Mobile body, mobile body control device, route change method and program

Abstract

[Problem] To provide: a mobile body that is capable of changing a movement path in coordination with another monitoring system; a mobile body control device; a route changing method; and a program recording medium. [Solution] A mobile body comprising: a camera; a movement means that moves along a pre-set route; a transmission means that transmits an image captured with a camera to a prescribed transmission destination; an information acquisition means that acquires information indicating the operation state of another monitoring system; and a route changing means that changes the route on the basis of the operation state of said other monitoring system.

Description

Mobile body, mobile body control device, route change method, and recording medium

[0001] The present disclosure relates to a mobile body, a mobile body control device, a route change method, and a recording medium.

[0002] Patent Document 1 discloses an example of a surveillance device that uses a drone that sets a flight route based on CAD (Computer Aided Design) information for a building. The document also describes that a server that sets the flight route for the drone sets flight timing based on feeding information that indicates feeding locations and times, enabling early detection of sick or dead chickens.

[0003] Patent Document 2 discloses an example of a control device that can quickly confirm the state of an abnormality that has occurred by searching for a mobile object that can properly photograph the location where the abnormality has occurred.

[0004] JP 2019-208197 A JP 2019-179627 A

[0005] The monitoring systems exemplified in Patent Documents 1 and 2 have a problem in that they cannot change the monitoring course in cooperation with other monitoring systems. For example, Patent Document 2 describes selecting a mobile object capable of photographing the location where an abnormality has occurred from among multiple mobile objects and instructing the mobile object to photograph, but does not describe anything about cooperative operation with other monitoring systems.

[0006] An object of the present disclosure is to provide a mobile object, a mobile object control device, a route changing method, and a recording medium that are capable of changing a travel route in cooperation with other monitoring systems.

[0007] According to a first aspect, there is provided a mobile body comprising a camera, a moving means for moving along a predetermined route, a transmitting means for transmitting an image captured by the camera to a predetermined destination, an information acquiring means for acquiring information indicating the operating status of other monitoring systems, and a route changing means for changing the route based on the operating status of the other monitoring systems.

[0008] According to a second aspect, a mobile body control device is provided that includes a setting means for setting a route for a mobile body that transmits images captured by a camera to a predetermined destination, an information acquisition means for acquiring information indicating the operating status of other monitoring systems, and a route change means for changing the route set for the mobile body based on the operating status of the other monitoring systems.

[0009] According to a third aspect, there is provided a route change method in which a mobile object equipped with a camera, moving along a predetermined route, and transmitting images captured by the camera to a predetermined destination, acquires information indicating the operating status of other monitoring systems, and changes the route based on the operating status of the other monitoring systems.

[0010] According to a fourth aspect, there is provided a route change method in which a mobile body control device is equipped with a camera and receives images captured by the camera from a mobile body moving along a predetermined route, acquires information indicating the operating status of another monitoring system, and changes the route set for the mobile body based on the operating status of the other monitoring system.

[0011] According to a fifth aspect, there is provided a recording medium having recorded thereon a program that causes a computer mounted on a mobile object equipped with a camera, which moves along a predetermined route and transmits images captured by the camera to a predetermined destination, to execute a process of acquiring information indicating the operating status of other monitoring systems and a process of changing the route based on the operating status of the other monitoring systems.

[0012] According to a sixth aspect, there is provided a recording medium having recorded thereon a program that causes a computer mounted on a mobile body control device equipped with a camera and receiving images captured by the camera from a mobile body moving along a predetermined route to execute the following processes: acquiring information indicating the operating status of other monitoring systems; and changing the route set for the mobile body based on the operating status of the other monitoring systems.

[0013] According to the present disclosure, a mobile object, a mobile object control device, a route changing method, and a recording medium are provided that are capable of changing a travel route in cooperation with other monitoring systems.

