MOBILE BODY CONTROL DEVICE, MOBILE BODY CONTROL METHOD, AND COMPUTER PROGRAM

Abstract

To efficiently perform control even in a case where a plurality of users instruct separate requests.SOLUTION: A mobile control device comprises: mobile storage means for storing work information and position information of a mobile; input receiving means for receiving inputs of work contents from a plurality of users; and operation determining means for determining an operation of the mobile to be shared by the plurality of work contents on the basis of the work information and the position information of the mobile stored in the mobile storage means, and the plurality of work contents from the plurality of users received in the input receiving means.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a mobile object control device, a mobile object control method, a computer program, and the like. [Background technology]

[0002] 2. Description of the Related Art Systems are known that receive work requests from users and instruct robots capable of performing the work to carry out the work.

[0003] For example, Patent Document 1 discloses a support system capable of dispatching a support robot that searches for the presence of a support recipient who needs support and autonomously executes the support operation required by the support recipient. Patent Document 2 discloses a system that controls a robot to move a target item to a destination based on a work command and a robot's movement path. Patent Document 3 discloses a robot system that plans the implementation of a service at a service location based on service performance data. Patent Document 4 discloses a robot dispatch request system that executes a requested service, determining an optimal combination of robots that is optimal for completing the requested service. Patent Document 5 discloses a control method for a robot device in a warehouse control system for consolidating items arranged on a pallet onto one pallet. Patent Document 6 discloses a management device that manages reservations for at least one of one or more resources shared by multiple users. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2004-029908 A [Patent Document 2] JP 2007-111854 A [Patent Document 3] JP 2019-148864 A [Patent Document 4] JP 2019-530034 A [Patent Document 5] JP 2019-531990 A [Patent Document 6] JP2020-024731A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the inventions described in the above Patent Documents 1 to 5, when multiple users issue separate requests, each robot is controlled individually. Therefore, even if it would be more efficient to work on each instruction consecutively, it is not possible to execute the work. In addition, the invention described in Patent Document 6 is an invention that manages reservations for resources shared by multiple users, and cannot efficiently control separate requests from multiple users.

[0006] An example of an objective of the present disclosure is to provide a mobile body control device that is capable of efficient control even when multiple users issue different requests. [Means for solving the problem]

[0007] A mobile body control device in one aspect of the present disclosure includes a mobile body storage means for storing work information and position information of a mobile body, an input receiving means for receiving input of multiple work contents from multiple users, and an operation determination means for determining an operation of a mobile body to be shared for the multiple work contents based on the work information and position information of the mobile body stored in the mobile body storage means and the multiple work contents from the multiple users received by the input receiving means.

[0008] A mobile body control method in one aspect of the present disclosure is a mobile body control method that determines work contents of a mobile body to be shared among multiple work contents, stores work information and position information of the mobile body, accepts input of multiple work contents from multiple users, and determines the operation of the mobile body to be shared among the multiple work contents based on the work information and position information of the mobile body, and the multiple work contents from the multiple users.

[0009] A program in one aspect of the present disclosure causes a computer to store work information and location information of a mobile object, accept input of multiple work contents from multiple users, and determine an operation of the mobile object to be shared for the multiple work contents based on the work information and location information of the mobile object, and the multiple work contents from the multiple users. Effect of the Invention

[0010] One example of the effect of the present invention is that even when a plurality of users issue different requests, efficient control is possible. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing the configuration of a mobile object control device in the first embodiment. [Diagram 2] FIG. 2 is a diagram showing a hardware configuration in which the mobile object control device in the first embodiment is realized by a computer device and its peripheral devices. [Diagram 3] FIG. 3 is a diagram for explaining a series of steps until a moving object executes work contents requested by a plurality of users. [Figure 4] FIG. 4 is a flowchart showing the operation of moving object control in the first embodiment. [Diagram 5] FIG. 5 is a block diagram showing the configuration of a mobile object control device in the second embodiment. [Figure 6] FIG. 6 is a diagram illustrating a hardware configuration of a simulation unit in the second embodiment. [Figure 7] FIG. 7 is a diagram for explaining a series of flows up to when work contents requested by a plurality of users are executed by a moving object in the second embodiment. [Figure 8] FIG. 8 is a diagram showing the distribution of costs among users when the order in which the users' work contents are accepted is different. [Figure 9]FIG. 9 is a flowchart showing the operation of moving object control in the second embodiment. [Figure 10] FIG. 10 is a diagram for explaining a series of flows up to when work contents requested by a plurality of users are executed by a moving object in the modified example of the second embodiment. [Figure 11] FIG. 11 is a diagram for explaining a comparison of resource consumption of a route between the presence or absence of sharing of work contents of a plurality of users in a modified example of the second embodiment. [Figure 12] FIG. 12 is a diagram for explaining a series of flows up to when the moving object is caused to execute the work contents requested by three users in the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Next, an embodiment will be described in detail with reference to the drawings.

[0013] [First embodiment] Fig. 1 is a block diagram showing the configuration of a mobile object control device 100 in the first embodiment. Referring to Fig. 1, the mobile object control device 100 includes a mobile object storage unit 101, an input receiving unit 102, an operation decision unit 103, and a task execution unit 104. Next, the configuration of the mobile object control device 100 in the first embodiment will be described in detail.

