Mobile body, driving mode switching method and program

Abstract

[Problem] To provide a mobile body, an operation mode switching method, and a recording medium which make it possible to ascertain details of an occurring event quickly, accurately, and with fewer personnel. [Solution] This mobile body comprises: a camera; a movement means that moves autonomously on the basis of information which has been set in advance; a transmission means that, during movement by the movement means, sends to a prescribed control center an image taken by the camera; a determination means that determines whether an event appearing in the image taken by the camera satisfies a prescribed autonomous operation stopping condition; and an operation mode switching request means that, when an event has occurred that satisfies the autonomous operation stopping condition, requests the control center to switch to a remote control mode in which remote control is received from the control center.

Description

Mobile body, driving mode switching method and recording medium

[0001] The present disclosure relates to a moving body, a driving mode switching method, and a recording medium.

[0002] Patent Literature 1 discloses a drone security system that can respond by dispatching security personnel to the scene of an abnormality such as an intrusion or fire. According to the document, the drone security system includes a drone equipped with a camera, a cloud server, and a security officer terminal. The drone transmits image data captured by the camera while flying a predetermined course to the cloud server. The cloud server analyzes the image data received from the drone using a video analysis means, and notifies the security officer terminal when it detects an intrusion into a predetermined area, a fire, smoke, a violent act, a fallen object, an object theft, illegal dumping, illegal dumped material, illegal parking, a person who has fallen, or a gesture indicating a need for rescue.

[0003] Japanese Patent Application Laid-Open No. 2021-180374

[0004] In the monitoring system exemplified in Patent Document 1, the video analysis means of the cloud server is configured to analyze image data received from a drone, which presents a problem in that it cannot handle cases where it is difficult to determine the situation based on the image data alone. In this regard, it is conceivable to send a notification and dispatch personnel when such images are obtained, but this poses a problem in that if the events to be detected are widespread, a significant amount of personnel resources would be required. Furthermore, there is a possibility that waiting for the dispatch of personnel to detect some detected events will result in missing the timing.

[0005] An object of the present disclosure is to provide a mobile body, an operation mode switching method, and a recording medium that enable the details of an incident to be grasped quickly and accurately with fewer personnel.

[0006] According to a first aspect, a mobile body is provided that includes a camera, a moving means for moving autonomously based on pre-set information, a transmission means for transmitting images captured by the camera to a specified control center while moving by the moving means, a determination means for determining whether an event captured in the image of the camera meets specified autonomous driving suspension conditions, and a driving mode switch request means for, when an event that meets the autonomous driving suspension conditions occurs, requesting the control center to switch to a remote control mode that accepts remote control from the control center.

[0007] According to a second aspect, a method for switching driving modes is provided in which a mobile body equipped with a camera, a moving means for moving autonomously based on pre-set information, and a transmission means for transmitting images captured by the camera to a predetermined control center while moving by the moving means determines whether an event captured in an image from the camera meets predetermined conditions for stopping autonomous driving, and if an event that meets the conditions for stopping autonomous driving occurs, requests the control center to switch to a remote control mode that accepts remote control from the control center.

[0008] According to a third aspect, a recording medium is provided that records a program that causes a computer mounted on a mobile body equipped with a camera, a moving means for autonomously moving based on pre-set information, and a transmission means for transmitting images captured by the camera to a specified control center while moving by the moving means to determine whether an event captured in an image from the camera meets specified autonomous driving suspension conditions, and, if an event that meets the autonomous driving suspension conditions occurs, to request the control center to switch to a remote control mode that accepts remote control from the control center.

[0009] According to the present disclosure, a mobile body, an operation mode switching method, and a recording medium are provided that allow the details of an incident to be grasped quickly and accurately with fewer personnel.

