Mobile unit control system

Abstract

Each of several mobile units (1) scans a floor surface part at the current position of the mobile unit (1) to generate a partial floor surface image, generates transmission data of the partial floor surface image in which the data amount is reduced according to a data compression setting, and transmits the transmission data to an administrative server (2). The administrative server (2) receives the transmission data from the several mobile units (1), identifies the current position of each of the mobile units (1) on the basis of the partial floor surface image indicated by the received transmission data, and controls, for each of the several mobile units (1), the operation of the mobile unit (1) on the basis of the identified current position of the mobile unit (1). In this case, the data compression setting is changed according to a predetermined condition.

Description

Mobile Control System

[0001] The present invention relates to a mobile object control system.

[0002] One mobile device is equipped with a moving means for moving the device along the surface of a structure, a photographing means provided on the bottom of the device for photographing the surface of the structure, and an identification means for identifying the position of the device by comparing image data output from the photographing means with matching data for each position registered in advance (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2019-185465

[0004] When a management server manages the operation of multiple mobile objects, and a partial floor image obtained by scanning the floor area at the current location of the mobile object is sent from the mobile object to the management server, and the management server determines the current location of each mobile object based on the partial floor image, the amount of data sent from the multiple mobile objects to the management server may become large, causing delays in the operation management of the multiple mobile objects and making it impossible to smoothly manage the operation of the multiple mobile objects.

[0005] The present invention has been made in view of the above problems, and has as its object to provide a mobile object control system that smoothly manages the operations of a plurality of mobile objects.

[0006] The mobile object control system according to the present invention includes a plurality of mobile objects traveling along a route in a predetermined area of ​​a floor surface, and a management server. Each of the plurality of mobile objects (a) scans a portion of the floor surface at the current position of the mobile object to generate a partial floor image, (b) generates transmission data of the partial floor image with the data volume reduced in accordance with a data compression setting, and (c) transmits the transmission data to the management server. The management server includes a communication device that receives the transmission data from the plurality of mobile objects, a mobile object position identification unit that identifies the current position of the mobile object based on the partial floor image indicated by the received transmission data, and a mobile object control unit that controls the operation of each of the plurality of mobile objects based on the identified current position of the mobile object. The data compression setting is changed according to predetermined conditions.

[0007] According to the present invention, a mobile object control system that smoothly manages the operations of a plurality of mobile objects can be obtained.

[0008] The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

[0009] FIG. 1 is a diagram showing the configuration of a mobile object control system according to an embodiment of the present invention. FIG. 2 is a diagram illustrating a floor surface on which a mobile object 1 in FIG. 1 travels. FIG. 3 is a perspective view showing the mechanical configuration of the mobile object 1 in FIG. 1. FIG. 4 is a diagram showing an example of a scanner 12a in the mobile object 1 shown in FIG. 3. FIG. 5 is a diagram showing another example of the scanner 12a in the mobile object 1 shown in FIG. 3. FIG. 6 is a block diagram showing the electrical configuration of the mobile object 1 in FIG. 1. FIG. 7 is a block diagram showing the configuration of a management server 2 in FIG. 1. FIG. 8 is a flowchart illustrating the operation of the management server 2 in FIG. 1.

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] Fig. 1 is a diagram showing the configuration of a mobile object control system according to an embodiment of the present invention. Fig. 2 is a diagram illustrating a floor surface on which a mobile object 1 in Fig. 1 travels. As shown in Fig. 1, the mobile object control system includes a plurality of mobile objects 1 traveling along respective routes in a predetermined area on the floor surface, and a management server 2.

[0012] Each mobile object 1 is a self-propelled mobile object, such as an automatic guided vehicle (AGV) or an autonomous mobile robot (AMR). The mobile object 1 travels along a predetermined route on the floor surface 101 of a predetermined area while optically scanning the floor surface 101 at the current location of the mobile object 1. The mobile object control system does not require markers or the like to be physically installed on the floor surface 101 as a route. The management server 2 sets the route as data, searches for a location in a floor surface image of the floor surface 101 of the predetermined area that matches a partial floor surface image of the current location of the mobile object 1, identifies the actual current location of the mobile object 1 based on the matched location, and controls the operation of the mobile object 1 according to the set route and its current location.

