based on the object information. For example, the object estimation unit 63 estimates the type of equipment of the object to be a meter, for example. Furthermore, for example, the object estimation unit 63 identifies the equipment of the object down to the specific model number based on the object information. If detailed information about the object can be identified, the accuracy of information read from images, etc., can be improved. In addition, by obtaining detailed information about the equipment, it becomes possible to obtain detailed information about functions such as warning displays.

[0087] Furthermore, the task estimation unit 64 can estimate the tasks that the mobile body 2 and the equipment mounted on the mobile body 2 can perform on the estimated object. More specifically, the task estimation unit 64, for example, estimates the tasks to be performed on the object by referring to the task information unit 47 based on the estimated object information 66. Since the task information unit 47 stores typical task information for the object, it can estimate the tasks to be performed on the object.

[0088] In S15, the mobile unit control unit 8 causes the created map and estimated tasks to be saved to the map storage 44 in a storage device such as cloud storage (for example, a storage device on a server). The mobile unit control unit 8 repeatedly executes steps S12 to S15 as needed, and proceeds to S16 once the series of map creation and object estimation are completed.

[0089] In S16, when the mobile unit control unit 8 has completed the creation of a series of maps and estimation of tasks for the target area, it notifies the map creation support control unit 32 that the creation of the maps and estimation of tasks are complete. When S16 ends, the mobile unit control unit 8 proceeds to the end.

[0090] Let's return to the explanation of the server-side processing. In S3, when the map creation support control unit 32 receives notification (notification in S16) that the map creation and task estimation are complete, it retrieves the created map and estimated tasks from the map storage 44.

[0091] In S4, the map creation support control unit 32 can display the created map based on the acquired data, and the object display unit 38 displays the object information 66 acquired by the object information acquisition unit 36 ​​on the map 65 at the location of the object. The task proposal unit 40 of the map creation support control unit 32 further proposes tasks that the moving object is estimated to be able to perform for the object information displayed on the map 65, based on the acquired data such as task estimation information. The map creation support control unit 32 can output the map display, object information display, and proposals from the task proposal unit 40 to the monitor of the information terminal 50 used by the user.

[0092] In S5, if a task proposed by the task proposal unit 40 is selected, the map creation support control unit 32 saves information about the selected task, completes the map with the selected task, and saves it to the map storage 44 or the like. The map creation support control unit 32 proceeds to the end as soon as S5 is completed. Furthermore, by having the mobile unit 2 read the map with task information created in this way from the map storage 44, the mobile unit 2 can execute a predetermined task after moving to the location of the target object.

[0093] <Task execution point> Next, referring to Figure 12, we will explain the operation when mobile unit 2 uses a map with task information to perform autonomous navigation and task execution. The mobile unit control unit 8 initiates autonomous driving in S21, based on a map with task information, upon control start (start). Specifically, the mobile unit 2 starts moving from its starting position towards a predetermined target object, based on a map as shown in Figure 8. Along the driving path toward the destination, the mobile unit 2 can modify its path according to its own judgment as needed, and continue driving toward its objective. The order in which objects to be passed through can also be set on the map.

[0094] In S22, the mobile unit control 8 executes a selected task upon arriving at a designated object. The designated object is an object that has been identified and set as an object in the map 65, as shown in Figure 8. Tasks are then selected for the designated object, as shown in Figures 8 and 9. For example, for a task selected from among the tasks proposed by the task proposal unit 40, the mobile unit 2 executes that task when it arrives at the object.

[0095] An example of a task to be performed is described below. When the mobile control unit 8 arrives at a meter, for example, it takes a picture of the part of the meter that shows the value using the camera 11. The mobile control unit 8 sends the captured image to the storage of the server 30 or cloud server, and uses an AI tool or analysis program to analyze whether the meter value is normal or abnormal. The server 30 acquires the analysis results, and the results can be checked from the information terminal 50. As a variation, the mobile unit control 8 may also perform analysis using an AI tool or analysis program to determine whether the meter values ​​of the captured images are normal or abnormal. Furthermore, the analysis results can be viewed from the information terminal 50 via either the server 30 or a cloud server. When S22 is finished, the mobile unit control unit 8 proceeds to S23.

[0096] In S23, the mobile unit control 8 reports the results of the task to the map creation support control 32, etc. For example, the mobile unit control 8 transmits numerical values ​​read from the meters. When S23 is finished, the mobile unit control 8 proceeds to S24.