[0014] 1 is a diagram illustrating a configuration of an embodiment of the present disclosure. FIG. 2 is a flowchart illustrating the operation of an embodiment of the present disclosure. FIG. 3 is another diagram illustrating a configuration of an embodiment of the present disclosure. FIG. 4 is a block diagram illustrating a configuration of an autonomously driven vehicle according to a first embodiment of the present disclosure. FIG. 5 is a flowchart illustrating the operation of the autonomously driven vehicle according to the first embodiment of the present disclosure. FIG. 6 is a diagram illustrating a route change operation of an autonomously driven vehicle according to the first embodiment of the present disclosure. FIG. 7 is another diagram illustrating a route change operation of an autonomously driven vehicle according to the first embodiment of the present disclosure. FIG. 8 is a block diagram illustrating a configuration of an autonomously driven vehicle according to a second embodiment of the present disclosure. FIG. 9 is a diagram illustrating a route change operation of an autonomously driven vehicle according to the second embodiment of the present disclosure. FIG. 10 is a block diagram illustrating a configuration of a control center device according to a third embodiment of the present disclosure. FIG. 11 is a flowchart illustrating the operation of the control center device according to the third embodiment of the present disclosure. FIG. 12 is a diagram illustrating a route change operation of a moving body according to a fourth embodiment of the present disclosure. FIG. 13 is a diagram illustrating a further modified embodiment of the fourth embodiment of the present disclosure. FIG. 14 is a diagram illustrating a configuration of a computer capable of functioning as a moving body or a control center device according to the present disclosure.

[0015] An overview of one embodiment of the present disclosure will be described with reference to the drawings. Note that the reference numerals in this overview are provided for convenience of each element as an example to facilitate understanding, and are not intended to limit the present disclosure to the illustrated form. Furthermore, connecting lines between blocks in the drawings and the like referred to in the following description include both bidirectional and unidirectional lines. Unidirectional arrows are used to schematically indicate the flow of main signals (data) and do not exclude bidirectionality. A program is executed via a computer device, which includes, for example, a processor, a storage device, an input device, a communication interface, and, if necessary, a display device. Furthermore, this computer device is configured to be able to communicate with internal or external devices (including computers) via the communication interface, whether wired or wireless. Furthermore, ports or interfaces are present at the input / output connection points of each block in the drawings, but are not shown.

[0016] In one embodiment, the present disclosure can be realized in a mobile object 10 including a camera 11, a moving means 12, a transmitting means 13, an information acquiring means 14, and a route changing means 15, as shown in FIG.

[0017] More specifically, the moving means 12 is composed of various propulsion devices that function as moving means for moving a moving body along a preset route, and a control device that controls these devices.

[0018] The transmission means 13 transmits to a predetermined destination the image captured by the camera 11. The camera 11, the moving means 12, and the transmission means 13 may be provided in an unmanned aerial vehicle (UAV) called a drone or an autonomous vehicle.

[0019] The information acquisition means 14 acquires information indicating the operation status of other monitoring systems. Examples of information indicating the operation status of other monitoring systems include, but are not limited to, the patrol routes and patrol schedules of security vehicles that constitute the security system. For example, the operation status of a monitoring camera system may be acquired as the operation status of other monitoring systems. Furthermore, the information indicating the operation status of other monitoring systems may be acquired from other monitoring systems, etc., deployed on a cloud computing platform via a wireless network.

[0020] The route change means 15 changes the route of the mobile object 10 based on the operating status of the other monitoring system.

[0021] The route change method is shown in Fig. 2. As shown in Fig. 2, the mobile object 10 configured as described above acquires information indicating the operation status of the other monitoring systems (step S01), and changes the route of the mobile object 10 based on the operation status of the other monitoring systems (step S02).

[0022] In step S02, the mobile object 10 changes its route based on the operating status of the other monitoring system to complement the monitoring capabilities of the other monitoring system. For example, if the other monitoring system is inactive, the mobile object 10 performs an operation to include the monitoring area of ​​the other monitoring system in the route and transmits the captured image to a predetermined destination. For example, if the other monitoring system has sufficient monitoring capabilities, the mobile object 10 performs an operation to remove the monitoring area of ​​the other monitoring system from the route. This allows the mobile object 10 to focus on patrolling and photographing areas that cannot be monitored by the other monitoring system.