[0013] Here, the floor surface 101 is, for example, the floor surface of a factory, warehouse, etc., and has scratches, dirt, etc. in addition to the original pattern 101a (i.e., the pattern of the surface of the floor material such as tile or concrete), so that the image pattern differs depending on the position in a high-resolution floor surface image of a predetermined area. Therefore, for example, by using pattern matching, image search using machine learning, etc., the current position of the moving object 1 can be uniquely identified.

[0014] Fig. 3 is a perspective view showing the mechanical configuration of the mobile unit 1 in Fig. 1. As shown in Fig. 3, the mobile unit 1 includes four casters 11 installed at the four corners of the bottom surface, scanners 12a and 12b, and a frame body 13 to which the casters 11 and scanners 12a and 12b are fixed.

[0015] The caster 11 has a driven wheel that contacts the floor surface 101 and is fixed to the frame body 13 so as to be rotatable in the horizontal direction.

[0016] Scanner 12a optically scans a portion of the floor surface 101 to generate a partial floor surface image (first partial floor surface image). Scanner 12a is arranged at the tip of the moving body 1 in the traveling direction. Scanner 12b optically scans a portion of the floor surface 101 to generate a partial floor surface image (second partial floor surface image). Scanner 12b is arranged at the rear end of the moving body 1 in the traveling direction. Each of scanners 12a and 12b (a) is arranged on the bottom side of the moving body 1 facing the floor surface, and (b) repeatedly generates line images of a predetermined width perpendicular to the traveling direction of the moving body 1 as partial floor surface images. Scanners 12a and 12b scan the floor surface at a predetermined high resolution (for example, 600 dpi).

[0017] The frame body 13 is a body having a frame structure.

[0018] Furthermore, the mobile body 1 includes drive wheel units 21 a, 21 b, 21 c, and 21 d. Each drive wheel unit 21 a, 21 b, 21 c, and 21 d includes a drive wheel 31 that contacts the floor surface, a support portion 32 that rotatably supports the drive wheel 31, a wheel frame portion 33 to which the support portion 32 is fixed, a rotation support portion 34 that rotatably fixes one end of the wheel frame portion 33 to the frame body 13 (one of the beams 13 a, 13 b), and a spring member 35 that urges the other end of the wheel frame portion 33 against the frame body 13 (the other of the beams 13 a, 13 b). As a result, the restoring force of the spring member 35 presses the drive wheel 31 against the floor surface with a predetermined pressure.

[0019] Furthermore, each of the drive wheel units 21a, 21b, 21c, and 21d includes a drive device (not shown) that generates and transmits driving force for running to the drive wheels 31. The drive devices are installed independently for each of the drive wheel units 21a, 21b, 21c, and 21d, and individually generate and transmit driving force to the drive wheels 31. Here, the drive devices generate driving force using a motor and transmit the driving force to the drive wheels 31 using gears or the like. The drive wheels 31 include, for example, a drive shaft connected to the drive device, a hard wheel fixed to the drive shaft, and an elastic tire fitted on the outside of the wheel.

[0020] Fig. 4 is a diagram showing an example of the scanner 12a in the moving object 1 shown in Fig. 3. For example, as shown in Fig. 4, each of the scanners 12a and 12b includes a light-emitting unit (not shown) that irradiates the floor surface with light, an image sensor 41, and a reduction optical system 42 (one or more lenses) that focuses reflected light obtained when the light from the light-emitting unit is reflected by the floor surface onto the image sensor 41.

[0021] Fig. 5 is a diagram showing another example of the scanner 12a in the mobile object 1 shown in Fig. 3. Furthermore, for example, as shown in Fig. 5, the scanners 12a and 12b may be equipped with contact image sensors. In this case, the scanners 12a and 12b are scanners with a life-size optical system equipped with a line sensor 41a including a plurality of light-receiving elements and a lens array 42a.

[0022] Fig. 6 is a block diagram showing the electrical configuration of the moving body 1 in Fig. 1. As shown in Fig. 6, the moving body 1 includes, in addition to the drive device 51 described above, a power supply device 52, a communication device 53, and a controller 54.

[0023] The power supply device 52 includes a secondary battery 52a and a charging unit 52b for the secondary battery 52a, and supplies power to the drive device 51, the communication device 53, and the controller 54. When the mobile object 1 is placed in a charging pod (not shown) connected to a commercial power source, the charging unit 52b receives power from the charging pod by contact or contactless means and charges the secondary battery 52a with the received power.