[0097] In S24, the mobile control unit 8 determines whether or not there are any further objects (objects for which a task has been set). If there is another object to pass through (YES), the mobile unit control 8 returns to S21 and starts moving to the next object's location. If there are no further objects to pass through (NO), the mobile unit control 8 proceeds to S25. If there are no further objects, the mobile unit control 8 autonomously moves to the final destination in S26, proceeds to the end of the process, and completes the series of processes.

[0098] According to the embodiment of the present invention configured as described above, the map creation support system 1, which assists in creating a map based on information obtained from an autonomously mobile body 2, includes a map acquisition unit 34 that acquires a map 65, an object information acquisition unit 36 ​​that acquires object information 66 about an object, an object display unit 38 that displays the object information 66 acquired by the object information acquisition unit 36 ​​on the map 65, and a task proposal unit 40 that proposes tasks estimated for the object information 66 displayed on the map 65. As a result, based on information obtained from the autonomously mobile body 2, the object display unit 38 displays the object information 66 on the map 65 in conjunction with the acquisition of the map 65, and the task proposal unit 40 proposes estimated tasks. Therefore, along with the creation of the map, estimated objects are displayed on the map, and tasks that the mobile body 2 can perform on the objects can be set relatively easily, enabling efficient map creation by the autonomously mobile body 2 and task setting for objects. Therefore, for example, when introducing an autonomously mobile robot to a new site, map creation and task setting using the autonomously mobile robot become easier.

[0099] According to this embodiment of the present invention, the task proposal unit 40 can propose a task to the estimated object, and the point addition function unit 51 can add the object as a waypoint that the moving body 2 will stop at to perform a task along its travel path. As a result, when an object is registered or added, it can be registered relatively easily as a waypoint for performing a task at the location of the object.

[0100] According to the embodiment of the present invention configured in this manner, the task suggestion unit 40 displays the object information 66 and suggests a task estimated based on the object information 66. As a result, since the task suggestion unit 40 suggests an estimated task along with the object information 66, the user can confirm whether the suggested task is suggested based on the correct recognition of the object. Therefore, the user can select a suggested task efficiently and with confidence.

[0101] According to the embodiment of the present invention configured in this manner, the task proposal unit 40 includes a modification function unit 49 that modifies the object information 66 of the object and proposes a task based on the modified object information 66. As a result, when the object information 66 is modified, the modification function unit 49 proposes a task based on the modified object information 66. Therefore, the modification of the object information 66 and the proposed task can be linked.

[0102] According to the embodiment of the present invention configured in this manner, the object information acquisition unit 36's type estimation function unit 36a estimates the type of equipment of the object and proposes a task according to the type or main function of the object. This allows for faster and simpler task proposal without fully recognizing the details of the object.

[0103] According to this embodiment of the system, when the task suggestion unit 40 suggests multiple tasks, the multiple task setting unit 57 can be configured to execute the multiple tasks sequentially on the object. This makes it possible to efficiently set tasks for an object in a relatively simple manner, even when multiple tasks are to be executed on a single object.

[0104] According to this embodiment of the present invention, the search unit 62 can cause the camera on the mobile body 2 to acquire an image of the area around the mobile body 2, thereby assisting in the search for the target object.

[0105] According to one embodiment of the present invention configured in this way, the map creation support system 1 includes an estimation support function unit 52 that accepts input of auxiliary information that assists in the estimation of the target object. This allows for the prior acceptance of auxiliary information such as images of the target object, for example, the object to be inspected. Therefore, the estimation of the target object can be performed more reliably and quickly.

[0106] According to the embodiment of the present invention configured as described above, the map creation support system 1, which assists in creating a map based on information obtained from an autonomously mobile body 2, comprises a mobile body 2, a camera 11 mounted on the mobile body 2 and which acquires information obtained from the mobile body 2, and a map creation unit 61 that creates a map 65 based on the image obtained by the camera 11. As a result, based on the information obtained from the autonomously mobile body 2, in conjunction with acquiring the map 65, the object display unit 38 displays object information 66 on the map 65 and proposes estimated tasks. Therefore, estimated objects are displayed on the map in conjunction with map creation support, and tasks that the mobile body 2 can perform on the objects can be set relatively easily, enabling efficient map creation by the autonomously mobile body 2 and task setting for objects. Therefore, for example, when introducing an autonomously mobile robot to a new site, map creation and task setting using the autonomously mobile robot becomes easier. Therefore, for example, when introducing an autonomously mobile robot to a new site, map creation and task setting for the autonomously mobile robot becomes easier.