[0014] FIG. 2 is a diagram showing an example of a hardware configuration in which the mobile object control device 100 in the first embodiment of the present disclosure is realized by a computer device 500 including a processor. As shown in FIG. 2, the mobile object control device 100 includes a CPU (Central Processing Unit) 501, a memory such as a ROM (Read Only Memory) 502 and a RAM (Random Access Memory) 503, a storage device 505 such as a hard disk for storing a program 504, a communication I / F (Interface) 508 for network connection, and an input / output interface 511 for inputting and outputting data. In the first embodiment, the work information and position information of the mobile object stored in the mobile object storage unit 101 are input to the mobile object control device 100 via the input / output interface 511. In addition, the mobile object control device 100 is connected to an input device 509 and an output device 510 via a bus 512.

[0015] The CPU 501 operates an operating system to control the entire mobile object control device 100 according to the first embodiment of the present invention. The CPU 501 also reads out programs and data from a recording medium 506 mounted in a drive device 507 or the like into a memory. The CPU 501 also functions as the mobile object storage unit 101, the input receiving unit 102, the operation decision unit 103, and the task execution unit 104 in the first embodiment, or as a part of these, and executes processes or commands in the flowchart shown in Fig. 4, which will be described later, based on the programs.

[0016] The recording medium 506 is, for example, an optical disk, a flexible disk, a magneto-optical disk, an external hard disk, or a semiconductor memory. Some recording media are non-volatile storage devices, and the program is recorded therein. The program may also be downloaded from an external computer (not shown) connected to a communication network.

[0017] The input device 509 is realized by, for example, a mouse, a keyboard, built-in key buttons, etc., and is used for input operations. The input device 509 is not limited to a mouse, a keyboard, or built-in key buttons, and may be, for example, a touch panel. In the first embodiment, the input reception unit 102 is realized by the input device 509. The output device 510 is realized by, for example, a display, and is used to check the output.

[0018] As described above, the first embodiment shown in Fig. 1 is realized by the computer hardware shown in Fig. 2. However, the means for realizing each unit of the mobile object control device 100 in Fig. 1 is not limited to the configuration described above. The mobile object control device 100 may be realized by one physically combined device, or may be realized by two or more physically separated devices connected by wire or wirelessly. For example, the input device 509 and the output device 510 may be connected to the computer device 500 via a network.

[0019] In FIG. 1, the mobile object storage unit 101 is a means for storing work information and position information of a mobile object. The mobile object storage unit 101 stores work information and position information of all mobile objects controlled by the mobile object control device 100. A mobile object is, for example, a device that can be operated by controlling a robot, a drone, an autonomous vehicle, or the like. Examples of the work information of a mobile object include a work schedule, work capacity (movement speed, work efficiency), and battery remaining amount of the mobile object. A work schedule is work content set in advance for a mobile object, and is linked to information on a time period during which the work is performed and a movement route. The mobile object storage unit 101 acquires and updates the work information and position information set for the mobile object every predetermined period (for example, 5 minutes) via a network.

[0020] The input reception unit 102 is a means for receiving input of work contents from multiple users. The multiple users are users who separately request work to one or multiple moving bodies controlled by the moving body control device 100. In addition, if the work contents are requested by multiple users, even if the work contents are the same (for example, taking a photo of a P point), they are considered to be different work and are considered to be multiple work contents. Here, the work contents that the user requests the moving body to request include, for example, video recording or photography, situation confirmation based on the captured image, transportation of people, transportation of things, cleaning, or security / inspection. The situation confirmation based on the captured image means, for example, reporting the situation at a certain point and the presence or absence of people or things based on the captured photo. The input reception unit 102 receives the input of these work contents, for example, through an operation panel that controls the moving body control device 100 or an operation screen of software for controlling the moving body control device 100 downloaded to the user's terminal. When the input reception unit 102 receives the input of the work contents from the user, it outputs information on the received work contents to the operation determination unit 103 together with the time of reception.

[0021] The operation determination unit 103 is a means for determining an operation of a mobile body to be shared by a plurality of work contents based on the work information and position information of the mobile body stored in the mobile body storage unit 101 and the plurality of work contents from a plurality of users received by the input reception unit 102. Specifically, when information on a plurality of work contents is input from the input reception unit 102, the operation determination unit 103 refers to the mobile body storage unit 101 and acquires the work information and position information of one or a plurality of mobile bodies (also referred to as first mobile bodies) controlled in the mobile body control device 100. Next, the operation determination unit 103 selects a mobile body (also referred to as second mobile body) capable of carrying out the input work contents from among the first mobile bodies operating in the mobile body control device 100 based on the schedule of the mobile body, the performance of the mobile body, the remaining battery level, the position of the mobile body, and the like, and determines an operation including a time period and a movement route for performing the work for the selected mobile body (second mobile body). Next, the operation determination unit 103 outputs information on the determined operation of the mobile body to the task execution unit 104.

[0022] The task executing unit 104 is a means for executing the motion of the moving object determined by the motion determining unit 103. When information on the determined motion of the moving object is input from the motion determining unit 103, the task executing unit 104 controls the moving object (second moving object) to execute the input motion.

