Management systems, management methods, management programs, and storage media

Abstract

To provide a management system, a management method, a management program, and a storage medium capable of positioning with high accuracy in a wider range.SOLUTION: The management system 100 includes a plurality of autonomous mobile units 21 and a management device 1. Each of the plurality of autonomous mobile machines 21 has a movement control part 251 for controlling autonomous movement and an antenna 216 for receiving a signal from a GNSS satellite 200. A management device 1 includes an operation plan creation part 150 for creating operation plans of a plurality of autonomous mobile units 21. The operation plan creation part 150 selects an autonomous mobile unit 21 capable of securing an operation schedule in a first predetermined period as a selected mobile unit 23 from among the plurality of autonomous mobile units 21, and creates an operation plan so as to move the selected mobile unit 23 to a predetermined geographical position and keep it still for at least a part of the first predetermined period.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a management system, a management method, a management program, and a storage medium for performing relative positioning using an autonomous mobile machine.

Background Art

[0002] The relative positioning method is a positioning method for obtaining the relative positional relationship between receivers based on signals from a plurality of satellites received by the plurality of receivers. For example, in RTK-GNSS (Real Time Kinematic Global Navigation Satellite System), positioning is performed using signals received from satellites by a base station with a known position and a mobile station with an unknown position.

[0003] Since the relative positioning method has higher positioning accuracy than the single-point positioning method, it is expected to be applied to various industrial fields.

[0004] Patent Document 1 discloses a base station device. The base station device includes an integrated unit that houses a secondary battery, a power conversion unit that converts the power supplied from the secondary battery, a communication unit that performs ad hoc communication with other devices, and a drive unit for autonomously moving the self-device, within a housing.

[0005] Patent Document 2 discloses an operation management system. The operation management system includes a plurality of transport vehicles that travel on a transport path connected to a work area to transport objects to be transported, a resident vehicle that is permanently stationed in the work area, a control system that manages the transport vehicles and the resident vehicle, and a wireless relay station that relays wireless communication performed between the transport vehicles and the control system. In the operation management system, a wireless communication device for performing wireless communication with each of the plurality of transport vehicles is disposed. The operation management system mounts a wireless relay station on the resident vehicle and determines a transport vehicle that accesses the wireless relay station based on the vehicle body information of the transport vehicle.

[0006] Patent Document 3 discloses a server device. This server device communicates with a plurality of autonomous driving devices equipped with wireless communication units via a wireless base station and instructs each autonomous driving device to operate. The wireless communication unit of an autonomous driving device has a relay function that relays communication between the wireless base station and another wireless communication unit installed in another autonomous driving device, and transmits the location information of the autonomous driving device and information on the received strength of the wireless communication radio waves to the server device. The server device includes a communication unit that transmits information to the autonomous driving devices to instruct them to operate based on the location information and received strength information, so that if the destination is outside the wireless communication area of ​​the wireless base station, one of the autonomous driving devices can use the relay function of another autonomous driving device to reach the destination. [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] Japanese Patent Publication No. 2019-33323 [Patent Document 2] Japanese Patent Publication No. 2016-146010 [Patent Document 3] Japanese Patent Publication No. 2017-033121 [Overview of the project] [Problems that the invention aims to solve]

[0008] Relative positioning methods suffer from decreased accuracy as the distance between a base station with a known location and a mobile station with an unknown location increases. Furthermore, establishing multiple fixed base stations with known locations in advance is a costly expense.

[0009] The present invention provides a management system, a management method, a management program, and a storage medium that enable wider-range and more accurate positioning. [Means for solving the problem]

[0010] The present invention A management system that performs relative positioning using multiple autonomous mobile devices, The aforementioned management system is multiple The aforementionedEquipped with an autonomous mobile device and an information processing device, Each of the aforementioned autonomous mobile devices An autonomous movement control unit that controls autonomous movement, A receiving unit that receives signals from satellites in a satellite positioning system, It has, The information processing device has an operation plan creation unit that creates operation plans for multiple autonomous mobile devices, The aforementioned operation plan creation unit, Among the multiple autonomous mobile devices, the autonomous mobile device for which a schedule of operation during the first predetermined period can be secured is To operate as a base station in the aforementioned satellite positioning system. Selected as the first autonomous mobile device, The first autonomous mobile device In order to operate as the aforementioned base station The operation plan is created to move the vehicle to a predetermined geographical location and to keep it stationary for at least a portion of the first predetermined period.

[0011] Furthermore, the present invention is Multiple autonomous mobile units, each capable of receiving signals from satellites in a satellite positioning system. In order to perform relative positioning using the above-mentioned multiple autonomous mobile units A management method for creating operational plans, Among the multiple autonomous mobile devices, the autonomous mobile device for which a schedule of operation during the first predetermined period can be secured is To operate as a base station in the aforementioned satellite positioning system. Steps to select the first autonomous mobile device, The first autonomous mobile device In order to operate as the aforementioned base station The process includes the step of creating a route plan to move the vehicle to a predetermined geographical location and to keep it stationary for at least a portion of the first predetermined period.

[0012] Furthermore, the present invention is Multiple autonomous mobile units, each capable of receiving signals from satellites in a satellite positioning system. In order to perform relative positioning using the above-mentioned multiple autonomous mobile units A management program for creating operational plans, Among the multiple autonomous mobile devices, the autonomous mobile device for which a schedule of operation during the first predetermined period can be secured is To operate as a base station in the aforementioned satellite positioning system. Steps to select the first autonomous mobile device, The first autonomous mobile device In order to operate as the aforementioned base stationCausing a computer to execute the step of creating the operation plan so as to move to a predetermined geographical position and to stop for at least a part of the first predetermined period.

[0013] Furthermore, the present invention is A computer-readable storage medium storing the above management program.

Advantages of the Invention

[0014] According to the present invention, positioning with a wider range and higher accuracy becomes possible.

Brief Description of the Drawings

[0015] [Figure 1] It is a diagram showing an outline of the management system 100. [Figure 2] It is a diagram showing an example of the hardware configuration of the management device 1. [Figure 3] It is a diagram showing an example of the functional block diagram of the management device 1. [Figure 4] It is a diagram showing an example of the hardware configuration of the autonomous mobile machine 21. [[ID=3l]] [Figure 5] It is a diagram showing an example of the functional block diagram of the autonomous mobile machine 21. [Figure 6] It is a diagram for explaining the situation where the management device 1 selects the autonomous mobile machine 21 as a base station. [Figure 7] It is a diagram showing the relationship between the position CP of the antenna 216 and the position of the satellite. [Figure 8] It is a diagram for explaining the surrounding environment of the autonomous mobile machine 21 serving as a base station. [Figure 9] It is a diagram showing an outline of the positioning in the present embodiment. [Figure 10] It is a diagram showing an example of the processing flow for operating the autonomous mobile machine 21 as a base station. [Figure 11] It is a diagram showing an example of the processing flow for creating an operation plan. [Figure 12] It is a diagram schematically showing the processing when moving one autonomous mobile machine 21 to operate as a base station. [Figure 13] This diagram schematically illustrates the process of moving two autonomous mobile units 21 to operate as base stations. [Figure 14] This figure shows an example of a processing flow for replacing the autonomous mobile device 21 acting as a base station. [Figure 15] This figure shows an example of a processing flow for creating a shift schedule. [Figure 16] This diagram schematically illustrates the process of replacing the autonomous mobile device 21 acting as a base station. [Modes for carrying out the invention]

