Moving body management system

Abstract

Provided are a system and a method with which it is possible to identify the position of a moving body.　This system comprises a plurality of first devices, and a moving body provided with a second device. The system includes: a distance calculating means for calculating a distance between each of the plurality of first devices and the second device on the basis of a propagation time of information or a signal between each of the plurality of first devices and the second device; and a position identifying means for identifying the position of the second device on the basis of the calculated distance between each of the plurality of first devices and the second device. The distance calculating means preferably calculates the distance on the basis of a time deviation between a clock of one of the first devices and a clock of the second device.

Description

Mobile Management System

[0001] The present invention relates to a system, a method, and a vehicle.

[0002] In order to solve the various problems caused by the decline in the number of agricultural workers and the aging of the agricultural workforce and to make agricultural work more efficient, efforts are being made to unmanned or automated tasks such as rice planting, weeding, pesticide spraying, etc. In order to unmanned or automated these tasks, autonomously traveling devices have been developed (for example, Patent Document 1).

[0003] In Patent Document 1, an autonomously traveling device is configured to be able to control the position of the traveling device by controlling the position information of the device using a positioning satellite. In managing the control of such an autonomously traveling device, a method for acquiring position information plays an important and essential role, and various technologies have been considered (for example, Patent Document 2).

[0004] Furthermore, rental services for home appliances, vehicles such as automobiles and bicycles, agricultural machinery such as tillers and lawnmowers, etc. are becoming widespread. For home appliance rental services, a service that charges users according to the amount of electricity used is being considered (for example, Patent Document 3).

[0005] On the other hand, rental services for vehicles and agricultural machinery, where operating status is difficult to grasp, typically set fees per day, per use, or a specified unit of time. As a result, users may be charged the same amount even if they rent agricultural machinery for different periods, such as two hours and ten hours, which can feel unfair to users. Furthermore, even if the rental period is short, if the agricultural machinery is used for heavy tasks, rental companies may incur a large proportion of their revenue due to maintenance costs, raising concerns that they may not be able to secure sufficient profits. For such services, it is desirable to provide an appropriate billing method based on the actual operating time and type of operation, from the perspectives of both users and rental companies.

[0006] Furthermore, with the aim of resolving labor shortages and saving labor, various robots that perform routine tasks such as cooking, serving food, settling accounts, security, and cleaning, as well as work vehicles that transport goods within warehouses, are being introduced. In order to introduce indoor work robots such as the above-mentioned robots and work vehicles, it is necessary for the indoor work robots to navigate autonomously.

[0007] Generally, indoors, it is not possible to receive radio waves from satellites, and therefore it is not possible to use a satellite positioning system that uses positioning satellites. Therefore, it is common to control the autonomous movement of indoor work robots by using markers such as magnetic markers, optical markers, and QR codes (registered trademark). For example, Patent Document 3 discloses an indoor work vehicle that can easily adapt to layout changes in indoor facilities. In Patent Document 4, an image of a specific shape or pattern is projected as a landmark image. Then, the projection position of the projected image can be changed in response to layout changes.

[0008] In recent years, automated machines that automatically package prescribed medications into individual doses at dispensing pharmacies and that inspect packaged medications have been developed, and automation of tasks related to dispensing medications is advancing. For example, Patent Document 5 discloses a medication feeder that can automate the task of measuring out powdered medications, etc.

[0009] On the other hand, automation of medication distribution to hospitalized patients has not progressed. For example, Patent Document 6 discloses a medication cart used to distribute medicines, infusions, etc. to hospitalized patients in medical facilities, etc., but the cart is manually pushed by a nurse or the like to the patient's side, and no consideration is given to automating medication distribution work.

[0010] In addition, the number of workers in the restaurant industry has drastically decreased in recent years, making it difficult to secure workers to serve food and beverages. Furthermore, the impact of COVID-19 has led to an increased need for non-face-to-face, non-contact food and beverage service, creating a demand for devices that automatically deliver food and beverages to customers' tables.

[0011] For example, Patent Document 7 discloses an unmanned food delivery system that delivers food and drink from a kitchen to a guest room. In Patent Document 7, a main route that circles the kitchen and the guest room, and a branch route that branches off from the main route toward tables located in the guest room, and an unmanned food delivery machine that travels along the main route and the branch route can freely switch between the main route and the branch route, thereby reducing the labor and manpower required for staff delivery of food.

[0012] In recent years, the diversification of various products, including automobiles, has increased, and the burden of managing the parts required for product assembly has increased.In addition, against the backdrop of increased stay-at-home demand due to the spread of COVID-19, the number of parcels handled by home delivery services has continued to increase significantly, and there is a demand for labor-saving and energy-saving measures for parcel transportation.

[0013] Therefore, in order to reduce the burden of management work, resolve labor shortages, and save labor, the introduction of transport devices for transporting goods, including parts for manufacturing products, in warehouses is being promoted.For example, Patent Document 8 discloses an unmanned guided vehicle that can automatically travel for loading and unloading and transporting goods in indoor facilities such as warehouses.

[0014] In recent years, businesses have been established that sell images captured at specific locations. Such businesses require accurate information about the location where the image was captured. Furthermore, to prove the non-fungibility of digital data, non-fungible tokens (NFTs) are being issued in association with the digital data.

[0015] Furthermore, transporting goods over ground roads during disasters or disaster recovery is not easy. Many challenges exist when transporting goods over ground roads, such as worsening road conditions due to rubble and abandoned vehicles, heavy traffic jams caused by vehicles heading for evacuation or to transport supplies, and traffic restrictions. For these reasons, a transportation method other than overground routes was desired.

[0016] In recent years, the development of self-propelled ropeways has progressed as a means of transporting people and goods. Ropeways can be installed at relatively low construction costs because they do not require the large-scale civil engineering work required for building new railways. For example, Patent Document 9 discloses a simple and inexpensive self-propelled ropeway system that can be easily introduced even in existing complex areas such as urban areas. However, no consideration has been given to the use of self-propelled ropeways for rescue and transport of goods during disasters and disaster recovery and reconstruction.

[0017] Furthermore, power storage devices are known as backup power sources in the event of a disaster (see, for example, Patent Document 10). The locations of such power storage devices are known by each city, town, village, local government, etc. However, it is difficult to say that a system has been established that can quickly and reliably supply power storage devices to locations where power is needed in an emergency such as a disaster.

[0018] IoT platforms also provide services that collect, visualize, analyze, and control information acquired by IoT devices.However, security issues have arisen, such as the leakage of collected information.

[0019] Meanwhile, there are known techniques for encrypting and handling information to protect it. Encryption methods include, for example, a symmetric key encryption method, in which the same key is used for encryption and decryption, and a public key encryption method, in which encryption is performed using a public key and decryption is performed using a private key. There is also an encryption method called ID-based encryption, in which any identifier can be used as the public key. ID-based encryption makes it possible to generate a public key from any identifier, such as a user's email address or a product serial number.

[0020] JP 2019-208424 A JP 2018-004589 A JP 2022-033054 A JP 2022-093887 A JP 2023-014239 A JP 2007-307997 A JP 2019-191715 A JP 2022-093887 A Japanese Patent No. 6889874 A JP 2014-187865 A

[0021] The present invention has, for example, any of the following objectives. A first objective of the present invention is to provide a system and method capable of locating a moving object. A second objective of the present invention is to provide a system and method capable of calculating a bill for a user. A third objective of the present invention is to provide a system and method capable of locating an indoor work robot. A fourth objective of the present invention is to provide a system, method, and a medication cart capable of locating a medication cart capable of transporting medicines to patients. A fifth objective of the present invention is to provide a system and method capable of locating an autonomously traveling food and beverage delivery device. A sixth objective of the present invention is to provide a system and method capable of locating an item collection device. A seventh objective of the present invention is to provide a novel system for issuing NFTs. An eighth objective of the present invention is to provide a system and method capable of locating a container transported by an overhead rope. A ninth objective of the present invention is to provide a system and method capable of locating a power storage device. A tenth objective of the present invention is to provide a novel system for protecting information.

[0022] The present invention addresses the following problems: [1] A system comprising a plurality of first devices and a mobile body comprising a second device, the system comprising: distance calculation means for calculating a distance between each of the plurality of first devices and the second device based on the propagation time of information or signals between each of the plurality of first devices and the second device; and position determination means for determining the position of the second device based on the calculated distance between each of the plurality of first devices and the second device; [2] The system according to [1], wherein the distance calculation means calculates the distance based on the time difference between a clock of one first device and a clock of the second device; [3] The system according to [1] or [2], comprising time difference calculation means for calculating the time difference between one first device and the second device by performing communication between the one first device and the second device, and time correction means for correcting the time on the second device based on the calculated time difference; [4] The system according to any one of [1] to [3], comprising: a phase shift calculation means for calculating a phase shift between the clocks of the first device and the second device by communicating between the first device and the second device; and a phase correction means for correcting the phase of the second device based on the calculated phase shift; [5] The system according to any one of [1] to [4], wherein the mobile object is an object that automatically drives according to predetermined travel route information; [6] The system according to [5], comprising: a first determination means for determining whether a specified position matches the predetermined travel route information; and a travel route correction means for correcting the travel route information when it is determined that the specified position does not match the predetermined travel route information; [7] The system according to any one of [1] to [6], wherein the mobile object is an agricultural machine; [8] The system according to any one of [1] to [6], wherein the mobile object is an indoor work robot; [9] The system according to any one of [1] to [6], wherein the mobile object is a medication cart that can transport medicines to be provided to patients;

[10] The system according to [9], wherein the medication cart has an automatic driving function and moves sequentially to positions corresponding to each of the multiple patients;

[11] The system according to

[10] , comprising: a position storage means for storing the position of a hospital bed for each patient; a first patient identification means for identifying multiple patients to whom medication is to be distributed; a movement route generation means for generating movement route information for a medication distribution cart based on the positions corresponding to the identified patients; and a movement control means for controlling the movement of the medication distribution cart according to the generated movement route information;

[12] The system according to any of [9] to

[11] , wherein the medication distribution cart comprises multiple trays, and comprises a second patient identification means for identifying a patient who is scheduled to use the contents of any of the multiple trays, a notification means for notifying the tray corresponding to the identified patient, and / or an availability means for controlling the tray corresponding to the identified patient to be available;

[13] The system according to

[12] , wherein the notification means and the availability means are not executed if the patient identified from the position of the medication distribution cart does not match the patient identified by the second patient identification means;

[14] The system according to any of [1] to [6], wherein the mobile body is an automatically traveling food distribution device for distributing food and drink;

[15] The system described in

[14] above, which includes an ordering device operated by a customer of the restaurant, and a first order information transmitting means for transmitting order information input by the customer to the ordering device to a food distribution device, and a first movement control means for controlling the food distribution device to move to a position corresponding to the ordering device after the food and drink has been placed on the food distribution device;

[16] The system described in

[14] or

[15] above, which includes a management device operated by a waiter of the restaurant, and a second order information transmitting means for transmitting order information input by the customer to the management device, and an order information display means for displaying at least a part of the order information on the management device;

[17] The system described in any of

[14] to

[16] above, which includes a management device operated by a waiter of the restaurant, and a second movement control means for controlling the food distribution device to move to a predetermined position in response to the waiter's operation of the management device;

[18] The system according to any one of

[14] to

[17] , wherein the food serving device is equipped with a weight sensor, and a movement control means controls the food serving device to start moving in response to the weight sensor detecting that food or drink has been placed on the food serving device and / or the weight sensor detecting that food or drink has been served from the food serving device;

[19] The system according to any one of

[14] to

[18] , wherein the food and drink trays on which the food and drink are placed are provided with RF tags, and the system comprises an identification means for identifying food and drink information about the served food and drink by reading the RF tags with a reading terminal, a second determination means for determining whether the food and drink information matches the order information input by the customer's operation on the ordering device, and a first display means for displaying the determination result;

[20] The system according to any one of

[14] to

[19] , wherein the food and drink trays on which the food and drink are placed are provided with RF tags, and the system comprises an identification means for identifying food and drink information about the served food and drink by reading the RF tags with a reading terminal, and a second display means for displaying the order information and food and drink information input by the customer's operation on the ordering device;

[21] The system according to any one of [1] to [6], wherein the mobile body is an automatically traveling item collection device for collecting items;

[22] The system comprises an instruction device for instructing the production of a product that can be made from a plurality of items or the collection of items, and an information transmission means for transmitting item collection information to the item collection device in response to an input to the instruction device;

[23] The system according to

[22] , comprising a first movement control means for controlling the item collection device to move to a location where the item included in the collection information is stored;

[23] The system according to

[22] , comprising a second movement control means for controlling the item collection device to move to a predetermined location after collecting the items included in the collection information in the item collection device;

[24] The system according to any of

[21] to

[23] , wherein the items have RF tags, the item collection device has an RF tag reader, and comprises detection means for detecting that the items have been collected by reading the RF tag with the reader;

[25] The system according to

[24] , comprising a third determination means for determining whether or not the item identification information read from the RF tag by the reader corresponds to the item included in the collection information, based on the item identification information, and a notification means for notifying that an item other than the item included in the collection information has been collected when the second determination means determines that the item identification information read from the RF tag does not correspond to the item included in the collection information;

[26] The system according to any one of [1] to [6], wherein the mobile object is equipped with an electronic information creation device;

[27] The system described in

[26] , wherein the location identification means identifies the location of the electronic information creation device, and the system comprises a creation means for creating electronic information, and an NFT issuance request means for requesting the issuance of an NFT (non-fungible token) in association with the electronic information created by the creation means and location information related to the location of the electronic information creation device at the time of creating the electronic information identified by the location identification means;

[28] The system described in

[27] , wherein the system comprises a viewing enablement means for making the electronic information and the location information viewable on a viewer terminal;

[29] The system described in

[27] or

[28] , wherein the electronic information creation device is an imaging device, the electronic information is image information related to an image, the creation means creates image information related to the image by capturing an image of a landscape, and the NFT issuance request means requests the issuance of an NFT in association with the right holder of real estate corresponding to the location of the imaging device at the time of capturing the image and / or the location of an object captured in the landscape;

[30] The system according to any one of

[27] to

[29] , wherein the electronic information creation device is an imaging device, the electronic information is image information relating to an image, the creation means creates the image information relating to the image by capturing an image of a landscape, and the NFT issuance request means requests the issuance of an NFT in association with time information relating to the time when the image was captured, information relating to real estate corresponding to the position of the imaging device when the image was captured and / or the position of the object captured in the landscape, and / or information relating to the landscape;

[31] The system according to any one of [1] to [6], wherein the mobile body is a vehicle capable of traveling on land, having a container with a space for storing items;

[32] The system according to

[31] , wherein the vehicle has an automatic driving function;

[33] The system according to

[32] , comprising a transportation request receiving means for receiving an item transportation request from a user terminal operated by a user, a route information generating means for generating route information for moving the container from a starting point to a destination point corresponding to the received transportation request, and a movement control means for controlling the container to move in accordance with the generated route information, wherein the route corresponding to the generated route information includes a route for transporting the container by an overhead rope;

[34] The system according to any one of

[31] to

[33] , wherein the container is a cargo container;

[35] The system according to any one of [1] to [6], wherein the mobile body is equipped with a power storage device;

[36] The system according to

[35] , wherein, when a voltage output from the storage battery of a first power storage device that is performing power supply or a stored amount of the storage battery satisfies a predetermined first condition, predetermined information of the first power storage device is transmitted to a first computer device;

[37] The system according to

[36] , comprising an identification means for identifying a second power storage device that satisfies a predetermined second condition among second power storage devices different from the first power storage device;

[38] The system according to

[37] , comprising a movement control means for controlling the identified second power storage device to move to the vicinity of the first power storage device;

[39] The system according to any one of [1] to

[38] , comprising a billing amount calculation means for calculating a billing amount to be charged to a user of the mobile body based on the operating time or operating distance of the mobile body;

[40] The system according to

[39] , which includes an operating time etc. calculation means for calculating the operating time or operating distance of the mobile body based on the propagation time of information or signals between the first device and the second device, and the operating time etc. calculation means calculates the operating time or operating distance of the mobile body based on the calculated distance between the first device and the second device;

[41] The system according to

[40] , which includes an operating time etc. calculation means for calculating the operating time or operating distance based on a change in a specified position;

[42] The system according to any of

[39] to

[40] , which includes a billing amount addition means for adding other billing amounts to the user of the mobile body to the calculated billing amount;

[43] The system according to any of [1] to [4], wherein the mobile body is equipped with an IoT device or the IoT device is a mobile body with a function of moving;

[44] The system according to

[43] , further comprising an encryption means for encrypting information acquired by the IoT device based on the location identified by the location identification means and the time, wherein the time is the time when the distance is calculated by the distance calculation means, the time when the location is identified by the location identification means, or the time when the information is encrypted by the encryption means;

[45] The system according to

[44] , wherein the encryption means encrypts information by ID-based encryption using a public key corresponding to the location identified by the location identification means and an identifier generated based on the time;

[46] The system according to

[44] or

[45] , comprising a predictive model generation means for generating a predictive model by performing machine learning on the encrypted information while keeping it encrypted, as input data or output data for the predictive model;

[47] The system according to any of

[44] to

[46] , wherein the IoT device is equipped with a sensor, and the encryption means encrypts information acquired by the sensor;

[48] The system according to any of [1] to

[47] , comprising a user terminal, and the user terminal is equipped with a position display means for displaying the identified position on a map;

[49] A method executed in a system comprising a plurality of first devices and a mobile body equipped with a second device, the method comprising: a distance calculation step of calculating a distance between each of the plurality of first devices and the second device based on the propagation time of information or signals between each of the plurality of first devices and the second device; and a position identification step of identifying the position of the second device based on the calculated distance between each of the plurality of first devices and the second device;

[50] A mobile body equipped with a second device, the mobile body having a distance calculation means for calculating a distance between each of a plurality of first devices and the second device based on the propagation time of information or signals between each of the plurality of first devices and the second device, and a position determination means for determining the position of the second device based on the calculated distance between each of the plurality of first devices and the second device;

[51] A system equipped with a first device and a mobile body equipped with a second device, the system having an operating time calculation means for calculating an operating time or operating distance of the mobile body based on the propagation time of information or signals between the first device and the second device, and a billing amount calculation means for calculating a bill to a user of the mobile body according to the calculated operating time or operating distance of the mobile body;

[52] A system including an electronic information creation device, the system comprising: electronic information creation means for creating electronic information; location identification means for identifying the location of the electronic information creation device; and NFT issuance request means for requesting the issuance of an NFT (non-fungible token) in association with the electronic information created by the electronic information creation means and location information regarding the location of the electronic information creation device at the time of creating the electronic information, identified by the location identification means;

[53] The system described in

[52] above, in which the NFT issuance request means requests the issuance of an NFT in association with time information relating to the time when the electronic information was created and location information of the electronic information creation device when the electronic information was created;

[54] The system described in

[52] or

[53] above, in which the electronic information is digital data selected from the group consisting of images, sounds, text, symbols, and numbers;

[55] A system for transporting the container by an overhead rope, comprising a plurality of first devices and a container having a space capable of storing items, the container comprising a second device, and comprising: a distance calculation means for calculating a distance between each of the plurality of first devices and the second device based on the propagation time of information or signals between each of the plurality of first devices and the second device; and a location identification means for identifying the location of the second device based on the calculated distance between each of the plurality of first devices and the second device;

[56] A method for transporting a vehicle capable of traveling on ground by an overhead rope;

[57] This can be achieved by a system including a plurality of first devices and a power storage device including a second device, the system including a distance calculation means for calculating a distance between each of the plurality of first devices and the second device based on a propagation time of information or a signal between each of the plurality of first devices and the second device, and a location determination means for determining a location of the second device based on the calculated distance between each of the plurality of first devices and the second device.

[0023] According to the present invention, a system and method can be provided that can identify the location of a moving object. According to the present invention, a system and method can be provided that can calculate the amount billed to a user. According to the present invention, a system and method can be provided that can identify the location of an indoor work robot. According to the present invention, a system, method, and a medication cart can be provided that can identify the location of an autonomously traveling food and beverage delivery device. According to the present invention, a system and method can be provided that can identify the location of an item collection device. According to the present invention, a novel system for issuing NFTs can be provided. According to the present invention, a system and method can be provided that can identify the location of a container transported by an overhead rope. According to the present invention, a system and method can be provided that can identify the location of a power storage device. According to the present invention, a novel system for protecting information can be provided.

[0024] 1 is a block diagram showing the configuration of a system according to an embodiment of the present invention. FIG. 2 is a block diagram showing the hardware configuration of a first device according to an embodiment of the present invention. FIG. 3 is a block diagram showing the hardware configuration of a mobile body according to an embodiment of the present invention. FIG. 4 is a block diagram showing the hardware configuration of a server device according to an embodiment of the present invention. FIG. 5 is a diagram showing a flowchart of a work vehicle control process according to an embodiment of the present invention. FIG. 6 is a diagram showing a flowchart of a distance calculation process according to an embodiment of the present invention. FIG. 7 is a diagram showing a flowchart of a position identification process according to an embodiment of the present invention. FIG. 8 is a diagram showing a flowchart of a determination process according to an embodiment of the present invention. FIG. 9 is a diagram showing a flowchart of a billing amount calculation process according to an embodiment of the present invention. FIG. 10 is a diagram showing a position information table according to an embodiment of the present invention. FIG. 11 is a diagram showing a movement route according to an embodiment of the present invention. FIG. 12 is a block diagram showing the configuration of a system according to an embodiment of the present invention. FIG. 13 is a block diagram showing the configuration of a system according to an embodiment of the present invention. FIG. 14 is a schematic diagram of a medication distribution cart according to an embodiment of the present invention. FIG. 15 is a diagram showing a flowchart of a medication distribution process according to an embodiment of the present invention. FIG. 16 is a schematic diagram of a medication distribution method according to an embodiment of the present invention. FIG. 17 is a diagram showing an example of a medication distribution information management table according to an embodiment of the present invention. FIG. 18 is a block diagram showing the configuration of a system according to an embodiment of the present invention. FIG. 19 is a diagram showing a flowchart of a meal distribution process according to an embodiment of the present invention. FIG. 19 is a schematic diagram of a meal distribution method according to an embodiment of the present invention. FIG. 19 is a diagram showing a flowchart of a second determination process according to an embodiment of the present invention. FIG. 19 is Fig. 1 is a block diagram showing a configuration of a system according to an embodiment of the present invention; Fig. 2 is a block diagram showing a hardware configuration of a viewer terminal according to an embodiment of the present invention; Fig. 3 is a diagram showing a flowchart of an imaging process according to an embodiment of the present invention; Fig. 4 is a diagram showing a flowchart of a viewing process according to an embodiment of the present invention; Fig. 5 is a diagram showing a flowchart of an NFT issuing process according to an embodiment of the present invention;FIG. 1 is a block diagram showing the configuration of a system according to an embodiment of the present invention. FIG. 2 is a diagram showing an example of a combination in which a vehicle and a suspension machine are combined according to an embodiment of the present invention. FIG. 3 is a diagram showing a flowchart of a transportation process according to an embodiment of the present invention. FIG. 4 is a block diagram showing the configuration of a system according to an embodiment of the present invention. FIG. 5 is a block diagram showing the configuration of a second device according to an embodiment of the present invention. FIG. 6 is a diagram showing a flowchart of a control process according to an embodiment of the present invention. FIG. 7 is a block diagram showing the configuration of a system according to an embodiment of the present invention. FIG. 8 is a diagram showing a flowchart of an encryption process according to an embodiment of the present invention. FIG. 9 is a diagram showing a flowchart of a machine learning process according to an embodiment of the present invention.

[0025] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following description of the effects of the present invention is one aspect of the effects of the embodiments of the present invention and is not limited to those described herein. The order of the processes constituting the flowcharts described below is random as long as no contradictions or inconsistencies occur in the process content. Furthermore, it is also possible to omit some of the processes constituting the flowcharts or add new processes to the processes constituting the flowcharts as long as no contradictions or inconsistencies occur in the process content. Furthermore, the device that executes each process constituting the flowcharts can be changed to another device as long as this does not violate the spirit of the present invention. In this case, the process content can be changed so as not to cause contradictions or inconsistencies in the process content.

[0026] The system of the present invention is a system including at least one computer device. The system of the present invention includes a mobile object including a second device, and identifies the location of the mobile object based on the distance between each of a plurality of wireless devices and the second device. The system of the present invention will be described in detail in the following first to ninth embodiments.

[0027] [First Embodiment] In the first embodiment, a case where the mobile body is applied to a work vehicle will be described as an example, and a case where the system includes a process for calculating the amount to be charged to the user will be described.

[0028] [System Configuration] Figure 1 is a block diagram showing the configuration of a system according to the first embodiment of the present invention. As shown in the figure, the system 10 according to the first embodiment of the present invention is composed of a plurality of first devices 1 (first devices 1a to 1z) and a mobile object 2 equipped with a second device 2a. It is preferable that the system 10 be equipped with three or more first devices 1. The system 10 may also be equipped with a server device 3, a user terminal 4, and a communication network 5.

[0029] The first devices 1a to 1z and the second device 2a (or the mobile device 2) can be directly connected for communication without going through the communication network 5. The first devices 1a to 1z can each be connected for communication with the server device 3 via the communication network 5. Furthermore, the second device 2a (or the mobile device 2) can each be connected for communication with the server device 3 via the communication network 5. Furthermore, the user terminal 4 can each be connected for communication with the server device 3 via the communication network 5.

[0030] [First Device] The first device 1 is a reference device for synchronizing the clocks of the second devices 2a, and one first device 1 can function as a reference device for synchronizing the clocks of multiple second devices 2a. Furthermore, the clocks of the first devices 1 may be synchronized based on a certain first device 1, and the first device 1 can also function as a reference device for synchronizing the clocks of other second devices. Because the first device 1 is a reference device for synchronizing the clocks of the second devices 2a, it is preferable that the first device 1 have a clock with higher accuracy.

[0031] Furthermore, a pyramidal relationship may be formed in which multiple second devices 2a exist for one first device 1, and each of these multiple second devices 2a functions as a reference device for synchronizing the clocks of multiple other second devices.