[0010] FIG. 1 is a diagram illustrating a configuration of an embodiment of the present disclosure. FIG. 2 is a flow diagram illustrating the operation of an embodiment of the present disclosure. FIG. 3 is a diagram illustrating a configuration of a first embodiment of the present disclosure. FIG. 4 is a block diagram illustrating a configuration of an autonomously driven vehicle according to the first embodiment of the present disclosure. FIG. 5 is a diagram for explaining a condition under which an autonomously driven vehicle according to the first embodiment of the present disclosure requests remote operation. FIG. 6 is a flow diagram illustrating the operation of an autonomously driven vehicle according to the first embodiment of the present disclosure. FIG. 7 is a diagram illustrating the operation of an autonomously driven vehicle according to the first embodiment of the present disclosure. FIG. 8 is another diagram illustrating the operation of an autonomously driven vehicle according to the first embodiment of the present disclosure. FIG. 9 is a block diagram illustrating the configuration of an autonomously driven vehicle according to a second embodiment of the present disclosure. FIG. 10 is a block diagram illustrating the configuration of an autonomously driven vehicle according to a third embodiment of the present disclosure. FIG. 11 is a block diagram illustrating the configuration of an autonomously driven vehicle according to a fourth embodiment of the present disclosure. FIG. 12 is a block diagram illustrating the configuration of an autonomously driven vehicle according to a fifth embodiment of the present disclosure. FIG. 13 is a diagram for explaining the operation of an autonomously driven vehicle according to the fifth embodiment of the present disclosure. FIG. 14 is a diagram for explaining the operation of a drone according to a sixth embodiment of the present disclosure. FIG. 15 is a diagram illustrating the configuration of a computer capable of functioning as a moving body according to the present disclosure.

[0011] 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.

[0012] 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, a determining means 14, and a driving mode switching request means 15, as shown in FIG.

[0013] More specifically, the transportation means 12 is composed of various propulsion devices that function as transportation means for autonomously moving based on pre-set information, and a control device that controls the propulsion devices. The pre-set information may include, but is not limited to, various settings such as making the mobile body 10 move around a specified route or making the mobile body move around areas with a large number of people and cars.

[0014] The transmission means 13 transmits images captured by the camera 11 to a predetermined control center while the moving means 12 is moving. The camera 11, moving means 12, and transmission means 13 can be provided in an unmanned aerial vehicle (UAV) called a drone or an autonomous vehicle.

[0015] The determination means 14 determines whether or not an event captured in an image of the camera 11 satisfies a predetermined condition for terminating autonomous driving. For example, the determination means 14 determines whether or not a suspicious object is captured in an image captured by the camera 11, and notifies the driving mode switching request means 15 of the result.

[0016] When an event that satisfies the autonomous driving termination condition occurs, the driving mode switching request means 15 requests the control center to switch to a remote control mode that accepts remote control from the control center. For example, when the determination means 14 obtains a determination result that a suspicious object is captured, the driving mode switching request means 15 requests the control center to switch to a remote control mode.

[0017] 2 shows a method for switching between driving modes. The mobile object 10 configured as described above operates as follows. As shown in FIG. 2, the mobile object 10 analyzes images captured by the camera 11 at predetermined time intervals (step S01) and determines whether an event that meets a predetermined condition for terminating autonomous driving has occurred (step S02). If it is determined that an event that meets the predetermined condition for terminating autonomous driving has not occurred, the mobile object 10 does not request the control center to switch to remote control mode, and continues autonomous driving (No in step S02).

[0018] On the other hand, if it is determined that an event that satisfies the predetermined autonomous driving suspension condition has occurred, the mobile body 10 requests the control center to switch to remote control mode (step S03). In addition, this switch to remote control mode may include information about the event that caused it.

[0019] Upon receiving the request to switch to the remote control mode, the control center personnel approves the switch to the remote control mode and performs remote control. Thereafter, the control center personnel moves the mobile object 10 to the desired position and photographs the event using the camera 11. For example, upon confirming that the suspicious object is photographed, the control center personnel operates the mobile object 10 to approach the suspicious object and check the details using the image captured by the camera 11. If necessary, the control center personnel may also operate the mobile object 10 and take a photograph of the suspicious object using the camera 11 mounted on the mobile object 10.