[0016] Hereinafter, embodiments of the present invention will be described based on the attached drawings. Figure 1 shows an overview of a management system 100 according to one embodiment of the present invention. The system of this embodiment includes a management device 1 and a plurality of autonomous mobile devices 21, and is a system that performs relative positioning. Relative positioning generally involves using two or more receivers to simultaneously observe four or more identical GNSS satellites. Then, using the position of the GNSS satellite as a reference, the relative positional relationship between two points is determined by measuring the time difference in which radio signals from the GNSS satellite reach each receiver. The management device 1 and the autonomous mobile devices 21 can communicate via a network 5 such as the Internet. In the example of Figure 1, the number of autonomous mobile devices is two, but it may be three or more.

[0017] The autonomous mobile device 21 is configured to receive signals from the GNSS satellite 200, and the control device 1 can determine the position of the autonomous mobile device 21 using RTK-GNSS. RTK-GNSS is a form of relative positioning in which a reference station with a known position and an observation point whose position is to be determined simultaneously observe signals from the GNSS satellite 200, the data observed at the reference station is transmitted in real time to the observation point using wireless communication, etc., and the position of the observation point is determined in real time based on the position results of the reference station. A fixed RTK-GNSS base station 10 installed on the ground may be provided at the work site where the autonomous mobile device 21 operates. There are multiple (at least four) GNSS satellites 200, but only one is shown in Figure 1 for ease of understanding.

[0018] The control device 1 is a device that manages the operation of the autonomous mobile device 21 and also creates an operation plan for the autonomous mobile device 21.

[0019] Specifically, the management device 1 sets an operating mode for each autonomous mobile device 21 and controls the autonomous mobile devices 21 to operate according to the operating mode. In this embodiment, the operating modes include a base station mode and a mobile station mode. In base station mode, the autonomous mobile device 21 operates as an RTK-GNSS base station. In mobile station mode, the autonomous mobile device 21 operates as an RTK-GNSS mobile station. The management device 1 can also receive signals from the autonomous mobile devices 21 and obtain the current location of the autonomous mobile device 21, the route traveled, the status of the autonomous mobile device 21, the remaining battery level, whether or not there is a malfunction, etc.

[0020] The operation plan includes information such as the destination of the autonomous mobile device 21, the route to the destination, the start time of movement, and the speed of movement. The management device 1 plans the operation plan for the autonomous mobile device 21 at a predetermined time (for example, before the start of work).

[0021] Furthermore, the management device 1 transmits a movement instruction to the autonomous mobile device 21, based on the operation plan, which includes information such as the destination, the route to the destination, the start time of movement, the speed of movement, and the time spent stationary.

[0022] The autonomous mobile device 21 is a mobile body capable of autonomous movement. Autonomous movement refers to movement without human control. The autonomous mobile device 21 can move according to a pre-installed program, and can also move according to movement instructions from the management device 1. In addition to autonomous movement, the autonomous mobile device 21 may also be configured to be movable by human control.

[0023] In base station mode, the autonomous mobile unit 21 moves to a location designated by the management device 1, stops moving, and operates as an RTK-GNSS base station at that location. When the autonomous mobile unit 21 is neither in mobile station mode nor base station mode, it remains stationary, for example, at a predetermined location in the work area. While stationary, the autonomous mobile unit 21 does not move and does not operate as a base station. For example, while stationary, the autonomous mobile unit 21 is maintained in a low-power startup mode with the main power supply (ignition) turned OFF. In addition, the autonomous mobile unit 21 can be charged while stationary, preparing to start the next operation in a predetermined operation plan.

[0024] Figure 2 shows an example of the hardware configuration of the management device 1. The management device 1 comprises a processor 11, memory 12, a communication interface 13, and a user interface 14. The processor 11, memory 12, communication interface 13, and user interface 14 are connected, for example, by a bus 19.

[0025] The processor 11 is a circuit that performs signal processing, and is, for example, a CPU (Central Processing Unit) that controls the entire management device 1. The processor 11 may be implemented by other digital circuits such as an FPGA (Field Programmable Gate Array) or a DSP (Digital Signal Processor). Alternatively, the processor 11 may be implemented by combining multiple digital circuits.

[0026] Memory 12 includes, for example, main memory and auxiliary memory. Main memory is, for example, RAM (Random Access Memory). Main memory is used as the work area of ​​processor 11.

[0027] Auxiliary memory is a non-temporary, computer-readable storage medium, such as a magnetic disk, optical disk, or flash memory. Various programs for operating the management device 1 are stored in the auxiliary memory. The programs stored in the auxiliary memory are loaded into main memory and executed by the processor 11.

[0028] Furthermore, the auxiliary memory may include portable memory that can be removed from the management device 1. Portable memory may be, for example, a USB (Universal Serial Bus) flash drive, an SD (Secure Digital) memory card or other memory card, or an external hard disk drive.

[0029] The communication interface 13 is a communication interface that communicates with an external device (e.g., an autonomous mobile device 21) from the management device 1. The communication interface 13 is controlled by the processor 11.

[0030] The user interface 14 includes, for example, an input device that receives operation input from a user (e.g., a person operating the management device 1), and an output device that outputs information. The input device is implemented by, for example, a pointing device (e.g., a mouse), a key (e.g., a keyboard), or a remote control. The output device is implemented by, for example, a display or a speaker. Alternatively, both the input and output devices may be implemented by a touch panel or the like. The user interface 14 is controlled by the processor 11.

[0031] Figure 3 shows an example of a functional block diagram of the management device 1. In the management device 1, the operation plan creation unit 150 and the operation plan execution unit 160 are realized when a program (software) is executed on the processor 11. The operation plan creation unit 150 creates an operation plan for the autonomous mobile device 21. The operation plan execution unit 160 causes the autonomous mobile device 21 to execute the operation plan based on the operation plan created by the operation plan creation unit 150. The management device 1 also has a data storage unit 170 realized by memory 12.

[0032] The operation plan creation unit 150 creates an operation plan for the autonomous mobile device 21 operating in mobile station mode, according to the work task, including the destination, route to the destination, start time of movement, and speed of movement. Examples of work tasks include transportation tasks such as delivering goods, as well as monitoring tasks, luggage storage tasks, grass cutting tasks, and tilling tasks.

[0033] Furthermore, the operation plan creation unit 150 selects from among the multiple autonomous mobile units 21 that can secure an operation schedule for the first predetermined period as the autonomous mobile unit 21 to be operated in base station mode, and creates an operation plan to move the selected autonomous mobile unit 21 to a predetermined geographical location and keep it stationary for at least a portion of the first predetermined period. The first predetermined period is a period that includes the period during which the autonomous mobile unit 21 should be operated as a base station. The portion of the period may be the time required for positioning statistics processing described later (for example, a period of about 4 to 12 hours), the time (period) during which it should be operated as a base station after positioning statistics processing (after becoming a base station), or a period that includes these times (periods).