[0024] The communication device 53 performs data communication with an external device (such as a server) via wireless communication in accordance with a predetermined communication protocol.

[0025] The controller 54 includes a computer and an ASIC (Application Specific Integrated Circuit), and performs data processing, control of the drive device 51, control of the communication device 53, etc. using the computer (software processing) and the ASIC (hardware processing).

[0026] In response to a request from the controller 54, the communication device 53 (a) transmits a partial floor image or a line image (individual line images constituting the partial floor image) to the management server 2, and receives from the management server 2 the deviation between the current position of the moving body 1 and the route, or a control amount corresponding to the deviation, detected by the management server 2 based on the partial floor image. Then, based on the received deviation or control amount (control amount of each drive device 51), the controller 54 controls the drive devices 51 so that the moving body 1 travels on the above-mentioned route, or controls the drive devices 51 to stop the moving body 1.

[0027] When transmitting a partial floor image or a line image, the controller 54 generates transmission data for the partial floor image with the data volume reduced in accordance with the data compression setting, and the communication device 53 transmits the transmission data to the management server.

[0028] This data compression setting is changed according to predetermined conditions, as described below. The data compression setting specifies at least one of a data processing setting and a data compression rate. Here, the data processing setting is one of a number of predetermined processes, including a data compression process (such as JPEG), a color / monochrome setting (such as RGB color or a single color among RGB), and a pixel bit depth setting (e.g., 8 bits, 4 bits). The data compression rate is the data compression rate of the data compression process. Note that when a single color is specified in the color / monochrome setting, the controller 54 causes the scanners 12a and 12b to output only the specified color plane.

[0029] The partial floor image is composed of a predetermined number of line images. The scanners 12a and 12b repeatedly generate line images of a predetermined width perpendicular to the traveling direction of the mobile object 1, and an image conversion unit (not shown) buffers the line images and converts the predetermined number of line images into a partial floor image. This image conversion unit may be provided in the mobile object 1 (controller 54) or the management server 2.

[0030] In addition, either the first partial floor image or the second partial floor image may be used as the partial floor image, or the current position may be derived in the same manner for each of the first partial floor image and the second partial floor image.

[0031] Furthermore, the partial floor image or line image may be compressed in the mobile object 1 before being transmitted to the management server 2, and the data may be expanded in the management server 2.

[0032] If the rotational speed of the drive wheels 31 of the drive wheel units 21a and 21b and the rotational speed of the drive wheels 31 of the drive wheel units 21c and 21d are made the same, the mobile body 1 will move straight, but if the rotational speed of the drive wheels 31 of the drive wheel units 21a and 21b and the rotational speed of the drive wheels 31 of the drive wheel units 21c and 21d are made different from each other, the mobile body 1 will turn. Therefore, the drive devices 51 of each drive wheel unit 21a, 21b, 21c, and 21d are controlled to reduce the above-mentioned deviation.

[0033] Furthermore, the inclination of the traveling direction with respect to the route may be derived based on the deviation obtained from the first partial floor image and the deviation obtained from the second partial floor image.

[0034] FIG. 7 is a block diagram showing the configuration of the management server 2 in FIG.

[0035] The management server 2 in FIG. 1 includes a communication device 61 , a processing device 62 , and a storage device 63 .

[0036] The communication device 61 communicates data with the mobile object 1 via a predetermined communication path 3 (a wireless communication path and / or a wired communication path). For example, the communication device 61 is a wireless network interface, a data communication interface for a mobile phone network, a short-range wireless communication interface, etc. Alternatively, the communication path 3 may include a wireless station, and the communication device 61 may be connected to the wireless station via a wired communication path and the mobile object 1 may be connected to the wireless station via a wireless communication path, thereby enabling the communication device 61 to communicate data with the mobile object 1.

[0037] The communication device 61 performs data communication with a plurality of mobile bodies 1 and receives the above-mentioned transmission data from the plurality of mobile bodies 1 .

[0038] The arithmetic processing device 62 is a computer equipped with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc., and operates as various processing units by loading programs from the ROM or storage device 63 into the RAM and executing them on the CPU. Here, the arithmetic processing device 62 operates as a route setting unit 71, a mobile object position specifying unit 72, a mobile object control unit 73, and a floor image updating unit 74.

[0039] The storage device 63 is a non-volatile storage device that stores programs and data. Here, the storage device 63 stores floor surface data 63a in advance.

