A system, method, and program for managing an environmental map corresponding to the work area in which a mobile mechanism operates.

Abstract

To upgrade the efficiency in work to be performed in a work place where a moving mechanism moves.SOLUTION: Map management means 10 manages an environmental map Me. Position detection means 60 transmits information, with which a current position of at least one position indicator 60 disposed in a work place WP can be identified, to the map management means 10. The map management means 10 identifies a current section encompassing the current position in the environmental map Me. A moving mechanism 30 moves within the work place WP by avoiding an entry prohibited section on the basis of the environmental map Me in which the current section of the position indicator 60 is designated as the entry prohibited section on the basis of the condition of the at least one position indicator 60.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a system, a method, and a program for managing an environmental map corresponding to a work location where a moving mechanism moves.

Background Art

[0002] Conventionally, a configuration for managing an environmental map corresponding to a work location where a moving mechanism moves is known. For example, Japanese Patent Application Laid-Open No. 2018-44983 (Patent Document 1) discloses a movement attribute setting device that sets movement attributes such as entry prohibition for a figure included in map information indicating a movable area of a moving body. According to the movement attribute setting device, since movement attributes related to the movement of the moving body can be set for the figures included in the map information, it is possible to realize acquisition of a more appropriate route by acquiring a route in consideration of the movement attributes set in the map information.

[0003] Further, Japanese Patent Application Laid-Open No. 2009-301247 (Patent Document 2) discloses a virtual wall system for an autonomous mobile robot that restricts the movement of a self-propelled cleaner that moves inside a room and performs cleaning to an area where entry is prohibited. According to the virtual wall system, it is possible to prevent the autonomous mobile robot from crossing the boundary line and to allow the user to confirm the location where the boundary line is generated. ru.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] The conditions of a work site change over time. In order to improve the efficiency of work performed in a work site where a mobile mechanism is moved, it is necessary to appropriately set up areas in the work site where the mobile mechanism is prohibited from entering (no-entry zones) according to the conditions. However, Patent Documents 1 and 2 do not consider the setting of no-entry zones according to the conditions of the work site.

[0006] This disclosure is made to solve the problems described above, and its purpose is to improve the efficiency of work performed at the work site where the mobile mechanism is moving. [Means for solving the problem]

[0007] A system relating to one aspect of this disclosure comprises a mobile mechanism, a map management means, and a position detection means. The mobile mechanism moves around the work area based on an environmental map corresponding to the work area. The map management means manages the environmental map. The position detection means transmits information to the map management means that allows for the identification of the current position of each of at least one position indicators placed in the work area. The map management means identifies the current area, including the current position, on the environmental map. The mobile mechanism moves around the work area, avoiding restricted areas, based on an environmental map where the current area of ​​each of the at least one position indicators is set as a restricted area based on the state of each of the position indicators.

[0008] According to this disclosure, by determining the state of a position indicator according to the conditions of the work area, a desired area of ​​the work area can be automatically designated as a no-entry zone. As a result, the efficiency of work performed in the work area to which the mobile mechanism moves can be improved.

[0009] In the above disclosure, the location detection means may change settings regarding restricted areas in response to user input to the location detection means. Such settings may include settings regarding whether or not to designate the area including the current location as a restricted area. The map management means may identify restricted areas based on these settings.

[0010] According to this disclosure, if you do not want to designate an area including the current position of a location indicator as a no-entry zone, you can prevent unintended no-entry zones from being set in the work area by changing the settings related to no-entry zones.

[0011] In the above disclosure, the setting of the no-entry zone may include the setting of the shape of the no-entry zone and the setting of the size of the no-entry zone.

[0012] According to this disclosure, the shape and size of the restricted area can be specified to suit the space required for the work.

[0013] In the above disclosure, the settings for no-entry zones may include settings for whether or not a no-entry zone can be formed by multiple position indicators, and settings for groups to which multiple position indicators belong. A no-entry zone may include an area enclosed by multiple position indicators.

[0014] According to this disclosure, users can set no-entry zones of their desired shape and orientation according to the conditions of the work area. Furthermore, by widening the spacing between multiple position indicators without changing the number of position indicators, the no-entry zone can be expanded, thereby reducing the number of position indicators required to form the no-entry zone.

[0015] In the above disclosure, the settings for restricted areas may include settings for the update delay time between the detection of movement of at least one location indicator and the updating of the environmental map. The map management means may set the current area, which includes the current location, as a restricted area if the current area is not set as a restricted area in the environmental map, and the time the current location is included in the current area is longer than the update delay time.

[0016] According to this disclosure, even if the movement of the location indicator is detected by the map management means, the environment map will not be updated during the update delay time. Since continuous updates of the environment map are prevented while the location indicator is being moved by the user, the cost of computational resources for the map management means and the movement mechanism can be reduced.

[0017] In the above disclosure, the settings for the no-entry zone may include settings for the size of the restricted entry zone set around the no-entry zone. When the mobile mechanism is moving through the restricted entry zone, it may reduce its speed to a speed lower than its normal speed and output an alarm to the outside indicating that it is moving through the restricted entry zone.

[0018] According to this disclosure, the mobile device will travel through the restricted area at a slower-than-normal speed and will warn the outside that it is traveling through the restricted area. Users working near the boundary of the restricted area will be more likely to notice the mobile device and have time to take action to avoid it. As a result, the risk of users blocking the path of the mobile device and the risk of users colliding with the mobile device can be reduced.

[0019] In the above disclosure, the map management means may transmit information about the current area to the mobile device if the current area is not designated as a restricted area on the environmental map. The mobile device may set the current area as a restricted area on the environmental map and set areas that do not include the current location as accessible areas on the environmental map where the mobile device can move.

[0020] According to this disclosure, not all of the environmental map data, but only the information necessary for updating the environmental map is transmitted from the map management means to the mobile device. Therefore, the amount of communication between the map management means and the mobile device associated with updating the environmental map can be reduced.

[0021] In the above disclosure, the location detection means may be configured to be portable by the user and may display an environmental map in which no-entry zones are defined.

[0022] According to this disclosure, the restricted access area set in the workplace can be confirmed in real time in the workplace via the position detection means.

[0023] In the above disclosure, the position detection means may display an area corresponding to the restricted access area in the workplace.

[0024] According to this disclosure, the area set as the restricted access area in the workplace can be known in real time in the workplace.

[0025] In the above disclosure, the system may further include augmented reality display means for imaging at least one position indicator. The augmented reality display means may superimpose and display a CG image indicating the restricted access area on the image of at least one position indicator.

[0026] According to this disclosure, by looking at the augmented reality display means, it is possible to confirm in real time in the workplace that the area around the position indicator arranged in the workplace is set as the restricted access area.

[0027] In the above disclosure, the system may further include area planning means for creating a plan for the restricted access area. The map management means may transmit the difference between the plan and the setting of the restricted access area based on the arrangement of at least one position indicator to each of the at least one position indicator and the area planning means. Each of the at least one position indicator and the area planning means may output information regarding the difference.

[0028] According to this disclosure, since the collation result (difference) between the plan and the actual setting of the restricted access area is notified to the user in real time, the plan or setting of the restricted access area can be quickly corrected.

[0029] In the above disclosure, the system may further include area dividing means for dividing the environmental map into a plurality of areas.

[0030] According to this disclosure, the workspace can be divided in a desired manner. In the above disclosure, each of the at least one position indicator may be configured to be movable by the user.

[0031] According to this disclosure, by moving a position indicator according to the conditions of the work area, a desired area of ​​the work area can be automatically designated as a no-entry zone.

[0032] In the above disclosure, at least one location indicator may be fixed to the work site. The location detection means may transmit the identifier of at least one location indicator to the map management means. The map management means may identify the current area based on the correspondence between the identifier of at least one location indicator and information about the location where at least one location indicator is fixed.

[0033] According to this disclosure, since there is no need to perform positioning on the location indicator, there is no error in the current position of the location indicator identified in the map management means. As a result, no-entry zones can be accurately set on the environmental map.

[0034] In the above disclosure, at least one position indicator may be a position detection means.

[0035] According to this disclosure, by moving the position detection means according to the conditions of the work area, a desired area of ​​the work area can be automatically designated as a no-entry zone.

[0036] A method relating to another aspect of the present disclosure manages an environmental map corresponding to a work area on which a mobile mechanism is moving. The method includes the steps of: transmitting information that can identify the current location of each of at least one location indicators placed in the work area; and identifying the current area, which includes the current location, in the environmental map. The mobile mechanism moves around the work area, avoiding the no-go zones, based on the environmental map in which the current area of ​​each of the at least one location indicators is set as a no-go zone based on the state of each of the location indicators.

[0037] According to this disclosure, by determining the state of a position indicator according to the conditions of the work area, a desired area of ​​the work area can be automatically designated as a no-entry zone. As a result, the efficiency of work performed in the work area to which the mobile mechanism moves can be improved.

[0038] A program relating to another aspect of this disclosure manages an environmental map corresponding to the work area to which the mobile mechanism moves. The program, executed by a processor, transmits information that can identify the current location of each of at least one location indicators placed in the work area, and identifies the current area, including the current location, in the environmental map. The mobile mechanism moves through the work area, avoiding no-entry zones, based on the environmental map in which the current area of ​​each of the at least one location indicators is set as a no-entry zone based on the state of each of the location indicators.