[0034] Furthermore, the operation plan creation unit 150 creates an operation plan regarding the replacement of autonomous mobile units 21 operating in base station mode. Specifically, the operation plan creation unit 150 selects from among the multiple autonomous mobile units 21 that can secure operation schedules for the second predetermined period, which is after the start of the first predetermined period, as the autonomous mobile unit 21 to operate in base station mode, and creates an operation plan to move the selected autonomous mobile unit 21 to a predetermined geographical location. The second predetermined period is, for example, the remaining period of the first predetermined period, or a period newly set as the period during which the autonomous mobile unit 21 should operate as a base station.

[0035] The operation plan for this replacement may include provisions for keeping the selected autonomous mobile unit 21 stationary for at least a portion of the second predetermined period (for example, the period during which it operates in base station mode). It may also include provisions for detaching the autonomous mobile unit 21 that is the target of the replacement and is currently operating in base station mode (for example, the timing of the replacement).

[0036] The operation plan creation unit 150 performs processes such as selecting candidate locations where the selected autonomous mobile device 21 will operate, and checking whether there are any problems with the candidate locations identified as the places where the selected autonomous mobile device 21 will operate.

[0037] The operation plan execution unit 160 transmits a movement instruction to the autonomous mobile device 21 in order to execute the operation plan created by the operation plan creation unit 150, and further transmits an instruction to the autonomous mobile device 21, which is operating in base station mode, to start the positioning statistics processing described later, and / or to transmit correction information.

[0038] The data storage unit 170 stores point cloud data of the work area, terrain data, data of a list of autonomous mobile units 21 to be managed, data of the operation plan for each autonomous mobile unit 21, data for identifying the battery level of each autonomous mobile unit 21, and data indicating the status of each autonomous mobile unit 21 (for example, base station mode, mobile station mode, or standby).

[0039] Figure 4 shows an example of the hardware configuration of the autonomous mobile device 21. The autonomous mobile device 21 comprises a processor 211, a memory 212, a wireless communication interface 213, a sensor 214, a mobile mechanism 215, and an antenna 216. The processor 211, memory 212, wireless communication interface 213, sensor 214, mobile mechanism 215, and antenna 216 are connected, for example, by a bus 219.

[0040] The processor 211 and memory 212 of the autonomous mobile device 21 have the same configuration as the processor 11 and memory 12 of the management device 1, respectively.

[0041] The wireless communication interface 213 is a communication interface that performs wireless communication between the autonomous mobile device 21 and an external device (e.g., the management device 1). The wireless communication interface 213 is, for example, a cellular communication device, a Wi-Fi® communication device, etc. The autonomous mobile device 21 can send and receive positioning-related signals (e.g., correction signals SG1 and SG2 described later) with the management device 1 via the wireless communication interface 213. The wireless communication interface 213 is controlled by the processor 211.

[0042] Sensor 214 includes various sensors capable of acquiring information on the movement status of the autonomous mobile device 21 and external information. Sensor 214 is controlled by processor 11, and sensing data from sensor 214 is acquired by processor 11.

[0043] Sensor 214 includes, for example, a camera, a LiDAR (Light Detection and Ranging) sensor, a wheel encoder, and an IMU (Inertial Measurement Unit).

[0044] The camera is a sensor for acquiring image data. The LiDAR sensor is a 3D sensor for recognizing the outside of the autonomous mobile vehicle 21 in three dimensions. Specifically, the LiDAR sensor emits laser light, measures the time it takes for the emitted laser light to hit an object and bounce back, and measures the distance and direction to the object. The LiDAR sensor is installed so as to be able to sense, for example, the area in front of the autonomous mobile vehicle 21. Multiple LiDAR sensors may be installed so as to be able to sense in multiple directions. The LiDAR sensor may be capable of panning and tilting, zooming, etc. The wheel encoder is a sensor that measures the rotational speed of the wheels (wheel speed), and the vehicle speed of the autonomous mobile vehicle 21 can be determined from the measurement results of the wheel encoder. The IMU is a sensor that measures the acceleration of the autonomous mobile vehicle 21 in the longitudinal, lateral, and vertical directions, and the angular velocity in the pitch, roll, and yaw directions.

[0045] The mobility mechanism 215 is a mechanism for the autonomous mobile device 21 to move autonomously. The mobility mechanism 215 is, for example, a wheel or walking legs. The mobility mechanism 215 is controlled by the processor 211. In the following example, the mobility mechanism 15 is assumed to be a wheel. Although not shown, the autonomous mobile device 21 is equipped with actuators such as motor units, and these actuators drive the mobility mechanism 15 to move.

[0046] Antenna 216 is an antenna for receiving signals from the GNSS satellite 200. A communication module (not shown) receives signals transmitted by the satellite via antenna 216, and the communication module can calculate position information. The calculated position information is processed by processor 211 or transmitted to management device 1 via wireless communication interface 213.

[0047] Figure 5 shows an example of a functional block diagram of the autonomous mobile device 21. In the autonomous mobile device 21, as shown in Figure 5, the mobile control unit 251, the environmental data processing unit 252, and the positioning processing unit 253 are realized when a program (software) is executed on the processor 211. The data storage unit 254 is realized in the memory 212.

[0048] The movement control unit 251 executes a process to control the movement of the autonomous mobile device 21 based on the data stored in the data storage unit 254.

[0049] The environmental data processing unit 252 performs processes such as transmitting data acquired by the sensor 214, which is stored in the data storage unit 254, to the management device 1.

[0050] The positioning processing unit 253 performs processing for RTK-GNSS positioning based on the data stored in the data storage unit 254.

[0051] The data storage unit 254 stores information related to the work task, information related to the mode of the machine, and data acquired by the sensor 214, data acquired by the antenna 216, and so on.

[0052] Next, we will explain the situation in which the management device 1 selects an autonomous mobile device 21 as a base station. Figure 6 is a diagram illustrating the situation in which the management device 1 selects an autonomous mobile device 21 as a base station. Here, we assume that multiple autonomous mobile devices 21 are working within a work area WF, and that there is one fixed base station 10 within the work area WF. The work area WF is, for example, a construction site, a farm, or a port.

[0053] Furthermore, Area R0 is defined as the area that can be covered when the fixed base station 10 is operating as a base station. The fixed base station 10 may be installed in a location where absolute location information (true latitude and longitude) is already known, and it is assumed that absolute location information has been acquired in advance by positioning statistical processing, etc., as described later.

[0054] The concept of the area that a fixed base station 10 can cover is the area in which the position information obtained by receiving signals from GNSS satellites 200 can be corrected with the same correction information, and is determined according to the application. This definition is also the same for the area that an autonomous mobile device 21 can cover when it operates as a base station (hereinafter referred to as R1). For applications requiring high-precision positioning, it is, for example, an area with a radius of 10 km from the base station, and for applications requiring less precise positioning, it is, for example, an area with a radius of 100 km from the base station.