[0020] As described above, according to the present disclosure, it is possible to quickly and accurately grasp the details of an incident with fewer personnel.

[0021] [First Embodiment] Next, a first embodiment in which a function for requesting switching to a remote control mode depending on the situation is added to an autonomously driven vehicle that travels autonomously and transmits images to a control center will be described in detail with reference to the drawings. Fig. 3 is a diagram showing the configuration of the first embodiment of the present disclosure. Referring to Fig. 3, the configuration includes one or more autonomously driven vehicles 100 and a control center 200 that receives images from the autonomously driven vehicles 100 and supports traffic control and monitoring operations.

[0022] 4 is a block diagram showing the configuration of an autonomously driven vehicle 100 according to the first embodiment of the present disclosure. Referring to FIG. 4, the autonomously driven vehicle 100 includes a camera 101, a moving unit 102, a transmitting unit 103, a determining unit 104, and a driving mode switching request unit 105.

[0023] The transportation means 102 is a means for the automatically driven vehicle 100 to move autonomously based on pre-set information, and specifically comprises a plurality of wheels, motors that drive the wheels, a control device, etc.

[0024] The transmitting means 103 transmits the images taken by the camera 101 to the control center 200 while the moving means 102 is moving.

[0025] The determination means 104 determines whether or not the event captured in the image of the camera 101 meets predetermined autonomous driving suspension conditions. Fig. 5 is a table showing the correspondence between the conditions (autonomous driving suspension conditions) under which the determination means 104 of the autonomous vehicle 100 requests remote operation and the actions to be taken by the control center when an event that meets each condition is detected.

[0026] For example, if a parked vehicle is detected in a no-parking area, the determination means 104 determines that an event that meets the autonomous driving suspension conditions has occurred. Note that the "parked vehicle" referred to here does not necessarily have to be a parked vehicle under the Road Traffic Act; a vehicle that has been confirmed to be parked in the same place for a certain period of time or longer may be considered a parked vehicle. In this case, the control center may perform tasks such as going around to the front of the vehicle to check for the presence of a driver, taking a photograph of the license plate if necessary, and contacting the relevant authorities. Similarly, if a vehicle violating a traffic law is detected, the determination means 104 determines that an event that meets the autonomous driving suspension conditions has occurred. In this case, the control center may perform tasks such as tracking the vehicle, taking a photograph of the license plate if necessary, and contacting the relevant authorities. Similarly, if a suspicious person is detected, the determination means 104 determines that an event that meets the autonomous driving suspension conditions has occurred. In this case, the control center may perform tasks such as tracking the suspicious person, taking a photograph of the suspicious person if necessary, and contacting the relevant authorities.

[0027] The function of checking whether an event has occurred in the judgment means 104 as described above can use a method that is put into practical use in anomaly detection systems that use AI (artificial intelligence) to detect abnormalities in locations captured by a camera.

[0028] When the determination means 104 determines that an event that satisfies the autonomous driving suspension condition has occurred, it notifies the driving mode switching request means 105 of the details of the event that has occurred.

[0029] When the driving mode switching request means 105 receives a notification that an event that satisfies the autonomous driving suspension condition has occurred, it requests the control center 200 to switch to a remote control mode that accepts remote control from the control center 200.

[0030] Next, the operation of this embodiment will be described in detail with reference to the drawings. Fig. 6 is a flowchart showing the operation of the autonomously driven vehicle 100 according to the first embodiment of the present disclosure. The flowchart on the left side of Fig. 6 shows the operation of the autonomously driven vehicle 100 operating in autonomous driving mode. First, the autonomously driven vehicle 100 analyzes images from the camera 101 at predetermined time intervals (step S101).

[0031] 5 has occurred (Yes in step S102), the autonomous vehicle 100 requests the control center 200 to switch to the remote control mode (step S103). On the other hand, if an event that meets the autonomous driving suspension condition has not occurred, the autonomous vehicle 100 continues to operate in the autonomous driving mode (No in step S102).