[0039] According to this disclosure, by determining the state of a position indicator according to the conditions of the work area, a desired area of ​​the work area can be automatically designated as a no-entry zone. As a result, the efficiency of work performed in the work area to which the mobile mechanism moves can be improved. [Effects of the Invention]

[0040] The systems, methods, and programs described herein can improve the efficiency of work performed at a work site in which a mobile mechanism is moving. [Brief explanation of the drawing]

[0041] [Figure 1] This is a block diagram showing the configuration of the production system according to Embodiment 1. [Figure 2] This is a block diagram showing the configuration of a production system according to a modified example of Embodiment 1. [Figure 3] This figure shows an example of a work area divided into multiple zones, as shown in Figure 2. [Figure 4] This figure shows an example of an environment map corresponding to the work location WP in Figure 3. [Figure 5] This figure shows another example of an environment map corresponding to the work location WP in Figure 3. [Figure 6] This is a block diagram showing the configuration of a production system according to a modified example 2 of Embodiment 1. [Figure 7] This is a block diagram showing an example of the server hardware configuration in Figure 6. [Figure 8] Figure 6 is a block diagram showing an example of the AMR's hardware configuration. [Figure 9] Figure 6 is a block diagram showing an example of the hardware configuration of a portable device. [Figure 10] This is a block diagram showing the configuration of a production system according to a modified example 3 of Embodiment 1. [Figure 11] This is a block diagram showing the configuration of a production system according to a modified example 4 of Embodiment 1. [Figure 12] This is a block diagram showing the configuration of the production system according to Embodiment 2. [Figure 13] Figure 12 shows an example of a GUI for enabling no-entry zones, displayed on the touch panel of a smartphone, which is an example of a portable device. [Figure 14] Figure 12 is a perspective view of a traffic cone, which is an example of a portable device. [Figure 15] This is a block diagram showing the configuration of a production system according to a modified example of Embodiment 2. [Figure 16] Figure 15 shows a smartphone display, which is an example of a portable device. [Figure 17] Figure 15 shows a plan view of a traffic cone, an example of a portable device, from the Y-axis and Z-axis directions, respectively. [Figure 18] This is a block diagram showing the configuration of the production system according to Embodiment 3. [Figure 19] Figure 18 is a block diagram showing an example of the hardware configuration of an AR display device. [Figure 20] Figure 19 shows an example of augmented reality displayed on a screen. [Figure 21] This is a block diagram showing the configuration of the production system according to Embodiment 4. [Figure 22] Figure 21 is a block diagram showing an example of the hardware configuration of the floor planning device. [Figure 23] This figure shows a GUI for setting the shape of a no-entry zone, displayed on the touch panel of a smartphone, which is an example of a portable device for the production system according to Embodiment 5. [Figure 24] This is a perspective view of a traffic cone, which is an example of a portable device for the production system according to Embodiment 5. [Figure 25] This is a magnified view of the setting dial shown in Figure 24. [Figure 26] This figure shows an example of an environmental map in which no-entry zones are set based on the settings shown in Figures 23 and 25. [Figure 27] This figure shows another example of an environmental map in which no-entry zones are set based on the settings shown in Figures 23 and 25. [Figure 28] This figure shows a GUI for setting a group of portable devices that form a no-entry zone, displayed on the touch panel of a smartphone, which is an example of a portable device for the production system according to Embodiment 6. [Figure 29] This figure shows a setting dial included in a color cone, which is an example of a portable device for the production system according to Embodiment 6. [Figure 30] This figure shows an example of an environmental map in which no-entry zones are set based on the settings shown in Figures 28 and 29. [Figure 31] This is a block diagram showing the configuration of the production system according to Embodiment 7. [Figure 32] Figure 31 is a block diagram showing an example of the hardware configuration of a floor division device. [Figure 33] Figure 31 shows an example of an environmental map divided into multiple areas by the floor division device. [Figure 34] This figure shows a GUI related to setting the update delay of the environmental map, displayed on the touch panel of a smartphone, which is an example of a portable device for the production system according to Embodiment 8. [Figure 35] This figure shows a setting dial included in a color cone, which is an example of a portable device for the production system according to Embodiment 8. [Figure 36] This is a block diagram showing the configuration of the production system according to Embodiment 9. [Figure 37] Figure 36 shows a GUI for setting entry warning zones, displayed on the touch panel of a smartphone, which is an example of a portable device. [Figure 38] Figure 36 shows a setting dial included in a traffic cone, which is an example of a portable device. [Figure 39] This figure shows an example of an environmental map in which entry warning zones are set based on the settings shown in Figures 37 and 38. [Figure 40] This is a block diagram showing the configuration of the production system according to Embodiment 10. [Figure 41] Figure 40 shows multiple GUIs displayed on the touch panel of a smartphone, which is an example of a portable device. [Figure 42] Figure 40 shows the processes performed by the portable device, server, and mobile mechanism when an entry restriction setting is entered into the portable device by a field worker. [Figure 43] This figure shows the flow of processing performed in the moving mechanism shown in Figure 40. [Figure 44] Figure 42 is a flowchart showing the specific processing flow of the map update determination process. [Figure 45] Figure 42 is a flowchart showing the specific processing flow of the environment map update process. [Figure 46] This is a block diagram showing the configuration of the production system according to Embodiment 11. [Figure 47] This figure shows an example of a correspondence table, as shown in Figure 46. [Figure 48] This is a block diagram showing the configuration of the production system according to Embodiment 12. [Figure 49] This is a block diagram showing the configuration of the production system according to Embodiment 13. [Figure 50] This figure shows an example of information regarding the codes displayed on the control panel in Figure 49. [Figure 51] This figure shows the processes performed by the code reader, server, and mobile mechanism when an entry restriction setting is entered into the code reader by a field worker (Figure 49). [Modes for carrying out the invention]

[0042] The embodiments will be described in detail below with reference to the drawings. Note that the same or corresponding parts in the drawings are denoted by the same reference numerals, and their descriptions will not be repeated in principle.

[0043] [Embodiment 1] <Examples of application> Figure 1 is a block diagram showing the configuration of production system 1 according to Embodiment 1. As shown in Figure 1, production system 1 comprises a moving mechanism 30, a map management means 10, and a position detection means 60 (position indicator). The moving mechanism 30 moves around the work location WP based on an environmental map Me corresponding to the work location WP. The position detection means 60 is located at the work location WP. The map management means 10 manages the environmental map Me. The position detection means 60 transmits information (e.g., coordinates) regarding its current position (self-position) to the map management means 10. The map management means 10 identifies the current area, including the current position of the position detection means 60, on the environmental map Me. Based on the current position (state) of the position detection means 60, the moving mechanism 30 moves around the work location WP, avoiding the restricted area, based on the environmental map Me in which the current area is set as a restricted area.

[0044] [Modification 1 of Embodiment 1] Figure 2 is a block diagram showing the configuration of production system 1A according to a modified example of Embodiment 1. In Figure 2, the map management means 10 and position detection means 60 of Figure 1 are shown as server 10 and portable device 60, respectively.

[0045] As shown in Figure 2, the server 10 includes a map update unit 11 and a map storage unit 12 in which the environmental map Me is stored. The map update unit 11 updates the no-entry zones in the environmental map Me based on the current location of the portable device 60 and transmits the environmental map Me to the mobile mechanism 30.

[0046] The portable device 60 includes a positioning unit 61. The positioning unit 61 determines the current location of the portable device 60 using radio waves such as Wi-Fi / 5G, ultrasound, geomagnetic field, camera, or GPS (Global Positioning System) sensor and transmits it to the server 10. The portable device 60 is configured to be movable by the field worker 40 (user). The field worker 40 can make the area around the portable device 60 a no-entry zone by moving the portable device 60 to a location where they want to prohibit the entry of the mobile mechanism 30.

[0047] The mobile device 30 includes a map storage unit 31 and a route planning unit 32. The environmental map Me transmitted from the server 10 to the mobile device 30 is stored in the map storage unit 31. The route planning unit 32 recalculates the route of the mobile device 30 in response to receiving the environmental map Me from the server 10.

[0048] Figure 3 shows an example of a work area WP (Workplace Point) from Figure 2, divided into multiple sections. In Figure 3, the X, Y, and Z axes are orthogonal to each other. The same applies to Figures 4, 5, 17, 26, 27, 30, 33, and 39, which will be explained later.

[0049] As shown in Figure 3, the workspace WP is divided into multiple cells in a grid of 9 columns and 5 rows. Note that the workspace WP does not necessarily have to be represented as a grid. Hereafter, cells in column X and row Y will be referred to as cell XY. The portable device 60 is located in cell E5.

[0050] Figure 4 shows an example of an environmental map Me corresponding to the work area WP in Figure 3. In Figure 4, cells representing accessible areas that the mobile device 30 can enter (e.g., cell A1) are shown in white (no hatching). Cells representing inaccessible areas that the mobile device 30 cannot enter (e.g., cell A2) are shown with the darkest hatching. Inaccessible cells include obstacles such as workbenches, cranes, collaborative robots, or parts storage areas. Cells representing restricted areas are hatched with lighter hatching than those representing inaccessible areas. As shown in Figure 4, the restricted area is cell E5, which contains the current location of the portable device 60.

[0051] The conditions of the work area WP change over time. In order to improve the efficiency of work performed at the work area WP to which the mobile mechanism 30 moves, it is necessary to appropriately set no-entry zones in the work area WP according to the conditions. Therefore, in the production system 1, the no-entry zones in the environment map Me are updated based on the current position of the portable device 60. For example, if the portable device 60 is moved by the field worker 40 from a position in cell E5 to a position in cell E4, the environment map Me is updated by the map update unit 11 of the server 10 as shown in Figure 5. According to the production system 1, by moving the portable device 60 according to the conditions of the work area WP, a desired area of ​​the work area WP can be automatically designated as a no-entry zone, and no-entry zones that no longer need to be designated as no-entry zones can be automatically changed to accessible zones. In addition, the field worker 40 can know the areas set as no-entry zones in real time by visually checking the current position of the portable device 60.

[0052] Furthermore, if the portable device 60 is moved within cell E5 by the field worker 40 (i.e., the cell containing the current location of the portable device 60 does not change), even if the environmental map Me is updated, the area where entry is prohibited in the environmental map Me will not change. Therefore, if the current location of the portable device 60 moves but the cell containing that current location does not change, the environmental map Me is updated in order to reduce the frequency of updating the environmental map Me and calculating the route of the moving mechanism 30. trap It is desirable to reduce the cost of computing resources for the server 10 and the mobile mechanism 30 by suppressing the frequency of updating the environment map Me and calculating the route of the mobile mechanism 30.

[0053] [Modification 2 of Embodiment 1] Figure 6 is a block diagram showing the configuration of production system 1B according to modification 2 of Embodiment 1. In Figure 6, the mobile mechanism 30 in Figure 2 is shown as an AMR (Autonomous Mobile Robot) 30. As shown in Figure 6, field worker 40_1 is carrying a smartphone 60_1. Field worker 40_2 is wearing smart glasses 60_2. Field worker 40_3 is holding a traffic cone (registered trademark) 60_3. The smartphone 60_1, smart glasses 60_2, and traffic cone 60_3 in Figure 6 each correspond to the portable device 60 in Figure 2.

[0054] Figure 7 is a block diagram showing an example of the hardware configuration of server 10 in Figure 6. As shown in Figure 7, server 10 includes, as its main components, a processor 103, memory 104, storage 106, a wired communication interface 108, and a wireless communication interface 109. These components of server 10 are connected to each other via an internal bus 102 so that they can communicate with one another.