[0023] FIG. 3 is a diagram for explaining a series of steps until a moving object executes work contents requested by a plurality of users. In the example of FIG. 3, a request to take a photograph of a point P is input from a user A, and the work execution unit 104 instructs a moving object, a robot R, to take a photograph of the point P, and then another request to take a photograph of the point P is input from another user B. When a request to take a photograph of the point P is input from the user B, the operation determination unit 103 refers to the work contents of the robot controlled by the moving object control device 100 from the moving object storage unit 101, and selects the robot R approaching the point P in a near time period. At this point, the photograph of the point P and the moving route are stored as route A as the work information of the robot R. Next, the work execution unit 104 instructs the selected robot R to take a photograph of the point P for the user B as well. That is, the operation is instructed to take a photograph of the point P and to move along route B. When the robot R finishes taking a photograph of the point P, the task execution unit 104 notifies the operation panel operating the mobile object control device 100 and the terminals of the users A and B that the task has been completed, and transmits the photograph of the point P.

[0024] The operation of the mobile object control device 100 configured as above will be described with reference to the flowchart of FIG.

[0025] 4 is a flowchart showing an outline of the operation of the mobile object control device 100 in the first embodiment. Note that the processing according to this flowchart may be executed based on program control by the above-mentioned processor.

[0026] 4, first, the mobile object storage unit 101 stores the work information and the position information of the mobile object (step S101). Next, the input receiving unit 102 receives input of work contents from a plurality of users (step S102). Next, the motion determination unit 103 determines a motion of the moving object to be shared among a plurality of work contents (step S103). Finally, the task executing unit 104 executes the determined action and starts controlling the moving object (step S104). With this, the mobile object control device 100 ends the operation of controlling the mobile object.

[0027] Next, the effect of the first embodiment of the present disclosure will be described. The mobile object control device 100 in the above-mentioned embodiment can efficiently control even when multiple users issue different requests. In the mobile object control device 100, the operation determination unit 103 determines the operation of the mobile object to be shared by multiple work contents based on the work information and position information of the mobile object stored in the mobile object storage unit 101 and the multiple work contents from the multiple users received by the input reception unit 102. As a result, the operation of the mobile object in the part indicated by S in FIG. 3 is shared by multiple users. In the existing mobile object control system, even if it is more efficient to share the work, such as working continuously on the work contents from multiple users, the mobile object performs it individually, and this could not be realized.

[0028] [Second embodiment] Next, a second embodiment of the present disclosure will be described in detail with reference to the drawings. Below, the description of the second embodiment will be omitted to the extent that the description of the present embodiment is not unclear. Each component in each embodiment of the present disclosure can be realized not only by hardware but also by a computer device based on program control and firmware, as in the computer device shown in FIG. 2.

[0029] Fig. 5 is a block diagram showing a configuration of a mobile body control device 110 according to a second embodiment of the present disclosure. With reference to Fig. 5, the mobile body control device 110 according to the second embodiment will be described, focusing on the parts different from the mobile body control device 100 according to the first embodiment. The mobile body control device 110 according to the second embodiment includes a mobile body storage unit 111, an input receiving unit 112, an operation determination unit 113, a cost calculation unit 114, a simulation unit 115, and an operation execution unit 116.

[0030] In the first embodiment, the operation determination unit 103 outputs information on the selected moving object and the determined operation to the task execution unit 104. In the second embodiment, the operation determination unit 113 outputs information on the selected moving object and the determined operation to the cost calculation unit 114. Note that the moving object storage unit 111 and the input reception unit 112 in the second embodiment are basically the same in configuration and function as the moving object storage unit 101 and the input reception unit 102 in the first embodiment, and therefore a description thereof will be omitted.

[0031] When determining the motion of the moving body to be shared among a plurality of work contents, the motion determination unit 113 determines the motion of the moving body that consumes the least amount of resources. Here, the resource is an energy source required for the moving body to operate, and is indicated by, for example, the length of the path that the moving body can move, the power of the moving body, or other values. In the second embodiment, it is assumed that the fuel consumption, which is the resource consumption per certain work of each moving body, is equal, and when there are a plurality of moving bodies that can perform the work contents received from the user, the moving body that has the shortest moving path when performing the same work is selected as the moving body that consumes the least amount of resources, and the motion of the moving body to be shared among a plurality of work contents is determined. The motion determination unit 113 outputs information on the determined motion of the moving body to the cost calculation unit 114 and the simulation unit 115.

[0032] The cost calculation unit 114 is a means for calculating a cost to be charged to a user based on the motion of the moving object determined by the motion determination unit 113. When information on the motion of the moving object determined by the motion determination unit 113 is input to the cost calculation unit 114, the cost calculation unit 114 calculates, for example, an amount obtained by multiplying the amount of resource consumed by the moving object by a unit price per amount of resource consumption when performing work content requested by multiple users, as a cost to be charged to the user. The cost calculation unit 114 outputs the calculated cost to be charged to the user to the simulation unit 115.

[0033] The simulation unit 115 is a simulation means that executes a simulation of a system constructed using digital twin technology in a virtual space for the operation determined by the operation determination unit 113 and the cost calculated by the cost calculation unit 114 before notifying the user of the estimated cost.