[0032] The configuration of the first device 1 according to the first embodiment of the present invention will be described. Fig. 2 is a block diagram showing the hardware configuration of the first device according to the first embodiment of the present invention. The first device 1 includes a control unit 11, an RF chip 12, and an oscillator 13. The RF chip 12 includes a clock 12a and a phase detector 12b. In addition to the control unit 11, the RF chip 12, the oscillator 13, the clock 12a, and the phase detector 12b, the first device 1 may include other components as necessary.

[0033] The control unit 11 is not particularly limited, but may be, for example, a microcomputer (microcontroller). The control unit 11 executes programs based on programs and data. The RF chip 12 receives and transmits radio signals. The data received by the RF chip 12 is subjected to arithmetic processing by the control unit 11.

[0034] The oscillator 13 oscillates at a predetermined frequency and outputs a signal that provides operational timing for each component of the device. An atomic oscillator or a quartz oscillator can be used as the oscillator 13. The clock 12a uses the output signal from the oscillator 13 as a source of oscillation to clock and output the time. The control unit 11 controls the clock 12a to transmit the time clocked by the clock 12a to the second device 2a via the RF chip 12. The phase detector 12b detects the phase of the carrier wave constituting the information received from the second device 2a and detects the phase of the signal oscillated by the oscillator 13 in the first device 1.

[0035] In the system 10, multiple first devices 1 are installed. In the first embodiment of the present invention, the installation location of the first devices 1 is not particularly limited. The first devices 1 may be installed indoors or outdoors. For example, the first devices 1 may be installed outdoors where the mobile object 2 moves or works. In this case, some of the multiple first devices 1 may be installed outdoors, and other first devices 1 may be installed indoors. When multiple first devices 1 are installed, the positional relationship between the multiple first devices 1 is not particularly limited. For example, in order to cover an area where the position of the second device 2a can be identified, the multiple first devices 1 may be arranged at intersections of a grid, or the first devices 1 may be arranged at a predetermined interval on the periphery of the work area where the mobile object 2 works so as to surround the work area. Furthermore, it is preferable that the first devices 1 are installed at a fixed position where their installation location can be identified. The first devices 1 may be installed, for example, on a transmission tower supporting a power line. The location information of the location where the first device 1 is installed may be stored in the second device 2a, the server device 3, or the like in association with identification information that can identify the first device 1.

[0036] [Mobile body and second device] The second device 2a (or the mobile body 2) can be connected to the first device 1 without going through the communication network 5, and can also be connected to the server device 3 via the communication network 5.

[0037] The time of the second device 2a is synchronized based on the time clocked by the first device 1, and the phase of the signal generated by the oscillator in the second device 2a is synchronized based on the phase of the signal generated by the oscillator in the first device 1. The second device 2a may also function as a reference device for synchronizing the clocks of other second devices. The time of the other second devices is synchronized based on the time clocked by the second device 2a, and the phase of the signal generated by the oscillator in the other second devices is synchronized based on the phase of the signal generated by the oscillator in the second device 2a. The second device 2a functions in a similar manner in the following embodiments 2 to 5 and 7 to 9. The imaging device 2E functions in a similar manner to the second device 2a in the following embodiment 6.

[0038] The mobile object 2 and the second device 2a will be described. FIG. 3 is a block diagram showing the hardware configuration of the mobile object according to the first embodiment of the present invention. The mobile object 2 also includes a control unit 21, an RF chip 22, an oscillator 23, a RAM 24, a storage unit 25, and a drive unit 26, which are all connected by a bus. The mobile object 2 may also include a display unit 27, a sensor unit 28, an imaging unit 29, and an input unit (not shown). The second device 2a is provided in the mobile object 2 and includes the control unit 21, the RF chip 22, and the oscillator 23.

[0039] The RF chip 22 is provided with a clock 22 a and a phase detector 22 b. The second device 2 a may include other components as necessary in addition to the control unit 21, the RF chip 22, the oscillator 23, the clock 22 a, and the phase detector 22 b.

[0040] The control unit 21 is composed of a CPU and a ROM. The control unit 21 executes programs stored in the storage unit 25 and controls the second device 2a and the mobile object 2. The RAM 24 is a work area for the control unit 21. The storage unit 25 is a memory area for saving programs and data. The control unit 21 performs arithmetic processing based on the programs and data read from the RAM 24 and data input via an input unit (not shown).

[0041] The RF chip 22 is capable of transmitting and receiving data to and from other computer devices. Data received by the RF chip 22 is loaded into the RAM 24 and is then subjected to arithmetic processing by the control unit 21.

[0042] The oscillator 23 oscillates at a predetermined frequency and outputs a signal that provides operational timing for each component of the device. A crystal oscillator, for example, can be used as the oscillator 23. The clock 22a uses the output signal from the oscillator 23 as a source of oscillation to clock and output the time. The control unit 21 controls the clock 22a to transmit the time to the first device 1 via the RF chip 22. The phase detector 22b detects the phase of the carrier wave that constitutes the information received from the first device 1, and detects the phase of the signal oscillated by the oscillator 23 of the second device 2a.

[0043] The driving unit 26 operates the moving body 2 according to a predetermined program or human operation.

[0044] The display unit 27 has a display screen. The control unit 21 outputs a video signal for displaying an image on the display screen according to the result of the arithmetic processing. Here, the display screen of the display unit 27 may be a touch panel equipped with a touch sensor. In this case, the touch panel functions as an input unit. The touch panel can be used to perform operations such as turning the power of the second device 2a and the mobile object 2 on and off, starting operation, operating, and stopping operation.

[0045] The sensor unit 28 may include various sensors such as an infrared sensor, a pressure sensor, an acceleration sensor, and a gyro sensor. For example, the sensor unit 28 can measure the distance to another obstacle using an infrared sensor. The sensor unit 28 can also detect a collision using a pressure sensor or an acceleration sensor. For example, the pressure sensor may be provided on a portion that is on the front side of the moving body 2 in the direction of travel or on a convex portion on the outer shape of the moving body 2. The sensor unit 28 can also detect a fall of the moving body 2 using an acceleration sensor or a gyro sensor.

[0046] The control unit 21 detects that a fall or collision has occurred based on the information acquired by the sensor unit 28. When the control unit 21 detects that a fall or collision has occurred, the control unit 21 can also transmit a notification that the mobile object 2 has fallen or collided from the mobile object 2 to the user terminal 4 via the server device 3.

[0047] The imaging unit 29 has a camera and can capture images of the surroundings of the mobile object 2. For example, the imaging unit 29 may record the surrounding situation for a predetermined period of time when a problem occurs, such as when the sensor unit 28 detects a collision or a fall. Alternatively, the imaging unit 29 may constantly capture images, and when a problem occurs, store the recorded image for a predetermined period of time (for example, several tens of seconds before and after the problem occurs) in the storage unit 25.

[0048] In the above, we have described a case where the second device 2a and the mobile body 2 share the same control unit 21 and are controlled by the control unit 21, but the second device 2a and the mobile body 2 may each have a different control unit.

[0049] The second device 2a is provided in the mobile object 2. "The second device 2a is provided in the mobile object 2" includes any of the following: the second device 2a is incorporated as part of the mobile object 2 and shares some of the configurations and functions, such as a control unit and communication functions; the second device 2a is attached inside the housing of the mobile object 2; and the second device 2a is attached outside the housing of the mobile object 2. For example, the mobile object 2 and the second device 2a may be configured as separate entities, or the mobile object 2 and the second device 2a may be configured as separate entities. The attachment position of the second device 2a to the mobile object 2 is not particularly limited. Furthermore, "the second device 2a is provided in the mobile object 2" also includes a case where the second device 2a, which has the function of directly communicating with the first device 1, and the mobile object 2 share some or all of the functions and hardware configuration. For example, the second device 2a and the mobile object 2 may share the same control unit and be controlled by the control unit.

[0050] The second device 2a may be provided at a location where the mobile body 2 performs work. For example, if the mobile body 2 has an arm as a location where work is performed, the second device 2a may be provided on the arm. Furthermore, a plurality of second devices 2a may be mounted on one mobile body 2. The location information of the second device 2a may be stored in the server device 3 or the like in association with identification information that can identify the second device 2a or identification information that can identify the mobile body 2 equipped with the second device 2a.

[0051] A mobile object 2 according to the first embodiment of the present invention will now be described. The mobile object 2 is not particularly limited as long as it is capable of moving. Any known mobile object can be used as the mobile object 2, except that it is equipped with the second device 2a. More specifically, the mobile object 2 can be applied to remotely or unmanned moving objects such as drones and robots; vehicles such as automobiles, taxis, buses, trains, and electric trains; aircraft such as helicopters, airships, gliders, and jet planes; and ships such as ferries, cargo ships, lifeboats, and submarines that can carry people.

[0052] The vehicle is not particularly limited as long as it is capable of moving on land, sea, and in the air, but may also have a rotating body that allows the vehicle to move by rotating wheels, rollers, propellers, or the like. Land refers to land on which a mobile body can move or on which a mobile work vehicle can work, and includes, for example, a pier located on the sea. Sea refers to a space in an ocean or river on which a mobile body can move or on which a mobile work vehicle can work, and includes not only water but also underwater. Sky refers to a space on which a mobile body can move or work, and includes outer space. Furthermore, land, sea, and the air are not limited to Earth, but may also belong to celestial bodies other than Earth, such as satellites such as the Moon, planets such as Mars, comets, asteroids, etc., or may even be the interior and / or surface of an artificial satellite or space station. A mobile body that can move on land may be, for example, a bicycle, a moped, a motorcycle, a tricycle, a four-wheeled vehicle, or an electric wheelchair.

[0053] The mobile object 2 also includes, for example, construction vehicles used for construction purposes, such as dump trucks and bulldozers; industrial vehicles used for loading and transporting, such as forklifts; agricultural machinery used for agricultural purposes, such as tractors and combine harvesters; space exploration vehicles, such as rovers; and medical machinery, such as microrobots that work inside the human body. The work vehicle may be, for example, agricultural machinery. The agricultural machinery is not particularly limited, and may be not only a general-purpose tractor, but also agricultural machinery used for various purposes, such as tilling, leveling, land development, fertilizing, sowing and transplanting, pest control, and harvesting.

[0054] The mobile object 2 may be a remotely or unmanned mobile object such as a drone or a robot. For example, the mobile object 2 may be a drone that monitors power lines, a cleaning robot, or a medical microrobot that works inside the human body.

[0055] The moving object 2 may be an animal including a human. When the moving object 2 is an animal including a human, the animal carries the second device 2a, and the system 10 can acquire the location information of the animal. The animal may be, for example, a child, an adult, an elderly person, a rescue dog, a rescue team, a pet, or livestock. Furthermore, the system 10 may be able to investigate the home range and movement route of a wild animal by having the wild animal carry the second device 2a.

[0056] The mobile object 2 is not limited to a self-propelled object equipped with a propulsion force. For example, the mobile object 2 may be an object that moves when carried, held, or worn by a person. Specifically, such a mobile object 2 may be an object including luggage, a bag, a wallet, a camera, household goods, sporting goods, a musical instrument, a wristwatch, accessories, clothing, a digital device such as a smartphone or a laptop computer, a wearable terminal, and the like.

[0057] The mobile object 2 may be powered by an engine, an electric motor, or a hybrid. The mobile object 2 may be a conventional vehicle driven by a person, or may be an autonomous vehicle equipped with an autonomous driving function. If the mobile object 2 is an autonomous vehicle, the mobile object 2 includes a control unit (such as a CPU), RAM, and a storage unit. In this case, the control unit controls the operation of the mobile object 2. The display screen of the display unit 27 of the mobile object 2 may be a touch panel equipped with a touch sensor. The touch panel may be a contact type or a non-contact type. Operations such as turning the mobile object 2's power on and off, starting operation, and ending operation can be performed using the touch panel. The mobile object 2 may also be capable of communicating with the server device 3 or a user terminal 4.

[0058] If the mobile object 2 is a work vehicle or work device used for special purposes, such as a construction vehicle, industrial vehicle, agricultural machine, space development vehicle, or medical machine, it can perform a specified task. The work area of ​​the mobile object 2 and the task to be performed can be specified by operating the mobile object 2 or the user terminal 4. For example, a map can be displayed on a touch panel of the mobile object 2 or the user terminal 4, and an area on the map can be specified as the work area using the touch panel. Furthermore, multiple options for the task are displayed, and by selecting one of these options, the task to be performed by the mobile object 2 can be specified. In this way, once the area to be performed and the task to be performed are specified, the mobile object 2 moves to a real-world area corresponding to the specified area on the map and begins the specified task. Alternatively, multiple pieces of work area information can be stored in a storage unit of the mobile object 2 or the user terminal 4, and by selecting one of the multiple pieces of work area information using the touch panel, the mobile object 2 moves to a real-world area corresponding to the specified area on the map and begins the specified task.

[0059] The mobile object 2 may be one that can be operated by a person and moved, or one that can be moved by automatic driving. If the mobile object 2 is an automatically driven vehicle, the mobile object 2 may be one that can move automatically according to travel route information. The mobile object 2 may perform a target task at an arrival destination after moving according to the travel route information, or may perform a target task while moving according to the travel route information. The task performed by the mobile object 2 may also be one that can be operated by a person and moved, or one that can be moved by automatic driving.

[0060] It should be noted that the definition of the mobile body 2 explained above can be applied to the "mobile body" in the following first to ninth embodiments within a consistent range.

[0061] The movement route of the mobile object 2 can be identified as movement route information by the control unit of the second device 2a, the server device 3, the control unit of the mobile object 2, or the control unit of the user terminal 4. The movement route information of the mobile object 2 may be generated in accordance with a predetermined program in the control unit of the second device 2a, the server device 3, the control unit of the mobile object 2, or the control unit of the user terminal 4, or may be stored in advance in the storage unit of the server device 3, the storage unit of the mobile object 2, or the storage unit of the user terminal 4. Furthermore, the movement route information may be generated by the user operating the mobile object 2 or the user terminal 4.

[0062] The travel route information may include, for example, a starting point, a destination point, and position information of the moving object 2 from the start of travel to the end of travel. This position information may be expressed as latitude, longitude, and altitude, or may be expressed as coordinates in a coordinate system (for example, XYZ coordinates in a Cartesian coordinate system). When managing position information based on a Cartesian coordinate system, any point within the building where the moving object 2 performs work can be set as the origin of the Cartesian coordinate system. The travel route information may also include one or more waypoints.

[0063] When the moving object 2 or the server device 3 generates travel route information according to a predetermined program, the travel route information may be generated based on the starting point and the destination point so as to minimize the travel distance, or may be generated so as to avoid obstacles according to map information. In this case, the map information is stored in advance in a storage unit of the moving object 2 or the server device 3. The map information stores information regarding areas where the moving object 2 cannot move, such as the locations of obstacles and walls, areas where the moving object 2 can move, or areas where work by the moving object 2 is required, using latitude, longitude, altitude, coordinates of a coordinate system, etc.

[0064] The movement path and position information of the moving object 2 may be managed using coordinates of longitude, latitude, and altitude, or a coordinate system (e.g., XYZ coordinates of a Cartesian coordinate system). When the movement path and position information are managed based on a Cartesian coordinate system, any point in the area in which the moving object 2 moves (e.g., inside a facility building, warehouse, hospital, etc.) can be set as the origin of the Cartesian coordinate system. Specifically, with regard to the work vehicle in embodiment 1, the indoor work robot 2A in embodiment 2, the medication cart 2B in embodiment 3, the food distribution device 2C in embodiment 4, the item collection device 2D in embodiment 5, the imaging device 2E or unmanned aerial vehicle 2F in embodiment 6, the vehicle 2G in embodiment 7, or the power storage device 2H in embodiment 8, the movement path and position information thereof may be managed using latitude, longitude, and altitude, or coordinates of a coordinate system.

[0065] [Server Device] Next, the server device will be described. Fig. 4 is a block diagram showing the hardware configuration of the server device according to the first embodiment of the present invention. The server device 3 includes at least a control unit 31, a RAM 32, a storage unit 33, and a communication interface 34, which are connected to each other via an internal bus.

[0066] The control unit 31 is composed of a CPU and ROM, and executes programs stored in the storage unit 33 to control the server device 3. The control unit 31 also has an internal timer that measures time. The RAM 32 is the work area of ​​the control unit 31. The storage unit 33 is a memory area for saving programs and data. In other words, the storage unit 33 functions as a recording medium that stores programs. The control unit 31 reads out the programs and data from the RAM 32 and performs program execution processing based on information received from the first device 1, the second device 2a, the mobile object 2, or the user terminal 4.

[0067] The program may be stored on a recording medium such as a CD-ROM. In this case, the program stored on the recording medium may be installed on another computer device included in the system 10 to execute the predetermined functions. Alternatively, the program may be distributed from a computer device external to the system. In this case, the program distributed from the computer device external to the system may be installed on another computer device included in the system 10 to execute the predetermined functions.

[0068] The server device 3 can acquire, from the second device 2a or the mobile object 2, location information regarding the distance to the first device 1 calculated by a distance calculation process described below and / or the location of the second device 2a identified by a location identification process described below. Furthermore, the location of the second device 2a can also be identified from the distances between each of the multiple first devices 1 and the second device 2a calculated by the distance calculation process. The location information of the second device 2a can be considered to be substantially identical to the location information of the mobile object 2. Furthermore, the location information of the second device 2a is transmitted from the second device 2a to the server device 3, for example, in association with identification information that can identify the second device 2a and the time at which the location information was identified. The server device 3 then stores the location information in association with the time. Meanwhile, the server device 3 can transmit the location information of the second device 2a to the user terminal 4.

[0069] The server device 3 may also store identification information for identifying the mobile object, identification information for identifying the user, the type of the mobile object (such as the model), and its purpose, in association with identification information for identifying the second device 2a. This information can be used to compile data on when, for how long, and for how far the mobile object is operating, for each type of the mobile object (such as the model) and each purpose. This compiled data can be useful for agricultural companies, such as agricultural machinery manufacturers, to determine rental and sales periods for work vehicles and to develop performance suited to their intended uses.

[0070] The server device 3 may communicate with the first device 1, the second device 2a, or the user terminal 4 via a smart meter installed in a building such as the building where the server device 3 is installed or a nearby building. The server device 3 may also communicate with the first device 1, the second device 2a, or the user terminal 4 via an optical fiber installed alongside a transmission tower.

[0071] The smart meter receives, for example, information on the operating distance and operating time (described later) from the second device 2a. In this case, it is preferable that the smart meter is a smart meter corresponding to the user of the mobile object 2 equipped with the second device 2a. The "smart meter corresponding to the user" is a concept that includes a smart meter provided by an electric power company, such as a smart meter that manages the user's electricity usage when the user has an electricity usage contract with the electric power company. The smart meter can transmit data on the amount of electricity usage measured by the smart meter and the received data on the operating distance and operating time to the server device 3. The smart meter may convert the operating distance and operating time into electricity usage and transmit the converted data to the server device 3.

[0072] [User Terminal] Next, the user terminal will be described. The user terminal 4 is a terminal operated by a user who manages or uses the mobile object 2. The user terminal 4 can be connected to the server device 3 via the communication network 5. The user terminal 4 may control one mobile object 2 or multiple mobile objects 2. The user terminal 4 may transmit control information that controls the operation and travel of the mobile object 2. The control information may include travel route information of the mobile object 2.

[0073] The user terminal 4 can confirm the position of the mobile object 2. Specifically, the user terminal 4 receives position information of the mobile object 2 and associates the position information with map information, thereby displaying the position of the mobile object 2 on a map on the display screen of the user terminal 4. The position information of the mobile object 2 may also be confirmed as latitude and longitude information or a coordinate position in an XYZ coordinate system. By confirming the position of the mobile object 2 and the travel route taken on the map, the user can easily recognize locations in the work area where work has been completed and locations where further work is required.

[0074] The user terminal 4 is configured to include, for example, a control unit, RAM, storage unit, communication interface, input unit, and display unit, each connected by an internal bus. The control unit of the user terminal 4 is composed of a CPU and ROM, and executes programs stored in the storage unit to control the user terminal 4. The RAM is the work area of ​​the control unit. The storage unit is a memory area for saving programs and data. The control unit reads the programs and data from the RAM and performs program execution processing based on information received from the server device 3, etc.

[0075] The display unit of the user terminal 4 may be a touch panel whose display screen is equipped with a touch sensor. The touch panel may be a contact type or a non-contact type. The touch panel may also function as an input unit.

[0076] [Work Vehicle Control Processing] Next, the process of controlling a moving object according to the first embodiment of the present invention will be described. In the first embodiment of the present invention, the work vehicle control processing will be described using an example in which the moving object 2 is a work vehicle. FIG. 5 is a diagram showing a flowchart of the work vehicle control processing according to the first embodiment of the present invention. First, a user operates the user terminal 4 to launch a dedicated application for using the system 10. After launching the dedicated application, the user opens a screen for starting the operation of the work vehicle from the menu screen and operates the user terminal 4 to select the work vehicle to be operated (step S1). The user can select a work vehicle to be operated from multiple work vehicles. Next, the user operates the user terminal 4 to specify a work area in which the work vehicle will be operated (step S2), and further specify the work to be performed by the work vehicle (step S3). When specifying the work area in step S2, the user can also specify a work start location. The work specification in step S3 specifies which type of work to perform if the work vehicle is capable of performing multiple tasks such as leveling, landscaping, and fertilizing.

[0077] Next, the selected work vehicle, as well as the specified work area (including the work start location) and work information are transmitted from the user terminal 4 to the server device 3 (step S4). In step S4, a work vehicle ID that can identify the work vehicle is transmitted as information related to the work vehicle. Also in step S4, information related to the work area is transmitted as information related to the coordinates or latitude and longitude of the specified area.

[0078] The server device 3 receives the work information from the user terminal 4 (step S5). The received work information is stored in the storage unit 33 of the server device 3. A work management table is set in the storage unit 33, and the work vehicle ID, designated work area, and work are recorded in association with the work ID assigned to each work. When location information related to the position of the work vehicle is identified by the location identification process described below, this work management table further stores the time when the position was identified and the location information in association with the work ID.

[0079] Next, the selected work vehicle (work vehicle ID) and work information related to the specified work area and work are transmitted from the server device 3 to the work vehicle (step S4). The work vehicle receives this work information (step S8). When the work information is received in step S8, the distance calculation process and position identification process, which will be described later, are initiated. This distance calculation process and position identification process are executed continuously and periodically after the work vehicle begins moving until the work is completed and the work vehicle stops operating.

[0080] Upon receiving the work information, the work vehicle generates travel route information based on the position identified by the position identification process described below and the position of the specified work area (step S9). Once the travel route information is generated, the work vehicle begins to move (step S10). The work vehicle moves according to the travel route information. When the work vehicle detects that it has reached the work area or the work start location (the position of the work vehicle is within the work area, or the position of the work vehicle coincides with the work start location) (step S11), the work specified in step S3 begins (step S12). Work performed by the work vehicle may be performed while moving, or may be performed at the same location without moving. If work is performed while moving, the work vehicle moves according to the travel route information while performing the work.

[0081] When the work vehicle has completed work within the entire designated work area, the work by the work vehicle is completed (step S13). When the work is completed, the work vehicle may automatically return to the location before receiving the work information. When the work is completed, completion information indicating that the work is completed is sent from the work vehicle to the server device 3 (step S14). The completion information includes the work vehicle ID and information regarding the completion time when the work was completed. The server device 3 receives the completion information from the work vehicle (step S15). Next, the fact that the work is completed and the completion time are stored in the work management table (step S16).

[0082] Next, completion information indicating that the work has been completed is sent from the server device 3 to the user terminal 4 (step S17). The completion information includes the work vehicle ID and information regarding the time the work was completed. The user terminal 4 receives the completion information from the server device 3 (step S18), and displays a message indicating that the work by the work vehicle has been completed (step S19). The work vehicle control process is completed through the processing of steps S1 to S19.

[0083] [Distance Calculation Process] Next, the distance calculation process according to the first embodiment of the present invention will be described. In the following description, an example will be given in which the mobile object 2 is a work vehicle. The distance calculation process is a process of calculating the distance between the first device 1 and the second device 2a based on the propagation time of information or signals between the first device 1 and the second device 2a. The distance calculation process may also be a process of calculating the distance between each of the multiple first devices 1 and the second device 2a based on the propagation time of information or signals between each of the multiple first devices 1 and the second device 2a. Since the second device 2a is provided on the work vehicle, it can also be said to be a process of calculating the distance between each of the multiple first devices and the work vehicle. FIG. 6 is a diagram showing a flowchart of the distance calculation process according to the first embodiment of the present invention. Note that the following flowchart will explain the process of calculating the distance between the first device 1 and the second device 2a.

[0084] The distance calculation process can be executed, for example, at predetermined time intervals or whenever predetermined conditions are met. For example, when the work vehicle starts operating, the distance calculation process of steps S21 to S40 can be set to start at predetermined time intervals (e.g., every five minutes) after the start of operation. Note that the distance calculation process can be set to execute the position identification process and / or determination process described below within a predetermined time (e.g., within a few seconds) after the distance calculation process is executed. Alternatively, the work vehicle may be set to stop moving after the distance calculation process starts until the position identification process and / or determination process are completed. In these settings, the work vehicle will have moved only slightly or not at all from the position identified in the distance calculation process, thereby minimizing the discrepancy between the position identified in the distance calculation process and the real-time position of the traveling work vehicle.

[0085] First, the first device 1 transmits information or a signal to the second device 2a (step S21). The information or signal transmitted from the first device 1 to the second device 2a is not particularly limited. The first device 1 clocks the time when the information or signal was transmitted in step S21 and measures the phase at the time of transmission (step S22). The clocked time and the measured phase are then stored in the memory of the control unit 11 (step S23).

[0086] Next, the second device 2a receives the information or signal from the first device 1 (step S24). The second device 2a clocks the time when the information or signal was received in step S24 and measures the phase at the time of reception (step S25). The clocked time and the measured phase are then stored in the memory or storage unit 25 within the control unit 21 (step S26).

[0087] Next, the second device 2a transmits information or a signal to the first device 1 (step S27). There are no particular restrictions on the information or signal transmitted from the second device 2a to the first device 1. The second device 2a clocks the time when the information or signal was transmitted in step S27 and measures the phase at the time of transmission (step S28). The clocked time and the measured phase are then stored in the memory or storage unit 25 within the control unit 21 (step S29).