[0023] According to the mobile body 10 that operates as described above, it is possible to construct a remote monitoring system that can change the monitoring area in cooperation with other monitoring systems.

[0024] 1 and 2, an example has been described in which the information acquisition means 14 and the route change means 15 are provided on the mobile body 10 side, but these functions may also be provided on the mobile body control device that controls the route of the mobile body. Fig. 3 is another diagram showing the configuration of an embodiment of the present disclosure.

[0025] 3, there is shown a mobile object control device 20 including a setting means 23, an information acquisition means 24, and a route change means 25. The setting means 23 sets a route for a mobile object that transmits an image captured by a camera to a predetermined destination.

[0026] The information acquisition means 24 acquires information indicating the operation status of the other monitoring systems, and the route change means 25 changes the route set for the mobile object based on the operation status of the other monitoring systems.

[0027] The mobile body control device 20 configured as described above acquires information indicating the operating status of other monitoring systems (step S01), as shown in Figure 2, and changes the route of the mobile body 10 based on the operating status of the other monitoring systems (step S02).

[0028] The mobile object control device 20 that operates as described above also makes it possible to build a remote monitoring system that can change the monitoring area in cooperation with other monitoring systems.

[0029] The other monitoring system described above may be a monitoring system that performs monitoring using a second mobile body with a person on board. In this case, it is preferable that the route changing means 15, 25 of each of the above-described forms changes the route to a second route that patrols areas that cannot be monitored by the second mobile body, based on the route of the second mobile body acquired from the information acquisition means 14, 24. In this way, it is possible to have the mobile body 10 perform monitoring that covers areas that are likely to be insufficiently monitored by other monitoring systems.

[0030] [First embodiment] Next, a first embodiment in which a cooperative operation function based on the operation status of another monitoring system is added to an autonomously driving vehicle that moves autonomously and transmits images to a control center device will be described in detail with reference to the drawings. In the following description, it is assumed that the other monitoring system uses patrol schedule information of a security vehicle. Figure 4 is a block diagram showing the configuration of an autonomously driving vehicle 100 according to the first embodiment of the present disclosure.

[0031] Referring to FIG. 4, an autonomous vehicle 100 is shown that includes a camera 101, a moving means 102, a transmitting means 103, an information acquiring means 104, and a route changing means 105.

[0032] The transportation means 102 is a means for the autonomous vehicle 100 to move along a predetermined route, and specifically comprises a plurality of wheels, motors that drive the wheels, a control device, etc.

[0033] The transmitting means 103 transmits the image taken by the camera 101 to the control center device.

[0034] The information acquisition means 104 acquires security vehicle patrol schedule information from an external terminal or the like that manages the security vehicles. In the following explanation, the security vehicle patrol schedule information includes the security vehicle's patrol route, patrol schedule, etc. Furthermore, security vehicles may include not only police vehicles but also various vehicles that perform surveillance work, such as vehicles of security companies and vehicles for inspection work.

[0035] The route change means 105 creates a route that complements the surveillance area of ​​the security vehicle based on the patrol schedule information status of the security vehicle, and sets the route in the moving means 102.

[0036] Next, the operation of this embodiment will be described in detail with reference to the drawings. Fig. 5 is a flowchart showing the operation of autonomous vehicle 100 according to the first embodiment of the present disclosure. Referring to Fig. 5, autonomous vehicle 100 acquires patrol schedule information for security vehicles from an external terminal or the like that manages the security vehicles (step S001).

[0037] Next, autonomously driven vehicle 100 creates a route that complements the surveillance area of ​​the security vehicle based on the security vehicle patrol schedule information (step S002). Note that the route can also be created by route change means 105 creating a route that patrols specific points determined from the security vehicle patrol schedule information each time. As another method for creating a route, route change means 105 can select a route that meets the conditions from multiple routes created in advance.