[0034] Here, the digital twin is a solution for predicting what will happen in the real world by collecting information acquired in real time, reproducing a situation that may actually occur in a virtual space such as a computer using technologies such as AR (Augmented Reality) and AI (Artificial Intelligence), and executing a simulation. When simulating in a virtual space, a dynamic map is created by overlaying time series information and future prediction information acquired through sensor terminals installed in various places on data showing map information, and the actual situation is reproduced as it is in the virtual space as a twin. In order to express real-world events on the dynamic map, information used in the simulation is accumulated in a state of layers classified by purpose. In this embodiment, what may occur when performing mobile object control in the real world is reproduced in a virtual space and a simulation is executed.

[0035] FIG. 6 is a diagram showing an example of a hardware configuration when a simulation using a digital twin is executed by the simulation unit 115 in the second embodiment of the present disclosure. The input / output interface 601 inputs information on the operation input from the operation determination unit 113 and information on the cost to be charged to the user calculated by the cost calculation unit 114 to the information storage unit 602. In addition to the information from the input / output interface 601, the information storage unit 602 stores a simulation model used in the simulation and past simulation results. The input / output device 603 receives settings corresponding to the situation in the real space input by the user. The simulation execution unit 604 selects a model to be used in the simulation from the information storage unit 602, and executes a simulation while reproducing the situation in the real space in the virtual space based on the information on the operation input from the operation determination unit 113, the information on the cost to be charged to the user input from the cost calculation unit 114, and the setting conditions input from the input / output device 603. The evaluation unit 605 evaluates whether the simulation result is normal based on the result output from the simulation execution unit 604. If the evaluation unit 605 judges that the simulation result is not normal, the simulation execution unit 604 changes the simulation model and / or setting conditions, and repeats the simulation until the evaluation unit 605 judges that the simulation result is normal. If the evaluation unit 605 judges that the simulation result is normal, the simulation application unit 606 outputs the judgment result to the operation execution unit 116.

[0036] The work execution unit 116 is a means for executing an operation according to the simulation when the simulation result is evaluated as normal by the simulation unit 115. When the work execution unit 116 receives an input from the simulation unit 115 that the simulation result is evaluated as normal, the work execution unit 116 notifies the user of the estimated cost associated with performing the work determined by the cost calculation unit 114. Next, when the work execution unit 116 receives an input from the user that the work has been approved at the estimated cost, it instructs the mobile object to execute the operation.

[0037] FIG. 7 is a diagram for explaining a series of flows from inputting work contents at different locations from multiple users to making a moving object perform the input work. In the example of FIG. 7, a request for taking a photo of a point P is input from user A, and the work execution unit 116 controls a moving object, robot R1, to take a photo of the point P, and then another user B inputs a request for checking the crowdedness of a store at a point Q away from the point P. When a request for taking a photo of the point P is input from user A, the operation determination unit 113 refers to the moving object storage unit 111, selects a robot that consumes the least amount of resources, and determines the operation of the robot. In the example of FIG. 7, robots R1 and R2 are located in positions that can move to point P. If the fuel consumption of robots R1 and R2 is equal, the operation determination unit 113 selects robot R1, which is closer to point P, as a robot that consumes the least amount of resources, and determines the operation including the work time and the movement route. In the example of FIG. 7, the operation determination unit 113 determines a movement route A that goes directly to point P as the movement route. Next, the cost calculation unit 114 calculates the cost to be charged to the user from the information on the operation of the robot R1 determined by the operation determination unit 103, and inputs the calculated cost to the simulation unit 115. The simulation unit 115 performs a simulation of the robot R1 selected by the operation determination unit 103 performing the work content requested by the user A, and determines whether the simulation result is normal. When the operation execution unit 116 receives an input from the simulation unit 115 that the simulation result is normal, it notifies the user A that the estimated cost for the work is 1000 yen. Next, when the operation execution unit 116 receives an input from the user A that the estimated cost has been accepted, it associates the robot R1 with the work content of the user A, stores it in the mobile object storage unit 101, and instructs the robot R1 to perform the work.

[0038] In the example of FIG. 7, after the task execution unit 116 instructs the robot R1 to take a photograph at point P, when a request is input from user B to check the crowdedness of a store at point Q, the operation determination unit 113 refers to the moving object storage unit 111 and selects a robot that can perform the task. At this time, the operation determination unit 113 selects the robot R1 that is scheduled to approach the vicinity of point Q in a near time period, and determines the operation including the work time and the moving route. In the example of FIG. 7, the operation determination unit 113 determines a moving route that heads to point Q from the middle of the moving route A (moving route B), returns to the moving route A again, and heads to point P. Next, the cost calculation unit 114 calculates the cost to be charged to the user from the information on the operation of the robot R1 determined by the operation determination unit 113, and inputs it to the simulation unit 115. The simulation unit 115 performs a simulation of the robot R1 selected by the operation determination unit 113 performing the task requested by user A and user B, and judges whether the simulation result is normal. When the simulation unit 115 inputs that the simulation result is normal, the work execution unit 116 notifies user B that the estimated cost for the work is 600 yen. When the work execution unit 116 detects the notification of the estimated cost to user B by the work execution unit 116 and the reception of an input from user B that the user B has accepted the request, the work contents of user A and user B are linked to the robot R1 and stored in the mobile object storage unit 101, and the robot R1 is controlled to check the congestion situation of the store at point Q before taking a photo at point P. Note that the work contents requested by user A that were already stored in the mobile object storage unit 101 are overwritten. When the operation by the robot R1 is completed, the robot notifies users A and B that the work requested by each user is completed at the time of completion, and notifies the actual amount charged. The robot notifies user A that the fee is cheaper than the estimated fee because the mobile object was shared with another user.