[0088] The first device 1 receives the information or signal transmitted in step S27 (step S30). The first device 1 clocks the time when the information or signal was received in step S30 and measures the phase at the time of reception (step S31). The clocked time and the measured phase are then stored in the memory of the control unit 11 (step S32). After step S32 is completed, the process proceeds to step S33.

[0089] The first device 1 transmits to the second device 2a via the RF chip 12 the information stored in step S23 regarding the time when the signal was transmitted in step S21 and the phase at the time of transmission, and the information stored in step S32 regarding the time when the signal was received in step S30 and the phase at the time of reception (step S33).

[0090] Then, the second device 2a receives information regarding the time and phase at the time of transmission when the first device 1 transmitted the information or signal in step S21, and information regarding the time and phase at the time of reception when the first device 1 received the information or signal in step S30 (step S34).

[0091] Next, the control unit 21 of the second device 2a calculates the phase shift between the phase of the signal generated by the oscillator 13 of the first device 1 and the phase of the signal generated by the oscillator 23 of the second device 2a (step S35). The phase shift can be calculated based on the phase difference between the phase of the carrier wave constituting the information or signal transmitted from the first device 1 to the second device 2a and the phase of the signal oscillated by the oscillator 23 of the second device 2a when the second device 2a receives the information or signal, and the phase difference between the phase of the carrier wave constituting the information or signal transmitted from the second device 2a to the first device 1 and the phase of the signal oscillated by the oscillator 13 of the first device 1 when the first device 1 receives the information or signal.

[0092] The phase of the carrier wave constituting the information or signal transmitted from the first device 1 to the second device 2a is the phase of the information or signal transmitted in step S21. Information regarding this phase is transmitted from the first device 1 to the second device 2a in step S33. The phase of the signal oscillated by the oscillator 23 of the second device 2a when the second device 2a receives the information or signal is the phase of the information or signal received in step S24. Information regarding this phase is measured by the second device 2a in step S25 and stored in step S26. The phase of the carrier wave constituting the information or signal transmitted from the second device 2a to the first device 1 is, for example, the phase of the information or signal transmitted in step S27. Information regarding this phase is stored by the second device 2a in step S29. The phase of the signal oscillated by the oscillator 13 of the first device 1 when the first device 1 receives the information or signal is, for example, the phase of the information or signal received in step S30. The information about the phase is measured in step S31 and transmitted from the first device 1 to the second device 2a in step S33.

[0093] Here, the phase of the carrier wave constituting the information or signal transmitted from the first device 1 to the second device 2a is a concept that includes not only the phase of the carrier wave constituting the information or signal transmitted from the first device 1 to the second device 2a, but also the phase of the carrier wave constituting the signal obtained by mixing down this information or signal. Similarly, the phase of the carrier wave constituting the information or signal transmitted from the second device 2a to the first device 1 is a concept that includes not only the phase of the carrier wave constituting the information or signal transmitted from the second device 2a to the first device 1, but also the phase of the carrier wave constituting the signal obtained by mixing down this information or signal.

[0094] The phase difference between the phase of the carrier wave constituting the information or signal transmitted from the first device 1 to the second device 2a and the phase of the signal oscillated by the oscillator 23 of the second device 2a when the information or signal is received by the second device 2a is defined as ΔΦ Ｓ and the phase difference between the phase of the carrier wave constituting the information or signal transmitted from the second device 2a to the first device 1 and the phase of the signal oscillated by the oscillator 13 of the first device 1 when the information or signal is received by the first device 1 is defined as ΔΦ Ｍ Then, the phase difference ΔΦ Ｓ and phase difference ΔΦ Ｍ From the arithmetic mean of these, the phase difference ΔΦ caused by the signal propagating between the first device 1 and the second device 2a is Ｐ That is, it is possible to calculate ΔΦ using the formula (1): Ｐ = 1 / 2 × (ΔΦ Ｓ +ΔΦ Ｍ ) and the phase difference ΔΦ Ｐ can be calculated.

[0095] The phase difference between the first device 1 and the second device 2a is ΔΦ Ｃ Then, the equation (2): ΔΦ Ｍ =ΔΦ Ｐ + (-ΔΦ Ｃ ) holds, so the phase shift ΔΦ Ｃ is the phase difference ΔΦ Ｐ from the phase difference ΔΦ Ｍ That is, it can be calculated by subtracting ΔΦ Ｃ = 1 / 2 × (ΔΦ Ｓ -ΔΦ Ｍ) causes a phase shift ΔΦ Ｃ In step S35, the phase shift between the first device 1 and the second device 2a is calculated using equation (3).

[0096] Here, the phase shift ΔΦ Ｃ was calculated using equation (3), but the phase shift ΔΦ Ｃ However, it may be further subtracted by 2π or 4π, i.e., 2nπ. n can be 0 or a positive integer. Therefore, the propagation time T Ｐ Based on the time difference between the first device 1 and the second device 2a, it is possible to determine whether n is 0, 1, or 2 (i.e., the phase difference ΔΦ obtained from equation (3)). Ｃ It is also possible to determine whether the value obtained by further subtracting 2nπ from the phase shift is the original phase shift, or whether the value without the subtraction is the original phase shift.

[0097] The signal transmitted from the first device 1 to the second device 2a and the signal transmitted from the second device 2a to the first device 1 may start with an output of an arbitrary value rather than 0 at the start of transmission. In such a case, the phase and transmission time at the start of transmission are measured, and the phase shift ΔΦ Ｃ It is necessary to correct ΔΦ by always keeping the phase constant at the start of transmission and transmitting at a predetermined time, and then measuring the phase at the start of transmission and the transmission time. Ｃ This makes it possible to omit processing such as correcting the

[0098] In the second device 2a, the calculated phase shift ΔΦ Ｃ Based on this, the phase of the signal generated by the oscillator 23 of the second device 2a is corrected so as to synchronize with the signal generated by the oscillator 13 of the first device 1 (step S36). The phase correction in step S36 is controlled and executed by the control unit 21. The phase shift of the oscillator 23 of the second device 2a occurs due to the influence of the environment surrounding the second device 2a. By periodically performing synchronization processing in this manner, the clock 22a of the second device 2a can be made to keep time with high accuracy.

[0099] Next, the first device 1 calculates the time difference between the first device 1 and the second device 2a based on the time when the information or signal was transmitted from the first device 1 to the second device 2a, the time when the information or signal was transmitted from the second device 2a to the first device 1, the time when the information or signal was transmitted from the first device 1 and received and clocked by the second device 2a, and the time when the information or signal was transmitted from the second device 2a and received and clocked by the first device 1 (step S37).

[0100] The time when the information or signal is transmitted from the first device 1 to the second device 2a is the time when the information is transmitted in step S21. Information about this time is transmitted from the first device 1 to the second device 2a in step S33. The time when the information or signal is transmitted from the second device 2a to the first device 1 is the time when the information or signal is transmitted in step S27. The information about this time is stored by the second device 2a in step S29. Next, the time when the information or signal is transmitted from the first device 1 and received and clocked by the second device 2a is the time when the information is received in step S24. The information about this time is clocked by the second device 2a in step S25 and stored in step S26. The time when the information or signal is transmitted from the second device 2a and received and clocked by the first device 1 is the time when the information or signal is received in step S30. The information about this time is clocked in step S31 and transmitted from the first device 1 to the second device 2a in step S33.

[0101] The time when the information or signal is transmitted from the first device 1 to the second device 2a is T Ｍ and the time when the second device 2a transmits information or a signal to the first device 1 is defined as T Ｓ The time when the second device 2a receives the information or signal transmitted from the first device 1 and clocks it is defined as T ＭＳ Furthermore, the time when the information or signal is transmitted from the second device 2a and received by the first device 1 is defined as T ＳＭ Then, the time difference between the first device 1 and the second device 2a is expressed by the following equation (4): T Ｌ = 1 / 2 × ((T ＳＭ -T Ｓ )-(T ＭＳ -T Ｍ)) In step S37, the time difference between the first device 1 and the second device 2a is calculated using equation (4). Based on the calculated time difference, the second device 2a corrects the time on the second device 2a so that it is synchronized with the time on the first device 1 (step S38).

[0102] Next, the distance between the first device 1 and the second device 2a is calculated (step S39). In step S39, the distance between the first device 1 and the second device 2a can be calculated by calculating the propagation time of the information or signal between the first device 1 and the second device 2a based on the substantial difference between the time when the first device 1 transmits the information or signal and the time when the second device 2a receives the information or signal, and multiplying the propagation time by the propagation speed of the information or signal (e.g., the speed of light). The difference between the time when the information or signal is transmitted by the first device 1 and the time when the information or signal is received by the second device 2a can be calculated, for example, based on the time when the information or signal is transmitted from the first device 1 to the second device 2a in step S21 (the time when the information or signal is transmitted from the first device 1 to the second device 2a in step S33) and the time when the information or signal is received from the first device 1 at the second device 2a in step S24, which is the time stored in the memory or storage unit 25 in step S26, and the time difference calculated in step S37.

[0103] In step S39, the distance between the first device 1 and the second device 2a can be calculated by calculating the propagation time of the information or signal between the first device 1 and the second device 2a based on the substantial difference between the time when the second device 2a transmits the information or signal and the time when the first device 1 receives the information or signal, and multiplying the propagation time by the propagation speed of the information or signal (e.g., the speed of light). The difference between the time when the second device 2a transmits the information or signal and the time when the first device 1 receives the information or signal can be calculated based on, for example, the time when the second device 2a transmits the information or signal to the first device 1 in step S27, which is stored in the memory or storage unit 25 in step S29, the time when the first device 1 receives the information or signal in step S30 (transmitted from the first device 1 to the second device 2a in step S33), and the time difference calculated in step S37.

[0104] The distance between the first device 1 and the second device 2a calculated in step S39 is stored in the memory or storage unit 25 of the control unit 21 of the second device 2a in association with, for example, time information regarding the calculated time and identification information for identifying the first device 1 (or location information of the first device 1) (step S40). Execution of step S40 ends the distance calculation process.

[0105] By executing the processes of steps S21 to S38, it is possible to correct the time difference and phase difference between the first device 1 and the second device 2a. By periodically synchronizing the time and / or phase of the internal clock of the first device 1 with the time and / or phase of the atomic clock that provides standard time, and then synchronizing the time and / or phase of the internal clock of the second device 2a with the time and / or phase of the internal clock of the first device 1, it is possible to adjust the time and / or phase of the internal clock of the second device 2a to standard time. For the process of synchronizing the time and / or phase of the internal clock of the first device 1 with the time and / or phase of the atomic clock that provides standard time, the description of the processes of steps S21 to S38 can be adopted to the extent necessary.

[0106] By executing the processes of steps S21 to S40, not only can the time difference and phase difference between the first device 1 and the second device 2a be corrected, but the distance between the first device 1 and the second device 2a can also be calculated. Note that although the time difference between the first device 1 and the second device 2a is corrected in step S38, it is not necessary to correct the time difference. The distance between the first device 1 and the second device 2a can also be calculated based on the time difference calculated in step S37 without correcting the time difference. In other words, the distance can be calculated based on the time difference between the clock of the first device 1 and the clock of the second device 2a.

[0107] In addition, in step S36, the phase shift between the first device 1 and the second device 2a is corrected, but it is not necessary to correct the phase shift, and the distance between the first device 1 and the second device 2a can also be calculated without correcting the phase shift. In other words, the distance can be calculated based on the phase shift between the clock of the first device 1 and the clock of the second device 2a.

[0108] In other words, the distance between the first device 1 and the second device 2a can be calculated based on the time difference and / or phase difference between the internal clock of the first device 1 and the internal clock of the second device 2a, assuming that there is no time difference and / or phase difference, or assuming that the time difference and / or phase difference has been corrected.

[0109] In addition, by executing the processing from steps S21 to S40, the time difference and phase difference between the first device 1 and the second device 2a are corrected and the distance between the first device 1 and the second device 2a is calculated, but it is also possible to execute the processing for correcting the time difference between the first device 1 and the second device 2a, the processing for correcting the phase difference between the first device 1 and the second device 2a, and the processing for calculating the distance between the first device 1 and the second device 2a separately.

[0110] The process of calculating the distance between the first device 1 and the second device 2a described above can calculate the distance between one second device 2a and each of multiple first devices 1. When identifying the position of the second device 2a, as described below, the distance between the first device 1 and the second device 2a is identified for as many first devices 1 as necessary to identify the position. However, even when calculating the distance between one second device 2a and each of multiple first devices 1, the time offset correction process and the phase offset correction process can be performed only with one first device 1, and the time offset correction process and the phase offset correction process can be omitted when communicating with other first devices 1.

[0111] Here, the second device 2a calculates the distance between the first device 1 and the second device 2a, but the first device 1 may calculate the distance between the first device 1 and the second device 2a by processing similar to step S39 instead of the second device 2a. When the distance is calculated by the first device 1, the distance between the first device 1 and the second device 2a is stored in the memory of the control unit 11 in association with time information regarding the calculated time, etc., and identification information capable of identifying the second device 2a.

[0112] Alternatively, instead of the second device 2a, the server device 3 may calculate the distance between the first device 1 and the second device 2a by processing similar to step S39. When the server device 3 calculates the distance, the information necessary for the calculation is received from the first device 1 and / or the second device 2a. When the server device 3 calculates the distance, the distance between the first device 1 and the second device 2a is stored in the storage unit 33 of the server device 3 in association with time information regarding the calculated time, etc., identification information capable of identifying the first device 1 (or location information of the first device 1), and identification information capable of identifying the second device 2a.

[0113] Although the distance between the first device 1 and the second device 2a is calculated here, if there are multiple second devices 2a, the distance between one second device 2a and another second device 2a can also be calculated. In this case, the propagation time for the information or signal to propagate between the first second device 2a and another second device 2a can be calculated based on the substantial difference between the time when the first second device 2a transmits the information or signal and the time when the information or signal is received by the other second device 2a. The distance between the first second device 2a and another second device 2a can then be calculated by multiplying the propagation time by the propagation speed of the information or signal (e.g., the speed of light).

[0114] Furthermore, although the above describes a method for calculating the distance between one first device 1 and a second device 2a, in the system 10, for each of a plurality of first devices 1, it is possible to calculate the distance between the second device 2a and a first device 1 different from the one first device 1, in the same way as the calculation of the distance between the one first device 1 and the second device.

[0115] [Position Identification Processing] Next, the position identification processing according to the first embodiment of the present invention will be described. In the following description, an example will be given in which the moving body 2 is a work vehicle. The position identification processing is processing for identifying the position of the second device 2a based on the distances between each of the multiple first devices 1 and the second device 2a calculated in the distance calculation processing. Because the second device 2a is provided on the work vehicle, the position identification processing can also be said to be processing for identifying the position of the work vehicle.

[0116] To determine the position of the second device 2a, the distance calculation process must first calculate the distance between the second device 2a and each of the multiple first devices 1. For example, if one second device 2a and multiple first devices 1 are located at the same height, that is, if these devices are located on the same XY plane, the position of the second device 2a (e.g., the latitude and longitude or XY coordinates of the second device 2a) can be determined based on the distances between the second device 2a and each of the three first devices 1 and the positions of the three first devices 1. Therefore, if one second device 2a and multiple first devices 1 are located at the same height, the number of distance data between the first device 1 and the second device 2a required to determine the position is three.

[0117] Furthermore, for example, if one second device 2a and at least one of the multiple first devices 1 are at different heights and do not exist on the same plane, the position of the second device 2a (e.g., the latitude, longitude, altitude, or XYZ coordinates of the second device 2a) can be determined based on the respective distances between the one second device 2a and the four first devices 1 and the respective positions of the four first devices 1. Therefore, if one second device 2a and at least one of the multiple first devices 1 are at different heights and do not exist on the same plane, the number of distance data between the first device 1 and the second device 2a required to determine the position is four. In this case, it is preferable that the four first devices 1 are not located on the same plane. For example, it is preferable that the installation height of at least one first device 1 is different from the installation height of the other three first devices 1. In this way, regardless of the location of the second device 2a, it is possible to determine its three-dimensional position.

[0118] The system 10 according to the first embodiment of the present invention is for determining the position of a work vehicle working outdoors. Because it is possible that the first device 1 and the second device 2a provided on the work vehicle will not necessarily be installed at the same height, it is preferable to determine the position of the second device 2a using at least four first devices.

[0119] 7 is a diagram showing a flowchart of the position identification process according to the first embodiment of the present invention. The position identification process shown in FIG. 7 can be executed, for example, by any of the first device 1, the second device 2a, the server device 3, the work vehicle, or the user terminal 4. When the position identification process is executed by the first device 1, the server device 3, the work vehicle, or the user terminal 4, information regarding the distance between each of the multiple first devices 1 and the second device 2a (the distance calculated in step S39) is associated with time information regarding the calculated time, the identification information of the first device 1 (or the position information of the first device 1), and the identification information of the second device 2a, and is transmitted to the first device 1, the server device 3, the work vehicle, or the user terminal 4 for use.

[0120] In the position identification process, the position of the second device 2a is identified (step S41) based on the distance between each of the multiple first devices 1 and the second device 2a and the positions of these first devices 1. The positions of the first devices 1 may be stored in advance in any of the second device 2a that executes the position identification process, the server device 3, the work vehicle, or the user terminal 4. The calculation process for identifying the position of the second device 2a is not particularly limited.

[0121] The identified position of the second device 2a is associated with time information regarding the calculated time (time information regarding the time when the distance was calculated or time information regarding the time when the position was identified), identification information of the first device 1 (or position information of the first device 1), and identification information of the second device 2a, and is stored in the memory of the control unit 11 of the first device 1, the memory of the control unit 21 of the second device 2a, the storage unit 25 of the work vehicle, the storage unit 33 of the server device 3, or the storage unit of the user terminal 4 (step S42). More preferably, the identified position of the second device 2a and the time information regarding the calculated time are stored in association with the work vehicle ID in the work management table of the storage unit 33 of the server device 3. Steps S41 and S42 complete the position identification process.

[0122] Note that the distances between each of the multiple first devices 1 and the second device 2a, which are used to identify the location of the second device 2a in step S41, are preferably calculated at the same time or at similar times (for example, calculated when the propagation times of information or signals between each of the multiple first devices 1 and the second device 2a are measured at the same time or at similar times). Here, the "similar times" are not particularly limited, but are preferably within a predetermined range from the first time. By using the distances between each of the multiple first devices 1 and the second device 2a calculated at the same time or at similar times, a more accurate location at that time can be identified.

[0123] Here, the distance between each of the multiple first devices 1 and the second device 2a is calculated, and the position of the second device 2a is determined based on the calculated distance. However, if there are multiple second devices 2a, the distance between one second device 2a and each of the multiple different second devices 2a can be calculated, and the position of the one second device 2a can be determined based on the calculated distance.

[0124] [Determination Process] Next, the determination process according to the first embodiment of the present invention will be described. The determination process is a process for determining whether or not the position of the second device 2a identified in the position identification process matches the travel route information related to the travel route of the work vehicle.

[0125] FIG. 8 is a diagram showing a flowchart of the determination process according to the first embodiment of the present invention. FIG. 11 is a diagram showing a travel route according to the first embodiment of the present invention. In FIG. 11, a travel route 51 for a work vehicle to travel is set in a hallway 53 within a building 50. The building 50 is equipped with first devices 1a to 1d for identifying the position of the second device 2a. The determination process shown in FIG. 8 can be executed by any of the first device 1, the second device 2a, the server device 3, or the work vehicle. The following describes a case where the determination process is executed by the second device 2a.

[0126] In the determination process, the second device 2a acquires information about the position of the second device 2a (the position stored in step S42) and travel route information (step S51). The acquired travel route information is information that the work vehicle equipped with the second device 2a referenced before or during the execution of the distance calculation process or the position identification process.

[0127] Next, the second device 2a determines whether the acquired position of the second device 2a matches the travel route information (step S52). When the travel route 51 is defined by a straight line or a curve, the position of the second device 2a may be determined to match the travel route information if, for example, the position of the second device 2a is on the travel route 51 or if the shortest distance between the position of the second device 2a and the travel route 51 is equal to or shorter than a predetermined distance. The predetermined distance can be set as appropriate, but for example, the shortest distance from a predetermined position on the travel route 51 may be within 30 cm. The predetermined distance can be set as appropriate depending on the area in which the work vehicle operates, the size of the building, and the size and use of the work vehicle. Note that even if the shortest distance from the travel route 51 of the second device 2a to the travel route 51 is equal to or shorter than the predetermined distance, if the second device 2a is not on the travel route 51, the movement of the second device 2a can be controlled so that the second device 2a is located on the travel route 51.

[0128] The area 52 within which the work vehicle is movable, which is included in the travel route information, may be set with a certain width. For example, in the case of a work vehicle, the linear or curved travel route 51 may be used as a reference, and the area 52 within which the work vehicle is movable may be set by extending the travel route 51 by a certain distance (for example, 1 m) on both sides, with a width twice the certain distance. In this case, in the process of step S52, if the identified position of the second device 2a is within the area 52 within which the work vehicle is movable, it can be determined that the position matches the travel route information.

[0129] If it is determined that the position of the second device 2a matches the travel route information (YES in step S52), the determination process ends. On the other hand, if it is determined that the position of the second device 2a does not match the travel route information (NO in step S52), the second device 2a corrects the travel route information (step S53). The travel route information can be corrected in the same manner as the process for identifying a travel route for a work vehicle. Specifically, the identified position of the second device 2a is set as the starting point, and the travel route can be identified based on the starting point and the destination point. For example, the travel route may be identified so as to minimize the travel distance, or so as to avoid obstacles based on map information and topographical information of the work area, or so as to pass through a movably defined area in the map information (e.g., a road set up in the work area), or so as to correspond to the type of work being performed. Furthermore, the travel route may be identified so as to return to a previously defined travel route via the shortest distance.

[0130] When the travel route information is corrected in step S53, the corrected travel route information is associated with identification information that can identify the second device 2a or the work vehicle, and stored in the memory in the control unit 21 of the second device 2a or the storage unit 25 of the work vehicle (step S54). The corrected travel route information may be associated with identification information that can identify the second device 2a or the work vehicle, and stored in the memory in the control unit 11 of the first device 1 or the storage unit 33 of the server device 3. Steps S51 to S54 complete the determination process.

[0131] The travel route information to be stored may be saved by overwriting the immediately preceding travel route information, or information on all travel routes that have been traveled may be saved.

[0132] Here, the judgment process is executed in the second device 2a, but instead of the second device 2a, the judgment process may be executed in the first device 1, the server device 3, or the work vehicle using processing similar to steps S51 to S54.

[0133] If the second device 2a is mounted on a part of the work vehicle that performs work, such as an arm, it can be determined in step S52 whether the position acquired in step S51 matches the movement path of the part that performs work. If they do not match (NO in step S52), a warning may be sent to the user terminal 4 via the server device 3. The manager who receives the notification can prevent problems by performing maintenance on the work vehicle, etc.

[0134] [Billing Amount Calculation Process] Next, the billing amount calculation process according to the first embodiment of the present invention will be described. The billing amount calculation process is a process for calculating the amount to be billed to the user of the work vehicle based on the operating time or operating distance of the work vehicle. The billing amount includes, for example, the amount to be billed as the usage fee for the system 10 or the usage fee for the work vehicle.

[0135] Fig. 9 is a diagram showing a flowchart of the billing amount calculation process according to the first embodiment of the present invention. The following describes the case where the billing amount calculation process is executed by the server device 3. Fig. 10 is a diagram showing a location information table according to the first embodiment of the present invention.

[0136] In the billing calculation process, the server device 3 calculates the operating time during which the user used the work vehicle or the operating distance during which the user used the work vehicle during a predetermined period (step S61). The type and number of work vehicles used and the number of second devices 2a may also be calculated. The predetermined period is not particularly limited, but may be the same period as the period for which the user is billed for electricity usage, such as one month. The predetermined period may be registered in advance so that the billing amount incurred in the month prior to the day of input in step S61 is calculated.

[0137] Here, the operating time of a work vehicle can be the time from when the work vehicle starts moving to when it stops moving. For example, while the propagation time of information or signals between the first device 1 and the second device 2a or the distance between the first device 1 and the second device 2a calculated from the propagation time is changing, it can be assumed that the work vehicle is moving and operating. On the other hand, if there is no change in the propagation time of information or signals between the first device 1 and the second device 2a or the distance between the first device 1 and the second device 2a calculated from the propagation time, it can be assumed that the work vehicle is in the same position and not moving, and therefore not operating. Therefore, based on the propagation time of information or signals between the first device 1 and the second device 2a, the operating time of the mobile object can be calculated by aggregating the time when there is a change in propagation time or the time when there is a change in the distance between the first device 1 and the second device 2a. Information regarding these times is transmitted from the second device 2a or the work vehicle to the server device 3 when the use of the work vehicle is finished.

[0138] Furthermore, the operating distance of the work vehicle may be calculated based on travel route information of the work vehicle while it is in operation. If there are multiple target points in one operation, the operating distance may be calculated from the travel route information for each movement and added together.

[0139] The working distance of a work vehicle may be calculated based on the stored positions of the work vehicle. Specifically, the working distance can be calculated by adding up the distances between each position in the order in which the positions were stored, in a straight line. For example, the storage unit 33 of the server device 3 stores a position information table 60 shown in FIG. 10 . The position information table 60 stores work vehicle position information 62 in association with time 61. In FIG. 10 , the distance between the position at 12:00 and the position at 12:01 can be estimated as the working distance from 12:00 to 12:01. Similarly, the distance between the position at 12:01 and the position at 12:02 can be estimated as the working distance from 12:01 to 12:02. For example, the working distance of a work vehicle can be calculated by adding up the distances between each time and the following time over a predetermined period, such as one month.