[0040] The floor data 63a includes image data of the floor image of the entire floor surface of the above-mentioned specified area, and position data indicating the correspondence between the position (pixel position) in the floor image and the actual position on the floor. This image data identifies the position of the partial floor image in the floor image (i.e., the position of the part in the floor image that is closest to the partial floor image), and this position data converts the position of the partial floor image in the floor image into a position on the actual floor.

[0041] The path setting unit 71 sets a path for the mobile object 1 as path data within a predetermined area on the floor surface 101. For example, the path is made up of one or more links, and the path data includes coordinate values ​​of the start point and end point of each link. For example, the path setting unit 71 may be connected to a manufacturing execution system (MES) and set a path for the mobile object 1 according to an operation of the mobile object 1 (such as transporting parts, etc.) requested by the manufacturing execution system.

[0042] The moving object position identifying unit 72 identifies the current position of the moving object 1 traveling along a route in a predetermined area on the floor surface 101. Specifically, the moving object position identifying unit 72 (a) acquires a partial floor image indicated by the transmission data received from each moving object 1 while traveling, (b) identifies the position of the partial floor image in the floor surface image of the entire predetermined area, and (c) identifies the current position of the moving object 1 (actual position on the floor surface 101) based on the identified position. Here, the partial floor image is generated by scanning a portion of the floor surface 101 opposite the bottom surface of the moving object 1 with scanners 12a and 12b arranged on the bottom side of the moving object 1. Note that the current position of the moving object 1 is expressed, for example, by a physical distance from a predetermined reference position on the floor surface 101. Furthermore, the position of the partial floor image in the floor surface image of the entire predetermined area is expressed by a pixel position in the floor surface image of the entire predetermined area, and the correspondence between the current position of the moving object 1 and the position of this partial floor image is known.

[0043] Furthermore, the moving object position specifying unit 72 acquires partial floor images using the communication device 61. The floor images and partial floor images may be color image data generated by the color scanners 12a and 12b, or may be grayscale image data generated by the monochrome scanners 12a and 12b.

[0044] Furthermore, the moving object position identifying unit 72 identifies the position of the partial floor image in the floor image of the entire predetermined area, for example, by image search using pattern matching or machine learning. At this time, even if a part of the floor image of the entire predetermined area does not completely match the partial floor image, the position with the highest probability in the floor image of the entire predetermined area is identified as the position of the partial floor image.

[0045] The mobile object control unit 73 controls the operation of the mobile object 1 based on the identified current position of each mobile object 1. The mobile object control unit 73 controls the operation of the mobile object 1 by transmitting, to the mobile object, an operation command based on the identified current position of the mobile object 1 using the communication device 61.

[0046] Specifically, the mobile body control unit 73 (a) identifies the deviation between the route set by the route setting unit 71 and the current position of the mobile body 1, and causes the mobile body 1 to travel so as to reduce the deviation (for example, by turning the mobile body 1 in accordance with the deviation), and (b) stops the mobile body 1 if the identified current position is a stopping position.

[0047] The floor image update unit 74 updates the portion of the partial floor image identified in the floor image of the entire predetermined area with the acquired partial floor image. As a result, even if there is a change in the floor surface 101 (change over time, adhesion of dirt, etc.), the portion of the floor image of the entire predetermined area through which the moving object 1 has passed is updated to the most recent floor image, thereby suppressing errors in detecting the current position in the moving object position identification unit 72.

[0048] Furthermore, when the mobile body 1 satisfies specified conditions, the mobile body control unit 73 of the management server 2 uses the communication device 61 to send data compression settings (i.e., settings that reduce the amount of data transmitted compared to the default settings) to the mobile body 1.

[0049] Specifically, when the mobile object 1 heads toward the charging pod, the mobile object control unit 73 transmits a data compression setting to the mobile object 1 to reduce the amount of data transmitted for the partial floor image. In other words, when the mobile object 1 heads toward the charging pod, it does not matter if the accuracy of the current position of the mobile object 1 based on the partial floor image is slightly reduced, so the amount of data transmitted for the partial floor image is reduced.