[0039] FIG. 8 is a diagram showing the sharing of costs for movement between routes among multiple users. Here, with reference to FIG. 8, which user bears the cost when work is shared among multiple users will be described. The example of FIG. 8 is an example of sharing work of a moving body in a place where the work location of a user accepted later does not exist on the movement path of the work of the user accepted earlier. In this case, the cost incurred for returning from the work location of the user accepted later to the movement path of the user who accepted the work earlier (the area surrounded by a dashed line) is basically borne by the user who accepted the work later and caused the movement back to the movement path of the user who accepted earlier. As shown in FIG. 8, when the input acceptance unit 112 accepts work in the order of user A → B, user B bears the cost of returning from the work location of user B to the movement path of user A. When the input acceptance unit 112 accepts work in the order of user B → A, user A bears the cost of returning from the work location of user B to the movement path of A. However, the method of sharing the cost when moving between routes among multiple users is not limited to this.

[0040] Next, the operation of the mobile object control device 110 will be described with reference to the flowchart shown in Fig. 9. The processing according to this flowchart may also be executed based on program control by the CPU described above.

[0041] 9, first, the moving object storage unit 111 stores the work information and the position information of the moving object (step S201). Next, the input receiving unit 112 receives input of work contents from a plurality of users (step S202). Next, the motion determination unit 113 determines motions of the moving object shared among a plurality of work contents, and inputs the determined motions to the cost calculation unit 114 and the simulation unit 115 (step S203). Next, the cost calculation unit 114 calculates the cost to be charged to the user based on the information on the motion of the moving object input by the motion determination unit 113, and outputs the calculated cost to the simulation unit 115 (step S204). Next, the simulation unit 115 executes a simulation in a virtual space using the information on the motion input by the motion determination unit 113 and the information on the cost input by the cost calculation unit 114 (step S205). If the simulation result is evaluated as normal (step S206; Yes), the simulation unit 115 outputs the result, the information on the motion of the moving object, and the cost information to the task execution unit 116. If the simulation result is not evaluated as normal (step S206; No), the simulation is repeated until the simulation result is evaluated as normal. Next, the task executing unit 116 notifies the user of the cost input from the simulation unit 115, and upon receiving an input of consent from the user, starts controlling the moving object under the conditions of the simulation (step S207).

[0042] With this, the mobile object control device 110 ends the mobile object control operation.

[0043] Next, the effect of the second embodiment of the present disclosure will be described. The mobile object control device 110 in the above-mentioned second embodiment determines the operation of the robot R1 that minimizes resource consumption. As a result, the operation of the mobile object in the portion indicated by S in FIG. 7 is shared by multiple users. Therefore, since the resource consumption of the robot R1 can be suppressed, the cost charged to the user when the cost is calculated based on the resource consumption of the robot R1 can be suppressed. Also, in the second embodiment, a low estimated fee can be presented to a user who later accepts the work content in advance, assuming that the work requested by another user is shared. Therefore, it is possible to encourage users to use the robot work service.

[0044] According to the simulation using the digital twin by the simulation unit 115 in this embodiment, the simulation can be performed by reproducing the situation in the real space using information acquired in real time, so that the highly accurate simulation results can be applied to the real space.

[0045] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above-mentioned embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

[0046] For example, although a number of operations are described in a sequence in the form of a flowchart, the sequence does not limit the order in which the operations are performed. Therefore, when implementing each embodiment, the sequence of the operations can be changed as long as it does not affect the content.

[0047] FIG. 10 is a diagram showing a modified example of the second embodiment. Using FIG. 10, a modified example in which the input of the work contents of user B precedes the input of the work contents of user A will be described. In the example of FIG. 10, after the mobile object control device 110 controls the robot R1 to check the crowdedness of the store at point Q requested by user B, when a request for taking a photo at point P is received from user A, the operation determination unit 113 refers to the work schedule of the mobile object stored in the mobile object storage unit 111 and selects a robot capable of performing the work contents requested by user A. In this case, the operation determination unit 113 selects the robot R1 that is scheduled to approach the vicinity of point P in the nearest time period, and determines the operation of the robot R1 including the movement route. In the example of FIG. 10, the operation determination unit 113 determines to move to point P and take a photo after the operation of checking the crowdedness of the store at point Q requested by user B is completed.