[0107] According to the embodiment of the present invention configured as described above, the map creation support program 43, which assists in creating a map based on information obtained from an autonomously mobile body 2, includes a map acquisition unit 34 that acquires a map 65, an object information acquisition unit 36 ​​that acquires object information 66 about an object, an object display unit 38 that displays the object information 66 acquired by the object information acquisition unit 36 ​​on the map 65, and a task proposal unit 40 that proposes tasks to be estimated for the object information 66 displayed on the map 65. As a result, based on information obtained from the autonomously mobile body 2, the object display unit 38 displays the object information 66 on the map 65 in conjunction with the acquisition of the map 65, and the task proposal unit 40 proposes tasks to be estimated. Therefore, along with map creation support, estimated objects are displayed on the map, and tasks that the mobile body 2 can perform on the objects can be set relatively easily, enabling efficient map creation by the autonomously mobile body 2 and task setting for objects. Therefore, for example, when introducing an autonomously mobile robot to a new site, it becomes easier to create maps and set tasks using the autonomously mobile robot.

[0108] According to this embodiment of the present invention, the task proposal unit 40 can propose a task to the estimated object, and the point addition function unit 51 can add the object as a waypoint that the moving body 2 will stop at to perform a task along its travel path. As a result, when an object is registered or added, it can be registered relatively easily as a waypoint for performing a task at the location of the object.

[0109] According to the embodiment of the present invention configured in this manner, the task suggestion unit 40 displays the object information 66 and suggests a task estimated based on the object information 66. As a result, since the task suggestion unit 40 suggests an estimated task along with the object information 66, the user can confirm whether the suggested task is suggested based on the correct recognition of the object. Therefore, the user can select a suggested task efficiently and with confidence.

[0110] According to the embodiment of the present invention configured in this manner, the task proposal unit 40 includes a modification function unit 49 that modifies the object information 66 of the object and proposes a task based on the modified object information 66. As a result, when the object information 66 is modified, the modification function unit 49 proposes a task based on the modified object information 66. Therefore, the modification of the object information 66 and the proposed task can be linked.

[0111] According to the embodiment of the present invention configured in this manner, the object information acquisition unit 36's type estimation function unit 36a estimates the type of equipment of the object and proposes a task according to the type of object. This allows for faster and simpler task proposal without fully recognizing the details of the object.

[0112] According to this embodiment of the system, when the task suggestion unit 40 suggests multiple tasks, the multiple task setting unit 57 can be configured to execute the multiple tasks sequentially on the object. This makes it possible to efficiently set tasks for an object in a relatively simple manner, even when multiple tasks are to be executed on a single object.

[0113] According to one embodiment of the present invention configured in this manner, the map creation support program 43 includes an estimation support function unit 52 that accepts input of auxiliary information that assists in the estimation of the object. This allows for the prior acceptance of auxiliary information such as images of the object, for example, the object to be inspected. Therefore, the estimation of the object can be performed more reliably and quickly.

[0114] According to the embodiment of the present invention configured in this way, a computer-readable recording medium on which the map creation support program 43 described above is recorded allows a computer to perform predetermined steps, thereby efficiently discovering puddles that are likely to be inhabited by mosquito larvae.

[0115] According to the embodiment of the present invention configured as described above, this is a map creation support method that supports the creation of a map based on information obtained from an autonomously mobile body 2, comprising: a map acquisition step of acquiring a map 65 based on information obtained from the mobile body 2; an object information acquisition step of acquiring object information 66 relating to an object estimated to be the target for setting a task based on information obtained from the mobile body 2; an object display step of displaying the object information 66 acquired in the object information acquisition step on the map 65; and a task proposal step of proposing a task estimated for the object information 66 displayed on the map 65. As a result, based on information obtained from the autonomously mobile body 2, the object display unit 38 displays the object information 66 on the map 65 in conjunction with the acquisition of the map 65, and the task proposal unit 40 proposes an estimated task.Therefore, along with the creation of the map, the estimated object is displayed on the map, and tasks that the mobile body 2 can perform on the object can be set relatively easily, enabling efficient map creation by the autonomously mobile body 2 and task setting for the object. Therefore, for example, when introducing an autonomously mobile robot to a new site, it becomes easier to create maps and set tasks using the autonomously mobile robot. [Explanation of symbols]

[0116] 1: Map creation support system 2: Mobile 8: Mobile Unit Control 11: Camera 31: Map Creation Support Department 32: Map Creation Support Control Unit 34: Map acquisition section 36: Object Information Acquisition Unit 36a: Type estimation function unit 38: Object display section 40: Task Proposal Department 43: Map creation support program 49: Correction function section 51: Point Addition Function Unit 52: Estimated auxiliary function unit 57: Multiple Task Setting Section 61: Map Creation Department 62: Search Department 65: Map 66: Object Information 67: Task G: Travel route

Claims

1. A map creation support system that assists in creating maps based on information obtained from autonomously moving objects, A map acquisition unit that acquires a map based on information obtained from the aforementioned mobile object, An object information acquisition unit acquires object information relating to an object estimated to be the target for setting a task based on information obtained from the aforementioned moving body, The object information acquired by the object information acquisition unit is displayed on the map by the object display unit, A map creation support system comprising a task proposal unit that proposes estimated tasks for the object information displayed on the map.

2. Furthermore, the map creation support system according to claim 1, further comprising a point addition function unit that adds the object displayed by the object display unit as a waypoint to which the moving body stops to perform a task along its travel path.

3. The map creation support system according to claim 1, wherein the task proposal unit displays the object information and proposes tasks estimated based on the object information.

4. Furthermore, the map creation support system according to claim 1 is further equipped with a modification function unit that modifies the object information of the object, and then proposes a task based on the modified object information.

5. Furthermore, the map creation support system according to claim 1 further comprises a type estimation function unit that estimates the type of equipment of an object with respect to the object information acquired by the object information acquisition unit, and the task proposal unit proposes an operation task according to the type or main function of the object estimated by the type estimation function unit.

6. The map creation support system according to claim 1, further comprising a multiple task setting unit that can be configured to execute multiple tasks sequentially on the target object when multiple tasks are proposed by the task proposal unit.

7. The map creation support system according to claim 1, further comprising a search unit that uses the camera of the mobile body to acquire images of the surroundings of the mobile body and assists in the search for the target object.

8. Furthermore, the map creation support system according to claim 1 is further equipped with an estimation support function unit that accepts input of auxiliary information that assists in the estimation of the object.

9. moreover, The movable body, An image acquisition unit mounted on the mobile body and which acquires images taken from the mobile body, A map creation support system according to any one of claims 1 to 8, comprising: a map creation unit that creates the map based on the image obtained by the image acquisition unit.

10. A map creation support program that assists in creating maps based on information obtained from autonomously mobile objects, and which uses a computer A map acquisition unit that acquires a map based on information obtained from the aforementioned mobile object, An object information acquisition unit acquires object information relating to an object estimated to be the target for setting a task based on information obtained from the aforementioned moving body, The object information acquired by the object information acquisition unit is displayed on the map by the object display unit, A map creation support program that functions as a task suggestion unit, proposing estimated tasks for the object information displayed on the map.

11. The map creation support program according to claim 10, further comprising the computer being configured as a point addition function unit that adds the object displayed by the object display unit as waypoints on which the moving body stops to perform a task along its travel path.

12. The map creation support program according to claim 10, wherein the task proposal unit displays the object information and proposes a task estimated based on the object information.

13. The map creation support program according to claim 10, further comprising the computer being made to function as a modification function unit that proposes tasks based on the modified object information by modifying the object information of the object.

14. The map creation support program according to claim 10, wherein the computer further functions as a type estimation function unit that estimates the type of equipment of an object with respect to the object information acquired by the object information acquisition unit, and the task proposal unit proposes a task according to the type of object estimated by the type estimation function unit.

15. The map creation support program according to claim 10, wherein the computer is further configured to function as a multiple task setting unit capable of sequentially executing multiple tasks on the object when multiple tasks are proposed by the task proposal unit.

16. The map creation support program according to claim 10, further comprising the computer being configured to function as an estimation support function unit that accepts input of auxiliary information that assists in the estimation of the object.

17. A computer-readable recording medium on which the map creation support program according to any one of claims 10 to 16 is recorded.

18. A map creation support method that assists in creating a map based on information obtained from an autonomously mobile object, A map acquisition step of acquiring a map based on information obtained from the aforementioned mobile object, Object information acquisition step: Based on the information obtained from the moving body, object information is acquired regarding an object that is estimated to be the target for setting a task. The object information acquired in the object information acquisition step is displayed on the map in the object display step, A map creation support method comprising a task suggestion step that suggests a task to be estimated for the object information displayed on the map.

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