[0032] The flow chart on the right side of Figure 6 shows the operation of autonomous vehicle 100 operating in remotely controlled mode. If an operation to end remote control is performed by a person in the control center while autonomous vehicle 100 is operating in remotely controlled mode (Yes in step S201), autonomous vehicle 100 switches the driving mode to autonomous driving mode (step S202). On the other hand, autonomous vehicle 100 continues to operate in remotely controlled mode until an operation to end remote control is performed (No in step S201).

[0033] FIG. 7 is a diagram illustrating the operation of the autonomous vehicle according to the first embodiment of the present disclosure. Reference symbol R1 in FIG. 7 indicates the route of the autonomous vehicle 100 in autonomous driving mode. As shown in the upper part of FIG. 7 , assume that the autonomous vehicle 100 travels along route R1 and discovers a parked vehicle when it arrives at point A. In this case, the autonomous vehicle 100 determines that an event that satisfies the conditions for terminating autonomous driving has occurred and requests the control center 200 to switch to remote control mode. Upon receiving the request, a person in charge at the control center 200 switches the autonomous vehicle 100 to remote control mode and begins remote control. For example, as shown in the lower part of FIG. 7 , the person in charge at the control center 200 drives the autonomous vehicle 100 around the front of the parked vehicle to check whether a driver is present and to take photographs of the vehicle and its license plate. After completing the above work, the person in charge at the control center 200 returns the automatically driven vehicle 100 to the autonomous driving mode, whereby the automatically driven vehicle 100 resumes monitoring along the patrol route R1.

[0034] FIG. 8 is another diagram illustrating the operation of the autonomous vehicle according to the first embodiment of the present disclosure. In FIG. 8 , reference symbol R1 also indicates the route of the autonomous vehicle 100 in autonomous driving mode. As shown in the upper part of FIG. 8 , assume that the autonomous vehicle 100 travels along route R1 and arrives at point B when it discovers a vehicle violating a traffic law. In this case, the autonomous vehicle 100 determines that an event that meets the conditions for terminating autonomous driving has occurred and requests the control center 200 to switch to remote control mode. Upon receiving the request, the person in charge of the control center 200 switches the autonomous vehicle 100 to remote control mode and begins remote control. For example, as shown in the lower part of FIG. 8 , the person in charge of the control center 200 drives the autonomous vehicle 100 to track the violating vehicle and photographs the vehicle and its license plate. After completing the above operations, the person in charge of the control center 200 returns the autonomous vehicle 100 to autonomous driving mode, allowing the autonomous vehicle 100 to resume monitoring along route R1.

[0035] FIG. 9 is another diagram illustrating the operation of the autonomous vehicle according to the first embodiment of the present disclosure. In FIG. 9 , reference symbol R1 also indicates the route of the autonomous vehicle 100 in autonomous driving mode. As shown in the upper part of FIG. 9 , assume that the autonomous vehicle 100 travels along the route R1 and discovers a suspicious individual when it arrives at point C. In this case, the autonomous vehicle 100 also determines that an event that satisfies the conditions for terminating autonomous driving has occurred, and requests the control center 200 to switch to remote control mode. Upon receiving the request, the person in charge at the control center 200 switches the autonomous vehicle 100 to remote control mode and begins remote control. For example, as shown in the lower part of FIG. 9 , the person in charge at the control center 200 drives the autonomous vehicle 100 to pass the suspicious individual, then turns around at point D, tracks the suspicious individual, and photographs the suspicious individual. After completing the above work, the person in charge at the control center 200 returns the automatically driven vehicle 100 to the autonomous driving mode, whereby the automatically driven vehicle 100 resumes monitoring along the patrol route R1.