[0055] In the following explanation, when distinguishing between an autonomous mobile device 21 operating in base station mode and an autonomous mobile device 21 operating in mobile station mode, the former will be referred to as a selected mobile device 23, and the latter as a work mobile device 25.

[0056] As shown in Figure 6(A), if the work task of the mobile work unit 25 is completed within the area R0 of the fixed base station 10, the mobile work unit 25 can perform accurate positioning using correction information from the fixed base station 10 and perform the work task. On the other hand, as shown in Figure 6(B), if the work task of the mobile work unit 25 includes an area outside the area R0 of the fixed base station 10, the mobile work unit 25 outside the area R0 will not be able to perform accurate positioning using correction information from the fixed base station 10. Therefore, the selected mobile unit 23 is moved to operate as a base station so that its area R1 includes the work area of ​​the mobile work unit 25. As a result, even if the work area of ​​the mobile work unit 25 is outside the area R0 of the fixed base station 10, as long as it is within the area R1 of the selected mobile unit 23, accurate positioning is possible using correction information from the selected mobile unit 23.

[0057] The location where the selected mobile unit 23 is moved and stationary is chosen such that obstacles do not obstruct the signal from the GNSS satellite 200 to the autonomous mobile unit 21. In selecting a location where obstacles do not obstruct the signal from the satellite to the autonomous mobile unit 21, elevation angle is considered as one example. Figure 7 shows the relationship between the position CP of the antenna 216 of the autonomous mobile unit 21 and the position of the satellite. For example, a location is identified where there are no or relatively few obstacles such as buildings or trees at an elevation angle of 30 degrees or more relative to the position CP of the antenna 216. In this case, for example, a condition may be set that, relative to the position CP of the antenna 216, the number of obstacles at a predetermined elevation angle or higher in the surrounding 360 degrees is less than or equal to a predetermined number, or that the area (volume) occupied by obstacles at a predetermined elevation angle or higher in the surrounding 360 degrees relative to the position CP of the antenna 216 is less than or equal to a predetermined value. As a stricter criterion, an elevation angle of 20 degrees or more may be adopted. Furthermore, the slope of the ground surface may be used as a condition for specifying the location.

[0058] Figure 8 is a diagram illustrating the surrounding environment of the autonomous mobile device 21, which serves as a base station. For example, assuming that there are no obstacles such as buildings or trees at an elevation angle of 20 degrees or more, the antenna 216 monitors an inverted triangular pyramid-shaped region UF at an elevation angle of 20 degrees from its position CP, as shown in Figure 8. To minimize obstacles, it is preferable that the antenna 216's position CP be high, for example, installed at a height of 2m or more above the ground.

[0059] Figure 9 is a diagram illustrating the overview of positioning in this embodiment. As shown in Figure 6(B), when the selected mobile unit 23 is moved to a specified location outside area R0 (hereinafter referred to as the "specified location") and operated as a base station, the position of the selected mobile unit 23 can be determined using the correction signal SG1 emitted by the fixed base station 10 when the selected mobile unit 23 is moving. That is, the fixed base station 10 has absolute position information (true latitude and longitude) of the location where the fixed base station 10 is installed, and calculates the offset amount of the signal from the GNSS satellite 200 by receiving a signal from the GNSS satellite 200 and comparing it with the absolute position information. Then, this offset amount is transmitted to the management device 1 as the correction signal SG1, and the management device 1 transmits the correction signal SG1 to the selected mobile unit 23. The selected mobile unit 23 can acquire the position information of the autonomous mobile unit 21 with high accuracy by correcting the position information obtained by receiving a signal from the GNSS satellite 200 based on the correction signal SG1. Furthermore, the generation of the correction signal SG1 is not limited to the fixed base station 10; it may also be generated by the management device 1 or by the receiving destination mobile device 23.

[0060] The selected mobile unit 23 moves to a specific location, then stops and performs statistical processing (calibration) to obtain the absolute position information (true latitude and longitude) of the selected mobile unit 23 by self-measurement of signals from GNSS satellites 200 using standalone positioning. Hereinafter, this process will be referred to as positioning statistical processing (survey-in). Positioning statistical processing takes, for example, about 4 to 12 hours. By performing statistical processing of signals from GNSS satellites 200 through positioning statistical processing, the selected mobile unit 23 can obtain the absolute position information of its stationary location. In addition, if there is a period between the start and end of positioning statistical processing when the surrounding environment is unsuitable for statistical processing, the accuracy of the statistical processing can be improved by excluding the data from that period.

[0061] The selected mobile unit 23 compares the absolute position information obtained through positioning statistical processing with the signal received from the GNSS satellite 200 at the specific location to calculate the offset amount of the signal from the GNSS satellite 200 at the specific location, and transmits this offset amount as a correction signal SG2 to the management device 1. The work mobile unit 25 receives the correction signal SG2 from the management device 1 and can use the correction signal SG2 to accurately determine its position. Therefore, the management device 1 can achieve safe operation and remote control within the workplace using highly accurate position information.

[0062] Furthermore, the selected mobile unit 23 does not move as long as it is in base station mode, operating as a base station, after starting positioning statistical processing. That is, even after positioning statistical processing is completed, the selected mobile unit 23 remains stationary as long as it is emitting the correction signal SG2 in base station mode. Since the signal from the GNSS satellite 200 fluctuates depending on the weather and surrounding environment, the correction signal SG2 also changes over time. Therefore, the selected mobile unit 23 constantly emits the correction signal SG2, and the work mobile unit 25 constantly receives the correction signal SG2.

[0063] Figure 10 shows an example of a processing flow for operating a standby autonomous mobile unit 21 as a base station, Figure 11 shows an example of a processing flow for creating an operation plan, and Figure 12 schematically shows the processing when moving one selected mobile unit 23 to operate as a base station.

[0064] As shown in Figure 10, the operation plan creation unit 150 of the management device 1 detects the occurrence of a predetermined event (step S101). A predetermined event is, for example, (1) a work task is set outside the area R0 covered by the fixed base station 10, (2) the fixed base station 10 goes down (i.e., becomes inoperable), or (3) a user inputs an instruction to operate without the fixed base station 10. Upon the occurrence of a predetermined event, the operation plan creation unit 150 can determine the area and period in which the autonomous mobile device 21 should operate as a base station.

[0065] The operation plan creation unit 150 creates an operation plan based on the predetermined events that have occurred (step S102).

[0066] To explain the process of creating the operation plan in more detail with reference to Figure 11, the operation plan creation unit 150 selects one autonomous mobile unit that is on standby during the first predetermined period (i.e., has no scheduled operation) based on the operation plan data stored in the data storage unit 170 (step S103).

[0067] The operation plan creation unit 150 selects one candidate location within the work area WF for the selected mobile device 23 to operate as a base station, based on the point cloud data stored in the data storage unit 170 (step S105). In step S105, for example, as described above, a location is selected in which no obstacles obstruct the signal from the GNSS satellite 200 to the selected mobile device 23.