[0038] Next, the autonomously driven vehicle 100 sets the created route in the transportation means 102 and changes the changed route (step S003).

[0039] 6 is a diagram illustrating the route change operation of autonomous vehicle 100 according to the present disclosure. The diagram on the left side of Fig. 6 shows patrol route R1 of autonomous vehicle 100 when no security vehicles are patrolling as a result of acquiring the patrol schedule information for the security vehicles. When no security vehicles are patrolling, autonomous vehicle 100 monitors the entire area shown in the figure, so it creates and moves along a figure-eight shaped patrol route R1 that covers the entire area.

[0040] The diagram on the right of Figure 6 shows the patrol route of autonomous vehicle 100 when a security vehicle is patrolling. When a security vehicle is patrolling, autonomous vehicle 100 creates and moves along a cross-shaped patrol route R2 that covers the sections not patrolled by security vehicles, shown by dotted lines. In this way, autonomous vehicle 100 switches its patrol route in consideration of the operating status of the security vehicle, making it possible to efficiently monitor the area shown in Figure 6.

[0041] 7 is another diagram for explaining the route change operation of autonomous vehicle 100 according to the present disclosure. The diagram on the left side of Fig. 7 shows patrol route R1a for autonomous vehicle 100 when no security vehicles are patrolling as a result of acquiring the patrol schedule information for the security vehicles. When no security vehicles are patrolling, autonomous vehicle 100 creates patrol route R1a that circles the perimeter of the designated area in a clockwise direction and moves along it.

[0042] The diagram on the right of Figure 7 shows the patrol route of autonomous vehicle 100 when a security vehicle is patrolling. When a security vehicle is patrolling, autonomous vehicle 100 creates and travels along patrol route R2a, which is the same route as the security vehicle, shown by the dotted line, but in the opposite direction. In this way, by traveling along a route in the opposite direction to the security vehicle, autonomous vehicle 100 can comprehensively capture images of vehicles and people on the road that the security vehicle cannot capture.

[0043] 6 and 7, the example has been described in which autonomous vehicle 100 switches between two patrol routes R1 and R2 or R1a and R2a, but the manner in which autonomous vehicle 100 switches between patrol routes is not limited to the examples of Figures 6 and 7. For example, if there are multiple patterns for the patrol routes of security vehicles, autonomous vehicle 100 may travel along patrol routes that correspond to these different patrol routes.

[0044] Furthermore, the frequency with which autonomous vehicle 100 obtains security vehicle patrol schedule information may be every few hours, but by obtaining the information more frequently, autonomous vehicle 100 can also respond to emergency situations. For example, there may be cases where a security vehicle discovers an incident or accident while on patrol and must stop patrol. In such cases, by having autonomous vehicle 100 obtain security vehicle patrol schedule information, it is possible to switch from patrol route R2 on the right side of Figure 6 to patrol route R1 on the left side of Figure 6 and have the autonomous vehicle 100 patrol in place of the security vehicle.

[0045] Furthermore, when autonomous vehicle 100 creates a patrol route, it may take into account traffic rules and the like that apply to security vehicles. For example, a security vehicle cannot patrol a pedestrian-only area where vehicles are prohibited from entering. In this case, an autonomous vehicle 100 that can travel on sidewalks may be used to create a route that strengthens monitoring of the pedestrian-only area. For example, a security vehicle cannot patrol a one-way road in the reverse direction. In this case, an autonomous vehicle 100 that is not subject to traffic rules for vehicles may be configured to create a route that travels in the reverse direction on a one-way road. In this way, it becomes possible to identify people and vehicles in pedestrian-only areas and one-way roads that are not monitored by security vehicles.

[0046] Second Embodiment Next, a second embodiment in which a route change function that takes into account the time of day and day of the week is added to the autonomously driven vehicle 100 will be described in detail with reference to the drawings. FIG. 8 is a block diagram showing the configuration of an autonomously driven vehicle 100a according to the second embodiment of the present disclosure. The difference from the first embodiment shown in FIG. 4 is that a route change function that takes into account the time of day and day of the week is added to the route change means 105a of the autonomously driven vehicle 100a. Since the other configurations and operations are the same as those of the first embodiment, their description will be omitted and the differences will be mainly described.