[0048] Next, the cost calculation unit 114 calculates the cost to be charged to the user A from the information on the operation of the robot R1 determined by the operation determination unit 113, and inputs it to the simulation unit 115. The simulation unit 115 performs a simulation to take a photo of the P point based on the information on the operation of the robot R1 input from the operation determination unit 113 and the information on the cost to be charged to the user A input from the cost calculation unit 114, and judges whether the simulation result is normal. When the operation execution unit 116 receives an input from the simulation unit 115 that the simulation result is normal, it notifies the user A that the estimated cost for the work is 700 yen. When the operation execution unit 116 detects the notification of the estimated cost to the user A by the operation execution unit 116 and the reception of an input from the user A that the user A agrees, it controls the robot R1 to check the crowdedness of the store at the Q point and then take a photo of the P point. When the operation by the robot R1 is completed, the user A and the user B are notified of the completion of the requested operation at the time of completion, and the actual amount to be charged is notified. The fee charged to user B is 550 yen, which is lower than the estimated fee of 750 yen. The task execution unit 116 notifies user B that the motion of the moving object was shared with another user as the reason for the lower fee. In the example of FIG. 10, the motion of the robot R1 in the portion indicated by S is also shared by user A and user B.

[0049] FIG. 11 is a diagram for explaining a comparison of resource consumption of a route between a case where the robot R1 shares work contents requested by a plurality of users and a case where the robot R1 does not share work contents. In the example of FIG. 11, the input receiving unit 112 receives work in the order of user A → user B, receives work contents at point P from user A, and receives work contents at point Q from user B. In the table of FIG. 11, the work contents at point P are input from user A in the case where the route is different, and the work contents at point Q are input from user B. The input receiving unit 112 receives work contents in the order of user A → user B. In this case, the robot R1 may move in the order of a1 → a2 (P) → a2 → b2 (Q), or in the order of a1 → b1 (Q) → b2 → a2 (P). The table of FIG. 11 shows the route resource consumption borne by each user depending on whether or not the robot R1 shares work with other users when the robot R1 moves in each route. As shown in the table, for example, when moving along route Q→P, if users A and B do not share the work, A's route resource consumption is expressed as a2+b, and B's route resource consumption is expressed as a1+b. On the other hand, if users A and B share the work of robot R1, A's route resource consumption is expressed as a1 / 2+a2, and B's route resource consumption is expressed as a1 / 2+2b.

[0050] Here, when requests are received in the order of user A → user B, and the robot R1 moves along route Q → P, a condition is considered under which sharing the route resource consumption between user A and user B can reduce the route resource consumption. In this case, the operation determination unit 113 selects a route in which the resource consumption of the user with the highest route resource consumption among multiple users can be reduced most by sharing the route with other users. In FIG. 11, for example, the following conditions can be applied as conditions for selecting such a route. (1) When the route resource consumption of the user A or user B who consumes the most route resources in the case of sharing the work is smaller than (2) when the work is not shared, the work of the robot R1 is shared. Here, it is assumed that the resource consumption is largest in the order of a2>a1>b, and b1=b2=b.

[0051] Regarding the above condition (1), in the case where the work of the robot R1 is shared, if the route resource consumption of user A (a1 / 2+a2) is greater than the route resource consumption of user B (a1 / 2+2b), (i) a1 / 2+a2>a1 / 2+2b (∴a2 / 2>b), and (ii) if the route resource consumption of user B is equal to or greater than the route resource consumption of user A, a1 / 2+a2<=a1 / 2+2b (∴a2 / 2<=b). Regarding (2), consider the case where the route resource consumption of user A and user B is smaller than the route resource consumption of user A and user B when the work is not shared, for each of the two cases (i) and (ii). Note that due to the prerequisite a2>a1, when the work is not shared, the route resource consumption of user A is greater than the route resource consumption of user B. Therefore, for each of the two cases (i) and (ii) (when work is shared and route resource consumption is for user A>B and A<=B), the calculation is performed by determining the conditions under which route resource consumption is less than that of user A (a2+b) when work is not shared.

[0052] That is, in the example of FIG. 11, when the path resource consumption of user A when sharing the operation (a1 / 2 + a2) is less than the path resource consumption of user A when not sharing the operation (a2 + b), the condition is a1 / 2 + a2 < a2 + b (∴ a1 / 2 < b). Also, when the path resource consumption of user B when sharing the operation (a1 / 2 + 2b) is less than the path resource consumption of user A when not sharing the operation (a2 + b), the condition is a1 / 2 + 2b < a2 + b (∴ a1 / 2 + b < a2). From the above, in the case of (i) and (iii), or (ii) and (iv), that is, when a2 / 2 > b and a1 / 2 < b, or when a2 / 2 <= b and a1 / 2 + b < a2, the operation determination unit 113 determines to share the operation. On the other hand, when a2 / 2 > b and a1 / 2 >= b, or when a2 / 2 <= b and a1 / 2 + b >= a2, the operation determination unit 113 determines not to share the operation. However, the method of comparing the path resource consumption when the operation determination unit 113 determines whether to share the operation of the robot is not limited to this.

[0053] Also, in the second embodiment, when there are a plurality of mobile bodies capable of executing the operation input by the user, it is assumed that the fuel consumption, which is the resource consumption per certain operation of the mobile body, is equal. However, the fuel consumption of each mobile body may be different. In this case, the operation determination unit 113 calculates the resource consumption of each mobile body in consideration of the fuel consumption of the mobile body in addition to the movement path of the mobile body. Then, the operation determination unit 113 compares the calculated resource consumption, preferentially selects the mobile body with less resource consumption, and determines the operation of the mobile body to be shared among the plurality of operation contents.