[0068] The operation plan creation unit 150 presents the selected candidate locations to the user. The operation plan creation unit 150 then determines whether the user has given OK input (i.e., the user has approved the identified candidate locations) (step S107). However, if the user is unable to give OK input to the management device 1, or if the user has previously indicated that they may skip the process in step S107, the process in step S107 may be skipped.

[0069] If the user does not input OK (Step S107: NO route), the operation plan creation unit 150 selects another candidate location, and the process returns to Step S105. On the other hand, if the user inputs OK (Step S107: YES route), the operation plan creation process is terminated. Note that if a candidate location needs to be re-selected, the user may manually input the candidate location. Hereinafter, the candidate location identified in Step S107 will be referred to as the specified location.

[0070] Returning to Figure 10, once the operation plan is created, the operation plan execution unit 160 transmits a movement instruction to the selected mobile unit 23 to the specific location, as shown in Figure 12(A) (step S111). Upon receiving the movement instruction, the selected mobile unit 23 moves to the specific location using the movement mechanism 215.

[0071] When the selected mobile vehicle 23 moves to a specific location, the environmental data processing unit 252 of the selected mobile vehicle 23 acquires data on the environment surrounding the selected mobile vehicle 23 (hereinafter referred to as surrounding environment data). The surrounding environment data includes, for example, image data acquired by a camera and data acquired by LiDAR. The environmental data processing unit 252 of the selected mobile vehicle 23 transmits the acquired surrounding environment data to the management device 1, and the operation plan creation unit 150 receives the surrounding environment data (step S113). If the selected mobile vehicle 23 is equipped with a camera only on the front and cannot acquire rearward images, the selected mobile vehicle 23 may be instructed to acquire surrounding environment data by, for example, driving in a circular motion near the specific location.

[0072] The flight plan creation unit 150 determines whether there are any problems with the surrounding environment of a specific location based on the received surrounding environment data (step S115). If there are problems with the surrounding environment of a specific location (for example, there are obstacles in the surrounding area) (step S115: NO route), the process returns to step S105 of the flight plan creation process to re-select a candidate location and create the flight plan again. In the process of step S105, a candidate location is selected using point cloud data, but there may be obstacles that are not reflected in the point cloud data, or other problems may arise in the surrounding environment afterward, so the processes of steps S113 and S115 are executed. In addition to the processes of steps S113 and S115, a process to check the reception status of signals from the GNSS satellite 200 may also be executed.

[0073] On the other hand, if there are no problems in the surrounding environment (step S115: YES route), the operation plan execution unit 160 sends an instruction to change to base station mode, along with an instruction to start positioning statistics processing (survey-in), as shown in Figure 12(B) (step S117). After the positioning statistics processing is completed, the operation plan execution unit 160 sends an instruction to send the correction signal SG2 to the selected mobile device 23 (step S119).

[0074] In this way, the selected mobile unit 23 begins operating as a base station. When the selected mobile unit 23 emits a correction signal SG2 in base station mode, the management device 1 can use this correction signal SG2 to accurately determine the position of the work mobile unit 25. Therefore, safe operation and remote control within the work area WF can be achieved with high-precision position information.

[0075] Furthermore, even outside the area R0 of the fixed base station 10, it becomes possible to dynamically expand the area where work can be performed according to operational needs.

[0076] Furthermore, while the installation of a fixed base station 10 is relatively costly, this cost can be reduced by operating the autonomous mobile device 21 as a base station. In addition, maintenance costs can also be reduced. The autonomous mobile device 21 may be equipped with a wireless communication interface 213, an antenna 216, and a battery as a base station unit that can be detached from the autonomous mobile device 21, and the base station unit may be installed after moving to a specific location.

[0077] Figures 10 to 12 illustrate the process of moving one autonomous mobile unit 21 to operate as a base station, but the process is not limited to this; two autonomous mobile units 21 may also be moved. Figure 13 schematically shows the process of moving two selected mobile units 23 to operate as base stations.

[0078] In this case, the operation plan creation unit 150 selects two autonomous mobile units 21 that are on standby (i.e., have no scheduled operations) during the target period based on the operation plan data stored in the data storage unit 170, and transmits movement instructions to the two selected mobile units 23 to their respective specific locations, as shown in Figure 13(A). Hereinafter, one of the selected mobile units 23 will be referred to as the first selected mobile unit 23A, and the other selected mobile unit 23 will be referred to as the second selected mobile unit 23B.

[0079] Then, as shown in Figure 12(B), the first selected mobile unit 23A is instructed to start positioning statistical processing (survey-in) at the first designated location, and the second selected mobile unit 23B is instructed to emit a correction signal SG2 as a base station at the second designated location. As a result, the work mobile unit 25 can perform work tasks outside the area R0 of the fixed base station 10 without waiting for the first selected mobile unit 23A to complete its positioning statistical processing. It is preferable that the first and second designated locations are overlapping areas of each other's area R1.

[0080] In the example of Figure 12(B), the second designated location is within the area R0 of the fixed base station 10. If the second designated location is within the area R0 of the fixed base station 10, the position of the second selected mobile device 23B can be accurately determined using the correction signal SG1 from the fixed base station 10, and the position of the work mobile device 25 can also be accurately determined using the correction signal SG2 from the second selected mobile device 23B. However, the second designated location may be outside the area R0. Even if the second designated location is outside the area R0 of the fixed base station 10, the position can be determined with higher accuracy than if the work mobile device 25 were to perform positioning on its own.

[0081] Furthermore, by moving with two mobile selection units 23, in step S113 of Figure 10, the camera of the first mobile selection unit 23A can acquire ambient environment data of the second mobile selection unit 23B, and conversely, the camera of the second mobile selection unit 23B can acquire ambient environment data of the first mobile selection unit 23A.

[0082] The first selected mobile unit 23A begins operating as a base station after completing positioning statistical processing. This allows the work mobile unit 25 to use the correction signal SG2 of the first selected mobile unit 23A, which has more accurate position information (absolute position information) over a wider area, so that the management device 1 can accurately determine the position of the work mobile unit 25. The second selected mobile unit 23B is a temporary base station until the positioning statistical processing of the first selected mobile unit 23A is completed, and after the first selected mobile unit 23A has completed positioning statistical processing, it is instructed to exit base station mode and wait at a designated location. Furthermore, if it is preferable to keep the second selected mobile device 23B as a base station rather than the first selected mobile device 23A as a base station, such as when the battery level of the first selected mobile device 23A is low, the first selected mobile device 23A may be kept waiting at a designated location after the positioning statistics processing is completed, and the second selected mobile device 23B may be moved to the first specific location where the first selected mobile device 23A performed the positioning statistics processing, and the second selected mobile device 23B may be operated as a base station.

[0083] Next, we will explain the process of replacing the autonomous mobile unit 21 as a base station. Figure 14 is a diagram showing an example of the process flow for replacing the autonomous mobile unit 21 as a base station, Figure 15 is a diagram showing an example of the process flow for creating a replacement operation plan, and Figure 16 is a diagram schematically showing the process of replacing the autonomous mobile unit 21 as a base station.