[0047] The route change means 105 a of this embodiment holds a plurality of patterns of route changes, selects a route from these routes according to the time period and day of the week, and sets it for the transportation means 102 .

[0048] Fig. 9 is a diagram for explaining the route change operation of a moving body according to the second embodiment of the present disclosure. The diagram on the left of Fig. 9 shows patrol route R1 of autonomous vehicle 100a when no security vehicles are patrolling, and is the same as the one shown on the left of Fig. 6. Meanwhile, the two diagrams on the top and bottom of the right of Fig. 9 show patrol routes that autonomous vehicle 100a uses differently depending on the time of day and the day of the week when security vehicles are patrolling.

[0049] For example, if the current time is during the day on a weekday, the autonomous vehicle 100a selects and travels along the route shown in the upper right of FIG. 9 from the route shown on the right side of FIG. 9 . Furthermore, if the current time is in the morning or evening on a weekday, the autonomous vehicle 100a selects and travels along route R3 shown in the lower right of FIG. 9 from the route shown on the right side of FIG. 9 . This allows the autonomous vehicle 100a to watch over children going to and from school. In particular, on route R3 in FIG. 9 , the autonomous vehicle 100a is set to travel in the opposite direction to the security vehicle. This allows the security vehicle and the autonomous vehicle 100a to monitor children and people entering and leaving school by passing each other.

[0050] Of course, the example in Fig. 9 is merely an example for explaining the present disclosure, and is not limited to the switching of patrol routes shown in Fig. 9. For example, in the example in Fig. 9, autonomous vehicle 100a selects patrol route R1 when no security vehicles are patrolling, but autonomous vehicle 100a may also select a patrol route from multiple routes that corresponds to the current time or day of the week, even when no security vehicles are patrolling.

[0051] In addition, in the present embodiment, the route change means 105a has been described as having a plurality of route patterns and selecting a route from these routes depending on the time of day and the day of the week, but the route change means 105a may also create a route each time. In this case, the route change means 105a switches the route by changing the route creation rules depending on the time of day and the day of the week.

[0052] 9, an example of switching the patrol route has been described with the aim of photographing children and people entering and leaving school, but the patrol route may also be changed for other reasons. For example, if there is an area where incidents and accidents frequently occur, the patrol route may be set to intensify patrol during times when incidents and accidents are frequent. Also, for example, if there is an area where there is a lot of foot traffic, the patrol route may be set to intensify patrol during times when there is a lot of foot traffic.

[0053] [Third embodiment] Next, a third embodiment in which a control center device (corresponding to a mobile object control device) that controls the route of an autonomously driven vehicle 100b is provided with a function for changing a patrol route based on the operating status of security vehicles will be described in detail with reference to the drawings. Fig. 10 is a block diagram showing the configuration of the control center device of the third embodiment of the present disclosure.

[0054] 10 shows a control center device 200 including a receiving means 202, a setting means 203, an information acquisition means 204, and a route change means 205. The receiving means 202 receives captured images from the autonomously driven vehicle 100b and sends the received captured images to an image display device 300. A person in charge at the control center performs control duties by also referring to the information displayed on the image display device 300.

[0055] The setting means 203 sets a route for the autonomously driven vehicle 100b.

[0056] The information acquisition means 204 acquires patrol schedule information for security vehicles from an external terminal or the like that manages security vehicles.

[0057] Then, the route change means 205 creates a route that complements the security vehicle's monitoring area based on the security vehicle's patrol schedule information, and instructs the setting means 203 to set a route to the autonomously driven vehicle 100b.

[0058] Next, the operation of this embodiment will be described in detail with reference to the drawings. Fig. 11 is a flowchart showing the operation of the control center device 200 according to the third embodiment of the present disclosure. Referring to Fig. 11, the control center device 200 acquires patrol schedule information for security vehicles from an external terminal or the like that manages the security vehicles (step S101).