[0055] The processor 103 performs various processes by reading and executing various programs stored in the storage 106. The memory 104 consists of a volatile storage device such as DRAM (Dynamic Random Access Memory) or SRAM (Static Random Access Memory). The storage 106 stores the environmental map Me and a map management program 107 for managing the environmental map Me. The processor 103 that executes the map management program 107 corresponds to the map update unit 11 in Figure 2. The storage 106 corresponds to the map storage unit 12 in Figure 2.

[0056] The wired communication interface 108 controls the exchange of data over a wired network. The wireless communication interface 109 controls the exchange of data over a wireless network. Specifically, the wireless communication interface 109 controls the exchange of data between each of the multiple portable devices 60.

[0057] Figure 8 is a block diagram showing an example of the hardware configuration of the AMR30 shown in Figure 6. As shown in Figure 8, the AMR30 includes, as its main components, a processor 303, memory 304, LED (Light Emitting Diode) 305, storage 306, speaker 309, wireless communication interface 320, sensor group 340, drive unit 350, and wheels 360. These components of the AMR30 are connected to each other in a communicative manner via an internal bus 302.

[0058] The processor 303 performs various processes by reading and executing various programs stored in the storage 306. The memory 304 consists of a volatile storage device such as DRAM (Dynamic Random Access Memory) or SRAM (Static Random Access Memory). The storage 306 stores the autonomous driving program 307 and the environmental map Me for autonomous driving and route design. The processor 303 that executes the autonomous driving program 307 corresponds to the route planning unit 32 in Figure 2. The storage 306 corresponds to the map storage unit 31 in Figure 2.

[0059] The wireless communication interface 320 controls the exchange of data over the wireless network. Specifically, the wireless communication interface 320 controls the exchange of data with the server 10.

[0060] The sensor group 340 includes various sensors such as a sensor for determining the current position of the AMR30 (for example, a laser scanner or GPS sensor), a laser sensor (distance sensor) or camera for detecting obstacles or field workers 40 around the AMR30, or a contact sensor for detecting contact with an object or field worker 40.

[0061] The drive unit 350 is a device for driving the wheels 360. The drive unit 350 includes an actuator such as a motor.

[0062] Figure 9 is a block diagram showing an example of the hardware configuration of the portable device 60 shown in Figure 6. As shown in Figure 9, the portable device 60 includes, as its main components, a processor 603, memory 604, wireless communication interface 605, storage 606, input unit 608, output unit 609, sensor group 690, and camera 691. These components of the portable device 60 are connected to each other via an internal bus 602 so as to be able to communicate with one another. The sensor group 690 corresponds to the positioning unit 61 in Figure 2.

[0063] The processor 603 performs various processes by reading and executing various programs stored in the storage 606. The memory 604 consists of a volatile storage device such as DRAM or SRAM. The storage 606 stores a no-entry zone setting program 607 for sending information necessary to set up no-entry zones (for example, the current location of the portable device 60) to the server 10.

[0064] The wireless communication interface 605 controls the exchange of data over the wireless network. Specifically, the wireless communication interface 605 controls the exchange of data with the server 10.

[0065] The input unit 608 receives input from the user to the program. The input unit 608 includes, for example, a touch panel, buttons, a microphone, or switches.

[0066] The output unit 609 outputs the program execution results to the user. The output unit 609 includes, for example, a display, a speaker, or a lamp.

[0067] The sensor group 690 includes multiple sensors (for example, a GPS sensor, an accelerometer, and a geomagnetic sensor) for acquiring information to determine the current location of the portable device 60. The camera 691 acquires images that are within the field of view of the portable device 60. The current location of the portable device 60 may also be detected by the distance sensor or camera of the AMR 30.

[0068] [Modification 3 of Embodiment 1] Figure 10 is a block diagram showing the configuration of production system 1C according to modification 3 of Embodiment 1. The configuration of production system 1C is such that the route planning unit 32 is removed from the moving mechanism 30 in Figure 2, and a route planning unit 13 is added to the server 10. The other configurations are the same as those of production system 1A, so a similar explanation of the configurations will not be repeated.

[0069] As shown in Figure 10, the route planning unit 13 calculates the route of the mobile mechanism 30 based on the environmental map Me and transmits the route to the mobile mechanism 30. The mobile mechanism 30 moves along the route received from the server 10.

[0070] Production system 1C can reduce the computational load on the mobile mechanism 30. Because the specifications of the mobile mechanism 30's processor and other computing resources can be relatively low, power consumption and heat generation of the mobile mechanism 30 can be suppressed. Depending on the number of mobile mechanisms 30 included in the production system and the computing resources of the server 10, either production system 1A or 1C can be appropriately selected.

[0071] [Modification 4 of Embodiment 1] Figure 11 is a block diagram showing the configuration of production system 1D according to modification 4 of Embodiment 1. The configuration of production system 1D is such that the map update unit 11 in Figure 2 is replaced with 11D, and a map update unit 35 is added to the moving mechanism 30. The other configurations are the same as those of production system 1A, so a similar explanation of the configurations will not be repeated.

[0072] As shown in Figure 11, the map update unit 11D acquires the difference between the environment map before the update and the environment map after the update at the current update timing, and transmits information about this difference to the mobile mechanism 30. If the environment map before the update is environment map Me shown in Figure 4, and the environment map after the update is environment map Me shown in Figure 5, then the information about the difference between the two includes that cell E5 becomes an accessible area and cell E4 becomes a restricted area. The map update unit 35 updates the environment map based on the information about this difference from the server 10.

[0073] According to production system 1D, instead of the entire updated environmental map data, information regarding the difference between the environmental map before and after the update is sent from server 10 to mobile mechanism 30. Therefore, the amount of communication between server 10 and mobile mechanism 30 associated with the environmental map update can be reduced. Depending on the computing resources of mobile mechanism 30 and the allowable communication volume or communication delay, either production system 1A or 1D can be appropriately selected.

[0074] As described above, the systems, methods, and programs according to Embodiment 1 and Modifications 1 to 4 can improve the efficiency of work performed at the work site where the mobile mechanism moves.

[0075] [Embodiment 2] Figure 12 is a block diagram showing the configuration of production system 2 according to embodiment 2. The configuration of production system 2 is the portable device 60 of Figure 2 with an operating unit 62 added. The other configurations are the same as production system 1A, so the explanation of the same configurations will not be repeated. The operating unit 62 includes the input unit 608 of Figure 9. The field worker 40 can change the settings related to the no-entry zone from the portable device 60 by inputting to the operating unit 62.

[0076] Figure 13 shows an example of a GUI (Graphical User Interface) related to the activation setting of a restricted area, displayed on the touch panel 608_1 of a smartphone 60_1, which is an example of the portable device 60 in Figure 12. The touch panel 608_1 is included in the operation unit 62 in Figure 12. As shown in Figure 13, a toggle switch TS1 is displayed on the touch panel 608_1. The field worker 40 can switch the toggle switch TS1 ON / OFF by tapping the touch panel 608_1. When the toggle switch TS1 is ON, the smartphone 60_1 sends its current location to the server 10, and when the toggle switch TS1 is OFF, the smartphone 60_1 does not send its current location to the server 10. In other words, when the toggle switch TS1 is ON, the server 10 sets the area including the smartphone 60_1's current location as a restricted area, and when the toggle switch TS1 is OFF, the server 10 does not set the area including the current location as a restricted area.

[0077] Figure 14 is an external perspective view of a traffic cone 60_3, which is an example of the portable device 60 in Figure 12. As shown in Figure 14, the traffic cone 60_3 includes a switch Sw1. Switch Sw1 is included in the operating unit 62 in Figure 12. A field worker 40 carrying a smartphone 60_1 can switch Switch Sw1 ON / OFF. When Switch Sw1 is ON, the traffic cone 60_3 transmits its current location to the server 10, and when Switch Sw1 is OFF, it does not transmit its current location to the server 10. That is, when Switch Sw1 is ON, the server 10 sets the area including the current location of the traffic cone 60_3 as a no-entry zone, and when Switch Sw1 is OFF, it does not set the area including the current location as a no-entry zone.

[0078] According to production system 2, if a field worker 40 does not want to designate an area including the current location of the portable device 60 as a no-entry zone, for example when moving the portable device 60, they can prevent an unintended no-entry zone from being set at the work area WP by changing the settings related to the no-entry zone via the operation unit 62 of the portable device 60.

[0079] [Modified version of Embodiment 2] Figure 15 is a block diagram showing the configuration of production system 2A according to a modified example of Embodiment 2. The configuration of production system 2 is such that the operation unit 62 in Figure 12 is removed and a notification unit 63 is added. The other configurations are the same as those of production system 2, so the explanation of similar configurations will not be repeated. The notification unit 63 includes the output unit 609 in Figure 9. Field workers 40 can learn about the no-entry zones set at the work area WP via the notification unit 63.

[0080] Figure 16 shows the display 609_1 of a smartphone 60_1, which is an example of the portable device 60 in Figure 15. The display 609_1 corresponds to the notification unit 63 in Figure 15. As shown in Figure 16, the display 609_1 has a figure 4 The environmental map Me shown is displayed. A field worker 40 carrying a smartphone 60_1 can check the restricted areas set at the work site WP in real time via the display 609_1.

[0081] Figure 17 is a plan view of a color cone 60_3, an example of the portable device 60 shown in Figure 15, from the Y-axis and Z-axis directions, respectively. As shown in Figure 17, the color cone 60_3 further includes a floodlight Fp. The floodlight Fp corresponds to the notification unit 63 in Figure 15. The floodlight Fp illuminates the area Rg1 surrounding the color cone 60_3 on the floor FL. By visually confirming that the area Rg1 surrounding the color cone 60_3 is illuminated, the field worker 40 can know in real time at the work site WP that the area around the color cone 60_3 is designated as a no-entry zone.

[0082] According to the above, the system, method, and program relating to Embodiment 2 and its modified form , move This can improve the efficiency of work performed in a workplace where the moving mechanism is in motion.

[0083] [Embodiment 3] Figure 18 is a block diagram showing the configuration of production system 3 according to Embodiment 3. The configuration of production system 3 is the same as production system 1A in Figure 2, with the addition of an AR (Augmented Reality) display device (augmented reality display means) 70. The other configurations are the same as production system 1A, so the explanation of the same configurations will not be repeated.