[0050] Furthermore, the mobile body control unit 73 determines whether to transmit a data compression setting based on the distribution of feature points (patterns, etc.) of the partial floor image (i.e., the partial floor image of the current position of the mobile body 1) or the spatial frequency distribution of the partial floor image. When transmitting a data compression setting, the mobile body control unit 73 transmits a data compression setting corresponding to the distribution of feature points of the partial floor image or the spatial frequency distribution of the partial floor image, and reduces the amount of data transmitted for the partial floor image according to the distribution of feature points of the partial floor image or the spatial frequency distribution of the partial floor image. In other words, when the distribution of feature points in the partial floor image is coarse or when the spatial frequency of the partial floor image is low, the current position of the mobile body 1 is easily identified from the partial floor image, and therefore the amount of data transmitted for the partial floor image is reduced.

[0051] Alternatively, a data compression setting corresponding to the location may be set in advance for each location on the floor surface in the floor surface data 63a, and the mobile object control unit 73 may determine whether to transmit the data compression setting based on the current location of the mobile object 1. In this case, the mobile object control unit 73 refers to the floor surface data 63a, identifies the data compression setting corresponding to the current location of the mobile object 1, and transmits it.

[0052] The mobile object control unit 73 may also determine whether to transmit a data compression setting based on the time elapsed since the previous update of the partial floor image by the floor image update unit 74. If the elapsed time is less than a predetermined value, the mobile object control unit 73 transmits a data compression setting so as to reduce the amount of data to be transmitted for the partial floor image. Note that the elapsed time may be the time since the partial floor image was last updated with the default settings.

[0053] Furthermore, the mobile object control unit 73 may transmit data compression settings to each of the multiple mobile objects 1 based on the number of the multiple mobile objects 1. The mobile object control unit 73 monitors the number of mobile objects 1 currently in motion, and transmits data compression settings such that the amount of data transmitted decreases as the number of mobile objects 1 currently in motion increases.

[0054] Next, the operation of the mobile object control system will be described with reference to the flowchart of FIG.

[0055] The route setting unit 71 of the management server 2 sets a route for the mobile object 1 in accordance with a user operation or the like (step S1). For example, route data indicating the route is stored in advance in the storage device 63, and the route setting unit 71 reads out the route data and sets it as the route for the mobile object 1.

[0056] Thereafter, the mobile object control unit 73 uses the communication device 61 to transmit an operation command to the mobile object 1 to cause the mobile object 1 to start traveling. In the mobile object 1, the controller 54 uses the communication device 53 to receive the operation command and controls the drive device 51 to start traveling of the mobile object 1. Thereafter, in the mobile object 1, (a) upon receiving the operation command, the controller 54 controls the drive device 51 to adjust the traveling of the mobile object 1 (for example, by turning the mobile object 1 to the right or left so as to approach the route), and (b) while traveling, the scanners 12a and 12b are operated to repeatedly acquire line images, and the line images or partial floor surface images (image data thereof) are transmitted to the management server 2 using the communication device 53.

[0057] In the management server 2, when the mobile object position identification unit 72 receives a line image or a partial floor image using the communication device 61 (step S2), it searches for the partial floor image in the overall floor image by pattern matching or the like, identifies the position of the partial floor image in the overall floor image, and identifies the actual current position of the mobile object 1 corresponding to that position (step S3). When a line image is received, a predetermined number of line images are buffered and used as the partial floor image. When the position of the partial floor image in the overall floor image is identified, the floor image update unit 74 updates the corresponding part of the overall floor image in the floor data 63a with the received partial floor image (step S4).

[0058] Then, the mobile object control unit 73 determines whether the identified current position is a stop position (step S5). If the identified current position is not a stop position, the mobile object control unit 73 identifies the deviation between the above-mentioned path and the current position of the mobile object 1 (step S6), and transmits the deviation amount or the corresponding control amount of the mobile object 1 as an operation command to the mobile object 1 so as to reduce the deviation (step S7).

[0059] At this time, the mobile control unit 73 determines whether or not to send a data compression setting that reduces the amount of data to be transmitted, and if so, sends the data compression setting together with the operation command.

[0060] After that, the process returns to step S2, and the processes from step S3 onward are executed for the next partial floor image. If there is no deviation, no operation command is sent and the moving body 1 is made to continue traveling in the current direction and speed.

[0061] On the other hand, if the identified current position is a stop position, the mobile object control unit 73 uses the communication device 61 to transmit a stop command to the mobile object 1 (step S8). Then, the mobile object control unit 73 determines whether the identified current position (or this stop position) is the end of the route (step S9), and if the identified current position (or this stop position) is the end of the route, ends the travel of the mobile object 1 on the route.