[0084] As shown in Figure 14, the operation plan creation unit 150 of the management device 1 identifies the autonomous mobile device 21 that is in base station mode (i.e., operating as a base station) in the work area WF based on the mode management data stored in the data storage unit 170 (step S201). Hereinafter, the autonomous mobile device 21 identified in step S201 will be referred to as the identified mobile device 27.

[0085] The operation plan creation unit 150 determines whether the battery level of the specified mobile device 27 is below a predetermined amount (step S203). Battery level information may be provided periodically from the selected mobile device 23, or it may be calculated based on the battery level at the start of base station mode and the time elapsed since the start.

[0086] If the battery level is not below a predetermined amount (step S203: NO route), it is not necessary to replace the specific mobile unit 27, so the process ends. On the other hand, if the battery level is below a predetermined amount (step S203: YES route), the operation plan creation unit 150 creates an operation plan regarding the replacement of the base station and the operating specific mobile unit 27 (step S205).

[0087] To explain the process of creating an operation plan for replacement in more detail with reference to Figure 15, the operation plan creation unit 150 selects an autonomous mobile unit 21 to operate as a base station in place of the specific mobile unit 27 (step S207). Specifically, the operation plan creation unit 150 selects one autonomous mobile unit that is on standby during the second predetermined period (i.e., has no scheduled operation) based on the operation plan data stored in the data storage unit 170. Hereinafter, the autonomous mobile unit 21 selected in step S207 will be referred to as the selected mobile unit 23.

[0088] Next, the operation plan creation unit 150 selects the destination of the selected mobile unit 23. Specifically, the operation plan creation unit 150 determines whether the destination of the selected mobile unit 23 is the same location where the specific mobile unit 27 is located by referring to the point cloud data of the work area WF, etc. (step S209).

[0089] If problems arise in the surrounding environment after the fact, or if new obstruction conditions are met, making it impossible to function as a base station at the same location (Step S209: No Route), the operation plan creation unit 150 selects one candidate location for the specific mobile device 27 to operate as a base station (hereinafter also referred to as a replacement candidate location) from within the work area WF based on the point cloud data stored in the data storage unit 170 (Step S211). The selection criteria for the replacement candidate location are as explained in Figures 7 and 8. The operation plan creation unit 150 presents the replacement candidate location to the user.

[0090] The operation plan creation unit 150 then determines whether the user has given OK input (i.e., whether the user has approved the proposed replacement location) (step S213). If the user is unable to give OK input to the management device 1, or if the user has previously indicated that the process in step S213 may be skipped, the process in step S213 may be skipped.

[0091] If the user does not input OK (step S213: NO route), the operation plan creation unit 150 selects another candidate location for replacement, and the process returns to step S211. On the other hand, if there is no problem with the same location in step S209, the operation plan creation unit 150 creates an operation plan with the same location as the replacement candidate location and terminates the operation plan creation process. Also, if the user inputs OK in step S213 (steps S209, S213: YES route), the operation plan is created with the newly selected other location as the replacement candidate location, and the operation plan creation process terminates. Note that if the replacement candidate location needs to be re-selected, the user may manually input the replacement candidate location. Hereinafter, the candidate locations identified in steps S209 and S213 will be referred to as replacement designated locations.

[0092] Returning to Figure 14, once the operation plan is created, the operation plan execution unit 160 transmits a movement instruction to the selected mobile unit 23 to the designated replacement location, as shown in Figure 16(A) (step S217). Upon receiving the movement instruction, the selected mobile unit 23 moves to the designated replacement location using the movement mechanism 215.

[0093] When the selected mobile unit 23 moves to the designated replacement location, the environmental data processing unit 252 of the selected mobile unit 23 acquires the surrounding environment data of the selected mobile unit 23. The environmental data processing unit 252 of the selected mobile unit 23 transmits the acquired surrounding environment data to the management device 1, and the operation plan creation unit 150 receives the surrounding environment data (step S219). If the selected mobile unit 23's camera is mounted only on the front and it is not possible to acquire rearward images, the data may be acquired by the selected mobile unit 23, for example, by driving in a circle near the identified candidate location. If the designated replacement location is the same location as the designated mobile unit 27, the surrounding environment data may be acquired from the designated mobile unit 27.

[0094] The flight plan creation unit 150 determines whether there are any problems with the surrounding environment based on the received surrounding environment data (step S221). If there are problems with the surrounding environment (for example, there are obstacles in the surrounding area) (step S221: NO route), the process returns to step S211 of the flight plan creation process and the flight plan is created again. In the process of step S211, a candidate replacement location is selected using point cloud data, but there may be obstacles that are not reflected in the point cloud data, or other problems may occur in the surrounding environment of the location where the specific mobile aircraft 27 was located afterwards, so the process of step S221 is executed. In addition to the process of step S221, a process to check the reception status of signals from the GNSS satellite 200 may also be executed.

[0095] On the other hand, if there are no problems with the surrounding environment (step S221: YES route), the operation plan execution unit 160 determines whether the designated replacement location is the same location where the designated mobile unit 27 was located. If it is the same location (step S223: YES route), since absolute position information already exists, it sends an instruction to change to base station mode along with an instruction to transmit the correction signal SG2 to the selected mobile unit 23 (step S225).

[0096] In step S223, if the location is not the same as the location where the specific mobile device 27 was located (step S223: NO), the operation plan execution unit 160 checks whether absolute location information exists for that location (step S227). In step S227, if absolute location information already exists, for example, if it is a location where positioning statistical processing has been performed in the past and positioning data exists (step S227: YES route), the operation plan execution unit 160 sends an instruction to change to base station mode along with an instruction to transmit the correction signal SG2 to the selected mobile device 23 (step S225).

[0097] On the other hand, if there is no absolute position information in step S227 (step S227: NO route), for example, if the specific candidate location is an unexplored area, the operation plan execution unit 160 transmits an instruction to the selected mobile device 23 to start positioning statistics processing (survey-in) (step S229). After the positioning statistics processing is completed, the operation plan execution unit 160 transmits an instruction to the selected mobile device 23 to change to base station mode, along with an instruction to transmit the correction signal SG2 (step S225).

[0098] By performing the above processing, even when using an autonomous mobile device 21 with battery limitations as a base station, it becomes possible to prevent the base station from ceasing operation during the execution of a work task. In the above flow, the need for replacement was determined based on the remaining battery level of the autonomous mobile device 21 acting as a base station, but the need for replacement may also be determined based on the operating status of the autonomous mobile device 21 acting as a base station, for example, whether or not there is a malfunction, or whether or not there is a change in the operation plan of the autonomous mobile device 21 acting as a base station.

[0099] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present invention is not limited to these examples. It is clear to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these will naturally also fall within the technical scope of the present invention. Furthermore, the components of the above embodiments may be combined in any way without departing from the spirit of the invention.