[0059] Next, the control center device 200 creates a patrol route that complements the surveillance area of ​​the security vehicle based on the patrol schedule information of the security vehicle (step S202). As in the first and second embodiments, the patrol route can be created by the route change means 205 creating a route that patrols specific points each time, or it can be created by selecting a patrol route that meets the conditions from multiple routes created in advance.

[0060] Next, the control center device 200 instructs the setting means 203 to set the created tour route, and instructs movement along the changed route (step S203).

[0061] In this embodiment, it is also possible to switch the patrol route according to the operation status of the security vehicle, as shown in Figures 6 and 7. Also, in this embodiment, as in the second embodiment, it is also possible to change the patrol route according to the time of day or the day of the week, in addition to the operation status of the security vehicle (see Figure 9). Furthermore, in this embodiment, the functions of the autonomous vehicle 100b itself can be omitted, which makes it possible to reduce implementation costs.

[0062] [Fourth Embodiment] In the first to third embodiments described above, examples have been given in which the moving body is an autonomous vehicle. However, the moving body to which the present disclosure can be applied is not limited to an autonomous vehicle. For example, the present disclosure can also be applied to a transport device, a robot, or the like that travels along a route in a designated area. In this case, these devices change their route based on the operating status of other monitoring systems, as shown by the robot 100c in FIG. 12. Furthermore, the present disclosure can also be applied to a drone, or the like, that flies along a route in a designated area. In this case, these devices change their route based on the operating status of other monitoring systems, as shown by the drone 100d in FIG. 13.

[0063] (Hardware Configuration) In each embodiment of the present disclosure, each component of each device represents a functional unit block. Some or all of the components of each device are realized by an arbitrary combination of an information processing device 900 and a program, for example, as shown in FIG. 14. FIG. 14 is a block diagram showing an example of the hardware configuration of the information processing device 900 that realizes each component of each device. The information processing device 900 includes, as an example, the following configuration: - CPU (Central Processing Unit) 901 - ROM (Read Only Memory) 902 - RAM (Random Access Memory) 903 - Program 904 loaded into RAM 903 - Storage device 905 that stores the program 904 - Drive device 907 that reads and writes to a recording medium 906 - Communication interface 908 that connects to a communication network 909 - Input / output interface 910 that inputs and outputs data - Bus 911 that connects each component

[0064] Each component of each device in each embodiment is realized by the CPU 901 acquiring and executing a program 904 that realizes the function. That is, the CPU 901 in FIG. 14 executes a program for acquiring information indicating the operating status of other monitoring systems and a program for changing the path based on the operating status of the other monitoring systems, and performs an update process for each calculation parameter stored in the RAM 903, the storage device 905, etc. The program 904 that realizes the function of each component of each device is, for example, stored in the storage device 905 or the ROM 902 in advance and read by the CPU 901 as needed. The program 904 may be supplied to the CPU 901 via the communication network 909, or may be stored in the recording medium 906 in advance, and the drive device 907 may read the program and supply it to the CPU 901.

[0065] Furthermore, this program 904 can display the processing results, including intermediate states, at each stage as necessary on a display device, or can communicate with the outside via a communication interface. Furthermore, this program 904 can be recorded in a computer-readable (non-transitive) storage medium.

[0066] There are various variations in the method of realizing each device. For example, each device may be realized by any combination of a separate information processing device 900 and a program for each component. Furthermore, multiple components of each device may be realized by any combination of a single information processing device 900 and a program. That is, the first to fifth embodiments can be realized by a computer program that causes the processors installed in these devices to execute the above-described processes using their hardware.

[0067] In addition, some or all of the components of each device may be realized by other general-purpose or dedicated circuits, processors, etc., or a combination of these. These may be configured by a single chip, or by multiple chips connected via a bus.

[0068] Some or all of the components of each device may be realized by a combination of the above-mentioned circuits and programs.