[0062] On the other hand, if the identified current position (or this stop position) is not the end of the route, the mobile object 1 resumes traveling on the route when a predetermined condition is met (such as completion of a predetermined operation by the mobile object 1 at that position or receipt of a command to resume traveling from the management server 2). Then, the process returns to step S2, and the processing from step S3 onwards is executed for the next partial floor image.

[0063] As described above, according to the above embodiment, each of the multiple moving bodies 1 (a) scans the floor portion at the current position of the moving body 1 to generate a partial floor image, (b) generates transmission data of the partial floor image with the data volume reduced in accordance with the data compression setting, and (c) transmits the transmission data to the management server 2. The management server 2 receives the transmission data from the multiple moving bodies 1, identifies the current position of each moving body 1 based on the partial floor image indicated by the received transmission data, and controls the operation of each of the multiple moving bodies 1 based on the identified current position of the moving body 1. Here, the above data compression setting is changed according to predetermined conditions.

[0064] This reduces the amount of data transmitted from multiple mobile bodies 1 to the management server 2, reduces transmission delays of the transmitted data and processing delays of partial floor images, and enables smooth operation management of multiple mobile bodies 1.

[0065] It should be noted that various changes and modifications to the above-described embodiments will be apparent to those skilled in the art. Such changes and modifications may be made without departing from the spirit and scope of the subject matter and without diminishing its intended advantages. In other words, it is intended that such changes and modifications be included within the scope of the claims.

[0066] For example, in the above embodiment, the moving body 1 does not need to be provided with the scanner 12b.

[0067] The present invention is applicable to, for example, a mobile object control system.

Claims

1. A mobile object control system comprising: a plurality of mobile objects running along a route in a specified area of ​​a floor; and a management server, wherein each of the plurality of mobile objects (a) scans a portion of the floor at the current position of the mobile object to generate a partial floor image, (b) generates transmission data of the partial floor image with the amount of data reduced in accordance with a data compression setting, and (c) transmits the transmission data to the management server, wherein the management server comprises a communication device that receives the transmission data from the plurality of mobile objects, a mobile object position identification unit that identifies the current position of the mobile object based on the partial floor image indicated by the received transmission data, and a mobile object control unit that controls the operation of each of the plurality of mobile objects based on the identified current position of the mobile object, and wherein the data compression setting is changed according to specified conditions.

2. A mobile object control system according to claim 1, characterized in that the mobile object control unit transmits the data compression setting to the mobile object using the communication device when the mobile object satisfies a predetermined condition.

3. The mobile body control system of claim 2, characterized in that the mobile body is equipped with a secondary battery that supplies power to an internal device of the mobile body, and a charging unit that receives power from the charging pod and charges the secondary battery when the mobile body is placed in a charging pod, and the mobile body control unit transmits the data compression setting to the mobile body when the mobile body heads toward the charging pod, thereby reducing the amount of data transmitted of the partial floor image.

4. The mobile body control system of claim 2, characterized in that the mobile body control unit (a) determines whether to transmit the data compression setting based on the distribution of feature points of the partial floor image or the spatial frequency distribution of the partial floor image, and (b) transmits the data compression setting corresponding to the distribution of feature points of the partial floor image or the spatial frequency distribution of the partial floor image, and reduces the amount of data of the transmitted data of the partial floor image in accordance with the distribution of feature points of the partial floor image or the spatial frequency distribution of the partial floor image.

5. The mobile object control system according to claim 2, wherein said mobile object control unit determines whether or not to transmit said data compression setting based on the current position of said mobile object.

6. The mobile body control system of claim 2, further comprising a floor image update unit, which updates a portion of the partial floor image identified in the floor image of the entire specified area with the acquired partial floor image, and the mobile body control unit determines whether or not to send the data compression setting based on the elapsed time since the last update of the partial floor image.

7. A mobile object control system according to claim 2, characterized in that the mobile object control unit determines whether or not to transmit the data compression setting to each of the plurality of mobile objects based on the number of the plurality of mobile objects.

8. The mobile control system according to claim 1, wherein the data compression setting specifies at least one of a data processing setting and a data compression rate, the data processing setting is one of a number of predetermined processes including a data compression process specification, a color / monochrome specification, and a pixel bit rate specification, and the data compression rate is the data compression rate of the data compression process.

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