[0100] Note that the positioning method is not limited to RTK-GNSS. Other relative positioning methods that utilize base stations (or reference points) can also be used.

[0101] Furthermore, a charger for charging the autonomous mobile robot 21 is provided within the work area WF, and by knowing the absolute position information of the charger's location in advance, it can be operated as a base station while the autonomous mobile robot 21 is charging. In addition, a headquarters base is provided within the work area WF, and by installing a fixed base station 10 at the headquarters base, for example, when the autonomous mobile robot 21 is transported at a construction site, the area R0 covered by the fixed base station 10 can be flexibly set by moving the headquarters base according to the progress of the construction. Alternatively, a waiting area for the autonomous mobile robot 21 and a charging base where the charger is located may be provided together. By charging the autonomous mobile robot 21 while it is waiting, the autonomous mobile robot 21 can be used efficiently.

[0102] The management device 1 may be a server device installed at the headquarters or other locations, or it may be a distributed server composed of multiple server devices or a distributed virtual server (cloud server) created in a cloud environment. Alternatively, at least one of the autonomous mobile devices 21 may be designated as the master mobile device and the other autonomous mobile devices 21 as slave mobile devices, with the master mobile device being given the functions of the management device 1.

[0103] Furthermore, the management method described in the above-mentioned embodiment can be implemented by executing a pre-prepared control program on a computer. This control program is recorded on a computer-readable storage medium and executed when read from the storage medium. This control program may also be provided in the form of a non-transient storage medium such as flash memory, or it may be provided via a network such as the Internet.

[0104] Furthermore, this specification includes at least the following information. Note that the components etc. in parentheses indicate those corresponding to the embodiments described above, but are not limited thereto.

[0105] (1) A management system (management system 100) comprising a plurality of autonomous mobile devices (autonomous mobile devices 21) and an information processing device (management device 1), Each of the aforementioned autonomous mobile devices An autonomous movement control unit (movement control unit 251) controls autonomous movement, It has a receiving unit (antenna 216) that receives signals from satellites (GNSS satellites 200) in a satellite positioning system, The information processing device has an operation plan creation unit (operation plan creation unit 150) that creates operation plans for multiple autonomous mobile devices, The aforementioned operation plan creation unit, Among the multiple autonomous mobile units, the autonomous mobile unit for which operation can be scheduled during the first predetermined period is selected as the first autonomous mobile unit (selected mobile unit 23), The operation plan is created to move the first autonomous mobile device to a predetermined geographical location and to keep it stationary for at least a portion of the first predetermined period. Management system.

[0106] According to (1), autonomous mobile devices that are not scheduled to operate can function as base stations, allowing for more flexible setting of the area where positioning is possible. Therefore, high-precision positioning becomes possible over a wider area.

[0107] (2) The management system described in (1), The aforementioned operation plan creation unit, Of the multiple autonomous mobile units, the autonomous mobile unit that can secure a schedule for operation during the second predetermined period, which is later than the start of the first predetermined period, is selected as the second autonomous mobile unit (selected mobile unit 23), A plan is created to move the second autonomous mobile device to the predetermined geographical location. Management system.

[0108] According to (2), the second autonomous mobile device can take over the function of the first autonomous mobile device as a base station.

[0109] (3) The management system described in (2), The aforementioned operation plan creation unit, The operation plan is created to move the second autonomous mobile device to the predetermined geographical location and to keep it stationary for at least a portion of the second predetermined period. Management system.

[0110] According to (3), the second autonomous mobile device can take over the function of the first autonomous mobile device as a base station.

[0111] (4) A management system as described in (2) or (3), The aforementioned operation plan creation unit, The operation plan is created to move the second autonomous mobile device to the predetermined geographical location and to move the first autonomous mobile device (specific mobile device 27) away from the predetermined geographical location. Management system.

[0112] According to (4), after the second autonomous mobile unit takes over the function as a base station, the first autonomous mobile unit can be moved.

[0113] (5) The management system described in (4), The aforementioned operation plan creation unit, Based on the remaining battery level of the first autonomous mobile device, the departure of the first autonomous mobile device is determined. Management system.

[0114] According to (5), by determining the departure of an autonomous mobile unit that functions as a base station based on the remaining battery level, it is possible to avoid the loss of base station functionality due to insufficient battery power.

[0115] (6) The management system described in (4), The aforementioned operation plan creation unit, Based on the operating state of the first autonomous mobile device, the departure of the first autonomous mobile device is determined. Management system.

[0116] According to (6), by determining the departure of an autonomous mobile unit that functions as a base station according to its operating status, the loss of base station functionality due to a malfunction of the autonomous mobile unit can be avoided.

[0117] (7) The management system described in (4), The aforementioned operation plan creation unit, Based on whether or not there has been a change in the operation schedule of the first autonomous mobile device during the first predetermined period, the departure of the first autonomous mobile device is determined. Management system.

[0118] According to (7), by determining the departure of an autonomous mobile unit that functions as a base station in response to changes in the operational schedule, the autonomous mobile units can be utilized effectively.

[0119] (8) A management system described in any of (4) to (7), The aforementioned operation plan creation unit, If the predetermined geographical location satisfies the first condition regarding the surrounding environment, the operation plan is created to station the second autonomous mobile device at the same location as the predetermined geographical location. Management system.

[0120] According to (8), if the stationary location of the first autonomous mobile unit is suitable for base station placement, high-precision positioning can be continued by placing the second autonomous mobile unit in the same location.

[0121] (9) The management system described in (8), The first condition includes at least one of the following: a condition regarding the elevation angle between an object around the predetermined geographical location and the first autonomous mobile device; a condition regarding the height of the object around the predetermined geographical location; and a condition regarding the slope of the ground surface. Management system.

[0122] According to (9), high-precision positioning becomes possible by determining the position of an autonomous mobile device that functions as a base station based on factors that reduce the accuracy of positioning.

[0123] (10) A management system as described in (8) or (9), The aforementioned operation plan creation unit, If the predetermined geographical location satisfies the second condition regarding the surrounding environment, or if it subsequently ceases to satisfy the first condition, the operation plan is created to station the second autonomous mobile device at another location that satisfies the first condition and is different from the predetermined geographical location. Management system.

[0124] According to (10), if the stationary location of the first autonomous mobile unit is not suitable for the placement of a base station, or becomes unsuitable thereafter, high-precision positioning can be achieved by placing the second autonomous mobile unit in a different location.

[0125] (11) The management system described in (10), The aforementioned other locations are locations for which positioning data already exists. Management system.

[0126] According to (11), even if the stationary position of the second autonomous mobile unit is different from that of the first autonomous mobile unit, if positioning data exists, there is no need to perform positioning statistical processing after the second autonomous mobile unit stops, and therefore high-precision positioning can be continued.

[0127] (12) A management system described in any of (2) to (11), The first autonomous mobile device and the second autonomous mobile device are, respectively The system comprises the autonomous mobile control unit, the receiving unit, and the battery. The receiving unit and the battery constitute a detachable unit (base station unit) that can be removed from the aircraft. The first autonomous mobile device and the second autonomous mobile device install the detachable body at the predetermined geographical location. Management system.