[0084] As shown in Figure 18, the AR display device 70 includes a shooting unit 71 and a display unit 72. The AR display device 70 is configured to be portable to the field worker 40, for example, a smartphone or smart glasses. The AR display device 70 superimposes an image indicating a no-entry zone onto the area around the portable device 60, which has been captured by the shooting unit 71.

[0085] Figure 19 is a block diagram showing an example of the hardware configuration of the AR display device 70 shown in Figure 18. As shown in Figure 19, the AR display device 70 includes, as its main components, a processor 703, memory 704, wireless communication interface 705, storage 706, input unit 708, display 709, and camera 711. These components of the AR display device 70 are communicated with each other via an internal bus 702. The display 709 and camera 711 correspond to the display unit 72 and the imaging unit 71 in Figure 18, respectively.

[0086] The processor 703 performs various processes by reading and executing various programs stored in the storage 706. The memory 704 consists of a volatile storage device such as DRAM or SRAM. The storage 706 stores an AR display program 707 for superimposing a CG (Computer Graphics) image indicating a no-entry zone around the portable device 60, which is captured by the camera 711.

[0087] The wireless communication interface 705 controls the exchange of data over the wireless network. The input unit 708 receives input from the user to the program. The input unit 708 includes, for example, a touch panel, buttons, a microphone, or switches. The display 709 displays the results of the program's execution.

[0088] Figure 20 shows an example of augmented reality displayed on the display 709 in Figure 19. As shown in Figure 20, the display 709 superimposes a CG image Rg2 representing a no-entry zone around an image of pole 60_4, an example of the portable device 60, which was captured by the camera 711. By looking at the display 709, the field worker 40 can confirm in real time at the work site WP that the area around pole 60_4, which is located at the work site WP, is set as a no-entry zone. Furthermore, since the portable device 60 does not require a notification unit to inform the field worker 40 that it is a no-entry zone, the portable device 60 can have a simple configuration.

[0089] As described above, the system, method, and program according to Embodiment 3 can improve the efficiency of work performed at the work site where the mobile mechanism moves.

[0090] [Embodiment 4] Figure 21 is a block diagram showing the configuration of production system 4 according to embodiment 4. The configuration of production system 4 is the same as production system 2A in Figure 15, with the addition of a floor planning device 80 (area planning means) and the addition of a plan implementation comparison unit 14 to the server 10. The other configurations are the same as production system 2A, so the explanation of the same configuration will not be repeated.

[0091] As shown in Figure 21, the floor planning device 80 includes an operation unit 81 and a notification unit 82. The floor planning device 80 includes, for example, a tablet, a laptop computer, or a desktop computer. The planner 50 pre-plans no-entry zones on the environmental map via the operation unit 81. The floor planning device 80 transmits information regarding the planning of no-entry zones to the server 10. If the plan implementation comparison unit 14 does not match the no-entry zone plan and the no-entry zone setting by the field worker 40 (for example, if the battery level of the portable device 60 is 0, or if the no-entry zone setting is OFF), it transmits information regarding the difference (deviation) between the two to the portable device 60 and the floor planning device 80, respectively.

[0092] The notification unit 63 of the portable device 60 notifies the field worker 40 that the no-entry zone setting by the field worker 40 does not match the no-entry zone plan set by the planner 50. The notification unit 82 of the floor planning device 80 notifies the planner 50 that the no-entry zone plan set by the planner 50 does not match the no-entry zone setting by the field worker 40. Each of the notification units 63 and 82 outputs the discrepancy between the no-entry zone plan and the actual setting of the no-entry zone, for example, by the LED lighting pattern, LED lighting color, message display on the display, sound, or vibration. According to the production system 4, the results of the comparison between the no-entry zone plan and the setting (actual) are notified to the field worker 40 and the planner 50 in real time, so that the no-entry zone plan or setting can be quickly corrected.

[0093] Figure 22 is a block diagram showing an example of the hardware configuration of the floor planning device 80 shown in Figure 21. As shown in Figure 22, the floor planning device 80 includes, as its main components, a processor 803, memory 804, wireless communication interface 805, storage 806, input unit 808, and display 809. These components of the floor planning device 80 are communicated with each other via an internal bus 802. The input unit 808 and the display 809 correspond to the operation unit 81 and notification unit 82 in Figure 21, respectively.

[0094] The processor 803 performs various processes by reading and executing various programs stored in the storage 806. The memory 804 consists of a volatile storage device such as DRAM or SRAM. The storage 806 stores a floor planning program 807 for pre-planning restricted areas on the environmental map.

[0095] The wireless communication interface 805 controls the exchange of data over the wireless network. Specifically, the wireless communication interface 805 controls the exchange of data with the server 10.

[0096] The input unit 808 receives input from the user to the program. The input unit 808 includes, for example, a touch panel, buttons, a microphone, or switches. The display 809 displays the results of the program's execution.

[0097] As described above, the system, method, and program according to Embodiment 4 can improve the efficiency of work performed at the work site where the mobile mechanism moves.

[0098] [Embodiment 5] Figure 23 shows a GUI for setting the shape of a no-entry zone displayed on the touch panel 608_1 of a smartphone 60_1, which is an example of a portable device 60 of the production system according to Embodiment 5. Note that the configuration of the production system according to Embodiment 5 is the same as that of production system 2 shown in Figure 12, so the explanation of the system configuration will not be repeated.

[0099] As shown in Figure 23, the touch panel 608_1 displays dropdown lists DL51 and DL52. The field worker 40 can set the shape of the no-entry zone by tapping dropdown list DL51 and selecting the desired shape from among several shapes (for example, circle, square, and aligned square) displayed. The field worker 40 can set the radius of the no-entry zone shape by tapping dropdown list DL52 and selecting the desired radius from among several radii (for example, 100cm, 120cm, 150cm, 200cm, 250cm, 300cm, 400cm, and 500cm) displayed. Note that the radius of a square is the radius of the circumscribed circle of that square. The smartphone 60_1 transmits the shape and radius of the no-entry zone set by the field worker 40 to the server 10. The server 10 sets the no-entry zone with the shape and radius set, centered on the current location of the smartphone 60_1, on the environment map Me.

[0100] Figure 24 is an external perspective view of a color cone 60_3, which is an example of a portable device 60 of the production system according to Embodiment 5. In addition to the switch Sw1, the color cone 60_3 further includes setting dials Di51 and Di52. The setting dials Di51 and Di52 are included in the operating unit 62 of the production system according to Embodiment 5.

[0101] Figure 25 is an enlarged view of the setting dials Di51 and Di52 in Figure 24. As shown in Figure 25, the field worker 40 can set the shape of the no-entry zone by rotating the setting dial Di51 to select the desired shape from among several shapes. The field worker 40 can set the radius of the no-entry zone shape by rotating the setting dial Di52 to select the desired radius from among several radii. The color cone 60_3 transmits the shape and radius of the no-entry zone set by the field worker 40 to the server 10. The server 10 sets the no-entry zone with the shape and radius, centered on the current position of the color cone 60_3, on the environment map Me.

[0102] If a square is selected as the shape of the no-entry zone, the orientation of the portable device 60 is detected by the acceleration sensor and geomagnetic sensor, and the portable device 60 transmits this orientation to the server 10. Based on the orientation of the portable device 60, the server 10 rotates the no-entry zone square around the current position of the portable device 60. On the other hand, if a square (aligned) is selected as the shape of the no-entry zone, the portable device 60 does not transmit its orientation to the server 10. The server 10 designates the square along the grid boundary as the no-entry zone.

[0103] Figure 26 shows an example of an environmental map Me in which a no-entry zone is set based on the settings shown in Figures 23 and 25. In Figure 26, area Rg5 is a square with a radius of 200 cm centered on the current position of the portable device 60, and corresponds to the settings shown in Figures 23 and 25. The same applies to Figure 27, which will be explained later.

[0104] As shown in Figure 26, the environmental map Me is represented as a grid. The current location of the portable device 60 is in cell N8. Server 10 sets cells that overlap with area Rg5 as no-entry zones. In Figure 26, cells M7, N7, O7, M8, N8, O8, M9, N9, and O9 are set as no-entry zones.

[0105] Figure 27 shows another example of an environmental map Me with restricted access zones set based on the settings shown in Figures 23 and 25. In the example shown in Figure 27, the environmental map Me is not represented as a grid. As shown in Figure 27, area Rg5 is directly set as a restricted access zone.

[0106] According to the production system of Embodiment 5, the on-site worker 40 can specify the shape and size of the no-entry zone according to the space required for the work.

[0107] As described above, the system, method, and program according to Embodiment 5 can improve the efficiency of work performed at the work site where the mobile mechanism moves.

[0108] [Embodiment 6] Figure 28 shows a GUI for setting a group of portable devices 60 that form a no-entry zone, displayed on the touch panel 608_1 of a smartphone 60_1, which is an example of a portable device 60 of the production system according to Embodiment 6. Note that the configuration of the production system according to Embodiment 6 is the same as that of production system 2 shown in Figure 12, so the explanation of the system configuration will not be repeated.

[0109] As shown in Figure 28, the touch panel 608_1 displays drop-down lists DL61 and DL62. The field worker 40 can select a desired setting mode from among several setting modes (for example, single mode and multiple mode) displayed by tapping drop-down list DL61. The field worker 40 can select a desired group number from among the group numbers displayed by tapping drop-down list DL62. The smartphone 60_1 transmits the setting mode and group number set by the field worker 40 to the server 10. If the setting mode is single mode, the server 10 sets a no-entry zone to a single area including the current location of the smartphone 60_1, or an area shaped around that current location. If the selected mode is multiple mode, the server 10 sets a no-entry zone to an area including the current location of the smartphone 60_1 and each of the other portable devices 60 that have the same group number as the smartphone 60_1.

[0110] Figure 29 shows setting dials Di61 and Di62 included in a color cone 60_3, which is an example of a portable device 60 of the production system according to Embodiment 6. The setting dials Di61 and Di62 are included in the operation unit 62 of the production system according to Embodiment 6. As shown in Figure 29, the field worker 40 can rotate setting dial Di61 to select a desired setting mode from single mode and multiple modes. The field worker 40 can rotate setting dial Di62 to set a desired group number. The color cone 60_3 transmits the setting mode and group number set by the field worker 40 to the server 10. If the setting mode is single mode, the server 10 sets a no-entry zone in one area including the current position of the color cone 60_3 or in an area shaped around that current position. If the selected mode is multiple mode, the server 10 sets a no-entry zone in an area including the current position of the color cone 60_3 and each of the other portable devices 60 that have the same group number as the color cone 60_3.