[0069] When some or all of the components of each device are realized by multiple information processing devices, circuits, etc., the multiple information processing devices, circuits, etc. may be centrally or decentralized. For example, the information processing devices, circuits, etc. may be realized as a client-server system, a cloud computing system, or the like, in a form in which each device is connected via a communication network.

[0070] It should be noted that the above-described embodiments are preferred embodiments of the present disclosure, and the scope of the present disclosure is not limited to only the above-described embodiments. In other words, those skilled in the art can modify or substitute the above-described embodiments to construct various modified forms without departing from the gist of the present disclosure.

[0071] Furthermore, the features of the first to third embodiments described above can be combined to form other embodiments. For example, an autonomous vehicle according to the first and second embodiments can coexist with an autonomous vehicle according to the third embodiment and controlled by a control center device.

[0072] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes.

[0073] [Supplementary Note 1] A mobile body comprising: a camera; a moving means for moving along a predetermined route; a transmitting means for transmitting images captured by the camera to a predetermined destination; an information acquiring means for acquiring information indicating the operating status of another monitoring system; and a route changing means for changing the route based on the operating status of the other monitoring system. [Supplementary Note 2] The route changing means of the mobile body may be configured to select a route from a plurality of predetermined routes based on a time of day or a day of the week. [Supplementary Note 3] The other monitoring system is a monitoring system that performs monitoring using a second mobile body carrying a person, and the route changing means of the mobile body may be configured to change the route to a second route that patrols areas that cannot be monitored by the second mobile body, based on the route of the second mobile body acquired from the information acquiring means. [Supplementary Note 4] The mobile body may be configured to set, as the second route, a route for monitoring a pedestrian-only area or a route for traveling in the reverse direction on a one-way street. [Supplementary Note 5] A mobile body control device comprising: a setting means for setting a route for a mobile body that transmits images captured by a camera to a predetermined destination; an information acquisition means for acquiring information indicating the operation status of another monitoring system; and a route change means for changing the route set for the mobile body based on the operation status of the other monitoring system. [Supplementary Note 6] The route change means of the above-mentioned mobile body control device can be configured to select a route based on a time of day or a day of the week from among multiple pre-set routes. [Supplementary Note 7] The above-mentioned other monitoring system is a monitoring system that performs monitoring using a second mobile body carrying a person, and the route change means of the above-mentioned mobile body control device can be configured to change the route to a second route that patrols areas that cannot be monitored by the second mobile body, based on the route of the second mobile body acquired from the information acquisition means. [Supplementary Note 8] The above-mentioned mobile body control device can be configured to set, as the second route, a route for monitoring a pedestrian-only area or a route for traveling in the reverse or forward direction on a one-way street.[Supplementary Note 9] A route changing method, in which a mobile object equipped with a camera, moving along a predetermined route, and transmitting images taken by the camera to a predetermined destination, acquires information indicating the operation status of other monitoring systems, and changes the route based on the operation status of the other monitoring systems. [Supplementary Note 10] A route changing method, in which a mobile object control device equipped with a camera and receiving images taken by the camera from a mobile object moving along a predetermined route acquires information indicating the operation status of other monitoring systems, changes the route set for the mobile object based on the operation status of the other monitoring systems, and sets the route for the mobile object. [Supplementary Note 11] A recording medium having recorded thereon a program causing a computer mounted on a mobile object equipped with a camera, moving along a predetermined route, and transmitting images taken by the camera to a predetermined destination to execute the following processes: acquire information indicating the operation status of other monitoring systems; and change the route based on the operation status of the other monitoring systems. [Supplementary Note 12] A recording medium having recorded thereon a program for causing a computer mounted on a mobile body control device that is equipped with a camera and receives images captured by the camera from a mobile body moving along a preset route to execute the following processes: acquiring information indicating the operating status of other monitoring systems, and changing the route set for the mobile body based on the operating status of the other monitoring systems. Note that the above Supplementary Note 9 to Supplementary Note 12 can be expanded into the forms of Supplementary Note 2 to Supplementary Note 4, similar to Supplementary Note 1.