[0140] Next, the server device 3 calculates the billing amount based on the calculated operating time or operating distance (step S62). The server device 3 stores a cost table associated with the operating time or operating distance, and the billing amount can be calculated by referencing the cost table. The cost table may be stored in association with the number of second devices 2a, the number of work vehicles, the type of work vehicle, the user's plan, and the like, in addition to the operating time and operating distance. In other words, the usage fee can be added based on the number of work vehicles and the number of second devices 2a to be installed. Furthermore, even if the operating distance and operating time of the work vehicles are the same, the billing amount can be changed depending on the type of work vehicle and the usage plan. Furthermore, the billing amount may be calculated by predetermining the billing amount per unit time and multiplying the billing amount per unit time by the operating time, or by predetermining the billing amount per unit distance and multiplying the billing amount per unit distance by the operating distance.

[0141] After calculating the billing amount in step S62, the calculated billing amount is stored in the storage unit 33 of the server device 3 in association with identification information that can identify the user (step S63). Steps S61 to S63 complete the billing amount calculation process. The stored billing amount is transmitted to the user terminal 4 in response to a transmission request from the user terminal 4.

[0142] In step S62 of the billing calculation process described above, the billing amount for the user of the work vehicle is calculated based on the operating time or operating distance of the work vehicle, but the cost related to the amount of electricity used determined by the smart meter may also be added to the billing amount. This allows the billing amount to be consolidated for the user.

[0143] Here, the billing amount calculation process is executed on the server device 3, but the billing amount calculation process may also be executed on the user terminal 4 instead of the server device 3, by performing the same process as steps S61 to S63. When the above process is executed on the user terminal 4, the information necessary for the calculation is received from the server device 3. When the billing amount is calculated on the user terminal 4, the billing amount is stored in the storage unit of the user terminal 4 in association with time information regarding the calculated predetermined period, etc., and identification information that can identify the user.

[0144] In the first embodiment of the present invention, the system 10 may include only one first device 1. If the system 10 includes a billing calculation process, the second device 2a can be synchronized with the first device 1 to more accurately calculate the operating time or operating distance of the mobile object 2.

[0145] According to the invention of the first embodiment, the distance is calculated based on the time difference between the clock of the first device and the clock of the second device, so the position of the moving object 2 can be identified without including errors due to the time difference. This makes it possible to accurately determine the operating time and operating distance of the moving object 2.

[0146] According to the first embodiment, the time in the second device is corrected based on the calculated time offset, so that the position of the moving object 2 can be identified with high accuracy based on the synchronized time. Also, according to the first embodiment, the phase in the second device is corrected based on the calculated phase offset, so that the position of the moving object 2 can be identified with high accuracy based on the time at which the phase is synchronized. This makes it possible to more accurately determine the operating time and operating distance of the moving object 2.

[0147] According to the first embodiment, the amount billed to the user of the mobile object is calculated according to the accurate operating time or operating distance of the mobile object, so that a fair billing system can be provided. According to the first embodiment, when other charges to the user of the mobile object are added, the user can centrally manage the payment of usage fees.

[0148] [Embodiment 2] In embodiment 2, as an example, a case where the above-mentioned moving body is applied to an indoor work robot will be described. In embodiment 2, a case where an indoor work robot is used instead of the work vehicle in embodiment 1 and various processes are performed will be described.

[0149] [System Configuration] FIG. 12 is a block diagram showing the configuration of a system according to the second embodiment of the present invention. As shown in the figure, the system 10 according to the second embodiment of the present invention is composed of a plurality of first devices 1 (first devices 1a to 1z) and an indoor work robot 2A equipped with a second device 2a. Preferably, three or more first devices 1 are provided in the system 10 according to the second embodiment of the present invention. Furthermore, as shown in the figure, the system 10 according to the second embodiment of the present invention may also include a server device 3, an administrator terminal 6, and a communications network 5. The first device 1 and the second device 2a can be directly connected for communication. The first device 1 can be connected for communication with the indoor work robot 2A, the server device 3, and the administrator terminal 6, respectively, via the communications network 5. The second device 2a can be connected for communication with the server device 3 and the administrator terminal 6, respectively, via the communications network 5.

[0150] [First Device] The first device 1 is a reference device for synchronizing the clock of the second device 2a. The functions and hardware configuration of the first device 1 in the second embodiment can be the same as those of the first device 1 in the first embodiment (FIG. 2) to the extent necessary. Therefore, redundant explanations will be omitted.

[0151] In system 10 according to the second embodiment of the present invention, the installation location of first device 1 is not particularly limited. First device 1 may be installed indoors where indoor work robot 2A works, or outdoors. Furthermore, multiple first devices 1 may be installed indoors. When indoor work robot 2A works indoors in a multi-story building, a first device 1 may be installed on each floor, or on multiple floors, such as the second or third floor. It is preferable that first device 1 be installed in a fixed location where its installation position can be identified. For example, first device 1 may be installed on a ceiling, pillar, or the like indoors.

[0152] [Indoor Work Robot and Second Device] In the second embodiment of the present invention, the second device 2a is provided on the indoor work robot 2A, and is connected to the indoor work robot 2A via wired or wireless communication so that they can communicate with each other. "The second device 2a is provided on the indoor work robot 2A" has the same meaning as "The second device 2a is provided on the mobile body 2" in the first embodiment.

[0153] The second device 2a may be provided on a part of the indoor work robot 2A where the work is performed (hereinafter also referred to as the working unit). For example, if the indoor work robot 2A is equipped with an arm as the working unit that performs the work, the second device 2a may be mounted on the arm. Also, multiple second devices 2a may be mounted on the working unit of one indoor work robot 2A. The location information of the second device 2a may be stored in the server device 3 or the like in association with identification information that can identify the second device 2a or identification information that can identify the indoor work robot 2A equipped with the second device 2a.

[0154] The indoor work robot 2A can communicate with the first device 1, the server device 3, and the administrator terminal 6 via the communication network 5. The indoor work robot 2A is a robot used indoors for a specific purpose, and known indoor work robots can be used. The buildings in which the indoor work robot 2A can work are not particularly limited, and may be residential buildings such as detached houses or apartment buildings, or commercial or industrial buildings such as office buildings or factories. The specific purpose is not particularly limited, but examples include security such as patrolling and patrolling within a building, cleaning floors, walls, and windows, working at heights, transporting people and objects, and serving food. In other words, the indoor work robot 2A is a general concept that refers to any mobile object capable of performing a specific purpose. The indoor work robot 2A can be designed appropriately depending on the intended purpose, and may include, for example, a mobile object that moves on the floor, a mobile object that moves indoors on rails attached to the ceiling, or an aerial object such as a drone. The indoor work robot 2A may be capable of autonomous driving or flying, or may be operated by a user to drive or fly.

[0155] The indoor work robot 2A moves according to the movement route information. The indoor work robot 2A may perform the intended task at a destination after moving according to the movement route information, or may perform the intended task while moving according to the movement route information. The movement route information can be the latitudinal route information in the first embodiment, and can be applied to the indoor work robot 2A instead of the mobile body 2, to the extent that no contradictions arise. Therefore, redundant explanations will be omitted.

[0156] The movement path information may be generated in accordance with a predetermined program in the control unit 21 provided in the indoor work robot 2A, or may be stored in advance in the storage unit 25 of the indoor work robot 2A. The movement path information may also be generated in accordance with a predetermined program in the server device 3 and transmitted from the server device 3 to the indoor work robot 2A. Furthermore, the movement path information may be generated by a user operating the indoor work robot 2A or the administrator terminal 6 to set a movement path. Note that although it has been stated here that the movement path information can be generated by the indoor work robot 2A or the server device 3, it may also be generated by the first device 1, the second device 2a, or the administrator terminal 6.

[0157] When the indoor work robot 2A or the server device 3 generates movement path information according to a predetermined program, the movement path information may be generated based on the start point and destination point so as to minimize the movement distance, or the movement path information may be generated so as to avoid obstacles according to indoor map information. In this case, the indoor map information is stored in advance in the indoor work robot 2A and the server device 3. This indoor map information stores information on areas where the indoor work robot 2A cannot move, such as the locations of obstacles and walls, areas where the indoor work robot 2A can move, or areas where work by the indoor work robot 2A is required, using latitude, longitude, altitude, coordinates in a coordinate system, etc.

[0158] The indoor work robot 2A may perform work without a person on board the robot, or may perform work with a person on board the robot.

[0159] Next, the hardware configuration of the second device 2a and the indoor work robot 2A will be described. The functions and hardware configuration of the second device 2a in embodiment 2 can be applied to the extent necessary from the functions and hardware configuration of the second device 2a in embodiment 1 (FIG. 3). The functions and hardware configuration of the indoor work robot 2A in embodiment 2 can be applied to the extent necessary from the functions and hardware configuration of the mobile unit 2 in embodiment 1 (FIG. 3) by substituting the indoor work robot 2A for the mobile unit 2. Therefore, redundant explanations will be omitted. However, in embodiment 2, in addition to the matters described in embodiment 1, the following embodiments can be added or replaced.

[0160] In the second embodiment of the present invention, the drive unit 26 drives a battery to operate the indoor work robot 2A. The indoor work robot 2A may be provided with rollers on its bottom surface, and the indoor work robot 2A may be operated by rotating the rollers using the drive unit 26. Alternatively, the indoor work robot 2A may be provided with propellers, and the indoor work robot 2A may be operated by rotating the propellers using the drive unit 26.

[0161] In the second embodiment of the present invention, when the control unit 21 detects that a fall or collision has occurred, the control unit 21 can also send a notification from the indoor work robot 2A to the administrator terminal 6 via the server device 3 that the indoor work robot 2A has fallen or collided.

[0162] [Server Device] Next, a server device according to the second embodiment of the present invention will be described. The server device 3 can acquire information such as location information and recording information from the second device 2a or the indoor work robot 2A. It can also transmit the acquired information to the manager terminal 6. It can also calculate the amount to be charged to the user who used the indoor work robot 2A and transmit this to the manager terminal 6. For example, when calculating the amount to be charged, the distance traveled in a specified period may be determined based on the history of location information from the second device 2a or the indoor work robot 2A, and the amount to be charged may be determined based on this distance.

[0163] The acquired location information is stored as the location information of the indoor work robot 2A in the server device 3 or the administrator terminal 6. For example, the location information is transmitted from the second device 2a to the server device 3 in association with identification information that can identify the second device 2a and the time when the location information was identified. The server device 3 then stores the time information, location information, and work information history in association with the identification information that can identify the second device 2a. This allows the time information, location information, and work information for the second device 2a to be stored in association with each other.

[0164] The server device 3 may also store identification information that can identify the indoor work robot 2A, identification information that can identify the user, and the purpose of the indoor work robot 2A, in association with identification information that can identify the second device 2a. This information can be used to compile data for each purpose of the indoor work robot 2A, such as when (season, day of the week, time of day), for how long, and how far the indoor work robot 2A is operating. This compiled data is useful for determining the rental period or sales period of the indoor work robot 2A and for developing performance suited to the purpose.

[0165] The server device 3 may communicate with the first device 1, the second device 2a, or the indoor work robot 2A via a smart meter installed in a building or other structure.

[0166] The hardware configuration of the server device 3 in the second embodiment can be the same as that of the server device 3 in the first embodiment ( FIG. 4 ) to the extent necessary. Therefore, a duplicated description will be omitted. In the second embodiment, the control unit 31 reads programs and data from the RAM 32 and executes the programs based on information received from the first device 1, the second device 2a, the indoor work robot 2A, or the manager terminal 6.

[0167] [Administrator Terminal] Next, the administrator terminal according to the second embodiment of the present invention will be described. The administrator terminal 6 is a terminal used by an administrator who manages the indoor work robot 2A. The administrator terminal 6 may manage one indoor work robot 2A or multiple indoor work robots 2A. For example, the administrator terminal 6 can manage each indoor area or each number of indoor work robots 2A. The administrator terminal 6 may transmit control information that controls the operation and travel of the indoor work robot 2A. The control information may include movement route information.

[0168] Furthermore, the position of the indoor work robot 2A can be confirmed on the manager terminal 6. Specifically, by receiving position information of the indoor work robot 2A at the manager terminal 6 and associating this position information with map information, the position of the indoor work robot 2A can be displayed on a map on the display screen of the manager terminal 6. The position information of the indoor work robot 2A may also be confirmed as latitude and longitude information or a coordinate position in an XYZ coordinate system. The positions of multiple indoor work robots 2A may also be confirmed simultaneously. Furthermore, the manager terminal 6 may be able to confirm recorded information sent from the second device 2a or the indoor work robot 2A.

[0169] The administrator terminal 6 has the same configuration as the server device 3, and includes, for example, a control unit, RAM, storage unit, communication interface, input unit, and display unit, all of which are connected by an internal bus.

[0170] [Distance Calculation Process] Next, the distance calculation process according to the second embodiment of the present invention will be described. The distance calculation process calculates the distance between each of the multiple first devices 1 and the second device 2a based on the propagation time of information or signals between each of the multiple first devices 1 and the second device 2a. Because the second device 2a is provided on the indoor work robot 2A, the distance calculation process can also be said to calculate the distance between each of the multiple first devices and the indoor work robot. The distance calculation process according to the second embodiment is the same as the distance calculation process according to the first embodiment ( FIG. 6 ), but can be applied by using the indoor work robot 2A instead of a work vehicle as the mobile object 2. Therefore, redundant explanations will be omitted.

[0171] [Position Identification Processing] Next, the position identification processing according to the second embodiment of the present invention will be described. The position identification processing is processing for identifying the position of the second device 2a based on the distances between each of the multiple first devices 1 and the second device 2a calculated in the distance calculation processing. Since the second device 2a is provided on the indoor work robot 2A, the position identification processing according to the second embodiment can also be said to be processing for identifying the position of the indoor work robot 2A. The position identification processing according to the second embodiment is the same as the position identification processing according to the first embodiment ( FIG. 7 ), but can be applied by using the indoor work robot 2A instead of a work vehicle as the mobile object 2. Therefore, redundant explanations will be omitted. However, in the second embodiment, in addition to the matters described in the first embodiment, the following embodiments can be added or replaced.

[0172] The system 10 according to the second embodiment of the present invention preferably includes at least three first devices 1. Furthermore, if the first device 1 and the second device 2a provided on the indoor work robot 2A are installed indoors at the same height (for example, the same altitude or the same Z coordinate), the position of the second device 2a can be identified using at least three first devices 1. Furthermore, if the first device 1 and the second device 2a provided on the indoor work robot 2A are not installed at the same height, the position of the second device 2a can be identified using at least four first devices.

[0173] In the second embodiment of the present invention, the position identification process can be executed by, for example, the first device 1, the second device 2a, the indoor work robot 2A, or the server device 3.

[0174] In the second embodiment of the present invention, in step S42, the identified position of the second device 2a is associated with time information related to the calculated time (time information related to the time when the distance was calculated or time information related to the time when the position was identified), identification information of the first device 1 (or position information of the first device 1), and identification information of the second device 2a, and is stored in the memory in the control unit 11 of the first device 1, the memory in the control unit 21 of the second device 2a, the storage unit 25 of the indoor work robot 2A, or the storage unit 33 of the server device 3.

[0175] [Determination Process] Next, the determination process according to the second embodiment of the present invention will be described. The determination process is a process for determining whether the position of the second device 2a identified in the position identification process matches the movement path information related to the movement path of the indoor work robot 2A. The determination process according to the second embodiment is the same as the determination process according to the first embodiment ( FIG. 8 ), but can be applied by using an indoor work robot 2A instead of a work vehicle as the moving body 2. Therefore, redundant explanations will be omitted. However, in the second embodiment, in addition to the matters described in the first embodiment, the following embodiments can be added or replaced.

[0176] In the second embodiment of the present invention, the area 52 movable by the indoor work robot 2A may be set with a certain width. For example, in the case of an indoor work robot 2A that moves on a floor surface, the linear or curved movement path 51 may be used as a reference, and the movable area 52 may be set by extending a predetermined distance to the left and right of the movement path 51, with a width twice the predetermined distance. Furthermore, in the case of an indoor work robot 2A that moves through the air, the movement path may be used as a reference, and the movable area 52 may be set as a cylindrical area whose cross section in the direction of gravity is twice the predetermined distance (for example, 1 m) by extending the movement path radially.

[0177] In the second embodiment of the present invention, if the second device 2a is mounted on the arm, which is the part of the indoor work robot 2A that performs the work, it can be determined in step S52 whether the position acquired in step S51 matches the movement path of the arm. If they do not match (NO in step S52), a warning can be sent to the manager terminal 6 via the server device 3. The manager who receives the notification can prevent problems by performing maintenance on the indoor work robot 2A, etc.

[0178] Furthermore, in the second embodiment of the present invention, if the second device 2a is mounted on the hook of a crane, which is the working part of the indoor work robot 2A, then in step S52, swaying of the load can be detected from the position acquired in step S51. If swaying of the load is detected (NO in step S52), a warning may be sent to the manager terminal 6 via the server device 3, or instruction information for stopping the swaying, such as temporarily stopping the movement of the crane, may be output. The swaying of the load can be detected by comparing the direction and speed of movement of the second device 2a, which are determined based on the position information of the second device 2a, with the direction and speed of movement determined based on the movement path information.

[0179] [Billing Amount Calculation Process] Next, the billing amount calculation process according to the second embodiment of the present invention will be described. The billing amount calculation process calculates the amount to be billed to the user of the indoor work robot based on the operating time or operating distance of the indoor work robot. The billing amount includes, for example, the amount to be charged as a usage fee for the system or the indoor work robot 2A.

[0180] The billing amount calculation process in embodiment 2 can be applied to the same process as the billing amount calculation process in embodiment 1 (FIG. 9), with the mobile object 2 being an indoor work robot 2A instead of a work vehicle. Therefore, the position information table in embodiment 2 can be applied to the same process as the position information table in embodiment 1 (FIG. 10), with the mobile object 2 being an indoor work robot 2A instead of a work vehicle. Duplicate explanations will be omitted. However, in embodiment 2, in addition to the matters described in embodiment 1, the following additions or substitutions can be made.

[0181] In the second embodiment of the present invention, the operating time of the indoor work robot 2A can be the time from when the indoor work robot 2A is turned on to when it is turned off, or the time from when the operation starts to when it ends.

[0182] Furthermore, in the second embodiment of the present invention, the working distance of the indoor work robot 2A may be calculated based on the travel path information of the indoor work robot 2A stored in step S54 while the indoor work robot 2A is operating. In this case, the travel path information used when the indoor work robot 2A arrived at the target point may be used. If there are multiple target points in one operation, the working distance may be calculated from the travel path information for each movement and added together. The working distance may also be calculated based on the number of rotations of the rollers of the indoor work robot 2A.

[0183] In the second embodiment of the present invention, the billing amount stored in step S63 is transmitted to the manager terminal 6 in response to a transmission request from the manager terminal 6.

[0184] In the second embodiment of the present invention, the billing amount calculation process may be executed by the server device 3, or the billing amount calculation process may be executed by the administrator terminal 6 instead of the server device 3, by performing the same process as steps S61 to S63. When the administrator terminal 6 executes the process, the information necessary for the calculation is received from the server device 3. When the administrator terminal 6 calculates the billing amount, the billing amount is stored in the storage unit of the administrator terminal 6 in association with time information relating to the calculated predetermined period, etc., and identification information that can identify the user.

[0185] [Embodiment 3] In embodiment 3, as an example, a case where the above-mentioned moving body is applied to a medicine dispensing cart will be described. In embodiment 3, a case where various processes are performed using a medicine dispensing cart instead of the work vehicle in embodiment 1 will be described.

[0186] The system 10 according to the third embodiment of the present invention can be used in facilities that provide medicines to patients, such as hospitals, sanatoriums, and nursing homes. A patient is someone who receives medicines, and includes not only people who use medicines at medical institutions but also at facilities or organizations other than medical institutions, such as nursing homes, and not only medical professionals but also people who receive medicines from managers or staff at facilities or organizations other than medical institutions. For example, patients include inpatients at hospitals or sanatoriums, residents of nursing homes, and day or short-term users. Furthermore, medicines include not only oral medications such as tablets, capsules, powders, and syrups, but also topical medications such as ointments, eye drops, and patches applied to the skin or mucous membranes of the eyes, mouth, and nose, and injectables such as injections that are injected directly into the skin, muscles, or blood vessels.

[0187] FIG. 13 is a block diagram showing the configuration of a system according to a third embodiment of the present invention. As shown in the figure, the system 10 according to the third embodiment of the present invention is composed of a plurality of first devices 1 (first devices 1a to 1z) and a medication cart 2B equipped with a second device 2a. Preferably, the system 10 according to the third embodiment of the present invention is equipped with three or more first devices 1. Furthermore, the system 10 according to the third embodiment of the present invention may be equipped with a plurality of medication carts 2B. As shown in the figure, the system 10 according to the third embodiment of the present invention may include a server device 3 and a user terminal 4. Furthermore, the system 10 according to the third embodiment of the present invention may include a reading device (not shown).

[0188] The first device 1 and the second device 2a can be directly connected for communication. Furthermore, the server device 3 can be connected for communication with each of the first device 1, the second device 2a, the medication cart 2B, and the user terminal 4. The medication cart 2B and the user terminal 4 each transmit and receive information via the server device 3. The server device 3 may be installed in a facility where the system 10 according to the third embodiment of the present invention is used, or may be installed outside the facility. Alternatively, the server device 3 may not be provided, and the medication cart 2B and the user terminal 4 may be directly connected for communication with each other. Furthermore, the medication cart 2B, the server device 3, and the user terminal 4 may be connected for communication via a communication network.

[0189] [First Device] The first device 1 is a reference device for synchronizing the clock of the second device 2a. The functions and hardware configuration of the first device 1 in the third embodiment can be the same as those of the first device 1 in the first embodiment (FIG. 2) to the extent necessary. Therefore, redundant explanations will be omitted.

[0190] In the system 10 according to the third embodiment of the present invention, the installation location of the first device 1 is not particularly limited, but it is preferable that the first device 1 be installed within the facility where the medication cart 2B is used. Furthermore, multiple first devices 1 may be installed within the facility. When the medication cart 2B transports medications within a facility having multiple floors, a first device 1 may be installed on each floor, or on multiple floors, such as the second or third floor. Furthermore, it is preferable that the first device 1 be installed in a fixed position where its installation location can be identified. For example, the first device 1 may be installed on a ceiling, a pillar, or the like within the facility.

[0191] [Second device and medication cart] In the third embodiment of the present invention, the second device 2a is provided in the medication cart 2B and is connected to the medication cart 2B via wire or wirelessly so that they can communicate with each other. "The second device 2a is provided in the medication cart 2B" has the same meaning as "The second device 2a is provided in the mobile object 2" in the first embodiment.

[0192] The medication cart 2B can communicate with the first device 1 and the user terminal 4 via the server device 3. The medication cart 2B can travel automatically to transport medications to patients. The medication cart 2B may be ridden by a person. The medication cart 2B may be operated by a person or may move automatically according to travel route information. In other words, the medication cart 2B has an automatic driving function and can sequentially move to locations corresponding to multiple patients. The location corresponding to a patient is a concept that includes not only the patient's location itself but also a location assigned to each patient and pre-assigned to each patient. The patient's location itself can be a location identified by a location identification function on a portable device carried by the patient (e.g., a wearable device worn by the patient). Examples of locations pre-assigned to each patient include the patient's hospital bed, a seat in a dining room, or a shared space. Location information regarding the location pre-assigned to each patient is associated with identification information (hereinafter also referred to as a patient ID) that can identify the patient and stored in the server device 3. The medication cart 2B moves according to the movement route information, and can execute a predetermined process at the destination after the movement. Examples of the predetermined process include reading a patient ID and providing medicine. The movement route information may include, for example, the starting point, the destination point, and position information of the medication cart 2B from the start of movement to the end of movement. The movement route information may also include one or more waypoints. The process of generating the movement route information will be described later.

[0193] Next, the hardware configurations of the second device 2a and the medication cart 2B will be described. The functions and hardware configuration of the second device 2a of embodiment 3 can be applied to the functions and hardware configuration of the second device 2a of embodiment 1 (FIG. 3) to the extent necessary. The functions and hardware configuration of the medication cart 2B of embodiment 3 can be applied to the functions and hardware configuration of the mobile body 2 of embodiment 1 (FIG. 3) to the extent necessary, with the mobile body 2 replaced with the medication cart 2B. Therefore, redundant explanations will be omitted. However, in embodiment 3, in addition to the matters described in embodiment 1, the following embodiments can be added or replaced.

[0194] In the third embodiment of the present invention, the medication cart 2B may be equipped with a reading device. Also, in the third embodiment of the present invention, the drive unit 26 drives a battery to operate the medication cart 2B. Rollers may be provided on the bottom surface of the medication cart 2B, and the rollers may be rotated by the drive unit 26 to operate the medication cart 2B.

[0195] FIG. 14 is a schematic diagram of a medication cart according to a third embodiment of the present invention. The medication cart 2B includes multiple trays 151 (151a to 151d) for storing medications to be transported and a reading device 152. As described above, the medication cart 2B may also include a display screen 153, rollers 154, various sensors (not shown), and the like. The medication cart 2B may also include a detection device such as a switch that detects which tray 151 has been opened or closed. The trays 151 may be controlled to be unlocked and locked by the control unit 21 or the like. The reading device 152 can read barcodes associated with identification information that can identify medications, barcodes or RF tags associated with the patient's patient ID, and / or biometric authentication information associated with the patient. The biometric authentication information is not particularly limited, but examples include fingerprints, face, vein patterns, voice, and irises.

[0196] [Server Device] Next, a server device according to the third embodiment of the present invention will be described. The server device 3 can acquire information such as location information and recording information from the second device 2a or the medication cart 2B. The server device 3 can also transmit the acquired information to the user terminal 4. The server device 3 can also generate travel route information.

[0197] The hardware configuration of the server device 3 in the third embodiment can be the same as that of the server device 3 in the first embodiment (FIG. 4) to the extent necessary. Therefore, a duplicated description will be omitted. In the third embodiment, the control unit 31 reads out programs and data from the RAM 32 and executes the programs based on information received from the first device 1, the second device 2a, the medication cart 2B, or the user terminal 4.