[0128] According to (12), the part that functions as a base station can be attached to and detached from the autonomous mobile device, thus improving convenience.

[0129] (13) A management method for creating operational plans for multiple autonomous mobile units (autonomous mobile units 21) each capable of receiving signals from satellites (GNSS satellites 200) in a satellite positioning system, Step (Step S103) of selecting an autonomous mobile device from among a plurality of autonomous mobile devices that can secure a schedule for operation during a first predetermined period as the first autonomous mobile device, The method includes the step (step S102) of creating an operation plan to move the first autonomous mobile device to a predetermined geographical location and to keep it stationary for at least a portion of the first predetermined period, Management method.

[0130] According to (13), autonomous mobile devices that are not scheduled to operate can function as base stations, allowing for more flexible setting of the area where positioning is possible. Therefore, high-precision positioning becomes possible over a wider area.

[0131] (14) A management program for creating operational plans for multiple autonomous mobile units (autonomous mobile units 21) each capable of receiving signals from satellites (GNSS satellites 200) in a satellite positioning system, Step (Step S103) of selecting an autonomous mobile device from among a plurality of autonomous mobile devices that can secure a schedule for operation during a first predetermined period as the first autonomous mobile device, A management program for causing a computer to perform the steps of creating an operation plan (step S102) to move the first autonomous mobile device to a predetermined geographical location and to keep it stationary for at least a portion of the first predetermined period.

[0132] According to (14), autonomous mobile devices that are not scheduled to operate can function as base stations, allowing for more flexible setting of the area where positioning is possible. Therefore, high-precision positioning becomes possible over a wider area.

[0133] (15) A computer-readable storage medium containing the management program described in (14).

[0134] According to (15), autonomous mobile devices that are not scheduled to operate can function as base stations, allowing for more flexible setting of the area where positioning is possible. Therefore, high-precision positioning becomes possible over a wider area.

[0135] (16) A management system described in any of (1) to (12), Each of the aforementioned autonomous mobile devices It has a communication unit (wireless communication interface 213) capable of sending and receiving positioning signals (correction signals SG1, SG2), Management system. [Explanation of Symbols]

[0136] 1. Management device (information processing device) 21 Autonomous Mobile Devices 100 Management Systems 150 Operation Planning Department 200 GNSS satellites (satellites) 216 Antenna (receiving unit) 251 Movement Control Unit (Autonomous Movement Control Unit)

Claims

1. A management system for performing relative positioning using multiple autonomous mobile devices, The management system comprises a plurality of autonomous mobile devices and an information processing device. Each of the aforementioned autonomous mobile devices An autonomous movement control unit that controls autonomous movement, It has a receiving unit that receives signals from satellites in a satellite positioning system, The information processing device has an operation plan creation unit that creates operation plans for multiple autonomous mobile devices, The aforementioned operation plan creation unit, Among the multiple autonomous mobile units, the autonomous mobile unit for which a schedule of operation during the first predetermined period can be secured is selected as the first autonomous mobile unit to be operated as a base station in the satellite positioning system, The operation plan is created such that the first autonomous mobile device is moved to a predetermined geographical location to operate as the base station, and that it is kept stationary for at least a portion of the first predetermined period. Management system.

2. A management system according to claim 1, The aforementioned operation plan creation unit, Among the multiple autonomous mobile devices, the one that can secure a schedule for operation during the second predetermined period, which is later than the start of the first predetermined period, is selected as the second autonomous mobile device. The operation plan is created to move the second autonomous mobile device to the predetermined geographical location. Management system.

3. A management system according to claim 2, The aforementioned operation plan creation unit, The operation plan is created to move the second autonomous mobile device to the predetermined geographical location and to keep it stationary for at least a portion of the second predetermined period. Management system.

4. A management system according to claim 2, The aforementioned operation plan creation unit, The operation plan is created to move the second autonomous mobile device to the predetermined geographical location and to move the first autonomous mobile device away from the predetermined geographical location. Management system.

5. A management system according to claim 4, The aforementioned operation plan creation unit, Based on the remaining battery level of the first autonomous mobile device, the departure of the first autonomous mobile device is determined. Management system.

6. A management system according to claim 4, The aforementioned operation plan creation unit, Based on the operating state of the first autonomous mobile device, the departure of the first autonomous mobile device is determined. Management system.

7. A management system according to claim 4, The aforementioned operation plan creation unit, Based on whether or not there has been a change in the operation schedule of the first autonomous mobile device during the first predetermined period, the departure of the first autonomous mobile device is determined. Management system.

8. A management system according to claim 4, The aforementioned operation plan creation unit, If the predetermined geographical location satisfies the first condition regarding the surrounding environment, the operation plan is created to station the second autonomous mobile device at the same location as the predetermined geographical location. Management system.

9. A management system according to claim 8, The first condition includes at least one of the following: a condition regarding the elevation angle between an object around the predetermined geographical location and the first autonomous mobile device; a condition regarding the height of the object around the predetermined geographical location; and a condition regarding the slope of the ground surface. Management system.

10. A management system according to claim 8, The aforementioned operation plan creation unit, If the predetermined geographical location satisfies the second condition regarding the surrounding environment, or if it subsequently ceases to satisfy the first condition, the operation plan is created to station the second autonomous mobile device at another location that satisfies the first condition and is different from the predetermined geographical location. Management system.

11. A management system according to claim 10, The aforementioned other locations are locations for which positioning data already exists. Management system.

12. A management system according to any one of claims 2 to 11, The first autonomous mobile device and the second autonomous mobile device are, The system comprises the autonomous mobile control unit, the receiving unit, and the battery. The receiving unit and the battery constitute a detachable unit that can be removed from the aircraft. The first autonomous mobile device and the second autonomous mobile device install the detachable body at the predetermined geographical location. Management system.

13. A management method for creating operational plans for a plurality of autonomous mobile devices in order to perform relative positioning using a plurality of autonomous mobile devices each capable of receiving signals from satellites in a satellite positioning system, The steps include selecting from among a plurality of autonomous mobile devices the first autonomous mobile device that can secure a schedule for operation during a first predetermined period to be operated as a base station in the satellite positioning system, The process includes the step of creating an operation plan to move the first autonomous mobile device to a predetermined geographical location in order to operate it as the base station, and to keep it stationary for at least a portion of the first predetermined period. Management method.

14. A management program for creating operational plans for multiple autonomous mobile units, each capable of receiving signals from satellites in a satellite positioning system, in order to perform relative positioning using multiple autonomous mobile units, The steps include selecting from among a plurality of autonomous mobile devices the first autonomous mobile device that can secure a schedule for operation during a first predetermined period to be operated as a base station in the satellite positioning system, A management program for causing a computer to perform the steps of: creating an operation plan to move the first autonomous mobile device to a predetermined geographical location in order to operate it as the base station, and keeping it stationary for at least a portion of the first predetermined period.

15. A computer-readable storage medium storing the management program described in claim 14.

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