[0036] As described above, according to this embodiment, the autonomous vehicle 100 can be switched to remote control mode as needed during autonomous driving, and this can be used as a means for understanding the details of events that occur near the vehicle's route. In addition, the number of times that personnel need to be dispatched, as in the method described in the background art, can be reduced, which leads to a dramatic reduction in operating costs.

[0037] Second Embodiment Next, a second embodiment in which an audio output function is added to an autonomously driven vehicle 100a will be described in detail with reference to the drawings. Fig. 10 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 speaker 106 is added to the autonomously driven vehicle 100a. Since the other configurations and operations are the same as those of the first embodiment, a description thereof will be omitted and the description will focus on the differences.

[0038] The speaker 106 is configured to be able to output the voice of the person in charge of the control center 200 and an alarm sound.

[0039] In this embodiment, in the remote control mode, the control center 200 is configured to allow the person in charge to move the autonomous vehicle 100a to a desired position and issue a warning using the speaker 106. For example, in the situations shown in Figures 7 and 8, the control center 200 person in charge can approach the vehicle occupants and order them to move or stop the vehicle, or sound an alarm to alert those in the vicinity. Also, in the situation shown in Figure 9, the control center 200 person in charge can request a suspicious person to present an ID card and take a photograph of the suspicious person.

[0040] 11 , autonomously driven vehicle 100b may be equipped with microphone 107, and audio picked up by microphone 107 of autonomously driven vehicle 100b may be transmitted to control center 200. In this way, a person in charge at control center 200 may be able to converse with people at the site and record audio at the site.

[0041] [Fourth embodiment] In another embodiment, an autonomously driven vehicle 100c may be equipped with a light emitting device 108 as shown in Fig. 12. As the light emitting device 108, a device such as an LED (Light Emitting Diode) capable of emitting light with high brightness, a rotating light, or the like can be suitably used.

[0042] In this embodiment, the system is configured so that, in the remote control mode, a person in charge of the control center 200 can move the autonomously driven vehicle 100b to a desired position and issue a warning using the light-emitting device 108. In this manner, in the remote control mode, the person in charge of the control center 200 can approach the vehicle occupants, suspicious persons, and nearby people and turn on the light-emitting device 108 to alert them. For example, in the situation shown in FIG. 7 , the person in charge of the control center 200 can turn on the light-emitting device 108 to make the vehicle occupants aware that a parked vehicle has been detected and is being photographed.

[0043] Fifth Embodiment Next, a fifth embodiment in which a water-spraying function is added to an autonomous vehicle 100d will be described in detail with reference to the drawings. Fig. 13 is a block diagram showing the configuration of an autonomous vehicle 100d according to the fifth embodiment of the present disclosure. The fifth embodiment differs from the first embodiment shown in Fig. 4 in that a water cannon 109 is added to the autonomous vehicle 100d. Since the other configurations and operations are the same as those of the first embodiment, their description will be omitted and the description will focus on the differences.

[0044] In this embodiment, in the remote control mode, the autonomous vehicle 100d is configured to be able to move to a desired position and perform a fire extinguishing operation using the water cannon 109 by remote control from the control center. FIG. 14 is a diagram for explaining the operation of the autonomous vehicle 100d according to the fifth embodiment of the present disclosure. In FIG. 14 , symbol R1 also indicates the patrol route of the autonomous vehicle 100d in the autonomous driving mode. As shown in FIG. 14 , assume that the autonomous vehicle 100d travels along the patrol route R1 and discovers a cigarette butt C when it arrives at point E. In this case, the autonomous vehicle 100d also determines that an event that meets the autonomous driving termination condition has occurred and requests the control center 200 to switch to the remote control mode. Upon receiving the request, the person in charge at the control center 200 switches the autonomous vehicle 100d to the remote control mode and begins remote control. For example, the person in charge of control center 200 operates autonomous vehicle 100d to check the condition of cigarette C, and if it appears to be lit, extinguishes it using water cannon 109. After completing the above operation, the person in charge of control center 200 returns autonomous vehicle 100d to the autonomous driving mode, which causes autonomous vehicle 100d to resume monitoring along patrol route R1.