[0198] [User Terminal] Next, a user terminal according to a third embodiment of the present invention will be described. In the third embodiment of the present invention, the user terminal 4 is a terminal operated by a user, such as a medical professional, a facility staff member, or an employee. The user terminal 4 may be a stationary terminal installed within the facility, or a portable terminal that the user can carry when traveling. The user terminal 4 has a configuration similar to that of the server device 3, and includes, for example, a control unit, RAM, a storage unit, a communication interface, an input unit, and a display unit, each connected by an internal bus. The user terminal 4 is preferably a computer device including an input unit, a display unit, and a control unit, such as a tablet terminal, a smartphone, or a desktop or notebook personal computer. In addition, the display screen of the display unit may include a touch sensor, and the input unit and display unit may be integrated into a touch panel system.

[0199] Furthermore, the position of the medication dispensing cart 2B can be confirmed on the user terminal 4. Specifically, by receiving position information of the medication dispensing cart 2B at the user terminal 4 and associating the position information with map information of the facility, the position of the medication dispensing cart 2B can be displayed on a map on the display screen of the user terminal 4. Furthermore, the position information of the medication dispensing cart 2B may be confirmed as latitude and longitude information or a coordinate position in an XYZ coordinate system. Furthermore, the positions of multiple medication dispensing carts 2B may be confirmed simultaneously. Furthermore, the user terminal 4 may be able to confirm video recording information transmitted from the second device 2a or the medication dispensing cart 2B.

[0200] In the system 10 according to the third embodiment of the present invention, a user places medicines on trays 151 of a medicine dispensing cart 2B. At that time, the user inputs into the user terminal 4 or the medicine dispensing cart 2B which tray 151 the medicine is placed in for which patient. Alternatively, which tray 151 belongs to which patient may be stored in advance in the user terminal 4, the server device 3, or the medicine dispensing cart 2B, and the medicine may be placed on the tray 151 according to that information.

[0201] The system 10 according to the third embodiment does not necessarily have to include the user terminal 4. If the system 10 does not include the user terminal 4, an input unit can be provided in the medication cart 2B, and information such as which tray 151 contains the medicine for which patient can be input.

[0202] [Medication Dispensing Process] Next, the medication dispensing process according to the third embodiment of the present invention will be described. This is a process for providing medication to a patient in accordance with the storage information transmitted from the user terminal 4. Fig. 15 is a diagram showing a flowchart of the medication dispensing process according to the third embodiment of the present invention. The following flowchart describes the case where medication is provided to a patient in a hospital bed.

[0203] FIG. 16 is a schematic diagram of a medication dispensing method according to the third embodiment of the present invention. In FIG. 16 , a hospital 160 includes a medication preparation area 161 and multiple hospital rooms 162 (162a to 162e). Examples of the medication preparation area 161 include a nurse's station and a dispensing room. The medication preparation area 161 also includes a waiting area 163 for a medication cart 2B, and a user terminal 4 is installed therein. Patient beds 164 (164a to 164h) are installed in the hospital rooms 162 (162a to 162e). The location information of the patient beds 164, consisting of latitude, longitude, and altitude or an XYZ coordinate system, is stored in the location information table of the server device 3 in association with the patient ID. Similarly, the location information of the medication preparation area 161, the hospital rooms 162, and the waiting areas 163, consisting of latitude, longitude, and altitude or an XYZ coordinate system, is also stored in the location information table of the server device 3. The hospital 160 is also equipped with first devices 1a to 1d for identifying the location of the second device 2a.

[0204] First, the medical institution staff member starts the application program (hereinafter referred to as the dedicated app) downloaded to the user terminal 4 and accesses the server device 3 to log in to the system 10. To log in to the system 10, the user may be required to enter a user ID and password that can identify the user.

[0205] Next, the storage information is input into the user terminal 4 (step S91). Specifically, the user places medications to be provided to the patient on each tray 151 of the medication dispensing cart 2B. At this time, the user can operate the user terminal 4 to input tray identification information (also called a tray number (tray no.)) that can identify the tray 151 and a patient ID in association with each other. In other words, the storage information includes a tray number that can identify the tray 151 and the ID of the patient corresponding to that tray 151. When the user terminal 4 accepts input of storage information for all medications to be dispensed, the storage information is stored in the storage unit of the user terminal 4 (step S92). Specifically, the tray no. and the patient ID are stored in association with each other. The storage information is also transmitted from the user terminal 4 to the server device 3 (step S93). The tray 151 in which the medications are stored and for which the storage information has been entered is locked.

[0206] The storage information can also be input as follows. If a switch is provided on each tray 151 of the medication cart 2B and the switch and tray number are associated, the tray number of that tray can be detected when tray 151 is closed. Therefore, the user terminal 4 or medication cart 2B accepts input of the patient ID, and the user places the medicine in a specific tray 151 and closes the tray, thereby detecting the tray number of the tray containing the medicine. This allows the tray number and patient ID to be associated and stored. The patient ID can also be input by selecting the patient displayed on the display screen or by reading a barcode or the like that is displayed on the medicine or medicine package and associated with the patient ID.

[0207] When the server device 3 receives the storage information (step S94), the received storage information is stored in the medication information management table (step S95). The medication information management table stores a patient ID, a tray number, and a medication dispensing status in association with each other. FIG. 17 is a diagram showing an example of a medication dispensing information management table according to the third embodiment of the present invention. The information of the medication dispensing information management table 170 is stored in the server device 3. The medication dispensing information management table 170 shown in FIG. 17 stores a patient ID 171, a tray number 172, a medication dispensing status 173, and a medication dispensing time 174 in association with each other. The medication dispensing information management table 170 may also store information about the user who input the information and other information.

[0208] For example, in the medication distribution information management table 170, it is stored that medication for patient ID "0001" is placed in tray No. "A01" and medication distribution for patient ID "0001" is completed at 10:04. On the other hand, it is stored that medication for patient ID "0003" is placed in tray No. "A03" and that the medication for patient ID "0003" has not yet been delivered and is in the "medication being distributed" status.

[0209] The status indicates the state of transport of the medicine, such as "dispensing" when the medicine is being dispensed, or "dispensed" when the medicine has been dispensed. In step S95, the status becomes "dispensing."

[0210] When the server device 3 stores the received storage information in the medication distribution information management table, the location of the bed of the patient to whom the medication should be distributed is identified (step S96). The server device 3 identifies one or more patient IDs to whom medication is to be distributed, stored in the medication distribution information management table. Then, by referring to the location information table described above, the location of the bed of the patient corresponding to the patient ID is identified. Once the location of the bed is identified, a movement route for the medication distribution cart 2B is generated based on the location information of the bed (step S97). Once the input of storage information for all trays 151 containing medications is completed, it can be said that the movement route for the medication distribution cart is generated or identified based on the location information of the bed corresponding to the input patient ID. The movement route information and storage information are transmitted from the server device 3 to the medication distribution cart 2B (step S98).

[0211] The process of generating a travel route in step S97 will be described. The server device 3 generates or identifies a travel route from the location information of the identified hospital beds of one or more patients. The generation of a travel route can be performed based on a known algorithm for route identification. For example, a travel route can be generated based on a starting point and a destination point so as to minimize the travel distance. That is, the travel route can be generated based on the accommodation information received in step S94. Specifically, the travel route may be generated based on the location information of the medication dispensing cart 2B, map information of the hospital, and location information of the hospital beds. Furthermore, when dispensing medication to two or more patients, the medication dispensing cart 2B moves sequentially to the location of each patient's hospital bed. The control unit 31 of the server device 3 identifies the order in which medication is to be distributed to patients in the medication dispensing cart 2B and generates a travel route for the medication dispensing cart 2B.

[0212] For example, if beds 164a to 164h are identified in step S96, the starting point is the waiting area 163, and the destination point is the waiting area 163 via beds 164a to 164h. Beds 164a to 164h may be considered the starting point and the destination point, respectively. In this case, there are 40,320 possible sequences for moving via beds 164a to 164h to the waiting area 163, and a route can be generated that provides the shortest route. Alternatively, if the order of medication distribution for each patient is stored, a route can be generated according to the stored order. In FIG. 16, a route 165 is generated in which the medication distribution cart 2B moves in the shortest order via beds 164a to 164d in hospital room 162a, beds 164e to 164h in hospital room 162b, and the waiting area 163.

[0213] Here, the latitudinal route information in the second embodiment can be applied to the extent that no inconsistencies arise when the indoor work robot 2A is replaced with the medication distribution cart 2B. Furthermore, the process for generating the route information is similar to the process described in the second embodiment, but can be applied when the indoor work robot 2A is replaced with the medication distribution cart 2B. Therefore, redundant explanations will be omitted. However, in the third embodiment, in addition to the matters described in the second embodiment, the following embodiments can be added or replaced. In the third embodiment of the present invention, the route information may be generated by a user operating the medication distribution cart 2B or the user terminal 4 to set a route. Furthermore, in the third embodiment of the present invention, when the route information is generated according to a predetermined program, the route information may be generated in accordance with map information within the hospital so as to avoid obstacles such as beds and equipment.

[0214] The generation of the movement path information path of the medication dispensing cart 2B in step S97 may be performed by the control unit 21 of the medication dispensing cart 2B. The movement path information may be generated in accordance with a predetermined program in the control unit 21 provided in the medication dispensing cart 2B, or may be stored in advance in the storage unit 25 of the medication dispensing cart 2B. In the case where the movement path information is generated by the control unit 21 of the medication dispensing cart 2B, when the position of the hospital bed is specified in step S96 in the server device 3, the position information and accommodation information of the hospital bed are transmitted to the medication dispensing cart 2B, and the movement path is generated or specified by the control unit 21. Furthermore, the movement path information may be generated by the first device 1, the second device 2a, or the user terminal 4.

[0215] Returning to the explanation of the flowchart, when the movement route information and storage information are transmitted from the server device 3 to the medication distribution cart 2B, the movement route information and storage information are received by the medication distribution cart 2B (step S99). When the movement route information and storage information are received, the medication distribution cart 2B starts moving to the position of the hospital bed 164 according to the movement route information of the movement route 165 (step S100). The processing of step S100 is also referred to as processing of controlling the movement of the medication distribution cart 2B according to the generated movement route information.

[0216] When the medication cart 2B arrives at the location of the destination hospital bed 164a (step S101), the patient ID is read by the reader 152 (step S102). The process of step S102 can be executed by the patient or the user who has traveled with the medication cart 2B having the reader 152 read the barcode or RF tag associated with the patient ID held by the patient.

[0217] The patient ID read in step S102 is transmitted from the medication cart 2B to the server device 3 (step S103) and received by the server device 3 (step S104). Note that the processing of steps S102 to S104 may be executed as follows. First, the biometric authentication information associated with the patient is read by the reading device 152. The read biometric authentication information is transmitted to the server device 3, and the server device 3 can identify the patient ID from the received biometric authentication information. Note that the server device 3 previously stores the biometric authentication information in association with the patient ID.

[0218] Next, the server device 3 may identify the patient corresponding to the received patient ID. The process of reading the patient ID in step S102 and the process of identifying the patient corresponding to the read patient ID can also be said to be a process of identifying a patient who plans to use the contents of one of the multiple trays.

[0219] When the patient ID is received, the server device 3 determines whether the received patient ID matches the patient ID corresponding to the position of the hospital bed identified from the medication cart (step S105). In step S105, the server device 3 acquires the position information of the medication cart 2B in step S102, and identifies the patient ID corresponding to the position information of the hospital bed by referring to the position information table and / or hospital map information. Then, it determines whether the received patient ID matches the identified patient ID.

[0220] In step S105, the server device 3 may determine whether the location of the hospital bed corresponding to the received patient ID matches the location of the patient identified from the medication cart. Specifically, the server device 3 identifies the location information of the hospital bed corresponding to the received patient ID from the location information table and / or hospital map information. Then, the server device 3 acquires the location information of the medication cart 2B in step S102 and determines whether the location information matches the location information of the hospital bed.

[0221] In step S102, the location information of the medication cart 2B may be location information identified by the location identification process described below, or location information identified by a map generated by the medication cart 2B's sensor.

[0222] If the received patient ID matches the patient ID corresponding to the bed location identified from the medication cart (YES in step S105), tray information for the tray corresponding to the patient ID and tray unlock information for the tray are sent from the server device 3 to the medication cart 2B (step S106). When the tray information and unlock information are received by the medication cart 2B, the tray information is output and the tray corresponding to the identified patient is notified (step S107). The tray is also unlocked (step S108). The processing in step S108 is a process of controlling so that the tray corresponding to the identified patient can be used.

[0223] Here, the tray information is information for informing the user that one tray on the medication cart 2B corresponds to the patient whose patient ID was read. The tray information may be output by displaying text, images, and / or videos on the display screen, or by emitting sound and / or light. For example, notifying the tray may include displaying the position of the corresponding tray on the display screen 153, outputting the tray position by voice, or illuminating a light source provided at the tray position. By outputting the tray information on the medication cart 2B, the patient can be sure that the tray containing his or her medication is correct.

[0224] When the patient removes the medicine from the unlocked tray and closes the tray, medication distribution information indicating that medication distribution is complete is input to the medication distribution cart 2B (step S109). Furthermore, when the patient removes the medicine from the unlocked tray and closes the tray, medication distribution information is sent from the medication distribution cart 2B to the server device 3 (step S110). The medication distribution information includes the tray number, the patient ID, and time information when medication distribution was completed. The time information may be the time when the tray was closed or the time when the tray information was output.

[0225] When the server device 3 receives the medication dispensing information (step S111), the medication dispensing information is transmitted to the user terminal 4 (step S112). The user terminal 4 receives the medication dispensing information (step S113). When the server device 3 receives the medication dispensing information, the status is updated in the medication dispensing information management table (step S114). In step S114, the status corresponding to the tray number and patient ID included in the medication dispensing information becomes "medication dispensed." The medication dispensing information management table 170 also stores the medication dispensing time in association with the tray number and patient ID.

[0226] On the other hand, if the received patient ID does not match the patient ID corresponding to the position of the hospital bed identified from the medication cart 2B (NO in step S105), steps S107 and S108 are not executed. The medication cart 2B starts moving toward the next destination, the hospital bed 164, and the processing from step S100 onwards is executed. Alternatively, if NO in step S105, a warning message to return to the patient's hospital bed may be output to the patient whose patient ID was read, or a confirmation message to check whether a patient with a patient ID corresponding to the position of the hospital bed identified from the medication cart is nearby may be output.

[0227] The processing of steps S100 to S114 is executed for the patient ID or tray number of 1. Therefore, the processing of steps S100 to S114 is repeatedly executed until medication distribution is completed for all patient IDs or tray numbers included in the storage information. In other words, the processing of steps S100 to S114 is repeatedly executed until the status of all patient IDs in the medication distribution information management table 170 is changed to "medication distribution completed" in step S114.

[0228] When medication distribution is completed for all patient IDs or tray numbers, completion information is sent from the server device 3 to the user terminal 4 (step S115), and the completion information is received by the user terminal 4 (step S116). The medication distribution cart 2B also moves to the waiting area 163. The medication distribution process is completed by the processing of steps S91 to S116 above.

[0229] In the above, after arriving at the destination in step S101, the patient ID is read in step S102, but if the reading process is not performed for a predetermined time (e.g., 5 minutes), the vehicle may move to the next destination. Specifically, if the patient ID is not read in step S102, the vehicle may move to the hospital bed, which is the next destination, and the processes from step S100 onwards may be performed.

[0230] If the patient IDs do not match in step S105, the medicine cannot be provided to the patient corresponding to that patient ID. Therefore, after the medicine has been delivered to the last hospital bed 164 on the route generated in step S97, the location of the patient to whom the medicine has not yet been delivered may be identified, and a new route may be generated. Then, the processing of steps S100 to S24 may be executed. Alternatively, the ID of the patient to whom the medicine has not yet been delivered may be identified, and information about the patient ID may be sent to the user terminal 4 for notification. Upon receiving the notification, the user may move the medicine delivery cart 2B or remove the medicine from the medicine delivery cart 2B and provide the medicine to the patient corresponding to that patient ID.

[0231] The hospital 160 may be equipped with two or more medication dispensing carts 2B and may operate two or more medication dispensing carts 2B simultaneously. The movement route information may specify a movement route that does not overlap with the movement routes of other medication dispensing carts 2B so as to avoid collision with other medication dispensing carts 2B, or, in the case of the same movement route, one medication dispensing cart 2B may be temporarily stopped and the movement timing may be changed.

[0232] The medication cart 2B whose movement path information and storage information are received in step S99 is the medication cart 2B that stored the medicine in the tray when the user input the storage information in step S91. That is, it is preferable to input identification information that can identify the medication cart 2B that stores the medicine in step S91. The storage information includes the identification information of the medication cart 2B.

[0233] The process of unlocking the tray in S108 may be performed by an operation input by the patient to the medication cart 2B, or by reading the patient ID by the medication cart 2B. The processes of steps S112 and S113 may be omitted.

[0234] In the above, steps S91 to S93 are executed by the user terminal 4, but they may also be executed by the medication dispensing cart 2B. Furthermore, steps S94 to S98, S104 to S106, S111, S112, S114, and S115 are executed by the server device 3, but they may also be executed by the user terminal 4. In this case, the processes of steps S93 and S94, S112 and S113, and S115 and S116 can be omitted. Furthermore, the processes of the server device 3 may also be executed by the medication dispensing cart 2B. In this case, the processes of steps S98 and S99, S103 and S104, S106 and S107, and steps S110 and S111 can be omitted. Furthermore, the processes of steps S91 to S96, excluding the processes related to the transmission and reception of information, may also be executed by the medication dispensing cart 2B.

[0235] When processing is performed on the user terminal 4 or the medication cart 2B instead of the server device 3, or when processing is performed on the medication cart 2B instead of the user terminal 4, various information necessary to execute the processing (e.g., medication information management table, location information table, map information, etc.) is pre-stored in the user terminal 4 or the medication cart 2B.

[0236] In the above, a configuration has been described in which medication distribution by the medication dispensing cart 2B is executed after receiving the movement route information and storage information in step S99, but it is also possible to store the medication in advance on the tray 151 of the medication dispensing cart 2B, execute steps S91 to S99, and execute the processing from step S100 onwards at a pre-stored predetermined time (for example, 30 minutes before the meal is served if the medication is to be taken before a meal, or 30 minutes after the meal is served if the medication is to be taken after a meal), or by the user operating the user terminal 4 or the medication dispensing cart 2B. In other words, the medication dispensing cart 2B may be controlled to move according to the time the medication is to be taken.

[0237] Specifically, when entering the storage information in step S91, the tray number, patient ID, and the intake time or dispensing time of the stored medication are entered. The medication cart 2B or server device 3 identifies the patient's bed location from the patient ID corresponding to the storage information where the medication intake time or dispensing time is within a predetermined range (for example, within 20 minutes), and can execute the processing from step S97 onwards. At this time, medication is not dispensed to patients whose storage information corresponds to a medication intake time or dispensing time outside the predetermined range.

[0238] In other words, although the above describes a configuration in which medications are dispensed for all trays included in the storage information input in step S91, medication may be dispensed only for medications in trays that satisfy a predetermined condition. Examples of predetermined conditions include whether the medication intake time or medication delivery time is within a predetermined range, or whether the patient's location information is within a predetermined range, such as the same hospital room. Specifically, in generating the movement path information in step S97, the movement path may be identified based on the location information of patients whose medication or medication delivery times are within a predetermined range. Note that the status 173 in the medication delivery information management table 170 corresponding to the tray number before step S100 is executed is "before medication delivery."

[0239] In the system 10 according to the third embodiment of the present invention, while the medication dispensing cart 2B is moving (steps S100 and S101), a distance calculation process is executed to calculate the distance between the first device 1 and the medication dispensing cart 2B, a position identification process is executed to identify the position of the medication dispensing cart 2B, and a determination process is executed to determine whether the position of the medication dispensing cart 2B matches the movement route information. The execution frequency of these processes can be set arbitrarily, but they may be executed, for example, once every few seconds in order to precisely manage the movement of the medication dispensing cart.

[0240] [Distance Calculation Process] Next, the distance calculation process according to the third embodiment of the present invention will be described. The distance calculation process is a process for calculating the distance between each of the first devices 1 and the second device 2a based on the propagation time of information or signals between each of the first devices 1 and the second device 2a. Since the second device 2a is provided in the medication cart 2B, the distance calculation process can also be said to be a process for calculating the distance between each of the first devices and the medication cart 2B. The distance calculation process according to the third embodiment is the same as the distance calculation process according to the first embodiment ( FIG. 6 ), except that the mobile object 2 is the medication cart 2B instead of a work vehicle. Therefore, a redundant description will be omitted.

[0241] [Position Identification Processing] Next, the position identification processing according to the third embodiment of the present invention will be described. The position identification processing is processing for identifying the position of the second device 2a based on the distances between each of the multiple first devices 1 and the second device 2a calculated in the distance calculation processing. Since the second device 2a is provided in the medication distribution cart 2B, the position identification processing according to the third embodiment can also be said to be processing for identifying the position of the medication distribution cart 2B. The position identification processing according to the third embodiment can be applied to the same processing as the position identification processing according to the first embodiment (FIG. 7), except that the mobile object 2 is the medication distribution cart 2B instead of a work vehicle. Therefore, redundant explanations will be omitted.

[0242] The system 10 according to the third embodiment of the present invention preferably includes at least three first devices 1. Furthermore, in a hospital, if the first device 1 and the second device 2a provided on the medication cart 2B are installed on the same floor and at the same height (for example, the same altitude or the same Z coordinate), the position of the second device 2a can be identified by at least three first devices 1. Furthermore, if the first device 1 and the second device 2a provided on the medication cart 2B are not installed at the same height, the position of the second device 2a can be identified by at least four first devices.

[0243] [Determination Process] Next, the determination process according to the third embodiment of the present invention will be described. The determination process is a process for determining whether the position of the second device 2a identified in the position identification process matches the movement route information regarding the movement route of the medication distribution cart 2B. The determination process according to the third embodiment can be applied to the same process as the determination process according to the first embodiment ( FIG. 8 ), except that the moving body 2 is the medication distribution cart 2B instead of a work vehicle. Therefore, redundant explanations will be omitted. However, in the third embodiment, in addition to the matters described in the first embodiment, the following embodiments can be added or replaced.

[0244] In the third embodiment of the present invention, the predetermined distance used for the determination in step S52 can be set appropriately depending on the size of the hospital and the size of the medicine distribution cart 2B.

[0245] In the third embodiment of the present invention, the correction of the movement route information in step S53 can be performed in the same manner as the process of identifying the movement route of the medication cart 2B. Specifically, the movement route can be identified based on the starting point and the destination point, with the identified position of the second device 2a as the starting point. For example, the movement route may be identified so as to minimize the movement distance, or so as to avoid obstacles according to the hospital's map information, or so as to move through a movable area set in the hospital's map information.

[0246] According to the invention of the third embodiment, the medication cart is equipped with an automatic driving function and moves sequentially between the hospital beds of multiple patients, allowing medication to be provided to multiple patients without face-to-face contact. This also contributes to reducing the number of staff required at the facility. Furthermore, according to the invention of the third embodiment, the medication cart is controlled to move according to the generated movement route information, allowing medication to be delivered to the patient to whom it is to be distributed.

[0247] According to the third embodiment, the tray corresponding to the identified patient is notified and / or the tray corresponding to the identified patient is controlled so that it can be used, allowing the patient to take out their own medicine without making a mistake. Also, according to the third embodiment, if the patient identified from the position of the medication cart does not match the identified patient, the notification of the tray and the making of the tray available are not executed, thereby preventing one patient's medicine from being mistakenly distributed to a different patient and ensuring that the medicine is provided to the patient.

[0248] [Embodiment 4] In embodiment 4, as an example, a case where the above-mentioned moving body is applied to a food distribution device will be described. In embodiment 4, a case where various processes are performed by using the food distribution device instead of the work vehicle in embodiment 1 will be described.

[0249] The system 10 according to the fourth embodiment of the present invention can be used in restaurants. A restaurant is any establishment that serves food and drink, and includes, for example, bookstores, karaoke bars, furniture stores, electronics retailers, etc. that serve food and drink, as well as establishments with multiple stores, such as food courts. Furthermore, restaurants also include facilities such as hospitals and nursing homes. Food and drink includes not only food but also beverages such as alcohol.

[0250] FIG. 18 is a block diagram showing the configuration of a system according to a fourth embodiment of the present invention. As shown in the figure, a system 10 according to the fourth embodiment of the present invention is composed of a plurality of first devices 1 (first devices 1a to 1z) and a food delivery device 2C equipped with a second device 2a. Preferably, three or more first devices 1 are provided in the system 10 according to the fourth embodiment of the present invention. Furthermore, the system 10 according to the fourth embodiment of the present invention may also be equipped with a plurality of food delivery devices 2C. As shown in the figure, the system 10 according to the fourth embodiment of the present invention may also include a server device 3, a management device 6A, an ordering device 7, a reading terminal 8, and an RF tag 9 that can be read by the reading terminal 8.

[0251] The first device 1 and the second device 2a can be directly connected for communication. The server device 3 can be connected for communication with each of the first device 1, the second device 2a, the food distribution device 2C, the management device 6A, and the ordering device 7. The food distribution device 2C, the management device 6A, and the ordering device 7 transmit and receive information via the server device 3. The server device 3 may be installed in the store where the system 10 according to the fourth embodiment of the present invention is used, or it may be installed outside the store. Alternatively, the food distribution device 2C, the management device 6A, and the ordering device 7 may be directly connected for communication with each other without the server device 3. The food distribution device 2C, the server device 3, the management device 6A, and the ordering device 7 may be connected for communication via a communication network. The management device 6A and the reading terminal 8 can be directly connected for communication.

[0252] [First Device] The first device 1 is a reference device for synchronizing the clock of the second device 2a. The functions and hardware configuration of the first device 1 in the fourth embodiment can be the same as those of the first device 1 in the first embodiment (FIG. 2) to the extent necessary. Therefore, redundant explanations will be omitted.

[0253] In system 10 according to the fourth embodiment of the present invention, the installation location of first device 1 is not particularly limited, but it is preferable that first device 1 be installed within the restaurant where food distribution device 2C is used. Furthermore, multiple first devices 1 may be installed within the restaurant. When food distribution device 2C serves food in a restaurant with multiple floors, a first device 1 may be installed on each floor, or on multiple floors, such as the second or third floor. Furthermore, it is preferable that first device 1 be installed in a fixed location where its installation location can be identified. For example, first device 1 may be installed on the ceiling, pillar, or the like within the restaurant.