[0054] [Third Embodiment] Next, a third embodiment of the present disclosure will be described in detail with reference to the drawings. Below, the description of the present embodiment will be omitted to the extent that the description of the present embodiment is not unclear. Each component in each embodiment of the present disclosure can be realized not only by hardware but also by a computer device based on program control and firmware, as in the computer device shown in FIG. 2 in the second embodiment.

[0055] The third embodiment differs from the second embodiment in that the input receiving unit 112 receives inputs of work contents from multiple users and also receives priority information on which condition is to be prioritized, the work completion time or the fee to be charged to the user. Specifically, in addition to the functions of the input receiving unit 112 in the second embodiment, the input receiving unit 112 in the third embodiment receives inputs of the work completion time and fee desired by the user on the operation screen of the input receiving unit 112 displayed to the user, and also receives input of which condition is to be prioritized when both conditions cannot be satisfied. Note that in this embodiment, the fee to be charged to the user is calculated based on the length of the movement path of the moving object.

[0056] In the third embodiment, in step S202 in the second embodiment, input of the desired work end time and cost is accepted together with input of work contents from a plurality of users (step S202). Next, the operation determination unit 113 determines an operation of the moving object shared by multiple work contents so as to satisfy the conditions of the work end time and cost inputted by the user, and inputs it to the cost calculation unit 114 and the simulation unit 115 (step S203). Next, the cost calculation unit 114 calculates the cost to be charged to the user based on the motion of the moving object input by the motion determination unit 113, and outputs the determined motion of the moving object and the calculated cost to the simulation unit 115 (step S204). Next, the simulation unit 115 executes a simulation in a virtual space based on the work content input from the operation determination unit 113 and the information on the cost input from the cost calculation unit 114 (step S205). If the simulation result satisfies both the desired work end time and cost input from the user and is evaluated as normal (step S206; Yes), the simulation unit 115 outputs the result and the information on the work and cost of the mobile body to the work execution unit 116 and starts controlling the mobile body control device 110 according to the simulation. If the simulation result does not satisfy the desired work end time or cost, or both, input from the user and is not evaluated as normal (step S206; No), the simulation is executed again based on the priority information indicating which of the requirements, the work end time or the cost, is to be prioritized input from the input reception unit 112, and the simulation is repeated until the simulation result is evaluated as normal. Next, the task executing unit 116 notifies the user of the cost input from the simulation unit 115, and upon receiving an input of consent from the user, starts controlling the moving object under the conditions of the simulation (step S207).

[0057] With this, the mobile object control device 110 ends the mobile object control operation.

[0058] FIG. 12 is a diagram for explaining a series of flows until the moving object executes the work contents input from three users in the third embodiment. In the example of FIG. 12, the input receiving unit 112 receives input of priority information from user A, which prioritizes the cost condition, and from user C, which prioritizes the work end time. It is assumed that the input receiving unit 112 does not input the desired work end time or cost from user B. In the example of FIG. 12, first, a photograph of point P is received from user A, and after the work execution unit 116 instructs the robot R1, the work contents of checking the crowdedness of a store at point Q away from point P and cleaning point R are respectively received from user B. Here, the flow after the work contents from user C are received, which is different from the second embodiment, will be explained. After instructing robot R1 to perform the task of checking the crowdedness of the store at point Q, the operation decision unit 113, upon receiving priority information from user C indicating that the task of cleaning point R and the time of completion of the task are to be prioritized, refers to the mobile object memory unit 111, selects robot R1 that is in the near future and has the shortest travel route to point R, and decides the operation of robot R1 including the work time and travel route.

[0059] Next, the cost calculation unit 114 calculates the cost to be charged to the user C from the information on the operation of the robot R1 determined by the operation determination unit 113, and inputs the calculated cost to the simulation unit 115. The simulation unit 115 performs a simulation of the robot R1 determined by the operation determination unit 113 performing the work requested by the user C, and determines whether the simulation result is normal. When the simulation unit 115 inputs that the simulation result is normal, the work execution unit 116 notifies the user C that the estimated cost for the work is 1000 yen. Next, when the work execution unit 116 detects that it has received an input from the user C indicating that the estimated cost has been accepted, it associates the robot R1 with the work content of the user C and stores it in the mobile object storage unit 111, and instructs the robot R1 to clean the R point before checking the crowdedness of the store at the Q point. When the robot R1 completes the work requested by the user C, the work execution unit 116 instructs the robot R1 to check the crowdedness of the store at the Q point. Finally, when the task of checking the crowdedness of the store at point Q is completed, the task execution unit 116 instructs to take a photograph of point P requested by user A. Furthermore, when the task requested by each of user C, user B, and user A is completed, the task execution unit 116 notifies each user of the completion and notifies the actual billed amount. Users A and B are notified that the moving object has been shared with another user as the reason why the fee is lower than the estimated fee. Even in this case, the operation of the robot R1 in the part indicated by S in FIG. 12 is shared by users A, B, and C. In the third embodiment, tasks requested by more users can be shared, so that the moving object can be controlled more efficiently.