[0111] Figure 30 shows an example of an environmental map Me with restricted access zones set based on the settings shown in Figures 28 and 29. As shown in Figure 30, each of the regions Rg61, Rg62, and Rg63 is set as a restricted access zone. Region Rg61 is a rectangular restricted access zone that includes the current positions of each of the four portable devices 60 with group number 1 near its vertices. Region Rg61 is a restricted access zone surrounded by the four portable devices 60. Region Rg62 is a rectangular restricted access zone that includes the current positions of each of the two portable devices 60 with group number 2. Region Rg62 is a restricted access zone sandwiched between the two portable devices 60. Region Rg63 is a triangular restricted access zone that includes the current positions of each of the three portable devices 60 with group number 3 near its vertices. Region Rg63 is a restricted access zone surrounded by the three portable devices 60.

[0112] According to the production system of Embodiment 6, on-site workers 40 can set a no-entry zone of a desired shape and orientation according to the conditions of the work site. Furthermore, since the no-entry zone can be expanded by widening the spacing between multiple portable devices 60 without changing the number of multiple portable devices 60, the number of portable devices 60 required to form the no-entry zone can be reduced.

[0113] As described above, the system, method, and program according to Embodiment 6 can improve the efficiency of work performed at the work site where the mobile mechanism moves.

[0114] [Embodiment 7] Figure 31 is a block diagram showing the configuration of production system 7 according to embodiment 7. The configuration of production system 7 is the same as production system 1A in Figure 2, with the addition of a floor division device 90. The other configurations are the same as production system 1A, so the explanation of the same configurations will not be repeated.

[0115] As shown in Figure 31, the floor division device 90 (area division means) includes an operation unit 91 and a display unit 92. The floor division device 90 is, for example, a tablet, a laptop computer, or a desktop computer. The planner 50 divides the environment map Me corresponding to the work area displayed on the display unit 92 into a number of desired areas via the operation unit 91. The floor division device 90 transmits information regarding the division of the work area WP to the server 10. The server 10 divides the environment map Me into a number of areas based on the information regarding the division of the work area WP.

[0116] Figure 32 is a block diagram showing an example of the hardware configuration of the floor partitioning device 90 shown in Figure 31. As shown in Figure 32, the floor partitioning device 90 includes, as its main components, a processor 903, memory 904, wireless communication interface 905, storage 906, input unit 908, and display 909. These components of the floor partitioning device 90 are communicated with each other via an internal bus 902. The input unit 908 and display 909 are shown in Figure 3 Operation Unit 1 9 1 and display Department 9 Each corresponds to 2.

[0117] The processor 903 performs various processes by reading and executing various programs stored in the storage 906. The memory 904 consists of a volatile storage device such as DRAM or SRAM. The storage 906 stores a floor division program 907 for dividing the environment map Me corresponding to the work area into multiple areas.

[0118] The wireless communication interface 905 controls the exchange of data over the wireless network. Specifically, the wireless communication interface 905 controls the exchange of data with the server 10.

[0119] The input unit 908 receives input from the user to the program. The input unit 908 includes, for example, a touch panel, buttons, a microphone, or switches. The display 909 displays the results of the program's execution.

[0120] Figure 33 shows an example of an environmental map Me divided into multiple areas by the floor division device 90 shown in Figure 31. As shown in Figure 33, the environmental map Me is divided into uneven areas A to N. Since the current location of the portable device 60 is included in area M, area M is set as a no-entry zone.

[0121] According to the production system 7, the work area WP can be divided in a manner desired by the planner 50. For example, by dividing the work area WP into easily verbalizable areas such as "the back of the equipment," the planner 50 can set no-entry zones in areas that correspond to the on-site workers' 40 perception and intuition regarding the work area WP, rather than setting no-entry zones by coordinates or symbols.

[0122] As described above, the system, method, and program according to Embodiment 7 can improve the efficiency of work performed at the work site where the mobile mechanism moves.

[0123] [Embodiment 8] Figure 34 shows a GUI related to the update delay setting of the environmental map Me, displayed on the touch panel 608_1 of a smartphone 60_1, which is an example of a portable device 60 of the production system according to Embodiment 8. Note that the configuration of the production system according to Embodiment 8 is the same as that of production system 2 shown in Figure 12, so the explanation of the system configuration will not be repeated.

[0124] As shown in Figure 34, the touch panel 608_1 displays a dropdown list DL8. By tapping the dropdown list DL8, the field worker 40 can select a desired delay time (update delay time) from among several delay times displayed, between the movement of the smartphone 60_1 and the update of the environmental map Me. The smartphone 60_1 transmits the update time set by the field worker 40 to the server 10. When the server 10 detects that the smartphone 60_1 has moved from its position at the time of the previous environmental map Me update, it updates the environmental map Me if the current area, including the current location of the smartphone 60_1, does not change during the update delay time after detecting the movement of the smartphone 60_1.

[0125] Figure 35 shows a setting dial Di8 included in a color cone 60_3, which is an example of a portable device 60 of the production system according to Embodiment 8. The setting dial Di8 is included in the operation unit 62 of the production system according to Embodiment 8. As shown in Figure 35, the field worker 40 can rotate the setting dial Di8 to select a desired update delay time. The field worker 40 can rotate the setting dial Di8 to set a desired update delay time. The color cone 60_3 transmits the update delay time set by the field worker 40 to the server 10. When the server 10 detects that the color cone 60_3 has moved from its position at the time of the previous update of the environment map Me, it updates the environment map Me if the current area, including the current position of the color cone 60_3, does not change during the update delay time after detecting the movement of the color cone 60_3.

[0126] According to the production system of Embodiment 8, even if the movement of the portable device 60 is detected by the server 10, the environmental map Me is not updated during the update delay time. Since continuous updates of the environmental map Me are prevented while the portable device 60 is being moved by the field worker 40, the cost of computing resources for the server 10 and the mobile mechanism 30 can be reduced.

[0127] As described above, the system, method, and program according to Embodiment 8 can improve the efficiency of work performed at the work site where the mobile mechanism moves.

[0128] [Embodiment 9] Figure 36 is a block diagram showing the configuration of production system 9 according to embodiment 9. The configuration of production system 9 is the same as the moving mechanism 30 in Figure 12, but with the addition of a speed planning unit 33 and a notification unit 34. Field workers 40 can set entry warning zones around the no-entry zones in addition to the no-entry zones via the operation unit 62 of the portable device 60. The other configurations are the same as production system 2, so the explanation of similar configurations will not be repeated.

[0129] As shown in Figure 36, the speed planning unit 33 determines the travel speed of the mobile mechanism 30. When the mobile mechanism 30 enters the entry warning zone, the speed planning unit 33 reduces the travel speed. The notification unit 34 includes the LED 305 and speaker 309 shown in Figure 8. The notification unit 34 outputs an alarm to the outside indicating that the mobile mechanism 30 has entered the entry warning zone, for example, by flashing the LED 305 or by sound from the speaker 309.

[0130] Figure 37 shows a GUI for setting an entry-restricted area displayed on the touch panel 608_1 of a smartphone 60_1, which is an example of the portable device 60 in Figure 36. The touch panel 608_1 is included in the operation unit 62 in Figure 36. As shown in Figure 37, the touch panel 608_1 displays a dropdown list DL9. The field worker 40 can set a desired distance (perimeter distance) from the outer perimeter of the no-entry zone where the entry-restricted area is set, from among several distances displayed by tapping the dropdown list DL9. The smartphone 60_1 transmits the perimeter distance set by the field worker 40 to the server 10. The server 10 sets the entry-restricted area within the range of the said perimeter distance from the outer perimeter of the no-entry zone.

[0131] Figure 38 shows a setting dial Di9 included in a color cone 60_3, which is an example of the portable device 60 in Figure 36. The setting dial Di9 is included in the operating unit 62 in Figure 36. As shown in Figure 38, the field worker 40 can rotate the setting dial Di9 to set the desired perimeter distance. The color cone 60_3 transmits the perimeter distance set by the field worker 40 to the server 10. The server 10 sets an entry warning zone within the range of the said perimeter distance from the outer edge of the no-entry zone.

[0132] Figure 39 shows an example of an environmental map Me in which an entry restriction zone is set based on the settings shown in Figures 37 and 38. As shown in Figure 39, the current location of the portable device 60 is in cell N8. Cells M7, N7, O7, M8, N8, O8, M9, N9, and O9 are set as no-entry zones. Server 10 sets cells M6, N6, O6, P6, L8, and L9, which overlap with the outer perimeter of the no-entry zone by 2m, as entry restriction zones.

[0133] According to production system 9, the mobile mechanism 30 travels through the restricted area at a slower speed than usual and warns the outside that it is traveling through the restricted area. Field workers 40 working near the boundary of the restricted area are more likely to notice the mobile mechanism 30 and have time to take action to avoid it. As a result, the risk of field workers 40 blocking the path of the mobile mechanism 30 and the risk of field workers 40 colliding with the mobile mechanism 30 can be reduced.

[0134] As described above, the system, method, and program according to Embodiment 9 can improve the efficiency of work performed at the work site where the mobile mechanism moves.

[0135] [Embodiment 10] Figure 40 is a block diagram showing the configuration of the production system 100 according to Embodiment 10. The configuration of the production system 100 is the portable device 60 of Figure 36 with the notification unit 63 of Figure 15 added. The other configurations are the same as those of production system 9, so the explanation of similar configurations will not be repeated.

[0136] Figure 41 shows multiple GUIs displayed on the touch panel 608_1 of a smartphone 60_1, which is an example of the portable device 60 in Figure 40. As shown in Figure 41, the touch panel 608_1 displays the toggle switch TS1 in Figure 13, the drop-down lists DL51 and DL52 in Figure 23, the drop-down list DL9 in Figure 37, and the drop-down list DL8 in Figure 34. The field worker 40 inputs the no-entry settings in the environmental map Me via the touch panel 608_1. For example, the field worker 40 sets the ON / OFF of the no-entry zone via the toggle switch TS1, sets the shape of the no-entry zone via the drop-down list DL51, sets the size (radius) of the no-entry zone via the drop-down list DL52, and sets the size (perimeter distance) of the entry warning zone via the drop-down list DL9. , Set the update delay time via the dropdown list DL8.

[0137] Figure 42 shows the processes performed by the portable device 60, the server 10, and the mobile mechanism 30 when the field worker 40 in Figure 40 inputs a no-entry setting to the portable device 60. Each of the processes shown in Figure 42 is called by a main routine (not shown) that integrally controls the portable device 60, the server 10, and the mobile mechanism 30. Hereafter, steps will simply be referred to as S.

[0138] As shown in Figure 42, when a field worker 40 inputs a no-entry setting to the operation unit 62 of the portable device 60, the portable device 60 repeats steps S601 and S602 in that order while the no-entry zone is set to ON. In S601, the positioning unit 61 of the portable device 60 determines the current position of the portable device 60 and proceeds to S602. In S602, the portable device 60 transmits its current position and the no-entry setting to the server 10. If the no-entry zone is set to OFF, the portable device 60 returns the process to the main routine.

[0139] While the restricted area is set to ON, the server 10 repeats steps S110, S120, S130, and S140 in that order. In S110, the map update unit 11 of the server 10 determines whether or not to update the environmental map Me and proceeds to S120. In S120, the map update unit 11 of the server 10 determines whether or not it has been decided to update the environmental map Me. If it is decided not to update the environmental map Me (NO in S120), the map update unit 11 skips steps S130 and S140. If it is decided to update the environmental map Me (YES in S120), the map update unit 11 updates the environmental map Me in S130 and proceeds to S140. In S140, the map update unit 11 transmits the updated environmental map Me to the portable device 60 and the mobile mechanism 30. If the no-entry zone is set to OFF, server 10 removes the no-entry zone and entry warning zone in the environment map Me, returns both zones to accessible zones, and returns processing to the main routine.

[0140] When the portable device 60 receives the environmental map Me from the server 10, in S611 it updates the display of the environmental map Me and returns the processing to the main routine.

[0141] When the route planning unit 32 and speed planning unit 33 of the mobile mechanism 30 receive the environment map Me from the server 10, in S301 they replan the route and speed based on the environment map Me, respectively, and return the processing to the main routine.

[0142] Figure 43 is a diagram showing the processing flow performed in the moving mechanism 30 shown in Figure 40. The processing shown in Figure 43 is called by the main routine of the moving mechanism 30 at each sampling time.

[0143] As shown in Figure 43, in S311, the mobile mechanism 30 determines whether or not it is traveling in an entry-restricted area based on the environmental map Me. If it is traveling in an entry-restricted area (YES in S311), in S312, the mobile mechanism 30 sets its travel speed to a speed slower than the normal speed and proceeds to S313. In S313, the notification unit 34 of the mobile mechanism 30 outputs an alarm indicating that it is traveling in an entry-restricted area and returns the process to the main routine. If it is not traveling in an entry-restricted area (NO in S311), the mobile mechanism 30 sets its travel speed to the normal speed and proceeds to S315. In S315, the mobile mechanism 30 stops outputting the alarm and returns the process to the main routine.

[0144] Figure 44 is a flowchart showing the specific processing flow of the map update determination process (S110) in Figure 42. As shown in Figure 44, in S111, the map update unit 11 identifies the current area of ​​the environmental map Me that includes the current location of the portable device 60, and proceeds to S112. In S112, the map update unit 11 determines whether the current area has changed since the last update of the environmental map Me. If the current area has not changed since the last update of the environmental map Me (NO in S112), the map update unit 11 decides not to update the environmental map Me in S113 and returns the process to the main routine.

[0145] If the current area has changed since the last update of the environmental map Me (YES in S112), the map update unit 11 determines in S114 whether the time the portable device 60 has been in the current area (area stay time) is greater than or equal to the update delay time. If the area stay time is less than the update delay time (NO in S114), the map update unit 11 decides in S113 not to update the environmental map Me and returns the process to the main routine. If the area stay time is greater than or equal to the update delay time (YES in S114), the map update unit 11 decides in S115 to update the environmental map Me and returns the process to the main routine.

[0146] Figure 45 is a flowchart showing the specific processing flow of the environmental map Me update process (S130) in Figure 42. As shown in Figure 45, in S131, the map update unit 11 determines the location, shape, and size of the no-entry zone based on the current location and no-entry settings received from the portable device 60, and proceeds to S132. In S132, the map update unit 11 sets the no-entry zone based on the no-entry settings in the environmental map Me, and proceeds to S133. In S133, the map update unit 11 sets the area around the no-entry zone as a caution zone based on the no-entry settings, and returns the processing to the main routine.

[0147] As described above, the system, method, and program according to Embodiment 10 can improve the efficiency of work performed at the work site where the mobile mechanism moves.

[0148] [Embodiment 11] Figure 46 is a block diagram showing the configuration of the production system 110 according to Embodiment 11. The configuration of the production system 110 is such that a correspondence table Tc is added to the map storage unit 12 in Figure 2, and the portable device 60 is replaced with a switch 60_4. The other configurations are the same as those of production system 1A, so a similar explanation of the configurations will not be repeated.

[0149] As shown in Figure 46, the switch 60_4 (position indicator / position detection means) is fixed to an installation 900 (for example, a device, wall, column, or door) installed at the work site WP. The field worker 40 switches the switch 60_4 ON / OFF (state). The switch 60_4 transmits its identifier and the ON / OFF status to the server 10, for example, via a LAN (Local Area Network). Based on the correspondence table Tc, the server 10 sets the area corresponding to the identifier of the ON switch 60_4 as a no-entry zone and the area corresponding to the identifier of the OFF switch 60_4 as an accessible zone. If the server 10 and the switch 60_4 are directly connected, the server 10 may check whether the switch 60_4 is powered on and identify the ON switch 60_4. The switch 60_4 may be a physical switch or a GUI switch such as an HMI (Human Machine Interface).

[0150] Figure 47 shows an example of the correspondence table Tc in Figure 46. As shown in Figure 47, the correspondence table Tc associates the identifier of switch 60_4 with the area in which switch 60_4 is installed. The identifier of switch 60_4 includes, for example, the name of the area that includes the fixed location of switch 60_4. The area shown in Figure 47 corresponds to the area of ​​the environmental map Me shown in Figure 26. In addition, the information associated with the identifier of switch 60_4 in the correspondence table Tc may be coordinates representing a no-entry zone. In the correspondence table Tc, a polygonal no-entry zone may be identified by the coordinates of each vertex of the polygon.

[0151] According to the production system 110, since positioning is not performed on switch 60_4, there is no error in the current position of switch 60_4 identified by server 10. As a result, no-entry zones can be accurately set on the environmental map Me. In addition, since field workers 40 do not need to carry and operate portable devices, the workload of field workers 40 associated with setting no-entry zones is reduced. and It is possible.

[0152] As described above, the system, method, and program according to Embodiment 11 can improve the efficiency of work performed at a work site where the mobile mechanism is moving.

[0153] [Embodiment 12] Figure 48 is a block diagram showing the configuration of the production system 120 according to Embodiment 12. The configuration of the production system 120 is the same as that of the production system 1A in Figure 2, but with the portable device 60 removed and the positioning target 600 and positioning device 610 added. The other configurations are the same as those of the production system 1A, so the explanation of the same configurations will not be repeated.

[0154] A positioning tag 60_4 (location indicator) is fixed to the positioning target 600. The positioning tag 60_4 includes, for example, an IC (Integrated Circuit) tag or a beacon. The positioning targets 600 include, for example, a cart used by the field worker 40 to transport goods at the work site WP, and an access pass carried by the field worker 40. The positioning device 610 (position detection means) includes a positioning unit 611. The positioning unit 611 uses, for example, RFID (Radio Frequency Identifier) ​​and BLE (Bluetooth Low Energy). (Registered trademark) The current location of the positioning tag 60_4 is determined using Low Energy beacons and UWB (Ultra Wide Band), etc. The positioning device 610 transmits information that can identify the current location to the server 10.

[0155] According to production system 120, multiple positioning sensors are placed at the work site WP. subject 6 0 The positioning device 610 simultaneously determines the current position of each of the 0s and transmits it to the server 10, so multiple positioning subject 6 0 This can reduce the amount of data transmitted related to information that can identify the current location of 0.

[0156] As described above, the system, method, and program according to Embodiment 12 can improve the efficiency of work performed at a work site where the mobile mechanism is moving.

[0157] [Embodiment 13] Figure 49 is a block diagram showing the configuration of the production system 130 according to Embodiment 13. The configuration of the production system 120 is the same as that of the production system 110 in Figure 46, but with the switch 60_4 replaced by a code 60_5, and a code reader 620 added. The other configurations are the same as those of the production system 110, so the explanation of similar configurations will not be repeated.

[0158] As shown in Figure 49, the code 60_5 (location indicator) is fixed to the installation 900. The code 60_5 includes, for example, a barcode or a QR (Quick Response) code. The code reader 620 (location detection means) is configured to be portable by the field worker 40 and reads information about the code 60_5 (e.g., an identifier) ​​from the code 60_5. The code reader 620 displays the information about the code 60_5 on the operation unit 621. The operation unit 621 includes, for example, a touch panel. The field worker 40 inputs to the operation unit 621 whether or not to designate the area containing the current location of the code 60_5 as a no-entry zone. The code reader 620 transmits the no-entry setting (whether or not to designate it as a no-entry zone) and the identifier of the code 60_5 to the server 10. Based on the correspondence table Tc and the settings of the field worker 40, the server 10 sets the area corresponding to the identifier of code 60_5 received from the code reader 620 as either a restricted area or an accessible area.

[0159] Figure 50 shows an example of information regarding code 60_5 displayed on the control unit 621 in Figure 49. As shown in Figure 50, the control unit 621 displays the identifier of code 60_5 (for example, the name of the area, "In front of the press-in machine maintenance door"), and whether or not the area corresponding to that identifier is designated as a no-entry zone. The field worker 40 can designate the area corresponding to the fixed position of code 60_5 as a no-entry zone by tapping the YES button, and can designate the area as an accessible zone by tapping the NO button.

[0160] Figure 51 shows the processes performed by the code reader 620, server 10, and mobile mechanism 30 when the field worker 40 in Figure 49 inputs a no-entry setting to the code reader 620. Each of the processes shown in Figure 51 is called by a main routine (not shown) that comprehensively controls the code reader 620, server 10, and mobile mechanism 30.

[0161] As shown in Figure 51, when a field worker 40 inputs a no-entry setting to the operation unit 621 of the code reader 620, the code reader 620 determines in S621 whether or not the setting to designate the area as a no-entry zone has been made. If the setting to designate the area as a no-entry zone has been made (YES in S621), the code reader 620 sends the identifier of code 60_5 and the setting to designate the area as a no-entry zone to the server 10 in S622 and returns the processing to the main routine. If the setting not to designate the area as a no-entry zone has been made (NO in S621), the code reader 620 sends the identifier of code 60_5 and the setting not to designate the area as a no-entry zone to the server 10 in S623 and returns the processing to the main routine.

[0162] In S101, the map update unit 11 of the server 10 identifies the designated area corresponding to the identifier received from the code reader 620 in the correspondence table Tc and proceeds to S102. In S102, the map update unit 11 determines whether or not it has received a setting to designate an area as a no-entry zone from the code reader 620. If it has received a setting to designate an area as a no-entry zone from the code reader 620 (YES in S102), the map update unit 11 sets the designated area of ​​the environment map Me as a no-entry zone in S103 and proceeds to S105. If it has received a setting not to designate an area as a no-entry zone from the code reader 620 (NO in S102), the map update unit 11 sets the designated area of ​​the environment map Me as an accessible area in S104 and proceeds to S105. In S105, the map update unit 11 transmits the environment map Me to the mobile mechanism 30 and returns the processing to the main routine.

[0163] In S331, the route planning unit 32 of the mobile mechanism 30 replans the route based on the environment map Me received from the server 10 and returns the processing to the main routine.

[0164] According to the production system 130, since positioning is not performed for code 60_5, there is no error in the current location of code 60_5 identified by server 10. As a result, no-entry zones can be accurately set on the environmental map Me.

[0165] As described above, the system, method, and program according to Embodiment 13 can improve the efficiency of work performed at a work site where the mobile mechanism is moving.

[0166] <Note> The above-described embodiment includes the following technical concept.

[0167] [Configuration 1] A moving mechanism (30) moves the work location (WP) based on an environmental map (Me) corresponding to the work location (WP), A map management means (10) for managing the aforementioned environmental map (Me), The system includes a location detection means (60) that transmits information to the map management means (10) that can identify the current location of each of the at least one location indicators (60, 610, 620) placed in the work area (WP), The map management means (10) identifies the current area including the current location in the environmental map (Me), The moving mechanism (30) is a system that moves the work area (WP) while avoiding the no-entry zone, based on the environmental map (Me) in which the current area of ​​each of the at least one position indicator (60) is set as a no-entry zone based on the state of each of the position indicators (60).

[0168] [Configuration 2] The position detection means (60) changes the settings related to the no-entry zone in response to input from the user (40) to the position detection means (60), The aforementioned setting includes a setting regarding whether or not to designate the area including the current location as the no-entry zone, The map management means (10) identifies the no-entry zone based on the settings, as described in Configuration 1.

[0169] [Configuration 3] The system according to configuration 2, wherein the settings include settings relating to the shape of the no-entry zone and settings relating to the size of the no-entry zone.

[0170] [Structure 4] The above setting includes a setting regarding whether the no-entry zone can be formed by a plurality of position indicators (60), and a setting regarding the group to which the plurality of position indicators (60) belong. The system according to configuration 2 or 3, wherein the no-entry zone includes an area surrounded by the plurality of position indicators (60).

[0171] [Composition 5] The aforementioned setting includes a setting relating to the update delay time from when the movement of the at least one position indicator (60) is detected until the environment map (Me) is updated. The system according to any one of configurations 2 to 4, wherein the map management means (10) sets the current area, which includes the current location, as a no-entry zone in the environmental map (Me), and the time during which the current location is included in the current area is longer than the update delay time.

[0172] [Composition 6] The aforementioned setting includes a setting relating to the size of the entry warning area set around the no-entry area, The system according to any one of configurations 2 to 5, wherein when the moving mechanism (30) is moving within the entry warning area, the speed of the moving mechanism (30) is reduced to a speed lower than the normal speed, and an alarm indicating that it is moving within the entry warning area is output to the outside.

[0173] [Composition 7] The map management means (10) transmits information about the current area to the mobile mechanism (30) if the current area is not set as a no-entry zone in the environmental map (Me), The system according to any one of configurations 1 to 6, wherein the moving mechanism (30) sets the current area as a no-entry zone in the environmental map (Me) and sets the area not including the current location as an accessible zone in the environmental map (Me) to which the moving mechanism (30) can move.

[0174] [Structure 8] The position detection means (60) is configured to be portable by a user (40) and displays the environmental map (Me) in which the no-entry zone is set, according to any one of configurations 1 to 7.

[0175] [Composition 9] The position detection means (60) displays an area corresponding to the no-entry zone in the work area (WP), as described in any one of configurations 1 to 8.

[0176] [Configuration 10] The system further comprises an augmented reality display means (70) for capturing images of at least one position indicator (60), The augmented reality display means (70) superimposes a CG image indicating the no-entry zone onto the image of the at least one position indicator (60) in the system according to any one of configurations 1 to 9.

[0177] [Composition 11] The system further comprises area planning means (80) for creating a plan for the aforementioned no-entry zone, The map management means (10) transmits the difference between the plan and the setting of the no-entry zone based on the placement of the at least one location indicator (60) to the at least one location indicator (60) and the area planning means (80), respectively. The system according to any one of configurations 1 to 10, wherein each of the at least one position indicator (60) and the area planning means (80) outputs information relating to the difference.

[0178] [Composition 12] The system according to any one of configurations 1 to 11, further comprising area division means (90) for dividing the aforementioned environmental map (Me) into multiple areas.

[0179] [Composition 13] The system according to any one of configurations 1 to 12, wherein the at least one position indicator (60) is configured to be movable by a user (40).

[0180] [Composition 14] The at least one position indicator (60_4) is fixed to the work area (WP), The position detection means (60_4) transmits the identifier of at least one position indicator (60_4) to the map management means (10), The map management means (10) identifies the current area based on the correspondence between the identifier of the at least one location indicator (60) and information regarding the location where the at least one location indicator (60) is fixed, according to any one of configurations 1 to 12.

[0181] [Composition 15] The system according to any one of configurations 1 to 14, wherein each of the at least one position indicator (60) is the position detection means (60).

[0182] [Composition 16] A method for managing an environment map (Me) corresponding to a work location (WP) to which a mobile mechanism (30) moves, Step (S602) of transmitting information that can identify the current position of each of the at least one position indicator (60) located at the work site (WP), The steps include (S111) identifying the current area including the current location in the environmental map (Me), The method for moving the work area (WP) while avoiding the no-entry zone, based on the environmental map (Me) in which the current area of ​​each of the at least one position indicator (60) is set as a no-entry zone based on the state of each of the position indicators (60).

[0183] [Composition 17] A program for managing an environment map (Me) corresponding to a work location (WP) to which a mobile mechanism (30) moves, The aforementioned program is executed by the processor (103,603), Information is transmitted that allows for the identification of the current position of each of the at least one position indicator (60) located at the work site (WP). The current area including the aforementioned current location is identified in the environmental map (Me), The moving mechanism (30) is programmed to move the work area (WP) while avoiding the no-entry zone, based on the environment map (Me) in which the current area of ​​each of the at least one position indicator (60) is set as a no-entry zone based on the state of each of the position indicators (60).

[0184] The embodiments disclosed herein are intended to be implemented in appropriate combinations, to the extent that they do not contradict each other. The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of Symbols]

[0185] 1~4,1A~1D,2A,7,9,100,110,120,130 Production system, 10 Server (map management means), 11,11D,35 Map update unit, 12,31 Map storage unit, 13,32 Route planning unit, 14 Plan implementation comparison unit, 30 Movement mechanism, 33 Speed ​​planning unit, 34,63,82 Notification unit, 40 Field worker, 50 Planner, 60 Portable device (position detection means), 61,611 Positioning unit, 62,81,91,621 Operation unit, 70 AR display device, 71 Shooting unit, 72,92 Display unit, 80 Floor planning device, 90 Floor division device, 102, 302, 602, 702, 802, 902 Internal bus, 103, 303, 603, 703, 803, 903 Processor, 104, 304, 604, 704, 804, 904 Memory, 106, 306, 606, 706, 806, 906 Storage, 107 Map management program, 108 Wired communication interface, 109, 320, 605, 705, 805, 905 Wireless communication interface, 307 Autonomous driving program, 309 Speaker, 340, 690 Sensor group, 350 Drive unit, 360 Wheels, 600 Positioning target, 607 No entry zone setting program, 608 , 708, 808, 908 Input section, 609 Output section,709, 809, 909 Display, 610 Positioning device, 620 Code reader, 691, 711 Camera, 707 AR display program, 807 Floor plan program, 900 Installation object, 907 Floor division program, DL8, DL9, DL51, DL52, DL61, DL62 Drop-down list, Di8, Di9, Di51, Di52, Di61, Di62 Setting dial, FL Floor, Fp Floodlight, Me Environmental map, Rg5, Rg61~Rg63 Area, Rg1 Surrounding area, Rg2 Image, Sw1 Switch, TS1 Toggle switch, Tc Correspondence table, WP Work area.

Claims

1. A mobile mechanism that moves to the work area based on an environmental map corresponding to the work area, A map management means for managing the aforementioned environmental map, The facility includes a location detection means that transmits information capable of identifying the current location of each of at least one location indicators placed in the work area to the map management means, The map management means identifies the current area, including the current location, on the environmental map. The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. The position detection means changes the settings related to the no-entry zone in response to user input to the position detection means. The above setting includes a setting regarding whether or not to designate the current area, including the current location, as the no-entry zone. The map management means is a system that identifies the no-entry zone based on the settings.

2. The system according to claim 1, wherein the settings include settings relating to the shape of the no-entry zone and settings relating to the size of the no-entry zone.

3. The above setting includes a setting regarding whether the no-entry zone can be formed by a plurality of position indicators, and a setting regarding the group to which the plurality of position indicators belong. The system according to claim 1 or 2, wherein the no-entry zone includes an area surrounded by the plurality of position indicators.

4. The aforementioned setting includes a setting relating to the update delay time from when the movement of the at least one location indicator is detected until the environment map is updated. The system according to claim 1 or 2, wherein the map management means sets the current area, which includes the current location, as a no-entry zone in the environmental map, and the time during which the current location is included in the current area is longer than the update delay time.

5. The aforementioned setting includes a setting relating to the size of the entry warning area set around the no-entry area, The system according to claim 1 or 2, wherein when the moving mechanism is moving within the entry warning area, the speed of the moving mechanism is reduced to a speed lower than the normal speed, and an alarm indicating that it is moving within the entry warning area is output to the outside.

6. A mobile mechanism that moves to the work area based on an environmental map corresponding to the work area, A map management means for managing the aforementioned environmental map, The facility includes a location detection means that transmits information capable of identifying the current location of each of at least one location indicators placed in the work area to the map management means, The map management means identifies the current area, including the current location, on the environmental map. The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. The map management means transmits information about the current area to the mobile mechanism if the current area is not designated as a no-entry zone on the environmental map. The mobile mechanism is a system that sets the current area as a no-entry zone on the environmental map and sets the area not included in the current location as an accessible zone on the environmental map where the mobile mechanism can move.

7. A mobile mechanism that moves to the work area based on an environmental map corresponding to the work area, A map management means for managing the aforementioned environmental map, The facility includes a location detection means that transmits information capable of identifying the current location of each of at least one location indicators placed in the work area to the map management means, The map management means identifies the current area, including the current location, on the environmental map. The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. The location detection means is configured to be portable by the user and displays the environmental map in which the no-entry zone is defined.

8. A mobile mechanism that moves to the work area based on an environmental map corresponding to the work area, A map management means for managing the aforementioned environmental map, The facility includes a location detection means that transmits information capable of identifying the current location of each of at least one location indicators placed in the work area to the map management means, The map management means identifies the current area, including the current location, on the environmental map. The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. The position detection means is a system that displays an area corresponding to the no-entry zone at the work site.

9. A mobile mechanism that moves to the work area based on an environmental map corresponding to the work area, A map management means for managing the aforementioned environmental map, The facility includes a location detection means that transmits information capable of identifying the current location of each of at least one location indicators placed in the work area to the map management means, The map management means identifies the current area, including the current location, on the environmental map. The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. The system further comprises an augmented reality display means for capturing images of at least one of the position indicators, The augmented reality display means is a system that superimposes a computer graphics image indicating the no-entry zone onto an image of at least one position indicator.

10. A mobile mechanism that moves to the work area based on an environmental map corresponding to the work area, A map management means for managing the aforementioned environmental map, The facility includes a location detection means that transmits information capable of identifying the current location of each of at least one location indicators placed in the work area to the map management means, The map management means identifies the current area, including the current location, on the environmental map. The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. The system further comprises area planning means for creating a plan for the aforementioned no-entry zone, The map management means transmits the difference between the plan and the setting of the no-entry zone based on the placement of the at least one location indicator to the at least one location indicator and the area planning means, A system in which each of the at least one position indicator and the area planning means outputs information relating to the difference.

11. The system according to claim 1 or 2, further comprising area division means for dividing the environmental map into multiple areas.

12. The system according to claim 1 or 2, wherein the at least one position indicator is configured to be movable by the user.

13. The at least one position indicator is fixed to the work location. The position detection means transmits the identifier of the at least one position indicator to the map management means. The system according to claim 1 or 2, wherein the map management means identifies the current area based on a correspondence between an identifier of the at least one location indicator and information regarding the location where the at least one location indicator is fixed.

14. A mobile mechanism that moves to the work area based on an environmental map corresponding to the work area, A map management means for managing the aforementioned environmental map, The facility includes a location detection means that transmits information capable of identifying the current location of each of at least one location indicators placed in the work area to the map management means, The map management means identifies the current area, including the current location, on the environmental map. The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. A system in which each of the at least one position indicators is the position detection means.

15. A method for managing an environmental map corresponding to the work area to which a mobile mechanism moves, The position detection means transmits information that can identify the current position of each of the at least one position indicators placed in the work area to the map management means that manages the environmental map, The map management means includes the step of identifying the current area, including the current location, on the environmental map, The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. The position detection means changes the settings related to the no-entry zone in response to user input to the position detection means. The above setting includes a setting regarding whether or not to designate the current area, including the current location, as the no-entry zone. The map management means is a method for identifying the no-entry zone based on the settings.

16. A method for managing an environmental map corresponding to the work area to which a mobile mechanism moves, The position detection means transmits information that can identify the current position of each of the at least one position indicators placed in the work area to the map management means that manages the environmental map, The map management means includes the step of identifying the current area, including the current location, on the environmental map, The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. The map management means transmits information about the current area to the mobile mechanism if the current area is not designated as a no-entry zone on the environmental map. The method involves setting the current area as a no-entry zone on the environmental map and setting an area not included in the current location as an accessible zone on the environmental map where the mobile mechanism can move.

17. A method for managing an environmental map corresponding to the work area to which a mobile mechanism moves, The position detection means transmits information that can identify the current position of each of the at least one position indicators placed in the work area to the map management means that manages the environmental map, The map management means includes the step of identifying the current area, including the current location, on the environmental map, The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. The location detection means is configured to be portable by the user and displays the environmental map in which the restricted area is defined.

18. A method for managing an environmental map corresponding to the work area to which a mobile mechanism moves, The position detection means transmits information that can identify the current position of each of the at least one position indicators placed in the work area to the map management means that manages the environmental map, The map management means includes the step of identifying the current area, including the current location, on the environmental map, The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. The position detection means is a method for displaying an area corresponding to the no-entry zone at the work site.

19. A method for managing an environmental map corresponding to the work area to which a mobile mechanism moves, The position detection means transmits information that can identify the current position of each of the at least one position indicators placed in the work area to the map management means that manages the environmental map, The map management means includes the step of identifying the current area, including the current location, on the environmental map, The moving mechanism moves the work area while avoiding the no-entry zone based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators, and the method is as follows: The augmented reality display means further includes the step of capturing an image of the at least one position indicator, The augmented reality display means is a method of superimposing a computer graphics image indicating the no-entry zone onto an image of the at least one position indicator.

20. A method for managing an environmental map corresponding to the work area to which a mobile mechanism moves, The position detection means transmits information that can identify the current position of each of the at least one position indicators placed in the work area to the map management means that manages the environmental map, The map management means includes the step of identifying the current area, including the current location, on the environmental map, The moving mechanism moves the work area while avoiding the no-entry zone based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators, and the method is as follows: The area planning means further includes the step of creating a plan for the restricted area, The map management means transmits the difference between the plan and the setting of the no-entry zone based on the placement of the at least one location indicator to the at least one location indicator and the area planning means, A method wherein each of the at least one position indicator and the area planning means outputs information relating to the difference.

21. A method for managing an environmental map corresponding to the work area to which a mobile mechanism moves, The position detection means transmits information that can identify the current position of each of the at least one position indicators placed in the work area to the map management means that manages the environmental map, The map management means includes the step of identifying the current area, including the current location, on the environmental map, The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. A method wherein each of the at least one position indicators is the position detection means.

22. A program that causes a processor to execute a process for managing an environmental map corresponding to the work area to which a mobile mechanism moves, wherein the process is: The position detection means transmits information that can identify the current position of each of the at least one position indicators placed in the work area to the map management means that manages the environmental map. The map management means includes identifying the current area, including the current location, on the environmental map, The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. The position detection means changes the settings related to the no-entry zone in response to user input to the position detection means. The above setting includes a setting regarding whether or not to designate the current area, including the current location, as the no-entry zone. The map management means is a program that identifies the no-entry zone based on the settings.

23. A program that causes a processor to execute a process for managing an environmental map corresponding to the work area to which a mobile mechanism moves, wherein the process is: The position detection means transmits information that can identify the current position of each of the at least one position indicators placed in the work area to the map management means that manages the environmental map. The map management means includes identifying the current area, including the current location, on the environmental map, The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. The map management means transmits information about the current area to the mobile mechanism if the current area is not designated as a no-entry zone on the environmental map. The program for the mobile mechanism sets the current area as a no-entry zone on the environmental map, and sets the area not included in the current location as an accessible zone on the environmental map where the mobile mechanism can move.

24. A program that causes a processor to execute a process for managing an environmental map corresponding to the work area to which a mobile mechanism moves, wherein the process is: The position detection means transmits information that can identify the current position of each of the at least one position indicators placed in the work area to the map management means that manages the environmental map. The map management means includes identifying the current area, including the current location, on the environmental map, The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. The location detection means is configured to be portable by the user and displays the environmental map in which the no-entry zone is defined.

25. A program that causes a processor to execute a process for managing an environmental map corresponding to the work area to which a mobile mechanism moves, wherein the process is: The position detection means transmits information that can identify the current position of each of the at least one position indicators placed in the work area to the map management means that manages the environmental map. The map management means includes identifying the current area, including the current location, on the environmental map, The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. The position detection means is a program that displays an area corresponding to the no-entry zone at the work location.

26. A program that causes a processor to execute a process for managing an environmental map corresponding to the work area to which a mobile mechanism moves, wherein the process is: The position detection means transmits information that can identify the current position of each of the at least one position indicators placed in the work area to the map management means that manages the environmental map. The map management means includes identifying the current area, including the current location, on the environmental map, The moving mechanism moves the work area while avoiding the no-entry zone based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators, and the process is as follows: The augmented reality display means further includes imaging the at least one position indicator, The augmented reality display means is a program that superimposes a computer graphics image indicating the no-entry zone onto the image of the at least one position indicator.

27. A program that causes a processor to execute a process for managing an environmental map corresponding to the work area to which a mobile mechanism moves, wherein the process is: The position detection means transmits information that can identify the current position of each of the at least one position indicators placed in the work area to the map management means that manages the environmental map. The map management means includes identifying the current area, including the current location, on the environmental map, The moving mechanism moves the work area while avoiding the no-entry zone based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators, and the process is as follows: The area planning means further includes creating a plan for the restricted area, The map management means transmits the difference between the plan and the setting of the no-entry zone based on the placement of the at least one location indicator to the at least one location indicator and the area planning means, Each of the at least one position indicator and the area planning means is a program that outputs information relating to the difference.

28. A program that causes a processor to execute a process for managing an environmental map corresponding to the work area to which a mobile mechanism moves, wherein the process is: The position detection means transmits information that can identify the current position of each of the at least one position indicators placed in the work area to the map management means that manages the environmental map. The map management means includes identifying the current area, including the current location, on the environmental map, The moving mechanism moves the work area while avoiding the no-entry zone, based on the environmental map in which the current area of ​​each of the at least one position indicators is set as a no-entry zone based on the state of each of the position indicators. Each of the at least one position indicator is a program which is a position detection means.

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