[0254] [Second Device and Food Delivery Device] In the fourth embodiment of the present invention, the second device 2a is provided in the food delivery device 2C and is connected to the food delivery device 2C via wired or wireless communication so that they can communicate with each other. "The second device 2a is provided in the food delivery device 2C" has the same meaning as "The second device 2a is provided in the mobile object 2" in the first embodiment.

[0255] The food serving device 2C can communicate with the first device 1, the management device 6A, and the ordering device 7 via the server device 3. The food serving device 2C is capable of automatic travel to serve food and drinks. The food serving device 2C is a device used to serve food and drinks in a restaurant, and is equipped with a platform on which food and drink plates can be placed. A known food serving device can be used as the food serving device 2C.

[0256] The food delivery device 2C moves along a route according to the route information. The food delivery device 2C moves according to the route information and can execute predetermined processes at the destination after moving. Examples of predetermined processes include detecting the placement of food and drink, outputting arrival information, detecting the delivery of food and drink, accepting order information, calculating the bill, etc.

[0257] The movement route of the food delivery device 2C is determined by the control unit 21 of the food delivery device 2C or the server device 3. The movement route can be determined based on a starting point (e.g., a kitchen) and a destination point (e.g., a table equipped with an ordering device 7 corresponding to the order information related to the customer's order) so as to minimize the movement distance. The movement route information may be generated in accordance with a predetermined program by the control unit 21 of the food delivery device 2C, or may be stored in advance in the storage unit 25 of the food delivery device 2C. Furthermore, the movement route information may be generated in accordance with a predetermined program by the server device 3 and transmitted from the server device 3 to the food delivery device 2C. Alternatively, the movement route information may be generated by a user operating the food delivery device 2C or the management device 6A to set the movement route. While the movement route information is described here as being generated by the food delivery device 2C or the server device 3, it may also be generated by the first device 1, the second device 2a, or the management device 6A.

[0258] Note that the latitudinal route information in the first embodiment can be applied to the extent that no contradictions arise when the food distribution device 2C is used instead of the mobile object 2. Therefore, a duplicated explanation will be omitted. Furthermore, the process of generating the travel route information in accordance with a predetermined program is the same as the process explained in the second embodiment, but can be applied when the indoor work robot 2A is replaced by the food distribution device 2C. Therefore, a duplicated explanation will be omitted.

[0259] Next, the hardware configurations of the second device 2a and the food distribution device 2C will be described. The functions and hardware configuration of the second device 2a in embodiment 4 can be applied to the extent necessary to the functions and hardware configuration of the second device 2a in embodiment 1 (FIG. 3). The functions and hardware configuration of the food distribution device 2C in embodiment 4 can be applied to the extent necessary to the functions and hardware configuration of the mobile unit 2 in embodiment 1 (FIG. 3), with the mobile unit 2 replaced by the food distribution device 2C. Therefore, redundant explanations will be omitted. However, in embodiment 4, in addition to the matters described in embodiment 1, the following embodiments can be added or replaced.

[0260] In the fourth embodiment of the present invention, the food distribution device 2C may include a reading unit (reading terminal 8) capable of reading the RF tag 9. Also, in the fourth embodiment of the present invention, the drive unit 26 drives a battery to operate the food distribution device 2C. A roller may be provided on the bottom surface of the food distribution device 2C, and the drive unit 26 may rotate the roller to operate the food distribution device 2C.

[0261] In the fourth embodiment of the present invention, the sensor unit 28 includes a weight sensor. The weight sensor is provided on the table. When the weight sensor detects the weight of the food corresponding to the order information, the food serving device 2C can move from the kitchen to the table corresponding to the ordering device 7 that transmitted the order information. After moving to the table, when the weight detected by the weight sensor on the table falls below a predetermined weight, the food serving device 2C determines that the food serving at that table has been completed and can move to the next table or return to the waiting area or the kitchen. In the system 10 according to the fourth embodiment of the present invention, the food serving device can be controlled to start moving in response to the weight sensor detecting the placement of food and / or the delivery of food and / or beverages from the food serving device.

[0262] In embodiment 4 of the present invention, when the control unit 21 detects that a tipping or collision has occurred, the food serving device 2C can send a notification to the management device 6A via the server device 3 that a tipping or collision has occurred at the food serving device 2C.

[0263] [Server Device] Next, a server device according to the fourth embodiment of the present invention will be described. The server device 3 can acquire information such as location information and recording information from the second device 2a or the food distribution device 2C. The acquired information can also be transmitted to the management device 6A.

[0264] The hardware configuration of the server device 3 in the fourth embodiment can be the same as that of the server device 3 in the first embodiment (FIG. 4) to the extent necessary. Therefore, a redundant description will be omitted. In the fourth embodiment of the present invention, the control unit 31 reads programs and data from the RAM 32 and executes the programs based on information received from the first device 1, the second device 2a, the food distribution device 2C, the management device 6A, or the ordering device 7.

[0265] [Management Device] Next, a management device according to a fourth embodiment of the present invention will be described. The management device 6A is a terminal operated by a restaurant staff member. The management device 6A may be a stationary device installed in the restaurant's kitchen, or a portable device that can be carried by the user when traveling. A single restaurant may include multiple management devices 6A. The management device 6A has a configuration similar to that of the server device 3, and includes, for example, a control unit, RAM, a storage unit, a communication interface, an input unit, and a display unit, each connected via an internal bus. The management device 6A is preferably a computer device equipped with an input unit, a display unit, and a control unit, such as a tablet terminal, a smartphone, or a desktop or notebook personal computer. Furthermore, the display screen of the display unit may include a touch sensor, and the input unit and display unit may be integrated into a touch panel system.

[0266] When order information is input to the ordering device 7, the management device 6A receives the order information via the server device 3 and can display the order information. Furthermore, when the food and drink corresponding to the order information is ready in the kitchen, the serving device 2C can be called. For example, when part of the order information is ready, if the user selects the completed food and drink on the touch panel, serving request information requesting the food and drink corresponding to the order information is sent to the serving device 2C via the server device 3. The serving request information is information that calls the serving device 2C to the kitchen and requests the serving of the food and drink. Upon receiving the serving request information, the serving device 2C moves to the kitchen. When a waiter places a plate with food or drink on the table of the serving device 2C in the kitchen, the serving device 2C begins to move. The serving device 2C then moves to the position of the table where the ordering device 7 is installed. The ordering device 7 is the ordering device that sent the order information corresponding to the food included in the serving request information.

[0267] Furthermore, the location of the food distribution device 2C can be confirmed in the management device 6A. Specifically, the management device 6A receives location information of the food distribution device 2C and associates the location information with map information, thereby displaying the location of the food distribution device 2C on a map on the display screen of the management device 6A. The location information of the food distribution device 2C may also be confirmed as latitude and longitude information or a coordinate position in an XYZ coordinate system. The locations of multiple food distribution devices 2C may also be confirmed simultaneously. Furthermore, the management device 6A may also be able to confirm video recording information transmitted from the second device 2a or the food distribution device 2C.

[0268] [Ordering Device] Next, an ordering device according to a fourth embodiment of the present invention will be described. The ordering device 7 is a terminal operated by a customer of a restaurant. The ordering device 7 is not particularly limited as long as it can be connected to other devices via wired or wireless communication. The management device 6A is a stationary device installed at each table or seat in the restaurant. The ordering device 7 is preferably a computer device equipped with an input unit, a display unit, and a control unit, such as a tablet terminal, a smartphone, or a desktop or notebook personal computer. The display screen of the display unit may be equipped with a touch sensor, and the input unit and display unit may be integrated into a touch panel system.

[0269] When a customer operates the ordering device 7, the food and drink items available for order at the restaurant and their prices are displayed, and the customer can select the desired food and drink items and quantities. Once the customer selects the type and quantity of food and drink they want, the type and quantity of food and drink and a table ID that can identify the table on which the ordering device 7 is placed are sent to the server device 3 as order information. The order information is then sent to the management device 6A via the server device 3. The table ID included in the order information may be a seat ID that can identify the seat on which the ordering device 7 is placed, or an ordering device ID that can identify the ordering device.

[0270] [Reading Terminal] Next, a reading terminal according to the fourth embodiment of the present invention will be described. In the system 10 according to the fourth embodiment of the present invention, the plate on which food and drink is placed may be equipped with an RF tag 9. The reading terminal 8 can read the RF tag 9 equipped on the plate. It is also possible to calculate the amount of food and drink served and the amount to be charged to the customer (food and drink cost) based on the information read from the RF tag 9. The RF tag 9 stores identification information that can identify the food and drink, or price information related to the price of the food and drink. The RF tag 9 may also store information related to the type of food and drink.

[0271] The reading terminal 8 is not particularly limited as long as it can be connected to another device (e.g., the management device 6A) via wired or wireless communication. The reading terminal 8 may be portable and carried by a store clerk when moving around. The reading terminal 8 may also be installed on each table, and the installation location is not particularly limited. Alternatively, a reading unit having the same function as the reading terminal 8 may be provided in a location where the RF tag 9 can be read, such as on the serving table of the food serving device 2C.

[0272] [Cooking Process] Next, the cooking process according to the fourth embodiment of the present invention will be described. The cooking process is a process for providing ordered food and drink to a customer in accordance with the order information transmitted from the ordering device 7. Figure 19 is a diagram showing a flowchart of the cooking process according to the fourth embodiment of the present invention.

[0273] FIG. 20 is a schematic diagram of a food serving method according to the fourth embodiment of the present invention. In FIG. 20, a restaurant 250 includes a kitchen 251 and multiple tables 254 (254a-254f). The kitchen 251 also includes a waiting area 252 for the food serving device 2C and an area 253 for placing the finished food and drink. A management device 6A is also installed in the kitchen 251. Each table 254 is equipped with an ordering device 7 (7a-7f). The location information for the table 254, such as the latitude, longitude, and altitude or XYZ coordinate system where the mark 255 is located, is stored in the server 3 in association with the table ID. Similarly, the location information for the kitchen 251, the waiting area 252, and the area 253, such as the latitude, longitude, and altitude or XYZ coordinate system, is also stored in the server 3. The restaurant 250 also includes first devices 1a-1d for identifying the location of the second device 2a.

[0274] The following flowchart describes a case where a customer seated at table 254b orders food and drink. First, the customer operates the ordering device 7b to select the type and quantity of food to order. Order information regarding the order is sent from the ordering device 7b to the server device 3 (step S121). The order information includes the type and quantity of food, and the table ID of table 254b where the ordering device 7b is installed. The server device 3 receives the order information (step S122). The server device 3 stores the received order information in the order information management table (step S123).

[0275] The order information management table stores the type of food, quantity, table ID, order time, and status of the ordered food, each associated with the other. The weight of each type of food may also be stored in association with the other. The order time may be the time when the ordering device 7b accepts the selection of the type and quantity of food to be ordered, the time when the order information is sent from the ordering device 7b, or the time when the order information is received by the server device 3. The status indicates the serving status of the ordered food and drink, such as "Cooking" when the food is being prepared, "Serving" when the food serving device 2C is serving the food, or "Served" when the food serving has been completed. In step S123, the status becomes "Cooking."

[0276] When the server device 3 receives the order information, the server device 3 transmits the order information to the management device 6A (step S124). The management device 6A receives the order information (step S125) and displays the order information (step S126). In step S126, all of the received order information may be displayed, or at least part of the order information may be displayed. For example, if one dish A, two dishes B, and one dish C are ordered from table ID "001," only the type of each dish may be displayed, or the type and quantity of each dish may be displayed without displaying the table ID.

[0277] The waiter checks the displayed order information and prepares the ordered food. When the ordered food is ready, the waiter selects the ready food from the order information using the touch panel of the management device 6A. When the management device 6A accepts the selection of the ready food (step S127), it sends a food delivery request including information about the type and quantity of the ready food and the table ID to the server device 3 (step S128).

[0278] When the server device 3 receives the food delivery request information (step S129), the status of the order information management table is updated with the type and quantity of food selected in step S127 (step S130). In step S130, the status is changed from "cooking" to "serving." The server device 3 transmits the food delivery request information to the food delivery device 2C (step S131), which receives the information (step S132). The food delivery request information includes the type and quantity of food selected in step S127 and information about the table ID corresponding to that food. Therefore, the food delivery request information includes some or all of the order information. In other words, the order information entered by the customer through the ordering device 7 is transmitted to the food delivery device 2C.

[0279] When the food delivery device 2C receives the food delivery request information, the food delivery device 2C starts moving according to the movement route information of the route 256a for moving to the area 253 (step S133). The processing of step S133 and the processing of step S135 described below are also referred to as processing of controlling the food delivery device 2C to move to a predetermined position in response to an operation of the management device 6A by a waiter. The predetermined position may be, for example, a specific position in the kitchen or a customer's table.

[0280] When the food delivery device 2C moves to area 253, the waiter places the completed dish on the table of the food delivery device 2C. A weight sensor provided on the table of the food delivery device 2C detects that the dish included in the food delivery request information has been placed on it (step S134). When the weight sensor detects that the dish has been placed on the table, the food delivery device 2C begins to move to the position of the mark 255b corresponding to the table ID in the food delivery request information (step S135). The food delivery device 2C located in area 253 moves toward the position of the mark 255b on the table 254b according to the movement route information of the route 256b. The process of step S135 is also referred to as a process of controlling the food delivery device 2C so that, after the food and drink have been placed on the food delivery device 2C, it moves to the position corresponding to the ordering device 7 that sent the order information.

[0281] The position information of the table is registered in advance in the food distribution device 2C for each table ID. The position information of the food distribution device 2C is identified by the position identification process described below, and movement route information is identified from the table position information and the position information of the food distribution device 2C, allowing movement to the position of the table. Alternatively, movement route information from a predetermined position to the table position may be registered in advance in the food distribution device 2C for each table ID.

[0282] The process of detecting the placement of a dish in step S134 can be performed as follows. For example, the weight of each orderable dish may be registered in advance, and the process may detect whether a dish of the same weight as the dish included in the serving request information has been placed. If the weights are different, the movement of the serving device 2C in step S135 will not be initiated. Alternatively, the placement of a dish may be detected by detecting a certain weight or more (e.g., 200 g or more). The weight of each dish may be registered in advance within a range, such as 500 g to 700 g. Furthermore, when multiple types or quantities of dishes are included in the serving request information, the weight of each dish may be added together for detection.

[0283] When the food serving device 2C arrives at the location of the target table 254b, arrival information is output to notify the customer that the food has arrived (step S136). The arrival information may be displayed on the display screen of the food serving device 2C, including the table ID and the type and quantity of food served, or may be output by voice to indicate which food has been delivered. Alternatively, the food serving opening of the food serving device 2C may be opened so that the food can be removed.

[0284] When the customer removes the dish from the serving device 2C, the weight sensor of the serving device 2C detects that the dish has been served to the table by the customer (step S137). The customer may select a setting on the display screen of the serving device 2C to receive notification that the dish has been served. Serving information indicating that the dish has been served to the customer is sent from the serving device 2C to the server device 3 (step S138), and the server device 3 receives the serving information (step S139). The serving information includes the type and quantity of food, and a table ID.

[0285] When the server device 3 receives the food delivery information, it transmits the food delivery information to the management device 6A (step S140), and the management device 6A receives the food delivery information (step S141). When the server device 3 receives the food delivery information, it updates the status of the order information management table with the type and quantity of food delivered (step S142). In step S141, the status is changed from "delivering" to "delivered."

[0286] When the food delivery information is transmitted in step S137, food delivery device 2C moves to waiting area 252 according to the movement route information of route 256c (step S143). In step S143, food delivery device 2C moves to waiting area 252, but food delivery device 2C may also move to kitchen 251 or area 253. Furthermore, if food delivery device 2C has placed dishes corresponding to two or more orders and the table IDs corresponding to the dishes are different, the processing of steps S136 to S143 may be repeated, with table 254 corresponding to the next table ID as the destination. The food delivery processing is completed by the processing of steps S121 to S143.

[0287] The status change in step S130 may be performed after the movement of the food delivery device 2C begins in step S135. Steps S140 and S141 may be omitted. The restaurant 250 may have two or more food delivery devices and operate two or more food delivery devices 2C simultaneously. The movement route information may specify a movement route that does not overlap with the movement routes of other food delivery devices 2C to avoid collisions with other food delivery devices 2C. The movement route information may prioritize the movement route of the food delivery device 2C currently delivering food, leaving the movement route of the food delivery device 2C in the process of delivering food unchanged, and changing the movement route of the food delivery device 2C that has completed delivery. In the case of multiple food delivery devices using the same movement route, one food delivery device 2C may temporarily stop moving and move at different times.

[0288] In the above example, the order information is sent from the ordering device 7 in step S121, but the order information may also be sent from the food serving device 2C. In this case, the customer selects the type of food to be ordered, the quantity, and the table ID using the touch panel on the display of the food serving device 2C. The order information is then sent from the food serving device 2C to the server device 3, and the processes of steps S122 to S142 are executed. The order information is sent by the food serving device 2C, for example, in step S136 when the food serving device 2C arrives at the customer's table.

[0289] The food serving device 2C receiving the food serving request information in step S132 may be a food serving device 2C that is not currently serving food, such as one waiting in the waiting area 252 or one that has completed serving. In other words, food serving request information may not be sent to a food serving device 2C that is currently performing the processing in steps S132 to S138 and whose status is "serving." In other words, after the food serving request information is sent from the server device 3 to the food serving device 2C in step S131, the order information management table may store identification information for the food serving device 2C currently serving food, in association with the type and quantity of food and the table ID. When the status is changed in step S142, the identification information for the food serving device 2C is deleted from the order information management table. Alternatively, when food serving request information is sent to a food serving device 2C currently performing the processing in steps S132 to S138, the food serving request information may be stored in the food serving device 2C, and the processing in steps S133 to S138 may be newly performed after the food serving device 2C has finished serving the food.

[0290] Furthermore, if the types and quantities of dishes included in the food delivery request information received in step S129 exceed the amount that can be placed on one food delivery device 2C, the food delivery request information may be sent to two or more food delivery devices 2C in step S131. The server device 3 determines whether the dishes included in the food delivery request information can be placed on the food delivery device 2C at once by pre-registering the sizes of the dishes, and determining that the dishes cannot be placed at once if the total area of ​​the dishes occupies a certain amount or more of the area of ​​the table (e.g., 80% or more). If it is determined that the dishes cannot be placed at once, the server device 3 can divide the food delivery request information into multiple dishes so that the dishes to be served are within a certain area of ​​the table (e.g., within 70%).

[0291] Alternatively, in step S133, when placing dishes on the food serving device 2C that has moved to a predetermined position, the dishes included in the food serving request may be displayed on the display unit of the management device 6A or the food serving device 2C, and the waiter may select the dishes to be placed on the food serving device 2C by operating the management device 6A or the display unit of the food serving device 2C. Then, steps S133 to S137 may be repeated until all dishes included in the food serving request have been served.

[0292] In the system 10 according to the fourth embodiment of the present invention, while the food distribution device 2C is moving (steps S133, S135, and S143), the following processes are executed: a distance calculation process to calculate the distance between the first device 1 and the food distribution device 2C (described below); a position determination process to determine the position of the food distribution device 2C; and a route determination process to determine whether the position of the food distribution device 2C matches the movement route information. The execution frequency of these processes can be set arbitrarily, but they may be executed, for example, once every few seconds to precisely manage the movement of the food distribution device. The route determination process is the same as the determination process ( FIG. 8 ) in the first embodiment. The route determination process is an example of a first determination process.

[0293] [Distance Calculation Process] Next, the distance calculation process according to the fourth embodiment of the present invention will be described. The distance calculation process calculates the distance between each of the first devices 1 and the second device 2a based on the propagation time of information or signals between each of the first devices 1 and the second device 2a. Because the second device 2a is provided in the food distribution device 2C, the distance calculation process can also be said to calculate the distance between each of the first devices and the food distribution device 2C. The distance calculation process according to the fourth embodiment is the same as the distance calculation process according to the first embodiment ( FIG. 6 ), except that the mobile object 2 is the food distribution device 2C instead of a work vehicle. Therefore, a redundant description will be omitted.

[0294] [Position Identification Process] Next, the position identification process according to the fourth embodiment of the present invention will be described. The position identification process is a process for identifying the position of the second device 2a based on the distances between each of the multiple first devices 1 and the second device 2a calculated in the distance calculation process. Since the second device 2a is provided in the food distribution device 2C, the position identification process according to the fourth embodiment can also be said to be a process for identifying the position of the food distribution device 2C. The position identification process according to the fourth embodiment is the same as the position identification process according to the first embodiment ( FIG. 7 ), except that the moving body 2 is the food distribution device 2C instead of a work vehicle. Therefore, redundant explanations will be omitted. However, in the fourth embodiment, in addition to the matters described in the first embodiment, the following embodiments can be added or replaced.

[0295] System 10 according to the fourth embodiment of the present invention preferably includes at least three first devices 1. Furthermore, in a restaurant, if first device 1 and second device 2a provided in food distribution device 2C are installed on the same floor and at the same height (e.g., the same altitude or the same Z coordinate), the position of second device 2a can be identified using at least three first devices 1. Furthermore, if first device 1 and second device 2a provided in food distribution device 2C are not installed at the same height, the position of second device 2a can be identified using at least four first devices.

[0296] In embodiment 4 of the present invention, in step S42, the identified position of the second device 2a is stored in the memory in the control unit 21 of the second device 2a or in the storage unit 25 of the food distribution device 2C in association with time information regarding the calculated time (time information regarding the time when the distance was calculated or time information regarding the time when the position was identified), identification information of the first device 1 (or position information of the first device 1), and identification information of the second device 2a.

[0297] In the position determination process of embodiment 4 of the present invention, the position of the second device 2a may be determined by the second device 2a, or instead of the second device 2a, the first device 1 or the server device 3 may determine the position of the second device 2a by processing similar to step S41.

[0298] [Route Determination Process] Next, the route determination process according to the fourth embodiment of the present invention will be described. The route determination process is a process for determining whether the position of the second device 2a identified in the position identification process matches the travel route information regarding the travel route of the food distribution device 2C. The route determination process according to the fourth embodiment can be applied to the same process as the determination process according to the first embodiment ( FIG. 8 ), except that the mobile object 2 is the food distribution device 2C instead of a work vehicle. Therefore, redundant explanations will be omitted. However, in the fourth embodiment, in addition to the matters described in the first embodiment, the following embodiments can be added or replaced.

[0299] In the fourth embodiment of the present invention, the predetermined distance used for the determination in step S52 can be set appropriately depending on the size of the restaurant and the size of the food distribution device 2C.

[0300] In the fourth embodiment of the present invention, the correction of the travel route information in step S53 can be performed in the same manner as the process for identifying the travel route of the food distribution device 2C. Specifically, the travel route can be identified based on the identified position of the second device 2a as the starting point and the destination point. For example, the travel route can be identified so as to minimize the travel distance, or so as to avoid obstacles according to the map information of the restaurant, or so as to travel through a movable area defined in the map information of the restaurant.

[0301] [Second Determination Process] Next, the second determination process according to the fourth embodiment of the present invention will be described. The second determination process is a process for determining whether the order information matches the food and drink information about the served food and drink by reading the RF tag 9 with the reading terminal 8. The first determination process can also be said to be a process for determining whether the food and drink ordered by the ordering device 7 has been served properly by the food serving device 2C. For example, the second determination process can detect whether a third party other than the customer who ordered the food and drink has intentionally or accidentally received the food and drink ordered by the orderer.

[0302] 21 is a flowchart illustrating the second determination process according to the fourth embodiment of the present invention. In the system 10 according to the fourth embodiment of the present invention, a plate containing food and drink is placed on a table after a meal has been served. Therefore, first, the RF tag 9 on the plate is read by the reading terminal 8 operated by the waiter (step S151). Alternatively, the table ID may be input to the reading terminal 8. The read information obtained by reading the RF tag 9 is transmitted from the reading terminal 8 to the management device 6A (step S152) and received by the management device 6A (step S153).

[0303] The management device 6A identifies food and drink information based on the read information (step S154). The read information includes identification information that can identify the food and drink, price information related to the price of the food and drink, quantity information related to the quantity of the food and drink, and / or information related to the type of food and drink. The food and drink information is also information related to the type and quantity of food and drink, and the amount billed. In step S154, the type and quantity of food and drink provided to the customer can be identified based on the read information. Furthermore, the amount billed to the customer can be calculated by adding the price of the identified food and drink.

[0304] Next, the management device 6A identifies the order information corresponding to the table ID entered via the reading terminal 8 (step S155). It then determines whether the order information matches the food and beverage information (step S156). In step S1356, it determines whether the food and beverage information identified by reading the RF tag 9 matches the food and beverage information stored in association with the table ID in the order information management table. Specifically, the order information and the food and beverage information are compared against each other for the type, quantity, and billing amount of the food and beverage. Next, the management device 6A displays the determination result (step S157). If any of the type, quantity, and billing amount of the food and beverage do not match, the determination result is a mismatch. Furthermore, if the management device 6A determines a mismatch, it can determine that the food and beverage were not properly served. The second determination process ends with the processing of steps S151 to S157.

[0305] If the determination result in step S156 is a match, the billing amount is transmitted to the cash register in association with the table ID. On the other hand, if there is no match, the billing amount calculated by reading the RF tag 9 is transmitted to the cash register, and the transaction may proceed. Alternatively, discrepancy information notifying the reading terminal 8, the serving device 2C, or the management device 6A of the discrepancy may be transmitted and output from the server device 3. For example, the output discrepancy information may display food and beverages that do not match the table ID. This allows the waiter to confirm whether the RF tags 9 of all food and beverage plates have been read using the reading terminal 8, whether all orders have been served to tables corresponding to the table IDs ordered, and whether a third party has mistakenly or intentionally obtained food and beverages that were not ordered. Furthermore, the waiter can notice that food and beverages have been served to a table corresponding to a table ID that differs from the order information.

[0306] The read information may be associated with the table ID inputted at the reading terminal 8 and transmitted to the server device 3, and the server device 3 may execute the processes of steps S154 to S156.