[0060] In the third embodiment, the operation determination unit 113 determines the order of work and the movement route of the mobile object based on the priority information of the conditions for the work contents from the user. Therefore, it is possible to provide a mobile object service according to the degree of necessity of the service from the user. In addition, for a work requested by a user who does not mind finishing the work late, since there is a leeway in the time period for the work to be performed, it is possible to instruct the mobile object to perform the work at a timing that shortens the movement route of the mobile object.

[0061] Although the present invention has been described above with reference to each embodiment, the present invention is not limited to the above embodiment. Various modifications that can be understood by a person skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. For example, in the third embodiment, after a work request is received from each user, a series of steps are executed to determine a schedule for the mobile object. However, the input receiving unit 112 may receive an input of work content at a location where the user's mobile object is expected to be used as work content from the user before the work request is input from the user.

[0062] For example, in the example of FIG. 12, if a large-scale event is scheduled at point E and it is expected that the user will use the mobile service after the event ends, the work at point E (or work starting from point E) may be scheduled in advance for the mobile object during the time period when the event ends. In this case, for example, the steps of this embodiment are started at the stage when the event is linked to the schedule of the mobile object. This allows a schedule to be created so that work requested by a user who does not prioritize the end time of the work is performed after the work at point E is completed. In this way, by incorporating the work into the schedule without waiting for input from the user, the service can be provided more efficiently. [Explanation of symbols]

[0063] 100, 110 Mobile control device 101, 111 Mobile memory unit 102, 112 Input reception unit 103, 113 Operation decision unit 104, 116 Work Execution Department 114 Cost Calculation Department 115 Simulation Department

Claims

1. A mobile object storage means for storing operation information and position information of the mobile object; An input receiving means for receiving input of a plurality of work contents from a plurality of users; an action determination means for determining actions of the mobile object to be shared among the plurality of work contents based on the work information and the position information of the mobile object stored in the mobile object storage means and the plurality of work contents from the plurality of users received by the input receiving means; Equipped with The operation determination means of the mobile body control device acquires from the mobile body memory means work information and location information of a first mobile body, which is one or more mobile bodies controlled within the device, selects from the first mobile bodies a second mobile body that is capable of performing the work content based on the mobile body's schedule, the mobile body's performance, the remaining battery level or the mobile body's location, and determines an operation including a time period and a travel route for performing the work for the selected second mobile body.

2. The mobile body control device according to claim 1 , wherein the operation determination means determines an operation of the second mobile body that consumes the least amount of resources from among the first mobile bodies.

3. 3. The mobile body control device according to claim 1, wherein the input receiving means receives input of the plurality of work contents from the plurality of users as well as desired end times for the plurality of work contents, and the operation determination means determines the operation of the second mobile body that can complete the work content by the end time.

4. The mobile body control device according to any one of claims 1 to 3, further comprising a cost calculation means for calculating a cost to be charged to the multiple users based on the motion of the mobile body determined by the motion determination means.

5. 4. The mobile body control device according to claim 3, wherein the input receiving means receives input of the plurality of work contents from the plurality of users as well as a desired cost for the plurality of work contents, and the operation determination means determines the operation of the second mobile body that can meet the received desired cost.

6. 6. The mobile body control device according to claim 5, wherein the input receiving means further receives input of priority information indicating whether to prioritize either the desired work completion time or the desired cost, and the operation determination means determines the operation of the second mobile body that can satisfy the requirements of the priority information.

7. The method further includes a simulation unit that executes a simulation in a virtual space using a digital twin technology regarding the motion of the moving object determined by the motion determination unit, The mobile object control device according to claim 1 , further comprising: a control unit configured to control the second mobile object based on the operation when a result of the execution by the simulation means is determined to be normal.

8. A computer comprising: storing operation information and position information of the mobile object; Accepting input of multiple work contents from multiple users, determining an operation of the mobile body to be shared for the plurality of work contents based on the work information and the position information of the mobile body, and the plurality of work contents from the plurality of users; A mobile object control method in which, in determining the operation, work information and location information of a first mobile object, which is one or more mobile objects controlled within the device, is obtained from the stored work information and location information, and from the first mobile objects, a second mobile object, which is a mobile object capable of performing the work content, is selected based on the mobile object's schedule, the mobile object's performance, the remaining battery level, or the mobile object's location, and an operation including a time period and a movement route for performing the work for the selected second mobile object is determined.

9. storing operation information and position information of the mobile object; Accepting input of multiple work contents from multiple users, determining an operation of the mobile body to be shared for the plurality of work contents based on the work information and the position information of the mobile body, and the plurality of work contents from the plurality of users; A program that causes a computer to execute the following steps in determining the operation: obtain work information and location information of a first mobile body, which is one or more mobile bodies controlled within the device, from the stored work information and location information; select a second mobile body from the first mobile bodies, which is a mobile body capable of performing the work content, based on the mobile body's schedule, the mobile body's performance, the remaining battery level, or the mobile body's location; and determine an operation including a time period and a movement route for performing the work for the selected second mobile body.

Images