[0045] According to this embodiment, it is possible to prevent fires and the like caused by careless disposal of discarded cigarettes. Furthermore, the autonomously driven vehicle 100d may be provided with a manipulator (arm) or the like instead of the water cannon 109. In this case, the autonomously driven vehicle 100d can use the manipulator (arm) to retrieve the cigarette or place it in an ashtray.

[0046] (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. 16 . FIG. 16 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

[0047] 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. 16 executes a program that determines whether an event that requires the autonomous driving to be stopped has occurred and a program that requests the control center to switch to remote control mode, and performs processing to update each calculation parameter stored in the RAM 903, storage device 905, etc. The program 904 that realizes the function of each component of each device is stored in the storage device 905 or ROM 902 in advance, for example, and is 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 advance on the recording medium 906, and the drive device 907 may read the program and supply it to the CPU 901.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] Some or all of the components of each device may be realized by a combination of the above-mentioned circuits and programs.

[0052] 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.

[0053] 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.

[0054] Furthermore, the features of the first to fifth embodiments described above can be combined to form other embodiments. For example, the second, third, fourth, and fifth embodiments can be combined to form an autonomous vehicle equipped with voice output, communication, light emission, and water discharge functions.

[0055] Furthermore, in the above-described first to fifth embodiments, examples have been described in which an autonomous vehicle is used as the mobile body. However, other mobile bodies, such as drones and robots with autonomous driving capabilities, can also be used. For example, a mobile body according to the present disclosure can be configured by adding the determination means and driving mode switching request means of the present disclosure to a drone or the like that transmits images while patrolling along a predetermined patrol course. For example, as shown in the upper diagram of FIG. 15 , assume that a drone discovers a parked vehicle when it arrives at point A. In this case, as shown in the lower diagram of FIG. 15 , the drone determines that an event that meets the autonomous driving termination condition has occurred and requests the control center 200 to switch to remote control mode (sixth embodiment).

[0056] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes.

[0057] [Supplementary Note 1] A mobile body comprising: a camera; a moving means for autonomously moving based on preset information; a transmitting means for transmitting images captured by the camera to a predetermined control center while the mobile means is moving; a determining means for determining whether an event captured in the image of the camera meets predetermined autonomous driving suspension conditions; and a driving mode switching requesting means for requesting the control center to switch to a remote control mode that accepts remote control from the control center when an event that meets the autonomous driving suspension conditions occurs. [Supplementary Note 2] The driving mode switching requesting means of the mobile body can be configured to notify the control center of information about the event that caused the request to switch to the remote control mode. [Supplementary Note 3] The remote control mode of the mobile body can be configured to enable the mobile body to be moved to a desired position and the event to be captured by the camera by remote control from the control center. [Supplementary Note 4] The above-mentioned mobile body may include a speaker or a light-emitting device, and the remote control mode may be configured to allow the mobile body to move to a desired position and to perform a warning operation using the speaker or the light-emitting device by remote control from the control center. [Supplementary Note 5] The above-mentioned mobile body may further include a water cannon, and the remote control mode may be configured to allow the mobile body to move to a desired position and to perform a fire extinguishing operation using the water cannon by remote control from the control center. [Supplementary Note 6] The driving mode switching request means of the above-mentioned mobile body may be configured to request the control center to switch to a remote control mode that accepts remote control when a vehicle parked in a no-parking area is discovered. [Supplementary Note 7] The driving mode switching request means of the above-mentioned mobile body may be configured to request the control center to switch to a remote control mode that accepts remote control when a vehicle violating traffic laws is discovered. [Supplementary Note 8] The driving mode switching request means of the above-mentioned moving body may be configured to request the control center to switch to a remote control mode that accepts remote control when a suspicious person or object is found.[Supplementary Note 9] A method of switching driving modes, wherein a mobile body comprising a camera, moving means for autonomously moving based on preset information, and transmission means for transmitting images captured by the camera to a predetermined control center while moving by the moving means determines whether an event captured in an image from the camera meets predetermined autonomous driving suspension conditions, and if an event that meets the autonomous driving suspension conditions occurs, requests the control center to switch to a remote control mode that accepts remote control from the control center. [Supplementary Note 10] A recording medium having recorded thereon a program causing a computer mounted on a mobile body comprising a camera, moving means for autonomously moving based on preset information, and transmission means for transmitting images captured by the camera to a predetermined control center while moving by the moving means to execute the following steps: determine whether an event captured in an image from the camera meets predetermined autonomous driving suspension conditions, and if an event that meets the autonomous driving suspension conditions occurs, request the control center to switch to a remote control mode that accepts remote control from the control center. The forms of Supplementary Notes 8 and 9 can be expanded to the forms of Supplementary Notes 2 to 7, similarly to Supplementary Note 1.