[0307] The second determination process may be configured as follows instead of steps S156 to S157. After steps S151 to S155 are executed, the food and beverage information identified in step S154 and the order information identified in step S155 may be displayed on the management device 6A. In this case, it is preferable to display the food and beverage information identified in step S154 and the order information identified in step S155 on the same display screen. Specifically, it is preferable to display a list of the type and quantity of food and beverages included in the order information and the food and beverage information, as well as the billing amount. This allows the store clerk operating the management device 6A to determine whether the ordered food and beverages match the provided food and beverages.

[0308] In the system 10 according to the fourth embodiment of the present invention, the serving device 2C may not only serve food and drink but also clear plates. To clear plates, first, a customer operates the ordering device 7 to send clearing request information to the server device 3, requesting that the plates be cleared. The clearing request information includes a table ID. When the server device 3 receives the clearing request information, the server device 3 transmits the clearing request information to the serving device 2C. When the serving device 2C receives the clearing request information, steps S135 and S136 are executed, with the table corresponding to the clearing request information as the target point. When a weight sensor detects the placement of a plate, the serving device 2C moves to a predetermined location, such as a kitchen or dishwashing area. This process can also be considered as controlling the serving device 2C to move to a predetermined location in response to the customer's operation of the ordering device 7.

[0309] Here, if a reading unit is installed in the serving device 2C, the RF tag 9 of the food and drink placed on the table of the serving device 2C may be read when clearing the food and drink plates to identify the food and drink served to the customer and calculate the amount to be charged to the customer. Clearing the food and drink plates may be performed after the meal or during the meal. If it is performed during the meal, the RF tag 9 may be read and the read information may be sent to the management device 6A.

[0310] Furthermore, when a reading unit is installed in the food serving device 2C, the process of detecting the placement of food in step S134 and the process of detecting the placement of food in step S137 may be performed by reading the RF tag 9 instead of using a weight sensor. For example, when placing food in step S134, it can be detected that the food has been placed when the RF tag 9 for a specific food or drink is read. When serving food in step S137, it can be detected that the food has been served when the RF tag 9 that had been read becomes unreadable.

[0311] According to the invention of embodiment 4, the position of the second device is identified based on the distance between each of the multiple first devices 1 and the second device 2a, and the identified position of the food delivery device can be used to move the food delivery device to the location of the customer who placed the order.

[0312] According to the fourth embodiment, after the food and drink is placed on the serving device, the serving device is controlled to move to a position corresponding to an ordering device operated by a customer of the restaurant, so that the food and drink ordered by the customer can be provided to the customer without meeting face to face. This also contributes to labor saving in the restaurant.

[0313] According to the fourth embodiment, the management device operated by the restaurant staff displays at least a portion of the order information, allowing the staff to confirm the order information entered by the customer. Furthermore, according to the fourth embodiment, the food delivery device is controlled to move to a predetermined position in response to the staff's operation of the management device, allowing the staff to place food and beverages on the food delivery device without moving. Furthermore, the staff can provide food and beverages to customers without moving.

[0314] According to the fourth embodiment, the food and beverage serving device is controlled to start moving in response to a weight sensor indicating that food and beverages have been placed on the serving device and / or that food and beverages have been served from the serving device. This prevents the serving device from moving to a customer without food and beverages or the customer from forgetting to take the food and beverages, thereby ensuring that food and beverages are served to the customer. Furthermore, according to the fourth embodiment, the system determines whether the order information entered by the customer through the ordering device matches the food and beverage information, making it possible to confirm whether the ordered food and beverages match the served food and beverages. Furthermore, the server can charge the customer for the food and beverages actually served. Furthermore, according to the fourth embodiment, the system displays the order information and food and beverage information, making it possible to confirm whether the food and beverages ordered by the customer have actually been served.

[0315] [Embodiment 5] In embodiment 5, as an example, a case where the above-mentioned moving body is applied to an item collection device will be described. In embodiment 5, a case where various processes are executed by using the item collection device instead of the work vehicle in embodiment 1 will be described.

[0316] In the fifth embodiment of the present invention, examples of the goods include parts, products, and luggage. The system according to the fifth embodiment of the present invention is used in a space such as a factory or warehouse where parts necessary for manufacturing products, products to be shipped to customers, or luggage to be delivered to destinations are stored. Hereinafter, the space where parts, products, or luggage are stored will be referred to as a warehouse. There are no particular limitations on the products, as long as they can be manufactured by combining one or more parts that are elements that make up the product. Parts may be materials for the product. Furthermore, there are no particular limitations on the parts used to manufacture the product. Furthermore, a product may be something that can become a part of a certain product. For example, a car seat is both a product and a car part.

[0317] A commodity is something that can be the subject of commercial transactions, and particularly refers to movable property. For example, both products and parts can be commodities. Examples of products or commodities include furniture, stationery, daily necessities, miscellaneous goods, electronic devices, machinery, vehicles such as automobiles, sporting goods, toys, and food. In the fifth embodiment of the present invention, commodities are stored in a warehouse and shipped from the warehouse. Packages are delivered from a specified shipping location to a specified destination, such as by a delivery service, and are temporarily stored in a warehouse.

[0318] FIG. 22 is a block diagram showing the configuration of a system according to a fifth embodiment of the present invention. As shown in the figure, the system 10 according to the fifth embodiment of the present invention is composed of a plurality of first devices 1 (first devices 1a to 1z) and an item collection device 2D including a second device 2a. Preferably, the system 10 according to the fifth embodiment of the present invention is provided with three or more first devices 1. Furthermore, the system 10 according to the fifth embodiment of the present invention may be provided with a plurality of item collection devices 2D. As shown in the figure, the system 10 according to the fifth embodiment of the present invention may include a server device 3 and an instruction device 4A. Furthermore, the system 10 according to the fifth embodiment of the present invention may include a reading device (not shown).

[0319] The first device 1 and the second device 2a can be directly connected for communication. Furthermore, the server device 3 can be connected for communication with each of the first device 1, the second device 2a, the item collection device 2D, and the instruction device 4A. Each of the item collection device 2D and the instruction device 4A transmits and receives information via the server device 3. The server device 3 may be installed in a warehouse where the system 10 according to the fifth embodiment of the present invention is used, or may be installed outside the warehouse. Alternatively, the item collection device 2D and the instruction device 4A may be directly connected for communication with each other without providing the server device 3. Furthermore, the item collection device 2D, the server device 3, and the instruction device 4A may be connected for communication via a communication network.

[0320] [First Device] The first device 1 is a reference device for synchronizing the clock of the second device 2a. The functions and hardware configuration of the first device 1 in the fifth embodiment can be the same as those of the first device 1 in the first embodiment (FIG. 2) to the extent necessary. Therefore, redundant explanations will be omitted.

[0321] In the system 10 according to the fifth embodiment of the present invention, the installation location of the first device 1 is not particularly limited, but it is preferable that the first device 1 be installed in a warehouse where the item collection device 2D is used. Furthermore, multiple first devices 1 may be installed in the warehouse. When the item collection device 2D collects items in a warehouse having multiple floors, a first device 1 may be installed on each floor, or on multiple floors such as the second or third floor. Furthermore, it is preferable that the first device 1 be installed in a fixed position where its installation location can be identified. For example, the first device 1 may be installed on the ceiling, pillars, etc. in the warehouse.

[0322] [Second device and item collection device] In the fifth embodiment of the present invention, the second device 2a is provided in the item collection device 2D and is connected to the item collection device 2D so that they can communicate with each other via a wired or wireless connection. "The second device 2a is provided in the item collection device 2D" has the same meaning as "The second device 2a is provided in the mobile object 2" in the first embodiment.

[0323] The item collection device 2D can be connected to the first device 1 and the instruction device 4A via the server device 3. The item collection device 2D can travel automatically to collect and transport items. A known item collection device can be used as the item collection device 2D. The item collection device 2D may also be one that a person can ride in.

[0324] Next, the hardware configurations of the second device 2a and the item collection device 2D will be described. The functions and hardware configuration of the second device 2a in embodiment 5 can be applied to the functions and hardware configuration of the second device 2a in embodiment 1 (FIG. 3) to the extent necessary. The functions and hardware configuration of the item collection device 2D in embodiment 5 can be applied to the functions and hardware configuration of the mobile object 2 in embodiment 1 (FIG. 3) to the extent necessary, with the mobile object 2 replaced by the item collection device 2D. Therefore, redundant explanations will be omitted. However, in embodiment 5, in addition to the matters described in embodiment 1, the following embodiments can be added or replaced.

[0325] In the fifth embodiment of the present invention, the item collection device 2D may include a reading device. Also, in the fifth embodiment of the present invention, the drive unit 26 drives a battery to operate the item collection device 2D. A roller may be provided on the bottom surface of the item collection device 2D, and the roller may be rotated by the drive unit 26 to operate the item collection device 2D.

[0326] In embodiment 5 of the present invention, when the control unit 21 detects that a fall or collision has occurred, the control unit 21 can also send a notification from the item collection device 2D to the instruction device 4A via the server device 3 that a fall or collision has occurred at the item collection device 2D.

[0327] 23 is a schematic diagram of an item collection device according to a fifth embodiment of the present invention. The item collection device 2D includes a device main body 350, an item storage section 351 for storing collected items, and a reading device 352. As described above, the item collection device 2D may also include a roller 353 and various sensors (not shown). The reading device 352 can read RF tags attached to items.

[0328] The item collection device 2D moves along a travel route according to the travel route information. The item collection device 2D moves according to the travel route information and can execute a predetermined process at the destination after moving. Examples of the predetermined process include collecting items and removing items. The process of identifying the travel route information will be described later.

[0329] [Server Device] Next, a server device according to embodiment 5 of the present invention will be described. The server device 3 can acquire information such as location information and recording information from the second device 2a or the item collection device 2D. The acquired information can also be transmitted to the instruction device 4A.

[0330] The hardware configuration of the server device 3 in the fifth embodiment can be the same as that of the server device 3 in the first embodiment (FIG. 4) to the extent necessary. Therefore, a duplicated description will be omitted. In the fifth embodiment of the present invention, the control unit 31 reads programs and data from the RAM 32 and performs program execution processing based on information received from the first device 1, the second device 2a, the item collection device 2D, or the instruction device 4A.

[0331] In the fifth embodiment of the present invention, the server device 3 may communicate with the first device 1, the second device 2a, the item collection device 2D, or the instruction device 4A via a smart meter installed in the warehouse.

[0332] [Instruction Device] Next, an instruction device according to a fifth embodiment of the present invention will be described. The instruction device 4A is a device for instructing the production of a product or the collection of an item. The person who operates the instruction device 4A is not particularly limited, and it can be operated by, for example, a person who produces a product (also referred to as a "producer"), a person who wishes to purchase a product (also referred to as a "purchaser"), a person who receives an order for the product from the purchaser, a person who delivers the package, etc. When a purchaser inputs the product they wish to purchase into the instruction device 4A, product information (such as the product's part number and model number) of the product is transmitted from the instruction device 4A to the server device 3. Alternatively, a manufacturer can input product information for an ordered product into the instruction device 4A, or can input parts required to produce the ordered product into the instruction device 4A.

[0333] The instruction device 4A may be a stationary type installed in a warehouse, or a portable type that can be carried by a producer or a prospective purchaser when traveling. The instruction device 4A has a configuration similar to that of the server device 3, and includes, for example, a control unit, RAM, a storage unit, a communication interface, an input unit, and a display unit, each of which is connected by an internal bus. The instruction device 4A is preferably a computer device that includes an input unit, a display unit, and a control unit, such as a tablet terminal, a smartphone, or a desktop or notebook personal computer.

[0334] Furthermore, the position of the item collection device 2D can be confirmed on the instruction device 4A. Specifically, by receiving position information of the item collection device 2D at the instruction device 4A and associating the position information with map information of the warehouse, the position of the item collection device 2D can be displayed on a map on the display screen of the instruction device 4A. Furthermore, the position information of the item collection device 2D may be confirmed as latitude and longitude information or a coordinate position in an XYZ coordinate system. Furthermore, the positions of multiple item collection devices 2D may be confirmed simultaneously. Furthermore, the instruction device 4A may be configured to be able to confirm recording information transmitted from the second device 2a or the item collection device 2D.

[0335] [Collection Process] Next, the collection process according to the fifth embodiment of the present invention will be described. The collection process is a process for collecting items and transporting them to a predetermined location in accordance with instruction information transmitted from the instruction device 4A. Fig. 24 is a diagram showing a flowchart of the collection process according to the fifth embodiment of the present invention.

[0336] 25 is a schematic diagram of a collection method according to the fifth embodiment of the present invention. In FIG. 25, a warehouse 360 ​​is provided with a standby location 361 for item collection device 2D, parts storage shelves 362 (362a to 362d), and a predetermined location 364 which is the destination for transporting collected parts. Part 363a is stored on item storage shelf 362c, and parts 363b and 363c are stored on storage shelf 362d.

[0337] Furthermore, the location information of the parts, such as the storage shelf where the item is located, the storage location, latitude, longitude, and altitude, or XYZ coordinate system, is associated with the product and stored in a product master table. The product master table is stored in the server device 3, and details will be described later. Furthermore, the location information of the waiting area 361 and the predetermined position 364, such as latitude, longitude, and altitude, or XYZ coordinate system, is stored in the server device 3. Furthermore, the warehouse 360 ​​is equipped with first devices 1a to 1d for identifying the location of the second device 2a.

[0338] The following flowchart describes the case where parts for a product containing multiple parts (parts 363a to 363c) are collected and transported. First, the user operates the instruction device 4A to select the type and quantity of the product (step S161). The user may also operate the instruction device 4A to input a destination location to which the parts included in the product are to be transported. Instruction information regarding the products to be collected is transmitted from the instruction device 4A to the server device 3 (step S162). The instruction information includes the type and quantity of the product, and may also include information about the destination location. The instruction information is received by the server device 3 (step S163). The server device 3 stores the received instruction information in an instruction information management table (step S164).

[0339] The instruction information management table stores the product type, quantity, instruction time at which the instruction information was received, and product status in association with each other. The instruction information management table also stores the part type, quantity, and part status identified in step S165 (described later) in association with each other. The instruction time may be the time at which the instruction device 4A receives the selection of the product type and quantity, the time at which the instruction information is transmitted from the instruction device 4A, or the time at which the instruction information is received by the server device 3. The product status represents the part collection and transportation status, such as "collecting" when the item collection device 2D is identifying and collecting the parts, "collected" when collection of all parts included in the product has been completed, or "transport completed" when all parts have been transported to the target location. The part status represents the part collection and transportation status, such as "collecting" when the item collection device 2D is identifying and collecting the parts, "collected" when collection of the parts has been completed, or "transport completed" when the parts have been transported to the target location. In step S164, the product status becomes "collecting."

[0340] When the instruction information is received by the server device 3, the parts to be collected are identified (step S165). Once the parts are identified, the movement route of the item collection device 2D is identified based on the location information of the parts (step S166). Collection information and movement route information regarding the parts to be collected are transmitted from the server device 3 to the item collection device 2D (step S167). The collection information includes the type and quantity of the parts. The collection information is stored in the instruction information management table. The status of the stored parts is "collecting". When parts 363 are collected by an arm provided on the storage shelf 362, the collection information may be transmitted to a control unit that controls the arm.

[0341] The part identification process of step S165 will now be described. The server device 3 refers to the product master table and identifies the type, quantity, and location information of the parts to be collected from the type and quantity of the product included in the instruction information. FIG. 26 is a diagram showing an example of a product master table according to the fifth embodiment of the present invention. The product master table 370 stores a plurality of parts corresponding to one product in the server device 3. The product master table 370 stores, in association with each other, a product ID 371 that can identify the product, a part ID 372 that can identify the parts included in the product, a number 373 of parts required to manufacture one product, and a storage location ID 374 that can identify the storage location of the parts. Note that the product master table 370 may also store other information.

[0342] For example, the product master table 370 stores information indicating that one part with part ID "A01," three parts with part ID "A02," and two parts with part ID "A03" are required to manufacture a product with product ID "A." It also stores information indicating that the parts with part IDs "A01" and "A02" are stored in a storage location with storage location ID "A05," and the part with part ID "A03" is stored in a storage location with storage location ID "C01." The part storage location ID 374 stores location information (latitude, longitude, and altitude, or an XYZ coordinate system) indicating the location of the part. The part storage location ID 374 may also store information indicating the storage shelf 362 or the storage location within the storage shelf 362.

[0343] In the above description, information on the destination point to which the part is to be delivered is input in step S161, but the destination point may be stored in association with the product ID in the product master table 370. In this case, input of the destination point in step S161 can be omitted.

[0344] The process of identifying the movement path in step S166 will now be described. The server device 3 identifies the movement path based on the type, quantity, and location information of the identified part by referring to the product master table. The movement path can be identified based on a known algorithm for path identification. For example, the movement path can be identified based on the starting point and the destination point so as to minimize the movement distance. That is, the movement path can be identified based on the instruction information received in step S163. Specifically, the movement path may be identified based on the location information of the item collection device 2D, map information, location information of the part, and location information of a predetermined location. Furthermore, if the collection information includes multiple parts, the item collection device 2D moves sequentially to the storage location of each part. The order in which the parts are collected by the item collection device 2D and the movement path of the item collection device 2D are identified by the control unit 31 of the server device 3. The storage location of each part is pre-stored in the server device 3 for each part type (e.g., by product number or model number), and the movement path may be identified based on this location.

[0345] For example, if parts 363a to 363c are identified in step S165, the starting point is the waiting area 361, and the destination point is a predetermined position 364 via parts 363a to 363c. In this case, there are six possible orders for moving via parts 363a to 363c to predetermined position 364, and the moving route can be identified so that it is the shortest. Alternatively, if the order in which parts are collected for each product is stored, the moving route can be identified according to the stored order. In FIG. 25 , moving routes 365a, 365b, 365c, and 365d are identified so that the item collection device 2D moves in the shortest order via parts 363a, 363b, 363c, and predetermined position 364.

[0346] Here, the travel route information may be generated by the server device 3 according to a predetermined program, or may be stored in advance in the storage unit 33 of the server device 3. Alternatively, the travel route information may be generated by a user operating the item collection device 2D or the instruction device 4A to set a travel route. The travel route information may include, for example, a starting point, a destination point, and position information of the item collection device 2D from the start of travel to the end of travel. The travel route information may also include one or more waypoints.

[0347] When generating the movement route information according to a predetermined program, the movement route information may be generated based on the starting point and the destination point so as to minimize the movement distance, or the movement route information may be generated based on map information of the warehouse so as to avoid obstacles such as machines and devices. In this case, the map information is stored in advance in the server device 3. This map information stores information regarding areas in which the item collection device 2D cannot move, such as the positions of obstacles and walls, and areas in which the item collection device 2D can move.

[0348] The movement path of the item collection device 2D in step S166 may be specified by the control unit 21 of the item collection device 2D. The movement path information may be generated in accordance with a predetermined program in the control unit 21 provided in the item collection device 2D, or may be stored in advance in the storage unit 25 of the item collection device 2D. In this case, when the server device 3 specifies the parts in step S165, the collection information is transmitted to the item collection device 2D, and the movement path is specified by the item collection device 2D. The movement path information may also be generated by the first device 1, the second device 2a, or the instruction device 4A.

[0349] Returning to the explanation of the flowchart, when the collection information and movement route information are transmitted from the server device 3 to the item collection device 2D, the item collection device 2D receives the collection information and movement route information (step S168). Upon receiving the collection information and movement route information, the item collection device 2D moves to the position of the part 363a according to the movement route information of the movement route 365a (step S169). The processing of step S169 is also referred to as processing for controlling the item collection device 2D to move to the position where the part included in the collection information is stored.

[0350] When the item collection device 2D arrives at the location of the part 363a, which is the destination (step S170), it collects the part 363a and uses a reader to read the RF tag attached to the part 363a (step S171). The RF tag stores part identification information (also called a part ID) that can identify the part. The part identification information includes information that identifies the type of part and information that identifies each individual part. The part identification information is also called item identification information.

[0351] Here, the item collection device 2D can read the RF tags attached to the parts using the reading device 352. When the item collection device 2D moves to a shelf in the warehouse where the parts to be collected are stored, an arm installed on the shelf moves the part from the storage position to near the reading device 352. The RF tags attached to the parts are read by the reading device 352, and the parts are stored in the item storage unit 351. Alternatively, a person may be positioned near the shelf in the warehouse, or the person may move along with the item collection device 2D, and when the item collection device 2D moves to the shelf position at the storage position, the person may pick up the part and hold the RF tag of the part over the reading device 352. The part is then stored in the item storage unit 351. Alternatively, the item collection device 2D may be equipped with an arm, which moves the part and reads the RF tag and stores it in the item storage unit 351.

[0352] The part identification information read in step S171 is transmitted from the item collection device 2D to the server device 3 (step S172) and received by the server device 3 (step S173). The server device 3 refers to the instruction information management table and determines whether the received part identification information corresponds to a part included in the collection information (step S174).

[0353] If the received part identification information does not correspond to a part included in the collection information (NO in step S174), error information is transmitted from the server device 3 to the instruction device 4A (step S175). The error information is received by the instruction device 4A (step S176) and output (step S177). The process of step S177 is also referred to as a process of reporting that a part different from the part included in the collection information has been collected when it is determined that the part identification information read from the RF tag does not correspond to a part included in the collection information.

[0354] Here, the error information is information for notifying the user that the parts collected by the item collection device 2D do not correspond to the parts included in the collection information. The error information may be output by displaying text, images, and / or videos on the display screen, or by emitting sound, light, and / or vibration. By outputting the error information from the instruction device 4A, the user can notice that a different part has been collected by the item collection device 2D and take appropriate action.

[0355] Furthermore, the error information may be transmitted to the item collection device 2D and output by the item collection device 2D. If a person is on board the item collection device 2D, the person on board can notice that a different part has been collected by the item collection device 2D and can take appropriate action. In other words, the method of notifying that a different part has been collected is not particularly limited, and examples include turning on a lamp provided on the item collection device 2D or turning on the lamp in a specific color, outputting sound from a speaker provided on the item collection device 2D, displaying information on the instruction device 4A, outputting sound, etc.

[0356] Furthermore, if the received part identification information does not correspond to a part included in the collection information (NO in step S174), the part corresponding to the part identification information may be returned to the storage shelf using an arm installed on the storage shelf or provided on the item collection device 2D.

[0357] If the received part identification information corresponds to a part included in the collection information (YES in step S174), the server device 3 stores a change in the status of the corresponding part in the instruction information management table (step S178). For example, if part 363a has been collected and parts 363b and 363c have not yet been collected in step S178, the status of part 363a in the instruction information management table becomes "Collected" and the statuses of parts 363b and 363c become "Collecting." The product status remains "Collecting." The process of step S178 is also referred to as a process of detecting that the parts have been collected by reading the RF tags with a reader.

[0358] When the change in the status in the instruction information management table is stored, the server device 3 refers to the instruction information management table and determines whether all parts have been collected (step S179). Specifically, it determines whether the status of all parts is "collected" or whether the status of the product is "collected." If all parts have not been collected (NO in step S179), the processing from step S169 onward is executed. If the status of part 363a in the instruction information management table is "collected" and the statuses of parts 363b and 363c are "collecting," in step S169, movement to the position of part 363b is performed according to the movement path information of movement path 365b.

[0359] If all parts have been collected (YES in step S179), the item collection device 2D moves to the predetermined position 364 according to the movement path information of the movement path 365d (step S180). When all parts have been collected, this means that the parts 363a to 363c have been collected, the statuses of the parts 363a to 363c in the instruction information management table become "Collected," and the status of the product becomes "Collected." The processing of step S180 can also be referred to as processing for controlling the item collection device 2D to move to the predetermined position after collecting the parts included in the collection information in the item collection device 2D. Note that the predetermined position can be stored in advance in the server device 3 that specifies the movement path. The predetermined position may be a location where parts are assembled to manufacture a product, or a location where the collected parts are loaded onto a vehicle for transport to the production site. Furthermore, the predetermined position may vary depending on the product or type of product.

[0360] When the item collection device 2D arrives at the predetermined position 364, transportation completion information indicating that the item collection device 2D has transported all parts to the predetermined position is transmitted to the server device 3 (step S181). When the transportation completion information is received by the server device 3 (step S182), the status change is stored in the instruction information management table (step S183). In step S183, the product status and the status of all parts are changed to "transportation completed." The transportation completion information can also be considered movement completion information indicating that the item collection device 2D has moved to the predetermined position 64. The collection process is completed by the processing of steps S161 to S183 described above.

[0361] Here, when it is necessary to collect multiple quantities of the same type of parts, in step S174, after reading all of the RF tags of the same type of parts, the part identification information may be transmitted to the server device 3. The server device 3 can refer to the instruction information management table and determine whether the number of times the part identification information has been read corresponds to the quantity of parts included in the collection information.

[0362] The warehouse 360 ​​may be equipped with two or more item collection devices 2D, and two or more item collection devices 2D may be operated simultaneously. The movement route information may specify a movement route that does not overlap with the movement routes of other item collection devices 2D so as to avoid collision with other item collection devices 2D, or, in the case of the same movement route, one item collection device 2D may be temporarily stopped and the movement timing may be changed.

[0363] The item collection device 2D that receives the collection information and movement route information in step S168 may be an item collection device 2D that is not executing the collection process, such as one that is waiting in the waiting area 361 or one that has completed transportation. In other words, the collection information and movement route information may not be transmitted to an item collection device 2D that is executing the processes of steps S168 to S181 and whose status is "collecting" or "collected." In other words, after the collection information and movement route information are transmitted from the server device 3 in step S167, the instruction information management table may store identification information that can identify the item collection device 2D that transmitted the collection information and movement route information, in association with the type of product, etc. Together with the change in the product status in step S183, the identification information of the item collection device 2D is deleted from the instruction information management table. Alternatively, when collection information and movement route information are sent to the item collection device 2D that is executing the processing of steps S168 to S181, the collection information and movement route information may be stored in the item collection device 2D, and after the collection and transportation currently being processed is completed, new processing of steps S169 to S181 may be executed.