[0074] The disclosures of the above-cited patent documents are incorporated herein by reference and may be used as the basis or part of this disclosure, as necessary. Modifications and adjustments of the embodiments and examples are possible within the scope of the entire disclosure (including the claims), and further based on the basic technical concepts thereof. Furthermore, various combinations and selections (including partial deletions) of various disclosed elements (including elements of each claim, each element of each embodiment or example, each element of each drawing, etc.) are possible within the scope of the disclosure of this document. In other words, this disclosure naturally includes various modifications and alterations that would be possible by a person skilled in the art in accordance with the entire disclosure, including the claims, and the technical concepts thereof. In particular, with regard to the numerical ranges described herein, any numerical value or subrange within that range should be construed as specifically described, even if not otherwise specified. Furthermore, the disclosures of the above-cited documents, when used in part or in whole in combination with the disclosures herein, as part of the disclosure of this document, in accordance with the spirit of this disclosure, are also deemed to be included in the disclosures of this application.

[0075] 10 Mobile body 11, 101 Camera 12, 102 Moving means 13, 103 Transmission means 14, 104 Information acquisition means 15, 105 Route change means 20 Mobile body control device 23, 203 Setting means 24, 204 Information acquisition means 25, 205 Route change means 100, 100a, 100b Autonomous driving vehicle 100c Robot 100d Drone 101 Camera 102 Moving means 103 Transmission means 104 Information acquisition means 105, 105a Route change means 202 Reception means 900 Information processing device 901 CPU (Central Processing Unit) 902 ROM (Read Only Memory) 903 RAM (Random Access Memory) 904 Program 905 Storage device 906 Recording medium 907 Drive device 908 Communication interface 909 Communication network 910 Input / output interface 911 Bus R1, R2, R1a, R2a, R3 Circulation path

Claims

1. A camera and a means of transportation that moves along a preset route; a transmitting means for transmitting the image captured by the camera to a predetermined destination; an information acquisition means for acquiring information indicating the operating status of other monitoring systems; a route change means for changing the route based on the operation status of the other monitoring system; A mobile body comprising:

2. the other monitoring system is a monitoring system that performs monitoring using a second moving body on which a person is riding, the route change means changes the route to a second route that patrols locations that cannot be monitored by the second mobile object, based on the route of the second mobile object acquired from the information acquisition means; The moving body of claim 1.

3. As the second route, a route for monitoring a pedestrian-only area or a route for moving in the reverse direction on a one-way street is set. The moving body of claim 2.

4. setting, as the second route, a route along the same route as that of the second moving body but in a reverse direction; The moving body of claim 2.

5. a setting means for setting a route of a mobile object for transmitting an image captured by a camera to a predetermined destination; an information acquisition means for acquiring information indicating the operating status of other monitoring systems; a route change means for changing a route set for the moving body based on the operation status of the other monitoring system; A mobile object control device comprising:

6. the other monitoring system is a monitoring system that performs monitoring using a second moving body on which a person is riding, the route change means changes the route to a second route that patrols locations that cannot be monitored by the second mobile object, based on the route of the second mobile object acquired from the information acquisition means; The mobile object control device according to claim 5.

7. As the second route, a route for monitoring a pedestrian-only area or a route for moving in the reverse direction on a one-way street is set. The mobile object control device according to claim 6.

8. setting, as the second route, a route along the same route as that of the second moving body but in a reverse direction; The mobile object control device according to claim 6.

9. a mobile object control device that is equipped with a camera and receives an image captured by the camera from a mobile object moving along a preset route; Obtain information showing the operating status of other monitoring systems, changing the route set for the mobile body based on the operation status of the other monitoring system; How to change the route.

10. A computer mounted on a mobile object control device that is equipped with a camera and receives images captured by the camera from a mobile object moving along a predetermined route, A process of acquiring information indicating the operating status of other monitoring systems; A process of changing a route set for the moving object based on an operation status of the other monitoring system; A program that executes the following.