[0058] 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.

[0059] 10 Mobile object 11, 101 Camera 12, 102 Moving means 13, 103 Transmission means 14, 104 Determination means 15, 105 Driving mode switching request means 100, 100a to 100d Self-driving vehicle 106 Speaker 107 Microphone 108 Light-emitting device 109 Water cannon 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 C Cigarette R1 Patrol route

Claims

1. A camera and a means of transportation for autonomously moving based on pre-set information; a transmitting means for transmitting images captured by the camera to a predetermined control center while the vehicle is moving by the moving means; a determination means for determining whether an event captured in an image of the camera satisfies a predetermined autonomous driving termination condition; an operation mode switching request means for requesting the control center to switch to a remote control mode in which remote control is accepted from the control center when an event that satisfies the autonomous operation suspension condition occurs; A mobile body comprising:

2. The operation mode switching request means notifies the control center of information about an event that caused the request to switch to the remote control mode. The moving body of claim 1.

3. 2. The mobile body according to claim 1, wherein the remote control mode is configured to enable the mobile body to move to a desired position and the camera to photograph the event by remote control from the control center.

4. The moving object further includes a speaker or a light-emitting device, A mobile body according to any one of claims 1 to 3, wherein the remote control mode is configured to enable the mobile body to be moved to a desired position and to issue a warning operation using the speaker or the light-emitting device by remote control from the control center.

5. The moving body further includes a water cannon, 4. A mobile body according to claim 1, wherein the remote control mode is configured to enable the mobile body to move to a desired position and to perform fire extinguishing operations using the water cannon by remote control from the control center.

6. The operation mode switching request means 4. The mobile body according to claim 1, wherein, when the mobile body detects a vehicle parked in a no-parking area, the mobile body requests the control center to switch to a remote control mode in which the mobile body can be remotely controlled.

7. The operation mode switching request means 4. A mobile body according to claim 1, wherein, when a vehicle violating a traffic law is found, the mobile body requests the control center to switch to a remote control mode in which the mobile body can be remotely controlled.

8. The operation mode switching request means 4. The mobile body according to claim 1, wherein, when a suspicious person or object is detected, the mobile body requests the control center to switch to a remote control mode in which the mobile body can be remotely controlled.

9. A mobile body comprising a camera, a moving means for autonomously moving based on preset information, and a transmitting means for transmitting an image taken by the camera to a predetermined control center while the moving means is moving, Determine whether or not an event captured in an image of the camera satisfies a predetermined autonomous driving termination condition; When an event that satisfies the autonomous driving stop condition occurs, the control center is requested to switch to a remote control mode in which remote control from the control center is accepted. How to switch driving modes.

10. A computer mounted on a mobile body including a camera, a moving means for autonomously moving based on preset information, and a transmitting means for transmitting an image taken by the camera to a predetermined control center while the mobile means is moving, A process of determining whether an event captured in an image of the camera satisfies a predetermined autonomous driving termination condition; a process of requesting the control center to switch to a remote control mode in which remote control is accepted from the control center when an event that satisfies the autonomous driving stop condition occurs; A program that executes the following.