[0364] Furthermore, if the types and quantities of parts included in the collection information received in step S168 exceed the amount that can be collected by a single item collection device 2D, the collection information may be transmitted to two or more item collection devices 2D in step S168. The server device 3 determines whether the parts included in the collection information can be transported to the item collection device 2D at one time by pre-registering the size of the parts, and determining that the parts cannot be loaded at one time if the total volume of the parts to be collected occupies a certain amount or more of the range of the item storage unit 351 (e.g., 80% or more). Alternatively, the weight of the parts is pre-registered, and determining that the parts cannot be transported at one time if the total mass of the parts to be collected exceeds the maximum load capacity of the item collection device 2D. If it is determined that the parts cannot be collected at one time, the server device 3 can divide the collection information into multiple parts so that the parts to be collected are within a certain range of the item storage unit 351 (e.g., within 70%) or are less than the maximum load capacity.

[0365] Alternatively, even if not all parts have been collected (NO in step S179), the process of step S180 may be executed to remove the collected parts at a predetermined location. In this case, transport completion information for the parts is transmitted by operating the item collection device 2D, and the status of the removed parts becomes "transportation completed" in step S183. The processes of steps S169 to S183 may then be repeated until the status of all parts included in the collection information becomes "transportation completed."

[0366] In the above description, steps S163 to S167, S173 to S175, S178, S179, S182, and S183 are executed by the server device 3, but they may also be executed by the instruction device 4A. In this case, the processes of steps S162 and S163, and S175 and S176 can be omitted. Furthermore, the processes of the server device 3 may also be executed by the item collection device 2D. In this case, the processes of steps S167 and S168, and steps S172 and S173 can be omitted. When the processes are executed by the instruction device 4A or the item collection device 2D instead of the server device 3, various information required to execute the processes (e.g., a product master table, an instruction information management table, map information, part storage locations, etc.) is pre-stored in the instruction device 4A or the item collection device 2D.

[0367] Although the above describes the case where parts for a product containing multiple parts are collected and transported, the same can be done for the case where parts for a product containing only one part are collected and transported.

[0368] Furthermore, the system 10 according to the fifth embodiment of the present invention can also be applied to a case where an order for one or more products is received from a warehouse, such as a retail store, where the products are stored, and the products are collected and transported. The above description can be referenced as necessary for steps S161 to S183. In this case, in step S161, the type and quantity of the products are selected instead of the product. In step S164, order identification information that can identify the order, the type and quantity of the products, the instruction time when the instruction information was received, and the product status are stored in association with each other in an instruction information management table. In step S165, the location of the selected products is identified. The collection information includes the type and quantity of the products to be collected. In step S179, it is determined whether all the products included in the collection information have been collected.

[0369] Although the above describes the case where parts of a product containing multiple parts are collected and transported, the present invention can also be applied to the case where packages are collected and transported in a warehouse such as a distribution center where packages are stored. The above description can be referenced to the extent necessary for steps S161 to S183.

[0370] In this case, in step S161, parcels to be collected are selected instead of products. Delivery destination information is stored in association with each parcel. For example, when a specific city or town is entered, parcels associated with the address of that city or town may be selected. In step S164, parcel identification information that can identify the parcel, the instruction time when the instruction information was received, and the parcel status are stored in association with each other in an instruction information management table. In step S165, the location of the selected parcel is identified. The collection information includes parcel identification information to be collected. In step S179, it is determined whether all parcels included in the collection information have been collected. The collected parcels are loaded onto the loading platform of a truck or the like from the item collection device 2D that was moved to a specific location in step S180.

[0371] In the system 10 according to the fifth embodiment of the present invention, while the item collection device 2D is moving (steps S169, S170, and S180), a distance calculation process is executed to calculate the distance between the first device 1 and the item collection device 2D, a position identification process is executed to identify the position of the item collection device 2D, and a determination process is executed to determine whether the position of the item collection device 2D matches the movement path information. The execution frequency of these processes can be set arbitrarily, but in order to precisely manage the movement of the item collection device 2D, they may be executed, for example, once every few seconds.

[0372] [Distance Calculation Process] Next, the distance calculation process according to the fifth embodiment of the present invention will be described. The distance calculation process is a process for calculating the distance between each of the plurality of first devices 1 and the second device 2a based on the propagation time of information or signals between each of the plurality of first devices 1 and the second device 2a. Since the second device 2a is provided in the item collection device 2D, the distance calculation process can also be said to be a process for calculating the distance between each of the plurality of first devices and the item collection device 2D. The distance calculation process according to the fifth embodiment can be applied to the same process as the distance calculation process according to the first embodiment ( FIG. 6 ), except that the moving body 2 is the item collection device 2D instead of a work vehicle. Therefore, a redundant description will be omitted.

[0373] [Position Identification Processing] Next, the position identification processing according to the fifth embodiment of the present invention will be described. The position identification processing is processing for identifying the position of the second device 2a based on the distances between each of the plurality of first devices 1 and the second device 2a calculated in the distance calculation processing. Since the second device 2a is provided in the item collection device 2D, the position identification processing according to the fifth embodiment can also be said to be processing for identifying the position of the item collection device 2D. The position identification processing according to the first embodiment can be applied by using the same processing as the position identification processing according to the first embodiment ( FIG. 7 ), but with the item collection device 2D instead of a work vehicle as the mobile object 2. Therefore, redundant explanations will be omitted.

[0374] The system 10 according to the fifth embodiment of the present invention preferably includes at least three first devices 1. Furthermore, if the first device 1 and the second device 2a provided in the item collection device 2D are installed on the same floor and at the same height (e.g., the same altitude or the same Z coordinate) in the warehouse, the position of the second device 2a can be identified by at least three first devices 1. Furthermore, if the first device 1 and the second device 2a provided in the item collection device 2D are not installed at the same height, the position of the second device 2a can be identified by at least four first devices.

[0375] [Determination Process] Next, the determination process according to the fifth embodiment of the present invention will be described. The determination process is a process for determining whether the position of the second device 2a identified in the position identification process matches the movement path information related to the movement path of the item collection device 2D. The determination process according to the fifth embodiment can be applied to the same process as the determination process according to the first embodiment ( FIG. 8 ), except that the moving body 2 is an item collection device 2D instead of a work vehicle. Therefore, redundant explanations will be omitted. However, in the fifth embodiment, in addition to the matters described in the first embodiment, the following embodiments can be added or replaced.

[0376] In the fifth embodiment of the present invention, the predetermined distance used in step S52 can be set appropriately depending on the size of the warehouse and the size of the item collection device 2D.

[0377] In the fifth embodiment of the present invention, the correction of the movement path information can be performed in the same manner as the process for identifying the movement path of the item collection device 2D. Specifically, the movement path can be identified based on the start point and the destination point, with the identified position of the second device 2a as the start point. For example, the movement path may be identified so as to minimize the movement distance, or so as to avoid obstacles according to the map information of the warehouse, or so as to move through a movable area set in the map information of the warehouse.

[0378] In the above description of the fifth embodiment of the present invention, an RF tag storing part identification information is attached to an item, but an active RF tag with a built-in power source and similar functions to the first device 1 may be used. That is, the first device and the RF tag communicate directly, and the location of the item in the warehouse can be identified by processing similar to the distance calculation processing and position identification processing. In step S166, the movement route of the item identified by the above processing may be used to identify the item.

[0379] According to the invention of embodiment 5, the item collection device is controlled to move to a location where items included in the collection information transmitted by input to the instruction device are stored, thereby reducing the burden of item collection work. This can also contribute to reducing the labor required for collection work. According to the invention of embodiment 5, the item collection device is controlled to move to a predetermined location after the item collection device has collected the items included in the collection information, thereby reducing the burden of item transportation work. This can also contribute to reducing the labor required for transportation work.

[0380] According to the fifth embodiment, the RF tag is read by a reader to detect that an item has been collected, so that it is possible to confirm whether or not the items to be collected have been collected. Furthermore, according to the fifth embodiment, if it is determined that the item identification information read from the RF tag does not correspond to the item included in the collection information, a notification is made that an item different from the item included in the collection information has been collected, so that the user is made aware that a different item has been collected and can take appropriate action.

[0381] [Embodiment 6] In embodiment 6, as an example, a case will be described in which the mobile body is applied to an electronic information creation device or an unmanned aerial vehicle equipped with an electronic information creation device. In embodiment 6, a case will be described in which various processes are executed by using an electronic information creation device or an unmanned aerial vehicle instead of the work vehicle in embodiment 1.

[0382] [System Configuration] Fig. 27 is a block diagram showing the configuration of a system according to embodiment 6 of the present invention. In embodiment 6, system 10 includes an electronic information creation device. In Fig. 27, the electronic information creation device is an imaging device 2E, and is provided in an unmanned aerial vehicle 2F, which is a moving object 2.

[0383] 27 , the system 10 may include at least one wireless device 1A. At least one wireless device 1A and the imaging device 2E may be directly connected to each other via wireless communication. If the system 10 includes multiple wireless devices 1A, each of the multiple wireless devices 1A and the imaging device 2E may be directly connected to each other via wireless communication.

[0384] 27 , the system 10 may also include a server device 3. The imaging device 2E, the server device 3, the blockchain 3A, and the viewer terminal 4B may be communicatively connected to one another via a communication network 5. Although not shown, the wireless device 1A may also be communicatively connected to the imaging device 2E, the server device 3, the blockchain 3A, and the viewer terminal 4B via the communication network 5.

[0385] The server device 3 may function in a distributed manner across multiple computer devices. For example, a distributed ledger technology such as a blockchain may be used instead of the server device 3. In this case, the blockchain that performs the functions in place of the server device 3 may be the same as the blockchain 3A or may be different from the blockchain 3A.

[0386] The blockchain 3A is not particularly limited and any known blockchain can be used. The blockchain 3A may be a public blockchain or a private blockchain.

[0387] Although not shown, the system 10 may include an administrator terminal operated by an administrator who manages the system 10. The administrator terminal may be capable of communicating with the imaging device 2E, the wireless device 1A, the server device 3, the blockchain 3A, and the viewer terminal 4B via the communication network 5.

[0388] [Electronic Information Creation Device] The electronic information creation device is not particularly limited as long as it is capable of creating electronic information. The electronic information created by the electronic information creation device may be digital data selected from the group consisting of images, sounds, text, symbols, and numerical values. More specifically, the electronic information may include commercial transaction information such as banking transactions, payments, or contracts; text information, symbol information, or numerical information such as emails, SNS posts, and online test answers; ticket reservation information such as airline tickets, train tickets, admission tickets, or parking tickets; presence / absence information such as attendance, attendance, participation, or the presence or absence of an object; image information such as videos or still images; sound information such as music, telephone calls, or conference audio; numerical information acquired by a sensor; and the like. Note that in the sixth embodiment of the present invention, the electronic information and digital data may not include time information and / or location information.

[0389] The electronic information creation device may be, for example, an imaging device, a recording device, a calculator, a document creation device, a sensor, a computer device, or a server device. The electronic information creation device may be fixed to a predetermined location, may be provided on a mobile body 2, or the mobile body 2 may itself be mobile. For example, the electronic information creation device may be provided on a mobile body other than an unmanned aerial vehicle 2F, or may be carried by a person. The electronic information creation device may be a user terminal carried or possessed by a user. For example, in embodiment 6, the viewer terminal 4B or the administrator terminal may function as the electronic information creation device. The mobile body 2 may be the mobile body described in embodiment 1 to the extent that it is not inconsistent.

[0390] In the following, an example of the electronic information creation device will be described, in which the electronic information creation device is an imaging device 2E and is provided in an unmanned aerial vehicle 2F, which is a moving object 2. The imaging device 2E is a device that creates images as electronic information.

[0391] [Imaging Device and Unmanned Aerial Vehicle] Next, an imaging device according to a sixth embodiment of the present invention will be described. The functions and hardware configuration of the imaging device according to the sixth embodiment can be applied to the extent necessary by replacing the functions and hardware configuration (FIG. 3) of the moving body 2 according to the first embodiment with an imaging device 2E. Therefore, redundant explanations will be omitted. However, in the sixth embodiment, in addition to the matters described in the first embodiment, the following embodiments can be added or replaced.

[0392] In the sixth embodiment of the present invention, the control unit 21 controls the time kept by the clock 22a to be transmitted to the wireless device 1A via the RF chip 22. The phase detector 22b detects the phase of the carrier wave constituting the information received from the wireless device 1A, and detects the phase of the signal oscillated by the oscillator 23 of the imaging device 2E.

[0393] In the sixth embodiment of the present invention, the imaging unit 29 captures an image of a landscape. The imaging unit 29 may be controlled to start, stop, and / or end imaging in response to an input from the input unit, or may be controlled to start, stop, and / or end imaging in response to an instruction from another computer device.

[0394] It can also be said that the imaging device 2E in the sixth embodiment includes the second device 2a in the first embodiment.

[0395] The unmanned aerial vehicle 2F is not particularly limited as long as it is equipped with a control unit and a sensor unit, and any known unmanned aerial vehicle can be used. The unmanned aerial vehicle 2F may be a drone or the like. The shape of the unmanned aerial vehicle 2F may be a rotary-wing type or a fixed-wing type. Furthermore, the unmanned aerial vehicle 2F may be one whose flight is autonomously controlled based on predetermined flight path information or the like, or one whose flight is controlled by a pilot via radio or the like.

[0396] The control unit of the unmanned aerial vehicle 2F is composed of a CPU, RAM, ROM, etc., and controls the flight of the unmanned aerial vehicle 2F based on information obtained from the sensor unit, flight path information, and / or control instructions from other computer devices. The control unit of the unmanned aerial vehicle 2F may be provided separately from the control unit 21 of the imaging device 2E, or may also serve as the control unit 21 of the imaging device 2E. In addition to the control unit 21, at least one or more of the hardware components of the imaging device 2E may also be used as the hardware components of the unmanned aerial vehicle 2F.

[0397] The sensor unit may include a gyro sensor, an acceleration sensor, a barometric pressure sensor, an ultrasonic sensor, a magnetic orientation sensor, a Global Navigation Satellite System (GNSS), an infrared sensor, a visible light sensor, etc. The inclination, i.e., the attitude, of the unmanned aerial vehicle 2F can be detected by the gyro sensor, the speed of the unmanned aerial vehicle 2F by the acceleration sensor, the altitude of the unmanned aerial vehicle 2F by the barometric pressure sensor and ultrasonic sensor, the direction in which the unmanned aerial vehicle 2F is facing by the magnetic orientation sensor, the latitude and longitude of the unmanned aerial vehicle 2F by the GNSS, and obstacles around the unmanned aerial vehicle 2F by the infrared sensor, visible light sensor, or ultrasonic sensor.

[0398] In addition, the unmanned aerial vehicle 2F may be capable of communicating with an imaging device 2E, a wireless device 1A, a server device 3, a blockchain 3A, a viewer terminal 4B, an administrator terminal, other computer devices, etc. via a communication network.

[0399] [Wireless Device] Next, a wireless device according to the sixth embodiment will be described. The functions and hardware configuration of the wireless device 1A according to the sixth embodiment can be the same as those of the first device 1 according to the first embodiment (FIG. 2) to the extent necessary. Therefore, redundant explanations may be omitted. The wireless device 1A is an example of the first device 1.

[0400] In the sixth embodiment of the present invention, the time kept by the clock 12a is controlled by the control unit 11 to be transmitted to the imaging device 2E via the RF chip 12. The phase detector 12b detects the phase of the carrier wave constituting the information received from the imaging device 2E, and detects the phase of the signal oscillated by the oscillator 13 in the wireless device 1A.

[0401] The installation location of the wireless device 1A is not particularly limited, but the wireless device 1A can be installed, for example, on a power transmission tower for supporting an overhead power line, a utility pole, or the like.

[0402] [Server Device] Next, the hardware configuration of the server device 3 according to the sixth embodiment will be described. The hardware configuration of the server device 3 according to the sixth embodiment can be the same as that of the server device 3 according to the first embodiment (FIG. 4) to the extent necessary. Therefore, redundant description will be omitted. In the sixth embodiment, the control unit 31 reads out programs and data from the RAM 32, and performs program execution processing based on information received from the imaging device 2E, the unmanned aerial vehicle 2F, the wireless device 1A, the server device 3, the blockchain 3A, the viewer terminal 4B, the administrator terminal, etc.

[0403] 28 is a block diagram showing the hardware configuration of a viewer terminal according to embodiment 6. Viewer terminal 4B includes control unit 41, RAM 42, storage unit 43, input unit 44, display unit 45, and communication interface 46, which are all connected by a bus.

[0404] The control unit 41 is composed of a CPU and a ROM. The control unit 41 executes programs stored in the storage unit 43 and controls the viewer terminal 4B. The RAM 42 is the work area of ​​the control unit 41. The storage unit 43 is a memory area for saving programs and data. In other words, the storage unit 43 functions as a recording medium that stores programs. The control unit 41 performs arithmetic processing based on the programs and data read from the RAM 42 and the data input via the input unit 44.

[0405] The display unit 45 has a display screen. The control unit 41 outputs a video signal for displaying an image on the display screen according to the result of the arithmetic processing. Here, the display screen of the display unit 45 may be a touch panel equipped with a touch sensor. In this case, the touch panel functions as the input unit 44.

[0406] The communication interface 46 can be connected to the communication network 5 wirelessly or via a wire, and can transmit and receive data to and from the imaging device 2E, unmanned aerial vehicle 2F, wireless device 1A, server device 3, blockchain 3A, administrator terminal, other computer devices, etc. via the communication network 5. Data received via the communication interface 46 is loaded into the RAM 42, and is processed by the control unit 41.

[0407] [Administrator Terminal] When the system 10 includes an administrator terminal, the hardware configuration of the administrator terminal may be the same as that of the viewer terminal.

[0408] [Image Capture Processing] Hereinafter, a description will be given of a mode in which an image is captured by an imaging device 2E provided in an unmanned aerial vehicle 2F using a system 10 according to a sixth embodiment of the present invention, and an NFT is issued in association with the image captured by the imaging device 2E and the location where the image was captured. Figure 29 is a diagram showing a flowchart of the image capture processing according to the sixth embodiment of the present invention.

[0409] First, imaging is started in the imaging device 2E (step S201). Then, imaging is performed in the imaging device 2E (step S202). Imaging is terminated in the imaging device 2E (step S203). Image information relating to the captured image is transmitted from the imaging device 2E to the server device 3 (step S204). The transmitted image information is received by the server device 3 (step S205). The received image information is stored in the server device 3 (step S206), and the imaging process is terminated.

[0410] The start and end of imaging in steps S201 and S203 may be performed in response to input from an input unit provided in the imaging device 2E, or in response to instructions from an administrator terminal or the like, or may be performed under conditions such as the imaging device 2E reaching a predetermined point and / or time.

[0411] The image information transmitted in step S204 includes the captured image, the number of pixels of the captured image, the model of the imaging device 2E that captured the image, settings of the imaging conditions of the imaging device 2E when the image was captured (e.g., aperture, F-number, ISO sensitivity), etc. The image may be a moving image or a still image.

[0412] In step S204, together with image information about the captured image, position information about the position of the imaging device 2E at the time the image was captured is transmitted to the server device 3. In step S204, together with image information about the captured image, time information about the time at which the image was captured may be transmitted to the server device 3.

[0413] The position of the imaging device 2E when capturing an image may be represented by latitude, longitude, altitude, etc. If the image is a still image, it is sufficient that the position of the imaging device 2E when the image was captured is identified. If the image is a moving image, it is preferable that the position of the imaging device 2E while capturing the image is identified at predetermined time intervals. The position of the imaging device 2E may be identified, for example, every 1 / 240 seconds, every 1 / 120 seconds, or every 1 / 60 seconds. If the image is a moving image, location information may be linked to each of the still images that make up the moving image.

[0414] The method for identifying the position of the imaging device 2E is not particularly limited and can be designed as appropriate. For example, the position of the unmanned aerial vehicle 2F (e.g., latitude, longitude, and altitude) measured by the unmanned aerial vehicle 2F may be identified as the position of the imaging device 2E. The unmanned aerial vehicle 2F can measure the latitude, longitude, and altitude of the unmanned aerial vehicle 2F based on information detected by a barometric pressure sensor, an ultrasonic sensor, and / or a GNSS.

[0415] Alternatively, the position of the imaging device 2E may be identified based on the distance between the wireless device 1A and the imaging device 2E, which are installed at a predetermined location. The installation location of the wireless device 1A may be, for example, a power transmission tower or a utility pole. The location (e.g., latitude, longitude, and altitude) at which the wireless device 1A is installed is preferably stored in advance in one of the devices included in the system 10. Details of a method for identifying the position of the imaging device 2E based on the distance between the wireless device 1A and the imaging device 2E will be described later.

[0416] The time when an image is captured may be the time kept by the clock 22a provided in the imaging device 2E when the imaging device 2E is capturing an image. The clock 22a provided in the imaging device 2E, i.e., the internal clock of the imaging device 2E, preferably keeps standard time. The internal clock of the imaging device 2E may keep standard time by being time-synchronized with the internal clock of the wireless device 1A, as described below.

[0417] If the image is a still image, the time when the image was captured may be linked to the image as time information. If the image is a moving image, the time when the still image was captured may be linked to each of the still images that make up the moving image as time information.

[0418] In step S206, the image information, position information, time information, etc. are stored in the storage unit 33 in association with one another.

[0419] Although the above describes a case where image information is transmitted from the imaging device 2E to the server device 3 after image capture is completed, image information may be transmitted from the imaging device 2E to the server device 3 in real time while a moving image is being captured, for example. The transmitted image information may then be stored in the server device 3.

[0420] [Distance Calculation Process] Next, a method (distance calculation process) for identifying the position of the image capture device 2E based on the distance between the wireless device 1A and the image capture device 2E will be described in detail. The distance between the wireless device 1A and the image capture device 2E can be calculated based on the propagation time of information or signals between the wireless device 1A and the image capture device 2E.

[0421] The position identification process in embodiment 6 can be the same as the distance calculation process in embodiment 1 (FIG. 6), so a duplicated description will be omitted. When applying the distance calculation process shown in FIG. 6 in embodiment 6, the first device 1 is replaced with the wireless device 1A, and the second device 2a is replaced with the imaging device 2E. However, in embodiment 6, in addition to the matters described in embodiment 1, the following embodiments can be added or replaced.

[0422] In the sixth embodiment of the present invention, the distance calculation process can be performed at predetermined time intervals. For example, the distance calculation process may be performed every 1 / 240 seconds, every 1 / 120 seconds, or every 1 / 60 seconds. The distance calculation process may be performed while the unmanned aerial vehicle 2F is flying, or while the imaging device 2E is capturing images.

[0423] [Position Identification Process] Next, a method (position identification process) for identifying the position of the imaging device 2E based on the distance between the wireless device 1A and the imaging device 2E will be described. The method for identifying the position of the imaging device 2E based on the distance between the wireless device 1A and the imaging device 2E is not particularly limited and can be designed as appropriate. For example, if multiple wireless devices 1A are provided, the position of the imaging device 2E may be identified based on the distance between one imaging device 2E and each of the multiple wireless devices 1A.

[0424] The position identification process in embodiment 6 can be the same as the position identification process in embodiment 1 (FIG. 7), so a duplicated description will be omitted. When applying the position identification process shown in FIG. 7 in embodiment 6, the first device 1 is replaced with the wireless device 1A, and the second device 2a is replaced with the imaging device 2E. However, in embodiment 6, in addition to the matters described in embodiment 1, the following embodiments can be added or replaced.

[0425] In embodiment 6 of the present invention, the position of the imaging device 2E may be determined based on the latitude, longitude, and altitude of the unmanned aerial vehicle 2F measured by the unmanned aerial vehicle 2F and the distance between the wireless device 1A and the imaging device 2E.

[0426] In the sixth embodiment of the present invention, for example, of the latitude, longitude, and altitude measured by the unmanned aerial vehicle 2F, the latitude and longitude may be identified as measured, and the altitude may be identified based on the distance between wireless device 1A and imaging device 2E calculated in step S39. In this case, the altitude of the intersection of a line that passes through the measured latitude and longitude and is parallel to the direction of gravity with a sphere that has wireless device 1A as its center and the distance between wireless device 1A and imaging device ...

Claims

1. A system including a plurality of first devices and a mobile body including a second device, distance calculation means for calculating a distance between each of the plurality of first devices and the second device based on information or signal propagation time between each of the plurality of first devices and the second device; a position specifying means for specifying a position of the second device based on the calculated distances between each of the plurality of first devices and the second device; A system comprising:

2. 2. The system according to claim 1, wherein the distance calculation means calculates the distance based on a time difference between a clock of the first device and a clock of the second device.

3. a time difference calculation means for calculating a time difference between one first device and one second device by performing communication between the first device and the second device; a time correction means for correcting the time in the second device based on the calculated time difference; The system according to claim 1 or 2, comprising:

4. a phase shift calculation means for calculating a phase shift between clocks of one first device and one second device by performing communication between the first device and the second device; a phase correction means for correcting the phase in the second device based on the calculated phase shift; The system according to claim 1 or 2, comprising:

5. 3. The system according to claim 1, wherein the mobile object automatically drives according to predetermined travel route information.

6. a first determination means for determining whether the identified position matches predetermined travel route information; a travel route correction means for correcting the travel route information when it is determined that the identified position does not match the predetermined travel route information; The system of claim 5 , comprising:

7. 3. The system of claim 1 or 2, wherein the mobile body is an agricultural machine, an indoor work robot, a medication cart capable of transporting medicine to be provided to patients, an automatically movable food distribution device for distributing food and drink, an automatically movable item collection device for collecting items, or a vehicle capable of traveling on the ground and equipped with a container with space for storing items.

8. Equipped with a user terminal, A location display means for displaying the identified location on a map by the user terminal. The system according to claim 1 or 2, comprising:

9. 1. A method carried out in a system comprising a plurality of first devices and a mobile body comprising a second device, the method comprising: a distance calculation step of calculating a distance between each of the plurality of first devices and the second device based on information or signal propagation time between each of the plurality of first devices and the second device; a position determination step of determining the position of the second device based on the calculated distances between each of the plurality of first devices and the second device; A method comprising:

10. a second device; distance calculation means for calculating a distance between each of the plurality of first devices and the second device based on information or signal propagation time between each of the plurality of first devices and the second device; a position specifying means for specifying a position of the second device based on the calculated distances between each of the plurality of first devices and the second device; A mobile body comprising: